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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="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-658.7864" x="36 41.56 46.56 49.06 51.84 56.84 61.28 63.78 67.11 71.55 75.44 80.44 83.22 86 90.44 95.44 98.22 100.72 105.16 110.16 113.490009 116.82001 121.26001 126.26001 129.04001 131.54001 139.32 143.76001 148.76001 153.76001 156.54001 159.32 164.32 169.32 173.76001 176.26001 179.04001 182.93001 185.43001 190.43001 195.43001 197.93001 202.93001 207.93001 216.26001 218.76001 223.76001 227.09001 229.59001 232.92002 237.92002 240.70001 243.48001 245.98001 249.87001 254.31002 258.75 261.53 265.97 268.47 270.761 276.87098 281.87098 284.65098 288.541">So the resultant current magnitude is 99.53% of full scale. This </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-646.7864" x="36 38.78 42.67 45.17 52.39 55.17 57.949998 62.949998 65.729999 70.729999 73.229999 78.229999 80.729999 85.729999 94.06 96.56 101.56 104.89 107.39 110.17 115.17 119.61 122.11 124.89 129.33 132.47 137.47 141.91 144.69 147.19 150.52 155.52 160.52 165.52 173.85 177.18001 179.68001 184.12001 189.12001 194.12001 196.62001 199.40001 203.29001 205.79001 213.01001 217.45001 220.23001 223.01001 225.51001 232.73001 235.51001 238.29001 243.29001 246.07 251.07 253.57 256.35 261.35 265.79 268.29 273.78 278.78 287.11">is within 0.5% of the target (100%) and is well within the &#x00b1;5% </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="-634.7864" x="36 40.440004 44.880006 49.320009 54.320009 57.65001 62.09001 66.530017 71.530017 74.030017 79.030017 82.360019 84.860019 87.640018 92.640018 97.08002 99.01802 106.23802 111.23802 116.23802 121.23802 126.23802">accuracy of the A3981.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-616.7864" x="36 42.11 47.11 51.550004 54.050004 57.380006 61.820009 65.15001 69.59001 72.92001 77.360019 82.360019 86.80002 91.24002 93.74002 98.18002 103.18002 108.18002 110.96002 115.400028 117.900028 120.400028 124.84003 129.28003 132.61003 137.61003 140.11003 145.11003 149.55004 154.55004 157.88004 162.32004 166.76004 170.65004 173.15004 176.48004 181.48004 185.48004 188.81005 191.31005 193.81005 201.03005 203.81005 206.59004 211.59004 214.37004 219.37004 221.87004 224.65004 229.65004 234.09004 236.59004 239.92005 244.92005 247.70005 250.48004 252.98004 257.42005 260.20005 264.64006 269.08006 271.86006 275.19004 277.97004 282.41004 286.85005 289.63005">The reference angle, zero degrees (0&#x00b0;), within the full electrical </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="-604.7864" x="36 40.440004 45.440004 49.880006 52.660005 57.100008 59.600008 62.930009 67.93001 72.93001 77.93001 81.93001 85.26001 87.76001 90.26001 93.04001 96.93001 99.43001 104.43001 108.87001 112.20001 114.98001 119.98001 124.42001 129.42002 131.92002 136.36002 140.25002 142.75002 145.53002 150.53002 154.97002 157.47002 161.91002 166.91002 171.91002 174.69002 179.13002 181.63002 188.85002 193.85002 198.29003 201.62003 206.06003 208.56003">cycle (360&#x00b0;), is defined as the angle where 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="-602.2864" x="211.8691">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="-604.7864" x="216.8716 219.3716 222.1516 226.0416 228.5416 232.9816 235.7616 238.2616 243.9016 248.9016 253.9016 258.9016 267.2316 269.7316 274.1716 279.1716 284.1716 286.6716"> is at +100% and 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="-602.2864" x="289.9966">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="-604.7864" x="294.999"> </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="-592.7864" x="36 38.78 42.67 45.17 49.61 54.050004 57.380006 62.380006 64.880008 67.380008 73.490009 77.93001 82.37001 87.37001 89.87001 93.20001 98.20001 100.98001 103.76001 106.26001 110.15001 112.93001 117.37001 122.37001 124.87001 127.65001 131.54001 134.04001 137.37001 141.81002 146.81002 150.14002 154.58002 158.47002 162.91002 167.91002 170.69002 175.13002 180.13002 182.63002 187.63002 192.63002 195.13002 200.13002 205.13002 209.13002 211.63002 214.41002 219.41002 221.91002 224.69002 229.69002 234.13002 236.63002 241.07003 243.85002 248.29003 252.73003 255.51003 258.84004 261.62004 266.06004 270.50004 273.28004 275.78004 280.22004 285.22004 289.66004 292.44004 296.88005">is zero. Each full step is represented by 90&#x00b0; in the electrical cycle </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="-580.7864" x="36 39.89 44.89 47.39 51.83 56.270006 60.710008 65.71001 68.21001 73.21001 78.21001 82.65001 85.98001 89.87001 92.65001 97.65001 100.43001 104.87001 109.31001 114.31001 117.09001 122.09001 124.59001 132.37001 135.15001 139.59001 142.92002 147.92002 151.81002 154.59001 159.03002 164.03002 166.53002 169.31002 173.20001 175.98001 178.48001 183.48001 188.48001 192.48001 195.26001 200.26001 205.26001 207.76001 211.65001 214.43001 218.87001 223.87001 227.76001 230.26001 235.90001 238.40001 243.40001 245.90001 250.90001 255.90001 260.90003 264.90003 267.40003 269.696 275.806 280.806 285.246">so each one-sixteenth microstep is: 90&#x00b0;/16 steps = 5.625&#x00b0;. 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="-568.7864" x="36 38.78 43.22 46.366006 51.366006 55.806009 58.586008 61.086008 65.52601 70.52601 75.52601 78.30601 82.74601 85.24601 90.24601 93.57601 96.07601 100.516017 104.95602 109.39602 114.39602 116.89602 124.67602 127.45602 131.89601 135.22602 140.22602 144.11602 146.89601 151.33602 156.33602 158.83602 163.83602 168.83602 172.72602 175.50601 178.28601 181.06601 186.06601 191.06601 193.56601 200.78601 203.56601 206.34601 211.34601 213.84601 216.626 221.626 226.06601 228.56601 233.00601 235.78601 240.22602 244.66602 247.44602 250.77602 253.55602 257.996 262.436 265.216 267.716 272.156 277.156 281.596 284.376 288.816">target angle of each microstep position with the electrical cycle </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="-556.7864" x="36 38.78 42.67 45.17 50.17 54.61 57.39 61.83 65.16 72.94 75.72 80.72 85.16 90.16 92.66 97.66 102.66 105.16 107.94 112.94 117.380008 119.880008 124.880008 128.21 133.21 138.21 143.21 147.65001 150.43001 152.93001 157.93001 161.26001 163.76001 166.54001 171.54001 175.98001 178.48001 184.04001 186.82 191.26001 196.26001 198.188 205.408 210.408 215.408 218.188 222.628 225.128 232.348 237.348 245.128 250.128 254.56801 257.898 260.398 264.838 269.838 274.838 277.338 280.118 285.118 289.558">is determined by the product of the Step Angle Number 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="-544.7864" x="36 40.440004 45.440004 50.440004 53.22 57.660005 60.160005 63.490007 68.490009 71.82001 74.32001 78.76001 81.26001 85.15001 87.93001 92.93001 97.93001 100.71001 105.15001 107.65001 115.43001 118.21001 122.65001 125.98001 130.98001 134.87001 137.65001 142.09001 147.09001 149.59001 152.09001 157.65001 162.65001 165.15001 168.48001 173.48001 176.81002 179.31002 182.09001 187.09001 191.53002 194.03002 198.47002 203.47002 207.91002 215.69002 220.69002 223.47002 227.91002 230.41002 235.41002 238.74002 241.24002 244.57003 247.35002 252.35002 257.35005 260.68003 265.12004 267.62004 272.62004">angle for a single microstep. So for the example of figure 7:</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="-516.0859" x="36"> </tspan></text>
