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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="WSZTMG+ArialMT"><tspan y="-37.5204" x="427.7316 431.7336 433.0656 434.3976 437.7336 441.0696 443.0676 446.4036 448.0716 453.06959 454.40159 457.40159 459.39958 462.73558 466.73759 469.73759 472.73759 474.40559 477.74159 482.73957 485.73957">Allegro MicroSystems </tspan><tspan y="-30.3204" x="428.0376 431.3736 434.7096 438.0456 439.7136 443.7156 447.0516 449.0496 450.3816 455.37959 458.71559 460.38359 463.71958 465.71757 467.38557 471.71757 475.05357 478.38957 481.72557">955 Perimeter Road </tspan><tspan y="-23.1204" x="428.1096 433.10758 436.44358 439.77958 442.77958 446.11558 449.45158 452.45158 454.11958 457.45558 459.12596 460.79396 462.46195 466.79396 471.12596 472.79396 476.12995 479.46595 482.80195 486.13795 489.47395 491.47193 494.80793 498.14393 501.47993 504.81593 506.48393 510.81593 512.48397 516.48599 518.154 522.156">Manchester, NH 03103-3353 U.S.A.</tspan></text>
<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="-639.9836" x="36 45.996004 53.328004 57.324 64.656 69.324 72.659999 82.656 89.988 96.66 103.332 114 120.672 128.004 132 135.336 144 151.332 158.664 162.66 167.328 174.66 177.996">Motor Movement 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="-621.2384" x="36 42.11 47.11 51.550004 53.495004 60.715005 65.715007 70.715007 75.715007 80.715007 83.215007 88.215007 91.545009 96.545009 101.545009 104.325008 109.325008 113.76501 117.65501 120.15501 122.935009 130.155 135.155 137.655 140.435 145.435 150.435 154.875 159.875 164.315 169.315 174.315 178.755 183.755 186.535 189.035 196.815 201.255 204.035 209.035 214.035 219.035 222.925 225.425 228.205 233.205 235.705 240.145 245.145 250.145 252.925 256.255 261.255 264.035 266.535 269.315 274.315 278.755">The A3981 provides two independent methods to control 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="-608.4932" x="36 43.78 48.78 53.78 58.22 66 70.44 75.44 78.22 80.72 85.72 89.05 91.55 95.990009 98.490009 102.380008 105.16 109.600009 114.600009 119.600009 124.04001 127.37001 129.87001 137.65001 142.65001 145.43001 150.43001 153.19202 155.69202 158.01203 164.12203 169.12203 173.56203 176.06203 179.95203 182.73203 190.51203 195.51203 198.29203 202.73203 206.06203 208.56203 211.34203 215.23203 217.73203 220.51203 225.51203 229.95203 232.45203 238.01203 240.79203 245.23203 250.23203 252.73203 257.17204 262.17204 267.17204 269.67204 276.89204 279.67204 283.002 287.44203">movement of a stepper motor. The simpler is the Step and Direc</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="-608.4932" x="291.8643">-</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="-595.7479" x="36 38.78 41.559999 46.559999 51.559999 54.059999 61.839998 66.28 69.06 74.06 79.06 84.06 86.56 89.06 96.28 101.28 104.06 108.5 113.5 116 121 126 128.78 133.78 136.28 139.61 144.05 149.05 154.05 156.83 160.16 164.6 168.49 170.99 173.77 180.99 185.99 188.49 192.93001 197.93001 202.93001 205.71 209.04001 214.04001 216.82 219.32 223.21 225.99 230.99 235.99 240.43001 243.21 247.1 249.6 252.38 257.38 259.88 264.32 269.32 274.32 277.1 280.43 285.43 288.21">tion method, which only requires two control signals to 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="-583.0027" x="36 38.78 43.78 48.22 50.72 54.61 57.39 61.83 66.83 71.83 76.270008 79.600009 82.100009 89.880008 94.880008 97.66 102.66 105.990009 108.490009 111.270008 116.270008 118.770008 123.21001 125.990009 128.77 133.77 138.21 141.54001 144.04001 149.04001 151.82 155.15001 159.59001 164.03002 166.81002 169.59001 174.59001 179.59001 182.09001 184.38402 190.49402 195.49402 199.93402 202.43402 207.43402 210.21402 215.21402 219.65402 222.98403 225.48403 233.26403 237.70403 240.48403 