Axes step limit values calculation

Sir,

i am connecting BCN3D robot with AR2 software. I can able to move robot from jog, i followed your video. I have few queries.

How to calculate the Joint step limit. For example J1 i set negative and positive limit is -160 to +160, How to calculate the step limit. remaining axes also, if i adjust values trial and error, it is not matching actual values, sir pls support