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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 46 49.89 52.67 55.449998 58.229997 63.229997 68.229999 72.119998 74.619998 79.619998 82.119998 86.56 91.56 96.56 99.06 104.06 106.56 108.876 114.986 119.986 124.426 126.926 131.926 136.926 141.366 145.256 149.696 151.64 158.31 160.81 165.25 170.25 173.58 176.91 181.35 186.35 189.13 191.63 196.07 198.85 201.35 206.35 211.35 215.79001 219.12001 221.90001 226.34001 229.45702 232.78702 236.67702 239.45702 243.89702 248.89702 251.39702 256.39704 261.39704 265.28706 268.06706 270.84706 273.62705 278.62705 283.62705 287.51707">positions 7 and 1. The phase A current at quarter-step 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="-646.7864" x="36 41 43.5 47.940004 52.940004 57.940004 60.440004 65.44 70.44 72.94 77.380008 80.16 84.05 89.05 91.55 96.55 100.990009 104.880008 107.380008 110.16 115.16 119.600009 122.100009 125.990009 130.43001 138.21 142.65001 145.15001 152.93001 157.37001 162.37001 167.37001 170.15001 172.93001 177.93001 182.93001 187.37001 189.87001 192.37001 197.37001 202.37001 205.15001 207.65001 210.43001 215.43001 219.87001 222.37001 226.81002 231.81002 235.14002 238.47002 242.91002 247.91002 250.69002 253.19002 255.97002 259.86003 262.36003 265.14 270.14 272.64 275.42 280.42 284.86003">9 and 15 also has the same magnitude, but the current is 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="-634.7864" x="36 41 46 51 56 59.89 62.67 65.45 69.89 72.39 77.39 80.17 83.5 87.94 92.380008 95.16 97.94 102.94 107.94 110.44 112.94 116.270008 121.270008 123.770008 128.21 133.21 138.21 140.99 143.77 146.55 151.55 156.55 159.05 161.83 166.83 171.27 173.77 178.77 183.77 188.21 192.1 196.54001 199.04001 205.71 208.21 212.65001 217.65001 220.98001 224.31002 228.75002 233.75002 236.53002 239.03002 243.47002 246.25002 248.75002 253.75002 258.75 263.19 266.52 269.3 273.74 276.835">opposite direction. In addition the phase B current at quarter-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-622.7864" x="36 39.89 42.67 47.11 52.11 54.61 59.61 64.61 68.5 71.28 74.06 76.84 81.84 86.84 90.729999 93.229999 98.229999 100.729999 103.229999 108.229999 110.729999 113.229999 117.854999 122.854999 125.354999 127.854999 132.295 137.295 142.295 144.795 149.795 154.795 157.295 161.735 164.515 168.405 173.405 175.905 180.905 185.345 190.345 194.785 197.285 200.065 205.065 209.505 212.005 215.895 220.335 228.115 232.55501 235.05501 242.835 247.27501 252.27501 257.27503 260.05503 262.83503 267.83503 272.83503 277.27503 279.77503 284.21504 288.10505">step positions 3, 5, 11, and 13 also have the same magnitude as </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-610.7864" x="36 38.78 43.78 48.22 51 53.5 58.5 61.83 64.33 69.33 74.33 78.770008 82.66 87.100009 89.04201 95.712009 98.212009 102.65201 105.43201 107.93201 112.93201 117.93201 122.37201 125.70201 128.48201 132.92201 136.04402 139.37403 143.26403 146.04402 150.48403 155.48403 157.98403 162.98403 167.98403 171.87403 174.65402 177.43402 180.21402 185.21402 190.21402 192.71402 197.71402 200.21402 202.71402 209.93402 212.71402 215.49402 220.49402 222.99402 227.43402 229.93402 234.93402 239.93402 243.82402 246.60402 249.38402 252.16402 257.164 261.604 264.104 268.544 273.544 276.874 280.20399 284.64399 289.64399 292.42399">that of phase A at quarter-step position 