Reference [2] requires different application of torque margin at different stages of the program. Table 3  details the requirements for Factors of Safety for Known (K C) and Variable (K V) components of Torque.  Table 3. Applied Factors of Safety to Torque Components per GEVS Program Phase Known Factor of  Safety (K C)Variable Factor  of Safety (K V) Preliminary Design Review 2.00 4.0 Critical Design Review 1.50 3.0 Acceptance / Qualification Test 1.50 2.0 Variable torque components (K v) are values that may vary from unit to unit or may increase over time,  such as friction. Known torque components (K c) are much more stable and cannot increase over time.  Examples of these torque components are Motor Coulomb Torque and torque to accelerate inertias. The  strict interpretation of the GEVS requires high safety factors at early stages of the program. These factors  are intended to apply to new development efforts. Most times for actuator applications, characteristic  frictions and performance are characterized on standard motor and gearbox frame sizes. For applications that have functionally tested or qualified components, it is entirely appropriate to use CDR level factors for  early program margins, and use Acceptance / Qualification levels for the specification and final deliverable product.  One of the torque contributing components is accelerating the motor and load inertia at each step of the  actuator. This component, reflected to the load is as follows: /g1846/g3080/g3013= /g3011/g3262/g942/g3012/g3030/g942/g3015/g3118/g942/g3057/g3087 /g3250 /g3057/g3047/g3118 + /g3011/g3261/g942 /g3012/g3030/g942/g3057/g3087 /g3250 /g3057/g3047/g3118/g942/g3086/g3256………………………………….(8)  /g58/g75/g72/g85/g72/g3/g507/g87/g3/g76/g86/g3/g87/g75/g72/g3/g83/g88/g79/g86/g72 time or 1/PPS.   Note: /g507/g537Lmust be in radians for this equation. Additionally, gearbox efficiency is not applied to the  motor inertia component because that torque is applied directly to the motor rotor. Motor acceleration  torque is simply reflected to the output to provide consistent analysis.  Using the margins described above to determine the minimum required torque at Rated Velocity (PPS) of  a geared stepper motor actuator, apply Equation 9, where F Lis the nominal friction at the load:  /g1846/g3017/g3017/g3020_/g3014/g3036/g3041 =(/g1832/g3013 /g942/g1837/g3023)+( /g1832 /g3013(1/g3398/g2015 /g3008)(/g1837/g3023/g33981 ) )+/g1846 /g3080/g3013+(/g1840 (/g1837 /g3023/g33981)(/g1832/g3003/g3014+/g1832 /g3003/g3008)) + (/g1840(/g1837 /g3004/g33981 ) /g1832 /g3004/g3014)……(9) While there are many terms in this equation, it is simply summing the separate components that  contribute to torque loads with their margin. For this equation, /g82/g81/g79/g92/g3/g87/g75/g72/g3/g80/g68/g85/g74/g76/g81/g3/g87/g72/g85/g80/g86/g3/g87/g75/g68/g87/g3/g68/g83/g83/g79/g92/g3/g68/g85/g72/g3/g68/g71/g71/g72/g71/g3 /g87/g82/g3/g87/g75/g72/g3/g80/g82/g87/g82/g85/g3/g68/g81/g71/g3/g74/g72/g68/g85/g69/g82/g91/g3/g69/g72/g68/g85/g76/g81/g74/g3/g73/g85/g76/g70/g87/g76/g82/g81/g3/g68/g81/g71/g3/g74/g72/g68/g85/g69/g82/g91/g3/g72/g73/g73/g76/g70/g76/g72/g81/g70/g92 . Those losses have already been  factored in the T PPS_0 term. Only the margins have been added here because taking the margin out at the  TPPS_0 would lead to a mathematical linear assumption error that would apply insufficient margin in  proportion to velocity. The calculation for the conservative linear approximation torque of our actuatormay be completed with known information. Actuator output velocity (/g550 A) and the Inertia Factored  Response Rare (RR JF) are in degrees per second.    /g1846/g3017/g3017/g3020 /g3250 = (/g3019/g3019 /g3259/g3255/g2879/g3104 /g3250) /g942 (/g3021 /g3265/g3265/g3268_/g3116 )  /g3019/g3019/g3259/g3255 …………………………………(10)  The Dynamic Margin of Safety (MoS) is calculated in Equation 11. Note: MoS must be greater than zero, for adequate torque margin. 382