This is actually the regular technique for entire-action driving the motor. Two phases are always on so the motor will supply its utmost rated torque. General guideline: Use microstepping for clean motion; depend on complete steps for situation accuracy; validate real position with sensors for important programs. Driver (Stepper Motor) https://snowsamgq.bluxeblog.com/72263048/strategies-for-protecting-the-shaft-of-a-stepper-motor