245.48403 250.48403 255.48403 257.984 260.764 264.65403 267.15403 269.93403 274.93403 278.264 283.264 288.264 293.264 298.264">the stepper motor in either direction. The other method is 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="-570.2575" x="36 38.78 43.78 48.22 50.72 54.61 59.050004 62.380006 65.16 69.600009 72.380008 74.880008 77.66 82.66 85.44 89.880008 93.21001 96.54001 100.98001 105.42001 109.860019 112.360019 114.860019 122.08002 127.08002 129.86002 134.30002 139.30002 141.80002 146.80002 150.13002 155.13002 160.13002 162.91002 167.91002 172.35002 176.24002 178.74002 186.52002 191.52002 194.85002 199.29003 201.79003 205.12003 207.90003 212.34003 217.34003 220.12003 225.12003 227.90003 232.34003 234.84003 239.28003 244.28003 249.28003 252.06003 255.39003 260.39 263.17 265.67 270.11003 274.55003 279.55003">the serial interface, which provides more flexible control capa</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="-570.2575" x="283.9492">-</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="-557.5123" x="36 41 43.78 46.559999 49.339998 52.119997 56.463998 58.963998 61.463998 68.133998 73.133998 75.913997 80.913997 83.413997 91.19399 95.633998 98.413997 103.413997 108.413997 113.413997 117.30399 119.80399 124.243999 128.68399 133.68399 136.18399 141.18399 145.624 148.124 153.124 157.01399 161.454 166.454 168.954 171.734 176.734 181.734 186.174 188.954 193.954 198.394 201.724 204.224 207.554 211.994 214.774 217.554 222.554 227.554 232.554 237.554 242.554 245.054 247.834 250.614 253.114 255.894 259.784 262.284 267.284 272.284 275.064">bility. Both methods can be used together (although it is not </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="-544.767" x="36 40.440004 45.440004 53.22 61 66 71 74.33 76.83 79.33 84.33 87.66 92.66 97.66 100.44 105.44 109.880008 114.880008 117.380008 120.16 125.16 129.6 132.1 134.88 137.66 145.44 148.22 153.22 158.22 160.72 164.05 168.49 172.38 175.16 178.49 181.27 185.71 188.49 191.27 196.27 201.27 205.16 207.66 212.66 215.99 218.49 221.27 226.27 230.71 233.21 238.77 244.88 250.99 256.15104 258.65104 261.43104 266.43104 271.43104 276.43104 279.21104 281.71104 284.49104 289.49104">common), provided the timing restrictions of the STEP input in </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="-532.0218" x="36 39.33 43.770006 46.550004 50.990007 53.770006 56.550004 61.550004 66.55 69.05 71.83 76.83 79.33 82.11 87.11 91.55 94.05 99.61 105.72 112.39 117.39 119.89 122.67 127.67 132.67 137.67 140.45 142.95 147.39 150.72 155.16 157.66 162.66 165.99 170.43001 174.32 178.76001 182.09001 187.09001 191.53002 196.53002">relation to the STRn input are preserved.</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="-508.7766" x="36.1758 43.1958 50.7658 58.3358 65.355808 72.201808 75.15581 80.87381 88.44381 96.01381 102.47381 109.31981 111.90281 119.47281 127.04281 134.4398 137.3948 144.41481 151.98482 159.55483 166.57483 173.42084 176.37485 183.94486 187.07486 194.64487 202.77487 210.34488 217.91489">PHASE TABLE AND PHASE 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="-491.5313" x="36 42.11 47.11 51.550004 54.050004 59.050004 63.490007 68.490009 70.990009 73.770008 78.770008 81.270008 86.270008 91.270008 96.270008 100.71001 104.04001 107.93001 110.71001 115.15001 120.15001 125.15001 127.93001 132.93001 137.93001 140.43001 145.43001 150.43001 153.21 158.21 160.71 165.71 169.04001 171.54001 174.32 179.32 183.76001 186.26001 190.70001 195.70001 200.14002 202.92002 205.70001 210.14002 215.14002 217.92002 222.36002 224.86002 229.30002 234.30002 239.30002 242.08002 245.41002 250.41002 253.19002 255.69002 263.47004 267.91004 270.69004 275.69004 280.69004 285.69004 289.58006">The key to understanding both of the available