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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="WSZTMG+ArialMT"><tspan y="-15.920399" x="427.99559 432.32759 436.65959 440.99159 442.65959 445.99559 447.32759 448.65959 451.99559 455.33158 457.32957 460.66557 465.66355 466.99555 469.99555 471.99354 475.32954 476.99754 479.99754 483.33354">www.allegromicro.com</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="12" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-656.9836" x="36 44.664 51.336004 54.672006 62.004007 69.336009 72.672008 76.66801 84.00001 90.67201 94.00801 102.01201 109.34401 116.01601 122.688 129.36 132.696 139.1304 145.8024 153.1344 156.4704 163.1424 166.4784 173.8104 181.1424 187.81439 195.1464 198.48239 207.1464 213.81839 221.15039 227.82239 235.15439 238.49039 241.82639 245.16239 249.15839">Using the Phase Table Load Capability</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="-634.3102" x="36.1758 42.4548 50.5848 58.1548 66.284809 73.854808 80.700809 83.65481 91.22481 94.354808 101.37481 108.39481 114.85481 121.70081 124.654819 132.22483 139.24483 146.81484 154.38484 161.95485 168.41486 171.54486 179.67487">TORQUE RIPPLE REDUCTION</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-617.6368" x="36 42.08 47.050004 51.460004 53.930006 58.900007 63.310007 66.61001 69.91001 74.88001 78.180019 85.930019 90.34002 95.31002 99.720027 104.13003 106.60003 111.01003 115.980037 120.950038 123.42004 127.83004 132.80004 137.77004 140.52004 145.49004 148.24004 152.65004 155.12004 160.09004 165.06005 167.81005 171.67005 176.08005 178.55005 183.52005 186.82006 189.29006 193.70006 198.67006 203.64006 206.11006 213.86006 218.83007 221.58007 226.55007 229.85007 232.32007 237.29007 240.59008 243.34008 248.31008 252.72008 255.19008 259.05009 264.02009 267.88008 270.63008 275.04008 282.79008 285.26008 288.01008 291.90208">The performance and audible noise of any motor drive system 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="-605.4634" x="36 40.97 45.38 48.68 51.43 56.4 60.81 65.78 68.25 70.72 73.47 78.44 80.91 85.32001 87.79001 90.54001 94.95001 98.069019 103.03902 107.44902 109.91902 114.329029 119.29903 122.04903 126.45903 131.42903 134.17903 136.64904 139.11904 144.08904 149.05904 151.52904 154.27904 159.24904 163.65904 166.12905 168.87905 173.84905 177.14905 182.11905 187.08905 191.49906 193.96906 197.26906 200.01906 204.98906 209.95906 212.70906 217.11907 219.58907 224.55907 228.96907 233.93907 238.34908 241.64908 246.05908 248.80908 253.21909 258.1891 260.6591 265.6291 270.5991 273.0691 278.0391 283.0091 285.7591 290.7591">defined, to a large extent, by the torque ripple generated by both </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.29" x="36 38.75 43.72 48.13 50.600004 58.350004 63.320005 66.07001 71.04001 74.34001 76.81001 81.22002 86.19002 91.16002 93.63002 96.38002 101.35002 105.760028 108.23003 110.98003 115.95003 120.36003 125.33003 127.80003 130.27004 133.57004 138.54004 141.01004 148.76004 153.73004 157.59004 160.34004 162.81005 167.22005 171.63005 175.49005 179.90006 183.76006 186.23006 188.70006 195.89006 200.86006 205.27007 210.24007 212.71007 217.68007 221.54007 224.29007 229.26007 234.23007 236.70008 241.11008 243.58008 247.44008 250.19008 254.60009 259.57008 264.54008 268.95008 272.25007 274.72007 282.47007 287.44007 290.19007 295.16007 298.49006">the motor and the load. In most cases, when using a stepper motor </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-581.1165" x="36 40.41 44.27 46.74 49.49 54.460004 58.870004 61.340005 69.090007 73.50001 77.91001 82.88001 87.290019 92.26002 95.01002 99.42002 103.830028 106.580028 109.050029 114.02003 117.32003 120.07003 125.04003 129.45003 131.92003 134.39003 137.14003 142.11003 146.52004 148.99004 151.74004 156.71004 160.01004 164.98004 169.95005 174.36005 176.83005 180.13005 182.88005 187.85005 192.82006 195.57006 199.98006 202.45006 207.42006 210.72006 213.19007 215.94007 220.91007 225.32007 227.79007 230.54007 235.51007 239.92008 244.89008 247.36008 250.11008 253.97008 256.44007 261.41007 266.38008 269.13008 271.60008 274.90007 279.31007 282.06007 286.47007 289.22007 293.63008 298.63008">as the mechanical drive, the torque ripple of the load is not related </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-568.9431" x="36 38.75 43.72 46.190004 48.940004 53.910005 58.320005 60.790006 68.54001 72.95001 77.360019 82.33002 86.74002 91.71002 94.46002 98.870029 103.28003 106.03003 108.50003 112.36003 115.11003 119.520038 124.490039 128.35004 130.82004 135.79004 139.09004 141.56005 144.31005 149.28005 153.69005 156.16005 163.91005 168.88005 171.63005 176.60005 179.90006 182.37006 186.78006 191.75006 196.72006 199.19007 206.94007 211.91007 215.77007 218.52007 220.99007 225.96007 230.37007 232.84008 236.14008 240.55008 245.52008 250.49008 254.90009 259.3101 264.2801 266.7501 271.7201 276.7201">to the mechanical steps of the motor and must be reduced by </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-556.7697" x="36 43.75 48.16 52.57 57.54 61.4 63.870004 68.840007 73.810009 77.11001 81.52001 84.27001 88.680019 91.430019 95.84002 100.81002 103.28002 106.03002 111.00002 113.470027 116.220027 121.190029 125.60003 128.07003 135.82003 140.79003 143.54003 148.51003 151.81003 154.28003 158.69004 163.66004 168.63004 171.10004 173.85004 176.60004 180.46004 182.93004 187.90004 191.20005 193.95005 198.92005 203.33005 205.80005 209.66005 214.63005 218.49005 221.24005 225.65006 233.40006 235.87006 238.34006 245.53006 250.50006 257.69007 262.10008 267.07008 271.48008 274.37907 276.84907 279.31907 282.61906 287.58906 290.91905">means unrelated to the motor and its drive system. However, 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="-544.5963" x="36 39.86 42.61 47.02 51.99 56.960004 61.370004 64.670009 67.14001 74.89001 79.86001 82.61001 87.58001 90.88001 94.74001 97.210018 99.960018 104.930019 107.40002 112.37002 116.78002 120.080028 122.830028 125.580028 129.99002 134.96002 137.71002 142.12003 145.02004 147.49004 149.96004 152.71004 157.68004 160.98004 165.95005 170.92005 175.33005 177.80005 181.10005 183.85005 188.82006 193.79006 196.54006 200.95006 203.42006 208.39006 211.69007 216.66007 221.63007 226.60007 231.01007 235.42008 240.39008 242.86008 247.83008 252.80008 255.27008 258.02009 262.99009 267.4001 269.8701 277.6201 282.5901 285.3401 290.3101 293.64009">stepper motors in particular, torque ripple produced by the motor </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-532.4229" x="36 40.41 44.82 49.79 52.260004 57.230005 61.640005 64.11 67.41 71.82001 76.79001 81.76001 86.17001 90.58002 95.55002 98.02002 102.99002 107.96002 110.43002 113.18002 120.93002 125.900028 129.20003 134.17003 139.14003 143.55004 151.30004 155.71004 160.68004 163.43004 167.29004 169.76004 172.51004 177.48004 179.95005 182.70005 187.67005 192.08005 194.55005 202.30005 206.71006 211.12006 216.09006 220.50006 225.47006 228.22006 232.63007 237.04007 239.79007 242.26007 247.23007 251.64008 255.50008 258.2501 263.2201 268.1901 270.6601 275.6301 278.93009 281.4001 284.1501 289.1201 293.5581">can be reduced by improvements in the mechanical design 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="-520.2495" x="36 43.75 48.72 51.47 56.440004 59.74 62.210004 66.62 71.590007 76.560009 79.03001 84.00001 88.97001 91.44001 94.19001 101.94001 106.91001 110.210018 115.180019 120.15002 124.56002 132.31003 136.72003 141.69004 144.44004 148.30004 150.77004 153.52004 158.49004 160.96004 163.71004 168.68004 173.09004 175.56005 180.53005 185.50005 189.91005 193.77005 198.18006 200.65006 205.06006 210.03006 213.33007 216.63007 221.04007 226.01007 228.76007 231.23007 235.64008 240.61008 245.58008 248.33008 251.63008 256.60008 259.35008 261.82008 265.68006 270.65007 274.51005 277.26005 281.67005 289.42005">motor and by improvements in the phase current control system.