A=360/ (N*K) degrees Nenumber of rotor tooth K=excitation sequence facto PM stepper motors have three modes of excitation 1. * Single Phase Mode. © Two Phase Mode. © Hybrid Mode ingle Phase Mode: 6 stor windings Figs (a, c, ¢, and g) illustrate the single phase mode in which only one of the motor win: : Ws excited at a time, There are four steps in the sequence, the excitation sequence factor K 50 that step angle is 90 degrees, Il, Two Phase Mode:- Here both the stator phases are excited at a time as shown in figs (b, d, and f, h). There are four steps in the excitation sequence=2 and step angle is 90 degrees. However, the rotor Positions in the two-phase mode are 45 degrees away from those in single phase mode I. Hybrid Mode:- This is a combination of single phase and two phase modes as shown in Fi Wgs (a-h). There are ight steps in excitation sequence’s=2 and step angle=45 degrees, From Figs (2-h), it can be observed that a voltage +V are applied to a some steps, while voltage ~V is applied during certain other steps, regulated power supply capable of yielding +V.-V and zero outpu switches, which is quite cumbersome. Consequently each of the two into two sections Al- A2, B1-B2. These sections are wound differe polarity dots in Fig (). ‘These winding sections can now be excited power supply through switches SI to $4 as shown in Fig () This ty bipolar winding construction, Bipolar winding results in red consequently improved torque stepping rate characteristics, stator winding during This requires a bipolar is and a pair of SpIyy Stator windings is split ntially as shown by the fom a unipolar regulated Pe of construction is called ®d winding inductance ang b. VARIABLE RELUCTANCE (VR) STEPPER MOTORS ic diagram of a simple Variable Reluctance (VR) ‘the sce eae tooth on the stator and eight on the eee (K). There janent magnet or winding. It 1s assembled form soft itn cine eesved from soft iron punching, and carries stator wind 2 a a oiee stator winding A is excited, it creates a pattems of N then positions itself as shown in Fig (i), 50 as also Fig(k). When stat Fig (i). The rotor stopp er Motor InterfaceSTEPPER MOTOR INTERFACE 1, INTRODUCTION AND THEORY es trainers for most of the Electro System Associate Private Limited (ESA) manulactures cy fe Ae popular microprocessor via 8085, Z-80, 6502, 8031, 8086/8088, 68000 a f ers, These modules can be 4 variety of modules which can be interfaced to these trainers, Th effectively used for teaching /Araining in the laboratories siti ons O ICrOPFOCESSOFS, Data acquisition and contro! represent the most popular applications of microp ch icroprocessor in control area, as Stepper motor control is a very popular application of microprocessor in contr Stepper motors are capable of accepting pulses directly from the microprocessor and my accordingly. There are wWo types of stepper motors: ‘+ Permanent Magnet (PM) * Variable Reluctance (VR) ‘The principle and operation of these motors are explained below. a. PERMANENT MAGNET STEPPER MOTOR Fig (in Appendix B) shows a PM. stepper motor in its simplest form. It consists of two stator windings A, B and a motor having wo magnetic poles N and S. when a voltage 4 is applied to stator winding A, magnetic field Fa is generated as shown in Fig (a), ‘The rotor positions itself such that its poles lock with corresponding stator poles. With the winding *A” excited as before, windin, show in Fig (b). This produces a magnetic field Fb 4 resulting magnevi field F Makes and angle of 45 degrees as shown in Fig ‘consequently moves through 45 in anti-clock-wise direction, © . corresponding stator poles, Aue ee 10.4 voltage +V ay Fal in Fig (d).Then the stator mag ie f 135 degreesndix B for de 5. Refer 10 append Winding protect transistors from switching transients R schematic diagram, JSED 3, SPECIFICATION OF THE STEPPER MOTOR | reversibl ne manual, The motor ! The stepper motor specification is available at the endl of t manu TH in ‘on with a torque of Skgem. The power requirement 1s SV DC @ cee citation, the motor shal full torque, The step a 1s is 1.8* ie., for every single ex ed is 200. Thi For the motor to rotate one full re ution (3604), number of steps