<g clip-path="url(#clip_5)">
<text xml:space="preserve" transform="matrix(.9993853 0 -0 1.0006151 0 792)" font-size="8.780798" font-family="RFBTCQ+Calibri"><tspan y="-526.16458" x="99.531787"> </tspan></text>
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<text xml:space="preserve" transform="matrix(1.0078909 0 -0 .9921708 0 792)" font-size="9.535556" font-family="NZYVYY+SymbolMT"><tspan y="-529.52767" x="221.64034 193.4723 187.36002 159.26828 140.84558">&#x00b0;=&#x00b0;&#x00d7;=</tspan></text>
<text xml:space="preserve" transform="matrix(1.0078909 0 -0 .9921708 0 792)" font-size="9.535556" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-529.52767" x="216.85349 214.4696 200.16628 204.88637 209.58739 173.04715 177.76725 182.46828 170.66326 165.89546 148.58844 153.30854">5.157625.528</tspan></text>
<text xml:space="preserve" transform="matrix(1.0078963 0 -0 .99216559 0 792)" font-size="5.562378" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-527.1494" x="135.39517 112.04987 106.265 109.02394">)(28</tspan></text>
<text xml:space="preserve" transform="matrix(1.0078963 0 -0 .99216559 0 792)" font-size="5.562378" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-527.1494" x="114.007839 117.06158 120.39345 123.72531 127.6746 131.00646">TARGET</tspan></text>
<text xml:space="preserve" transform="matrix(1.0078909 0 -0 .9921708 0 792)" font-size="9.535556" font-family="Symbol"><tspan y="-529.52767" x="99.386348">&#x03b1;</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="-498.0859" x="36 38.319 44.429 49.429 53.869005 56.369005 60.809007 65.24901 68.02901 73.02901 77.46901 80.24901 82.74901 87.18901 92.18901 97.18901 99.96901 104.40901 106.90901 109.68901 113.57901 116.07901 120.51901 124.959018 127.73901 132.17902 137.17902 139.95902 144.39902 147.17902 151.61902 156.61902 159.11902 164.11902 168.00902 170.78902 175.78902 180.78902 183.28902 188.28902 192.72902 196.61902 199.39902 203.83902 206.33902 209.11902 212.44902 215.22902 220.22902 225.22902 230.22902 235.22902 243.00902 247.44902 250.22902 253.55902 258.55903 261.05903 265.49903 269.38905"> The actual angle is calculated using basic trigonometry as:</tspan></text>
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<text xml:space="preserve" transform="matrix(.99938669 0 -0 1.0006137 0 792)" font-size="8.231949" font-family="RFBTCQ+Calibri"><tspan y="-481.4873" x="98.55855"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.99648717 0 -0 1.0035251 0 792)" font-size="9.008345" font-family="NZYVYY+SymbolMT"><tspan y="-467.78819" x="206.2676">&#xf8f7;</tspan><tspan y="-471.878" x="206.2676">&#xf8f7;</tspan><tspan y="-462.02287" x="206.2676">&#xf8f8;</tspan><tspan y="-477.64335" x="206.2676">&#xf8f6;</tspan><tspan y="-467.7972" x="185.36823">&#xf8ec;</tspan><tspan y="-471.88703" x="185.36823">&#xf8ec;</tspan><tspan y="-462.0319" x="185.36823">&#xf8ed;</tspan><tspan y="-477.65238" x="185.36823">&#xf8eb;</tspan><tspan y="-471.39158" x="160.73941 139.11038">+=</tspan></text>
<text xml:space="preserve" transform="matrix(.99648568 0 -0 1.0035267 0 792)" font-size="5.2548677" font-family="NZYVYY+SymbolMT"><tspan y="-475.41288" x="179.66068">&#x2212;</tspan></text>
<text xml:space="preserve" transform="matrix(.99648568 0 -0 1.0035267 0 792)" font-size="5.2548677" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-462.13386" x="198.54668 201.19513">28</tspan><tspan y="-474.87165" x="198.54668 201.19513">28</tspan><tspan y="-475.40763" x="182.17777">1</tspan><tspan y="-469.1228" x="133.94335 111.442 106.00322 108.65167">)(28</tspan></text>
<text xml:space="preserve" transform="matrix(.99648717 0 -0 1.0035251 0 792)" font-size="9.008345" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-471.37904" x="167.8416 170.37294 174.38166 145.43785 149.98706 154.53627">tan180</tspan></text>
<text xml:space="preserve" transform="matrix(.99648568 0 -0 1.0035267 0 792)" font-size="5.2548677" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-462.1355" x="194.81945">B</tspan><tspan y="-474.8733" x="195.05593">A</tspan><tspan y="-469.1297" x="114.03113 117.24185 120.757358 123.68431 127.46256 130.6733">ACTUAL</tspan></text>
<text xml:space="preserve" transform="matrix(.99648717 0 -0 1.0035251 0 792)" font-size="9.008345" font-family="KSPDIE+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-464.38407" x="190.90303">I</tspan><tspan y="-477.1309" x="190.87599">I</tspan></text>
<text xml:space="preserve" transform="matrix(.99648717 0 -0 1.0035251 0 792)" font-size="9.008345" font-family="Symbol"><tspan y="-471.38359" x="99.50436">&#x03b1;</tspan></text>
<g clip-path="url(#clip_7)">
<text xml:space="preserve" transform="matrix(.99938669 0 -0 1.0006137 0 792)" font-size="8.231949" font-family="RFBTCQ+Calibri"><tspan y="-449.67875" x="137.51204"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.98937359 0 -0 1.0107405 0 792)" font-size="12.041963" font-family="NZYVYY+SymbolMT"><tspan y="-443.88633" x="168.95357 194.16945">()</tspan></text>
<text xml:space="preserve" transform="matrix(.98936888 0 -0 1.0107454 0 792)" font-size="9.084681" font-family="NZYVYY+SymbolMT"><tspan y="-443.82624" x="225.62526 198.7982 171.78037 162.07793 140.27469">&#x00b0;=&#x2212;+=</tspan></text>
