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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="-563.5064" 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 130.153 132.653 140.433 145.433 149.323 152.103 154.603 159.603 164.043 166.543 169.323 174.323 178.763 182.093 186.533 190.973 194.863 199.30301 204.30301 206.80301 211.80301 215.13301 217.63301 222.63301 227.07302 231.51302 234.84302 239.28302 243.72303 247.61302 252.05303 257.05305 259.55305 264.55305 269.55305 272.05305 277.05305 279.55305 282.05305 287.61305 292.61305 295.94303">the Step Angle Number must be increased or decreased by 8. 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="-551.5064" x="36 41 46 50.440004 53.770006 56.550004 60.990007 64.32001 66.82001 70.71001 73.490009 77.93001 82.93001 85.43001 88.21001 93.21001 97.65001 100.15001 102.93001 107.93001 112.37001 115.70001 120.140018 124.58002 128.47002 132.91002 135.41002 140.41002 143.74002 146.24002 151.24002 155.68003 160.12003 163.45003 167.89003 172.33003 176.22003 180.66004 183.16004 185.94004 189.83003 192.33003 197.33003 199.83003 204.27004 209.27004 214.27004 216.77004 220.10004 225.10004 228.43004 230.93004 235.37004 238.15004 243.15004 248.15004 250.93004 255.93004 258.43006 262.32008 265.10008 269.54008 274.54008 277.04008 279.54008 284.54008">quarter step the increase or decrease is 4 and for eighth step, 2.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-533.5064" x="36 41.56 46.56 49.06 51.56 54.89 59.89 63.22 65.72 70.16 75.16 79.600009 87.380008 92.380008 95.16 99.600009 102.100009 104.600009 107.380008 112.380008 114.880008 119.32001 124.32001 129.32 132.1 134.88 139.88 144.88 149.88 154.88 158.77 161.55 166.55 169.05 176.83 181.83 186.83 191.27 193.77 196.55 201.55 205.99 208.49 216.27 221.27 224.05 229.05 232.38 234.88 238.21 243.21 246.54001 253.76001 258.2 261.53 266.53 270.42 272.92 275.7 280.7">So, for example, to continuously move the motor forwards 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="-521.5064" x="36 41 46 50.440004 53.770006 56.550004 60.990007 64.115009 67.44501 71.33501 74.115009 78.55501 83.55501 86.05501 88.83501 93.83501 98.27501 101.60501 106.04501 113.82501 118.265018 123.265018 126.04501 129.93502 132.43502 134.93502 137.71501 142.71501 147.15502 149.65502 154.65502 159.65502 167.43502 172.43502 176.87502 180.20502 182.70502 187.70502 190.20502 193.53502 198.53502 203.53502 208.53502 213.53502 218.53502 223.53502 226.86502 229.36502 232.14502 236.03502 238.53502 241.86502 246.30503 251.30503 255.74503 260.18504 262.96504 267.40504 272.40504 275.18504 280.18504">quarter-step increments, the number 4 (000100) is repeatedly </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-509.5064" x="36 43.22 46.550004 49.33 52.11 54.89 59.33 64.33 66.83 69.61 74.61 77.11 82.67 89.34 92.67 97.67 100.17 102.67 107.67 111 113.5 116.28 121.28 124.61 129.61 134.61 139.61 144.61 147.11 149.89 154.89 159.33 161.83 165.72 170.16 173.49 176.27 180.71 183.49 185.99 188.77 193.77 196.55 200.99 204.32 207.65001 212.09001 216.53002 220.97002 223.47002 230.14002 235.14002 240.14002 242.64002 245.97002 250.41002 255.41002 258.19004 262.08006 264.86006 269.30006 272.63005 275.13005 278.46003 282.35005 286.79005 291.23005">written to SC[5..0] through the serial interface Run register (see </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-497.5064" x="36 41.56 44.34 49.34 54.34 57.67 62.11 64.61 69.237 74.237 77.567 80.067 82.387 87.797008 92.797008 95.297008 103.077 108.077 113.077 117.517009 120.017009 122.797008 127.797008 132.237 134.737 142.517 147.517 150.297 155.297 158.627 161.127 166.127 170.567 175.007 180.007 187.227 191.667 194.99701 199.99701 203.88701 206.38701 209.167 214.167 216.667 221.667 226.667 231.10701 234.43701 237.21701 241.65702 244.98702 247.48702 251.37702 254.15702 258.59703 263.59703 266.09703 268.877 273.877 278.31703 281.647">Figure 11). To move the motor backwards in quarter step