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Stepper Motor

The document describes an experiment to interface a stepper motor to an 8051 microcontroller and rotate it in clockwise and anticlockwise directions. The objectives are to demonstrate the interfacing and develop code to control the motor's direction. It explains how stepper motors work and the interfacing process, including a wiring diagram. An algorithm and C code sample are provided to rotate the motor a specified number of steps in clockwise direction using a delay function.

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168 views15 pages

Stepper Motor

The document describes an experiment to interface a stepper motor to an 8051 microcontroller and rotate it in clockwise and anticlockwise directions. The objectives are to demonstrate the interfacing and develop code to control the motor's direction. It explains how stepper motors work and the interfacing process, including a wiring diagram. An algorithm and C code sample are provided to rotate the motor a specified number of steps in clockwise direction using a delay function.

Uploaded by

sharada
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Experiment No.

PROBLEM DEFINITION: Interface the stepper motor


to 8051 Microcontroller to rotate the motor in
clockwise/anticlockwise direction by N steps with
suitable delay between successive steps.

1
Objectives of the Experiment:

1. To demonstrate the interfacing of stepper motor


with 8051 Microcontroller.

2. To develop an 8051 ‘C’ code to rotate the


stepper motor in clockwise/anticlockwise
direction.

2
Stepper Motor Interfacing

 Stepper motor is a device that translates


electrical pulses into mechanical
movement.
 In applications like disk drives, dot
matrix printers, and robotics, stepper
motor is used for position control.
 Stepper motor commonly have a
permanent magnet rotor surrounded by
a stator.
3
Stepper Motor Interfacing

 Most common stepper motors have


four stator windings that are paired
with a center tapped common as
shown in fig. below

4
Stepper Motor interfacing

 This type of stepper motor is


commonly referred to as a four
phase or unipolar stepper motor.
 The center tap allows a change of
current direction in each of two coils
when a winding is grounded,
resulting in a polarity change of the
stator.
5
Stepper Motor Interfacing

 Stepper motor shaft moves in a fixed


repeatable increment, which allows one
move into a precise position.
 The direction of rotation is dictated by the
stator poles.
 Stator poles are determined by the current
sent through the wire coils.
 As the direction of the current is changed,
the polarity is also changed causing the
reverse motion of the rotor. 6
Stepper Motor Interfacing

 The stepper motor has total 6 leads: 4


leads representing the four stator windings
and 2 commons for the center-tapped
leads.
 As the sequence of power is applied to
each stator winding the rotor will rotate.
 There are several widely used sequences
where each has a different degree of
precision.
7
Stepper Motor Interfacing

 Table shows wave drive stepping sequence i.e. only one electromagnet is
energized at a time.
STEP A B C D

1 1 0 0 0

2 0 1 0 0

3 0 0 1 0

4 0 0 0 1
Department of Computer Science and Engineering, GIT 03/25/20 8
20
Step angle

 How much movement is associated


with a single step? (7.2degrees)
 Depends on number of teeth on the
stator and the rotor.
 Thestep angle is minimum degree of
rotation associated with a single
step.

9
Stepper motor interfacing
diagram

10
Algorithm for the experiment
STEP 1 : INCLUDE THE HEADER FILE ‘’at89c51ed2.h’’
STEP 2 : DECLARE THE DELAY SUBROUTINE
STEP 3 : BEGIN MAIN
STEP 4 : DECLARE VARIABLES.
STEP 5 : USE FOR LOOP TO SPECIFY THE NUMBER OF STEPS.
STEP 6 : INTIALIZE THE VALUE TO INDICATE THE NUMBER OF WINDINGS
ENERGIZED AT A TIME. (STEP SEQUENCE)
STEP 7: USE FOR LOOP TO SEND THE VALUE TO PORT 0 FOLLOWING THE
PROPER 4 STEP SEQUENCE
STEP 8: VALUE (0x01)IS SHIFTED LEFT 4 TIMES (CLOCKWISE ROTATION) OR
VALUE (0x08) IS SHIFTED RIGHT 4 TIMES (ANTICLOCKWISE ROTATION)
STEP 9: CALL DELAY SUBROUTINE TO INCLUDE DELAY BETWEEN EACH STEP..
STEP 10:TERMINATE PROGRAM AFTER THE SPECIFIED NUMBER OF
ROTATIONS. 11
8051 ‘C’ code to rotate stepper motor in clockwise direction by ‘N’ steps.

#include "at89c51ed2.h"

void delay(unsigned int);


main()
{
unsigned char Val,i,j;

for(j=0;j<50;j++)
{
Val = 0x01;
for(i=0;i<4;i++)
{
P0 = Val;
Val = Val << 1;
delay(10000);

}
}

}
12
DELAY SUBROUTINE

void delay(unsigned int n)


{
unsigned int m;
for(m=0;m<n;m++);
}

13
Connection Details

• Port 0 to CN12 of Microcontroller


Evaluation Board

14
Learning Outcomes of the Experiment

At the end of the session, students should be able to :

•Interface Stepper Motor to 8051 Microcontroller


•Write ‘C’ code to rotate steeper motor in clockwise/anticlockwise
direction.
•Understand the applications of stepper motor in position control
(Robotics)

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