2.1 Full-Step

In Full-Step mode, the motor rotates complete mechanical steps at once - for a standard 200 full-steps/revolution stepper motor, this would be 1.8° for a sub-step. The motor's two coils are powered sequentially in four full-steps. The sequence determines the stepper motor's direction of rotation.

Figure 2-1. Oscilloscope Capture for Full-Step Mode

Note:

Yellow and blue represent the voltages at the two ends of coil A. Green indicates the current through coil A. A low-pass filtering from the oscilloscope applies, removing the PWM artifacts and making the short-time average values visible on all three traces.