7, with a positive current </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-598.7864" x="36 41 43.78 47.11 51.550004 55.990007 58.770006 61.550004 66.55 71.55 74.05 77.380008 82.380008 85.71001 88.21001 92.100009 94.880008 99.32001 104.32001 108.21001 110.71001 115.71001 118.21001 122.65001 127.65001 132.65001 135.15001 140.15001 145.15001 147.65001 152.09001 157.09001 162.09001 164.59001 169.03002 171.53002 176.53002 180.97002 185.97002 190.41002 193.19002 195.97002 200.97002 205.41002 207.91002 212.91002 215.69002 219.02002 223.46002 227.90003 230.68003 233.46002 238.46002 243.46002 245.96002 249.29003 254.29003 257.62004 260.12004 264.01005 266.79005 271.23005 276.23005 280.12007 282.62007 287.62007">direction for steps 3 and 13 and a negative direction for steps 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="-586.7864" x="36 40.440004 45.440004 50.440004 52.940004 57.567 62.567 65.067 67.567 73.127 75.907 83.687 86.466999 89.246997 93.687 97.017 99.517 103.407 108.407 116.187 123.966999 128.407 131.187 134.517 139.517 142.017 146.457 150.897 155.897 158.397 163.397 167.837 170.337 174.77701 179.77701 184.77701 187.557 190.337 194.77701 199.77701 202.27701 205.057 210.057 212.557 215.337 220.337 224.77701 227.27701 232.27701 237.27701 241.71701 245.60701 250.04701 252.54701 259.217 261.717 266.157 271.157 274.487 277.817 282.257 287.257 290.037 292.537 296.977 299.757">and 11. Similar symmetry can be applied to the phase B current at </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-574.7864" 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 91.05501 96.05501 99.94501 102.725009 105.505008 108.285 113.285 118.285 120.785 125.785 128.285 130.785 135.225 139.66501 142.445 146.88501 151.88501 154.66501 159.10501 161.88501 166.32501 171.32501 173.82501 178.26502 183.26502 188.26502 193.26502 197.70502">quarter-step position 7, calculated above.</tspan></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 42.11 47.11 49.89 53.78 56.28 64.06 68.5 72.94 77.94 81.83 84.33 87.11 92.11 96.55 99.33 101.83 106.83 111.83 114.61 119.61 122.11 125.44 128.22 133.22 137.66 140.16 145.16 147.94 151.83 156.27 159.6 164.04001 166.82 171.26001 173.76001 178.20001 183.20001 186.53002 189.86002 194.30002 199.30002 202.08002 204.58002 212.36002 216.80002 221.80002 226.80002 229.58002 232.36002 237.36002 242.36002 246.80002 250.69002 253.19002 257.63 260.96 265.4">This means that only five discrete current magnitudes are </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-544.7864" x="36 39.33 43.770006 48.770006 53.770006 56.550004 59.880006 64.32001 69.32001 71.82001 74.32001 77.100009 82.100009 86.54001 89.32001 94.32001 99.32001 102.100009 107.100009 112.100009 114.600009 119.600009 127.93001 130.43001 134.87001 139.87001 144.87001 147.37001 152.37001 157.37001 162.37001 170.70001 173.20001 175.70001 178.48001 183.48001 185.98001 190.98001 194.31002 199.31002 203.75002 207.08002 209.58002 212.36002 217.36002 219.86002 224.86002 228.19002 230.97002 235.97002 240.41002 242.91002 245.69002 250.69002 255.13002 257.63 261.52003 264.30003 268.74003 273.74003 278.74003 283.18003 286.51">required, including 0% and 100%, in order to drive the stepper </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-532.7864" x="36 43.78 48.78 51.559999 56.559999 59.89 62.39 65.17 70.17 72.67 77.11 79.89 82.67 85.17 90.17 95.17 