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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="WSZTMG+ArialMT"><tspan y="-15.920399" x="427.99559 432.32759 436.65959 440.99159 442.65959 445.99559 447.32759 448.65959 451.99559 455.33158 457.32957 460.66557 465.66355 466.99555 469.99555 471.99354 475.32954 476.99754 479.99754 483.33354">www.allegromicro.com</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="12" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-657.2637" x="175.8574 184.9414 193.3654 201.7894 210.2134 219.2974 228.3814 232.13739 240.35138 243.45218 252.32859 256.32456 259.86936 268.95338 278.03739 281.7934 290.2174 293.97343 303.05744 312.60224 315.70185 324.13307 327.67787 336.10188 343.85389 352.2779 360.7019 369.12593 377.54994 386.42756 389.97236 400.38838 410.14439 417.6792 427.4352">APPENDIX A: DRIVING A STEPPER 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="-641.7864" x="36 42.670003 45.170003 49.06 51.84 56.28 61.28 66.28 70.72 74.05 76.55 84.33 89.33 92.11 97.11 100.44 102.94 105.72 109.61 112.11 116.55 119.05 124.05 128.49 131.82 134.6 137.38 141.82 146.82 149.6 154.04001 157.37001 159.87001 163.20001 168.20001 171.53002 179.31002 181.81002 186.81002 190.14002 192.64002 197.64002 200.97002 205.97002 209.86002 214.86002 217.64002 222.08002 225.97002 229.86002 232.36002 239.58002 246.25002 248.75002 256.53004 261.53004 264.31004 269.31004 272.069 274.569 276.518 283.738 287.62803">A stepper motor is a particular form of brushless DC motor. As </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="-629.3527" x="36 39.33 44.33 47.660005 50.160005 54.600008 59.600008 64.600009 67.100009 71.54001 74.32001 78.76001 83.20001 85.98001 89.31001 92.09001 96.530017 99.030017 106.81001 111.81001 114.59001 119.59001 122.50401 125.00401 127.50401 135.28401 140.28401 143.06401 145.84401 150.84401 155.84401 158.34401 161.12401 165.014 167.514 171.95401 175.28401 179.72402 184.16402 186.94402 191.38402 196.38402 198.88402 203.88402 208.88402 211.38402 219.16402 223.60402 228.60402 233.60402 238.04402 240.82402 243.60402 248.04402 250.54402 253.32402 258.32405 261.10404 265.54405 268.87403 273.31404 277.75404 280.53404 283.31404 288.31404 293.31404">for any electric motor, motion is created by magnetic interaction </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="-616.9191" x="36 41 45.440004 48.22 55.440004 59.880006 64.32001 69.32001 71.82001 74.600009 79.600009 84.04001 86.54001 90.43001 93.21001 97.65001 100.43001 103.21001 108.21001 113.21001 117.65001 120.98001 125.98001 128.48001 133.48001 137.92002 141.25002 144.03002 146.53002 151.53002 154.86002 157.36002 160.14002 165.14002 169.58002 172.08002 179.86002 184.86002 187.64002 192.64002 195.54602 198.04602 200.54602 205.54602 210.54602 215.54602 222.76602 227.76602 230.26602 234.70603 238.59603 241.09603 243.87602 248.87602 253.31603 255.81603 259.70603 262.48603 266.92604 269.70603 274.70603 277.631 280.131 282.631 287.071 292.071 297.071">between the stationary part of the motor, known as the stator, 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="-604.4854" x="36 38.78 43.78 48.22 50.710004 58.490007 63.490007 68.490009 71.270008 76.270008 81.270008 83.76 88.76 93.200008 96.53001 99.310009 101.8 106.8 110.130008 112.62 115.4 120.4 124.840007 127.33 135.11 140.11 142.89 147.89 150.816 153.316 155.806 160.806 165.806 170.806 178.026 183.026 185.516 189.95601 193.84601 196.33602 199.11602 204.11602 208.55602 211.04602 214.37602 219.37602 222.15602 227.15602 229.93202 232.43202 234.74404 240.85404 245.85404 250.29404 252.78404 255.56404 260.56404 263.894 268.894 272.224 280.004 284.444 287.224 290.004 295.004 300.004">the moving part of the motor, known as the rotor. The information </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="-592.0518" x="36 41 44.33 48.770006 52.660005 57.100008 62.100008 64.880008 69.32001 74.32001 76.82001 81.82001 86.26001 89.59001 94.030017 96.530017 100.97002 105.97002 110.97002 115.41002 119.85002 124.85002 127.63002 130.96002 135.40003 138.18003 142.62003 146.51003 149.01003 154.01003 159.01003 161.51003 165.95003 168.45003 172.34003 177.34003 181.78003 186.22003 189.00003 192.33003 195.11003 199.55004 202.05004 204.83003 209.83003 214.83003 219.27004 221.77004 226.77004 230.10004 232.60004 240.38004 245.38004 248.16004 253.16004 256.49003 258.99003 263.99003 268.99003 273.99003 281.21003 286.21003 288.71003 293.15003 297.04005">presented here concentrates on a specific type of motor known as </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="-579.6182" x="36 40.440004 42.940004 47.940004 52.940004 57.940004 61.270006 64.05 69.05 71.55 75.44 78.22 82.66 87.66 92.66 97.100009 100.43001 102.93001 110.71001 115.71001 118.490009 123.490009 126.25901 128.759 131.078 137.188 142.188 144.968 148.858 151.358 154.138 158.028 160.528 163.308 168.308 172.748 175.248 183.028 188.028 191.918 194.698 197.198 201.638 206.638 214.418 222.198 227.198 232.198 234.698 237.478 242.478 247.478 251.918 254.418 259.418 262.748 265.248 269.138 276.918 281.358 284.138 286.918">a hybrid stepper motor. This is the most common type of small </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="-567.1845" x="36 39.89 42.67 47.11 52.11 57.11 61.550004 64.880008 67.380008 75.16 80.16 82.94 87.94 90.712009 93.212009 95.712009 99.04201 101.82201 104.32201 109.32201 113.212009 117.65201 121.54201 124.04201 129.042 133.48201 136.81201 144.59201 149.03202 154.03202 158.47202 163.47202 166.25202 168.75202 176.53202 180.97202 185.97202 190.97202 195.41202 198.19202 202.08202 204.58202 207.36202 212.36202 214.86202 217.64202 222.64202 227.08202 229.58202 232.91202 237.91202 240.69202 245.69202 249.02202 251.52202 254.30202 259.302 261.802 266.802 270.132 275.132 280.132 285.132 289.572 294.012">stepper motor. It uses permanent magnets in the rotor to produce </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="-554.7509" x="36 41 46 50.440004 52.940004 56.83 61.270006 64.05 66.55 71.55 74.880008 77.380008 81.82001 86.82001 91.82001 95.71001 98.490009 102.93001 107.93001 110.71001 113.21001 120.990009 125.43001 130.43001 135.43001 139.87001 142.65001 145.43001 149.87001 152.37001 155.70001 158.48001 162.92002 165.70001 170.70001 174.59001 177.09001 181.53002 186.53002 191.53002 194.03002 198.47002 201.25002 205.69002 210.13002 212.91002 216.24002 221.24002 229.02002 233.46002 238.46002 243.46002 247.90003 250.68003 254.57003 257.07 259.85 264.85 267.35 270.13 275.13 279.57">one set of constant magnetic fields and electromagnets 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="-542.3172" x="36 39.89 42.67 47.11 49.89 54.89 58.22 60.72 63.5 68.5 71 76 79.33 84.33 89.33 94.33 98.770008 103.21001 105.71001 110.15001 115.15001 120.15001 122.93001 127.93001 132.37001 135.70001 138.20001 142.09001 146.53002 149.31002 151.81002 156.81002 160.14002 162.64002 167.64002 172.08002 175.41002 180.41002 183.19002 188.19002 193.19002 195.69002 203.47002 207.91002 212.91002 217.91002 222.35002 225.13002 227.91002 232.35002 234.85002 238.18003 240.96002 245.40003 248.18003 253.18003 257.07005 259.57005 261.85905 267.96903 272.96903 277.40904 279.90904 282.68904 287.12904 290.459 298.239">stator to produce another set of varying magnetic fields. The term </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="-529.8835" x="36 41 46 51 54.33 57.11 62.11 64.61 67.94 72.380008 75.16 79.600009 82.380008 86.82001 90.71001 93.21001 95.990009 100.990009 103.490009 106.270008 111.270008 115.71001 118.21001 123.21001 127.100009 131.54001 134.04001 139.04001 142.37001 144.87001 149.87001 154.87001 157.65001 162.65001 165.15001 169.59001 172.37001 176.81002 181.25002 184.03002 187.36002 192.36002 200.14002 204.58002 209.58002 214.58002 219.02002 221.80002 225.69002 228.19002 232.63002 237.63002 242.63002 245.13002 250.13002 254.57003 257.90003 265.68003 270.12004 275.12004 279.56004 284.56004 287.34004">hybrid relates to the use of both electromagnets and permanent </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="-517.4499" x="36 43.78 48.22 53.22 58.22 62.660005 65.44 69.33 71.83">magnets. