Thanks for the response! Got it, makes sense. I forgot to take into account the driver settings. For anyone else (and to remind myself later), below is the equation to get to the J*encMult values: (4 encoder counts / 1 encoder pulse) * X * (1 / Y) = encoder counts per step Where X = pulses per revolution as set on the AMT 102 e.g. 512 and Y = steps per revolution as set on the driver DM542T/DM320T e.g. 800 For J5 this would be 4 * 512 * (1/800) = 2.56 all the other motors use 400 steps per revolution so their encMult values are 5.12.