97.67 102.67 107.67 112.11 115.44 118.22 122.66 125.77501 129.10501 132.99501 135.77501 140.21501 145.21501 147.71501 152.71501 157.71501 161.60501 164.38501 167.16501 169.945 174.945 179.945 183.835 186.335 188.835 196.05501 199.945 202.725 207.725 212.725 215.225 218.005 223.005 227.445 229.945 233.835 238.27501 246.05501 250.49501 252.99501 257.995 262.995 270.775 275.215 280.215 284.655 287.435">motor to all 16 quarter-step positions. Using the same nomencla</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-532.7864" x="291.8594">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-520.7864" x="36 38.78 43.78 47.11 51.550004 54.050004 58.490007 62.380006 64.880008 70.44 73.22 78.22 83.22 86.55 90.990009 92.934009 100.15401 105.15401 107.65401 110.15401 112.934009 117.934009 122.37401 125.15401 127.65401 130.434 134.324 136.824">ture as Figure A7, that is, </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="-520.7864" x="139.3203">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="-518.2864" x="142.6504 147.23291">Pn</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-520.7864" x="150.9817"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-520.7864" x="152.2317 154.7317 157.2317 164.4517 169.4517 173.89171 177.22171 181.66172 184.16172 189.35071 191.85071 194.6307 198.5207 201.0207 203.8007 208.8007 213.2407 215.7407 220.7407 225.7407 230.18071 234.07071 238.51071 241.01071 242.95471 249.62471 252.12471 257.1247 260.45469 262.95469 269.6247 272.1247 274.6247 279.0647 284.0647 289.0647">, where P is the phase, A or B, 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="-508.7864" x="36 41 43.5 46.28 50.17 52.67 55.449998 60.449998 64.89 67.39 72.39 77.39 81.83 85.16 87.94 92.380008 95.50201 98.83201 102.72201 105.50201 109.94201 114.94201 117.44201 122.44201 127.44201 135.22202 140.22202 144.66202 147.99202 150.49202 153.82202 157.15203 162.15203 169.93202 172.43202 177.99202 180.77202 185.77202 190.77202 194.10202 198.54203 200.48203 207.70203 212.70203 215.20203 217.52303 222.93402 227.37403 232.37403 235.15402 239.59403 241.53702 248.75702 253.75702 256.25703 260.14704 265.14704 270.14704 277.36705 281.25706">n is the quarter-step number from Figure A6, Table A1 shows </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-496.7864" x="36 43.22 48.22 52.660005 55.990007 60.430009 62.930009 67.37001 71.81001 76.250019 81.250019 83.750019 88.750019 92.08002 94.58002 97.360019 102.360019 106.80002 109.30002 112.63002 115.41002 120.41002 124.85002 127.35002 135.13002 139.57003 144.57003 149.57003 152.35002 155.13002 160.13002 165.13002 169.57003 172.07003 177.07003 181.51003 184.29003 189.29003 193.73003 197.62003 200.12003 204.56003 207.89003 212.33003 214.83003 219.83003 223.72003 228.16004 233.16004">where each of the five magnitude values are used.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-478.7864" x="36 41.56 44.34 49.34 54.34 57.67 62.11 64.057 71.277 76.277 78.777 82.667 87.667 92.667 99.887 103.777 106.277 109.057 114.057 118.497 122.387 126.827 129.327 134.327 138.767 141.547 146.547 150.987 154.877 157.377 162.377 165.157 170.157 172.937 175.717 180.157 185.157 187.657 192.097 195.987 198.487 202.927 205.427 209.867 214.867 218.197 221.52701 225.96701 230.96701 233.74701 236.24701 240.13701 244.57701 249.57701 254.57701 259.017 264.017 268.457 272.897">Figure A8 shows these