Handy Design Formulas

Developed torque Td = Tl + Tf + w*Kd +a *(Jm + Jl)

Motor Input current Td/ Kt

Motor Input voltage Vm = I* Rph + Kv*w

Motor Constant Km = Tp/vPp

Back EMF Constant Kv = Kt ( in MKS units) and Kv= 1.356* Kt in English units

Power Output P = S (rads/sec) * T (Nm) = Watts