Abstract: A mid-range stabilization circuit for use in a multiphase stepping motor control system having motor current controllers responsive to first and second reference signal inputs, the current controllers providing a level of current to the motor phases proportional to the reference signals. The stabilization circuit includes means for measuring the levels of the reference signals and means for limiting the levels of the reference signals such that the motor current controllers can provide current chopping when the motor is operating at a mid-range velocity.

Abstract: A method and system for controlling a digital motor to allow operation in a microstepping mode at low velocities where microstepping is advantageous and to allow operation in a non-microstepping mode at high motor velocities to take advantage of the higher torque attainable. The transition from microstepping to non-microstepping or from non-microstepping to microstepping is accomplished free of velocity perturbations in the motor phases.