incre</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-497.5064" x="286.0635">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-485.5064" x="36 43.78 48.22 53.22 56 59.89 62.39 64.89 67.67 72.67 77.11 79.61 84.61 89.61 97.39 102.39 106.83 110.16 112.66 115.990009 120.990009 123.490009 126.82001 131.43901 136.06801 140.697 145.697 150.697 155.697 159.02701 161.52701 164.307 168.197 170.697 174.02701 178.46701 183.46701 187.90702 192.34702 195.12702 199.56702 204.56702 207.34702 212.34702 214.84702 222.06702 225.39702 228.17702 230.95702 233.73702 238.17702 243.17702 245.67702 248.45702 253.45702 255.95702 261.51704 268.18705 271.51704 276.51704 279.01704 281.51704 286.51704 289.84703">ments, the number -4 (111100) is repeatedly written to SC[5..0] </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-473.5064" x="36 39.33 43.22 47.660005 52.100008 54.600008 60.160009 62.940008 67.94 72.94 76.270008 80.71001 83.21001 88.21001 93.21001 96.54001 99.04001 101.35601 107.46601 112.46601 116.90601 119.40601 122.736019 127.17602 134.95603 139.39603 142.17603 147.17603 149.95603 154.95603 159.95603 162.45603 167.45603 170.23603 173.01602 176.90602 179.40602 182.18602 187.18602 189.68602 192.46602 197.46602 201.90602 204.40602 211.07602 216.07602 221.07602 223.57602 226.90602 231.34603 236.34603 239.12602 243.01602 245.79602 250.23603 253.56603 256.06605 259.95606 264.95606 269.95606 274.95606 277.73606 282.73606 285.23606 290.23606 294.67607">(see Figure 12). The remaining bits in the Run register should be </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-461.5064" x="36 39.89 44.33 47.11 49.61 52.940004 57.940004 61.270006 63.770006 66.55 71.55 75.990009 78.490009 81.82001 86.26001 91.26001 96.26001 99.04001 102.37001 106.81001 111.81001 114.31001 118.750019 123.750019 128.75002 132.08002 134.86002 139.86002 144.86002 148.19002 152.63002 155.41002 158.19002 163.19002 168.19002 170.69002 175.13002 180.13002 185.13002 187.63002 191.52002 195.96002 200.96002 203.74002 206.24002 213.46002 216.24002 219.02002 224.02002 226.52002 229.30002 234.30002 238.74002 241.24002 245.13002 247.91002 252.35002 257.35005 259.85005 264.29005 269.29005 273.73005 278.73005 283.73005 288.17005">set for the required configuration and sent with the step change </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-449.5064" x="36 41 46 53.78 58.78 63.22 66.55 69.05 73.490009 77.93001 82.37001 87.37001 89.87001 92.65001 95.43001 103.21001 107.65001">number each time.</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="-431.5064" x="36 42.11 47.11 51.550004 54.050004 57.940004 60.72 65.16 70.16 72.66 75.990009 80.43001 83.21001 87.65001 90.15001 92.93001 96.82001 99.32001 103.76001 108.76001 113.76001 116.54001 119.87001 124.87001 127.65001 130.43001 134.87001 139.87001 142.37001 147.37001 152.37001 154.87001 157.65001 162.65001 167.09001 169.59001 172.37001 175.15001 182.93001 185.71 190.71 195.71 198.21 203.21 206.54001 209.04001 211.82 216.82 221.26001 223.76001 227.65001 232.09001 235.42002 238.20001 242.64002 245.42002 247.92002 250.70001 255.70001 258.48 262.92 266.25 269.58 274.02 278.46 282.9 285.4">The step rate is controlled by the timing of 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="-419.5064" x="36 39.33 42.11 44.61 47.39 51.28 53.78 56.559999 61.559999 66 68.5 71.28 76.28 81.28 85.72 89.05 92.94 97.380008 99.880008 104.880008 108.21001 110.71001 113.490009 118.490009 122.93001 125.43001 129.32 132.1 136.54001 141.54001 144.04001 146.82 149.6 157.38 161.82 164.32 166.82">It is the inverse of the step time, t</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="-417.0064" x="169.5791 173.7491 178.3316 182.91411">STEP</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="-417.0064" x="186.8066"> </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="-419.5064" x="187.7432 190.2432 192.7432 196.6332 201.6332 206.6332 213.8532 218.8532 221.3532 224.1332 229.1332 231.6332 237.19319 239.97319 244.97319 249.97319 253.30319 257.7432 260.2432 264.8722 269.8722 272.3722 274.6912 280.80119 285.80119 290.24119">, shown in Figure 11. 