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-502.076" x="36 41.41 46.41 49.739999 54.739999 59.739999 64.18 66.68 70.01 72.79 77.79 82.79 85.57 90.01 92.51 99.73 102.51 105.29 108.07 110.57 115.57 120.01 122.79 127.79 131.12 135.56 138.34 141.12 146.12 148.62 153.62 158.06 160.56 165.56 168.34 173.34 178.34 180.84 188.06 193.06 197.5 202.5 205 210 213.33 216.11 221.11 223.89 228.89 233.89 236.39 240.83 243.33 247.22 250 254.44 259.44 264.44 268.88 272.21 274.71 282.49 287.49 290.27 295.27 298.59999">Torque ripple will naturally be high when driving a stepper motor </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-489.9026" x="36 38.78 43.78 46.28 49.61 54.61 57.39 60.17 62.67 66.56 69.34 73.78 78.78 81.28 89.06 94.06 99.06 103.5 106 108.5 113.5 118.5 122.94 125.44 128.22 133.22 135.72 138.5 143.5 147.94 150.44 155.44 159.88 162.66 167.66 170.99 175.43001 177.93001 182.93001 186.26001 188.76001 192.65001 195.43001 199.87001 204.87001 209.87001 212.65001 217.65001 222.65001 225.15001 227.65001 234.87001 239.87001 247.09001 251.53002 256.53004 260.97004 264.30003 266.80003 269.58003 274.58003 279.02003">in full step mode, due to the nature of stepping. However the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-477.7292" x="36 38.78 43.78 47.11 52.11 57.11 61.550004 64.05 67.380008 70.16 75.16 80.16 82.94 87.380008 89.880008 94.32001 98.76001 103.76001 106.26001 111.26001 115.70001 118.20001 121.530017 125.97002 130.97002 135.97002 140.41002 144.85002 149.85002 152.35002 157.35002 162.35002 164.85002 169.85002 173.74002 176.52002 181.52002 186.52002 189.02002 196.80002 199.58002 204.02002 207.35002 212.35002 216.24002 219.02002 223.46002 228.46002 233.46002 236.24002 241.24002 246.24002 248.74002 251.24002 254.57003 259.57 264.01 267.34 271.78 276.22">torque ripple can be reduced by using microstepping. Increas</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-477.7292" x="280.082">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-465.5558" x="36 38.78 43.78 48.78 51.28 54.059999 59.059999 63.5 66 71 76 83.78 88.78 93.22 96.55 99.05 104.05 107.380008 109.880008 117.66 120.44 124.880008 128.21 133.21 137.1 139.88 144.32 149.32 153.21 155.71 160.71 165.15001 168.48001 170.98001 178.76001 183.20001 187.64002 192.64002 197.08002 202.08002 204.86002 209.30002 213.74002 216.52002 219.02002 222.91002 225.69002 230.13002 235.13002 237.63002 244.85002 247.63002 250.41002 253.19002 255.69002 259.02003 263.46003 267.35005 272.35005 275.13005 277.91004 280.41004 283.19004 288.19004">ing the number of microsteps per mechanical step will result 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="-453.3823" x="36 39.33 43.770006 48.770006 53.770006 58.210008 62.65001 67.65001 70.15001 72.93001 77.93001 81.26001 86.26001 91.26001 95.70001 98.20001 101.530017 104.31001 109.31001 114.31001 117.09001 121.530017 124.030017 126.33701 132.447 137.447 140.227 144.117 146.617 149.397 153.287 155.787 160.787 165.787 170.227 172.727 177.727 181.057 183.557 186.337 191.337 195.77701 198.27701 206.057 210.49701 213.27701 218.27701 221.60701 224.10701 227.43701 231.87702 236.31702 240.20702 245.20702 250.20702 254.09702 256.59703 259.927 264.927 268.257 270.757 275.757 279.647 282.427 287.427 292.427">reduced torque ripple. This is one of the major reasons for using </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-441.2089" x="36 43.78 46.559999 51 54.33 59.33 63.22 66 70.44 75.44 80.44 83.22 88.22 93.22">microstepping.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-423.0355" x="36 39.33 44.33 46.83 49.61 54.61 59.050004 61.550004 69.33 73.770008 76.55 81.55 84.880008 87.66 90.44 95.44 97.94 102.94 106.270008 108.770008 113.21001 117.65001 121.54001 125.98001 129.87001 132.37001 135.15001 140.15001 144.59001 147.09001 150.98001 153.76001 158.20001 163.20001 168.20001 172.64002 175.97002 180.97002 183.47002 187.36002 190.14002 195.14002 200.14002 204.03002 209.03002 211.81002 216.81002 221.25002 224.03002 226.53002 229.03002 236.81002 239.59001 244.03002 247.36002 252.36002 256.25004 259.03004 263.47004 268.47004 270.97004 275.41004 280.41004 283.74003 287.07 291.51 296.51 299.29">In the majority of cases the standard sinusoidal, microstep 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="-410.8621" x="36 41 44.33 49.33 52.660005 55.440004 58.22 62.660005 65.16 72.380008 75.16 77.94 80.72 83.22 88.22 92.66 95.16 99.05 104.05 107.191 110.521 113.301 117.741008 120.521 124.961009 129.961 132.741 135.241 138.021 143.021 145.521 149.961 154.401 159.401 162.181 166.621 171.621 176.061 178.561 183.001 185.501 190.501 195.501 200.501 205.501 208.001 213.001 217.44101 220.77101 224.10102 229.10102 232.43102 240.21102 244.65102 249.65102 254.09102 258.531 261.031 268.251 271.031 273.811 278.811">profile will be sufficient to achieve a good performance with </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-398.6887" x="36 40.440004 42.940004 47.940004 52.940004 57.940004 62.940004 65.44 70.44 75.44 79.880008 82.66 85.44 88.22 93.22 95.72 103.5 108.5 111.28 116.28 119.047 121.547 124.047 127.377 132.377 134.877 139.317 141.817 145.147 149.587 156.807 159.307 163.74701 168.18701 172.07701 176.51702 180.40702 182.90702 185.40702 188.73702 193.73702 197.06702 199.84702 204.84702 209.28702 212.61702 215.11702 217.89702 225.67702 230.67702 234.00702 239.00702 244.00702 248.44702 256.22703 260.66703 265.66703 268.44703 272.33705 274.83705 277.61705 282.61705">a good quality motor. In a few cases, further improvements 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="-386.5152" x="36 38.78 43.78 47.11 52.11 57.11 61.550004 64.05 67.380008 70.16 75.16 80.16 82.94 87.380008 89.880008 94.880008 99.32001 102.65001 105.98001 110.98001 114.31001 122.09001 126.530017 131.53002 135.97002 140.41002 142.91002 150.69002 155.13002 160.13002 162.63002 167.63002 172.07003 174.57003 179.01003 183.45003 188.45003 191.23003 195.67003 200.67003 205.11003 210.11003 212.61003 217.61003 222.61003 225.11003 232.89003 237.89003 242.89003 245.67003 249.00003 254.00003 256.78004 261.78004 266.78004 269.28004 272.06004 277.06004 281.50004">torque ripple performance may be achieved by modifying 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="-374.3418" x="36 43.78 46.559999 51 54.33 59.33 63.22 66 70.44 75.44 77.94 82.380008 87.380008 90.71001 94.04001 98.48001 103.48001 106.26001 108.76001 113.76001 117.09001 122.09001 125.42001 128.20001 130.98001 135.42002 137.92002 140.70001 145.70001 148.20001 155.98001 160.98001 164.31002 168.75002 171.25002 175.69002 178.47002 183.47002 187.36002 191.80002 194.58002 199.58002 202.08002 209.86002 214.30002 217.08002 221.52002 226.52002 229.02002 231.80002 236.80002 241.24002 243.74002 251.52002 256.52003 259.30003 264.30003 267.63 270.13 274.57 279.57 284.01 287.34 291.78">microstep current profile to more closely match the motor