When your printer comes from the factory, it will probably not be set up to run the motors at their rated limits. The current will be throttled down in order to run the motors cooler, quieter, and more efficiently.
In general, you should give your motors the minimum power necessary to do the job.
Your stepper drivers datasheet will have a formula for converting between the reference voltage (Volts) and the current limit (Amps). Here are the formulas for some common drivers:
Pololu A4988: Current Limit = VREF × 2.5
Panucatt SureStepr SD8825: Current Limit = VREF x 2
Remember to set your meter to 20 V DC.
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