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How to calculate the speed according to frequency(PPS)?

Q: How to calculate the speed according to frequency(PPS)?

A: 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