Motor and driver terms
Full steps per revolution = 360 ÷ motor step angle. A 1.8° motor has 200 full steps; a 0.9° motor has 400. Microsteps are the subdivisions configured in the stepper driver and firmware. Higher microstepping can smooth motion, but theoretical subdivision is not the same as guaranteed positioning accuracy.
Belt and screw travel
For a synchronous belt axis, travel per pulley revolution = belt pitch × pulley teeth. For a lead screw, lead = pitch × thread starts. A reduction ratio multiplies the motor steps required for one output revolution.
Firmware relationships
Measured correction
Corrected steps/mm = current steps/mm × commanded distance ÷ measured distance. Corrected rotation_distance uses the inverse ratio. Apply this only to repeatable direct-travel error after checking mechanics.
Pulse rate
Pulse rate in steps/s = steps/mm × mm/s. Motor RPM then follows from pulse rate and configured microsteps. Controller headroom and motor torque are separate constraints.
Engineering cautions
Backlash, compliance, belt tension, pulley eccentricity, screw error, resonance, driver current, and frame alignment are not corrected by theoretical resolution. Verify machine changes at low speed before restoring normal acceleration and travel limits.