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="12" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-496.6163" x="36 44.664 51.996004 62.664 69.996 76.668 81.336 84.672 92.004 99.336 102.672 111.336 114.672 122.004 129.336 132.672 139.344 144.012 147.34799 154.01999 161.35199 168.68399 172.01999 180.68399 188.01599 191.35199 198.68399 206.01599 209.35199 216.02399 220.69199 224.02799 234.02399 241.35599 245.35199 252.68399 257.352">Comparing Bipolar and Unipolar Motors</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="-478.1826" x="36 42.11 47.11 51.550004 54.880006 59.320009 61.820009 66.26001 69.59001 74.030017 76.530017 79.31001 86.530017 91.530017 94.030017 99.030017 104.030017 106.81001 109.59001 114.59001 119.59001 123.48001 125.98001 128.76001 133.76001 136.26001 140.15001 147.93001 152.37001 155.15001 157.93001 160.43001 165.43001 170.43001 175.43001 178.76001 181.54001 186.54001 189.04001 192.93001 195.71 200.15001 205.15001 210.15001 214.59001 217.92002 220.42002 228.20001 233.20001 235.98001 240.98001 244.31002 246.81002 251.25002 256.25 261.25 265.14 267.92 271.25 276.25 280.69 283.47 286.25 291.25 296.25 298.75">There are two options in small hybrid stepper motor construction. </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="-465.749" x="36 39.33 44.33 46.83 49.61 54.61 59.050004 61.550004 64.880008 67.66 70.990009 74.880008 77.66 80.16 82.66 87.66 92.66 97.66 104.880008 109.880008 112.380008 116.82001 120.71001 123.21001 127.65001 130.15001 135.15001 140.15001 142.93001 147.93001 152.93001 155.71 160.15001 163.48001 165.98001 169.87001 172.65001 177.09001 182.09001 187.09001 191.53002 194.86002 197.36002 205.14002 210.14002 212.92002 217.92002 220.83402 223.33402 225.83402 228.61402 233.61402 238.05402 241.38402 245.82402 248.32402 252.76403 256.09403 260.53404 263.03404 265.81404 270.81404 275.81404 280.25404 285.25404 289.69404">In the first, known as a unipolar stepper motor, there are indepen</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-453.3153" x="36 41 45.440004 50.440004 53.22 55.72 60.160005 62.940004 67.380008 71.82001 74.600009 77.93001 82.93001 90.71001 95.15001 100.15001 105.15001 109.59001 112.37001 116.26001 118.76001 121.54001 126.54001 129.04001 134.04001 138.48001 143.48001 147.92002 151.25002 155.69002 158.47002 162.91002 165.41002 169.85002 174.29003 178.73003 183.73003 186.23003 194.01003 198.45003 203.45003 208.45003 212.89003 215.67003 218.45003 222.89003 225.39003 230.39003 235.39003 238.17003 242.61003 245.94004 248.72003 251.50003 255.80503 258.30503 260.80503 264.69505 269.69505 272.19505 274.97505 282.19505 287.19505">dent electromagnets to generate each magnetic polarity, so two </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="-440.8817" x="36 40.440004 43.22 47.660005 52.100008 54.880006 58.210008 63.210008 70.990009 75.43001 80.43001 85.43001 89.87001 92.65001 96.54001 99.04001 103.48001 106.81001 111.250019 113.750019 117.08002 121.52002 126.52002 131.52002 134.30002 137.63002 142.07003 147.07003 149.57003 154.57003 159.01003 162.34003 164.84003 169.84003 174.84003 179.28003 183.17003 187.61003 190.11003 192.61003 198.72003 203.16004 207.60004 212.60004 215.10004 220.10004 223.43004 225.93004 228.71004 233.71004 238.15004 242.04004 246.48004 248.98004 251.76004 255.65004 258.15003 262.59004 267.59004 272.03004 275.14503 280.14503 282.92503 287.36503 291.80503 296.80503">electromagnets are required per phase. Each of these is energized </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="-428.448" x="36 43.22 46 48.78 53.78 56.28 60.72 65.72 69.05 72.380008 76.82001 81.82001 84.600009 87.100009 89.880008 94.880008 97.380008 102.380008 107.380008 110.16 115.16 117.66 122.66 127.66 132.1 134.6 139.6 142.38 145.71 150.15001 154.59001 157.37001 160.15001 165.15001 170.15001 172.65001 175.15001 180.15001 183.48001 188.48001 193.48001 198.48001 202.92002 205.70001 210.70001 215.70001 218.20001 222.64002 225.14002 229.03002 231.81002 236.81002 241.81002 244.59001 249.03002 251.53002 259.31004 263.75004 268.75004 273.75004 278.19004 280.97004 283.75004 288.19004">with current in only one direction, producing a single magnetic </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="-416.0144" x="36 39.33 42.11 46.550004 49.33 54.33 56.820005 61.820005 64.600009 67.93001 72.37001 76.81001 79.59001 82.37001 87.37001 92.37001 94.85601 98.18601 103.18601 108.18601 110.96601 115.96601 120.96601 123.74601 128.186 131.516 134.84601 137.34601 139.83602 146.50601 150.94602 155.38602 159.82602 164.82602 168.71602 173.15602 175.64702 178.42702 183.42702 187.86702 190.35802 194.79802 199.79802 203.12802 206.45803 210.89803 215.89803 218.67803 221.16803 223.94803 228.94803 231.44103 235.88103 240.32103 244.76103 249.76103 252.25104 256.69105 259.47105 263.91105 268.35105 271.13105 274.46104 279.46104 287.24104 291.68104">field direction (unipolar). Because the current in each electromag</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-403.5807" x="36 41 45.440004 48.22 50.72 55.72 60.72 63.5 68.5 71 74.33 77.11 82.11 89.33 93.22 95.72 98.5 103.5 106 110.44 112.94 116.83 119.61 124.61 129.61 132.39 136.83 139.33 142.66 145.44 150.44 154.88 159.88 162.38 167.38 170.16 173.49 177.93001 182.37001 185.15001 187.93001 192.93001 197.93001 200.43001 202.93001 205.71 210.71 215.15001 217.65001 222.09001 227.09001 232.09001 234.87001 238.20001 243.20001 245.98001 248.48001 252.92002 255.70001 259.03 263.47 268.47 271.25 274.03 276.53 280.97 285.41 290.41">net only flows in a single fixed direction, the control circuit can </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="-391.1471" x="36 41 45.440004 47.940004 52.940004 57.380006 60.710008 65.71001 68.21001 72.100009 74.880008 82.66 87.66 90.44 94.880008 97.380008 99.691 105.801 110.801 115.241008 117.741008 122.741008 126.07101 130.511 137.731 142.731 147.171 151.61101 156.61101 159.11101 161.891 165.781 168.281 171.061 176.061 180.501 183.281 185.781 190.781 195.781 198.561 203.561 206.061 211.061 216.061 220.501 223.001 227.44101 230.22101 234.66101 239.10102 241.88101 245.21102 250.21102 257.99104 262.43104 267.43104 272.43104 276.87104 279.65104 282.15104 287.15104 291.59104 294.92103">be very simple. The drawback is that only one electromagnet per </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="-378.7134" x="36 41 46 