Operating Modes of Stepper Motor

RAJGAD DNYANPEETH TECHNICAL CAMPUS
SHRI CHHATRAPATI SHIVAJIRAJE COLLEGE OF ENGINEERING

S.NO.237 DHANGAWADI, TAL: BHOR, DIST: PUNE
DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION
SUBJECT: ELECTRICAL CIRCUITS AND MACHINES CLASS: S.E.
EXPERIMENT NO: 08
OPERATING MODES OF STEPPER MOTOR
AIM: To study various operating modes of Stepper Motor
APPARATUS REQUIRED:
1. Stepper Motor
2. 8051 Trainer Kit
3. Keil Simulator
4. Flash magic Software for downloading
THEORY
The section begins with an overview of the basic operation of stepper motors. Then we
describe how to interface a stepper motor to the 8051. Finally we use assembly language
programs to demonstrate control of the angle and direction of stepper motor rotation.
STEPPER MOTORS
A stepper motor is a widely used device that translates electrical pulses into mechanical
movement. In applications such as disk drives, dot matrix printers, and robotics the stepper
motor is used for position control. Stepper motors commonly have permanent magnet rotor
surrounded by a stator. There are also steppers called variable reluctance stepper motors that do
not have a PM rotor. The most common stepper motors have four stator windings that are paired
with centre tapped common as shown. This type of stepper motor is most commonly referred to
as a four phases or unipolar stepper motor. The centre tap allows the change of current direction
in each of the two coils when a winding is grounded, thereby resulting in a polarity change of the
stator. Notice that while a conventional motor shaft runs freely, the stepper motor shaft moves in
a fixed repeatable increment, which allows one to move to a precise position. This repeatable
fixed movement is possible as a result of the basic magnetic theory where the poles of the same
polarity repel and opposite poles attract. The direction of rotation is dictated by the stator poles.
The stator poles are determined by the current sent through the wired coils. As the direction of
the current is changed, the polarity is also changed causing the reverse rotation of the motor. The
stepper motor discussed here has total of 6 leads : 4 leads representing four stator windings and
2 common for centre tapped leads. As the sequence of the power is applied to each stator.
winding the rotor will rotate. There are several widely used sequences where each a
different degree of precision.
It must be noted that although we can start with any of the sequence , once we start we
must continue in proper order.
STEP ANGLE
How much movement is associated with a single step, depends on the internal
construction of the motor, in particular of the number of the teeth on the stator and the rotor. The
step angle is minimum degree of rotation associated with a single step. In table notice the term
steps per revolution. This is the total number of the steps needed to rotate one complete rotation
or 360 degrees.
S.NO. STEP ANGLE STEPS PER REVOLUTION

It must be noted that perhaps contrary to one’s initial impression, a stepper motor does not need
more terminal leads for the stator to achieve smaller steps. All the stepper motors discussed in
section have 4 leads for the stator winding and 2 COM wires for the common signal instead of
two; they always have 4 leads for the stators. Next we discuss some associated terminology in
order to understand the stepper motor further.
Steps per second and RPM relation
The relation between rpm, steps per revolution and steps per second is as follows:
Steps per second = (rpm x steps per revolution)/(60)
The four step sequence and number of teeth on the rotor
The switching sequence shown earlier in the table is called the 4 step switching sequence since
after the same two windings will “ON”. How much movement is associated with these four
steps? After completing every 4 steps the rotor moves only when one tooth pitch. Therefore, in a
stepper motor in 200 steps per revolution, the rotor has 50 teeth since 4 x 50 = 200 steps are
needed to complete one revolution. This leads to the conclusion that the minimum step angle is
always a function of the number of teeth on the rotor. In other words, the smaller the step angle,
the more teeth the rotor passes.
One might wonder what happens if we want to move 45 degrees, since the steps are 2 degrees
each. To allow for finer resolutions, all stepper motors allow what is called an 8-step switching
sequence. The 8 step sequence is also called half stepping, since in the 8 step sequence each step
is half of normal step angle. For example, a motor with a 2 degree step angle can be used as a 1
degree step angle if the sequence of table is applied.
HALF STEP 8 STEP SEQUENCE
WINDIN WINDIN WINDIN WINDIN

STEP# G A GB GC GD
1 1 0 0 1
2 1 0 0 0
3 1 1 0 0
4 0 1 0 0
5 0 1 1 0
6 0 0 1 0
7 0 0 1 1
8 0 0 0 1
CONCLUSION
Thus, the operating modes of stepper motor is studied.

Operating Modes of Stepper Motor

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RAJGAD DNYANPEETH TECHNICAL CAMPUS

SHRI CHHATRAPATI SHIVAJIRAJE COLLEGE OF ENGINEERING

DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION

SUBJECT: ELECTRICAL CIRCUITS AND MACHINES CLASS: S.E.

OPERATING MODES OF STEPPER MOTOR

AIM: To study various operating modes of Stepper Motor

S.NO. STEP ANGLE STEPS PER REVOLUTION

Steps per second and RPM relation

Steps per second = (rpm x steps per revolution)/(60)

The four step sequence and number of teeth on the rotor

HALF STEP 8 STEP SEQUENCE

WINDIN WINDIN WINDIN WINDIN

Thus, the operating modes of stepper motor is studied.

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