Servo & Motion Sizing:
pick the motor before you write the code.
The Motion Control module taught you to command an axis with MC_MoveAbsolute, cam tables and coordinated groups. None of it helps if the hardware underneath is wrong. Before anyone writes a line of motion code, someone has to choose the motor, the gearbox and the drive, and that choice is pure physics: inertia, torque, speed and the ratio between them. Undersize it and the axis stalls, overshoots or trips on overload. Oversize it and you've wasted money on an axis that is harder to tune. This module covers the sizing every motion engineer has to do: inertia and why the radius is squared, peak vs RMS torque, the gearbox as the great equaliser, the inertia ratio that decides whether the axis will tune, and how to put it all together to pick a servo and drive.
The code can't fix bad hardware
🔧 the slickest cam profile in the world won't save a motor that's too small for the inertia. It will stall, overshoot or overheat. Sizing happens before programming, and getting it wrong is expensive to discover late.
Radius is squared
⭕ double a pulley's radius and you quadruple its inertia. Inertia scales with r². That one fact is why big rollers are brutal to accelerate, and why a gearbox, which divides reflected inertia by ratio², does so much of the sizing work.