<text xml:space="preserve" transform="matrix(.98936888 0 -0 1.0107454 0 792)" font-size="9.084681" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-443.82624" x="221.08293 218.81175 205.18474 209.81792 214.4511 190.04964 187.77848 178.69379 183.32697 146.65212 151.28531 155.91849">9.1571.22180</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="-443.7428" x="300"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-425.7428" x="36 41.56 46.56 49.06 51.84 56.84 61.28 63.78 68.22 73.22 78.22 81 85.44 87.94 92.380008 95.71001 99.04001 104.04001 107.37001 109.87001 112.65001 116.54001 119.04001 124.04001 129.04001 131.82 136.82 139.32 144.32 146.82 151.82 155.82 158.32 160.82 166.93001 171.93001 176.93001 179.71 184.71 189.15001 191.93001 196.37001 201.37001 204.15001 206.65001 209.43001 214.43001 216.93001 221.37001 226.37001 231.37001 236.37001 239.15001 241.65001 246.65001 249.15001 254.15001 262.48 264.98 269.42 272.75 276.08 281.08 284.40998 286.90998 289.68998 294.68998">So the angle error is only 0.4&#x00b0;. Equivalent to about 0.1% error 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="-413.7428" x="36 41 46 51 55 57.5 61.940004 66.94 71.94 74.44 81.66 86.100009 88.880008 91.66 94.16 101.380008 104.16 106.94 111.94 114.72 119.72 122.22 125 130 134.44 136.94 141.38 146.38 149.71 153.04001 157.48001 162.48001 165.26001 167.76001 172.20001 176.64002 181.08002 186.08002 189.41002 193.85002 198.29003 203.29003 205.79003 210.79003 214.12003 216.62003 219.40003 224.40003 228.84003 230.76103 237.98104 242.98104 247.98104 252.98104 257.98103">360&#x00b0; and well within the current accuracy of the A3981.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-395.7428" x="36 43.22 48.22 51 55.440004 57.940004 60.72 65.72 70.16 72.94 75.44 79.880008 84.32001 88.76001 93.76001 96.26001 101.26001 106.26001 110.70001 114.59001 119.030017 121.530017 125.97002 130.97002 134.30002 137.63002 142.07003 147.07003 149.85002 152.35002 155.13002 160.13002 162.63002 165.41002 170.41002 174.85002 176.77602 183.99602 188.99602 193.99602 198.99602 203.99602 206.49602 209.27602 213.16602 215.66602 220.66602 225.10602 228.43602 231.21602 236.21602 240.65602 245.65602 248.15602 253.15602 258.156 260.656 265.096 267.596 272.596 275.926 280.926 283.706 286.486">Note that each phase current in the A3981 is defined by a 6-bit </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="-383.7428" x="36 43.22 50.440004 57.110006 59.610006 61.933008 68.04301 73.04301 75.823009 79.713008 82.213008 89.993007 94.43301 98.87301 103.87301 107.76301 110.26301 113.04301 118.04301 122.48301 125.26301 127.76301 130.54302 135.54302 139.98302 142.48302 146.37302 154.15302 158.59302 161.37302 164.15302 168.59302 172.48302 175.26302 177.76302 181.09302 185.53302 189.42302 194.42302 197.20302 202.20302 204.98302 207.76302 212.76302 217.76302 220.26302 225.26302 228.59302 231.09302 233.87302 238.87302 243.31302 245.81302 253.03302 260.25303 266.92304 269.42304 272.20304 276.09306">DAC. This means that the smallest resolution of the DAC 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="-371.7428" x="36 41 46">100</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="-371.7428" x="51"> </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="-371.7428" x="53.5">/</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="-371.7428" x="56.28"> </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="-371.7428" x="58.78 63.78 68.78 71.28 76.92 79.42 84.42 86.92 91.92 96.92 105.25 107.75 112.75 116.08 118.58 121.36 126.36 130.8 133.3 136.63 141.63 144.41 147.19 149.69 153.58 158.02 162.46 165.24 169.68001 172.18001 174.68001 178.57 183.57 186.07 188.85 193.85 198.29001 200.22402 207.44402 212.44402 217.44402 222.44402 227.44402 229.94402 234.38402 238.82402 243.82402 248.82402 253.82402 256.60404 259.10404 264.10404 267.43403 272.43403 277.43403 282.43403 286.87403 291.31404">64 = 1.56% of the full scale, so the A3981 cannot 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="-359.7428" x="36 40.440004 42.940004 46.270006 50.710008 54.600008 59.600008 62.380006 65.16 69.600009 74.600009 77.380008 79.880008 87.66 92.66 95.44 100.44 103.770008 106.270008 110.71001 115.71001 119.04001 122.37001 126.81001 131.81002 134.59001 137.09001 142.09001 145.42002 147.92002 152.36002 157.36002 161.80002 166.24002 169.02002 171.80002 176.80002 179.30002 184.30002 189.30002 194.30002 202.63002 205.13002 209.57003 212.35002 214.85002 219.29003 223.73003 228.17003 233.17003 235.67003 243.45003 246.23003 250.67003 254.00003 259.00004 262.89006 265.67005 270.11006 275.11006 277.61006 280.11006 287.33006 292.33006 295.66004">a resultant motor current of exactly 100% at each microstep. Nor </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="-347.7428" x="36 40.440004 44.880006 49.880006 52.380006 55.160005 57.940004 60.440004 65.44 68.770008 73.770008 78.770008 83.770008 88.21001 92.65001 95.15001 99.59001 104.59001 107.09001 111.530017 116.530017 120.97002 125.41002 128.19002 130.69002 138.47002 141.25002 145.69002 149.02002 154.02002 157.91002 160.69002 165.13002 170.13002 172.63002 177.07003 182.07003 187.07003 189.85002 194.29003 196.79003 199.29003 206.51003 211.51003 218.73003 223.17003 228.17003 232.61003 235.51204 238.01204 240.51204 244.95204 248.84204 251.34204 255.78205 260.22206 265.22206 267.72206 272.72206 277.16206 279.66206 283.55207 287.99208 292.43208 297.43208">can it produce an exact microstep angle. However, as can be seen </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="-335.7428" x="36 39.33 42.660005 47.660005 55.440004 57.940004 60.72 65.72 70.16 72.66 77.100009 81.54001 84.32001 88.76001 93.76001 96.54001 100.98001 103.76001 106.54001 111.54001 116.54001 120.43001 122.93001 127.37001 132.37001 137.37001 142.37001 146.81002 149.31002 151.81002 154.59001 159.59001 164.03002 166.53002 169.86002 174.30002 178.19002 183.19002 185.97002 188.75002 192.64002 195.14002 198.47002 203.47002 206.80002 209.30002 214.30002 219.30002 222.08002 227.08002 229.58002 234.02002 237.35002 241.79003 244.29003 251.51003 255.95003 258.73005 261.51005 264.01005 271.23005 274.01005 276.79005 281.79005 284.57005 289.57005">from the calculations above, the results for both are well within </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="-323.7428" x="36 38.78 43.78 48.22 50.72 54.61 59.61 64.05 68.490009 71.270008 74.600009 77.380008 81.82001 86.82001 89.32001 93.76001 98.20001 102.640018 107.640018 110.97002 115.41002 119.85002 124.85002 127.35002 132.35002 135.68003 138.18003 140.96002 145.96002 150.40003 152.32802 159.54802 164.54802 169.54802 174.54802 179.54802 182.04802 186.48802 191.48802 194.81803 198.14803 202.58803 207.58803 210.36803 212.86803 217.30803 222.30803 227.30803 230.08803 233.41803 238.41803 241.19803 243.69803 246.01003 252.12003 257.12004 261.56004 264.06004 267.39 271.83003 275.72004 280.72004 283.50004 286.28004 290.72004 295.72004 298.50004">the specified accuracy of the A3981 current control. The resultant </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="-311.7428" x="36 43.78 48.78 51.559999 56.559999 59.89 62.39 66.83 71.83 75.16 78.490009 82.93001 87.93001 90.71001 93.21001 97.65001 102.65001 107.65001 110.43001 114.87001 117.37001 121.81001 126.81001 131.81002 134.31002 142.09001 146.53002 151.53002 156.53002 159.31002 162.09001 167.09001 172.09001 176.53002 179.03002 183.47002 186.80002 191.24002 193.74002 198.18003 200.96002 204.85002 209.85002 212.35002 220.13002 225.13002 228.46002 232.90003 235.40003 238.18003 243.18003 247.62003 252.62003 255.12003 260.12004 263.45 267.89 272.33003 275.11003 279.00004 283.44004">motor current angle and