National Polytechnic Institute of Cambodia

Department of Electronics Engineering

Assignment
Subject : Stepper Motor Lecturer: Bo Prak Member in group : Sun Chanras,Lim Hoklay

Submit :29th February 2012 Present :29th February 2012

Content
I-Introduction II-Stepper motor type III-Using IV-Basic operation V-Calculation and parameter VI-Interface with PIC microcontroller

Content
VII-Reference

I-Introduction

Fig 1.1: Stepper motor

I-Introduction
Stepper motor is an electromechanical device which

convert electrical pulse into discrete mechanical movement.

The shaft of a stepper motor rotates in discrete step

when electrical command pulses are applied to it in the proper sequence.

II-Stepper motor types

There are three basic stepper motor type . They are: Variable-reluctance(VR) Permanent-magnet(PM) -Hybrid(HB)

II-Stepper motor types

Variable Reluctance(VR): This type of stepper motor has been around for along

time. Its probably the easiest to understand from a structural point of view.
Figure 2.1 shows a cross-section of a typical variable-

reluctance stepper motor.

II-Stepper motor types

Figure 2.2 shows The variable-reluctance stepper motors.

Fig 2.1 : Cross-section of variable reluctance stepper motor

Fig 2.2 :Variable-reluctance stepper motor

II-Stepper motor types

Permanent Magnet(PM): The permanent-magnet stepper motor is a low cost and

low resolution type motor with typical step angles of 7.5 to 15 degree.
Figure 2.3 show the cross-section of permanent-magnet

stepper motor.

II-Stepper motor types

Figure 2.4 show the permanent-magnet stepper motor.

Fig 2.3 : Cross-section of Permanent-magnet stepper motor

Fig 2.4 :Permanent-magnet stepper motor

II-Stepper motor types

Hybrid(HB): The hybrid stepper motor is more expensive than the PM

motor but provides better performance with respect to step resolution , torque and speed.
Typical step angle for the HB stepper motor rang from 3.6

degree to 0.9 degree

II-Stepper motor types

The hybrid stepper motor combines the best features of

both the PM and VR type stepper motors.

Figure 2.5 show the cross-section of hybrid stepper motor. Figure 2.6 show the hybrid stepper motor.

II-Stepper motor types

Fig 2.5 : Cross-section of Hybrid stepper motor

Fig 2.6 :Hybrid stepper motor

III-Using
There are a lot of stepper motor application such as: Robot arm control. Car mirror controls Automated door windows

IV-Basic operation
Stepper motors consist of a permanent magnet rotating

shaft, called the rotor.

Electromagnets on the stationary portion that surrounds

the motor, called the stator.

At position 1, we can see that the rotor is beginning at the

upper electromagnet, which is currently active.

IV-Basic operation

Fig 4.1 : Show position 1

IV-Basic operation
To

move

the

rotor

clockwise

(CW),

the

upper

electromagnet is deactivated and the right electromagnet is activated.

causing the rotor to move 90 degrees CW, aligning itself

with the active magnet.

IV-Basic operation
Figure 5.2 show this operation.

Fig 4.2 : Show position 2

IV-Basic operation
This process is repeated in the same manner until we

once again reach the starting position..

Figure 4.3 and 4.4 show the position 3 and position 4

IV-Basic operation

Fig 4.3 : Show position 3

Fig 4.4 : Show position 4

V-Calculation and parameter

Step sequence: Stepper motors can be driven in two different patterns or

sequences . namely:
Full Step Sequence Half Step Sequence

V-Calculation and parameter

Full step sequence: In the 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.

V-Calculation and parameter

Table 5.1 show the step sequence in full mode:

Table 5.1 : Full step sequence

V-Calculation and parameter

Half step sequence: In Half mode 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. Also in half mode sequence the number of steps gets doubled as that of full mode.

V-Calculation and parameter

Table 5.2 show the half step sequence:

Table 5.2 : Half step sequence

V-Calculation and parameter

Step angle: To calculate step angle , simply divide 360 by number of

steps a motor takes to complete one revolution.

Step Angle = 360 / 4 = 90 and in case of half mode step angle gets half so 45.

VI-Interface with PIC microcontroller

Connecting Stepper Motor with Microcontroller

(PIC16F887) using ULN2003

Simulate in proteus Figure 6.1 show the simulation in proteus.

VI-Interface with PIC microcontroller

Figure 6.1 : Simulation in proteus

VI-Interface with PIC microcontroller

Full step programming: void main() { ANSEL = 0; // Configure AN pins as digital I/O ANSELH = 0; PORTD = 0; TRISD = 0; // Configure PORTD as output while(1) { PORTD=0x09; Delay_ms(500); PORTD=0x0C; Delay_ms(500); PORTD=0x06; Delay_ms(500); PORTD=0x03; Delay_ms(500); } }

VI-Interface with PIC microcontroller

Half step programming: void main() { ANSEL = 0; // Configure AN pins as digital I/O ANSELH = 0; PORTD = 0; TRISD = 0; // Configure PORTD as output while(1) { PORTD=008; Delay_ms(500); PORTD=0x0C; Delay_ms(500); PORTD=004;

VI-Interface with PIC microcontroller

Delay_ms(500); PORTD=006; Delay_ms(500); PORTD=002; Delay_ms(500); PORTD=003; Delay_ms(500); PORTD=001; Delay_ms(500); PORTD=009; Delay_ms(500); Delay_ms(500); } }

VI-Reference
http://ssecganesh.blogspot.com/2008/05/driving-stepper-

motor-using-uln2003.html
http://www.engineersgarage.com/articles/stepper-motors http://www.circuitspecialists.com/stepper-motor

End of presentation