S-Curves Without the Spreadsheet

Plan jerk-limited motion profiles, decode CiA 402 statuswords and build complete drivetrains, free in your browser.

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Statusword Decoder

Decode and build CiA 402 statuswords and controlwords for servo drive diagnostics.

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Motion Profile Calculator

Plot position, speed, acceleration and jerk for one move, and get its move time and cycle time.

Drivetrain Builder

Configure motor, gear stages, and output for a complete drive system with real-time calculations.

Unit Converter

Convert between metric and imperial units for length, mass, force, torque, speed, power, and more.

Gear Finder

Find optimal gear and pulley combinations that hit your target ratio from available tooth counts.

Belt Length Calculator

Calculate required belt length for two-pulley systems from pulley diameters and center distance.

Quick formula calculators

Torque, Speed & Power

Power from torque and rpm, or the missing one of the three.

Surface Speed

Roller, wheel or conveyor speed from diameter and rpm.

Torque from Force

Torque from a force and its lever arm, or the missing one.

Articles

Pulley Types & Calculations: Teeth, Ratios, and a Common-Pulley Table

Size a belt stage from tooth counts or pitch diameters, with a pitch-diameter table for GT2, HTD, T5 and MXL pulleys and how RPM and torque change per stage.

Debugging CiA 402 Drive States: Not Ready, Fault, and Stuck in Switched On

Fix a CiA 402 drive stuck in Not Ready to Switch On, Switch On Disabled, Switched On or Fault. Decode the statusword first, then check voltage, remote and STO.

Statusword Decoded: 0x6041 Bit-by-Bit Reference

Every CiA 402 statusword (0x6041) bit, how to read the drive state from it, and what common values like 0x0237 (Operation Enabled) mean.

Controlword Cookbook: Every 0x6040 Bit and Command

Every CiA 402 controlword (0x6040) bit and the values to send: 0x0006 → 0x0007 → 0x000F to enable, 0x0080 to reset a fault, 0x0002 to quick-stop.

CiA 402 State Machine Explained: States, Transitions, and Troubleshooting

The CiA 402 (DS402) state machine: all 8 drive states, the 0x0006 → 0x0007 → 0x000F enable sequence, worked statusword decodes, and fixes for stuck drives.

How to Calculate Gear Ratio: Teeth, Stages and Electronic Gearing

Calculate gear ratio from tooth counts, multiply stages in a compound train, and set a servo drive’s electronic gear ratio. For machine design, not cars.

What is a Drivetrain?

How a drivetrain carries power from motor to load: motor, gear stages and output stage, the speed and torque formulas, and the 10× inertia-matching rule.

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