# Servo sizing
# Scope: Two-interval servo RMS torque and peak screen.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

moveTorque = 2 N*m
holdTorque = 0.5 N*m
moveTime = 1 s
holdTime = 3 s

rms := sqrt((moveTorque^2*moveTime+holdTorque^2*holdTime)/(moveTime+holdTime)) [N*m]
peak := max(moveTorque,holdTorque) [N*m]

check continuous torque budget: rms <= 1.5 N*m

scenario alternative: moveTorque = 1.6 N*m