Parker Hannifin
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Torque Margin


T margin = (T peak - T required) / T required

T peak = available torque of the motor
T required = torque required to make the move

Size with at least the following torque margins:
Servos: 10%
Zeta or Gemini Stepper: 10%
Other Steppers: 50%

There is no ideal for the Torque Margin. This is a margin of error recommendation.