charac</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-374.3418" x="296.1758">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-362.1684" x="36 38.78 43.22 46.550004 49.33 53.22 56 58.78 63.22 67.11 69.61 71.923007 78.033008 83.033008 85.813 89.703 92.203 94.983 98.873 101.373 106.373 110.263 115.263 119.703 122.483 125.263 130.263 132.763 137.763 142.763 145.543 150.543 153.043 158.043 162.483 166.923 171.363 175.253 179.143 183.58301 186.91301 191.91301 194.41301 197.74301 202.74301 206.07302 208.57302 213.57302 216.35301 221.35301 226.35301 230.79302 234.12302 236.62302 241.62302 246.62302 251.06302 253.84302 256.62303 259.403 263.734 266.234 268.734 273.734 276.514 281.514 286.514 290.954 294.284">teristics. This is usually only necessary for higher quality, 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="-349.995" x="36 41 46 53.22 57.660005 60.990007 63.490007 67.380008 70.16 74.600009 79.600009 84.600009 89.04001 92.37001 94.87001 102.65001 107.65001 110.43001 115.43001 118.76001 122.65001">power 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="-331.8215" x="36 45.440004 50.440004 54.880006 59.880006 62.380006 67.380008 71.270008 74.05 79.05 84.05 86.55 94.33 97.11 101.55 104.880008 109.880008 113.770008 116.55 120.990009 125.990009 130.99 133.77 138.77 143.77 146.27 148.77 151.55 156.55 160.99 163.49 166.27 171.27 174.6 179.6 184.6 189.04001 191.54001 194.87001 197.65001 202.65001 207.65001 210.43001 214.87001 217.37001 220.15001 224.04001 226.54001 231.54001 235.98001 239.31002 242.09001 247.09001 251.53002 256.53004 259.03004 264.03004 269.03004 271.53004 274.31004 279.31004 283.75004">When using microstepping, the torque ripple is defined by 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="-319.6481" x="36 41 45.440004 48.770006 51.550004 55.990007 58.770006 61.550004 66.55 71.55 74.05 76.83 81.83 84.33 87.11 92.11 95.44 100.44 105.44 109.880008 112.380008 116.82001 119.600009 122.100009 126.54001 130.98001 135.42002 140.42002 142.92002 150.70001 153.48001 157.92002 161.25002 166.25002 170.14002 172.92002 177.36002 182.36002 184.86002 187.36002 190.69002 195.69002 198.19002 202.63002 205.13002 210.13002 215.13002 220.13002 223.46002 226.24002 231.24002 233.74002 237.63002 240.41002 244.85002 249.85002 254.85002 259.29 262.62 265.12 272.9 277.9 280.68 285.68 289.00999">variation in torque at each microstep. In a hybrid stepper motor </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-307.4747" x="36 38.78 43.78 46.559999 50.449998 52.949998 55.729997 59.619997 62.119997 69.899997 74.899997 78.78999 81.56999 84.34999 89.34999 91.84999 96.84999 101.28999 104.06999 108.509998 111.84 119.619998 122.399997 127.399997 131.84 136.84 139.34 144.34 149.34 151.84 154.62 159.62 164.06 166.56 174.34 178.78 183.22 188.22 192.66 197.66 200.44 204.88 209.32 212.1 214.6 219.04001 224.04001 229.04001 232.93001 235.71 239.04001 244.04001 248.48001 251.26001 254.04001 259.04 264.04 266.54 271.54 274.87 277.37 280.15 285.15 289.59">this is mostly determined by the mechanical construction 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="-295.3013" x="36 43.78 48.78 51.559999 56.559999 59.486 61.986 64.486 69.486 73.926 77.256008 80.036 82.816 87.256008 92.256008 95.036 99.476009 102.80601 105.586009 110.586009 113.086009 115.866008 120.866008 125.30601 127.80601 131.69602 136.69602 141.13602 146.13602 150.57602 153.07602 158.07602 161.40602 163.90602 166.68602 171.68602 176.12602 178.62602 181.40602 185.84603 190.28603 193.06603 198.06603 200.56603 205.56603 210.56603 213.06603 215.84603 220.84603 225.28603 227.78603 232.78603 237.78603 240.56603 245.00603 248.89603 251.39603 256.39604 259.726 262.226 265.006 270.006 274.446 276.946 280.83604 283.61604">motor, particularly the shape of the teeth on the poles of the sta</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-295.3013" x="288.0215">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-283.1279" x="36 38.78 43.78 46.557 49.057 51.376 57.486 62.486 66.926 69.426 73.316 78.316 82.756008 87.756008 92.19601 94.69601 99.69601 103.02601 105.52601 108.30601 113.30601 117.74601 121.63601 126.07601 128.57602 131.35602 135.79602 140.23603 143.01602 148.01602 150.51602 155.51602 159.95603 162.73603 167.17603 170.50603 178.28603 181.06603 186.06603 190.50603 193.00603 195.78603 200.78603 205.22603 207.72603 212.72603 217.16603 220.49604 223.27603 227.71604 230.49604 233.27603 238.27603 243.27603 245.77603 248.55603 253.55603 256.05604 258.83604 263.83604 268.27604">tor. The shape of these teeth determine the variation in the </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="-283.1279" x="270.7363 273.5163 278.5163 282.0353 287.0353 292.0353 296.4753">torque </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="-270.9544" x="36 40.440004 45.440004 50.440004 54.33 57.11 62.11 67.11">constant</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-270.9544" x="69.8867 72.3867 74.8867 77.6667 82.6667 87.106708 89.606708 92.93671 97.37671 100.15671 102.93671 107.93671 110.43671 115.43671 119.87671 122.65671 129.87671 134.31671 138.75672 143.75672 146.25672 150.69672 155.69672 159.02672 162.35672 166.79673 171.79673 174.57672 177.07672 181.51673 186.51673 191.51673 194.01673 196.79673 201.79673 205.12673 210.12673 215.12673 219.56673 222.06673 224.56673 229.00673 232.89673 235.39673 238.17673 243.17673 247.61673 250.11673 257.89674 262.89674 265.67674 270.67674 274.0067">, the ratio between current and torque, as the motor </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-258.781" x="36 39.33 44.33 47.11 51.550004 54.33 58.770006 62.660005 65.16 67.475009 73.58501 78.58501 83.02501 85.52501 90.52501 94.96501 98.29501 101.07501 105.515018 108.29501 111.07501 116.07501 121.07501 123.57501 126.35501 131.35501 133.85501 136.63501 141.63501 146.07501 148.57501 151.35501 156.35501 159.68502 164.68502 169.68502 174.12502 176.62502 181.06502 186.06502 191.06502 194.95502 197.73502 202.17502 207.17502 209.95502 212.45502 216.89502 221.33502 226.33502 228.83502 233.83502 238.27503 240.77503 244.66503 249.10503 253.54503 258.54505 261.04505 266.04505 271.04505 273.54505 281.32505 285.76506">rotates. The variation in the torque constant can be seen by mea</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-258.781" x="290.1699">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-246.6076" x="36 39.89 44.89 48.22 51 56 61 63.5 66.28 71.28 75.72 78.22 83.22 87.66 92.100009 97.100009 99.600009 105.71001 114.600009 120.16 122.66 127.66 130.99 133.49 136.27 141.27 145.71 148.21 155.99 160.99 163.77 168.77 172.1 174.6 181.82 186.82 191.26001 196.26001 198.76001 203.76001 208.20001 210.98001 215.98001 220.98001 223.48001 228.48001 231.81002 234.59001 239.59001 244.03002 249.03002 251.53002 255.97002 259.86003 262.36003 266.80003 269.30003 274.30003 278.74003 283.74003 288.18003 291.51">suring the back EMF of the motor when being driven as a genera</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-246.6076" x="295.9268">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-234.4342" x="36 38.78 43.78 46.708 49.208 51.708 54.488 59.488 63.928 66.708 69.208 71.988 75.878 78.378 85.598 90.598 95.038 100.038 102.538 105.318 110.318 114.758 117.258 121.148 126.148 130.588 133.918 136.698 139.198 141.978 145.868 148.368 153.368 156.698 159.478 164.478 168.918 173.918 176.418 181.418 186.418 188.918 193.358 198.358 201.138 205.578 208.908 213.908 218.348 221.128 223.628 231.408 235.848 