The equations on this page are affected by the following specs of your FarmBot hardware:

Motor Resolution 200 steps/revolution
Pulley Size 20 teeth/revolution
Belt Pitch 2mm/tooth

# Convert motor speed into linear speed

## Belt-driven axes (X and Y)

Linear Speed = Motor Speed / Motor Resolution x Pulley Size x Belt Pitch

For an example Motor Speed of 500 steps/second on the stock belt-driven (X and Y) axes, the equation works out to:

Linear Speed (mm/second) = 500 / 200 x 20 x 2 = 100 mm/s

## Leadscrew-driven axes (Z)

Linear Speed = Motor Speed / Motor Resolution x Leadscrew Lead

For an example Motor Speed of 500 steps/second on the stock leadscrew-driven (Z) axis, the equation works out to:

Linear Speed (mm/second) = 500 / 200 x 8 = 20 mm/s

# Calculate steps per mm

## Belt-driven axes (X and Y)

Steps per mm = Motor Resolution / Pulley Size / Belt Pitch

For the stock belt-driven (X and Y) axes, the equation works out to:

Steps per mm = 200 / 20 / 2 = 5 steps/mm

## Leadscrew-driven axes (Z)

Linear Distance = Motor Resolution / Leadscrew Lead

For the stock leadscrew-driven (Z) axis, the equations works out to:

Steps per mm = 200 / 8 = 25 steps/mm