Stepper motors

I am amazed at the in depth knowledge that some people have of the in depth secrets ofstepper motors and drivers. Or perhaps I'm amazed at how little I Know of this technology in comparison to the more enlightened ? Either way there is more to this than can be explained to the average by theory alone. I am greatful that when I had questions in this area the answers I got were more practical than theoretical. Or I would STILL be trying to figure out why I was stepping at 1000 pps and only getting 600 over a few cycles..... The bottom line is that there is a vast gap between theory and practical, and there is NO substitute for experience. I say that because I have seen both sides, motors doing what they cannot, and being unable to do what they can......