50.440004 54.33 58.770006 61.270006 65.71001 70.15001 75.15001 77.65001 82.65001 87.09001 89.59001 94.030017 99.030017 103.47002 106.610019 111.610019 114.390018 118.83002 123.27002 128.27002 130.77002 135.21002 137.99002 140.49002 144.93003 149.93003 154.93003 157.43003 160.21002 162.99002 170.77002 175.21002 177.71002 181.60002 186.60002 189.10002 191.60002 196.04003 198.82003 201.32003 209.10002 214.10002 217.99002 220.77002 223.27002 225.77002 230.77002 235.77002 238.55002 243.55002 246.05002 251.05002 255.49002 258.27003 261.6 264.1 269.1 272.43 274.93 277.71 282.71 287.15">phase can be energized at any time so, at most, only half of 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="-366.2798" x="36 43.78 48.78 51.559999 56.559999 59.89 62.39 67.39 72.39 75.17 80.17 87.95 92.39 94.89 97.67 101.56 104.06 108.5 113.5 117.94 121.270008 123.770008 128.77 132.66 137.1 142.1 144.6 147.38 152.38 154.88 159.32 162.65001 167.09001 171.53002 174.31002 178.75002 181.25002 184.03002 189.03002 192.36002 197.36002 202.36002 206.80002 209.30002 214.30002 219.30002 221.80002 224.58002 229.58002 234.02002 236.52002 239.85002 244.85002 247.63002 252.63002 255.38002 257.88">motor volume is ever used to create torque on the rotor. </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="-347.8461" x="36 42.670003 45.170003 50.170003 52.95 57.95 62.95 65.73 70.170009 73.50001 76.00001 83.78001 88.78001 91.560009 96.560009 99.48101 101.98101 104.48101 107.26101 112.26101 114.76101 119.20101 124.20101 129.20102 131.98102 135.31102 139.75102 143.64102 146.42102 148.92102 151.42102 156.42102 160.31102 164.75102 168.64102 171.14102 175.58103 180.02103 184.46103 189.46103 191.96103 196.40103 199.18103 203.62104 208.06104 210.84104 214.17104 219.17104 226.95104 231.39104 236.39104 241.39104 245.83104 248.61104 251.11104 253.89104 258.89106 261.39106 266.39106 269.72105">A bipolar motor, in contrast, uses each electromagnet to pro</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-335.4125" x="36 41 46 50.440004 54.880006 57.380006 60.160005 67.380008 72.380008 74.880008 79.880008 84.880008 89.880008 94.880008 98.770008 101.55 106.55 111.55 114.05 117.380008 120.16 124.600009 127.380008 132.38 136.27 138.77 142.1 147.1 149.88 154.88 159.88 162.66 167.1 170.43001 173.76001 176.26001 180.70001 183.48001 185.98001 190.98001 193.76001 196.89402 200.22402 204.66402 207.99402 212.43402 217.43402 220.21402 222.71402 225.49402 228.27402 236.05402 240.49402 244.38402 246.88402 249.38402 254.38402 259.38404 261.88404 266.32405 269.10404 271.88404 276.88404">duce two opposing fields (bipolar) at different times, by allow</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="-335.4125" x="284.0908">-</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="-322.9789" x="36 38.78 43.78 48.78 51.28 54.059999 59.059999 63.5 66 70.44 75.44 78.770008 82.100009 86.54001 91.54001 94.32001 96.82001 99.600009 104.600009 107.100009 110.43001 113.21001 118.21001 125.43001 127.93001 130.71 135.71 138.21 143.21 148.21 150.99 155.99 158.49 163.49 166.27 169.6 174.04001 178.48001 181.26001 184.04001 189.04001 194.04001 197.93001 200.43001 202.72801 208.83802 213.83802 216.61801 220.50801 223.00801 230.78801 235.22801 239.66802 244.66802 248.55802 251.05802 253.83802 258.838 263.278 266.058 268.558 271.338 276.338 280.778">ing the current to flow in both directions. This means 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="-310.5452" x="36 43.78 48.78 51.559999 56.559999 59.89 62.39 67.39 72.39 75.17 80.17 87.95 92.39 94.89 98.22 102.66 107.66 112.66 115.44 118.770008 123.21001 128.21 130.71 134.04001 139.04001 142.37001 144.87001 149.31002 151.81002 156.81002 159.59001 164.59001 169.59001 172.37001 176.81002 180.14002 182.64002 190.42002 195.42002 198.20001 203.20001 206.53002 209.03002 211.81002 215.70001 218.20001 223.20001 227.64002 230.42002 233.75002 236.25002 241.25002 244.58002 247.08002 249.86002 254.86002 259.30003 261.80003 266.80003 271.80003 274.58003 279.58003 287.36003 291.80003">motor volume required for a bipolar motor is half of the volume </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="-298.1115" x="36 39.33 43.770006 48.770006 53.770006 56.550004 59.880006 64.32001 69.32001 71.82001 75.15001 80.15001 83.48001 85.98001 90.42001 92.92001 97.92001 102.92001 105.70001 110.70001 115.70001 118.48001 122.92001 126.250019 128.75002 136.53002 141.53002 144.31002 149.31002 152.64002 155.14002 158.47002 163.47002 166.80002 169.30002 172.08002 177.08002 181.52002 184.02002 187.91002 192.35002 200.13002 204.57003 207.07003 209.85002 214.85002 218.18003 223.18003 228.18003 232.62003 235.12003 240.12003 245.12003 247.90003 252.90003 257.90003 260.68003 263.18003 265.47303 271.583 276.583 281.023">required for a unipolar motor for the same torque output. 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="-285.6779" x="36 43.78 46.559999 51.559999 56.559999 59.89 62.39 67.39 70.72 75.16 82.380008 87.380008 91.82001 96.26001 101.26001 103.76001 106.54001 110.43001 112.93001 115.71001 120.71001 125.15001 127.93001 130.43001 134.87001 137.37001 142.37001 145.15001 150.15001 155.15001 157.93001 162.37001 165.70001 168.20001 175.98001 180.98001 183.76001 188.76001 192.09001 194.59001 197.92002 202.36002 207.36002 212.36002 215.14002 218.47002 222.91002 226.80002 229.30002 233.74002 236.24002 244.02002 249.02002 252.35002 256.79 259.29 263.73 268.73 276.51 281.51 284.29 288.73 293.73">minor drawback is that a bipolar motor requires a more complex </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="-273.2443" x="36 41 44.33 47.11 52.11 56.550004 59.050004 63.490007 66.270008 69.600009 74.04001 79.04001 81.82001 84.600009 87.100009 89.880008 94.880008 97.380008 102.380008 105.71001 110.71001 115.15001 118.48001 120.98001 123.76001 128.76001 131.26001 134.59001 139.03002 144.03002 148.47002 151.80002 155.69002 160.13002 162.63002 165.41002 170.41002 174.85002 177.35002 180.68003 185.68003 189.01003 193.45003 196.23003 201.23003 206.23003 208.73003 213.73003 218.73003 221.51003 224.29003 228.73003 233.73003 238.17003 240.67003 245.11003 249.55004 252.88004 257.88005 261.77006 265.66007 268.16007 270.94007 275.94007 280.38008 282.88008 287.32008 292.32008 295.10008 297.88008">drive circuit in order to reverse the forcing voltage across the coil </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="-260.8106" x="36 41 44.33 46.83 49.61 54.61 59.050004 61.550004 65.990009 68.770008 73.21001 77.65001 80.43001 83.76001 88.76001 96.54001 100.98001 105.98001 110.98001 115.42001 118.20001 120.70001 123.20001 130.42002 135.42002 142.64002 147.08002 152.08002 156.52002 159.43302 161.93302 164.43302 167.21302 170.54302 173.04302 175.82302 180.82302 185.26302 187.76302 192.76302 196.09302 198.87302 203.87302 208.31302 210.81302 215.25302 218.03302 221.36302 225.80303 230.80303 233.58303 236.36302 238.86302 241.64302 245.53302 248.03302 250.81302 255.81302 258.59303 263.03303 268.03303 271.363 275.803 278.583 283.023 288.023">of the electromagnet. However, if the drive circuit is integrated </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="-248.377" x="36 38.78 43.78 46.559999 51.559999 54.059999 58.5 61 64.89 67.67 72.67 77.67 80.45 84.89 87.39 90.72 97.39 