240.28801 245.28801 249.17801 251.67801 256.118 261.118 266.118 268.618 271.398 276.398 280.838">tor, that is when the shaft is driven by external means 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="-222.2608" x="36 41 46 50.440004 54.33 58.770006 61.270006 66.270008 71.270008 74.05 76.83 81.270008 86.270008 90.71001 93.21001 95.990009 99.880008 102.380008 110.16 115.16 120.16 122.94 125.72 130.72 134.05 138.49 143.49 145.99 148.295 154.405 159.405 163.845 166.345 171.345 175.785 180.225 185.225 187.725 193.835 202.725 208.285 210.785 214.115 218.55501 223.55501 226.88501 231.32501 235.21501 239.65502 244.65502 247.43502 251.32501 253.82501 256.605 261.605 266.045">phase voltage is monitored. The back EMF represents the </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="-222.2608" x="268.5342 275.7542 280.7542 283.5342 288.5342 292.42424">motor </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="-210.0873" x="36 40.440004 45.440004 50.440004 54.33 57.11 62.11 67.11 69.89">constant,</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-210.0873" x="72.3867 74.8867 82.106708 87.106708 89.8867 94.326709 99.326709 101.826709 104.606708 108.496707 110.996707 115.43671 119.326709 123.216709 127.65671 132.65671 135.4367 138.2167 142.65671 145.4367 148.2167 153.2167 155.7167 160.7167 164.0467 169.0467 174.0467 179.0467 182.37671 185.15671 187.9367 192.9367 197.9367 202.37671 205.15671 207.65671 210.4367 215.4367 217.9367 220.7167 225.7167 230.15671 232.65671 235.4367 240.4367 243.76671 248.76671 253.76671 258.2067 260.7067 265.1467 270.1467 275.1467 279.0367 281.8167 286.2567 291.2567 294.0367"> which is essentially proportional to the torque constant.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-191.9139" x="36 39.3 42.6 45.07 48.93 53.9 58.31 63.280004 65.75 68.5 73.47 76.770008 81.740009 86.71001 91.12001 93.59001 96.890018 99.640018 104.610019 109.58002 112.33002 116.74002 119.21002 122.510028 126.92003 131.89003 136.86003 141.27004 144.02004 146.77004 151.74004 156.71004 159.18004 166.93004 171.34004 175.75005 179.61005 184.58005 187.88005 192.29006 196.15006 198.62006 203.03006 206.33007 210.74007 213.21007 216.51007 220.92008 225.89008 230.86008 233.61008 236.91008 241.32009 246.29009 248.76009 251.23009 253.98009 258.95008 263.36009 265.27809 272.46809 277.43809 282.40809 287.37809 292.37809">If such torque ripple reduction measures are required, 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="-179.7405" x="36 40.97 44.27 49.24 54.210004 56.960004 61.930006 66.340007 70.200008 72.670009 75.420009 80.39001 84.80001 87.27001 91.680019 96.65002 99.40002 102.15002 104.90002 107.65002 112.62002 115.09002 117.84002 122.81002 125.28002 133.03003 138.00003 142.97003 145.72003 149.02004 153.99004 156.46004 159.21004 164.18004 168.59004 171.06005 178.81005 181.56005 185.97005 189.27005 194.24005 198.10005 200.85005 205.26006 210.23006 212.70006 217.11006 222.08007 225.38007 228.68007 233.09008 238.06008 240.81008 243.28008 248.25008 251.55008 256.52009 259.82008 262.57008 265.32008 269.73008 272.20008 277.17008 282.17008">provides the ability to modify the microstep current profile by </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-167.5671" x="36 40.97 44.27 49.24 54.210004 57.510004 61.920003 69.670009 77.420009 80.170009 85.14001 90.11001 92.58001 95.33001 100.30001 104.710018 107.180019 109.930019 114.90002 117.65002 122.06002 125.36002 130.33002 134.74002 137.49002 139.96002 144.93003 149.90003 154.31003 158.17003 162.58003 165.05004 169.46004 174.43004 177.73004 181.03005 185.44005 190.41005 193.16005 195.63005 198.38005 202.79006 207.76006 210.51006 214.92006 217.39006 220.14006 225.11006 228.41007 233.38007 238.35007 243.32007 248.29007 250.76007 253.51007 258.48008 262.89009 265.36009 269.22007 273.63008 276.93006 279.68006 284.09007 286.86808">programming the internal phase current table through 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="-155.3936" x="36 38.75 43.72 46.47 50.88 54.18 57.48 61.89 66.3 70.71001 73.18001 75.47001 81.55001 86.52001 90.930019 93.40002 101.15002 106.12002 111.09002 113.84002 117.14002 119.89002 124.300029 129.27002 131.74002 136.71002 140.01003 144.98003 148.28003 151.03003 153.78003 158.19004 160.66004 163.41004 167.27004 169.74004 172.49004 177.46004 181.87004 186.84004 189.31005 194.28005 198.14005 202.55005 207.52005 209.99005 212.46006 215.21006 220.18006 222.65006 227.62006 230.37006 234.78006 239.19007 243.60007 246.07007 251.04007 254.34008 256.81007 259.56007 264.53007 268.94007 271.41007 276.38008 280.79008 284.09007 288.50007 293.47007 296.22007 298.99809">interface. The modified profile is then used, in place of the default </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-143.2202" x="36 39.86 42.61 47.58 52.550004 56.410005 61.380006 64.130008 69.100009 73.51001 76.26001 78.72001 83.69001 86.99001 91.960018 95.26002 98.01002 100.76002 105.17002 107.64002 110.10002 112.85002 117.82002 120.28002 124.690029 129.66002 137.41002 142.38002 146.79003 151.76003 155.62003 160.03003 162.78003 167.19004 169.65004 172.95005 177.92005 181.22005 183.68006 188.09006 193.06006 198.03006 200.49007 205.46007 209.87007 213.17008 215.92008 220.33008 223.08008 225.83008 230.80008 235.77008 238.23009 240.98009 245.95009 248.4101 256.1601 261.1301 263.8801 268.8501 272.1501 274.61009 277.36009 282.33009 285.63008 290.60008 295.57008 300.00907">sinusoidal profile, to compensate for any variation in motor torque </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-131.0468" x="36 40.41 45.38 50.350004 54.210004 56.960004 61.370004 66.340007 69.090007 71.560009 73.83501 79.91501 84.88501 89.29501 91.75501 96.165019 101.13502 104.43502 107.73502 112.14503 117.11503 119.86503 122.32503 126.73503 129.48503 131.94504 136.35504 140.76505 145.17505 150.14505 152.60506 158.13506 160.88506 165.29506 170.26506 172.16907 179.35907 184.32907 189.29907 192.04907 196.45908 198.91909 206.10909 211.07909 218.82909 223.79909 228.20909 231.5091 233.9691 238.3791 242.78911 247.75911 250.21912 255.18912 259.59913 262.0591 265.9191 270.3291 273.0791 275.5391 278.2891 283.2591 285.71409 289.57408 294.54408 297.29408 300.07307">constant. The current at each Step Angle Number can be set to suit </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-118.8734" x="36 38.75 43.72 48.13 50.600004 58.350004 61.100004 65.51 68.810009 73.78001 77.64001 80.39001 84.80001 89.77001 92.24001 96.65002 101.62002 104.92002 108.220027 112.63003 117.60003 120.35003 122.82003 127.79003 131.09003 136.06003 139.36003 142.11003 144.86003 149.27004 151.74004 155.04004 159.45005 164.42005 169.39005 172.14005 175.44005 179.85005 187.60005 192.01006 196.98006 199.73006 203.59006 206.06006 211.03006 214.33007 216.80007 221.21007 223.68007 227.54007 232.51007 236.92008 241.33008 244.08008 247.38008 250.13008 254.54009 257.01008 264.76008 269.73008 272.48008 277.45008 280.19807">the microstep current profile requirements of a specific motor.