control methods </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="-478.7861" x="36 38.78 41.559999 46 49.89 52.39 55.17 60.17 62.67 67.67 72.67 77.67 82.11 85.44 89.33 92.11 96.55 101.55 106.55 109.33 114.33 119.33 121.83 124.61 129.61 134.05 136.55 142.11 147.11 151.55 155.44 159.88 162.38 169.05 174.05 177.38 180.71 185.15001 190.15001 192.93001 195.43001 198.21 202.65001 207.65001 210.43001 214.87001 217.37001 220.70001 226.08802 230.52802 235.52802 238.30802 242.74802 245.24802 250.24802 253.57802 256.078 258.393 264.503 269.503 272.283 276.173 278.673 281.453 285.893 290.893 293.673 298.113">lies in understanding the Phase Current table (Table 7). This 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="-466.0409" x="36 40.440004 45.440004 50.440004 53.22 57.660005 60.440004 65.44 69.33 71.83 74.61 79.61 84.05 86.55 89.880008 94.32001 97.100009 101.54001 104.32001 107.100009 112.100009 116.54001 119.04001 124.04001 129.04001 133.48001 137.37001 141.81002 144.31002 148.75002 153.75002 157.08002 160.41002 164.85002 169.85002 172.63002 175.13002 182.91002 187.35002 192.35002 197.35002 200.13002 202.91002 207.91002 212.91002 217.35002 219.85002 224.29003 229.29003 234.29003 236.79003 241.79003 244.57003 247.90003 252.34003 256.78004 259.56004 262.34004 267.34004 272.34004 274.84004 278.17 283.17 286.5">contains the relative phase current magnitude and direction for </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="-453.2957" x="36 40.440004 44.880006 49.320009 54.320009 56.820009 61.820009 65.15001 67.65001 70.43001 75.43001 79.87001 82.37001 85.15001 92.37001 97.37001 99.87001 107.65001 112.65001 115.43001 120.43001 123.76001 126.26001 131.26001 136.26001 140.70001 144.59001 149.03002 152.92002 155.42002 159.86002 162.64002 165.14002 169.58002 174.02002 178.46002 183.46002 185.96002 193.74002 196.52002 200.96002 204.29003 209.29003 213.18003 215.96002 220.40003 225.40003 227.90003 232.90003 237.90003 241.79003 244.57003 247.35002 250.13002 255.13002 260.13 262.63 264.921 271.03099 276.03099 280.47099">each of the two motor phases at each microstep position. 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="-440.5504" x="36 43.78 48.22 53.22 56 63.78 68.78 76.56 79.06 82.39 86.83 90.72 95.72 98.5 103.5 106.28 109.06 114.06 119.06 121.56 126.56 129.89 132.39 135.17 140.17 144.61 146.542 153.76201 158.76201 163.76201 168.76201 173.76201 176.26201 179.042 182.932 185.432 190.432 195.432 199.87201 203.20201 207.09201 209.87201 214.87201 217.65201 222.09201 226.53202 231.53202 234.31201 239.31201 241.81201 249.59201 252.37201 256.812 260.142 265.142 269.032 271.812 276.252 281.252 283.752">maximum resolution of the A3981 is one-sixteenth 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="-427.8052" x="36 42.11 47.11 51.550004 54.33 56.83 59.61 63.5 66 71 76 78.5 86.28 89.06 93.5 96.83 101.83 105.72 108.5 112.94 117.94 121.83 124.33 129.33 133.77 137.1 139.6 142.93001 147.93001 150.71 153.49 155.99 159.88 162.66 167.1 172.1 174.6 176.903 183.013 188.013 192.453 195.783 200.223 202.723 207.16301 210.49301 214.93302 217.43302 222.43302 224.93302 228.26302 233.26302 236.04302 238.82302 241.32302 245.21302 247.99301 252.43302 257.433 261.32304 263.82304 268.82304 273.26304 276.59303 279.09303 283.53303 286.31303 290.75303">That is 16 microsteps per full step. There are 4 full steps per elec</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="-427.8052" x="295.1748">-</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="-415.06" x="36 38.78 42.11 44.89 49.33 53.770006 56.550004 59.050004 63.490007 68.490009 72.93001 75.71001 80.15001 82.65001 85.15001 89.04001 94.04001 96.54001 99.32001 104.32001 108.76001 111.26001 116.26001 121.26001 125.70001 129.59001 134.03002 136.53002 