99.89 102.67 107.67 112.11 117.11 119.61 122.39 127.39 131.83 134.33 139.33 142.66 145.44 150.44 154.88 157.38 162.38 166.82 171.26001 176.26001 184.04001 188.48001 192.37001 194.87001 199.31002 204.31002 208.20001 210.98001 213.48001 217.92002 221.04402 224.37403 228.81403 233.25403 236.03403 238.81403 243.81403 248.25403 250.75403 253.06504 259.17503 264.17503 266.95503 270.84504 273.34504 275.84504 280.28504 283.06504 288.06504 293.06504 298.06504">into a single IC then the drive becomes cost effective. This, along </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="-235.9433" x="36 43.22 46 48.78 53.78 56.28 59.059999 64.06 68.5 71 73.78 81.56 86.56 89.89 94.89 99.89 104.33 112.11 116.55 121.55 124.33 126.83 129.61 134.61 137.11 139.89 144.89 148.22 153.22 158.22 162.66 165.16 170.16 175.16 177.94 182.94 187.94 190.72 193.22 201 205.44 210.44 214.88 218.77 221.27 224.05 229.05 233.49 235.99 240.99 243.77 248.77 253.77 256.55003 260.99003 264.32 266.82 274.6 279.6 282.38 287.38 290.71">with the improvement in torque output makes the bipolar 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="-223.5096" x="36 40.440004 42.940004 47.940004 52.380006 55.160005 57.940004 62.380006 65.71001 68.21001 72.100009 77.100009 79.880008 84.880008 87.66 90.44 95.44 100.44 102.94 106.270008 111.270008 114.600009 117.100009 121.54001 126.54001 131.54001 134.32 137.1 141.54001 145.98001 148.76001 151.54001 156.54001 161.54001 165.43001 167.93001 175.15001 180.15001 184.59001 187.92002 192.36002 194.86002 197.64002 202.64002 207.08002 209.58002 214.58002 219.58002 222.36002 227.36002 235.14002 239.58002 242.08002 246.52002 251.52002 255.96002 258.74003 261.52003 265.96003 270.96003 273.74003 278.18003 280.68003 283.46003 287.35005">a better solution for applications where the volume available 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="-211.076" x="36 39.33 43.770006 47.660005 50.440004 53.770006 56.550004 60.990007 63.770006 68.21001 73.21001 75.71001 78.21001 83.770008 88.770008 92.100009 94.600009 97.380008 102.380008 105.16 109.05 111.55 114.880008 119.32001 123.76001 127.65001 132.65001 137.65001 140.15001 142.93001 147.93001 152.37001 154.87001 158.20001 163.20001 165.98001 168.76001 173.76001 180.98001 183.76001 188.76001 193.76001 196.26001 199.04001 204.04001 207.37001 212.37001 215.70001 223.48001 227.92002 230.70001 233.48001 238.48001 243.48001 245.98001 253.20001 255.98001 258.76 261.54 264.04 267.37 271.81 274.59 279.03 281.81 286.25">restricted. For this reason the following information will relate </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="-198.6424" x="36 41 46 48.78 53.78 56.28 59.059999 64.06 66.56 71.56 74.34 79.34 84.34 87.119998 91.56 94.89 97.39 105.17 110.17 112.95 117.95 121.28 125.17">only to bipolar motors.</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="-180.2087" x="36 39.33 44.33 46.83 51.83 55.160005 60.160005 64.600009 67.93001 70.43001 73.21001 78.21001 80.71001 85.15001 88.48001 92.92001 97.360019 100.140018 104.58002 107.08002 111.52002 116.52002 121.52002 124.30002 127.08002 132.08002 137.08002 142.08002 147.08002 150.97002 153.47002 161.25002 166.25002 169.03002 171.81002 176.81002 181.81002 184.31002 187.09001 192.09001 194.59001 199.59001 204.59001 209.03002 211.53002 216.53002 219.31002 222.64002 227.08002 231.52002 234.30002 237.08002 242.08002 247.08002 249.58002 252.36002 255.14002 257.64 260.42 264.31004 266.81004 271.81004 276.25004 280.69004 285.13005">In order to create continuous motion in one direction it is neces</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="-180.2087" x="288.9834">-</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="-167.7751" x="36 39.89 44.33 47.660005 52.660005 55.160005 57.940004 62.940004 65.44 70.44 74.880008 79.880008 84.32001 86.82001 89.600009 96.82001 101.82001 104.32001 109.32001 112.65001 115.15001 122.93001 127.93001 131.26001 135.70001 138.20001 142.09001 146.53002 149.31002 153.20001 155.70001 160.70001 164.03002 166.53002 170.97002 173.75002 178.19002 182.63002 185.41002 188.74002 193.74002 201.52002 205.96002 210.96002 215.96002 220.40003 223.18003 227.07003 229.57003 232.07003 234.85002 239.85002 244.29003 247.07003 249.57003 252.35002 256.24003 258.74003 261.24003 264.02003 271.24003 276.24003 278.74003 283.74003 287.07">sary to have two or more sets of electromagnets, that is, two or </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="-155.3414" x="36 43.78 48.78 52.11 56.550004 59.050004 64.05 69.05 73.490009 77.380008 81.82001 85.71001 88.21001 90.52601 96.63601 101.63601 106.07601 108.57601 112.46601 115.24601 123.02601 128.026 130.806 135.246 139.136 141.916 144.416 148.856 153.856 158.856 161.356 169.136 174.136 178.026 180.806 183.306 187.746 192.746 196.636 199.416 201.916 206.356 209.491 212.821 217.261 221.701 224.481 227.261 232.261 236.701 239.201 243.641 248.641 253.641 256.971 259.751 264.751 269.751 273.081 277.521 280.301 283.081 288.081 293.081">more phases. The simplest and most cost effective configuration </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="-142.9078" x="36 39.33 44.33 47.660005 50.160005 54.600008 57.100008 60.990007 63.770006 68.21001 73.21001 78.21001 82.65001 85.98001 88.48001 96.26001 101.26001 104.04001 109.04001 112.37001 114.87001 117.65001 121.54001 124.04001 126.82001 131.82 134.32 139.32 143.76001 148.76001 153.20001 155.70001 158.48001 165.70001 170.70001 173.20001 178.20001 183.20001 187.64002 191.53002 195.97002 199.86002 202.36002 204.86002 210.42002 215.42002 218.75002 221.25002 225.14002 230.14002 237.92002 242.36002 244.86002 249.30002 254.30002 259.30003 262.08003 264.86003 269.30003 273.74003 276.52003 279.30003 284.30003 289.30003 293.19004">for a stepper motor is to have two phases. For some applications </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="-130.4741" x="36 38.78 43.78 48.22 51 53.5 56.83 61.270006 66.270008 71.270008 74.05 77.380008 81.82001 84.32001 88.76001 93.76001 96.26001 100.70001 105.70001 108.48001 111.81001 116.250019 124.030017 128.47002 131.25002 136.25002 138.75002 141.53002 146.53002 153.75002 156.25002 159.03002 164.03002 167.36002 172.36002 177.36002 181.80002 184.30002 187.63002 190.41002 195.41002 200.41002 203.19002 207.63002 210.13002 212.63002 217.63002 220.13002 225.13002 230.13002 234.57003 238.46002 242.90003 245.40003 247.90003 252.90003 255.40003 260.40003 265.40003 269.84004 273.73005 278.17005 280.67005 283.17005 287.61006 292.61006 297.61006">that require an extremely low torque ripple, 3 phase, 5 phase, 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="-118.0405" x="36 40.440004 45.440004 49.880006 54.880006 57.380006 62.380006 64.880008 69.880008 74.880008 79.32001 83.21001 87.65001 90.15001 94.04001 96.82001 101.26001 106.26001 111.26001 115.70001 119.030017 121.530017 129.31002 134.31002 137.09001 142.09001 145.42002 149.31002 151.81002 156.25002 159.58002 164.02002 166.52002 170.41002 175.41002 183.19002 187.63002 190.41002 193.19002 200.97002 205.41002 209.30002 211.80002 216.80002 220.69002 225.13002 230.13002 232.63002 235.13002 242.35002 247.35002 254.57003 259.01 264.01 268.45 271.361 273.861 276.361 279.141 284.141 288.581">even 9 phase stepper motors are sometimes used. However, 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="-105.6068" x="36 39.33 43.770006 51.550004 55.990007 58.770006 63.770006 68.770008 73.21001 76.54001 79.04001 84.04001 87.37001 89.87001 92.65001 97.65001 102.09001 104.59001 107.37001 112.37001 115.70001 120.70001 124.030017 131.81002 136.25002 139.03002 141.81002 146.81002 151.81002 154.31002 159.31002 162.64002 167.08002 170.97002 175.41002 180.41002 183.19002 187.63002 192.63002 195.13002 200.13002 204.57003 207.90003 212.34003 214.84003 218.17003 222.61003 225.39003 229.83003 232.61003 237.05004 240.94004 243.44004 247.33003 252.33003 256.77003 261.21003 263.99003 267.32 270.1 274.54 278.98 281.76 284.54 289.54 292.04 294.82 299.82">remainder of the information presented here relates specifically 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="-93.1732" x="36 41 44.33 49.33 54.33 58.770006 62.660005 67.100009 69.600009 74.600009 77.380008 82.380008 87.380008 90.16 94.600009 97.93001 100.43001 108.21001 113.21001 115.990009 120.990009 124.32001 128.21">2-phase bipolar motors.