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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-655.6458" x="432.6363 437.9723 440.6363 445.0843 449.9723 451.8979 457.6739 462.5619 467.4499 469.6739 474.1219 476.3459 482.1219 487.0099 494.1219 499.0099 503.4579 506.5699 511.01789 513.2419 518.1299 522.5779 527.0259">Step Angle Numbers used</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-641.8215" x="344.0797 348.9677 353.4157 355.1917">Full</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-641.8215" x="460.0348 464.4828 466.7068 468.9308 473.37879 477.82679 480.05079 482.27479 486.72279 491.17079 493.39479 495.61878 500.06678">8, 24, 40, 56</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-627.9973" x="343.4117 349.1877 353.6357 355.4117">Half</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-627.9973" x="435.5719 440.0199 442.2439 444.4679 448.9159 451.1399 453.3639 457.8119 462.2599 464.4839 466.7079 471.15589 475.60389 477.82789 480.05189 484.49989 488.94789 491.17189 493.39588 497.84388 502.29188 504.51588 506.73988 511.18788 515.63589 517.85989 520.08389 524.53189">0, 8, 16, 24, 32, 40, 48, 56</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-614.1731" x="336.9644 343.1884 347.63639 352.08439 354.74839 356.97239 361.42039">Quarter</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-614.1731" x="430.0133 434.4613 436.6853 438.9093 443.3573 445.5813 447.8053 452.2533 454.4773 456.7013 461.1493 465.5973 467.8213 470.0453 474.4933 478.94129 481.16529 483.38929 487.83729 492.28529 494.50929 496.73329 501.18128 505.62928 507.85328 510.07728 514.52529 518.97329 521.19729 523.42129 527.86929 532.31729 534.54129">0, 4, 8, 12, 16, 20, 24, 28, 32, </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-614.1731" x="536.7594"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-604.5731" x="437.7945 442.2425 446.6905 448.9145 451.1385 455.5865 460.0345 462.25849 464.48249 468.93049 473.37849 475.60249 477.82649 482.27449 486.72248 488.94648 491.17048 495.61848 500.06648 502.29048 504.51448 508.96247 513.41049 515.63449 517.85848 522.30648">36, 40, 44, 48, 52, 56, 60</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-590.7489" x="333.8473 339.1833 340.9593 344.9593 347.1833 351.6313 356.07929 360.52729 362.75129">Sixteenth</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-590.7489" x="477.8297 483.1657 484.9417">All</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-569.9989" x="312 318.11 323.11 327.55 330.05 337.83 340.61 345.05 348.37998 353.37998 357.27 360.05 364.49 369.49 371.99 375.88 380.32 383.1 387.54 391.98 394.76 397.26 400.04 405.04 410.04 415.04 417.82 421.71003 424.21003 428.65003 433.09004 438.09004 440.59004 445.59004 450.03004 452.53004 456.97004 461.97004 466.41004 471.41004 476.41004 480.85005 485.85005 488.35005 493.35005 497.79005 500.57005 507.79005 512.23007 516.67007 521.67007 524.17007 528.61007 533.05007 537.49008 542.49008 544.99008 548.32009 551.1001 554.9901 557.77017 562.77017 567.77017">The microstep select inputs can be changed between each rising </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-557.9989" x="312 316.44 321.44 326.44 330.88 333.38 338.38 341.71 344.21 346.99 351.99 356.43 358.93 364.49 370.59999 376.70997 381.89295 384.39295 387.17295 392.17295 397.17295 402.17295 404.95295 407.45295 409.76896 415.87895 420.87895 425.31895 427.81895 432.81895 437.81895 440.59895 445.59895 448.09895 451.42893 455.86894 459.75895 462.53895 465.86894 468.64894 473.08894 475.86894 478.64894 483.64894 488.64894 491.14894 493.92893 497.81895 500.31895 503.09895 508.09895 512.53897 515.319 517.819 