requir ht out through co! Stepper motor vised has four stator windings which are brought out throug] vo wires (usually white terminated at a 4 pin polarized female connector. The remaining two wires ( Black wires) are shorted and t loured wire minated at 2 pin polarized female connector 4. INSTALLA’ iON The interface has Qvo no's of 3 pin and one four pin connectors, Plug in four pin polarised Connector of the motor to interface and the 3 pin connector to the motor the 3 pin connector of the interface marked as “WHT BL Connect the 3 pin female connector of the stepper motor power supply to the connector on the interface marked as “GND +3/12V, Connect the 26 Core fat ribbon cable to JI connector on the interface module and the other end of the cable to Microproce or trainer kit as stated in Table 3.1, Now the installation is done. Switch kit as well as the stepper motor. Key in the demo program tor the appropriate trainer & execute the same. When the program is executed, the motor shaft rotates in steps at the speed depending upon the delay between successive steps, which is generated and can be controlled by the program. The direction of rotation can also be controlled through software ‘on power to the train DEMOSTRATION EXAMPLES. ‘able 3.1 shows the connectors on various trainers to which this interface can be connected Some Wainers have two connectors to which this interface can be connected | he demonstration programs presented in this manual assumes that the connectors shows in column A are used, then user has to change the port addresses appropriately, User may eter to component layout diagrams of respective ESA trainer to locate the connectors mentioned here TABLE-3.1 MICROPROCESSOR x : Stepper Motor Interface Cee ESSnnnNeneeeCMD55 EQU BH PORTA EQU 401 mahi ee _ aodRESS | OPCODE_[ LaBLE 0 3E,80_ 502 [3,43 Re or #004 Cn PMVA RSE Tana __| MVIA.88H ial bit pattern 1006 —————— en = —— | peo LOOP. OUT PORT A Bit PAO-PA3 used to Z __| control the motor a al val as pcos CD,OF,8C ~ | CALL DELAY _| ;Delay between Steps 8COB OF RRC | Change this to RLC a | an: reverse the direction | BOC a JMP.LOOP ___ _ | ORG 8C20H | = | 800F oS? | 5 DELAY: _| PUSH PSW fe | ee BC1O 4g SY 21,01,00 TXT H.0001H nig 7 | C13 ULFRFF | DELAY20-— | LX! D& | 8C16 1B AY10; | DCX D | 8C17 TA MOV A.D. = | 8C18 B3 ORAE _—}| 44 8C19 €2,16,8C fanz DELAYI0S| “nfs | 8CIC 2B Dex He | —__ \ 7C MOV A.H____|§ degrees 10 we through | fnoor will move tht Sas cited next, the ailable as | VR stepper motors are Av the magnetic circuit, When phase Bis & again seek minimum reluctance position motors with step angle given by B= sere NI= number of stator tooth N2= number of rator tooth NI and N2 are related by NI=N2in= ptn Where number of stator tooth per phase = number of phases There are several areas of stepper motor application like instrumentation, computer Peripherals, and machine tool drives. Tiny stepper motors are used in quartz ani Swatches for driving the second, minute and hour hands. These motors operate di the bution cells used in these electronic watches, Bigger stepper motors are used for driving | Joy electronic tly with the hands of slave clocks on railway platforms, bus stations, officers, factories ete, computer peripheral’s form an important area of stepper motor applications, Card readers/punches, paper tape readers/punchers, teleprinters and teletypes represent the first applications area of stepper motors. Digital X-¥ plotters and dot matrix printers use stepper motors for driving: the arm and pen, and the paper respectively. Stepper motor finds application in line printers to drive the paper advance mechanism, Floppy disks and hard/Winchester disks have the ‘magnetic reading/writing heads positioned by stepper motors. ‘The main application area of stepper motors is in numerical control (NC) s F i ster ie ‘tools. Here they are employed For driving the cutting tol along x, ys deer pestis pplication in this area i the coordina table. Indexing mechanisms used in maint hin tos employ Stepper motors for moving either Work piece oF cutting tole a tepper motors Find application in positioning the spraying gun in sp the medical field, positioning servos