PROJECT REPORT

ON

Computer Controlled Stepper Motor

Submitted by:

DEBRAJ ADHIKARI

FUTURE INSTITUTE OF ENGINEERING AND

MANAGEMENT
SONARPUR STATION ROAD, KOLKATA-700150

UNDER THE GUIDANCE OF

PROF. DIPANKAR BISWAS

DEPARTMENT OF RADIOPHYSICS AND ELECTRONICS

UNIVERSITY OF CALCUTTA
 92, A.P.C ROAD, KOLKATA-700009

ACKNOWLEDGEMENT
I would like to express my sincere gratitude to Prof. Dipankar
Biswas of Department of Radiophysics and Electronics,
University College of Science and Technology, University of
Calcutta. Without his able guidance and patience, this
project would not have been completed.

I would like to convey my sincere thanks to Sanjib Kabi and

Tushar Dhabla Das whose unconditional help and valuable
suggestions proved fruitful in achieving the ultimate goal.

Date:
--------------------------
Place: Debraj
Adhikari.
 UNIVERSITY COLLEGE OF TECHNOLOGY
INSTITUTE OF RADIOPHYSICS AND ELECTRONICS

Telephone : (+91)(33) 23509115

Telegram : INRAPHEL SISIR MITRA
BHAVAN
Fax : (+91)(33) 23515828 92,
A.P.C Road,
E-mail : [email protected] Kolkata-700
009, INDIA.

This is to certify that Mr.Debraj Adhikari, student of

Computer Science and Engineering(2004-2008) from Future
Institute of Engineering and Management under West Bengal
University of Technology(WBUT), has completed his project
entitled ‘Computer Controlled Stepper Motor‘ under my
guidance and in my laboratory.

I wish him success in life.

------------------------------------
 Prof. Dipankar Biswas

CONTENTS
• Objective
• Introduction
• Apparatus required
• Circuit diagram
• Connector diagram
• Transistor component
• Motor description
• Theory
• C Source code
• Bibliography
OBJECTIVE
The aim of this project is to drive a stepper motor through
port programming in C. The serial printer port is
programmed to monitor the control of the stepper motor.
The motor can be controlled to rotate clockwise or
anticlockwise, to accelerate and decelerate and to oscillate.
INTRODUCTION
A stepper motor is brushless, synchronous electric motor
that can divide a full rotation into a large number of steps.
The motor's position can be controlled precisely, without any
feedback mechanism (see open loop control). Stepper
motors are similar to switched reluctance motors , which are
very large stepping motors with a reduced pole count, and
generally are closed-loop commutated.

Stepper motors operate much differently from normal DC

motors, which rotate when voltage is applied to their
terminals. Stepper motors, on the other hand, effectively
have multiple "toothed" electromagnets (a.k.a. phases)
arranged around a central gear-shaped piece of iron. The
electromagnets are energized by an external control circuit,
such as a microcontroller. To make the motor shaft turn, first
one electromagnet is given power, which makes the gear's
teeth magnetically attracted to the electromagnet's teeth.
When the gear's teeth are thus aligned to the first
electromagnet, they are slightly offset from the next
electromagnet. So when the next electromagnet is turned on
and the first is turned off, the gear rotates slightly to align
with the next one, and from there the process is repeated.
Each of those slight rotations is called a "step." In that way,
the motor can be turned a precise angle.
The stepper motor for this project is a unipolar stepper
motor that has two windings per phase, one for each
direction of current. Since in this arrangement a magnetic
pole can be reversed without switching the direction of
current, the commutation circuit can be made very simple
(eg. a single transistor) for each winding. Typically, given a
phase, one end of each winding is made common: giving
three leads per phase and six leads for a typical two phase
motor. Often, these two phase commons are internally
joined, so the motor has only five leads.

The C program is written to power each electromagnet in

turn. Thus each electromagnets are powered one after
another to make a complete rotation. The ‘female D-25’
connector of the printer port is programmed for this purpose.
For the motor to function properly a driver circuit has been
built.
APPARATUS REQUIRED
SL NAME RATING
NO
1. 4 Phase Stepper Motor TYPE KP39HM2-S07A

1.8 DEG/STEP
0.16A/PHASE
2. Female D-25 Connector
3. BC 547 Transistor
4. Rectifying Diodes
5. Power Supply +5V,1.5A
CIRCUIT DIAGRAM

Connector Port o/p 1

D0
Connector Port o/p 2
D1
Connector Port o/p 3
D2
Connector Port o/p 4
D3
 • Yellow, Brown, Orange & Black are the motor wires
which are connected in sequence to make
the motor rotate. The collector pins of the transistors
are connected to the motor wires.