520.599 525.599 530.039 532.539 541.429 546.989 554.209 556.709 561.149 566.149 571.149">edge of the STEP input. The only restriction is that the MSO and </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-545.9989" x="312 320.89 326.45 331.45 333.95 336.73 341.73 346.73 349.51 353.95 356.45 359.23 364.23 369.23 374.23 377.01 380.90003 383.40003 391.18003 396.18003 400.07005 402.85005 405.35005 409.79005 414.79005 422.57005 427.57005 430.35005 435.35005 437.85005 445.07005 447.85005 450.63005 455.63005 458.13005 460.91004 465.91004 470.35005 472.85005 476.74006 481.18006 483.96006 487.29005 492.29005 497.29005 499.79005 504.23005 509.23005 514.23007 516.73007 521.73007 526.73007 529.5101 534.5101 537.0101 539.7901 542.5701 550.35018 553.1302 558.1302 563.1302">MS1 logic inputs must comply with the set-up and hold timing </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-533.9989" x="312 316.44 321.44 326.44 330.33003 333.11003 336.44 340.88 343.66 348.66 351.44 355.33003 357.83003 360.144 369.584 374.584 379.02403 384.02403 386.52403 389.30403 394.30403 398.74403 401.24403 409.02403 411.80403 416.24403 419.574 424.574 428.46403 431.24403 435.68403 440.68403 443.18403 446.514 450.954 454.84403 459.84403 462.62403 467.62403 470.40403 473.18403 478.18403 483.18403 485.68403 490.12403 495.12403 499.56404 504.56404 509.56404 514.004 517.89407 520.39407 522.89407 525.6741 530.6741 535.1141 537.03909 544.25906 549.25906 554.25906 559.25906 564.25906">constraints. When the microstep resolution changes, the A3981 </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-521.9989" x="312 319.78 324.78 329.78 334.22 338.11003 340.61003 343.39 348.39 350.89 353.67 358.67 363.11003 365.61003 370.61003 375.05003 380.05003 382.83003 385.33003 389.77003 394.77003 399.21003 401.99003 404.77003 409.21003 414.21003 416.99003 421.43003 423.93003 429.49003 432.27003 436.71003 441.71003 443.63603 450.85603 455.85603 460.85603 463.63603 468.07603 470.57603 477.79603 482.79603 490.57603 495.57603 500.01603 503.346 505.846 510.846 515.846 518.346 521.12606 526.12606 530.56607 533.06607 538.06607 542.50607 547.50607 550.2861 552.7861 556.1161 558.8961 562.78616 565.56619 570.56619 575.56619">moves to the next available Step Angle Number on the next rising </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-509.9989" x="312 316.44 321.44 326.44 330.88 333.38 338.38 341.71 344.21 346.99 351.99 356.43 358.93 364.49 370.59999 376.70997 381.89295 384.39295 387.17295 392.17295 397.17295 402.17295 404.95295 407.45295 409.95295 415.51295 420.51295 423.84294 426.34294 430.78294 435.78294 440.22294 448.00294 453.00294 455.78294 460.22294 462.72294 465.22294 468.00294 471.33293 473.83293 476.6129 481.6129 486.05293 488.55293 496.33293 499.1129 503.55293 506.8829 511.8829 515.7729 518.5529 522.9929 527.9929 530.4929 538.27297 543.27297 548.27297 552.71298 555.21298 557.993 561.883">edge of the STEP input. For example, if the microstep mode is </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-497.9989" x="312 315.89 318.67 323.67 326.45 330.89 335.33003 340.33003 343.11003 348.11003 350.61003 355.05003 360.05003 365.05003 367.55003 370.33003 375.33003 379.77003 382.27003 387.27003 390.6 395.04 398.93003 403.37004 408.37004 411.15003 413.65003 419.21003 421.99003 426.43003 431.43003 433.36204 440.58204 445.58204 450.58204 453.36204 457.80204 460.30204 467.52204 472.52204 480.30204 485.30204 489.74205 493.07203 495.57203 498.35203 502.24205 504.74205 509.74205 514.74209 517.24209 519.74209 522.5221 527.5221 531.9621 536.9621 539.4621 546.68209 549.4621 552.2421 557.2421 559.7421 562.52218 567.52218 