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="12" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-639.9836" x="312 321.996 329.328 336 339.336 346.668 354 357.336 364.008 367.344 374.016 378.012 386.016 393.348 400.02 406.692 413.36399 416.69999 425.36399 428.69999 436.03199 443.36399 446.69999 453.37199 458.03999 461.37599 469.37998 473.37599 480.04798 487.37998 494.71199 501.38398 506.05198 509.38798 519.384 526.71597 530.7119 538.0439">Moving a 2-Phase Bipolar Stepper 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="-621.9644" x="312 317.56 320.34 325.34 330.34 333.66999 338.11 340.05699 347.27699 352.27699 354.77699 358.667 363.667 368.667 375.887 379.777 382.277 385.057 390.057 394.497 396.997 400.327 405.327 410.327 413.65699 416.15699 421.15699 426.15699 430.047 433.937 436.717 441.717 444.497 448.937 451.437 455.877 460.877 464.207 467.537 471.977 476.977 479.757 482.257 486.697 491.697 499.477 504.477 507.257 512.25698 516.69699 519.477 522.257 527.257 532.257 536.14706 538.64706 541.42709 546.42709 548.92709 551.7071 558.92709 563.92709">Figure A1 shows the four possible current combinations in two </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="-609.9451" x="312 317 322 326.44 330.33003 334.77003 337.27003 344.49003 347.27003 352.27003 357.27003 360.05003 365.05003 370.05003 373.94004 376.44004 378.38703 385.05705 387.55705 391.99705 396.99705 401.99705 404.49705 411.16706 413.66706 416.16706 420.60707 425.60707 430.60707 433.10707 435.88706 440.88706 445.32707 447.82707 452.26707 455.40806 458.73805 463.17805 467.61805 470.39805 472.89805 477.89805 482.89805 485.39805 489.83805 492.33805 496.22807 499.00807 506.78807 511.78807 514.56808 517.3481 520.6781 523.4581 527.89816 532.89816 535.39816 538.72817 543.16818 548.16818 551.49819">phase windings, A and B, and the effect on a simplified repre</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="-609.9451" x="555.9209">-</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="-597.9258" x="312 315.89 320.33003 325.33003 328.11003 332.55003 335.33003 338.11003 343.11003 348.11003 350.61003 355.61003 358.94 361.44 366.44 370.88 374.21 376.99 379.49 384.49 387.81999 390.31999 394.75999 397.25999 401.15 403.93 408.37 413.37 418.37 422.81 426.13999 428.63999 436.41999 441.41999 444.19999 449.19999 451.96098 454.46098 456.96098 460.29096 465.29096 467.79096 472.23097 476.67097 481.11097 486.11097 488.61097 493.05097 497.49098 501.38099 505.82099 508.32099 511.10099 516.10098 520.54098 523.04098 526.93099 529.711 534.151 536.931 541.931 545.26107 547.76107 554.981 557.76107 560.5411 565.5411">sentation of part of a stepper motor. In each case the stator with </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="-585.9064" x="312 314.78 319.78 324.22 326.72 331.16 333.94 338.38 342.82 345.6 348.93 353.93 361.71 366.15 371.15 376.15 380.59 383.37 387.26 389.76 392.54 396.43003 398.93003 402.82005 407.82005 412.82005 420.04005 425.04005 427.54005 431.98005 434.76005 437.26005 440.04005 445.04005 449.48005 451.98005 454.76005 459.76005 464.76005 467.26005 472.26005 475.59004 478.09004 480.87004 485.87004 490.31004 492.81004 497.81004 500.59004 505.03004 510.03004 513.36007 517.80007 525.5801 528.0801 532.5201 537.5201 542.5201 545.0201 547.8001 552.8001 557.2401">the electromagnets is shown at the top of the diagram and 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="-573.8871" x="312 315.33 320.33 323.11 328.11 331.43998 333.93998 341.15998 343.93998 346.71998 351.71998 354.21998 356.99998 361.99998 366.43998 368.93998 373.93998 378.37998 381.70997 389.48997 393.92997 398.92997 403.36997 408.36997 411.14997 413.64997 421.42997 425.86997 430.86997 435.86997 440.30998 443.08998 446.97999 449.47999 452.25999 456.15 458.65 462.54 467.54 472.54 479.76 484.76 487.26 491.7 494.48 496.98 499.76 504.76 509.2 511.7 516.7 521.7 524.48007 527.2601 532.2601 540.0401 542.5401 547.5401 550.8701 553.3701 556.15017 561.15017 565.59017">rotor with the permanent magnets is shown at the bottom of 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="-561.8679" x="312 317 319.78 324.22 329.22 332.55 336.99 344.77">diagram.</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="-543.8486" x="312 315.33 320.33 322.83 328.38999 331.16999 336.16999 341.16999 344.49998 348.93998 350.88697 358.10697 363.10697 365.60697 368.38697 373.38697 377.82698 380.32698 384.21699 386.99699 391.43699 394.21699 399.21699 402.54698 405.04698 409.48698 414.48698 419.48698 423.37699 426.15699 430.047 432.827 436.717 439.217 444.217 447.547 450.047 454.487 457.267 460.047 464.487 467.817 472.817 477.257 480.037 484.477 486.977 491.977 496.977 501.417 505.307 509.747 511.678 518.348 520.848 525.288 530.288 535.288 537.788 542.788 547.788 552.228 556.11807 560.55807">In Figure A1 the stator consists of alternate phase A and phase </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="-531.8293" x="312 318.67 321.17 325.61003 328.39 332.83003 337.27003 340.05003 343.38 348.38 356.16 360.6 365.6 370.6 375.04 377.82 381.71003 384.21003 386.51704 392.627 397.627 402.06703 404.56703 411.78703 414.56703 419.56703 424.56703 427.34703 432.34703 437.34703 439.84703 444.84703 447.627 450.957 455.397 459.837 462.617 465.397 470.397 475.397 477.897 482.897 486.227 488.727 491.507 496.507 500.947 503.447 507.887 510.667 515.107 519.547 522.327 525.65707 530.65707 538.4371 542.8771 547.8771 552.8771 557.3171 560.0971">B electromagnets. The winding direction of the electromagnet </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="-519.8099" x="312 316.44 321.44 325.88 330.88 335.88 340.32 344.21003 346.71003 350.04 355.04 358.37 360.87 365.31 369.75 374.19 379.19 381.69 385.58003 390.02003 395.02003 400.02003 404.46003 409.46003 412.24003 415.02003 419.46003 422.24003 424.74003 429.18003 431.96003 436.40003 440.84004 443.62004 446.95 451.95 459.73 464.17 469.17 474.17 478.61003 481.39 483.89 486.67 491.67 494.17 498.61003 503.05003 507.49003 512.49 514.99 519.99 524.99 529.43 533.32 537.76 540.26 544.7 548.59 551.09 553.87008 558.87008 563.87008">changes for each sequential electromagnet in each phase as