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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)
Kv = 1.356* Kt (in English units)
Power Output P = S (rads/sec) * T (Nm) = Watts