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Stepper Motor: CO2: LO: Understand Construction and Operation Write The Control Sequence

Stepper motors are used in applications that require precise positioning or speed control such as printers, CNC machines, and pan/tilt cameras. They work by having their rotor turn in discrete steps in response to electrical pulses sent to their stator coils. The rotor is made of permanent magnets that are attracted by the energized coils to rotate the motor a fixed angle with each pulse. This allows open-loop control without feedback sensors.

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305 views25 pages

Stepper Motor: CO2: LO: Understand Construction and Operation Write The Control Sequence

Stepper motors are used in applications that require precise positioning or speed control such as printers, CNC machines, and pan/tilt cameras. They work by having their rotor turn in discrete steps in response to electrical pulses sent to their stator coils. The rotor is made of permanent magnets that are attracted by the energized coils to rotate the motor a fixed angle with each pulse. This allows open-loop control without feedback sensors.

Uploaded by

Azeem .k
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Stepper Motor

CO2:
LO:
Understand Construction and Operation
Write the control sequence
Rotor

Stator
Outside Casing

Coils Stator

Rotor
1

2 2

S
Internal components of a Stepper Motor
1
Cross Section of a Stepper Motor

1 Stators
S
N

2 2

S
N
1
Rotor
Full Step Operation

Four Steps per revolution i.e. 90 deg. steps.


Working
Winding number 1
1

a b
1
N
One
6 pole rotor S step
N N
2 2
S S
N
Winding number 2 S
1
a b

2
Practical Stepper motor operation

The top electromagnet (1) is turned on, The top electromagnet (1) is turned
attracting the nearest teeth of a gear- off, and the right electromagnet (2) is
shaped iron rotor. With the teeth aligned energized, pulling the nearest teeth
to electromagnet 1, they will be slightly slightly to the right. This results in a
offset from electromagnet 2 rotation of 3.6° in this example.
The bottom electromagnet (3) is The left electromagnet (4) is enabled,
energized; another 3.6° rotation rotating again by 3.6°. When the top
occurs. electromagnet (1) is again enabled, the
teeth in the sprocket will have rotated by
one tooth position; since there are 25 teeth,
it will take 100 steps to make a full rotation
in this example.
 It uses a stepper motor to rotate the lead screw. A stepper motor is
driven by series of electrical pulses generated by MCU.
 For each pulse the motor rotates a fraction of revolution called Step Angle,
it is given by

Where, ns = Number of step angles for the motor (an integer).


 If np is the pulses received by the motor then angle through which motor

rotates is
 Lead Screw is connected to the motor shaft through a gear box.
 Angle of the lead screw rotation taking the gear ratio into account is given by

rg = Gear ratio
= Am/A= Nm/ N
Nm= RPM of motor, N= RPM of lead Screw
A: Angle of Rotation(Am/rg)
The linear movement of worktable is given by

p = pitch of lead screw


 Total number of pulses required to achieve a specified x-position increment is
calculated by:

Where ,ns = 360/ α


Control pulses are transmitted from pulse generator at a certain frequency which
drives the work table at the corresponding velocity.
The rotational speed of lead screw depends on the frequency of
the pulse train

Equation (1)

N = RPM of lead screw, fp = frequency of pulse train (Hz, Pulses/sec)


 The table travel speed in the direction of lead screw axis is determined by:

Equation (2)

Where, Vt = Table travel speed (mm/min)


fr = Table feed rate (mm/min)
p= Lead screw pitch (mm/rev)
The required pulse train frequency to drive the table at a specified
linear travel rate by combining equations (1) and (2):
 The microstepping method reduces step size
electronically. This is done by proportional
control of the current in each phase to create
an intermediate step between the motor’s
“cardinal” steps. With this method, a 1.8-
deg/step motor can be driven at up to 25,000
steps/rev.
Torque/Speed Requirement
 Torque is required to move the mechanism and at
what speed must the mechanism move?
 Total torque = Running torque required + torque
required to accelerate and decelerate the system.
 Holding Torque: This will be how much actual force
we can create when the stepper is energized.
 Detent Torque: This is how much holding torque we
can expect from the motor when it is not energized.

 What is the system inertia reflected back to the motor
shaft?
 Inertia is influential where high acceleration and
deceleration are needed.
 A rule of thumb: Load inertia as seen at the motor shaft
should be less than 10 times the rotor inertia of the
motor selected.
 Most mechanics textbooks and many manufacturers’
catalogs show how to calculate inertia.
 What is the driven mechanism? Will it be a
lead screw or something else?
 The answer is important in determining the

resolution of the motor, the speeds needed to


move the rotor, and how far the rotor must
move.
 Pan operation:
Speed range, 3 to 200 deg/sec
Torque, 0.07 Nm
Gear ratio, 3:1
Drive voltage, 12 to 40 Vdc

 Tilt operation:
Speed range, 5 deg/sec
Torque, 0.085 Nm
Gear ratio, 1:1
Drive voltage, 12 to 40 Vdc
https://www.machinedesign.com/motorsdri
ves/choosing-step-motor-real-example
Stepper motor applications

Paper feeder on printers

Stepper motors

CNC lathes
Stator coils

Rotor
CNC
CNCStepping
SteppingMotor
Motor
Advantages / Disadvantages
Advantages:-
Low cost for control achieved
Ruggedness
Simplicity of construction
Can operate in an open loop control system
Low maintenance
Less likely to stall or slip
Will work in any environment

Disadvantages:-
Require a dedicated control circuit
Use more current than D.C. motors
High torque output achieved at low speeds
Control sequence to turn a stepper motor
+

Step 1 0 0 1 1
CW CCW
Step 2 1 0 1 0
Step 3 1 1 0 0
Step 4 0 1 0 1

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