values plotted as a current sequence </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-466.7864" x="36 41 43.78 48.22 53.22 56.550004 60.990007 68.770008 71.270008 73.58301 79.69301 84.69301 87.47301 91.36301 93.86301 97.19301 99.97301 104.97301 109.97301 113.30301 117.74301 120.24301 123.02301 126.91301 129.41301 132.19301 137.19301 141.63301 144.96302 149.40302 152.73302 157.73302 161.06302 165.50302 168.00302 170.78302 175.78302 180.22303 182.72303 185.50302 188.28302 196.06302 200.50302 203.83303 208.83303 213.27303 217.16303 221.60303 226.60303 229.10303 233.54303 238.54303 243.54303 246.32303 251.32303 255.76303 258.54304 262.98304 267.98304 270.76304 273.26304 278.26304 281.59303 284.09303 286.87303 291.87303 296.31303 298.139">diagram. This figure is therefore the time-based equivalent 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="-454.7864" x="36 41 46 50.440004 54.33 58.770006 61.270006 66.270008 69.05 73.490009 78.490009 81.82001 86.26001 94.04001 96.54001 99.32001 104.32001 106.82001 112.380008 115.16 120.16 125.16 128.49 132.93001 134.867 142.087 147.087">phase diagram in Figure A6.</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="-658.4397" x="312.1758 319.74583 322.87583 331.00584 338.57585 345.59584 352.99385 355.9478 364.6278 367.7578 375.32783 382.89784 391.02784 398.04783 404.5078 411.5278 418.19279 421.14677 428.71678 435.73677 442.75675 450.88676 457.34675 464.91676 471.37675 474.50675 482.63676">HIGHER 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="-641.9397" x="312 318.11 323.11 327.55 330.05 335.05 338.37998 341.15998 346.15998 350.59999 353.37998 358.37998 361.15998 365.59999 369.49 371.99 376.99 381.43 385.32 389.76 393.09 395.87 400.87 405.31 410.31 412.81 417.25 422.25 427.25 432.25 436.69 439.19 443.63 448.07 453.07 455.57 460.01 464.45 468.34004 471.12004 473.90003 478.90003 481.40003 486.40003 490.84004 493.34004 497.78004 502.78004 505.56004 510.00004 515 520 524.44 529.44 531.94 534.72006 539.72006 542.22006 547.22006 550.00009 555.00009 560.00009 564.44009 567.7701">The principles described above can easily be extended to higher </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-629.9397" x="312 319.78 322.56 327 330.33 335.33 339.22 342 346.44 351.44 353.94 357.27 361.71 365.6 370.6 373.38 378.38 381.16 383.94 388.94 393.94 397.83003 400.33003 402.269 409.489 413.37904 415.87904 418.65904 423.65904 428.09904 430.59904 438.37904 441.15904 445.59904 448.92903 453.92903 457.81904 460.59904 465.03904 470.03904 472.53904 475.86903 480.30903 484.19905 489.19905 491.97904 496.97904 499.75904 502.53904 507.53904 512.53909 515.03909 517.8191 522.8191 527.2591 530.5891 535.0291 539.4691 543.35916 547.79916 551.68917 554.18917 556.68917 559.4692 562.2492">microstep resolutions. As the microstep resolution increases, it </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-617.9397" x="312 317 321.44 325.88 330.88 338.66 343.1 346.99003 349.49003 357.27003 362.27003 365.6 370.04 372.54 376.98 381.98 386.98 391.42 394.75 399.19 404.19 406.97 409.47 412.25 417.25 421.69 424.47 426.97 429.75 434.75 439.19 441.69 446.69 451.69 456.13 460.02003 464.46003 466.96003 471.40003 476.40003 479.73 483.06 487.5 492.5 495.28 497.78 501.67 506.11003 511.11003 516.11 520.55 525.55 529.99 534.43 538.32 540.82 545.26 550.26 555.26 558.59 563.59 568.59">becomes more apparent that