You need to consider the diameter of the pinion. A 1” diameter pinion will travel 3.14 inches per rotation. So if you want 100IPM you have to have an output of ~32 RPM. If your motors output 2000RPM you need to gear them down with a 62.5:1. This is not an easy task. Take note that your tourque is multiplied by your reduction ration. So, for example if you have 50 oz/in servos then you now have 3125 oz/in of torque. 3125 will easily move a 150Lbs gantry on a 1” pinion. 50 oz/in will NOT move that gantry.
Additional points to note:
Servos reach their rated torque as they approach their max RPM.
Steppers have their rated torque while not moving. Their torque quickly dissipates with speed.
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