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="-407.5064" x="36 43.78 48.78 51.559999 56.559999 59.89 62.39 66.28 69.06 73.5 78.5 81 86 91 93.78 98.78 101.28 104.06 108.5 113.5 117.94 121.83 124.33 129.33 132.11 136.55 140.99 145.43001 147.93001 155.15001 160.15001 164.59001 169.59001 172.09001 174.87001 179.87001 184.31002 186.81002 192.37001 198.48001 205.15001 210.15001 212.65001 217.65001 222.65001 227.09001 230.98001 233.48001 236.81002 240.14002 245.14002 252.92002 255.42002 258.2 263.2 270.42 272.92 275.7 280.7">motor step only takes place when the STRn goes from low 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="-395.5064" x="36 41 43.78 48.78 53.78 56.28 63.5 68.5 72.94 77.94 80.44 87.66 90.990009 93.770008 96.55 99.33 104.33 109.33 111.83 114.61 119.61 122.11 124.89 129.89 134.33 136.83 143.5 148.5 153.5 156 159.33 163.77 168.77 171.55 175.44 178.22 182.66 185.42401 187.92401 190.24301 196.35301 201.35301 205.79302 208.29302 216.07302 221.07302 223.85301 228.85301 232.18302 234.68302 238.57302 241.35301 245.79302 250.79302 253.29302 256.62303 261.06303 263.84303 268.28303 270.78303 273.56303 277.45304">high when writing to the Run register. The motor step rate 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="-383.5064" x="36 38.78 43.78 48.22 51.550004 55.990007 59.320009 64.32001 67.65001 72.09001 74.59001 79.59001 84.030017 86.81001 91.250019 94.58002 102.360019 105.140018 110.140018 114.58002 119.58002 122.08002 127.08002 132.08002 134.58002 137.36002 142.36002 146.80002 149.30002 152.08002 154.86002 162.64002 165.42002 170.42002 175.42002 177.92002 182.92002 186.25002 188.75002 191.53002 196.53002 200.97002 203.47002 206.80002 209.58002 213.47002 216.25002 221.25002 226.25002 228.75002 233.19002 238.19002 243.19002 247.63002 250.13002 255.13002 258.46003 260.96003 263.74003 268.74003 273.18003 275.68003 281.24003 287.35 294.02003 299.02003">therefore determined by the timing of the rising edge of the STRn </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="-371.5064" x="36 38.78 43.78 48.78 53.78 56.559999 59.059999 61.376 67.486 72.486 76.926 79.426 83.866008 86.646 91.646 96.086009 101.086009 103.586009 106.91601 111.35601 114.13601 118.57601 121.07601 126.07601 129.406 131.906 134.686 139.686 144.126 146.626 150.516 154.95601 158.28601 161.06601 165.50601 168.28601 170.78601 173.56601 178.56601 181.34601 185.78601 189.11602 192.44602 196.88602 201.32602 205.76602 208.26602 210.76602 215.76602 220.20603 223.53603 226.31603 231.31603 235.75603 240.75603 243.25603 248.25603 253.25603 255.75603 258.53605 263.53605 267.97605 270.47605 273.80604 277.13603">input. The clock rate of the serial interface, defined by the fre</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="-371.5064" x="281.5371">-</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="-359.5064" x="36 41 46 50.440004 55.440004 59.880006 64.880008 67.380008 72.380008 75.71001 78.21001 80.990009 85.990009 90.43001 92.93001 98.490009 105.16 112.380008 114.880008 117.66 122.66 127.66 132.66 135.44 137.94 140.44 145.44 149.88 153.77 156.27 161.27 166.27 168.77 173.21 176.352 179.682 184.12201 188.56201 191.34201 193.84201 198.84201 203.84201 206.34201 209.12201 214.12201 218.56201 221.06201 224.95201 227.73201 232.17201 237.17201 239.67201 243.00202 247.44202 250.22202 254.66202">quency of the SCK input, has no effect on the step rate.</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="-645.5773" x="510.992 515.44 517.3672 521.8152 524.0392 529.8152 534.7032 541.8152 546.7032 548.9272 553.3752 560.4872 564.9352 569.8232">2&#x2019;s Complement</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="-631.7531" x="340.0154">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="-631.7531" x="394.8924 399.3404 403.7884 408.2364 412.6844 417.1324">000000</tspan></text>
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