571.96218">sixteenth and the present Step Angle Number is 59, then with the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-485.9989" x="312 317 319.78 323.11 327.55 331.99 334.77 337.55 342.55 347.55 350.05 353.37998 358.37998 361.70997 368.92997 373.36997 376.69996 381.69996 385.58998 388.08998 391.41996 394.19996 399.19996 403.63996 406.96995 411.40995 415.84996 419.73997 422.51997 427.51997 432.51997 435.01997 440.57997 443.35997 447.79997 452.79997 454.73396 461.95396 466.95396 471.95396 474.73396 479.17396 481.67396 488.89396 493.89396 501.67396 506.67396 511.11396 514.444 517.774 520.274 522.774 527.214 532.214 536.654 541.654 546.654 549.434 554.434 559.434">direction forwards (increasing Step Angle Number), changing </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-473.9989" x="312 314.78 319.78 322.28 327.28 332.28 336.72 340.05 342.83 347.27 350.59999 353.09999 356.99 359.77 364.21 369.21 371.71 379.49 384.49 389.49 393.93 396.43 403.65 406.43 409.21 411.99 414.49 418.93 423.37 428.37 432.26 436.7 439.2 441.98 446.98 451.42 453.92 458.92 463.92 468.36003 472.25004 476.69004 479.19004 484.19004 489.19004 496.97004 501.97004 506.41004 509.74003 512.24 515.02 520.02 522.52 527.52 532.52 535.02 537.80007 542.80007 545.30007 550.30007 555.30007 557.80007 562.80007 567.80007">to quarter step mode will cause the phase number to go to 60 on </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-461.9989" x="312 314.78 319.78 324.22 326.72 331.72 336.16 341.16 343.94 346.44 349.77 352.55 356.44 359.22 364.22 369.22 371.72 376.16 381.16 386.16 390.6 393.1 398.1 401.43 403.93 406.71 411.71 416.15 418.65 424.21 430.31999 436.42997 441.60398 444.10398 446.88398 451.88398 456.88398 461.88398 464.66398 467.16398 469.66398 472.99397 476.32395 478.82395 481.60395 486.60395 490.49397 493.27397 497.71397 502.15397 507.15397 509.65397 512.43399 517.43399 521.87399 524.37399 532.154 534.934 539.374 542.70407 547.70407 551.59408 554.3741 558.8141 563.8141">the next rising edge of the STEP input. If instead the microstep </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-449.9989" x="312 319.78 324.78 329.78 334.22 336.72 339.5 343.39 345.89 350.33003 355.33003 359.77003 364.77003 369.77003 374.21003 379.21003 381.71003 384.49003 389.49003 391.99003 396.99003 401.43003 404.21003 407.54 410.04 413.93003 416.71003 421.15003 426.15003 428.65003 431.43003 436.43003 440.87004 445.87004 448.37004 451.15003 456.15003 460.59004 463.09004 468.09004 473.09004 477.53004 481.42005 485.86006 488.36006 493.36006 498.36006 506.14006 511.14006 515.58 518.91006 521.41006 528.63 531.41006 534.19009 536.9701 539.4701 544.4701 549.4701 551.9701 554.7501 559.7501 562.2501 567.2501">mode is changed to half step then the phase number will go to 0 </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-437.9989" x="312 317 322 324.5 327.28 332.28 336.72 339.22 344.22 348.66 353.66 356.44 358.94 362.27 365.05 368.94 371.72 376.72 381.72 384.22 388.66 393.66 398.66 403.1 405.6 410.6 413.93 416.43 419.21 424.21 428.65 431.15 436.71 442.81999 448.92997 454.10398 456.60398 459.38398 464.38398 469.38398 474.38398 477.16398 479.66398 482.16398 485.49397 488.82395 491.32395 494.10395 499.10395 503.54396 506.04396 513.824 516.604 521.044 524.374 529.374 533.26406 536.04409 540.4841 545.4841 547.9841 555.7641 560.7641 565.7641 570.2041">on the next rising edge of the STEP input. If the microstep mode </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-425.9989" x="312 314.78 318.67 321.17 325.61003 330.61003 335.05003 340.05003 345.05003 349.49003 354.49003 356.99003 359.77003 364.77003 367.27003 370.6 