for X-ray machines or Ravi per motor drives. The latest application of stepper 12 the robot joints. CIRCUIT DESCRIPTION stepper motor interface uses four: transistor pairs figuration. Each Darlington pair is used to rected to 4 pin connector on the int PPI 1/O lines of the Mi 'A” lower nibble PAO, PAI, P/ U1) on the interface Fay painting machines, Soloye heads employ. ial robots forVinytics VMC-8603/8603-A D 7. To Write/Read directly to/from the /O Port. 8. Fill a particular memory area with a constant 9. Check the contents of an EPROM for blank (Blank Check) 10. List the Contents of an EPROM in to RAM area 11. Verify the contents of an EPROM with any memory area 12. Program/Duplicate an EPROM 13. To execute the program in full clock speed 14. To execute one program instruction at a time SERIAL MODE A Display/Modify memory location 2. Display/Modify internal registers of 8086 3. Display Block of memory data 4 Move a block of Data/Program from one location to another location. 5. Execute the program in full clock speed mode. 6. ‘To execute one program instruction at a time 7 Port Input 8 Port Output 9. Read Hex file 10. Write Hex fileVinytics TABLE 4.1 Hexadecimal Key 0 EBIAX 1 ERIBX 2 Goicx 3 STIDX | 4 | \pisP 5 oB/BP 6 visi 7 EWIDI 8 Iwics 9 owips A Iss 8 /ES c BCIIP D LS/FL — VRI F PRG) VMC-8603/8603-A D HEXADECIMAL KEYPAD LEGEND INTERPRETATION Acronym | Command Name ‘Acronym Register Name | EB ER GO ST OB MV Ew ow Ls VR PRG Examine Byte Examine Register GO (Single) step Input Byte Output Byte Move Examine Word Input Word Output Word Blank Check Listing Verity Program AX BX cx DX SP BP SI DI cs DS ss ES IP Accumulator Base Count Data Stack Pointer Base Pointer Source Index Destination Index Code Segment Data Segment Stack Segment Extra Segment Instruction Pointer Flag NIAxraL2 ‘SPARE SELECTION DATA DISPLAY 8096 xTaui z SPARE! oe = 5 = Me. MEMORY AREA IsPaRE 3087 x er CO-PROCESSOR = g ae | (seerEreESnEEE] = r 8 ‘TO 8255 CONN. “(aE 4 fs) VMC-8603AD MICROPROCESSOR TRAINING KITVinytics VMC-8603/8603-4D Funetion Key | Operation FA | User definable key F2 | User definable key F3 User definable key. Your VMG-8603 Kit uses the eight digit display to communicate with you. De- pending on the current state of the monitor, the information displayed will be the: + Current contents of a register or memory location. + An “echo” of a hexadecimal key entry. + Amonitor prompt sign + An information of status message. The display itself is divided into two groups of four characters. The group on the left is referred to as the “address field”, and the group on the right is referred to as the “data field". All values displayed are in hexadecimal and follow the format shown in Table - 4.3. TABLE - 4.3 HEXADECIMAL DISPLAY CHARACTERS Hexadecimal Display Hexadecimal Display Value Format Value Format ee 0 ie 8 > © m Oo 7 —3 OF CW fy AMAMmAS DoD 18Vinytics MEMORY EPROM RAM INPUT/OUTPUT Parallel Adcitional I/O Lines Serial TIMER/COUNTER Other Interfaces Keyboard & Display BUS Physical Size Power Supply Requirement : Operating Temp. VMC-8603-AD VMC-8803-AD has the all the ADC : DAC Interrupt (Optional) SYSTEM CAPABILITIES KEYBOARD MODE PARON>A VMC-8603/8603..4 16K Bytes of EPROM Loaded with monitor expand. able to 1024 Bytes using 27256 16K bytes of CMOS RAM expandable to 256K Bytes using 6264/62256. 48 \/O lines using 2 nos. of 8255. 24 1/0 lines using 8255-II| (optional) EIA RS-232-C (Main). Three 16 bit Timer/Counter through 8253. EPROM PROGRAMMER for 2764/27128/27256, 28 keys and 8 Seven Segment display All address, data and control signals (TTL Com- patible) available at edge connector as per Multi Bus. The kit also has its own Resident Bus 300mm x 220mm for VMC-8603 330mm x 220mm for VMC-8603-AD 5V, 1.2 Amps for kit, +12V, 250mA for CRT & +24V for EPROM Programmer 0 to 50°C. above features in addition to following features 8 bit, 8 chhanel A/D converter using ADC 0809. 