# Motor Nomenclature

Td | oz-in (N-m) | Torque (rotating moment) expressed in oz-in or Newton meters (Nm) |

Tp | oz-in (N-m) | Peak instantaneous torque expressed in oz-in or Newton-meters (Nm) |

Tl | oz-in (N-m) | Load torque expressed in oz-in or Newton-meters (Nm) |

Rm | Ohms | Phase to phase resistance of the motor windings |

Tf | oz-in (N-m) | Motor friction torque |

Jm | oz-in-sec^{2}(Kg-m-s ^{2}) |
Motor inertia |

Jl | oz-in-sec^{2}(Kg-m-s ^{2}) |
Reflected load inertia |

Kv | Volts/KRPM Volts/(rad/sec) |
Motor Back EMF constant |

w | RPM (radians/sec) |
Motor angular velocity |

a | rad/sec^{2} |
Shaft angular acceleration |

Km | (oz-in)sqrt(watts) | Motor constant ( This is a figure of merit of e motor which describes its ability to convert power input to torque output.) |

Kd | oz-in/krpm N-m/rad/sec |
Motor constant ( This is a figure of merit of e motor which describes its ability to convert power input to torque output.) |

Kt | oz-in/amp N-m/amp |
Torque sensitivity. It is the measure of the motor's ability to convert input current to rotating moment(torque) |

Ip | amps | Peak current at stall |

Pp | watts | Power input with shaft stalled at Tp |