indi</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="-519.8099" x="566.6094">-</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="-507.7907" x="312 316.44 320.88 323.66 328.1 333.1 335.6 340.6 345.6 348.1 350.88 355.88 360.32 362.82 367.82 372.82 377.26 380.59 385.59 390.03 393.36 395.86 400.3 405.3 410.3 415.3 419.74 422.24 425.02 430.02 434.46 436.96 441.96 446.96 451.4 455.29 459.73 462.23 465.01 469.45 472.23 475.01 479.45 482.78 485.28 489.72 494.72 499.72 502.22 505 510 514.44 519.44 522.22006 525.00009 528.3301 531.1101 535.5501 540.5501 543.0501 548.0501 552.4901 555.27017 560.27017 567.4901">cated by the overbar above the phase letter and identified below </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="-495.7714" x="312 316.44 320.33003">as </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-495.7714" x="322.8301 328.9401 332.27009 337.27009 342.27009">A-bar</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="-495.7714" x="346.1602 348.6602 353.1002 358.1002 363.1002"> and </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-495.7714" x="365.5986 371.7086 375.03858 380.03858 385.03858">B-bar</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="-495.7714" x="388.9287 391.4287 393.7477 399.8577 404.8577 409.2977 411.7977 415.1277 419.5677 423.4577 428.4577 431.2377 434.0177 436.5177 439.2977 443.1877 445.6877 448.4677 453.4677 457.9077 460.6877 463.1877 465.9677 470.9677 475.4077 477.9077 485.6877 490.12773 495.12773 500.12773 504.56773 507.34773 510.12773 514.5677 517.0677 522.0677 527.0677 529.8477 534.2877 538.17776 540.67776 547.8977 550.67776 553.45779 556.2378">. The result is that the magnetic poles 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="-483.7521" x="312 316.44 319.22 322 326.44 329.77 334.77 339.21 341.99 346.43 348.93 352.25999 357.25999 360.58998 363.08998 367.52998 371.96998 376.40998 381.40998 383.90998 387.8 392.24 397.24 402.24 406.68 411.68 414.46 417.24 421.68 424.46 426.96 431.4 434.18 438.62 443.06 445.84 449.16999 454.16999 461.94999 466.38999 471.38999 476.38999 480.83 483.61 486.11 491.11 494.43998 496.93998 501.37998 505.81999 510.25999 515.26 517.76 522.76 527.76 532.2 536.09 540.53 543.03 545.306 551.416 556.416 560.856 563.63607">alternate for each sequential electromagnet of each phase. That </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="-471.7328" x="312 319.78 324.22 328.66 333.66 337.55003 340.05003 342.55003 345.88 350.88 354.21 356.71 361.15 366.15 370.59 378.37 383.37 386.15 390.59 393.09 395.59 402.81 407.81 412.25 417.25 419.75 422.53 427.53 431.97 433.904 440.574 443.074 447.514 450.294 454.734 459.174 461.954 465.284 470.284 478.064 482.504 487.504 492.504 496.944 499.724 502.224 507.224 510.554 515.55398 520.55398 525.55398 529.99398 534.43399 538.324 540.824 545.264 547.764 552.764 557.764 561.094 563.874 568.874">means, for example, when the A electromagnet produces a north </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="-459.7135" x="312 315.33 322.55 325.87998 328.37998 336.15998 340.59999 345.59999 350.59999 355.03999 357.81999 360.59999 365.03999 367.53999 372.53999 377.53999 380.31999 384.75999 387.25999 391.69999 394.47999 396.97999 399.75999 404.75999 409.19999 411.69999 416.13999 421.13999 426.13999 428.63999 433.63999 438.08 442.52 445.84999 450.28999 454.18 456.96 459.46 462.24 467.24 469.74 472.52 477.52 481.96 484.46 487.78999 492.78999 495.56999 500.56999 503.46998 505.96998 508.46998 511.24998 516.25 520.69 525.69 528.19 530.97006 535.97006 540.41006 542.35208 549.572 552.90206 557.90206 562.34207 565.67208">(N) magnetic pole at the end nearest to the rotor, then the A-bar </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="-447.6942" x="312 316.44 319.22 323.66 328.1 330.88 334.21 339.21 346.99 351.43 356.43 361.43 365.87 368.65 371.15 378.37 381.15 383.93 386.71 389.21 394.21 397.53999 402.53999 407.53999 412.53999 416.97999 421.41999 423.91999 428.36 430.86 434.75 439.75 444.75 447.53 452.53 455.03 458.36 463.91999 467.24998 469.74998 477.52998 481.96998 486.96998 491.96998 496.40998 499.18998 501.96998 506.40998 508.90998 513.91 518.91 521.69 526.13 528.63 533.07 535.85006 538.35006 541.13009 546.13009 550.57009 553.07009 557.5101 562.5101 567.5101">electromagnet will produce a south (S) magnetic pole at the end </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="-435.6749" x="312 317 321.44 325.88 329.21 333.65 337.54 340.32 342.82 345.6 350.6 353.1 355.88 360.88 365.32 367.82 371.15 376.15 378.93 383.93 386.697">nearest to the rotor.</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="-417.6556" x="312 318.11 323.11 327.55 330.05 337.27 340.05 345.05 350.05 352.83 357.83 362.83 366.72 369.22 372.55 377.55 380.87998 383.37998 387.81999 390.59999 393.37998 395.87998 398.65998 403.65998 408.09999 410.037 416.707 419.207 423.647 428.647 433.647 435.594 442.814 446.14399 451.14399 455.58399 458.91398 461.41398 465.85398 468.63398 473.07398 477.51399 480.29399 483.62397 488.62397 496.40397 500.84397 505.84397 510.84397 515.28396 518.06399 521.954 524.454 528.894 532.224 536.664 539.164 543.604 548.604">The windings for all the A and A-bar electromagnets are con</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="-417.6556" x="553.5869">-</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="-405.6363" x="312 317 321.44 325.88 328.66 333.1 338.1 340.6 343.38 348.38 350.88 354.77003 359.21003 362.54 365.32 369.76 373.65003 376.15003 380.59004 385.59004 390.59004 393.09004 398.09004 401.42 404.2 409.2 413.64 418.64 421.14 426.14 431.14 433.64 438.08003 440.58003 444.47004 447.25004 452.25004 457.25004 460.03004 464.47004 466.97004 470.30003 475.30003 478.08003 480.86003 483.36003 488.36003 491.69 494.47 499.47 504.47 508.91 511.41 513.91006 519.47006 522.25009 530.0301 532.8101 535.59017 540.03018 543.36019 546.1402 551.1402 553.6402 556.4202 561.4202 565.8602">nected in series and driven by a single full bridge. Similarly 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="-393.617" x="312 319.22 322 327 332 334.78 339.78 344.78 348.67 351.17 354.5 359.5 362.83 365.33 369.77 372.55 375.33 377.83 380.61 385.61 390.05 392.55 399.22 401.72 406.16 411.16 416.16 418.66 425.33003 428.66 433.66 438.1 441.43 443.93 448.37 451.15 455.59 460.03 462.81 466.13999 471.13999 478.91999 483.36 488.36 493.36 497.8 500.58 504.47 506.97 511.41 514.74 519.18 521.68 526.12 531.12 536.12 541.12 545.56 550 552.78 557.22006 562.22006">windings for all the B and B-bar electromagnets are connected </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="-381.5977" x="312 314.78 319.78 322.28 326.17 330.61003 333.94 336.72 341.16 345.05003 347.55003 351.99003 356.99003 361.99003 364.49003 369.49003 372.82 375.6 380.6 385.04 390.04 392.54 397.54 402.54 405.04 409.48 414.48 419.48 422.26 427.26 431.7 435.03 437.53 441.42 444.2 449.2 454.2 456.98 461.42 463.92 467.25 472.25 475.03 477.81 480.31 485.31 488.63999 491.41999 496.41999 501.41999 505.86 508.36 510.86 516.42 521.42 523.92 528.36 530.86 535.86 539.19 544.19 549.19 553.63 557.52 561.96">in series and driven by another single full bridge. So a 2-phase </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="-369.5784" x="312 317 319.78 324.78 329.78 332.56 337 340.33 342.83 346.72 349.5 353.94 358.94 363.94 368.38 371.71 374.21 381.99 386.99 389.77 394.77 398.09999 400.59999 403.92997 408.36997 413.36997 418.36997 421.14997 424.47996 428.91996 432.80998 435.30998 438.08998 445.30998 450.30998 452.80998 456.13996 461.13996 463.91996 466.69996 469.19996 474.19996 477.52995 480.30995 485.30995 490.30995 494.74995 498.63996 501.13996 504.46995 509.46995 512.7999 515.2999 518.62997 523.62997 526.41 529.19 531.69 536.13 541.13 546.13 548.91006 552.24008 557.24008 560.0201">bipolar stepper motor requires two full bridges for full control.