the phase current sequences approxi</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-617.9397" x="571.3359">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-605.9397" x="312 319.78 324.22 327 331.44 333.94 338.38 343.38 347.82 351.15 353.65 358.09 360.87 365.87 369.76 374.2 377.53 380.03 382.81 387.81 390.31 394.75 397.25 401.14 403.92 408.92 411.42 415.86003 420.86003 425.86003 428.36003 432.80003 437.80003 441.69004 444.47004 449.47004 453.91004 456.41004 459.74003 464.74003 469.74003 474.18003 476.96003 479.74003 484.74003 489.74003 492.24003 494.74003 500.30003 503.08003 508.08003 513.08 516.41006 520.85006 522.77108 529.991 534.991 537.491 541.38107 546.38107 551.38107 558.601 562.491">mate ever closer to a sin and cosine function. Figure A9 shows </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.9397" x="312 314.78 319.78 324.22 326.72 334.5 338.94 343.38 347.27003 352.27003 355.6 360.04 365.04 367.54 372.54 377.54 381.98 385.87004 390.31004 392.81004 397.25004 402.25004 405.58003 408.91 413.35 418.35 421.13 423.63 427.52003 431.96003 436.96003 441.96003 446.40003 451.40003 455.84004 460.28004 462.78004 467.78004 471.11003 473.61003 476.39 481.39 485.83003 487.75703 494.97703 499.97703 504.97703 509.97703 514.97708 517.47708 520.80709 525.80709 530.80709 535.80709 538.5871 543.5871 548.5871 551.0871 553.8671 558.8671">the measured phase current sequence of the A3981 running 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="-581.9397" x="312 315.89 318.67 323.67 326.45 330.89 335.33003 340.33003 343.11003 348.11003 351.44 355.33003 358.11003 362.55003 367.55003 370.05003 377.83003 382.83003 387.83003 392.27003 394.77003 397.07804 403.18803 408.18803 412.62803 415.12803 420.12803 425.12803 429.56803 433.45805 437.89805 440.39805 444.83805 449.83805 453.16804 456.49803 460.93803 465.93803 468.71803 471.21803 475.10804 479.54804 484.54804 489.54804 493.98805 498.98805 503.42805 507.86805 511.75807 514.25808 517.5881 522.5881 525.9181 528.4181 532.8581 535.6381 540.6381 545.6381 548.41818 553.41818 556.74819 560.6382 563.4182 567.8582 572.8582">sixteenth-step mode. The phase current sequences for eighth-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="-569.9397" x="312 316.44 321.44 326.44 328.94 332.83003 335.61003 340.61003 343.39 347.83003 352.27003 357.27003 360.05003 365.05003 368.38 372.27003 375.05003 379.49003 384.49003 386.99003 390.32 394.76 398.65003 403.65003 406.43003 411.43003 414.21003 416.99003 421.99003 426.99003 430.88005 433.38005 437.82005 441.15003 445.59004 448.09004 451.98005 456.98005 461.98005 469.20005 474.20005 476.70005 479.48005 484.48005 486.98005 490.31004 493.09004 498.09004 503.09004 506.42 510.86003 514.75 516.683 523.90298 528.90298 533.90298 536.40298 540.84298 545.84298 550.84298 552.79098 560.0109 564.6419 569.6419 572.1419">and sixteenth-step resolutions are shown in figures A10 and A11. