Asmall machine has an axis with a pulley-belt drive and a rotating load. the motion profile is trapezoidal with ta = td = 20 ms, tm = 3s, tdw = 0s. the pulley-belt drive has aluminum pulleys (rip = 1.6 cm, rlp = 4 cm radii, 1.2 cm pulley thickness, ⇢ = 2810 kg/m3, and ⌘ = 0.9). the belt weighs 50 gr. all coupler inertias are negligible. the load has jload = 1.5 ⇥ 104 kg m2 inertia, ! load = 800 rpm, and text = 1.3nm torque. select an akm2x series servo motor (320 vdc supply) from the kollmorgen catalog for this axis