8 bit, 1 chhanel D/A converter using DAC 0800 Using 8259 Examine/Modify the memory byte locations. Examine/Modify the memory word locations. Examine/Modify the contents of any of internal register of 8086. Move a block of Data/Program from one location to another location Insert one or more instructions in the user Program. Delete one or more instructions from the user program.oe jculator Keyboard, Elevator, Display. ADC with "Controller, Crystal Clock Divider, Traffic Lights, r, Numerical Printer, etc.) a. Interface Modules for training pa Me DAC, Dual Slope ADC, Dual DAC, Loe! an 8253 Demo, RIC, Tone Generator, Steppe! b. &-bit, 16 Channel ADC ¢. 26 Core Ribbon Cable Connector Set, SPECIFICATIONS CPU —:_ 8085 Operated at 3.072 MHz Memory : Three 28-pin JEDEC sockets offer 64K Bytes of memory as follows: 16 K Bytes of firmware in one 27128 AK/8K/16K expansion through 2732/2764/6264/27128 32KB of static RAM using one 62256 with battery backup. Firmware : Serial and Keyboard Monitors. Centronics Printer Interface Driver Software. EPROM Programming Software. Audio Tape face Driver Software Peripherals 8279-5: To control 32 keys keyboard and 6-digit, 0.5" seven segment LED display, 8253-5: s Programmable interval timers fed Boel camcmeting enieee facility, Timer 1 is used for erating bau is available to the user (1 i i user can use Timer 1 also, if user does not use it fort ful doey ee ee 8251 A: For serial communication support F ipporting all stands es ee ee ting aes lard bauds fom 110 to 19,200, (Baud 8255-5: TWonumibes ae avallable to user siving 48 programma l lel . 0 lines. GOB MPS 85-3 User's Manual %VMC-8603/8603-AD The individual operation of the twelve function keys is defined in Table - 4.2 TABLE - 4.2 Function Key FUNCTION KEY OPERATION Operation RESET vcT | INTR INS cn DEL REG CRT NEXT FILL PRV The SYSTEM RESET key allows you to terminate any present | activity and to return your VMC-8603 to an initialized state. When pressed, the 8086 sign-on message appears in the display and the monitor is ready for command entry. The INTR (Interrupt) key is used to generate an immediate non/maskable type 2 interrupt (NMI). The NMI interrupt vector is initialized on power up or system reset to point to a routine | within the monitor which causes all of the 8086's registers to be saved. Control is returned to the monitor for subsequent command entry. INSERT Keys allows insertion of one or more Bytes in the user's program. The + (plus) key allows you to add two hexa- decimal valves. This function simplifies relative addressing by allowing you to readily calculate an address location relative to a base address. DELETE key allows deletion of one or more Bytes from the user's program. The - (minus) key allows you to subtract one hexadecimal value from another. The REG (Register) key allows you to use the contents of any of the 8086's registers as an address or data entry CRT Key is used for entering into CRT mode. NEXT key is used to separate keypad entries and to increment the address field to the next consecutive memory location. TTY key is used for entering into TTY interface. The (Period) key is the command terminator. When pressed, the current command is executed. Note that when using the GO com- mand, the 8086 begins program execution at the address speci- fied when the ‘o' key is pressed. FILL key allows you to Fill any Block of RAM area with a constant. PRY (Previous) key is used to decrement the ad- dress field to previous memory location. |Vv KEYBOARD DESCRIPTION 4 KEYBOARD DESCRIPTION The VMC-8603 has 28 keys and eight seven segment displays to communicate with outside world. As the power is tumed on and Reset key is pressed, a message -UP 86 is displayed on the display and all the keys are in command mode. The keyboard is shown below: RESET vet F3 io o E M4 INTR BCIP LS/FL vR/ PRG) INS DEL a 8 3 A 8 + A wcs owns ss igs BS 4 5 6 a a : oh IBISP OBIBP_ = MVISI_—« EW/DI FILL cRT TTY ° 1 2 3 PRV NEXT a BAX ERIBX GO/CX._—STIDX. FIG - 4.1 With the keypad monitor program, you enter both commands and data by press- ing individual keys of the keypad. (The Monitor communicates with you through the display). As shown on Figure-4.1, the Keypad is divided into fwo logical groups; the 16 hexadecimal keys on the right hand side and the twelve function keys on the left hand side. Most of the hexadecimal keys have combined functions as noted by their indi- vidual legends. The small letters appearing under the