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Stepper Motor

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Avantika Tambe
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33 views26 pages

Stepper Motor

Uploaded by

Avantika Tambe
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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Stepper Motor

Introduction
• Stepper motors can be used in various microcontroller
projects such as making robots, robotic arm, automatic
door lock system etc.
• This presentation will explain you
⮚ construction of stepper motors (unipolar and bipolar
stepper motors ),
⮚ basic principle,
⮚ different controlling types (Half step and Full step),
⮚ Interfacing Techniques (using L293D or ULN2003) and
⮚ programming your microcontroller in assembly language to
control stepper motor.
Types of Stepper Motors
1. Unipolar stepper motor
2. Bipolar stepper motor
Types of Stepper Motors
1.Unipolar stepper motor
- Has five or six wires and four coils (actually two coils
divided by center connections on each coil).
- The center connections of the coils are tied together
and used as the power connection.
- They are called unipolar steppers because power
always comes in on this one pole.
Types of Stepper Motors
2. Bipolar stepper motor
- Has four wires coming out of it.
- Unlike unipolar steppers, bipolar steppers have no common
center connection.
- They have two independent sets of coils instead.
- You can distinguish them from unipolar steppers by
measuring the resistance between the wires.
- You should find two pairs of wires with equal resistance.
- If you've got the leads of your meter connected to two wires
that are not connected (i.e. not attached to the same coil),
you should see infinite resistance (or no continuity).
Types of Stepper Motors
- "Unipolar stepper motors" which is most common
type of stepper motor available in the market.
- A simple example of 6 lead step motor is given below
and in 5 lead step motor wire 5 and 6 are joined
together to make 1 wire as common.
Example Unipolar stepper motor
Working of Stepper Motor

• When we energize a coil of stepper motor, The


shaft of stepper motor (which is actually a
permanent magnet) align itself according to
poles of energized coil.
• So when motor coils are energized in a particular
sequence, motor shaft tend to align itself
according to pole of coils and hence rotates.
• A small example of energizing operation is given
below.
Working of Stepper Motor
Step Sequence
• Stepper motors can be driven in different
patterns or sequences.
• Namely,
• Wave drive /single drive
• Full Step drive
• Half Step drive
Full Step Sequence
• Two coils are energized at the same time and
motor shaft rotates. The order in which coils
has to be energized is given in the table below.
Full Step Sequence
• The working of the full mode sequence is given in the
animated figure below.
Full step Sequence
• The working can be seen in the demo
animation below
Half Step Sequence
• Motor step angle reduces to half the angle in
full mode.
• So the angular resolution is also increased i.e.
it becomes double the angular resolution in
full mode.
• The number of steps gets doubled as that of
full mode.
• Half mode is usually preferred over full mode.
Half Step Sequence
• Table below shows the pattern of energizing
the coils.
Half Step Sequence
• The working of the half mode sequence is given in the
animated figure below.
Half step Sequence
• The working can be seen in the demo
animation below
Step Angle

• Step angle of the stepper motor is defined as


the angle traversed by the motor in one step.
• To calculate step angle,
– simply divide 360 by number of steps a motor
takes to complete one revolution.
• As we have seen that in half mode, the
number of steps taken by the motor to
complete one revolution gets doubled, so step
angle reduces to half.
Step Angle
• As in above examples, Stepper Motor rotating in full
mode takes 4 steps to complete a revolution, So step
angle can be calculated as...
• Step Angle ø = 360° / 4 = 90°
• and in case of half mode step angle gets half so 45°.
• So this way we can calculate step angle for any
stepper motor.
• Usually step angle is given in the spec sheet of the
stepper motor you are using.
Step Sequence for Bipolar stepper motor

• Bipolar motor has simpler construction. It has two


windings with no center taps and a permanent
magnet at the center just like unipolar stepper
motors.
• Being simpler in construction, the stepping
sequence is a little complex, as the power for both
the coils has to be controlled in such a way that the
polarity of the poles get reversed.
• This polarity sequence is shown in the table below.
Step Sequence for Bipolar stepper motor
Connecting Bipolar Stepper Motor
• As we have studied that, Bi-polar stepper
motors has 2 different coils.
• The step sequence for Bipolar stepper motor is
same as that of unipolar stepper motors.
• The driving circuit for this require an H-Bridge
as it allows the polarity of the power applied to
be controlled independently.
• This can be done as shown in the figure below:
Connecting Bipolar Stepper Motor
Phasing sequence for unipolar stepper
motor
Phasing sequence for bipolar stepper motor
8051 connection to stepper motor

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