</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="-351.5591" x="312 318.08 323.05 327.46 329.93 333.22999 338.19999 340.94999 345.91999 349.21998 351.68998 354.43998 358.29997 360.76997 368.51997 373.48997 377.89997 382.86997 385.33998 389.19996 391.94996 399.69996 404.66996 407.41996 411.82997 415.12995 417.59996 420.34996 425.31996 429.72996 434.69996 437.16996 439.91996 444.88996 449.29997 451.76997 455.62995 458.37995 462.78996 465.53996 470.50996 473.40995 475.87995 478.34996 482.75996 487.72996 492.69996 495.16996 499.57997 504.54997 509.51997 513.37997 516.12997 519.9899 522.7399 526.5999 529.0699 534.03988 537.33987 539.8098 544.2198 546.68978 550.54977 555.5197 558.2697 561.0197 566.0197">The rotor is much simpler than the stator, and consists of a solid </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="-339.5398" x="312 316.97 321.38 325.24 329.65 332.12 337.09 342.06 344.81 349.78 352.53 357.5 362.47 364.94 369.91 374.32 377.62 385.37 389.78 394.75 399.16 404.13 406.88 409.35 417.1 421.51 426.48 431.45 435.86003 438.61003 442.47 444.94 452.13 454.88 457.63 462.6 465.07 469.48 472.23 474.98 479.39 482.69 487.66 492.07 494.82 497.57 502.54 507.51 509.98 514.95 519.92 522.67 527.07998 529.5499 534.5199 537.2699 540.5699 544.97988 549.38986 552.13986 554.88986 559.8598 564.8298 568.68978 571.18978">base holding permanent magnets with alternating pole directions. </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="-327.5205" x="312 318.08 323.05 327.46 330.75999 335.16999 337.63999 342.05 345.34999 349.75999 352.22999 357.19999 362.16999 364.63999 371.83 374.58 379.55 384.52 387.27 392.24 397.21 401.06999 403.53999 408.50999 413.47999 415.94999 418.69999 423.66999 428.08 430.55 433.84999 438.81999 441.56999 446.53999 449.43898 451.90898 454.37898 458.23896 463.20896 465.67897 468.42897 473.39897 477.80897 481.10896 485.51896 487.98896 490.73896 494.59895 497.06895 502.03895 507.00895 509.47895 512.77896 517.1889 522.1589 527.12887 529.87887 533.17886 537.5888 545.3388 549.7488 554.71878 557.46878 559.9387 562.6887 567.6887">There are no windings on the rotor, so there is no requirement 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="-315.5012" x="312 316.41 321.38 326.35 331.32 336.29 340.7 343.45 345.92 350.33003 355.30003 358.6 361.9 366.31 371.28 374.03 376.5 379.25 384.22 386.69 389.44 394.41 398.82 401.29 409.04 414.01 418.98 421.73 426.7 431.67 434.14 439.11003 443.52003 446.82 449.57 452.04 457.01 460.31 462.78 465.53 470.5 474.91 477.38 485.13 490.1 492.85 497.82 500.568 503.038 505.508 508.80799 513.77798 516.2479 520.6579 525.62789 530.59786 533.34786 536.09786 538.84786 543.8178 548.7878 551.25778 554.00778 558.9777 563.4157">conduct current to the moving part of the motor. In addition 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="-303.4819" x="312 314.75 319.16 323.57 328.54 331.01 335.98 339.28 341.75 346.16 351.13 354.43 357.72999 362.13999 367.11 369.86 372.33 376.74 381.71 386.68 389.15 396.34 399.09 404.06 409.03 411.78 416.75 421.72 425.58 428.05 435.8 440.21 444.62 449.59 453.44999 455.91999 458.66999 463.63999 468.05 470.8 473.27 476.02 480.99 485.4 488.69999 493.11 495.58 498.33 502.18998 504.65998 509.62998 514.6 517.06997 522.0399 526.4499 530.85989 533.60989 536.07986 541.0498 545.4598 550.42977 554.8397 558.1397 562.5497 565.2997 569.70968 574.70968">lack of current and windings means that there is no heat generated </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="-291.4626" x="312 314.75 319.72 322.19 324.94 329.91 334.32 336.79 340.09 345.06 347.81 352.78 355.68 358.15 360.62 368.37 372.78 377.75 380.5 385.47 390.44 392.91 397.32 402.29 407.26 410.01 412.76 417.73 422.7 425.17 430.14 433.44 435.91 438.66 443.63 448.04 450.51 458.26 463.23 468.2 470.95 475.92 480.89 483.36003 488.33003 492.74003 496.04 498.79 502.65 505.12 512.87 517.83999 522.24996 527.2199 529.6899 533.54989 536.29989 544.04989 549.01986 551.76986 556.1798 558.9278">in the rotor, making cooling of the moving parts much simpler.</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="-273.4433" x="312 318.11 323.11 327.55 330.05 335.05 337.83 342.27 347.27 350.59999 355.03999 362.81999 366.71 369.21 371.99 376.99 379.49 385.05 387.83 392.83 397.83 401.15998 405.59999 407.537 414.757 419.757 422.257 427.257 430.58699 435.58699 440.58699 443.36698 448.36698 452.80699 455.30699 459.74699 462.24699 465.57698 470.01698 475.01698 478.34696 482.78697 486.67698 491.11698 496.11698 498.89698 503.33699 506.11698 508.89698 513.897 518.897 521.397 526.397 529.727 532.227 536.667 539.167 543.057 550.83706 555.27706 558.05709 560.8371">The diagrams in Figure A1 provide a representation of a small </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="-261.424" x="312 315.89 320.33003 324.77003 327.55003 330.33003 335.33003 340.33003 342.83003 347.83003 351.16 353.66 356.44 361.44 365.88 368.38 376.16 380.6 385.04 390.04 394.48 399.48 402.26 406.7 410.59004 413.09004 418.09004 421.42 423.92 426.7 431.7 436.14 438.64 446.42 451.42 454.2 459.2 461.956 464.456 466.956 470.28599 475.28599 477.78599 482.78599 486.11598 490.55598 494.99598 497.77598 500.55598 504.99598 509.43598 511.93598 514.716 519.716 524.156 526.656 534.43606 539.43606 542.21609 547.21609 550.5461 553.0461 556.9361 559.7161 563.04617 568.04617">section of the mechanics of the motor. In practice the motor struc</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="-261.424" x="572.4687">-</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="-249.4048" x="312 314.78 319.78 323.11 327.55 330.05 332.83 336.72 339.22 343.66 346.16 348.94 351.72 354.5 357.28 360.06 364.5 367 372 374.78 377.913 381.24299 385.68299 389.01298 393.45298 398.45298 401.23298 403.73298 407.06297 410.39295 415.39295 423.17295 425.67295 428.45295 433.45295 436.23295 440.12297 442.62297 445.12297 450.12297 455.12297 457.90296 460.40296 463.18296 468.18296 472.62297 475.12297 480.12297 483.45295 486.23295 491.23295 495.67295 498.45295 503.45295 506.23295 510.67295 513.173 518.173 521.503 524.003 529.003 534.003 538.443 541.773 546.213 548.99307 551.7731 556.7731 561.7731 564.2731 567.0531 570.9431">ture is a little different from this, but the principle of operation 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="-237.3854" x="312 314.78 319.78 324.22 326.72 330.61003 335.05003 342.83003 347.27003">the same.