magnitude are also more than precise </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="-299.7428" x="36 40.440004 45.440004 50.440004 55.440004 60.440004 65.44 67.94 71.270008 76.270008 79.600009 82.100009 86.54001 89.32001 92.100009 94.600009 99.600009 104.600009 107.380008 109.880008 112.66 117.66 122.100009 124.600009 129.6 132.38 137.38 142.38 146.82 150.71 153.49 155.99 160.99 164.32 168.76001 173.20001 175.98001 179.87001 182.65001 187.65001 192.65001 195.15001 199.04001 201.82 206.26001 211.26001 216.26001 220.70001 224.03002 226.53002 234.31002 239.31002 242.09001 247.09001 250.42002 254.31002">enough for all but the highest precision stepper 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="-281.7428" x="36 45.038003 47.818 50.598 55.598 58.098 60.878 65.878 70.318 72.818 77.818 82.818 87.258 91.148 95.588008 98.088008 102.52801 107.52801 110.85801 114.18801 118.62801 123.62801 126.40801 128.90802 131.68802 136.12802 141.12802 143.90802 148.34803 150.84803 153.34803 157.78803 162.78803 167.78803 170.56803 173.89803 178.89803 181.67803 184.17803 189.17803 192.50803 195.00803 199.44803 201.94803 205.83803 208.61803 213.05803 218.05803 223.05803 227.49803 230.82804 233.32804 241.10803 246.10803 248.88803 253.88803 257.21803 259.71803 262.49803 266.38804 268.88804 272.77806 275.55805 283.33805 288.33805 291.11805 296.11805">With the phase current table, control of a stepper motor is simply </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="-269.7428" x="36 40.440004 42.940004 50.72 55.160005 57.940004 60.72 65.16 68.490009 70.990009 75.990009 79.32001 81.82001 84.600009 89.600009 94.04001 97.37001 101.81001 106.250019 110.140018 112.92001 117.92001 122.92001 125.42001 130.42002 133.75002 136.25002 141.25002 145.69002 150.13002 153.46002 157.90003 162.34003 166.23003 169.01003 174.01003 179.01003 181.51003 184.29003 189.29003 193.73003 196.23003 201.79003 204.57003 209.01003 214.01003 215.93202 223.15203 228.15203 233.15203 235.93202 240.37203 242.87203 250.09203 255.09203 262.87205 267.87205 272.31205 275.64204">a matter of increasing or decreasing 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="FMJOQO+TimesNewRomanPSMT"><tspan y="-257.7428" x="36 38.78 43.78 46.28 54.059999 59.059999 64.06 68.5 71 75.44 78.770008 83.770008 88.770008 93.770008 98.770008 101.270008 104.05 109.05 113.490009 115.990009 120.990009 125.990009 130.43001 134.32 138.76001 141.26001 146.26001 149.04001 153.48001 158.48001 161.81002 166.25002 174.03002 176.53002 181.53002 184.86002 187.36002 192.92002 195.70001 200.70001 205.70001 209.03002 213.47002 215.97002 220.97002 223.47002 225.77002 231.88002 236.88002 239.66002 243.55002 246.05002 250.49002 254.93003 259.93003 262.43003 267.43003 271.87004 274.37004 277.15003 282.15003">to move around the phase diagram of Figure 7. This can be 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="-245.7428" x="36 41 44.33 48.770006 53.770006 58.210008 61.54001 64.32001 69.32001 73.76001 78.76001 81.26001 89.04001 94.04001 96.82001 99.600009 102.380008 107.380008 110.16 114.600009 118.490009 120.990009 125.990009 129.88 132.66 137.66 142.66 145.16 147.94 152.94 157.38 159.88 165.44 171.55 177.66 182.831 185.331 188.111 193.111 198.111 203.111 205.89099 208.39099 210.89099 215.89099 219.221 221.721 224.50099 227.28099 229.78099 234.221 238.661 243.661 246.161 251.161 255.601 258.101 263.101 267.54103 270.871 273.651 278.091 283.091 285.871 290.311">predefined multiples using the STEP input, or it can be variable </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="-233.7428" x="36 41 44.89 47.67 52.67 57.67 60.17 62.949998 67.95 72.39 74.89 78.78 83.22 86.55 89.33 93.770008 96.55 99.05 101.83 106.83 109.61 114.05 117.380008 120.71001 125.15001 129.59001 134.03002">using the serial interface.</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="-211.2428" x="36.1758 43.7458 50.7658 53.8958 61.4658 69.4198 72.3738 79.39381 85.853809 92.87381 99.53881 102.12181 109.69181 117.26181 124.65881 127.612819 135.18282 138.31282 145.88283 152.90283 160.47284 166.93285 170.06285 178.19286 185.59087 188.54488 196.11489 204.24489 211.8149 218.2749 225.84491 233.97492">USING STEP AND DIRECTION 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="-194.7428" x="36 42.11 47.11 51.550004 54.050004 59.610006 65.72 71.83 77.016 79.516 82.296 87.296 92.296 97.296 100.076 102.576 110.355998 115.355998 120.355998 124.796 128.686 131.186 133.966 138.966 143.406 145.906 153.686 158.686 161.466 166.466 169.796 172.296 176.73601 179.516 182.016 184.796 189.796 194.23601 196.73601 204.516 207.296 211.73601 215.06601 220.06601 223.95601 226.73601 231.17601 236.17601 238.67601 242.00601 246.44602 250.33602 255.33602 258.11604 263.11604 265.89604 268.67604 273.67604 278.67604">The STEP input moves the motor at the microstep resolution </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="-182.7428" x="36 41 45.440004 48.770006 51.550004 56.550004 60.990007 65.990009 68.490009 73.490009 78.490009 80.990009 83.770008 88.770008 93.21001 95.71001 98.490009 105.71001 110.71001 113.21001 120.990009 123.770008 128.21 131.54001 136.54001 140.43001 143.21 147.65001 152.65001 155.15001 159.04001 163.48001 166.26001 170.70001 175.14002 177.92002 180.42002 185.42002 189.86002 193.19002 195.97002 200.41002 205.41002 208.19002 212.63002 216.52002 219.02002 221.52002 230.41002 235.97002 240.97002 243.47002 247.91002 252.91002 257.91004 260.41004 269.30006 274.86006 279.86006 282.36006">defined by the two microstep select variables, MS0 and MS1, </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-170.7428" x="36 38.78 43.78 48.78 51.559999 56 58.5 61.28 65.72 70.72 75.16 77.94 81.83 84.33 86.64 92.75 97.75 102.19 104.69 111.91 115.240009 121.91 124.41 127.19 132.19 137.19 142.19 144.97 147.47 152.47 156.91 160.24 163.02 168.02 172.46 176.35 178.85 181.63 186.63 191.07 193.57 201.35 206.35 209.13 214.13 217.46 219.96 224.96 227.74 231.07 235.51001 239.95001 242.73001 245.51001 250.51001 255.51001 258.01 260.307 266.417 271.417 275.857 279.747 284.187">logic levels. The DIR input defines the motor direction. These </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-158.7428" x="36 38.78 43.78 48.78 53.78 56.559999 60.449998 62.949998 67.95 72.39 75.72 78.5 83.5 87.94 90.44 93.22 98.22 102.66 105.16 110.16 115.16 117.94 122.94 127.94 130.72 133.22 138.22 141.55 144.05 148.49 150.99 153.77 157.1 161.54001 166.54001 170.43001 173.21 177.65001 180.43001 185.43001 188.76001 191.26001 198.48001 203.48001 206.26001 210.70001 215.70001 218.20001 223.20001 227.64002 230.42002 234.86002 238.19002 245.97002 248.75002 253.75002 258.19 262.08003 264.58003 267.36003 272.36003 276.80003">inputs define the output