Size servos using Peak Torque, RMS Torque, Inerita Ratio, and Speed. These four basic servomotor sizing concepts are introduced. The material in this module was published in printed form by Design News. This eLM is also available on the Yaskawa America, Inc. - Drives & Motion Division learning management system, "Learn with Yaskawa". Keyword: Use Learn with Yaskawa for all your Yaskawa product training needs.