</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="-219.3661" x="312 317.56 320.34 324.78 328.11 330.88999 333.66999 338.66999 343.66999 346.16999 350.61 353.38999 355.88999 358.66999 363.66999 368.11 370.61 373.38999 378.38999 383.38999 385.88999 388.38999 393.38999 397.83 402.83 407.27 410.05 412.55 415.87998 420.31999 423.64997 426.14997 428.92997 433.92997 436.42997 441.98997 444.76997 449.76997 454.76997 458.09996 462.53996 464.46595 471.68595 476.68595 479.18595 481.68595 484.46595 489.46595 493.90596 496.40596 500.84596 505.84596 509.17594 512.5059 516.9459 521.9459 524.72598 527.22598 530.006 533.896 536.396 539.726 542.50607 547.50607 554.726 557.50607 562.50607 567.50607">Starting at the top, panel (a) in Figure A1, the current is flowing </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="-207.3469" x="312 317 322 329.22 334.22 336.72 339.5 344.5 347.83 352.83 357.83 362.83 367.83 370.33 373.11 378.11 382.55 385.05 390.05 395.05 399.49 403.38 407.82 409.764 416.43403 418.93403 426.15403 428.93403 433.93403 438.93403 441.71403 446.71403 451.71403 454.21403 457.544 460.874 465.874 473.654 476.154 478.934 483.934 488.934 491.434 494.214 499.214 501.714 506.714 511.714 514.494 517.27407 522.27407 530.0541 532.5541 536.9941 541.9941 546.9941 549.4941 552.2741 557.2741 561.7141 565.0441 569.48416">down through the phase A winding from top to bottom and there </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="-195.3275" x="312 314.78 318.67 321.17 326.17 331.17 333.67 338.11003 343.11003 346.44 349.77 354.21 359.21 361.99 364.49 367.27 372.27 374.77 379.77 384.77 389.21 393.1 397.54 400.04 406.71003 409.21003 411.52104 417.631 422.631 427.071 429.571 432.901 437.341 441.23103 446.23103 449.01103 451.79103 454.29103 457.071 460.96104 463.46104 467.90104 472.90104 475.40104 482.62104 485.12104 492.90104 497.34104 502.34104 507.34104 511.78105 514.56106 517.34109 521.78109 524.28109 529.28109 534.28109 537.0611 541.5011 544.0011 549.0011 554.0011 556.5011 559.2811 564.2811 568.7211">is no current in phase B. The result is an N magnetic pole 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="-183.3083" x="312 318.67 321.17 325.61003 328.39 332.83003 337.27003 340.05003 343.38 348.38 356.16 360.6 365.6 370.6 375.04 377.82 381.71003 384.21003 388.65003 393.65003 398.65003 401.15003 405.59004 410.59004 413.09004 418.65003 421.15003 426.15003 431.15003 433.93003 438.37004 440.87004 445.87004 450.87004 453.37004 456.15003 461.15003 465.59004 467.51805 474.73805 478.06803 483.06803 487.50804 490.838 493.338 497.778 500.558 504.99803 509.43803 512.218 515.54806 520.54806 528.32809 532.76809 537.76809 542.76809 547.20809 549.9881 553.8781 556.3781 558.6851 564.7951 569.7951 574.2351">A electromagnets and an S pole on the A-bar electromagnets. 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="-171.289" x="312 315.33 320.33 323.11 328.11 331.43998 333.93998 338.93998 343.93998 347.83 350.61 353.38999 356.16999 361.16999 366.16999 368.66999 371.44999 375.34 377.84 381.73 386.73 391.17 396.17 398.67 401.45 406.45 410.89 413.67 416.17 418.95 423.95 428.39 431.17 433.67 436.45 441.45 445.89 448.39 453.39 458.39 461.17 465.61003 469.50004 472.00004 477.00004 480.33003 482.83003 485.61003 490.61003 495.05003 497.55003 502.55003 506.99003 510.32 518.10006 522.54006 527.54006 531.98007 536.98007 539.7601 542.2601 550.0401 554.4801 559.4801 564.4801 568.9201 571.70016 575.59017">rotor position is such that that the poles of the permanent magnets </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="-159.2697" x="312 316.44 319.22 322 327 332 334.5 341.72 344.5 347.28 352.28 354.78 357.56 362.56 367 369.5 374.5 379.5 382.28 386.72 390.61003 393.11003 398.11003 401.44 403.94 406.72 411.72 416.16 418.66 423.1 425.88 430.32 434.76 437.54 440.87 445.87 453.65 458.09 463.09 468.09 472.53 475.31 479.2 481.7 484.2 491.42 493.92 496.7 501.7 504.2 509.76 512.26">align with the poles of the electromagnets, N to S. </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="-141.2504" x="312 315.27 320.21 322.65 325.37 330.31 334.69 337.13 342.07 346.45 351.39 354.11003 356.55003 361.49003 365.87004 370.81004 375.19004 377.91004 380.35005 382.79005 387.73005 392.11006 397.05006 401.43006 404.15007 406.59007 409.86006 414.80006 418.07005 420.51005 422.95005 425.67005 430.61006 434.99006 437.43006 441.81007 446.75007 450.02006 453.29005 457.67005 462.61006 465.33006 467.77006 470.49006 474.32005 476.76005 480.03004 482.75004 487.69004 494.85005 497.57005 502.51005 507.45005 509.89006 514.83 519.77 526.93 531.87 534.31 537.02999 541.97 545.24 550.18 555.12 560.06 565.06">In the next panel, panel (b), the current is flowing down through </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="-129.2311" x="312 314.72 319.66 324.04 326.48 331.42 336.36003 340.74003 344.57 348.95 351.39 358 360.44 367.6 370.32 375.26 380.2 382.92 387.86003 392.80003 395.24003 398.51 401.78 406.72 414.44 416.88 419.6 424.54 429.48 431.92 434.64 439.58003 442.02003 446.96003 451.90003 454.62004 457.34004 462.28004 470.00004 472.44004 476.82005 481.76005 486.70005 489.14006 491.86006 496.80006 501.18006 504.45005 508.83006 511.27006 513.99008 517.82009 520.2601 525.2001 530.1401 532.5801 536.9601 541.9001 545.1701 548.4401 552.8201 557.76016 560.5381">the phase B winding from top to bottom and there is no current </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="-117.2118" x="312 314.72 319.66 322.1 327.04 331.98 336.36003 340.19 344.57 346.458 353.618 356.058 358.31803 364.368 369.308 373.68803 376.12803 379.398 383.778 387.608 392.548 395.268 397.988 400.428 403.148 406.978 409.418 413.798 418.738 421.178 428.338 430.778 435.71803 440.65803 443.37803 447.75804 450.19804 455.13804 460.07804 462.51805 465.23805 470.17805 474.55805 476.99806 483.60804 486.04804 490.42805 493.14805 497.52806 501.90806 504.62806 507.89805 512.838 520.558 524.938 529.878 534.818 539.198 541.91799 545.748 548.188 552.568 557.508 562.508">in phase A. The result is an N pole on the B electromagnets 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="-105.1925" x="312 316.38 321.32 323.76 329.26 331.7 336.64 341.58003 344.30003 348.68003 351.12004 356.06004 361.00004 363.44004 366.16004 371.10005 375.48005 377.92005 384.53004 387.80003 392.74003 397.12004 400.39 402.83003 407.21003 409.93003 414.31004 418.69004 421.41004 424.68003 429.62004 437.34004 441.72004 446.66004 451.60005 455.98005 458.70005 462.53004 464.97004 467.22904 473.27903 478.21903 482.59904 486.42903 490.80903 493.24903 500.96903 505.34904 510.28904 515.229 519.609 522.329 525.04898 529.42898 531.86898 536.80899 541.74899 544.46896 548.84896 552.67898 555.11898 562.27896 564.9989 567.7189 570.4968">an S pole on the B-bar electromagnets. These magnetic poles 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="-93.1732" x="312 316.38 319.1 321.82 325.09 329.47 333.85 336.57 339.01 343.39 348.33003 353.27003 355.71003 358.98 363.36003 368.30003 372.68003 375.40003 377.84004 380.56004 385.50004 389.88005 392.32005 397.26005 401.64006 404.91004 412.63005 417.01005 421.95005 426.33006 431.27006 433.99006 436.43006 444.15007 448.53007 453.47007 458.41007 462.79008 465.51008 469.34007 471.78007 476.72007 481.66007 484.10008 486.82008 491.76008 496.14009 498.58009 501.85008 506.79008 509.51008 514.4501 517.7201 520.1601 525.1001 528.3701 533.3101 538.2501 543.1901 547.5701 550.2901 555.2301 560.1701 562.6101 567.04916">attract and repel the permanent magnets on the rotor producing a </tspan></text>
</svg>