375.6 378.38 381.16 383.66 387.55003 390.33003 394.77003 399.77003 402.27003 405.05003 410.05003 414.49003 419.49003 421.99003 424.77003 429.77003 434.21003 436.71003 441.71003 446.71003 451.15003 455.04005 459.48005 461.98005 466.98005 471.98005 479.76005 484.76005 489.20005 492.53004 495.03004 502.25004 505.03004 507.81004 510.59004 513.09 518.09 523.09 525.59 528.37008 533.37008 535.87008 540.87008 543.37008 548.37008 553.37008 555.87008 558.6501 563.6501 568.0901">is changed to full step then the phase number will go to 8 on the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-413.9989" x="312 317 321.44 326.44 329.22 331.72 335.05 337.83 341.72 344.5 349.5 354.5 357 361.44 366.44 371.44 375.88 378.38 383.38 386.71 389.21 391.99 396.99 401.43 403.93 409.49 415.59999 421.70997 426.88798 429.38798 432.16798 437.16798 442.16798 447.16798 449.94798">next rising edge of the STEP input.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-391.4989" x="312.1758 319.74583 327.87583 335.44584 341.90583 349.47584 357.60585 363.70985 366.66383 373.1238 380.69383 388.26383 396.39384 403.96385 412.09385 419.49085 422.44483 428.90483 436.47483 443.31983 446.2738 453.2938 460.31379 467.8838 471.0138 478.5838 484.6878 487.64179 490.7718 498.3418 504.8018 511.82179 519.3918 525.2998 532.8698 540.4398">CONTROL THROUGH THE SERIAL INTERFACE</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-374.9989" x="312 318.11 323.11 327.55 329.495 336.715 341.715 346.715 351.715 356.715 359.215 364.215 367.54499 372.54499 377.54499 380.32499 385.32499 389.76499 393.655 396.155 398.935 403.935 408.375 410.875 415.315 420.315 423.095 425.875 428.655 431.435 436.435 438.935 441.715 446.715 449.215 454.215 456.995 460.32499 464.76499 469.205 471.985 474.76499 479.76499 482.26499 486.705 491.705 496.705 499.485 502.81498 507.81498 510.59498 513.095 515.875 520.875 525.315 527.815 535.59506 540.59506 543.37509 548.37509 551.7051">The A3981 provides the ability to directly control the motor </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-362.9989" x="312 319.78 324.78 329.78 334.22 342 346.44 351.44 354.22 356.72 361.72 365.61003 368.39 373.39 378.39 380.89 385.89 390.89 393.67 398.67 401.17 403.95 408.95 413.39 415.89 419.78004 424.22004 427.55003 430.33003 434.77003 437.55003 440.05003 442.83003 447.83003 450.61003 455.05003 458.38 461.71 466.15 470.59 475.03 477.53 480.03 483.36 488.36 490.86 494.18998 498.62998 503.06999 505.84999 508.34999 510.84999 515.29 518.07 520.85006 523.35006 526.68008 531.12008 535.56008 538.3401 543.3401 546.6701 551.1101 555.0001">movement using only the serial interface. In fact, all features </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-350.9989" x="312 317 320.33 322.83 325.61 330.61 335.05 336.995 344.215 349.215 354.215 359.215 364.215 366.715 369.215 373.655 378.655 383.095 387.535 392.535 395.315 397.815 401.70503 404.48503 408.92503 413.36503 418.36503 420.86503 428.64503 433.64503 438.64503 443.08503 445.58503 448.08503 452.52503 456.96504 461.96504 464.46504 469.46504 473.90504 476.40504 480.84504 485.84504 490.84504 493.62504 496.95503 501.95503 504.73503 507.515 511.95503 516.955 519.455 522.23507 527.23507 530.56509 535.56509 540.56509 545.56509 550.56509 553.06509 555.8451 560.8451 565.2851">of the A3981, except sleep mode, can be controlled through the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-338.9989" x="312 315.89 320.33003 323.66 326.44 330.88 333.66 336.16 338.94 343.94 346.72 351.16 354.49 357.81999 362.25999 366.69999 371.13999 373.63999 376.41999 381.41999 386.41999 390.31 392.81 396.13999 400.58 408.36 413.36 418.36 