oops I for the quote:
ReLiance DC servo motor micro 100 series
Nema frame 34
Back EMF Constant ke=68 v/kRPM
Torque constant kt=5.75 lb-in/Amp
Thats per amp of motor current
at 10 amps thats 57.5 lb-in=920 oz in
Rated peak torque 1080
the original encoders were 2048 line but I got 500 count
turmite