The step pulses are too short. Try changing it to 5 us.
Why does the definition on the left not match your note on the right? ~80 steps/mm is typical of a 200 step/rev motor with a 20 tooth pulley running at 16:1 ustepping.
# Arm solution configuration : Cartesian robot. Translates mm positions into stepper positions alpha_steps_per_mm 161 # Steps per mm for alpha stepper 78.7402 beta_steps_per_mm 161 # Steps per mm for beta stepper 78.7402 gamma_steps_per_mm 640 # Steps per mm for gamma stepper 400
Why does the definition on the left not match your note on the right? ~80 steps/mm is typical of a 200 step/rev motor with a 20 tooth pulley running at 16:1 ustepping.