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Rotor 1 A Phase
Permanent Magnet Stator B Phase
Ball-bearings
to Stepping Motors
Rotor 2 Shaft
An Introduction
Rotor
C Phase
D Phase
Stepping Motors
Types of
Shaft
Stator E Phase
Winding
Motor Structure Diagram 1: Cross-Section Parallel to Shaft Motor Structure Diagram 2: Cross-Section Perpendicular to Shaft
Stepping Motors
The Basics of
The figures above show two cross-sections of a 5-phase The stator contains 10 magnet poles with small teeth, each of
hybrid stepping motor. Hybrid stepping motors are composed which is wrapped in wire to form a coil. The coil is connected
primarily of two parts, the stator and the rotor. The rotor in turn to the facing magnet pole and is wound so it becomes
is comprised of three components: rotor 1, rotor 2 and the magnetized to the same pole when current is run through it.
permanent magnet. The rotors are magnetized in the axial (Running a current through a given coil magnetizes the facing
Stepping Motor
direction, with rotor 1 polarized north and rotor 2 polarized poles to the same magnetism, either north pole or south pole.)
Selecting a
south. The two facing poles form a single phase. Since there are five
phases, A through E, the motor is called a 5-phase stepping
motor. There are 50 teeth on the outside of the rotor, with the
teeth of rotor 1 and rotor 2 mechanically offset from each other
by half a tooth pitch.
Q&A
to Stepping Motors
An Introduction
No offset 3.6˚
0.72
˚
0.72˚
S 3.6
˚
˚
N
.72 7.2
˚0 ˚ S
3.6
N S
N N S
N
Stepping Motors
S
N A phase A phase
0.7
Types of
Stator B phase
2˚
B phase
Stator
N
C phase C phase
Rotor 1
Rotor 1
N
D phase
N
Stepping Motors
D phase
The Basics of
Current E phase Current E phase
N
S
S
N 3.6 S
˚ S
Stepping Motor
S
Selecting a
No offset
When phase A is excited, its poles are magnetized south and When the excitation switches from phase A to phase B, the
attract the teeth of rotor 1, which are magnetized north, while phase B poles are magnetized north, attracting the south
repelling the teeth of rotor 2, which are magnetized south, polarity rotor 2 and repelling the north polarity of rotor 1. In
which balances it to a stop. The teeth of the phase B poles, other words, when excitation switches from phase A to phase
which are not excited, are misaligned with the south-polarized B, the rotor rotates 0.72˚. As excitation shifts from phase A, to
Q&A
teeth of rotor 2 so they are offset by 0.72˚. phase B, to phase C, to phase D, to phase E, phase A, the
stepping motor rotates in precise 0.72˚ steps. To rotate it in
reverse, reverse the excitation order to phase A, phase E,
phase D, phase C, phase B, phase A.
time, but for the most effective use of the coils, four or five
phases should be excited simultaneously.
Characteristics
Holding Torque (TH)
When using a stepping motor it must be determined that the The holding torque is the maximum holding power (torque) the
motor characteristics are suited to the required load. The two stepping motor has when power is being supplied but the
main characteristics of stepping motor performance are: motor is not rotating (rated current).
Static Characteristics:
Those relating to the changes in angle that take place when
Pullout Torque
the stepping motor is stopped or during motor standstill.
Dynamic Characteristics: Pullout torque is the maximum torque that can be output at a
given speed. When selecting a motor, be sure the required
to Stepping Motors
stepping motor performance. On the graph of this pulse speed requires gradual acceleration or deceleration.
characteristic, the horizontal axis expresses pulse speed while This frequency drops when there is an inertial load on the
Types of
the vertical axis expresses torque. motor. (See the description of inertial loads and starting
Pulse speed equals the pulse rate, which the number of frequency on the next page.)
pulses per second. In stepping motors, the number of
revolutions per minute is proportional to pulse speed.
Stepping Motors
The Basics of
①TH
②
RK566BC
Stepping Motor
Current: 1.4A/phase
Selecting a
1.0
③
fs PULLOUT TORQUE
0.8
Torque [N・m]
Speed [r/min]
Driver Input Current [A]
0.6
Speed – Torque Characteristics
8 0.4
Q&A
Angle
is called the maximum starting frequency. Forward Direction
to Stepping Motors
RK566BC 2 3
An Introduction
θs
2000 t Time
Stepping Motors
1000
Types of
When a pulse signal is input, the motor accelerates towards
0 the next step angle.
