Current was limited to 0.255 Nm (40%) to create an extended period of constant torque for measurement. The speed on the example motor changed from 600 to 800 rpm in 0.0127 sec. When plugged into the acceleration equation, the motor is shown to accelerate at 1,646 rad/ sec2. Subtract the 0.134-Nm friction torque from the 0.255-Nm maximum torque for 0.121-Nm acceleration torque.