421.13999 426.13999 431.13999 433.63999 436.41999 441.41999 445.86 448.36 451.68998 456.12998 461.12998 466.12998 468.90998 472.23997 476.67997 484.45997 488.89997 493.89997 496.67997 499.17997 502.50996 507.50996 510.83995 513.33999 516.12 521.12 526.12 528.9 533.9 536.68008 541.68008 546.68008 551.12008 553.9001">serial interface thus removing the requirement for individual </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-326.9989" x="312 316.44 321.44 326.44 329.22 332.55 337.55 340.33 342.83 345.61 350.61 355.61 360.61 363.38999 367.28 369.78 372.093 378.20298 383.20298 385.98298 389.873 392.373 396.813 401.253 406.253 408.753 412.08299 416.52299 421.52299 426.52299 430.96299 435.40299 437.90299 440.68299 445.68299 450.123 452.623 455.40299 460.40299 463.18299 467.623 470.95298 474.28297 478.72297 483.16297 487.60298 490.10298 493.43296 497.87297 502.87297 507.87297 510.65296 513.983 518.423 526.203 530.643 535.643 538.42306 540.92306 544.25308 547.58309 552.58309 560.3631">control inputs. This can reduce the interface requirement from </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-314.9989" x="312 319.78 324.78 327.56 330.34 333.12 338.12 340.9 345.34 347.84 351.16999 353.94999 361.16999 363.66999 367.56 370.34 375.34 380.34 384.78 387.56 391.45 393.95 396.73 401.73 404.23 408.67 411.17 415.06004 417.84004 422.84004 427.84004 430.62004 435.06004 437.56004 440.89 445.89 450.89 454.22 456.72 463.94 466.72 470.05 474.49 476.99 479.77 484.77 487.55 491.99 495.31999 498.64997 503.08998 507.52998 511.96998">multiple I/O signals to a single four wire interface.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-296.9989" x="312 320.86 325.83 328.58 333.55 336.84999 339.31999 347.06999 352.03999 357.00999 361.41999 369.16999 373.58 378.55 381.3 383.77 386.52 390.37998 392.84999 397.25999 402.22999 407.19999 409.94999 413.24998 418.21998 420.96998 423.71998 428.12998 433.09999 435.56999 440.53999 444.39997 447.14997 452.11997 457.08998 459.55998 462.30998 467.27998 471.68998 474.15998 478.01997 482.42997 485.72996 488.47996 492.88996 495.63996 498.10997 500.85997 505.82997 508.57997 512.9899 516.2899 519.5899 523.9999 528.40988 532.8198 535.2898 540.25979 545.25979">Motor movement is controlled using the serial interface by </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-284.9989" x="312 314.75 319.72 324.13 327.43 331.84 336.25 340.11 342.86 347.83 352.8 355.27 360.24 363.53999 366.00999 370.97999 375.38999 379.8 383.09999 387.50999 391.91999 395.77998 398.52998 403.49998 408.46998 410.93998 413.68998 418.65998 423.06999 425.53999 431.06999 433.81999 438.22999 443.19999 445.11799 452.30799 457.27799 462.248 464.998 469.408 471.878 479.068 484.038 491.788 496.758 501.168 503.916 506.386 508.856 516.04598 521.0159 523.7659 528.1759 530.6459 533.3959 538.36587 542.7758 545.5258 547.9958 550.7458 555.71578 560.15377">increasing or decreasing the Step Angle Number. Note that the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-272.9989" x="312 319.75 324.16 329.13 331.88 339.63 344.6 352.35 354.82 359.79 364.2 366.95 371.92 376.33003 378.80003 383.77003 387.07 389.54 392.29 397.26 401.67 404.14 409.67 412.42 416.83003 421.80003 423.71803 430.90803 435.87803 440.84803 443.59803 448.00804 450.47804 457.66804 462.63804 470.38804 475.35804 479.76805 483.06803 485.53804 488.28804 492.148 494.618 499.588 504.558 507.028 511.43803 516.408 521.378 523.84799 526.59799 531.56796 535.9779 538.4479 546.1979 548.9479 553.91787">maximum value of the Step Angle Number is 63 and the mini</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-272.9989" x="556.6376">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-260.9989" x="312 