of a translator which determines 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="-146.7428" x="36 39.33 43.770006 48.770006 53.770006 56.550004 59.880006 64.32001 69.32001 71.82001 77.380008 80.16 84.600009 89.600009 91.54201 98.76201 103.76201 108.76201 111.54201 115.98201 118.48201 125.70201 130.70201 138.48201 143.48201 147.92201 151.25202 153.75202 156.53202 161.53202 164.03202 166.81201 171.81201 176.25202 178.75202 183.75202 188.75202 193.19202 197.08202 201.52202 204.02202 208.46202 213.46202 216.79203 220.12203 224.56203 229.56203 232.34203 234.84203 237.62203 242.06203 247.06203 249.84203 254.28203 256.78205 259.08106 265.19105 270.19105 274.63105 277.13105 286.02107 291.58106 296.58106">required Step Angle Number in the phase current table. The MS0 </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-134.7428" x="36 40.440004 45.440004 50.440004 52.940004 61.83 67.39 72.39 74.89 79.33 83.770008 88.770008 91.270008 96.270008 100.71001 103.21001 107.100009 111.54001 114.32001 116.82001 119.600009 124.600009 127.100009 130.99 135.43001 138.21 142.65001 147.09001 149.87001 152.37001 155.70001 160.70001 163.48001 166.26001 168.76001 172.65001 175.43001 179.87001 184.87001 187.37001 189.87001 194.87001 199.31002 202.09001 205.42002 207.92002 211.81002 214.59001 219.03002 224.03002 226.53002 229.03002 234.03002 239.03002 243.47002 246.80002 249.58002 254.02002 257.35 259.85 263.74003 266.52003 270.96003 275.96003 278.46003 280.96003 285.96003 289.29">and MS1 can be set to select full step, half step, quarter step, 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="-122.7428" x="36 39.89 42.67 47.67 50.449998 54.89 59.33 64.33 67.11 72.11 74.61 78.5 81.28 85.72 90.72 93.22 101 103.78 108.22 111.55 116.55 120.44 123.22 127.66 132.66 137.66 140.44 145.44 150.44 152.94 157.38 161.27 163.77 167.1 172.1 174.88 177.66 182.66 189.88 193.77">sixteenth step microstepping as follows:</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-655.6458" x="326.9454 333.6094 338.9454">MS1</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="-655.6458" x="374.2251 380.8891 386.2251">MS0</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="-655.6458" x="461.0825 467.7465 469.9705 474.4185 477.5305 482.4185 486.8665 489.5305 493.9785 498.8665 501.09049 507.7545 512.64248 517.53048">Microstep Mode</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-640.1087" x="332.9454">0</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-640.1087" x="380.2251">0</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-640.1087" x="476.4126 481.3006 485.7486 487.5246 489.3006 491.5246 495.5246 497.7486 502.1966">Full step</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-628.4837" x="332.9454">0</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-628.4837" x="380.2251">1</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-628.4837" x="475.7446 481.5206 485.9686 487.7446 489.9686 492.1926 496.1926 498.4166 502.8646">Half step</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-614.9837" x="332.9454">1</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-614.9837" x="380.2251">0</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-614.9837" x="469.2973 475.5213 479.9693 484.4173 487.0813 489.3053 493.7533 496.4173 498.6413 502.6413 504.8653 509.3133">Quarter step</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-603.3587" x="332.9454">1</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-603.3587" x="380.2251">1</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-603.3587" x="466.1801 471.5161 473.2921 477.2921 479.5161 483.9641 488.4121 492.8601 495.0841 499.5321 501.7561 505.7561 507.9801 512.4281">Sixteenth step</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="-574.8958" x="312 320.89 326.45 331.45 333.95 338.39 343.39 348.39 350.89 359.78004 365.34004 370.34004 372.84004 377.28004 381.72004 386.72004 389.22004 394.22004 398.66004 401.16004 405.60005 410.04005 414.48005 418.92005 422.81007 426.70008 431.14009 436.14009 438.64009 441.42008 446.42008 449.75007 454.75007 459.75007 464.75007 469.75007 472.25007 475.03007 480.03007 484.47007 486.97007 490.86009 495.30009 498.63008 501.41007 505.85008 508.63008 511.13008 513.9101 518.9101 521.6901 526.1301 529.46017 532.79019 537.23019 541.67019 546.11019 548.61019 553.61019 556.9402">MS0 and MS1 can be accessed through the serial interface 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="-562.8958" x="312 317 319.78 323.11 327.55 331.99 334.77 337.55 342.55 345.05 350.05 355.05 357.55 362.55 365.33 370.33 374.22 376.72 381.72 386.72 389.22 393.66 398.66 403.66 406.16 411.16 416.16 418.66 421.99 426.43 430.32 435.32 439.76 444.2 446.98 449.76 454.76 459.2 461.98 466.312 468.812 471.131 477.241 482.241 486.681 489.181 494.181 498.621 501.401 506.401 510.841 514.731 517.231 522.231 525.56106 528.06106 536.95108 542.51107 547.51107 550.01107 554.45108 559.45108 564.45108">directly on pins 13 and 12 respectively. The values of MS0 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="-550.8958" x="312 320.89 326.45 331.45 333.95 338.39 341.72 346.16 348.66 353.66 358.1 361.43 364.21 369.21 373.65 378.65 381.15 385.59 389.48 391.98 394.76 399.76 404.2 406.7 409.48 414.48 419.48 422.26 426.7 431.14 433.92 436.42 443.64 450.31004 452.81004 457.81004 461.14 463.64 466.42 471.42 475.86003 478.36003 481.14 486.14 491.14 493.92 498.36003 500.86003 503.64 508.08003 513.08 517.52 520.30007 522.80007 527.80007 532.80007 535.30007 538.0801 543.0801 547.5201 550.0201 552.8001 557.8001 562.8001 567.8001 570.58016">MS1 are defined as the logical OR of the logic level on the input </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="-538.8958" x="312 317 319.78 324.78 328.67 331.17 335.61003 340.61003 345.61003 348.11003 350.89 355.89 360.33003 362.83003 367.83003 372.27003 375.05003 380.05003 384.49003 386.99003 389.77003 394.77003 397.27003 403.94004 408.94004 413.94004 417.27003 420.05003 425.05003 430.05003 433.38 437.82 440.6 443.38 448.38 453.38 455.88 462.55003 466.99003 471.99003 474.77003 478.66004 481.44004 485.88005 489.21003 491.71003 496.71003 499.21003 501.50703 507.617 512.617 517.057 519.557 524.557 527.33706 530.11709 534.0071 536.5071 539.2871 544.2871 546.7871 549.56716 554.56716 559.00717">pins and the value in Configuration Register 0. The bits 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="-526.8958" x="312 315.33 319.77 324.77 327.55 331.44 334.22 338.66 341.99 344.49 349.49 353.93 357.25999 361.69999 366.69999 369.47999 372.25999 374.75999 377.53999 382.53999 385.03999 390.03999 392.53999 396.43 401.43 403.93 406.71 410.03999 412.53999 415.31999 420.31999 424.75999 427.25999 431.15 435.59 438.91999 441.69999 446.13999 