This is not necessarily a straightforward question. The answer depends on several factors, some of which are how fast the motor is turning, the efficiency of the drive connected to the motor and total bus utilization (which affect average bus voltage). But the most direct method of doing this is to calculate the output power of the motor at the speed of interest, add in losses due to inefficiency to determine power requirement from the bus, then divide by bus voltage. That will give you a reasonable idea of bus current requirement for that axis. This is not necessarily the same as the current required from the power supply since other axes may be generating at the time.
Keith