140.97002 145.97002 149.30002 152.63002 157.07003 162.07003 164.85002 167.35002 170.13002 174.57003 179.57003 182.35002 186.79003 189.29003 194.29003 198.73003 202.62003 205.12003 210.12003 215.12003 217.62003 225.40003 228.18003 232.62003 235.95003 240.95003 244.84003 247.62003 252.06003 257.06004 259.56004 264.00004 269.00004 271.78004 275.11003 277.89 282.33003 286.22004 288.72004">trical cycle, so the phase current table has 64 microstep entries. </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="-402.3148" x="36 42.11 47.11 51.550004 54.050004 58.490007 63.490007 66.270008 69.600009 72.380008 76.82001 80.71001 83.21001 87.65001 90.98001 95.42001 97.92001 102.92001 107.92001 115.70001 120.70001 125.140018 128.47002 132.91002 137.91002 140.41002 143.74002 147.07003 152.07003 159.85002 162.35002 167.35002 169.85002 172.63002 177.63002 180.13002 185.13002 190.13002 192.63002 194.93102 201.04102 206.04102 208.82102 212.71102 215.21102 220.21102 225.21102 232.99102 237.99102 242.43102 245.76102 248.26102 251.59102 256.031 261.031 264.361 268.801 272.691 277.131 282.131 284.911 288.80104">The entries are numbered from 0 to 63. This number represents </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="-389.5695" x="36 38.78 43.78 48.22 50.72 55.72 60.72 65.16 69.05 73.490009 75.990009 80.43001 85.43001 90.43001 93.21001 97.65001 100.15001 107.37001 110.15001 112.93001 117.93001 120.71001 125.71001 128.21 130.99 135.99 140.43001 142.93001 146.26001 151.26001 154.04001 156.82 159.32 164.32 169.32 174.32 178.32 180.82 185.26001 188.04001 192.48001 196.92002 199.70001 203.03002 205.81002 210.25002 214.69002 217.47002 219.97002 224.41002 229.41002 233.85002 236.63002 241.07003 243.57003 248.01003 253.01003 258.01 260.51 263.29 267.18003 269.68003 274.12004 278.56004 281.34004 284.12004 288.56004 293.56004">the phase angle within the full 360&#x00b0; electrical cycle and is called </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="-376.8243" x="36 38.78 43.78 48.22 50.72 56.280004 59.06 63.5 68.5 70.443 77.663 82.663 87.663 90.443 94.883 97.383 104.603008 109.603008 117.383 122.383 126.823009 129.599 132.099 134.418 140.528 145.528 148.308 152.198 154.698 157.478 161.368 163.868 166.648 169.428 172.208 177.208 181.09799 183.87799 187.208 191.648 194.428 198.868 203.868 206.368 209.148 214.148 216.648 222.208 224.98799 229.98799 234.98799 238.318 242.758 245.258 250.258">the Step Angle Number. This is illustrated in Figure 6.</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="312 317.56 320.34 325.34 330.34 333.66999 338.11 340.61 345.61 348.11 352 357 362 369.22 373.11003 375.61003 378.39 383.39 387.83003 390.33003 394.77003 399.77003 404.77003 407.55003 411.99003 416.99003 419.77003 423.66004 426.16004 431.16004 434.49003 436.99003 439.77003 444.77003 449.21003 451.71003 456.71003 461.71003 466.15003 470.04005 474.48005 476.98005 481.42005 486.42005 489.75004 493.08003 497.52003 502.52003 505.30003 507.80003 510.58003 515.02 520.02 522.80007 527.24008 529.74008 534.18008 538.07009 540.57009 545.0101 547.5101 552.5101 557.5101 561.9501 565.8401 570.2801">Figure 6 shows the contents of the phase current table as a 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="-628.9259" x="312 317 319.78 324.22 329.22 332.55 336.99 344.77 347.27 349.58299 355.69297 360.69297 365.13298 367.63298 372.63298 377.63298 382.07298 385.96299 390.40299 392.90299 399.573 402.073 406.513 411.513 414.843 418.17298 422.61299 427.61299 430.39299 432.89299 435.39299">diagram. The phase B current, I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-626.4259" x="438.7139">B</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="-628.9259" x="443.7163 446.2163 448.7163 452.0463 455.37629 460.37629 