448.91999 451.41999 454.19999 459.19999 461.97999 466.41999 469.74998 473.07997 477.51997 481.95997 486.39997 488.89997 491.67997 495.56999 498.06999 503.06999 508.06999 510.84999 513.35 518.35 522.24 526.68 531.68 534.18 536.96 541.96 546.4 551.4 553.9 562.79006 568.35006 573.35006">register default to 0 so if the serial interface is not used then MS0 </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="-514.8958" x="312 316.44 321.44 326.44 328.94 337.83003 343.39 348.39 350.89 355.33003 358.66 363.1 365.6 370.6 375.04 378.37 381.15 386.15 390.59 395.59 398.09 403.09 408.09 410.59 413.37 418.37 422.81 425.31 428.09 433.09 438.09 443.09 445.87 448.37 453.37 456.15 461.15 465.04 467.54 471.98 474.76 479.76 484.76 489.2 491.7 494.2 497.53 500.86 503.36 508.36 513.36 516.14 521.14 523.64 526.42007 531.42007 535.86007 538.36007 542.25009 546.69009 550.0201 552.8001 557.2401 560.02017">and MS1 are defined by the input pins alone. If only the serial </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="-502.8958" x="312 314.78 319.78 322.56 327 330.33 333.65998 338.09999 342.53999 346.97999 349.47999 352.25999 356.15 358.65 363.65 367.54 371.98 376.98 379.48 382.26 387.26 389.76 393.65003 398.09004 400.87004 403.37004 406.15003 411.15003 415.59004 418.09004 425.87004 428.65003 433.09004 436.42 441.42 445.31004 448.09004 452.53004 457.53004 460.03004 463.36003 467.80003 471.69004 476.69004 479.47004 484.47004 487.25004 490.03004 495.03004 500.03004 502.53004 505.03004 507.81004 512.81008 517.25009 522.25009 524.75009 527.5301 532.5301 536.9701 539.4701 548.3601 553.9201 558.9201 561.4201 565.8601 570.8601 575.8601">interface is used to set the microstep resolution, then the MS0 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="-490.8958" x="312 320.89 326.45 331.45 333.95 336.73 341.73 346.73 349.51 353.95 356.45 359.23 364.23 369.23 374.23 377.01 379.51 384.51 387.29 392.29 396.18003 398.68003 402.57005 407.57005 412.57005 417.57005 420.35005 425.35005 427.85005 432.85005 437.29005 439.79005 442.57005 445.35005 449.79005 454.79005 457.29005 460.07005 465.07005 472.29005 474.79005 477.57005 482.57005 485.07005 489.51005 494.51005 498.40007 503.40007 506.73005 511.17005 513.67007 516.4501 521.4501 525.8901 528.6701 531.1701 533.95016 538.95016 543.39016 545.89016 549.22018 553.66018 558.66018 561.4402 565.3302 568.1102 572.55026 575.88027">MS1 logic input pins should be tied low to ensure that the register </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="-478.8958" x="312 315.33 319.77 322.55 326.99 329.77 334.77 338.66 341.16 344.49 349.49 352.27 355.05 357.55 361.99 366.99 371.99 374.77 378.09999 383.09999 385.87998 388.37998 393.37998 398.37998 402.81999 406.14997 408.64997 413.08998 415.86997 418.64997 421.14997 424.47996 428.91996 432.80998 437.80998 440.58998 445.58998 448.36997 451.14997 456.14997 461.14997 465.03999 467.53999 470.03999 477.25999 482.25999 485.03999 489.47999 491.97999 494.75999 499.75999 504.19999 506.97999 509.47999 512.26 517.26 521.7 524.2 531.98007 534.7601 539.2001 542.5301 547.5301 551.4201 554.20016 558.64016 563.64016">retains full control over all resolutions. Note that the microstep </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-466.8958" x="312 315.89 320.33003 323.11003 327.55003 331.99003 334.77003 337.27003 342.27003 346.71003 350.04 352.82 357.26 362.26 365.04 369.48 373.37004 375.87004 378.37004 387.26005 392.82005 397.82005 400.32005 404.76005 409.76005 414.76005 417.26005 426.15007 431.71006 436.71006 439.21006 441.71006 446.15007 449.48005 453.92005 456.42005 461.42005 466.42005 469.20005 474.20005 476.70005 481.70005 485.59007 490.03007 495.03007 497.53007 504.75007 507.53007 510.31007 515.31008 517.81008 520.5901 525.5901 530.0301 532.5301 538.0901 544.2001 550.31008 555.4811">select variables, MS0 and MS1, are only used with the STEP </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="-454.8958" x="312 314.78 319.78 324.78 329.78 332.56 335.34 337.84 340.62 345.62 350.06 355.06 357.56 362 366.44 371.44 373.94 378.94 383.38 385.88 388.66 393.66 398.66 403.66 406.99 411.43 416.43 418.93 421.71 425.03999 427.53999 430.31999 435.31999 439.75999 442.25999 450.03999 455.03999 457.81999 462.81999 466.14997 468.64997 471.42997 475.31999 477.81999 481.14997 486.14997 488.92997 491.70997 496.70997 499.20997 503.64997 508.64997 513.64999 516.43 519.76 524.76 527.54006 530.32009 534.7601 539.7601 542.2601 545.0401 550.0401 553.3701 558.3701 563.3701 568.3701 573.3701">input; they can be ignored if the motor is fully controlled 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="-442.8958" x="312 314.78 319.78 324.22 326.72 330.61003 335.05003 338.38 341.16 345.6 348.38 350.88 353.66 358.66 361.44 365.88 369.21 372.53999 376.97999 381.41999 385.86">the serial interface.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-424.8958" x="312 315.33 320.33 322.83 326.72 329.5 334.5 337.28 341.72 346.16 351.16 353.94 358.94 361.44 365.33003 368.11003 372.55003 377.55003 380.05003 387.83003 392.83003 397.83003 402.27003 404.77003 407.55003 412.55003 416.99003 419.49003 422.27003 425.6 430.04 435.04 438.93003 441.71003 446.15003 448.93003 453.93003 457.26 459.76 463.65003 466.43003 474.21003 479.21003 481.99003 486.99003 489.49003 492.27003 497.27003 501.71003 505.04 509.48 513.92 517.81 522.25 526.14 528.64 533.64 536.97006">In sixteenth step mode the translator simply increases 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="-412.8958" x="312 317 321.44 325.88 329.21 333.65 338.09 341.98 346.42 350.31004 352.81004 355.59004 360.59004 365.03004 367.53004 373.09004 375.87004 380.31004 385.31004 387.24903 394.46903 399.46903 404.46903 407.24903 411.68904 414.18904 421.40904 426.40904 434.18904 439.18904 443.62904 446.959 449.459 454.459 459.459 461.959 466.39903 470.83903 475.27903 480.27903 482.77903 486.109 488.889 492.77903 495.55903 500.55903 505.55903 508.05903 512.499 517.499 522.499 526.939 529.439 534.439 537.76907 540.26907 543.0491 548.0491 552.4891">decreases the Step Angle Number on each rising edge 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="-400.8958" x="312 317.56 323.66999 329.77998 334.96897 337.46897 340.24897 345.24897 350.24897 355.24897 358.02897 360.52897 363.02897 368.02897 372.46897 377.46897 381.90898 386.90898 391.90898 394.68898 399.68898 404.68898 407.18898 412.18898 417.18898 419.68898 422.46897 427.46897 431.90898 434.40898 437.18898 442.18898 447.18898 449.96897 454.40898 456.90898 460.79899 463.57899 468.01899 470.79899 475.23899 477.73899 482.73899 486.06898 488.56898 491.34898 496.34898 500.78898 503.28898 510.50898 513.839 520.509 523.009 525.789 530.789 535.789 540.789 543.56906 546.06906 548.56906 551.89907 556.89907 559.39907 562.1791 567.1791 571.6191">STEP input, depending on the logic state of the DIR input. 