Beijing RichAuto S&T Co., Ltd.
Forging ahead and determined to win 70
9.6 Calculate pulse equivalent
9.6.1 Stepper driver
1. linear axis Unit： pul/mm
Formula = pulses per revolution / distance per revolution
Pulses per revolution formula: (360 °/stepper angle)* Driver subdivision
Some stepper drivers mark pulse number directly.
Distance/r formula：
► Screw drive = screw pitch*mechanical transmission ratio
► Rack（straight）drive = rack module*gear teeth number*π*mechanical transmission ratio
► Rack（helical）drive = rack module*gear teeth number*π*mechanical transmission ratio/cos
（helical angle）
► Pulley&belt drive = π*pulley diameter*mechanical transmission ratio
Screw drive：
pulse =
360 °
Stepper angle
∗Driver subdivision
Screw pitch ∗transmission ratio
Driver nameplate 1 Driver nameplate 2 Motor nameplate
Screw pitch(above picture): The distance that the nut moves when the ball screw makes one
rotation.
Transmission ratio: The speed ratio or angular velocity ratio of the capstan and the driven wheel.
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