{
  "description": "Horizontal screw-driven inspection shuttle; declared reference inputs, not a vendor motor selection.",
  "travel_m": 0.32,
  "dwell_s": [0.25, 0.35],
  "sample_dt_s": 0.002,
  "axis": {"mass_kg":22.0,"lead_m_rev":0.02,"forward_efficiency":0.90,"backdrive_efficiency":0.85,"coulomb_force_N":28.0,"linear_viscous_Ns_m":15.0,"rotating_inertia_kgm2":0.00008,"rotary_viscous_Nms":0.00002,"torque_constant_Nm_Arms":0.5,"phase_resistance_ohm":0.7,"drive_motoring_efficiency":0.95,"drive_regen_efficiency":0.85},
  "limits": {"peak_torque_Nm":0.62,"continuous_torque_Nm":0.30,"peak_current_Arms":1.24,"continuous_current_Arms":0.60,"maximum_speed_rpm":1800.0,"regen_energy_per_cycle_J":8.0,"average_regen_W":4.0},
  "candidate_velocity_m_s":[0.20,0.35,0.50,0.65],
  "candidate_acceleration_m_s2":[0.8,1.6,2.4,3.2],
  "candidate_jerk_m_s3":[12.0,24.0,48.0],
  "corners":[
    {"name":"nominal","changes":{}},
    {"name":"heavy_payload","changes":{"mass_kg":30.0}},
    {"name":"high_drag","changes":{"coulomb_force_N":42.0,"linear_viscous_Ns_m":22.0}},
    {"name":"lower_efficiency","changes":{"forward_efficiency":0.82,"backdrive_efficiency":0.75}},
    {"name":"combined_corner","changes":{"mass_kg":30.0,"coulomb_force_N":42.0,"linear_viscous_Ns_m":22.0,"forward_efficiency":0.82,"backdrive_efficiency":0.75,"rotating_inertia_kgm2":0.00010}}
  ]
}