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Stepping Motors
and Stepping Motor
Control System
Abstract
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TECHNICAL NOTE
Introduction
TND6197/D
Hybrid Stepper
This version of a Stepper Motor is a clever combination
of the variable reluctance and permanent-magnet types.
Stepper Modes
The stepper motor can be driven in a number of different
sequences. The most common of these are:
Wave Drive
In this mode only one phase is energized at any given
time. For unipolar motors this means only 25% of the
available windings are Utilized or 50% utilization for
bipolar motors.
Full Step Drive
In this mode two phases are energized at any given
time. For Unipolar motors this means 50% of the
available windings are utilized, or 100% utilization for
bipolar motors.
Half Step Drive
In this mode the sequences of the wave and full-step
drives are interleaved to enable the rotor to be aligned
in half steps. For unipolar Motors this means 37.5% of
the available windings are utilized (on average) or 75%
utilization for bipolar motors
Applications
Variable Reluctance
This type of motor does not use a permanent magnet. As
a result, the rotor can move without constraint or detent
torque. This type of construction is the least common and is
generally used in applications that do not require a high
degree of torque, such as the positioning of a micro slide.
Permanent Magnet
Also referred to as a canstack or tincan motor, this
device has a permanent magnet rotor. It is a relatively low
speed, low torque device with large step angles of either 45
or 90 degrees. The simple construction enables these motors
to be produced at low cost, making them the ideal choice for
low power applications.
Industrial Machines
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TND6197/D
Consumer Electronics
V+
V+
PWM
B
A
S N
PWM
N
B
S
PWM
PWM
iA
iA
t
iB
t
iB
when the MAX delivered torque equals the Load. Key Point
MAX Torque is delivered at the edge of the stable region
and if not taken care of in the Driver Logic, will risk to stall
the Motor.
Load Angle:
Load angle d is the angle between stator and rotor field. It
is the equilibrium p between generated torque and load.
With increasing load the load angle d will increase also.
Fm
eemk
wt
Fm
N
iS
d
eemk
iS
wt
p/2
S
d
B
TND6197/D
Current Control:
By using Pulse Width Modulation (PWM) and switching
H-Bridge the Votlage4 will be chopped across the coil,
V+
PWM
I
PWM
PWM
Fixed to
GND
PWM
Security Cameras
With Security becoming Number One concern World
Wide the use of IP Security Cameras has quadrupled over the
last five years. With Digital Cameras and taking the
forefront of technology the biggest drawback is increased
use of low cost CMOS and CCD Image sensors. The Video
quality highly depends on the Sensor Resolution and
Digital Artifacts, Video Distortion, can be seen clearly
when Camera Pans or Tilts. Originally this issue was taken
care with expensive Analog Motor Drivers with high
resolution Servo Feedback based on the Shaft encoder
quality. Use of such Drivers was very expensive and
different approach had to be introduced for increase Video
Quality as well as reduced cost and complexity.
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Figure 5. Schematic
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1/3
+
Current
Detect
AMP
RCS4
VREF4
1/3
Output Pre-Stage
RCS3
VREF3
IN4
ENA4
Current
Detect
AMP
IN3
OSC
TSD
LVS
OCP
OCP
LVS
TSD
OSC
Output Pre-Stage
ENA3
1/3
Current
Detect
AMP
RCS2
VREF2
1/3
OCP
LVS
TSD
Oscillator
Output Pre-Stage
RCS1
VREF1
IN2
ENA2
IN1
ENA1
OSC
TSD
LVS
OCP
VM 3.3 V Regulator
3.3 V Regulator
Start-Up Circuit
PGND3
PGND4
OUT4B
OUT4A
OUT3B
OUT3A
PGND1
VM3, VM4
PGND2
OUT2B
OUT2A
OUT1B
OUT1A
VM1, VM2
+
GND
VREG3
PS
TND6197/D
Output Pre-Stage
Current
Detect
AMP
TND6197/D
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TND6197/D