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
