Electronic – Transform pulses per second (pps) to rpm

You do not state the rotation rate you want, so I'll give you the time required for a single step from rest. Obviously, once you get the load spinning, the step time goes down. However, as speed goes up the available torque goes down, so at some point the load losses balance the torque available, and no further acceleration is possible. Additionally, at some point the inductance of the motor will prevent the winding currents from changing, but that is a more advanced subject.

1 - From the motor data sheet, determine the motor torque T at your desired current.

2 - From analysis of your load, determine the load angular moment of inertia.

3 - From the motor data sheet, determine the intrinsic motor moment of inertia, and add this to the load MOI, and call it J.

4 - Using the results of 1 and 3, determine the time required to accelerate from rest to one step angle theta, where $$ \Theta = \frac{T\times t^2}{2J} $$ or $$t = \sqrt{\frac{2J\Theta}{T}}$$

You need to be careful of your units, especially Theta, which must be in radians, rather than degrees. Also, this assumes no frictional losses in load bearings or something similar.

This is a very conservative number, and depending on the motor you may be able to get away with about 70% of this step time.

Stepper motors are natuarally resonant around each holding position because the holding torque varies from zero at the holding position out to a step distance away where the torque at its maximum.

As such, in a lightly loaded or damped system they can vibrate for quite some time upon stepping.

Use of micro-stepping reduces this effect by bringing the rotor towards the holding point with less velocity and overshoot. Basically, you do not hit the bell as hard.

Micro-stepping does however reduce the effective torque in an open loop system. Since the motor is really alternating between pulling from each direction to establish an average position. Those opposing forces cancel out leaving you with a lesser net force.

Pulse time for a specific RPM will be dependent on the number of steps per rev (poles) of the motor times whatever micro-stepping factor is employed by the driver.

\$PulseTime = 1/(RPM * 60 * Poles * MicroSteps)\$

Acceleration and deceleration profiles should also be employed to successfully ramp up and down the pulses at a rate that the motor can keep up with given your worst load and inertial conditions.