So today I have calculated my steppers for XY that I have right now: Approximate peak back EMF due to rotation per motor: 7.8 V at 200.0 mm/s Approximate peak back EMF due to inductance per motor: 1.9 V at 200.0 mm/s Step pulse frequency: 18.8 kHz at 200.0 mm/s Speed at which torque starts to drop (low slip angle): 174.2 mm/s @ 23.2 kHz Speed at which torque starts to drop (high slip angle): 236.8 mm/s @ 31.5 kHz This means that I don’t need to change them? And how to take into account weight of the carriage? P.S.: One more crazy idea was to split carriage for 2 independent extruders. But that will give me more weight on Y axis..