Simply, we have provided a formula: v = f / n
v: motor speed (rps)
f: frequency (pps)
n: number of microstep, you can find it on stepper driver.
eg. When stepper motor driver receiving frequency 4000pps from controller, and mircostep setting on the
driver is: 2000, the speed of motor is: v = 4000/2000 = 20rps = 1200rpm
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