468.15629 470.65629 473.43629 478.43629 482.87629 485.37629 490.37629 495.37629 499.81629 503.7063 508.1463 510.6463 515.0863 520.0863 523.4163 526.74636 531.18637 536.18637 538.9664 541.4664 544.2464 548.6864 553.6864 556.46646 560.90646 563.40646 565.90646 568.68649 572.5765">, from the phase current table, 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="-616.0654" x="312 317 319.78 324.78 327.56 330.34 334.78 339.78 342.28 347.28 352.28 354.78 359.78 364.78 368.11 370.88999 375.33 380.33 385.33 388.11 392.55 395.33 397.83 402.27 407.27 410.05 413.94 416.44 420.88 425.88 430.88 433.38 436.16 441.16 445.6 448.1 453.1 458.1 462.54 466.43003 470.87004 472.79603 479.46604 481.96604 486.40605 491.40605 494.73603 498.066 502.506 507.506 510.286 512.786 515.286">plotted on horizontal axis and the phase A current, I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-613.5654" x="518.6113">A</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="-616.0654" x="524.0276 526.5276 529.0276 531.8076 535.69766 538.19766 543.19766 545.97769 550.97769 553.7577 556.5377 560.9777 565.9777">, is plotted </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="-603.2049" x="312 317 322 324.5 327.28 332.28 336.72 339.22 344.22 348.66 351.99 354.77 357.55 361.99 366.43 369.21 371.71 376.15 381.15 383.93 387.82 390.32 392.625 398.735 403.735 408.175 410.675 414.00498 418.44499 422.335 427.335 430.115 432.895 437.335 442.335 445.115 447.615 455.395 460.395 463.175 468.175 471.50498 474.00498 478.44499 483.44499 486.77497 490.10496 494.54496 499.54496 502.32496 504.82496 509.26496 512.045 514.545 518.985 523.425 527.865 532.865 535.365 543.145 545.92507 550.36508 553.69509 558.69509 562.5851 565.3651 569.8051 574.8051">on the vertical axis. The resultant motor current at each 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="-590.3444" x="312 314.78 318.67 321.17 325.06004 330.06004 335.06004 342.28004 347.28004 349.78004 354.22004 358.11006 360.61006 365.61006 370.61006 378.39006 383.39006 387.83006 391.16004 395.60005 400.60005 403.10005 406.43003 410.87004 415.87004 418.65003 423.09004 425.87004 428.37004 432.81004 436.14 439.47 444.47 451.69 455.58003 458.08003 460.394 466.504 471.504 475.944 478.444 483.444 488.444 496.224 501.224 505.664 508.994 511.494 515.384 520.384 525.384 532.60397 537.60397 540.10397 544.54397 549.54397 552.87399 556.204">is shown as numbered radial arrows. The number shown corre</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="-590.3444" x="560.6377">-</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="-577.4839" x="312 315.89 320.89 325.89 330.89 335.89 339.78004 342.28004 345.06004 350.06004 352.56004 355.34004 360.34004 364.78004 367.28004 372.28004 377.28004 381.72004 385.05003 388.94004 391.72004 396.72004 399.50004 403.94004 408.38005 413.38005 416.16004 421.16004 423.66004 431.44004 434.22004 438.66004 441.99003 446.99003 450.88005 453.66004 458.10005 463.10005 465.60005 471.16004 473.94004 478.38005 483.38005 485.31004 492.53004 497.53004 502.53004 505.31004 509.75004 512.25 519.47 524.47 532.25 537.25 541.69 545.02 547.52 550.30007 555.30007 557.80007 560.5801 565.5801 570.0201">sponds to the one-sixteenth microstep Step Angle Number 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="-564.6235" x="312 317 322 326.44 330.33003 334.77003 337.27003 341.71003 346.71003 350.04 353.37 357.81 362.81 365.59 368.09 370.87 375.31 380.31 383.09 387.53">phase current 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="-545.7629" x="312 317.56 320.34 325.34 330.34 333.66999 338.11 340.61 345.61 348.11 352 357 362 369.22 373.11003 375.61003 380.05003 385.05003 387.55003 391.99003 396.99003 401.43003 409.21003 414.21003 416.99003 421.43003 423.93003 428.93003 