Stepper steps per mm

Calculates helper idealized ball screw linear force from torque, efficiency, and lead.

Adds acceleration torque, load torque and friction torque for a simple axis balance.

Calculates slip speed as synchronous speed minus rotor speed.

Calculates helper load inertia reflected through the square of the gear ratio.

Calculates load inertia reflected through gear ratio and the ratio to motor inertia.

Calculates RMS torque from torque and segment-time arrays of the same length.