hexadecimal key values are acronyms for individual monitor commands and 8086 register names. Acro- nyms {0 the left-of the slash sign are monitor commands, and acronyms to the right of the slash sign are 8086 register names. The function of a hexadecimal key at any one time is dependent on the current state of the monitor and what the monitor is expecting as input. Table 4-1 defines both the commands and regis- ters associated with the hexadecimal keys.CHAPTER 1 INTRODUCTION 85-3 is an extremely powerful microprocessor trainer based on the popular 8085 CPU. It be used as a flexible instructional aid in academic institutions. “ollowing are the main features of MPS8S-3: MPS85-3 can be operated either from on-board keyboard or from a CRT terminal through its RS-232-C interface. Keyboard and serial monitor programs support the entry of user programs, editing and relocation, debug facilities like breakpoints and single-stepping, direct port input/output and full speed execution of user programs. 32K Byles of CMOS static RAM is provided with battery backup. Total on-board memory can be upto 64K Bytes, F Allows multi-processor system design by supporting the HOLD and HLDA signals. Ch MPS 85-3 User's Manual 11EEE [Timer 12H imer 2 is available to user. ‘The | signals are available o1 connector 14 { Control Por ait [S251A ar U9 (Programmable Communication Inverface) Data Port 20H ‘Used for implementing serial communication ‘Command port a 8070 at US Programmable Keyboard Display Interfiee Data Port 30H Tsai for implementing ‘Command Port 3H ‘Keyboard/Display interface DIP Switeh SoH Used for baud and mode selectioniterface Signals >UBUS : Demultiplexed and buffered TTL compatible signals brought-out to two 26 pin ribbon cable (spectra-strip type) connectors. rallel1/O : 48 lines (2 X 8255-5) of TTL compatible bus brought-out to two spectra-strip type ribbon cable connectors. ial VO : RS-232-C with standard MODEM control signals through on-board 9 pin D- type female connector. nterrupts \il interrupts except TRAP (used for single-step implementation) are available to user. ower Supply (Optional) +5V, (£0.1V), 3A +12V,(+ 1.0V), 250mA -12V, (£ 1.0V), 100mA 30V, (£ 2.0V), 100mA Ya GOB MPs 85-3 User's Manual Tedet | SYSTEM INTRODUCTION 1 a (“GENERAL DESCRIPTION OF VMC-8603 & VMC-8603-AD VMC-8603 is a single board MICROPROCESSOR TRAINING/DEVELOPMENT KIT configured around the INTEL's 16 bit Microprocessor 8086. This kit can be used to train engineers, to control any industrial process and to develop software for 8086 systems The kit has been designed to operate in the max. mode. Co-processor 8087 and VO Processor 8089 can be added on board. 8086 CPU can also be replaced by 8088 CPU The Kit communicates with the outside world through a keyboard having 28 keys and eight seven segment displays using 8279 , VMC-8603 is packed up with powerful monitor in 16K Bytes of factory programmed EPROMS and 16K Bytes of Read/Write Memory. The total memory on the board can be easily expanded to 256K Bytes of EPROM and 128K Byte of CMOS RAM The system has 48 programmable I/O lines using 2 nos. of 8255. 48 VO lines can be expanded to 72 1/0 lines (optional) . The serial /O Communication is made possible through 8251. For control applications, three 16 bit Timer/Counters are available throu 8253. VMC-8803 provides onboard battery back up for onboard RAN! saves the user's program in case of power failure VMC-8603 provides an onboard EPROM Programmer which coables the user to burn his program in any of the eproms 2764/27128/27256. The onboard resident system monitor software is very powerful. It provides variovs software com- mands like BLOCK MOVE, INSERT, DELETE, FILL etc. which are helpful in debugging/developing software, An onboard line assembler (optional) is also provided on VMC-8603. VMC-8603-AD has all the above features with addition of 8 channel 8 bit ADC & 8 bit DAC with option to add 8259A, interrupt controller. SYSTEM SPECIFICATIONS PROCESSORS : Central Processor + 8086, 16 bit Microprocessor operating in max. mode or 8088 8 bit Microprocessor. Co-Processor + 8087 Numeric Data Processor. 8089 I/O Processor 8 —VMC-8603AD MICROPROCESSOR TRAINING KIT