432.26 434.76 439.2 443.64 446.42 450.86003 455.86003 458.64 463.08003 465.86003 468.64 473.64 478.64 481.14 483.92 488.92 493.36003 495.86003 499.19 503.63 507.52003 512.52 515.30007 518.0801 522.5201 527.5201 530.3001 532.8001 540.58016 545.58016 548.36019 553.36019 556.6902">Figure 7 shows an example of calculating the resultant 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="-532.9025" x="312 316.44 321.44 324.77 328.09999 332.53999 337.53999 340.31999 342.81999 350.59999 355.03999 360.03999 365.03999 367.81999 370.59999 375.59999 380.59999 385.03999 387.53999 391.97999 396.97999 401.97999 404.47999 408.91999 413.91999 418.91999 421.69999 426.13999 428.63999 431.96998 436.96998 440.29997 442.79997 446.68998 449.46998 453.90998 458.90998 461.40998 466.40998 471.40998 479.18998 484.18998 488.62998 491.95997 494.45997 499.45997 504.45997 506.95997 509.25596 515.36599 520.36599 524.80599 527.30599 530.086 534.526 537.669 542.669 547.109 549.88906 552.38906 555.16909 559.0591 561.5591 564.3391 569.3391">current magnitude and angle for step number 28. The target is 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="-520.042" x="312 317 321.44 326.44 330.88 333.38 336.16 341.16 345.6 348.1 355.88 360.32 365.32 370.32 373.1 375.88 380.88 385.88 390.32 392.82 397.82 401.15 403.65 406.43 411.43 415.87 418.37 421.69999 426.13999 430.03 435.03 437.81 440.59 445.03 450.03 452.81 455.31 463.09 468.09 470.87 475.87 479.19999 481.69999 486.13999 491.13999 494.46998 497.79997 502.23997 507.23997 510.01997 512.51998 517.51998 521.95999 524.45999 529.45999 534.45999 539.45999 547.79 550.29 554.73 557.51 560.01 564.45 567.23007 570.0101">have the magnitude of the resultant motor current be 100% at 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="-507.1815" x="312 319.78 322.56 327 330.33 335.33 339.22 342 346.44 351.44 353.94 358.94 363.94 367.83003 370.61003 373.39 376.17 381.17 386.17 390.06004 392.56004 394.87104 400.98103 405.98103 410.42103 412.92103 416.251 420.691 423.471 427.911 430.691 433.471 438.471 442.911 445.411 450.411 455.411 459.851 463.74104 468.18104 470.68104 475.12104 480.12104 483.45103 486.781 491.221 496.221 499.001 502.89103 505.39103 508.721 512.051 517.051 524.83108 527.33108 530.1111 535.1111 539.5511 542.0511 547.0511 552.0511 556.4911 560.3811 564.8211">microstep positions. The relative phase currents from the 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="-494.321" x="312 316.44 321.44 324.77 328.09999 332.53999 337.53999 340.31999 342.81999 345.59999 350.03999 355.03999 357.81999 362.25999 364.75999 369.19999 372.52998 376.96998">current table are:</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="-471.4573" x="418.823">I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-468.9573" x="422.1531">A</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="-471.4573" x="426.5989 429.0989 435.8489 438.3489 443.3489 448.3489 450.8489 455.8489 460.8489"> = 37.50%</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="-450.5905" x="416.2552">I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-448.0905" x="419.5853">B</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="-450.5905" x="424.1666 426.6666 433.4166 435.9166 440.9166 445.9166 450.9166 453.4166 458.4166 463.4166"> = &#x2013;92.19%</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="-433.7267" x="312 319.22 323.11003 327.00004 332.00004 339.78004 342.56004 347.56004 352.56004 355.06004 359.50004 362.00004 365.33003 370.33003 373.11003 375.89 378.39 382.28004 386.72004 391.16004 393.94004 398.38005 400.88005 404.21003 409.21003 414.21003 419.21003 427.54 430.87 433.37 437.81 442.81 446.13999 449.46998 453.90998 458.90998 461.68998 464.18998 469.18998 472.51997 475.01997 480.01997 