| Full Step control is achieved by turning on the complete | | | | exiting each winding in a pattern on one winding on, |
| winding of the motor. This is the simplest and therefore | | | | two windings on, and then repeating this over and |
| lowest cost method for controlling the stepper motor. | | | | over. The control is similar to that of the full step in that |
| Most step motors are four phase which requires each | | | | transistors such as mosfets can be used to |
| phase to be turned on individually. The most common | | | | inexpensively control the motor. The motor will run |
| method of achieving this is to use a transistor to | | | | slightly smoother and have minimized resonance issues |
| switch the phases on and off. There are chips that are | | | | when run in halfstep. |
| available off the shelf that contain internal transistors | | | | Microstepping control for step motors was developed |
| and they can control external mosfets as well. When | | | | in the 1980's and was popularized by Compumotor. |
| full step is utilized, the motor shaft will rotate 1.8 | | | | This drive technique is the most desirable, but is much |
| degrees mechanically. The motor will require 200 steps | | | | more costly than the half step or full step control. The |
| to make one revolution. | | | | drive for the motor must vary two sine-waves to |
| The term Half Step refers to the fact that the motor | | | | produce small incremental mechanical steps, thus the |
| rotates only one half of a step at a times, compared | | | | name microstepping for the small steps they are |
| to taking a full step each time that was mentioned | | | | taking. Many ICs have been developed over the years |
| previously. Instead of moving 1.8 degrees per step, the | | | | to help reduce the cost of microstepping versus half |
| motor will rotate half of that or 0.9 degrees per step. | | | | stepping. Most step motor drivers on the market today |
| The way this motor drive topology is achieved is by | | | | are microsteppers. |