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-100.7" x="36 43.22 48.22 51 55.440004 58.22 60.536005 66.646 71.646 74.426 78.316 80.816 83.596 87.486 89.986 94.426 99.426 101.926 106.366008 111.366008 116.366008 120.80601 125.80601 130.246 134.686 139.686 142.186 145.516 149.95601 154.39601 157.17601 162.17601 165.50601 169.94602 172.44602 177.44602 180.77602 183.27602 186.05602 191.05602 195.49602 197.42601 204.64601 209.64601 214.64601 219.64601 224.64601 227.14601 229.64601 236.86602 241.86602 244.64601 249.08602 254.08602 256.586 263.806 266.586 269.366 272.146 274.646 279.646 284.646 287.426 289.926 294.926 299.366">Note: This is an advanced feature of the A3981, which will not 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="-658.7864" x="312 315.33 319.77 324.77 329.77 332.55 335.87998 340.31999 345.31999 347.81999 351.14997 356.14997 359.47996 361.97996 369.75996 374.75996 378.64997 381.42997 383.92997 388.36997 393.36997 398.36997 401.14997 403.92997 408.36997 412.80998 415.58998 418.36997 423.36997 428.36997 432.25999 434.75999 437.25999 440.58998 445.58998 448.08998 453.08998 457.52998 462.52998 466.96998 470.29997 474.73997 477.51997 480.01997 482.79997 487.79997 492.23997 494.73997 499.73997 504.17997 507.50996 511.94996 516.94998 519.73 522.51 525.01 528.9 531.68008 536.68008 541.68008 545.57009 550.57009 553.3501 558.3501 562.7901 565.5701">required for most applications. In general the default sinusoidal </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-646.6866" x="312 317 320.33 325.33 328.65998 331.43998 334.21998 338.65998 341.15998 348.37998 351.15998 353.93998 356.71998 359.21998 363.11 368.11 371.25297 374.58296 377.36296 381.80296 386.24296 388.74296 393.18296 398.18296 403.18296 405.68296 408.46296 413.46296 417.90296 421.23295 425.67295 429.00294 434.00294 437.33293 441.77293 444.27293 447.05293 452.05293 456.49293 458.99293 463.99293 468.99293 473.43293 477.32295 481.76295 484.26295 488.70295 493.70295 497.03294 500.3629 504.80293 509.80293 512.58297 515.08297 517.863 522.303 527.303 530.083 534.523 537.023 542.023 547.023 551.463 555.353 557.853 562.853 567.853 570.63308">profile will suffice and therefore the phase current table does not </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-634.5869" x="312 317 321.44 326.44 330.88 333.38 336.16 341.16 343.66 348.66 353.1 355.6 358.38 363.38 367.82 372.82 377.26 382.26">have to be loaded.</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="-611.9872" x="312.1758 318.6358 326.7658 334.33583 341.90583 345.03584 352.60585 360.55986 363.51383 370.5338 378.10383 385.67384 392.69383 399.53883 402.4928 410.0628 417.6328 425.20283 432.77284 439.79283 447.36283 453.64683 456.6008 462.3188 469.8888 477.4588 483.9188">LOADING 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="-595.3875" x="312 318.11 323.11 327.55 330.05 333.37998 338.37998 341.15998 343.93998 346.43998 351.43998 356.43998 360.87998 364.77 369.21 371.71 376.15 381.15 384.47999 387.80998 392.24998 397.24998 400.02998 402.52998 405.30998 409.74998 414.74998 417.52998 421.96998 424.46998 427.24998 432.24998 434.74998 437.52998 442.52998 446.96998 448.89497 456.11497 461.11497 466.11497 471.11497 476.11497 478.61497 483.05497 488.05497 493.05497 495.83497 500.27497 503.05497 508.05497 511.94499 514.44497 519.44497 524.44497 528.88497 531.38497 536.38497 539.71499 544.71499 547.495 550.275 552.775 557.775 562.215 564.99508 569.99508 574.43508">The full phase current table in the A3981 contains one 6-bit value </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-583.2878" x="312 315.33 320.33 323.65998 326.15998 330.59999 335.03999 339.47999 344.47999 346.97999 351.97999 356.97999 361.41999 365.31 369.75 372.25 374.75 379.19 381.97 384.47 388.91 393.35 397.79 402.79 405.29 413.07 415.85 420.29 423.62 428.62 432.51 435.29 439.73 444.73 447.23 452.23 457.23 461.12004 463.90003 466.68003 469.46003 474.46003 479.46003 481.96003 484.256 493.294 496.074 498.854 503.854 506.354 511.354">for each phase, at each microstep position. With 16</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-583.2878" x="516.354"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-583.2878" x="518.854 526.63406 529.41409 533.85409 537.1841 542.1841 546.0741 548.8541 553.2941 558.2941 562.18417">microsteps </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-571.188" x="312 317 321.44 324.77 327.27 335.05 339.49 343.93 348.93 353.37 358.37 361.15 365.59 370.03 372.81 375.31 379.2 381.98 386.42 391.42 393.92 396.42">per mechanical step, 4</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-571.188" x="401.42"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-571.188" x="403.92 411.7 416.14 420.58003 425.58003 430.02003 435.02003 437.80003 442.24003 446.68003 449.46003 451.96003 455.85005 458.63005 463.07005 468.07005 471.96006 474.46006 479.46006 483.90007 487.23005 489.73005 494.17005 496.95005 501.39006 505.83006 508.61006 511.94004 514.72006 519.16006 523.60006 526.38009 528.88009 533.32009 538.32009 542.7601 545.5401 549.9801 552.4801 554.9801 559.4201 564.4201 569.4201">mechanical steps per electrical cycle, 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="-559.0883" x="312">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="-559.0883" x="317"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-559.0883" x="319.5 324.5 329.5 333.94 337.83003 342.27003 346.16004 348.66004 351.44004 356.44004 359.22004 363.11006 365.61006 370.61006 373.39006 378.39006 382.83006 386.72007 389.22007 393.66007 396.16007 398.94007 403.94007 406.72007 411.16007 413.94007 416.44007 421.44007 424.77006 427.27006 432.27006 437.27006 442.27006 444.77006 449.77006 454.21006 456.99006 461.99006 466.43006 470.32008 472.82008 475.32008 482.54008 487.54008 494.76008 499.20008 504.20008 508.64009 511.55607 514.056 516.556 521.556 526.556 530.99606 533.49606 536.27609 541.27609 543.77609 547.6661 552.6661 560.4461 568.22616">phases this gives a total of 128 values. However, due to symme</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-559.0883" x="572.6592">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-546.9886" x="312 314.78 318.11 322.45899 324.95899 327.45899 332.45899 336.899 340.789 345.229 348.559 351.339 356.339 360.779 365.779 368.279 373.279 377.719 380.499 385.499 392.064 394.564 397.064 399.564 402.344 407.344 410.124 414.014 416.514 419.844 424.284 429.284 434.284 438.724 443.164 447.05403 449.55403 452.334 457.334 459.834 464.834">try, described below,  this reduces to 17</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-546.9886" x="469.834"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-546.9886" x="472.334 475.114 480.114 485.114 489.55403 494.55403 498.99403 503.99403 508.99403 513.434 518.434 521.21408 523.71408 528.71408 533.15408 535.9341 540.9341 545.3741 549.2641 551.7641 554.2641 559.2641 564.2641 568.7041">independent values, one </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-534.8889" x="312 317 320.33 322.83 330.05 335.05 337.83 342.27 347.27 349.77 352.55 356.44 358.94 363.38 366.16 373.38 377.82 382.82 386.71003 389.21003 393.65003 398.09004 401.42 406.42 408.92 411.233 417.343 422.343 426.783 429.283 432.61299 437.05299 444.83299 449.27299 452.05299 457.05299 459.83299 464.83299 469.83299 472.33299 477.33299 482.33299 484.83299 489.83299 494.27299 497.05299 502.05299 506.49299 510.383 512.883 517.323 521.763 526.763 529.263 534.263 538.703 541.203 543.98306 548.98306 553.42306 558.42306 562.86306 567.86306">of which is always zero. The remaining 16 values can be loaded </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-522.7891" x="312 315.89 320.33003 325.33003 330.33003 334.77003 339.77003 342.55003 345.33003 349.77003 352.55003 355.33003 360.33003 362.83003 365.61003 370.61003 373.94 378.94 383.94 388.94 