How to convert from different motion units for position, velocity and torque

How to convert from different motion units for position, velocity and torque

Problem

I see that the torque/velocity/position parameters that the firmware of the drive uses can have different units and I don't understand the relationship between the different types nor how to convert from on to another. Where can I find these equations/conversion formulas between all these variables?

Solution

All the formulas that related the different units that can be used for torque/position/velocity registers can be found in the following links:

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