• The base of the transistors are connected to the

connector ports of the D-25 connector.

• The emitter pins are grounded.

CONNECTOR DIAGRAM

IBM-PC's Parallel Printer Port had a total of 12 digital outputs

and 5 digital inputs accessed via 3 consecutive 8-bit ports in
the processor's I/O space.

 8 output pins accessed via the DATA Port

 5 input pins (one inverted) accessed via the STATUS
Port
 4 output pins (three inverted) accessed via the
CONTROL Port
 The remaining 8 pins are grounded
 25-way Female D-Type Connector

TRANSISTOR COMPONENT
 BC547 Transistor Diagram

FEATURES

· Low current (max. 100 mA)

· Low voltage (max. 65 V).

LIMITING VALUES

Symb Parameter Conditions Min. Max. Unit

ol
VCBO collector-base voltage open emitter - 50 V
VCEO collector-emitter voltage open base - 45 V
VEBO emitter-base voltage open collector - 6 V
IC collector current (DC)
ICM peak collector current
IBM peak base current
Ptot total power dissipation Tamb ≤ 25 °C;
Tj junction temperature

MOTOR DESCRIPTION
 TYPE KP39HM2-S07A

1.8 DEG/STEP 0.16A/PHASE

In the above figure the stepper motor has five wires namely
Yellow, Brown, Orange, Black and Red. To make the motor
rotate in a particular direction (clockwise or anticlockwise),
the wires are needed to be connected in a sequence.

For Clockwise rotation the sequence is as follows:

Yellow, Brown, Orange, Black.
For Anti-Clockwise rotation the sequence is as follows:
Black, Orange, Brown, Yellow.

The Red wire in both the cases is kept at a positive voltage.

THEORY
A transistor's collector current is proportionally limited by its
base current, it can be used as a sort of current-controlled
switch. A relatively small flow of electrons sent through the
base of the transistor has the ability to exert control over a
much larger flow of electrons through the collector.

Since the motor used for this project is a 4-Phase motor,

therefore only 4 of the 8 Data ports of the Female D-Type
Connector(D0-D8) is used.

The 4 ports are programmed to output data in the following

manner :

D D D D
0 1 2 3
Port 1 0 0 0
1
Port 0 1 0 0
2
Port 0 0 1 0
3
Port 0 0 0 1
4

One port gets activated at a time followed by another. This

process continues and the motor rotates. The bases of the
transistors are connected to the ports (refer to Connection
Diagram) which are activated to control a larger flow of
current through the collector which are connected to the
motor windings (refer to Connection Diagram). This in turn
rotates the motor.

The rectifying diodes protect the transistors from excess

current. Integrating all the components the driver circuit has
been created. The program controls the working of the
motor. The speed of the motor can be controlled, it can be
made to rotate clockwise or anticlockwise and made to
oscillate.
C SOURCE CODE
#include"stdio.h"
#include"conio.h"
#include"dos.h"

#define PORT 0x378

#define CONTROL PORT+2

void main()
{

int i=1,choice,start_speed,end_speed,acc_step;
int speed=10,oscillate,k,l;
char ch,ch1;
clrscr();

while(1)
{ clrscr();

printf("\n1. --> START THE MOTOR");

printf("\n2. --> QUIT");
printf("\n3. --> ACCELERATR");
printf("\n4. --> DECELERATE");
printf("\n5. --> OSCILLATE \n\t");

scanf("%d",&choice);

switch(choice)
{
case 1:

printf("\nEnter Speed of Rotation(in millisec):\t");

scanf("%d",&speed);

printf("\nRotate Clockwise or Anticlockwise

(C/A):\t");
scanf("%s",&ch1);
printf("\n\nPress any key to stop\n");
getch();

if(ch1=='c')
{

i=1;

while(!kbhit())
{
if(i==1)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==3)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}

if(i==4)
 {
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
i=0;
}

i++;

} //end of while(!kbhit())

} //end of if(ch1)

if(ch1=='a')
{
i=1;

while(!kbhit())
{

if(i==1)
{
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,4);
 printf("\n%d",i);
delay(speed);
}

if(i==3)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
i=0;
}

i++;

} //end of while(!kbhit())

} //end of if(ch1)

break;

case 2:
 exit(0);

case 3:

printf("\nEnter Start Speed of Rotation(in

millisec)(end_speed<start_speed):\t");
scanf("%d",&start_speed);

printf("\nEnter End Speed of Rotation(in millisec)

