Visvesvaraya Technological University

Belagavi, karnataka

GLOBAL ACADEMY OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING,
RAJARAJESHWARI NAGAR, IDEAL HOMES TOWNSHIP, OFF MYSORE ROAD,
BENGALURU-560 098

NAME : PRERITH . S GUIDE : VENKATESH .K

USN : 1GA14EE026 (ASSOCIATE PROFESSOR)

 Stepper motors are often misconceived as the lesser of servo motors, but as a
matter of fact, they are highly reliable just like servo motors. The motor
operates by accurately synchronizing with the pulse signal output from the
controller to the driver, achieving highly accurate positioning and speed control.
 Stepper motors feature high torque and low vibration at low-speeds, ideal for
applications in robotics .
 An efficient and versatile drive system for stepper motors delivers precise
control with the smallest possible step angle.
 The circuitry consists of :
 Power supply circuit

 Microcontroller

 Buffer and a driver circuit

 A stepper motor or step motor is a brushless DC electric motor that divides a
full rotation into a number of equal steps.
 The motor doesn’t use any position sensors for feedback and hence is an
example of open loop controller*.

Animation of a simplified
stepper motor (unipolar) A stepper motor

**In an open-loop controller the control action from the controller is independent of the "process output",
which is the process variable that is being controlled.
 VARIABLE RELUCTANCE PERMANENT MAGNET HYBRID

• Have a plain iron rotor • Use a permanent magnet •They are named because
and operate based on the in rotor and operate on they use combination of
principle that minimum attraction or repulsion PM and VR techniques to
reluctance occurs with between the rotor PM and achieve maximum power in
minimum gap, hence the stator electromagnets. a small package size.
rotor are attracted
towards the stator magnet
poles.
 Stepper drive system consists of :
 Power supply circuit
 Microcontroller
 Buffer IC
 Driver IC

 Power supply circuit : power system shown in the figure consists of a

step down transformer and a voltage regulator IC 7805.
 Microcontroller : a suitable microcontroller is programmed as an open loop
controller and is coupled with an LCD screen that indicates the RPM or drive
modes of a stepper motor.

Buffer IC : The microcontroller output is fed as an input to the buffer. The

buffer used is HD74LS245P. It is an octal bus transceiver designed for
synchronous two-way communication between data buses.

Block diagram of a buffer

Driver IC : The output from the buffer is used as an input to the driver IC.
The driver IC used is ULN2003AN. It is a high voltage and high current
Darlington transistor array.

Pin diagram of driver IC with 7 Darlington transistor

array
 WAVE DRIVE MODE
 In this drive method only a single
phase is activated at a time. It has
the same number of steps as the
full-step drive, but the motor will
have significantly less than rated
torque.
FULL STEP DRIVE MODE
 This is the usual method for full-
step driving the motor. Two phases
are always on so the motor will
provide its maximum rated torque.
 HALF-STEPPING MICRO STEPPING

Sine–cosine micro stepping is the

 When half-stepping, the drive
most common form, but other
alternates between two phases on
waveforms can be used. Regardless
and a single phase on. This increases
of the waveform used, as the micro
the angular resolution. The motor
steps become smaller, motor
also has less torque. The advantage
operation becomes more smooth,
of half stepping is that the drive
thereby greatly reducing resonance
electronics need not change to
in any parts the motor.
support it.
 The drive system can provide precise control of a stepper motor up to
1 degree micro-step and hence is apt for robotic applications.

 This drive system allows the movement of the stepper motor to be

controlled by selecting options of half or full step, forward or reverse
movement and the speed in RPM or the fixed number of steps that the
motor should move.

 Not all drivers are suitable to run all motors, so when designing a
motion control system the driver selection process is critical.
 Benetta Aranjo, Prashant Kumar Soori, and Puja Talukder, STEPPER
MOTOR DRIVES FOR ROBOTIC APPLICATION, PEOCO2012 IEEE.

 Wikipedia: https://en.wikipedia.org/wiki/Stepper_motor

 SGC- THOMOS MICROELECTRONICS :

http://users.ece.utexas.edu/~valvano/Datasheets/Stepper_ST.pdf