In AR2 calibration video, in AR2 software gui, there is a variable called Step lim for example J1 Step lim: 30100. how do I calculate this number? is it related to the steps/rev on the driver? as If I am controlling the motor on half-stepping (400steps/rev) and the angle limit is from -170 to +170 (340 degrees) that would make the motor makes 378 steps to complete the 340 degrees angle or is that a different thing?