- T max =I system * α =( I machine + I motor )* α =(0.00612+0.001118) *(209.44/0.1)=15.16 - A margin for kinetic friction should be kept. - T temp_max =I* α =0.00612* ( (209.44-0) / (0.1-0) )=12.82 (N-m) A Servo Selection Example(1) -I machine =0.00612 (kg-m 2 ) (from the machine designer) - Pick up ECMA-E11315: Max.T=21.48 > 12.82 (N-m); I motor =11.18E-4 (kg-m 2 ) - The angular speed=2000/60*2 π =209.44 (rad/sec) z The Maximum Torque of a System