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-551.9397" x="312 320.89 325.89 329.78004 332.56004 335.06004 339.50004 344.50004 349.50004 352.28004 355.06004 359.50004 363.94004 366.72004 369.50004 374.50004 379.50004 383.39006 385.89006 390.89006 394.78007 397.56007 402.56007 407.56007 410.06007 413.95008 421.73008 426.17008 428.95008 431.73008 434.23008 442.01008 447.01008 449.79008 454.79008 458.12007 462.01008 464.51008 468.95008 472.28007 476.72007 479.22007 482.00007 484.78007 492.56007 495.34007 498.12007 502.56007 507.56007 510.06007 512.8401 517.8401 520.3401 524.2301 527.01016 532.01016 534.79019 539.23019 543.67019 548.67019 551.4502 556.4502 559.7802 563.6702 566.45028 570.89028 575.89028">Most applications using small motors are limited to 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="-539.9397" x="312 319.78 324.78 329.78 334.22 336.72 341.72 346.72 351.16 353.66 356.44 361.44 363.94 366.72 371.72 376.16 378.66 386.44 390.88 395.32 400.32 404.76 409.76 412.54 416.98 421.42 424.2 426.7 431.7 435.03 439.47 443.91 446.69 450.58003 453.36003 458.36003 463.36003 465.86003 470.86003 474.19 476.69 479.47 484.47 488.91 491.41 499.19 504.19 506.97 511.97 514.71499 517.21499 519.71499 525.82498 530.26498 533.41098 538.41098 542.85098 545.779 548.279 550.779 555.779 558.559 563.559 568.559">mode due to the mechanical precision of the motor. Larger, high-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-527.9397" x="312 317 320.33 324.77 329.21 331.99 335.88 338.66 343.66 348.66 351.16 355.05003 357.83003 362.27003 367.27003 372.27003 376.71003 380.04 382.54 390.32 395.32 398.1 403.1 406.43 410.32 412.82 417.26 420.59 425.03 427.53 431.42 436.42 444.2 448.64 451.42 454.2 461.98 466.42 470.31004 472.81004 477.81004 481.14 483.92 488.92 493.36003 498.36003 500.86003 505.30003 508.08003 510.58003 515.58 520.58 523.08 525.58 530.58 535.58 538.08 540.58 545.58 548.91006 551.41006 555.85006 560.85006 565.29006 570.29006">precision stepper motors are sometimes driven at 32, 64, or even </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-515.9397" x="312 317 322 324.5 327.28 332.28 334.78 339.78 344.78 349.78 352.28 360.06 362.84 367.28 370.61 375.61 379.5 382.28 386.72 391.72 395.61003 398.11003 400.89 405.89 408.39 412.28004 417.28004 425.06004 429.50004 432.00004 436.44004 441.44004 444.22004 447.55003 451.99003 459.77003 464.21003 466.71003 471.15003 475.59004 479.48005 483.92005 487.81007">up to 256 microsteps in some extreme cases.</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="-495.5397" x="312 320.004 324.672 331.344 338.016 342.012 345.348 352.02 358.692 362.02799 365.36399 368.69999 379.36799 386.69999 390.03599 396.70799 407.37599 414.04798 421.37998 425.37599 432.04798 436.04399 439.37998 446.71199">Practical Implementation</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-477.5397" x="312 318.67 321.17 325.06004 330.06004 333.95005 336.73005 341.17005 348.95005 351.45005 354.23005 359.23005 361.73005 366.73005 370.06004 372.84004 377.84004 382.28004 384.78004 389.22004 391.72004 395.61006 398.39006 402.83006 407.83006 412.83006 417.27006 420.60005 423.10005 430.88005 435.88005 438.66004 443.66004 446.99003 449.49003 456.71003 459.49003 462.27003 467.27003 469.77003 477.55003 480.33003 484.77003 488.1 493.1 496.99003 499.77003 504.21003 509.21003 511.71003 516.15 520.59 525.59 530.03 535.03 537.81008 540.5901 543.3701 546.15017 551.15017">A system to drive a stepper motor with microstep capability </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-465.5397" x="312 315.33 319.77 324.77 329.77 332.55 335.87998 340.31999 344.21 346.71 350.6 355.04 360.04 365.04 369.48 374.48 378.92 383.36003 386.69 390.58003 393.08003 395.58003 400.02003 405.02003 408.35 411.68 416.12 421.12 423.9 426.4 429.72999 434.16999 437.49998 441.93998 445.26997 