1 2 3 4 5
Due to the influence of the rotor inertia and the load inertia,
Inertial Load JL [kg・cm2] (×10-4 [kg・m2])
the motor overshoots a certain angle, returns in the
Inertial Load-Starting Frequency Characteristics opposite direction, and then repeats this action.
After the motor has repeated sufficient damping
Stepping Motors
The Basics of
oscillations, it stops at the set position.
Stepping Motor
Selecting a
JL
1
J0
ƒS : Maximum starting frequency (Hz) of the motor RK566BC
ƒ : Maximum star ting frequency (Hz) when
applying load inertia
J 0 : Rotor inertia (kg·m2)
J L : Load inertia (kg·m2)
Q&A
Vibration Voltage Vp-p[V]
2.0
1.0
Glossary
0 0.1 1 10 100
Pulse Speed [kHz]
0 12 120 1200 Full Step
(6) (60) (600) (Half Step)
Speed [r/min]
Stepping Motor
Vibration Characteristics
Before Using a
TH
Stopping Accuracy
Unstable Point
Stable Point This refers to the difference between the rotor’s theoretical
Torque T
stopping position and its actual stopping position. A given rotor
θ τR τR Displacement Angle τR stopping point is taken as the starting point, then the stopping
4 2
angle error is the difference between the maximum () value
and the minimum () value when measuring each step of a
Stepping Motors
TH
full rotation.
Types of
0.03
Difference in Angle
Selecting a
0
0.72˚ 1.44˚ 2.16˚ 2.88˚ 360˚
0.01
Rotor
0.02
When held stable at point , external application of a force to The stopping angle accuracy is ± 0.05˚ *, but only under no
Q&A
the motor shaft will produce a torque T () to the left trying to load. In actual applications, there is always frictional load. The
return the shaft to stable point and the shaft will stop when angle precision in such cases is produced by the angular
the external force equals this torque. If additional external displacement caused by angle-torque characteristics based
force is applied, there is an angle at which the torque upon the frictional load. If frictional load is constant, the angle
produced will hit a maximum. This torque is the holding torque of displacement is constant for rotation in one direction. When
TH. When that external force is exceeded, the rotor moves operating from both forward and reverse, however, double the
to an unstable point and beyond, producing a torque in the displacement angle is produced by the round trip.
same direction as the external force T(), so it moves to the When stopping precision is required, always position from one
Glossary
Locations where the stator and rotor teeth are half a pitch
out of alignment. They are extremely unstable. A rotor at
these locations will move to the next stable point to the left
or right if even the slightest external force is applied.
to Stepping Motors
An Introduction
speeds. All Oriental Motor stepping motors use constant- region. This is because the higher the applied voltage, the
current drivers. faster the rise of current flowing through the motor coil, so that
a fixed current can flow even in the high speed region. Thus,
the AC input unit has superior torque characteristics
throughout, from the low speed region to the high speed
1. An introduction to constant-current region, and a large speed ratio can be obtained.
It is recommended that this motor be used together with an
drivers AC input unit that can respond to a variety of conditions.
Stepping Motors
Stepping motors rotate by the switching of current flowing
Types of
through several coils. When the speed increases, the
switching also becomes faster and the current rises cannot 1.2
keep up, so torque drops. By chopping a DC voltage that is far
1.0
higher than the motor’s rated voltage, a constant current can
PULLOUT TORQUE
be kept flowing to the motor even at high speeds.
0.8
Torque [N・m]
RK566BC
The current flowing to the motor coil is compared to the 0.6
Stepping Motors
reference voltage. When the detection resistor voltage is lower
The Basics of
than the reference voltage (when it hasn’t reached the rated 0.4
current), the switching transistor (Tr2) stays on. When it is PULLOUT TORQUE
higher than the reference voltage (when it exceeds the rated 0.2 CSK566-NBTE
current), Tr2 goes off. The current is controlled so that the fs
0
rated current is always flowing. 1000 2000 3000 4000
Speed [r/min]
0 10 20 30 (Resolution 1)
Stepping Motor
(0) (100) (200) (300) (Resolution 10)
Selecting a
Pulse Speed [kHz]
VCC Tr 2
Comparison of characteristics of AC input unit and DC input unit
Motor Winding
Voltage Comparator
Tr 1 3. Selecting a Power Supply
Pulse Control
Transformer
Circuit Current Detecting The AC input driver is designed to be used with single-phase
Reference
Resistor power in the range 200V-230V. When using power whose
Q&A
Voltage
voltage is outside this range, use a transformer to drop the
voltage to 200V-230V single phase.
Basic circuit for constant current chopper driver
[VA]
Glossary
Stepping Motor
Before Using a
t0 t1 Time