486.67796 489.17796 496.95796 501.39796 505.83796 510.83796 514.72799 517.22799 520.008 525.008 529.448 532.228 534.728 537.50808 542.50808 546.94808 549.44808 552.2281 559.44808 564.44808">Assuming a full scale (100%) current of 1A means that the 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="-420.8663" x="312 317 322 326.44 330.33003 334.77003 337.27003 341.71003 346.71003 350.04 353.37 357.81 362.81 365.59 369.48 371.98 376.42 379.75 384.19">phase currents are:</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="-398.0026" x="416.3645">I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-395.5026" x="419.6946">A</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="-398.0026" x="424.1404 426.6404 433.3904 435.8904 440.8904 443.3904 448.3904 453.3904 458.3904 463.3904 465.7074"> = 0.3750 A</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="-377.1357" x="414.6317">I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-374.6357" x="417.9618">B</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="-377.1357" x="422.5431 425.0431 431.7931 434.2931 437.62309 442.62309 445.12309 450.12309 455.12309 460.12309 465.12309 467.44007"> = -0.9219 A</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="-360.272" x="312 318.11 323.11 327.55 330.05 337.83 342.27 347.27 352.27 355.05 357.83 362.83 367.83 372.27 374.77 379.77 383.09999 385.59999 388.37998 393.37998 397.81999 400.31999 403.64997 408.08998 411.97999 416.97999 419.75999 422.53999 426.97999 431.97999 434.75999 437.25999 444.47999 447.25999 450.03999 452.81999 455.31999 460.31999 464.75999 467.25999 470.03999 475.03999 479.47999 481.97999 485.87 490.87 495.87 500.31 503.63999 508.08 510.58 513.91 518.91 523.91 526.69 529.19 534.19 537.52 540.02 542.80007 547.80007 552.24008 554.74008 558.63009 563.63009 571.4101">The magnitude of the resultant will be the square root of the sum </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="-347.4115" x="312 317 320.33 322.83 325.61 330.61 335.05 337.55 341.44 346.44 351.44 355.88 359.21 363.65 367.54 370.04 375.04 378.37 380.87 383.65 388.65 393.09 396.98 401.42 403.92 406.7 413.92 418.92 421.42 425.86003 430.86003 434.19 437.52 441.96 446.96 449.74 453.63">of the squares of these two currents:</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="-328.551" x="312"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.9929902 0 -0 1.0070592 0 792)" font-size="9.673711" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-326.2262" x="516.6421 521.5757 526.4802 531.4138 536.2507 538.6691 541.8905 548.87496 514.22366 509.38679 479.73686 484.67045 489.575 494.5086 477.31843 472.48158 443.46046 448.39408 453.2986 458.2322 441.04206 436.2052 373.62596 356.54219">9953 (A).08499.01406.0||</tspan></text>
<text xml:space="preserve" transform="matrix(.9929807 0 -0 1.0070689 0 792)" font-size="5.64301" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-330.5488" x="414.86997 395.04606">22</tspan><tspan y="-323.7941" x="365.0083 367.85243">28</tspan></text>
<text xml:space="preserve" transform="matrix(.9929902 0 -0 1.0070592 0 792)" font-size="9.673711" font-family="NZYVYY+SymbolMT"><tspan y="-326.2262" x="502.0083 464.91929 422.26789 401.63389 375.43748">=+=+=</tspan></text>
<text xml:space="preserve" transform="matrix(.9929807 0 -0 1.0070689 0 792)" font-size="5.64301" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-323.7965" x="414.1903 394.6429">BA</tspan></text>
