Unipolar stepper motor. Phase current waveforms

This picture is taken from the page Stepper motor

Wave drive (one phase on).
Motor produces significantly less than rated torque.
Speed of rotation is constant and setted by the T1 TCY timer.
Xdir button sets the direction of rotation of motor: the direct direction

and reverse direction.

STEP_WAVE.ZIP

Full-step drive (two phases on).
Rotational speed and number of steps is same as the wave drive.
Motor can provide its maximum rated torque.

Direction: right.

Direction: left.

STEP_FULL.ZIP

Half-stepping (one-two-one-two... phases on).

The angular resolution is increased twice.
Number of steps increased twice, speed decreased twice (with same T1 TCY timer).
Engine torque is smaller (about 70%) in a position in which only one phase is turned on.

Forward.
Backward.
STEP_HALF.ZIP

Unipolar schematics for wave, full-step and half-step drives are identical. See

Unipolar driver more simple than bipolar driver.
Unipolar driver deliver less torque (< ~40%) than bipolar driver.

Bipolar stepper motors with 6 and 8 leads can be connected to unipolar driver.

Any questions to LDmicro.GitHub@gmail.com.