319.75 324.72 332.47 334.94 339.91 344.88 352.63 357.6 362.01 365.31 367.78 370.53 374.38999 376.86 381.83 384.3 390.37998 395.34999 399.75999 403.05998 407.46998 410.76997 415.73997 419.03996 423.44996 425.91996 428.38996 432.79997 437.76997 442.73997 445.20997 447.95997 452.92997 457.33998 460.63996 465.04997 469.45997 473.31996 477.72996 480.19996 485.16996 488.46995 490.93995 495.90995 500.31996 504.72996 508.02995 512.43997 516.8499 520.7099 525.1199 527.58987 530.33987 535.3098 537.7798 540.5298 545.49978 549.9387">mum number is 0.Therefore, any increase or decrease in the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-248.9989" x="312 319.75 322.5 326.91 330.21 335.18 339.03999 341.78999 346.19999 351.16999 353.63999 358.61 363.58 371.33 376.3 380.71 384.00999 386.47999 389.22999 393.08998 395.55998 400.52998 404.93998 408.23997 411.53996 416.50996 419.80995 427.55995 431.96995 436.93995 439.40995 444.37995 448.23994 450.98994 455.95994 460.92994 463.39994 471.14994 476.11994 481.08995 486.05995 488.80995 493.77995 496.24995 501.21995 506.18995 508.65995 513.06997 516.36996 519.11996 521.86996 526.8399 534.5899 538.9999 541.7499 544.4999 548.90988 551.3798 553.66879 559.7488 564.71878 567.46878 571.3607">microstep number is performed using modulo 64 arithmetic. This </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-236.9989" x="312 319.75 324.16 328.57 333.54 337.4 339.87 342.62 347.59 352 354.75 357.22 359.97 364.94 369.35 372.65 377.06 381.47 385.33 388.08 393.05 398.02 400.49 404.9 407.37 412.9 415.65 420.06 425.03 426.949 434.139 439.109 444.079 446.829 451.239 453.709 460.89903 465.86903 473.61903 478.58903 482.99903 486.299 488.769 493.739 497.039 499.509 504.479 509.449 511.919 516.889 521.85897 524.3289 529.2989 531.76889 538.95889 541.70889 544.45889 547.20889 549.67886 554.6488 557.9488">means that increasing a Step Angle Number of 63 by 1 will pro</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-236.9989" x="562.8946">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-224.9989" x="312 316.97 321.94 326.35 330.76 333.23 337.64 340.11003 345.64 348.39 352.80003 357.77003 359.68904 366.87904 371.84904 376.81904 379.56904 383.97904 386.44905 393.63905 398.60905 406.35905 411.32905 415.73905 419.03904 421.50904 426.47904 429.77903 432.24903 437.21903 439.68904 442.15904 445.459 450.42903 454.83903 458.139 462.549 466.959 470.819 473.569 478.539 483.509 485.979 490.949 495.919 498.389 501.139 508.329 513.299 515.769 519.069 522.36898 527.3389 535.0889 537.5589 542.5289 547.49887 549.9688 557.1588 559.9088 562.6588 565.4368">duce a Step Angle Number of 0. Increasing by two from 63 will </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-212.9989" x="312 316.97 320.27 325.24 330.21 335.18 339.59 344 346.47 351.44 353.91 358.32 363.29 368.26 370.73 374.59 379.56 382.03 387 391.97 394.44 396.91 402.44 405.19 412.94 415.69 418.44 422.85 426.15 428.9 433.87 436.34 439.09 444.06 446.53 449.28 454.25 458.66 461.13 464.43 468.84 473.81 478.22 481.52 485.37998 489.78999 492.25999 497.22999 499.97999 503.27998 507.68998 512.1 514.85 517.6 522.56997 527.5399 530.0099 532.47988 537.4498 541.8598 546.2698 549.56979 553.97976 558.3897 562.2497 564.9997 569.96969 574.96969">produce 1 and so on. Similarly in the reverse direction, decreasing </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-200.9989" x="312 316.41 318.88 324.41 327.16 331.57 336.54 338.458 345.648 350.618 355.588 358.338 362.74803 365.21803 372.40803 377.37803 385.12803 390.09803 394.50804 397.808 400.278 405.24803 408.548 