Steppers alternate forward-drive torque periods and reverse-drive torque periods. You get forward drive when the sign of back-emf is opposite the sign of coil current. Labeling these would provide a good sanity check: while coasting / at zero load angle, forward and reverse drive should balance.
Steppers alternate forward-drive torque periods and reverse-drive torque periods. You get forward drive when the sign of back-emf is opposite the sign of coil current. Labeling these would provide a good sanity check: while coasting / at zero load angle, forward and reverse drive should balance.