449.70997 454.70997 459.14997 463.58998 466.08998 471.08998 475.52998 480.52998 484.96998 488.29997 492.73997 495.51997 500.51997 503.84996 507.73997 510.23997 512.74 517.18 522.18 527.18 529.68 534.12 539.12 542.45 545.78 550.22006 555.22006 558.00009">requires sequencers, current reference generators, and current </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-453.5397" x="312 316.44 321.44 326.44 329.22 332.55 337.55 340.33 343.11 347.55 350.87998 354.77 357.27 359.77 366.99 371.43 376.43 380.87 383.65 388.65 393.65 396.43 401.43 406.43 408.93 412.82 417.82 422.26 427.26 429.76 434.2 436.7 440.59004 445.59004 449.48005 452.26005 456.70005 464.48005 466.98005 470.31004 473.64 478.64 486.42 488.92 493.92 496.7 500.59004 505.03004 508.36003 512.8 515.58 520.02 522.52 526.96 531.96 539.74008 544.74008 549.74008 554.74008 559.18008 564.18008 566.9601 570.8501 573.3501">controllers. Developing such a system from discrete components, </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-441.5397" x="312 317 320.33 322.83 327.27 332.27 336.71 341.71 344.21 349.21 353.1 355.88 360.88 365.88 368.38 372.82 375.32 378.65 383.09 386.98 389.76 392.26 400.04 402.82 407.26 410.59 415.59 420.03 425.03 430.03 432.81 436.13999 441.13999 443.91999 446.69999 451.13999 454.05097 456.55097 459.05097 461.83097 465.72099 468.22099 472.66099 475.16099 479.60099 484.60099 492.38099 497.38099 500.16099 504.60099 509.60099 512.10098 514.881 519.321 523.211 528.211 530.711 533.02 539.13 544.13 548.57">or even using a fast microcontroller, is a complex task. 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="-429.5397" x="312 319.22 324.22 329.22 334.22 339.22 341.72 344.5 348.39 350.89 355.89 360.89 365.33003 367.83003 372.83003 376.16 378.66 382.55003 386.99003 391.99003 396.43003 399.76 404.2 406.98 409.48 412.81 417.81 420.59 423.37 428.37 430.87 433.65 438.65 441.43 445.87 450.87 454.19999 458.63999 461.41999 465.86 470.86 473.36 477.25 480.03 484.47 489.47 494.47 498.91 502.24 504.74 509.74 513.07 515.85006 520.85006 525.29006 528.62008 532.5101 535.0101 537.7901 542.7901 547.2301 550.01016 552.51016 556.95016 560.28018 564.72018">A3981 is one of several fully integrated stepper drivers that are </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-417.5397" x="312 316.44 321.44 325.88 328.66 331.44 335.88 340.88 343.66 348.1 350.6 357.82 360.6 363.38 368.38 370.88 378.66 381.44 385.88 389.21 394.21 398.1 400.88 405.32 410.32 412.82 416.15 420.59 424.48 429.48 432.26 437.26 440.04 442.82 447.82 452.82 456.71003 459.21003 461.71003 465.04 468.37 473.37 481.15 483.65 488.09 493.09 500.87 505.87 510.31 515.31 519.2 523.64 526.42007 530.86007 535.86007 538.36007 543.36007 547.80007 550.5801 553.9101 556.4101 560.3001 563.08016 567.52017 572.52017">available with microstep resolutions, from compensated half 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="-405.5397" x="312 314.78 319.78 322.28 326.17 328.95 333.95 336.73 341.17 345.61003 350.61003 353.39 358.39 360.89 364.78004 367.56004 372.00004 377.00004 379.50004 383.94004 388.94004 393.94004 396.44004 401.44004 404.22004 409.22004 414.22004 418.66004 421.575 424.075 426.575 431.575 435.46504 438.24504 443.24504 448.24504 450.74504 455.74504 459.075 464.075 469.075 472.405 476.845 484.625 492.405 496.845 501.845 504.625 509.065 511.565 516.005 521.005 524.335 527.66506 532.10507 537.10507 539.8851 542.3851 545.1651 549.6051 554.6051 557.38516 561.82516 565.71517 568.21517">to sixteenth step and higher, using programmable current tables. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-393.5397" x="312 319.22 322 324.78 327.28 331.72 335.61003 340.61003 345.05003 349.49003 352.27003 356.16004 358.66004 363.66004 366.99003 369.49003 372.27003 377.27003 381.71003 384.21003 388.10005 390.88005 395.32005 400.32005 405.32005 409.76005 413.09004 415.59004 420.03004 425.03004 430.03004 432.81004 436.14 441.14 443.92 446.42 450.31004 455.31004 459.20005 461.98005 466.42005 474.20005 476.70005 481.14006 484.47004 488.91004 491.41004 494.19004 499.19004 503.63005 506.41004 511.41004 516.41006 520.85006 525.85006 528.35006 531.13009 536.13009 538.63009 541.4101 546.4101 550.8501 554.7401 559.1801">All aspects of the stepper control system are included in 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="-381.5397" x="312 315.89 318.67 323.67 328.67 331.45 335.89 338.39 342.83003 347.83003 350.61003 355.61003 358.11003 362.00004 367.00004 369.78004 374.78004 377.56004 380.34004 385.34004 390.34004 394.23005 396.73005 401.17005 406.17005 411.17005 413.67005 421.45005 425.89006 430.89006 435.89006 438.39006 443.39006 446.72004 449.22004 452.00004 457.00004 461.44004 469.22004 471.72004 476.16004 480.60005 485.60005 488.10005 493.10005 497.54005 500.04005 504.48005 509.48005 514.48007 517.2601 520.5901 525.5901 528.3701 531.15017 535.59017 540.59017 543.09017 548.09017 553.09017 555.59017 560.03018">single chip solutions and many of them can be controlled by 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="-369.5397" x="312 315.89 318.67 326.45 331.45 334.23 338.67 341.17 346.73 349.51 353.95 358.95 361.45 365.89 370.89 375.89 378.39 385.61003 388.39 391.72 396.16 400.6 403.38 406.16 411.16 416.16 418.66 421.44 426.44 429.22 433.66 436.99 440.31999 444.75999 449.19999 453.63999">simple Step and Direction interface.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6.5624" font-family="ETRYCQ+ArialMT"><tspan y="-292.107" x="52.5137 56.18208 59.85046">38%</tspan><tspan y="-304.57557" x="52.5137 56.18208 59.85046">70%</tspan><tspan y="-310.80986" x="52.5137 56.18208 59.85046">92%</tspan><tspan y="-317.10975" x="48.773134 52.441514 56.109895 59.778276">100%</tspan><tspan y="-276.4885" x="62.02918">0</tspan><tspan y="-264.01994" x="50.282484 52.448076 56.116456 59.784837">-38%</tspan><tspan y="-251.55136" x="50.282484 52.448076 56.116456 59.784837">-70%</tspan><tspan y="-245.31708" x="50.348108 52.5137 56.18208 59.85046">-92%</tspan><tspan y="-239.01718" x="46.60754 48.773134 52.441514 56.109895 59.778276">-100%</tspan><tspan y="-195.37723" x="52.5137 56.18208 59.85046">38%</tspan><tspan y="-207.8458" x="52.5137 56.18208 59.85046">70%</tspan><tspan y="-214.08008" x="52.5137 56.18208 59.85046">92%</tspan><tspan y="-220.37998" x="48.773134 52.441514 56.109895 59.778276">100%</tspan><tspan y="-179.82434" x="62.02918">0</tspan><tspan y="-167.35578" x="50.282484 52.448076 56.116456 59.784837">-38%</tspan><tspan y="-154.8872" x="50.282484 52.448076 56.116456 59.784837">-70%</tspan><tspan y="-148.65293" x="50.348108 52.5137 56.18208 59.85046">-92%</tspan><tspan y="-142.2874" x="46.60754 48.773134 52.441514 56.109895 59.778276">-100%</tspan></text>
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