(a) Analysing the working principles of stepper motor, explain the operation mode of a two-phase, 5-rotor poles hybrid stepper motor with the aid of a truth table. Consider that each of the phases are energised. (14 marks) (b) A stepper motor has a resolution of 500 steps/rev in the 1-phase-ON mode of operation. Analysing the operation of the stepper motor in half-step mode, calculate: (i) Resolution (ii) Step angle (iii) Pulse rate required to obtain a rotor speed of 300 rpm (iv) Number of steps required to turn the rotor through 72 (2 marks) (2 marks) (4 marks) (3 marks)