So, I was studying a bit about driving current for Hybrid stepper motors and was faced with some ambiguity related to the Full Step excitation. In this reference, https://www.researchgate.net/publication/3219650_Mixed-Mode_PWM_for_High-Performance_Stepping_Motors, it is stated that the current shape to excite a stepper motor in Full Step must be like as follows:
And measuring the phase current of my stepper motor, controlled by a drive in Full step mode, with my osciloscope, I got that image:
So, what am I missing here? Why Full Step phase currents differs from one reference to another?
Obs: It's a Hybrid Motor 1.8º per pulse (200 steps/per revolution)