393.94 396.44 399.22 404.22 408.66 411.16 415.05003 419.49003 422.82 425.6 430.04 432.82 435.32 438.1 443.1 445.88 450.32 453.65 456.97999 461.41999 465.86 470.3 472.8 477.8 481.69 484.47 489.47 494.47 496.97 499.75 504.75 509.19 511.69 517.25 522.25 526.69 530.58 535.02 537.30807 542.718 547.158 552.158 554.93807 559.37808">sequentially through the serial interface using the Phase 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="-510.6894" x="312 318.11 323.11 327.55 332.55 335.05 338.37998 342.81999 347.81999 350.59999 354.49 357.27 361.71 364.47999 366.97999 369.47999 375.03999 377.81999 382.81999 387.81999 391.14997 395.58998 398.08998 403.08998 408.08998 410.58998 414.47999 419.47999 424.47999 431.69999 435.59 438.09 440.87 445.87 450.31 452.81 457.81 462.25 465.58 470.02 475.02 477.8 480.58 483.08 488.08 493.08 497.52 501.41 505.85 508.35 511.13 515.57 520.57 523.35006 527.79006 530.29006 535.29006 539.73007 542.5101 547.5101 551.9501 555.8401">Load register. Figure 13 shows the default phase table values </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-498.5897" x="312 317 319.78 324.78 327.56 330.34 334.78 339.78 342.28 347.28 352.28 354.78 360.34 363.12 367.56 372.56 374.5 381.72 386.72 391.72 394.5 398.94 401.44 408.66 413.66 421.44 426.44 430.88 433.655 436.155 438.655 444.215 446.995 454.775 457.555 460.335 464.775 468.10499 470.60499 473.38499 478.38499 481.71498 486.71498 490.04496 497.82496 502.26496 505.04496 507.82496 512.82498 517.82498 520.32498 523.105 526.995 529.495 534.495 537.825 542.825 547.825 550.60507 555.60507 560.04507 565.04507 567.54507 570.3251 575.3251">plotted by Step Angle Number. Similar information is provided 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="-486.49" x="312 317.40998 321.84999 326.84999 329.62998 334.06999 336.56999 341.56999">Table 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="-468.3902" x="312 318.11 323.11 327.55 330.05 335.05 337.83 342.27 347.27 350.59999 355.03999 362.81999 365.31999 368.09999 373.09999 375.59999 381.15998 383.93998 388.93998 393.93998 397.26997 401.70997 404.20997 409.20997 414.20997 416.70997 419.48997 423.37998 425.87998 433.65998 438.09999 441.42997 446.42997 450.86997 455.86997 458.36997 465.58998 468.36997 471.14997 476.14997 478.64997 481.97996 486.97996 491.97996 495.30995 497.80995 502.80995 507.80995 512.24996 517.24996 520.57998 525.01998 530.01998 532.8 536.69 539.19 541.69 548.91 553.91 556.41 559.19 564.19">The diagram in Figure 13 is marked with four quadrants, Q1 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="-456.2905" x="312 319.22 324.22 326.72 329.04103 335.151 340.151 344.591 347.091 350.98103 355.42103 358.20103 360.70103 365.70103 369.031 371.531 376.531 381.531 385.971 389.86103 394.30104 396.80104 399.58103 404.02104 409.02104 411.80104 416.24104 418.74104 423.74104 428.18104 430.96104 435.96104 440.40104 444.29106 446.79106 449.57106 453.46107 455.96107 458.74107 463.74107 468.18107 470.68107 474.57109 479.01109 486.79109 491.23109 493.73109 496.51109 501.51109 504.01109 508.45109 512.89108 517.33108 522.33108 524.83108 529.83108 534.83108 539.27108 544.27108 547.6011 552.0411 557.0411 559.8211 562.3211 565.10116 570.10116">Q4. The set of phase table values is the same in each quadrant 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="-444.1908" x="312 316.44 320.88 325.32 330.32 332.82 337.82 342.82 347.26 351.15003 355.59004 358.09004 360.59004 367.26005 372.26005 377.26005 381.15007 383.93006 388.93006 393.37007 396.70005 399.20005 404.20005 409.20005 413.64006 417.53007 421.97007 423.90907 430.57908 433.07908 436.40907 441.40907 446.40907 449.18907 451.96907 456.96907 464.74906 467.24906 472.24906 475.57905 480.01905 485.01905 490.01905 493.34904 495.84904 498.34904 503.34904 508.34904 512.789 517.789 521.119 525.559 530.559 533.33908 535.83908 540.83908 543.33908 546.66909 553.88906 558.88906 562.21908 564.71908">each phase. Consider phase A (bottom graph), quadrant 1 (Q1). </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-432.0911" x="312 318.11 323.11 325.88999 329.78 332.28 336.72 341.72 346.72 349.5 353.94 356.72 361.72 365.61003 368.11003 373.67 376.45 380.89 385.89 387.83003 395.05003 400.05003 405.05003 407.83003 412.27003 414.77003 421.99003 426.99003 434.77003 439.77003 444.21003 447.54 451.43003 453.93003 458.93003 461.43003 464.21003 469.21003 471.71003 476.71003 481.71003 484.21003 486.52604 492.63603 497.63603 502.07603 504.57603 509.57603 514.016 517.346 521.786 526.786 529.56607 532.34609 534.84609 539.84609 544.2861 547.0661 552.0661 556.5061 560.3961">This contains Step Angle Numbers 0 to 15. The default values </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-419.9913" x="312 314.78 319.78 322.28 325.06 330.06 334.5 338.39 342.83003 345.33003 350.33003 355.33003 357.83003 362.83003 367.83003 371.72004 374.50004 377.28004 380.06004 385.06004 390.06004 393.95005 396.45005 400.89006 404.22004 408.66004 411.16004 415.05006 419.49006 422.27006 426.71006 431.15007 433.93006 438.37007 443.37007 445.87007 448.65007 453.65007 456.15007 461.15007 464.48005 469.48005 474.48005 479.48005 483.92005 488.36006 490.86006 495.86006 500.86006 505.30006 507.80006 512.80007 517.80007 522.24008 525.57009 528.3501 532.7901 536.1201 538.6201 543.6201 546.95016 549.45016 553.89016">in these 16 positions are selected to produce one quarter of 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="-407.8916" x="312 315.89 318.67 323.67 328.67 332.56004 337.56004 340.34004 345.34004">sinusoid.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-389.7919" x="312 319.22 324.22 331.44 333.94 338.38 343.38 348.38 352.27003 355.05003 360.05003 364.49003 367.82 370.32 373.1 378.1 382.54 385.04 390.04 394.48 399.48 402.26 404.76 409.76 414.76 419.2 424.2 427.53 431.97 436.97 439.75 442.25 445.58 452.8 457.8 461.12998 463.62998 468.62998 471.95997 474.45997 479.45997 484.45997 488.89997 492.78999 497.22999 499.16798 506.38798 508.88798 511.20899 517.319 522.319 526.759 529.259 533.149 537.589 542.589 547.589 552.029 557.029 561.469 565.909">Now consider the next quadrant (Q2) of phase A. The 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="-377.6922" x="312 317 320.33 322.83 327.83 332.27 335.05 340.05 344.49 348.38 350.88 353.66 358.66 361.16 363.94 368.94 371.72 375.61003 378.11003 383.11003 388.11003 392.55003 397.55003 400.88 405.32 410.32 413.1 415.6 418.93 423.93 427.25999 435.03999 437.53999 441.97999 444.47999 452.25999 455.03999 458.36997 461.69996 466.69996 470.02995 472.52995 475.30995 483.08995 487.52995 492.52995 496.96995 499.46995 501.96995 506.96995 511.96995 514.47 520.02999 522.81 527.25 532.25 534.173 541.39297 546.39297 551.39297 554.173 558.613">of values in this quadrant form a mirror image, by Step Angle </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-365.5924" x="312 319.22 324.22 332 337 341.44 344.36799 346.86799 349.36799 354.36799 357.69798 360.19798 362.97798 367.97798 372.41798 374.91798 379.91798 384.35798 387.13798 392.13798 396.57798 400.468 402.968 405.748 410.748 413.248 420.468 425.468 427.968 431.858 436.858 439.358 442.138 447.138 451.578 454.078 457.96803 462.40803 470.18803 474.62803 477.12803 482.12803 486.56803 489.34803 494.34803 498.78804 502.67805 505.17805 509.61805 512.94808 517.38809 519.88809 524.88809 528.7781 533.2181 538.2181 540.7181 545.7181 550.7181 553.4981">Number, of the