Handy Formulas

Primary units in this guide are metric (SI – the International System Units Used in
of units): this Manual
Length - m - (meter) Given Unit (Metric SI)
Mass - g - (gram) Length 1 inch = 2.54 cm = 2.54 X 10-2m
Force - mN - (millinewton) Force 1 oz = = 278 mN
Torque - mN•m - (millinewton meter) 1 lb = 4.45 N = 4,450 mN
Inertia - g•m2 - (gram meter2) 1 g•cm = = 9.8 mN
In this system, mass is always in kilograms or grams. Force, or Mass 1 lb = = 454g
weight, is always in newtons or millinewtons. 1oz = = 28.4g
Force (or weight) = Mass x Acceleration 1kg = = 1,000g
F = ma 1 slug = 14.6 kg = 14,600g
Inertia 1 g•cm2 = = 10-4 g•m2
when a = 9.81 m/sec 2 (acceleration due to gravity), then F would
be the weight in newtons. 1 oz-in-sec = 2
= 7.06 g•m2
1 slug ft 2
= = .29 g•m2
Torque 1 oz-in = 72.01 g•cm = 7.06 mN•m
How to measure Mass or Force. 1 lb-ft = = 1.356 x N•m
A spring scale reading of 1 kg means that 1 g•cm = = 9.8 x 10-2 mN•m
you are measuring a mass of 1 kg. 10.2 g•cm = 1 mN•m
A spring scale reading of 2.2 lb also is 141.6 oz-in = 1 N•m
measuring a mass of 1 kg. 1. Torque (mN•m) = Force (mN) x Radius (m)

Torque = FR

2. Torque required to accelerate inertial load

T (mN•m) = J α

If you use that same spring scale to measure a force, the 1 kg J = Inertia in g•m2
reading must be multiplied by 9.8 to give a force of 9.8 newtons. α = Acceleration in radians/sec 2

EXAMPLE:
If a rotor inertia plus load inertia = J = 2 x 10 -3 g•m 2, and the
motor is to be accelerated at 6,000 radians per sec, what torque is
required?
T = Jα = 2 x 10-3 x 6000
T = 12 mN•m
For stepper motors, α can be converted to radians/sec 2 from
steps/sec2.
The reading of 2.2 lb is a force and is equal to 9.8 newtons.
α (radians/sec) = ∆v (steps/sec) x 2π
If the same scale is used to measure torque (T = FR) at a one meter ∆t (accel. time) steps/rev
radius, the reading of
∆v 2π
1 kilogram x 1 meter = 1 kgm TORQUE = J x
∆t steps/rev
must be multiplied by 9.8 to give a torque of 9.8 newton meters
(N•m). EXAMPLE:
For a 48-step per revolution motor accelerating from zero to
steps/sec running rate v in ∆t seconds.
v π
TORQUE = J x
∆t 24

For information or to place an order in North America: 1 (203) 271-6444 Europe: (44) 1276-691622 Asia: (65) 7474-888

The specifications in this publication are believed to be accurate and reliable. However, it is the responsibility of the
product user to determine the suitability of Thomson products for a specific application. While defective products will
be replaced without charge if promptly returned, no liability is assumed beyond such replacement.
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If no acceleration time is provided, then a maximum 2-step lag 7. Axial Force of Lead Screw
can occur.
2 (steps)
∆t (sec) = giving the following equation.
v (steps/sec)

V2 2π
TORQUE = J x
2 steps/rev

3. Moment of Inertia
Disc or shaft 2πxT
F = x eff.
M = Mass in grams L

R = Radius in meters
F (mN) when T = Torque in mN•m
J (g•m2) = MR
2

2 L = Lead of screw in meters

Cylinder F (oz) when T = Torque in oz-in
L = Lead of screw in inches
M2
J (g•m2) = (R 21 + R 22 )
2 efficiency = from .9 for ballnut to .3 for Acme

4. Reflected loads when using gears or pulleys Inertia of lead screw load

J = J rotor + J steel screw + J reflected

π
J steel screw = D4 x l x x Density
32
Density for steel = 7.83 x 106 g/m3
Load Torque
Torque required of motor = then:
GR
motor shaft revolutions J (g•m2) = D4 l x 7.7 x 10 5
gear or pulley ratio GR =
load shaft revolutions
The reflected inertia of the load is:
Load intertia
Inertia reflected to motor =
(GR)2 J reflected (g•m2) = M (load) L2 x .025

5. Equivalent Inertial Load

Total Torque Load from lead screw (T) in mN•m
For a pulley and weight or a rack and pinion
T = (J rotor + J screw + J reflected) α + T friction
J eqv. (g•m2) = MR2

M = Mass of load in grams 8. Motor watts output

R = Radius of pulley in meters Watts out = Torque output x speed in radians/sec
1 watt = 1 Nm/sec
6. Total Load
Note: Be sure to include all load components. For a given output Torque (mN•m) and converting v (steps/sec) to
radians/sec
JT = Rotor Inertia + all J Loads (motor step angle)
Watts out = Torque (mN•m) x v x 10 -3
TF = Frictional and Forces 57.3

Note: In the pulley example above, the total load would be: If the speed is in RPM then:
JT = J rotor + J pulley + J eqv. Watts out = 1.05 x 10 -4 x torque (mN•m) x RPM
TF = T frictional + Load Weight x Radius
9. Steps/sec to RPM
Total T = JT α + TF v (steps/sec) x 60
RPM =
The load weight = mass x 9.8 millinewtons. motor steps/rev

For information or to place an order in North America: 1 (203) 271-6444 Europe: (44) 1276-691622 Asia: (65) 7474-888

The specifications in this publication are believed to be accurate and reliable. However, it is the responsibility of the
product user to determine the suitability of Thomson products for a specific application. While defective products will
be replaced without charge if promptly returned, no liability is assumed beyond such replacement.
13