411.018 415.988 418.458 423.428 428.398 430.868 435.838 438.308 445.49803 448.24803 450.99803 453.74803 456.21803 461.18803 464.488 469.458 474.428 479.398 483.808 488.21803 490.68803 495.09803 497.56803 503.09803 505.84803 510.25804 515.228 517.147 524.337 529.30697 534.2769 537.0269 541.4369 543.90689 551.09689 556.06686">a Step Angle Number of 0 by 1 will produce a Step Angle Num</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-200.9989" x="563.7993">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-188.9989" x="312 316.97 321.38 324.68 327.15 332.12 335.41999 337.88999 342.86 347.83 350.3 352.77 359.96 364.37 368.78 372.08 376.49 380.9 384.75999 387.50999 392.47999 397.44999 399.91999 404.88999 409.86 412.33 415.08 422.27 427.24 429.71 433.00999 436.30998 441.27998 449.02998 451.49998 456.46998 458.93998 466.12998 468.87998 471.62998 474.37998 476.84999 481.81999 485.11997 490.08998 495.05998 500.02998 504.43998 508.84999 511.31999 516.29 521.25997 523.7299 528.1399 533.10989 538.07986 540.5498 544.4098 549.37979 551.84976 556.8197 561.7897">ber of 63. Decreasing by two from 0 will produce 62 and so on.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-170.9989" x="312 318.11 323.11 327.55 330.05 332.83 337.27 341.71 345.6 348.38 350.88 354.77003 357.55003 362.55003 367.55003 370.33003 373.66 376.44 380.88 385.32 390.32 393.1 395.6 399.49003 402.27003 407.27003 409.77003 414.77003 417.55003 420.33003 424.22004 426.72004 431.72004 435.05003 437.55003 440.33003 445.33003 449.77003 452.27003 458.94004 463.94004 468.94004 471.44004 474.77003 479.21003 484.21003 486.99003 490.88005 493.66004 498.10005 501.00404 503.50404 506.00404 511.00404 513.78408 516.5641 520.4541 522.9541 527.9541 530.4541 533.23416 538.23416 540.73416 545.73416 548.23416 550.73416 555.17416 558.50418 562.94418">The least significant six bits of the Run register, bits 0 to 5, are </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-158.9989" x="312 314.78 319.78 324.22 326.68 330.57 333.35 337.79 342.79 345.25 349.69 354.69 359.13 364.13 369.13 373.57 376.03 381.03 386.03 393.81 398.81 403.25 406.176 408.676 411.136 416.69599 423.366 426.69599 431.69599 434.19599 436.69599 441.69599 445.02598 447.52598 449.80897 455.91896 460.91896 463.69895 467.58897 470.04896 475.04896 480.04896 487.82896 492.82896 497.26896 500.59895 503.05894 505.83894 509.72895 512.18899 516.62899 519.089 521.869 529.089 534.089 536.867 540.757 543.21707 547.65707 552.65707 560.4371 565.4371 568.2171">the step change number, SC[5..0]. This number is a two&#x2019;s comple</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-158.9989" x="572.6699">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-146.9989" x="312 319.78 324.22 329.22 332 334.5 339.5 344.5 352.28 357.28 361.72 365.05 367.55 370.33 375.33 379.77 382.55 385.05 387.83 391.72 394.22 398.66 403.66 408.66 413.1 418.1 420.6 423.38 428.38 430.88 433.66 438.66 443.1 445.6 451.16 453.94 458.38 463.38 465.306 472.526 477.526 482.526 485.306 489.746 492.246 499.466 504.466 512.24606 517.24606 521.68606 525.01608 527.51608 531.95608 536.39608 541.39608 545.2861 548.0661 553.0661 558.0661 560.5661 563.3461 566.12619">ment number that is added to the Step Angle Number causing it </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-134.9989" x="312 314.78 319.78 322.28 325.06 330.06 334.5 337.83 342.27 346.71 350.6 355.04 357.54 362.54 365.87 368.37 373.37 377.81 382.25 385.58 390.02 394.46 398.35 402.79 405.29 407.596 413.00599 420.22599 425.22599 428.00599 431.896 434.396 438.836 443.836 451.616 456.616 459.396 463.836 471.616 476.056 481.056 483.836 486.336 