values in Q1 so the same values are used but </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-353.4927" x="312 316.44 321.44 324.22 328.66 331.99 336.43 341.43 343.93 346.71 351.71 354.21 356.99 361.99 366.43 368.93 372.25999 376.69999 381.69999 386.13999 389.46998 393.36 397.8 400.3 404.19 408.63 413.63 418.63 423.07 428.07 432.51 436.95">entered in the reverse 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="-335.393" x="312 318.11 323.11 327.55 330.05 333.37998 338.37998 341.15998 343.93998 348.93998 356.15998 358.93998 363.93998 368.93998 371.43998 374.21998 378.65998 383.65998 386.43998 390.87998 393.37998 397.27 402.27 407.27 414.49 418.38 420.88 423.66 428.66 433.1 435.6 441.16 443.94 448.38 453.38 455.315 462.535 467.535 472.535 475.315 479.755 482.255 489.475 494.475 502.255 507.255 511.695 515.025 517.525 520.30508 525.30508 527.80508 530.5851 535.5851 540.0251 542.5251 545.8551 548.63516 551.96517 555.85519 558.6352">The following table shows the Step Angle Number in the first </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-323.2933" x="312 315.33 320.33 327.55 330.05 332.83 337.83 342.27 345.59999 350.03999 354.47999 358.37 361.15 366.15 371.15 373.65 376.97999 380.30998 385.30998 393.08998 395.58998 400.58998 403.08998 405.86997 410.86997 413.36997 418.36997 423.36997 425.86997 428.36997 431.69996 435.02995 440.02995 447.80995 450.30995 453.08995 457.52995 460.85993 463.63993 466.13993 468.91993 473.91993 476.41993 479.7499 482.5299 487.5299 492.5299 495.3099 497.8099 500.3099 504.7499 509.7499 514.7499 517.2499 520.0299 525.0299 529.4699 531.9699 536.9699 541.4099 544.7399 549.17996 554.17996 556.95999 559.74">row increasing from 0 to 15, from left to right, and the default </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-311.1935" x="312 317 321.44 324.22 329.22 333.66 337.55003 340.05003 344.49003 347.27003 351.16004 356.16004 358.66004 361.44004 366.44004 370.88005 374.21003 378.65003 383.09004 386.98005 389.76005 394.76005 399.76005 402.26005 405.59004 408.92 413.92 421.7 424.2 426.98 431.42 434.75 437.53 440.03 442.81 447.81 450.31 453.63999 456.41999 461.41999 466.41999 469.19999 471.69999 474.47999 479.47999 481.97999 484.75999 489.75999 494.19999 496.69999 500.59 505.03 509.47 514.47 519.47 524.47 526.97 530.3 535.3 541.84396 544.34396 546.6629 552.7729 557.7729 562.2129 566.1029 570.5429">values also increasing from left to right in the second row. 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="-299.0938" x="312 315.33 318.11 321.43998 325.33 328.11 330.61 333.38999 340.61 345.61 348.11 351.43998 356.43998 363.65998 367.55 370.05 374.49 377.81999 382.25999 384.75999 387.53999 392.53999 396.97999 399.47999 403.91999 408.91999 411.69999 415.02998 417.80998 422.24998 426.13999 428.63999 431.96998 436.96998 440.29997 442.79997 450.01997 455.01997 457.51997 462.51997 465.84996 468.34996 473.34996 478.34996 482.78996 486.67997 491.11997 493.05998 500.27998">first two rows are the entries for Q1 of phase A.</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="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="406.1119">5</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="419.6003">6</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="433.0886">7</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="446.5768">8</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="460.0652">9</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="471.7292 475.3772">10</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="485.4578 488.6258">11</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="498.7059 502.3539">12</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="512.1942 515.8422">13</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="525.6825 529.3305">14</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-278.6699" x="539.1708 542.8188">15</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-271.7578" x="565.4189 570.5229">Q1</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="QTOSOS+ArialNarrow-Bold" font-weight="bold"><tspan y="-264.8456" x="313.69 317.7052 321.3532 323.17723 327.1852">Value</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="338.6704">0</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="352.1587">5</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="364.063 367.231">11</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="377.3111 380.9591">18</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="390.7994 394.44743">23</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="404.2877 407.9357">29</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="417.776 421.424">35</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="431.2643 434.91233">40</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="444.7526 448.4006">44</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="458.241 461.889">48</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="471.7292 475.3772">52</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="485.2176 488.8656">55</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="498.7059 502.3539">58</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="512.1942 515.8422">60</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="525.6825 529.3305">62</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-264.8456" x="539.1708 542.8188">63</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="QTOSOS+ArialNarrow-Bold" font-weight="bold"><tspan y="-248.0214" x="313.69 318.066 320.25 323.898">Step</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="350.3345 353.9825">31</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="363.8228 367.47084">30</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="377.3111 380.9591">29</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="390.7994 394.44743">28</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="404.2877 407.9357">27</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="417.776 421.424">26</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="431.2643 434.91233">25</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="444.7526 448.4006">24</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="458.241 461.889">23</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="471.7292 475.3772">22</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="485.2176 488.8656">21</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="498.7059 502.3539">20</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="512.1942 515.8422">19</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="525.6825 529.3305">18</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="539.1708 542.8188">17</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-248.0214" x="552.6591 556.3071">16</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-241.1093" x="565.4189 570.5229">Q2</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="QTOSOS+ArialNarrow-Bold" font-weight="bold"><tspan y="-234.1972" x="313.69 317.7052 321.3532 323.17723 327.1852">Value</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="352.1587">5</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="364.063 367.231">11</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="377.3111 380.9591">18</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="390.7994 394.44743">23</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="404.2877 