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Reading my earlier post, I didn’t respond with why my system wasn’t working. I found the reason after some trawling of the OnStep help section:
My motors are Nema 17 with a 51:1 planetary reduction. They are 1.6A motors. The drivers are LV8729, which don’t like the high current draw required by these motors. I slapped some A4988s in, updated the firmware and presto!
To work with these drivers, you need the 0.9A motors. Perhaps someone who knows more about these things can comment.
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