The motor drive system is composed of motor and driver, the performance of the stepper motor drive system depends on the performance of the stepper motor itself and the advantages and shortcomings of the stepper motor drive itself, the research of the stepper motor driver is almost synchronized with the research of the stepper motor.
One and a half step drive
When single-phase excitation occurs, the motor shaft stops in the synchro position. When the driver receives the next pulse and excites the other phase and maintains the original excitation state, the motor shaft will move half a step Angle and stop in the middle of the two adjacent step positions, so that the two-phase coil is periodically single-phase and then the two-phase excited stepper motor will turn in a half step of 0.90 degrees per pulse. All integral/half-step drivers provided by Lisan Electromechanical can be driven in full step or half step, which is selected by the dip switch of the driver. Compared with the integral step type, the half-step type has the advantages of twice the accuracy and low speed vibration. Therefore, when actually using the whole/half step drive, the half step mode is usually used.
Second, step drive
In the entire stepper operation, the same step motor can be equipped with a whole/half step driver or a subdivision driver, but the operation effect is different, the stepper motor driver excites the two coils of the two-phase stepper motor according to the pulse/direction instruction. Each pulse of this drive mode will move the motor by a basic step Angle, which is 1.80 degrees
Third, subdivide the drive
The subdivision drive mode has two advantages: low speed vibration and high positioning accuracy. For stepper applications requiring low speed operation (that is, the motor shaft sometimes operates at less than 60 RPM) or positioning accuracy less than 0.90 degrees, subdivision stepper motor drivers are widely used, the basic principle is to precisely control the current of the two coils of the motor according to the sine and cosine step, so that the distance of the stepping Angle can be divided into several subdivisions. For example, the drive mode of 16 subdivisions can make the stepper motor with 200 standard steps per turn reach the highest operating accuracy of 25,000 steps per turn.

The above summary: it is best not to use the whole state of the stepper motor, the whole state vibration is larger.
In the half-step operation state, the angular displacement of the motor shaft is half a step moment Angle for each input pulse, and in the whole step operation state, the angular displacement of the motor shaft is a step moment Angle for each input pulse.