407.9357">29</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="417.776 421.424">35</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="431.2643 434.91233">40</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="444.7526 448.4006">44</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="458.241 461.889">48</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="471.7292 475.3772">52</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="485.2176 488.8656">55</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="498.7059 502.3539">58</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="512.1942 515.8422">60</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="525.6825 529.3305">62</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="539.1708 542.8188">63</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="BUBBMW+ArialNarrow"><tspan y="-234.1972" x="552.6591 556.3071">63</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-215.5975" x="312 318.11 323.11 327.55 330.05 333.94 338.38 342.82 347.82 352.82 357.82 360.32 363.1 370.32 375.32 377.82 381.15 386.15 393.37 397.26 399.76 404.2 407.53 411.97 414.47 417.25 422.25 426.69 429.19 433.63 438.63 441.41 444.74 447.52 451.96 455.85 458.35 461.68 466.68 470.00999 472.50999 479.72999 484.72999 487.22999 492.22999 495.55998 498.05998 503.05998 508.05998 512.49996 516.38998 520.82998 522.76699 529.98696 532.48696 534.8079 540.9179 545.9179 550.3579 552.8579 558.4179 561.19796 565.63796 570.63796">The second two rows are the entries for Q2 of phase A. 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="-203.4978" x="312 319.22 324.22 329.22 332 336.44 338.94 346.16 351.16 358.94 363.94 368.38 371.71 374.21 376.99 381.99 384.49 387.27 392.27 396.71 399.21 401.99 406.99 409.77 413.09999 418.09999 420.59999 423.92997 428.92997 436.14997 438.64997 441.42997 446.42997 450.86997 454.19996 458.63996 463.07997 466.96998 471.40998 475.3 477.8 481.12998 484.45997 489.45997 497.23997 499.73997 504.73997 509.73997 512.24 515.02 520.02 522.52 527.52 532.52 535.02 537.52 540.30007 545.30007 548.0801 551.9701 554.4701 557.2501 560.03018 567.8102 572.2502">Angle Number in the third row increases from 16 to 31, this 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="-191.398" x="312 315.33 318.65998 323.65998 331.43998 333.93998 337.26997 340.04997 345.04997 350.04997 352.82997 355.32997 358.10997 363.10997 365.60997 368.38996 372.82997 376.15995 378.93995 381.43995 383.93995 388.93995 393.93995 396.71995 399.21995 401.99995 406.99995 411.43995 413.93995 417.82997 422.26997 430.04997 434.48997 436.98997 441.98997 446.42997 449.75996 454.19996 459.19996 461.97996 464.75996 467.25996 472.25996 476.69996 479.47996 484.47996 488.91996 492.80998 495.30998 499.19999 501.97999 504.75999 507.53999 510.31999 512.81997 515.6 520.6 525.04 528.37 532.81 537.25 541.14 545.58 548.08 551.41006 554.74008 559.74008 567.5201">from right to left, but the same default values still increase from </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-179.2983" x="312 314.78 319.22 322.55 325.33 327.83 330.61 335.61 338.11 341.43998 344.21998 349.21998 354.21998 356.99998 359.49998 361.43898 368.10798 370.60798 374.498 377.27799 382.27799 387.27799 390.05799 394.498 396.998 401.998 406.438 409.218 414.218 418.658 421.158 423.938 427.828 430.328 433.108 438.108 442.548 445.878 450.318 453.64799 458.64799 461.97798 466.41798 468.91798 473.91798 476.69798 481.13798 485.57798 490.01799 495.01799 497.51799 500.29798 505.29798 507.79798 515.578 520.578 523.908 528.348 530.848 533.62808 538.62808 543.06808 548.06808 550.56808 555.56808 560.56808 565.00808">left to right. A single value is therefore placed in more than one </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-167.1986" x="312 314.78 319.78 324.22 328.66 331.44 334.22 339.22 344.22 346.72 349.5 354.5 357 359.78 364.78 369.22 371.72 374.5 378.94 383.94 386.72 391.16 393.66 396.16 401.72 406.72 411.72 418.94 423.94 426.44 431.44 436.44 439.22 442 444.78 449.78 454.22 459.22 461.72 466.16 471.16 476.16 481.16 485.6 488.1 490.6 494.49003 497.27003 501.71003 506.71003 510.60005 513.10006 518.10006 520.60006 525.04006 530.04006 535.04006 537.54006 542.54006 547.54006 550.04006 555.04006 560.04006 562.82009 567.82009">location in the table. Shown outlined above, steps 4 and 28 both </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-155.0989" x="312 316.44 321.44 326.44 329.22 333.66 336.44 341.44 343.94 346.72 351.72 356.16 358.66 363.66 368.1 370.88 375.88 380.32 382.82 387.82 392.82">contain the value 23.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-136.9991" x="312 318.11 323.11 327.55 330.05 333.94 338.38 346.16 350.6 353.1 358.1 361.43 364.21 369.21 373.65 376.43 381.43 385.87 388.65 391.15 395.59 400.03 405.03 407.53 412.53 416.97 419.47 423.91 428.91 433.91 436.69 439.47 443.91 448.91 451.41 454.19 459.19 461.69 468.91 473.91 476.41 480.85 485.85 490.85 493.35 500.57 505.57 508.07 513.07 516.4 518.9 523.9 528.9 533.34 537.23007 541.67007 543.59207 550.812 553.312 555.812 559.142 564.142">The same principal can be applied to Q3 and Q4 of phase A. 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="-124.8994" x="312 314.78 319.78 322.56 326.45 328.95 333.39 337.83003 341.72004 346.16004 348.66004 351.44004 356.44004 360.88005 363.38005 371.16004 373.94004 377.27003 380.6 385.6 388.93 391.43 394.21 401.99 406.43 411.43 415.87 418.37 421.15 425.04 427.54 430.32 435.32 437.82 440.6 445.6 450.04 452.54 457.54 462.54 465.87 468.65 473.09 478.09 483.09 485.87 490.31 493.09 495.59 500.03 505.03 507.81 511.7 514.2 516.7 521.14 526.14 531.14 536.14 538.92007 541.42007 544.2001 549.2001 553.6401 556.1401 560.5801 565.0201 568.3501 573.3501">this case the mirror image is in the horizontal axis, about the zero </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-112.7997" x="312 315.33 319.77 323.09999 327.53999 330.86997 335.30998 340.30998 344.74998 349.18998 351.68998 356.68998 361.12998 363.90998 368.90998 373.34999 375.84999 377.78599 385.00599 387.78599 390.56599 395.56599 400.56599 405.56599 410.56599 415.56599 418.06599 420.84599 425.84599 430.28599 432.78599 437.22599 442.22599 445.55598 448.88597 453.32597 458.32597 461.10597 463.60597 466.38597 471.38597 473.88597 481.10597 486.10597 488.60597 493.04597 498.04597 503.04597 505.54597 512.7659 517.7659 520.2659 523.59597 528.59597 531.92599 534.42599 539.42599 544.42599 548.86599 552.756 557.196 559.134 565.80398 568.30398 571.084 574.974">reference value. Although the current in Q3 and Q4 for phase A 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="-100.7" x="312 316.44 319.58799 322.91798 327.35798 331.79798 334.57798 337.35798 342.35798 346.79798 349.57798 354.57798 357.07798 362.07798 366.51799 371.51799 375.95799 378.73799 381.51799 386.51799 390.95799 393.45799 395.95799 398.73799 403.73799 408.17799 410.67799 415.67799 420.11799 425.11799 429.55799 432.33799 435.11799 440.11799 445.11799 447.61799 450.39799 454.288 456.788 461.788 465.11799 470.11799 475.11799 477.89799 482.89799 487.33799 492.33799 494.83799 499.83799 504.83799 507.33799 511.77799 516.77798 521.77798 524.558 527.888 532.888 535.668 538.44808 541.2281 546.2281 551.2281 553.7281 556.5081 561.5081 565.9481">effectively negative, the negation is provided by controlling the </tspan></text>
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