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="-388.8958" x="312 317 319.78 324.78 329.22 332.55 335.05 337.83 342.83 346.15998 350.59999 355.03999 357.53999 365.31999 368.09999 372.53999 375.86997 380.86997 384.75999 387.53999 391.97999 396.97999 399.47999 402.80998 407.24998 411.13999 416.13999 418.91999 423.91999 426.69999 429.47999 434.47999 439.47999 441.97999 449.75999 454.75999 459.75999 464.19999 468.09 470.59 473.37 478.37 482.81 485.31 488.09 491.41999 495.86 500.86 504.75 507.53 511.97 514.75 519.75 523.08 525.58 530.58 535.58 538.36007 543.36007 548.36007 551.1401 555.0301 557.5301 561.4201 566.4201">other three microstep resolution modes the translator outputs spe</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="-388.8958" x="570.8281">-</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="-376.8958" x="312 316.44 319.22 322.55 325.33 329.77 332.27 337.83 340.61 345.05 350.05 351.99 359.21 364.21 369.21 371.99 376.43 378.93 386.15 391.15 398.93 403.93 408.37 411.69999 415.59 418.09 422.53 426.42 428.92 433.92 438.36003 441.69 444.47 449.47 453.91 458.91 461.41 464.19 469.19 471.69 474.47 479.47 483.91 486.41 491.41 496.41 500.85 504.74003 509.18003 511.68003 516.12 521.12 524.45 527.78 532.22006 537.22006 540.00009 542.50009 545.2801 549.7201 554.7201 557.5001 561.9401">cific Step Angle Numbers as defined in the 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="-358.8958" x="312 317.56 322.56 325.34 328.12 330.62 334.51 337.29 341.73 346.73 349.23 354.23 358.12004 362.56004 366.45005 368.95005 372.28004 377.28004 382.28004 385.61003 388.11003 393.11003 396.44 398.94 401.72 406.72 411.16 413.66 418.1 423.1 425.88 429.21 431.99 436.43 440.32 442.82 445.6 450.6 453.1 455.88 460.88 465.32 467.82 472.82 477.82 482.26 486.15003 490.59004 493.09004 497.53004 502.53004 505.86003 509.19 513.63 518.63 521.41006 523.91006 526.69009 531.13009 536.13009 538.9101 543.3501 545.8501 548.1431 554.2531 559.2531 563.6931 567.5831 572.02316">Full step uses four of the entries in the phase current table. These </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="-346.8958" x="312 316.44 319.77 324.21 326.71 331.71 334.21 336.71 341.71 346.71 349.21 351.71 356.71 361.71 364.21 366.71 371.15 376.15 381.15 383.65 388.65 393.65 396.15 400.59 404.48 406.98 410.87004 415.87004 420.87004 428.09004 433.09004 435.59004 438.37004 443.37004 445.87004 451.43003 454.21003 459.21003 464.21003 467.54 471.98 474.48 479.48 481.98 484.48 491.7 496.7 499.48 503.92 506.42 509.2 514.2 518.64 521.42007 523.92007 526.7001 531.7001 536.1401 538.6401 541.9701 546.9701 551.9701 555.3001">are 8, 24, 40, and 56 as shown in Figure 8. Note that the four </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="-334.8958" x="312 317 322 325.89 328.67 331.45 334.23 339.23 344.23 348.12004 350.62004 354.51005 358.95005 361.73005 366.17005 370.61006 373.39006 377.83006 382.83006 385.33006 388.66004 393.66004 396.99003 399.49003 402.82 407.82 410.6 413.38 415.88 419.77003 422.55003 426.99003 431.99003 434.49003 438.93003 442.26 446.7 449.2 454.2 459.2 461.98 464.48 467.26 472.26 476.7 479.2 484.2 489.2 491.98 496.98 499.76 503.65003 506.15003 510.59004 513.37008 515.87008 523.09 528.09 530.87008 535.31008 540.31008 542.81008 547.81008 552.81008 555.5901 560.5901">positions selected for full step are not the points at which only </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="-322.8958" x="312 317 322 326.44 328.94 333.38 338.38 341.71 345.03999 349.47999 354.47999 357.25999 359.75999 362.53999 366.43 368.93 373.37 377.81 380.59 383.37 388.37 392.81 395.31 397.81 402.25 406.14 408.64 415.86003 420.86003 425.86003 428.64 433.64 436.14 441.14 445.58003 448.08003 450.86003 455.86003 460.30003 462.80003 467.24003 471.68003 475.57005 480.01005 482.51005 485.29005 490.29005 492.79005 497.23005 499.73005 503.62007 506.40007 514.18008 519.18008 521.9601 526.4001 528.9001 533.9001 538.9001 542.2301 547.2301 550.3501 553.6801 556.1801 559.51016 564.51016 567.29019 570.0702">one current is active, as would be the case in a simple on-off full </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="-310.8958" x="312 315.89 318.67 323.11003 328.11003 330.61003 335.61003 338.94 341.72 346.72 351.16 353.934 356.434 358.753 364.86299 369.86299 374.30299 377.63298 382.07298 384.57298 389.01298 392.34297 396.78297 399.28297 402.06297 409.28297 414.28297 416.78297 421.22297 426.22297 431.22297 435.66297 440.66297 443.44297 447.88298 452.88298 457.32298 461.21299 463.71299 466.49299 471.49299 473.99299 478.99299 482.883 485.663 490.663 495.663 498.163 500.943 505.943 510.383 514.273 518.713 521.213 526.213 531.213 535.103 537.88308 540.6631 543.4431 548.4431 553.4431 557.3331">step driver. There are two advantages in using these positions </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="-298.8958" x="312 315.33 319.77 322.55 327.55 331.99 335.31999 337.81999 340.59999 345.59999 350.03999 355.03999 357.53999 360.31999 365.31999 369.75999 372.25999 376.15 378.93 383.93 388.93 391.71 396.15 398.65 401.97999 406.97999 409.75999 412.53999 415.03999 419.47999 424.47999 427.80998 431.13996 435.57997 440.57997 443.35997 445.85997 450.85997 455.85997 459.74998 462.52998 465.30998 468.08998 473.08998 478.08998 481.97999 484.47999 486.775 495.813 498.593 501.373 506.373 508.873 513.873 518.873 521.653 526.653 529.153 534.153 539.153 543.593 547.48306 551.92306 555.81307">rather than the single full current positions. With both phases </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="-286.8958" x="312 316.44 320.88 323.66 326.44 331.44 335.88 338.38 340.88 343.66 348.66 353.1 355.6 360.6 365.6 372.82 377.26 380.59 383.09 388.09 390.87 394.76 398.65003 401.43003 406.43003 410.87004 413.65003 416.43003 421.43003 426.43003 428.93003 431.71003 435.60005 438.10005 441.99006 446.99006 451.43006 454.76005 459.20005 464.20005 466.70005 471.70005 476.14006 478.92005 486.14006 490.58006 495.02006 500.02006 502.52006 505.30006 512.52 517.52 520.02 525.02 528.35006 531.13009 536.13009 540.57009 543.9001 547.7901 550.2901 552.5861 558.6961 563.6961 566.47616 570.36618">active, the power dissipation is shared between two drivers. This </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-274.8958" x="312 315.89 318.67 321.45 326.45 331.45 334.23 337.01 342.01 344.51 347.29 355.07 360.07 363.4 368.4 373.4 377.84 381.73 384.23 387.01 392.01 396.45 398.95 403.39 408.39 411.17 413.95 416.73 419.51 424.51 427.01 429.79 434.79 437.29 442.29 445.07 448.96003 452.85005 455.63005 460.63005 465.07005 467.85005 472.29005 474.79005 477.57005 482.57005 487.01005 489.51005 494.51005 498.95005 503.39006 506.17005 508.67005 513.67007 518.11007 523.11007 527.55007 530.88009 535.32009 538.1001 542.5401 547.5401 550.0401 554.4801 559.4801 564.4801">slightly improves the ability to dissipate the heat generated 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="-262.8958" x="312 315.33 319.77 324.77 329.77 334.21 338.65 342.54 345.04 347.82 352.82 357.26 359.76 363.65003 366.43003 369.76 374.2 378.09004 381.98005 384.48005 389.48005 394.48005 396.98005 401.42005 405.86006 410.30006 415.30006 417.80006 422.80006 426.13005 428.91004 433.91004 438.35005 441.11604">reduces the stress on each driver.