User build
Marcin's AR4 build
AR4 robot arm
Built by Marcin Jastrzębski1 chapter
- Model
- AR4
- Status
- In progress
The build, step by step
Follow the journey in CommunityChapter 1 · Oct 27, 2025
Step frequency
Hello, I have a question. Is there a parameter in the Teensy code that allows me to change the axis speed? I’m fine-tuning the arm control using AC servos, and I don’t want to reduce the servo resolution. With 1000 imp/rev on the motor, I’m not getting a satisfactory angular speed on the arm with a 1:100 gear ratio. What is the step pulse frequency (STEP signal frequency)?
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