489.116 493.006 495.506 498.286 503.286 507.726 510.226 515.226 519.666 522.44607 527.44607 530.77609 535.21609 537.9961 540.4961 543.2761 548.2761 551.05618 555.49618 560.49618 564.93618 568.2662">to increase or decrease. Two&#x2019;s complement is the natural integer </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-122.9989" x="312 317 322 329.78 334.78 339.22 342.55 345.05 348.94 353.94 357.83003 360.61003 365.05003 372.83003 375.33003 378.66 383.66 386.99 389.49 397.27 402.27 406.16 408.94 411.44 419.22 422 426.44 429.77 434.77 439.21 444.21 449.21 451.99 455.31999 460.31999 463.09999 465.87998 470.31999 473.64997 477.53999 480.03999 482.34199 488.45198 493.45198 496.23197 500.12199 502.62199 507.06199 509.84199 512.622 517.622 524.842 528.732 531.232 535.122 537.90206 542.34207 547.34207 552.34207 556.78207 560.11209 565.11209">number system for most microcontrollers. This allows standard </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-110.9989" x="312 316.44 319.77 322.55 325.33 330.33 338.11 342.55 345.33 348.11 352.55 355.05 360.05 365.05 369.49 372.81999 377.25999 380.03999 385.03999 388.36997 392.25999 394.75999 397.53999 402.53999 405.03999 410.03999 414.47999 416.97999 421.97999 425.87 430.31 435.31 437.81 440.31 447.53 450.31 453.09 458.09 460.87 465.87 468.37 471.15 476.15 480.59 483.09 490.87 493.65 498.09 501.41999 506.41999 510.86 515.86 520.86 523.64 526.97006 531.97006 534.75009 537.5301 541.9701 544.8611 547.3611 549.8611 552.6411 557.6411">arithmetic operators to be used, within the microcontroller, to </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-98.9989" x="312 317 321.44 324.22 328.66 331.99 339.77 342.55 347.55 351.99 354.49 357.27 362.27 366.71 369.21 373.1 375.88 380.32 384.76 387.26 392.26 395.59 398.09 400.87 405.87 410.31 412.81 417.81 422.25 427.25 430.03 432.53 436.42 439.2 443.64 448.64 451.14 453.92 458.92 463.36003 466.69 471.13 478.91 483.35 488.35 491.13 493.63 495.91603 501.326 505.766 510.766 513.546">determine the size of the next step increment. Table</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-98.9989" x="517.986"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-98.9989" x="520.486 525.486 527.986 531.87606 536.87606 541.87606 549.096 552.986 555.486 558.26608 563.26608 567.70608">6 shows the </tspan></text>
<g clip-path="url(#clip_5)">
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-419.2912" x="43.9058 50.0158 52.7958 58.9058 65.0158 68.9058 74.4658 77.2458 82.80579 86.135799 88.915798 95.025798 101.135799 103.915798 106.69579 110.025798 115.58579 118.915798 124.47579 130.58579 133.36579 140.03578 146.14579 151.70578 157.26578 162.82578 165.60578 172.82578 175.60578 181.16577 187.27577 191.16577 196.72577 205.61577 208.39577 215.61577 221.17577 223.95577 230.06577 236.17577 238.95577 245.62577 251.73577 258.40577 264.88279 267.66279 270.44279 276.55278 282.66276 288.77275">Figure 8: Full-step Phase Diagram Using STEP Input</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-270.0769" x="43.3467 49.4567 52.2367 58.3467 64.456699 68.346698 73.90669 76.68669 82.24669 85.57669 88.35669 95.57669 101.13669 103.91669 107.24669 110.57669 116.13669 119.46669 125.02669 131.13669 133.91669 140.58669 146.69669 152.25669 157.81668 163.37668 166.15668 173.37668 176.15668 181.71668 187.82668 191.71668 197.27667 206.16667 208.94667 216.16667 221.72667 224.50667 230.61667 236.72667 239.50667 246.17667 252.28667 258.95668 265.44169 268.22169 271.00169 277.11167 283.22166 289.33164">Figure 9: Half-step Phase Diagram Using STEP Input</tspan></text>
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