</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="-244.8958" x="312 318.11 323.11 327.55 330.05 333.94 338.38 342.82 347.82 352.82 357.82 360.32 363.65 368.09 372.53 376.42 381.42 386.42 388.92 391.7 395.59004 398.09004 400.87004 405.87004 410.31004 413.09004 415.59004 418.37004 423.37004 427.81004 430.31004 435.31004 440.31004 443.09004 448.09004 450.87004 455.87004 460.87004 463.37004 466.15003 471.15003 474.48 479.48 484.48 488.92 491.42 494.2 498.09004 500.59004 504.48005 507.26005 510.04005 515.04006 520.04006 522.82009 525.6001 530.6001 533.1001 535.8801 543.66018 548.66018 551.9902 556.9902 561.9902 566.4302 571.4302">The second reason is that the holding torque is slightly improved </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="-232.8958" x="312 317 321.44 325.88 330.32 335.32 339.21003 343.65003 346.15003 348.93003 353.93003 358.37004 360.87004 364.2 369.2 372.53 376.97 381.41 385.30003 387.80003 392.80003 397.80003 400.58003 405.58003 408.36003 413.36003 418.36003 420.86003 423.64 428.64 433.08003 435.58003 443.36003 448.36003 451.14 456.14 459.47 461.97 466.41 469.74 474.18 476.68 484.46 488.9 491.68 496.68 499.46 504.46 506.96 510.28999 515.29 518.07 522.51 525.29006 528.07009 533.07009 538.07009 542.5101 545.2901 547.7901 551.1201 555.5601 558.34017 563.34017 567.78018 571.11019">because the forces holding the motor are mainly rotational rather </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="-220.8958" x="312 314.78 319.78 324.22 329.22 331.72 339.5 343.94 346.72 351.72 354.5 359.5 362 365.33 369.77 374.77 377.55 381.99 384.77">than mainly radial.</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="-202.8958" x="312 319.22 323.66 326.44 329.77 332.27 336.16 338.94 343.38 348.38 350.88 355.88 359.77003 364.21003 368.10005 370.60005 375.04005 377.82005 382.82005 387.82005 390.60005 393.10005 398.10005 401.43003 403.93003 406.71003 411.71003 416.15003 418.65003 423.09004 428.09004 430.87004 434.2 436.98 441.42 445.31004 447.81004 450.59004 455.59004 458.09004 460.87004 465.87004 470.31004 472.81004 477.81004 482.81004 487.25004 491.14006 495.58006 498.08006 502.52006 507.52006 510.85005 514.18008 518.62008 523.62008 526.4001 528.9001 531.6801 536.1201 541.1201 543.90017 548.34017 550.84017">Half step uses eight of the entries in the 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="-190.8958" x="312 318.11 323.11 327.55 331.44 335.88 338.38 342.82 346.15 350.59 353.09 358.09 360.59 363.09 368.09 370.59 373.09 378.09 383.09 385.59 388.09 393.09 398.09 400.59 403.09 408.09 413.09 415.59 418.09 423.09 428.09 430.59 433.09 438.09 443.09 445.59 448.09 452.53 457.53 462.53 465.03 470.03 475.03 477.53 481.97 485.86003 488.36003 492.25004 497.25004 502.25004 509.47004 514.47006 516.97006 519.75009 524.75009 527.25009 532.81008 535.5901 540.5901 545.5901 548.9201 553.3601 555.8601 560.8601">These are 0, 8, 16, 24, 32, 40, 48, and 56 as shown in Figure 9.</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="-172.8958" x="312 319.22 324.22 328.66 331.99 334.77 339.21 342.53999 345.03999 348.93 351.71 356.15 361.15 363.65 368.65 372.54 376.98 380.87004 383.37004 387.26005 390.04005 395.04005 397.82005 402.26005 406.70005 411.70005 414.20005 419.20005 422.53004 425.03004 427.81004 432.81004 437.25004 439.75004 444.19004 449.19004 451.97004 455.30003 458.08003 462.52003 466.41004 468.91004 471.69004 476.69004 479.19004 481.97004 486.97004 491.41004 493.91004 498.91004 503.91004 508.35005 512.24008 516.68008 519.18008 523.62008 528.62008 531.9501 535.2801 539.7201 544.7201 547.5001 550.0001 552.78018 557.22018 562.22018 565.0002 569.4402 571.9402">Quarter step uses sixteen of the entries in the 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="-160.8958" x="312 318.11 323.11 327.55 331.44 335.88 338.38 342.82 346.15 350.59 353.09 358.09 360.59 363.09 368.09 370.59 373.09 378.09 380.59 383.09 388.09 393.09 395.59 398.09 403.09 408.09 410.59 413.09 418.09 423.09 425.59 428.09 433.09 438.09 440.59 443.09 448.09 453.09 455.59 458.09 463.09 468.09 470.59 473.09 478.09 483.09 485.59 488.09 493.09 498.09 500.59 503.09 508.09 513.08999 515.58999 518.08999 523.08999 528.08999 530.58999 533.08999 538.08999 543.08999 545.58999 548.08999 553.08999 558.08999 560.58999">These are 0, 4, 8, 12, 16, 20, 24, 28, 32, 36, 40, 44, 48, 52, 56, </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="-148.8958" x="312 316.44 321.44 326.44 328.94 333.94 338.94 341.44 345.88 349.77003 352.27003 356.16004 361.16004 366.16004 373.38005 378.38005 380.88005 383.66004 388.66004 391.16004 396.72004 399.50004 404.50004 409.50004 412.83003 417.27003 419.77003 424.77003 429.77003">and 60 as shown in Figure 10.</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="-130.8958" x="312 315.33 320.33 322.83 327.83 332.27 335.05 338.37998 340.87998 344.77 347.55 351.99 356.99 359.49 363.93 368.93 373.93 376.43 379.21 384.21 386.71 391.71 396.71 401.15 404.47999 407.25999 411.69999 415.02998 417.52998 421.41999 424.19999 428.63999 433.63999 436.13999 438.63999 441.41999 446.41999 450.86 453.36 457.25 460.03 465.03 470.03 472.81 477.25 479.75 484.75 489.75 494.19 498.08003 502.52003 505.02003 509.46003 513.9 516.68008 519.4601 524.4601 528.9001 531.4001 536.4001 541.4001 545.2901 548.0701 550.85018 553.6302 558.6302 563.6302 567.5202">In half step and in quarter step, the single phase active positions </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="-118.8958" x="312 316.44 319.77 324.21 326.71 331.71 335.6 340.04 345.04 347.54 350.32 355.32 357.82 362.82 366.15 370.59 374.48 378.92 382.25 387.25 391.69 394.19 398.08003 403.08003 410.86003 418.64 423.08003 425.86003 429.19 433.528 436.028 438.528 445.74803 450.74803 457.96803 462.40803 467.40803 471.84803 474.778 477.278 479.778 482.558 485.888 488.388 491.168 496.168 500.608 503.108 510.888 515.888 518.668 523.668 526.99807 529.49807 532.2781 536.1681 538.6681 541.9981 546.4381 551.4381 556.4381 559.21817 562.54818 566.98818 571.98818">are used to preserve symmetry. However, if the motor is required </tspan></text>
</svg>