(end_speed<start_speed):\t");
scanf("%d",&end_speed);

printf("\nRotate Clockwise or Anticlockwise

(C/A):\t");
scanf("%s",&ch1);

printf("\nEnter Acceleration steps: \t ");

scanf("%d",&acc_step);

printf("\nPress any key to stop\n");

getch();

if(ch1=='c')
{

i=1;

while(!kbhit())
{
if(i==1)
{
outportb(PORT,1);
delay(start_speed);

}
 if(i==2)
{
outportb(PORT,2);
delay(start_speed);

if(i==3)
{
outportb(PORT,4);
delay(start_speed);

if(i==4)
{
outportb(PORT,8);
delay(start_speed);
}

if(end_speed<start_speed)
{
start_speed-=acc_step;
printf("\n%d",start_speed);
}
else
{
printf("\nAcceleration Ends");
break;
}
 if(i==4)
{
i=0;
}

i++;

} //end of while(!kbhit())

} //end of if(ch1)

if(ch1=='a')
{
i=1;

while(!kbhit())
{

if(i==1)
{
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}
if(i==3)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(end_speed<start_speed)
{
start_speed-=acc_step;
}

else
{
printf("\nAcceleration Ends");
break;
}

if(i==4)
{
i=0;
}

i++;
 } //end of while(!kbhit())

} //end of if(ch1)

case 4:

printf("\nEnter Start Speed of Rotation(in

millisec)(end_speed>start_speed):\t");
scanf("%d",&start_speed);

printf("\nEnter End Speed of Rotation(in millisec)

(end_speed>start_speed):\t");
scanf("%d",&end_speed);

printf("\nRotate Clockwise or Anticlockwise

(C/A):\t");
scanf("%s",&ch1);

printf("\nEnter Acceleration steps: \t ");

scanf("%d",&acc_step);

if(ch1=='c')
{

i=1;

while(!kbhit())
{
if(i==1)
{
outportb(PORT,1);
delay(start_speed);
 }

if(i==2)
{
outportb(PORT,2);
delay(start_speed);
}

if(i==3)
{
outportb(PORT,4);
delay(start_speed);
}

if(i==4)
{
outportb(PORT,8);
delay(start_speed);
}

if(end_speed>start_speed)
{
start_speed+=acc_step;
}

else
{
printf("\nAcceleration Ends");
break;
}
 if(i==4)
{
i=0;
}

i++;

} //end of while(!kbhit())

} //end of if(ch1)

if(ch1=='a')
{
i=1;

while(!kbhit())
{

if(i==1)
{
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}
if(i==3)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(end_speed>start_speed)
{
start_speed+=acc_step;
}

else
{
printf("\nDeceleration Ends");
break;
}

if(i==4)
{
i=0;
}

i++;
 } //end of while(!kbhit())

} //end of if(ch1)

case 5:
printf("\nEnter Speed of Rotation(in millisec):\t");
scanf("%d",&speed);

printf("\nEnter number of turns to oscillate: \t");

scanf("%d",&oscillate);

printf("\nFirst Clockwise or Anticlockwise(C/A):\t");

scanf("%s",&ch1);

L1:
if(ch1=='a')
{
i=1; k=0; l=0;
for(k=0;k<=oscillate;k++)
{
if(i==1)
{
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}
 if(i==3)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
i=0;
}

i++;
}

i=1;
for(l=0;l<=oscillate;l++)
{
if(i==1)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}
 if(i==2)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==3)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
i=0;
}

i++;
}

while(!kbhit())
goto L1;

} //end of if(ch1=='a')
L2:
if(ch1=='c')
{
i=1; k=0; l=0;
for(k=0;k<=oscillate;k++)
{
if(i==1)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}

if(i==3)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
outportb(PORT,8);
printf("\n%d",i);
 delay(speed);
}

if(i==4)
{
i=0;
}

i++;
}

i=1;
for(l=0;l<=oscillate;l++)
{
if(i==1)
{
outportb(PORT,8);
printf("\n%d",i);
delay(speed);
}

if(i==2)
{
outportb(PORT,4);
printf("\n%d",i);
delay(speed);
}

if(i==3)
{
outportb(PORT,2);
printf("\n%d",i);
delay(speed);
}
 if(i==4)
{
outportb(PORT,1);
printf("\n%d",i);
delay(speed);
}

if(i==4)
{
i=0;
}

i++;
}

while(!kbhit())
goto L2;

} //end of if(ch1=='c')

} //end of switch

} //end of while(1)

} //end of main()
BIBLIOGRAPHY

• www.nationalelectronics.com
• Fundamentals of Electronics by Rakshit &
Chattopadhyay