<text xml:space="preserve" transform="matrix(.9929902 0 -0 1.0070592 0 792)" font-size="9.673711" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-326.2262" x="409.64839 389.81727 360.62199">III</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="-657.2637" x="217.7988 226.8828 235.3068 243.73079 251.48279 255.23879 264.32279 272.52 280.272 284.028 293.78404 302.66044 306.20524 309.96125 319.04527 326.79728 336.55329 345.6373 356.0533 364.25053 372.00254 375.75856 385.51457">APPLICATION INFORMATION</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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-92.489" x="54.269 60.379 63.159 69.269 75.379 79.269 84.828998 87.60899 93.16899 96.49899 98.90299 106.12299 111.68299 117.24299 122.802989 128.36299 131.14299 137.81299 143.92299 149.48299 155.04299 160.60298 163.38298 170.60298 176.71298 180.60298 184.49298 190.05298 196.16298 199.49298 202.27298 207.64798 213.20798 219.31798 222.09798 227.65798 230.43798 235.99797 241.55797 244.33797 249.89797 252.67797 259.34797 265.45796 271.01795 276.57795">Figure 6: A3981 Phase Current Table as a Phase</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="-92.489" x="282.1401"> </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="-80.489" x="148.1972 155.4172 158.1972 163.7572 169.8672 173.7572 179.3172">Diagram</tspan></text>
<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="-69.889" x="61.8764 66.770809 71.2188 73.4428 78.3308 82.7788 87.2268 89.4508 93.898799 98.7868 103.6748 109.898799 114.7868 117.010799 121.45879 124.57079 129.0188 131.2428 134.3548 138.8028 141.4668 145.9148 149.0268 152.1388 156.58679 161.4748 163.69879 166.3628 171.2508 173.4748 177.92279 182.37079 184.59479 187.25879 192.14679 196.59479 198.81879 204.15479 206.81879 211.26679 216.15479 218.07959 223.85559 228.74359 233.63159 235.85559 240.30359 242.52759 248.30359 253.19159 260.3036 265.1916 269.6396 272.31">Values shown are referred to as the Step Angle Number.</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="-92.489" x="329.7563 335.86628 338.64628 344.75627 350.86625 354.75627 360.31626 363.09626 368.65626 371.98625 374.76625 381.98625 387.54624 390.32624 395.88624 401.99623 404.7762 410.3362 413.6662 416.4462 422.55619 428.66618 431.44618 437.55616 440.88615 443.66615 450.88615 456.44615 462.00614 468.11613 470.89613 474.2261 479.7861 485.8961 489.22608 492.00608 500.33607 506.44606 509.77604 515.88607 519.77609 522.5561 529.77609 535.88607 539.77609 543.6661 549.2261 555.33609">Figure 7: Calculation of Resultant Motor Current</tspan></text>
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<text xml:space="preserve" transform="matrix(.9993826 0 -0 1.0006176 0 792)" font-size="4.858199" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-269.33076" x="495.40534">A</tspan></text>
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<text xml:space="preserve" transform="matrix(.9993812 0 -0 1.0006192 0 792)" font-size="7.5122487" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-270.46043" x="498.37269"> </tspan></text>
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<g clip-path="url(#clip_15)">
<text xml:space="preserve" transform="matrix(.9993812 0 -0 1.0006192 0 792)" font-size="7.5122487" font-family="ETRYCQ+ArialMT"><tspan y="-267.35694" x="389.91889 394.0957">24</tspan></text>
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<g clip-path="url(#clip_16)">
<text xml:space="preserve" transform="matrix(.9993812 0 -0 1.0006192 0 792)" font-size="7.5122487" font-family="ETRYCQ+ArialMT"><tspan y="-267.35694" x="398.23844"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.9993812 0 -0 1.0006192 0 792)" font-size="7.5122487" font-family="ETRYCQ+ArialMT"><tspan y="-222.50783" x="359.99998 364.17677">28</tspan></text>
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<text xml:space="preserve" transform="matrix(.9993812 0 -0 1.0006192 0 792)" font-size="7.5122487" font-family="ETRYCQ+ArialMT"><tspan y="-222.50783" x="368.32533"> </tspan></text>
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