6.1.2 Half Stepping

What happens when we enable both coil sets A-C and B-D? The magnet points north-east. This is called a half step because it is half way between the full steps A-C and B-D. You can also insert half steps between all the other full steps.

Half stepping is a useful concept because it effectively doubles the resolution of a stepper motor with no mechanical change. It also improves the torque of a stepper motor at the expense of some more current consumption.