control of stepper motor

[sanjivee]

On this page, I will explain about the operation principle of stepper motor.
There are many kind of stepper motors. Unipolar type, Bipolar type, Single-phase type, Multi-phase type... Single-phase stepper motor is often used for quartz watch.
On this page, I will explain the operation principle of the 2-phase unipolar PM type stepper motor.

In the PM type stepper motor, a permanent magnet is used for rotor and coils are put on stator. The stepper motor model which has 4-poles is shown in the figure on the left. In case of this motor, step angle of the rotor is 90 degrees.

As for four poles, the top and the bottom and either side are a pair. coil, coil and coil, coil correspond respectively. For example, coil and coil are put to the upper and lower pole. coil and coil are rolled up for the direction of the pole to become opposite when applying an electric current to the coil and applying an electric current to the coil. It is similar about and , too.
The turn of the motor is controlled by the electric current which pours into , , and . The rotor rotational speed and the direction of the turn can be controlled by this control.



Clockwise control
, , and are controlled in the following order.
Step angle
0 1 0 1 0°
1 0 0 1 90°
1 0 1 0 180°
0 1 1 0 270°

"0" means grounding.



Counterclockwise control
, , and are controlled in the following order.
Step angle
0 1 0 1 0°
0 1 1 0 -90°
1 0 1 0 -180°
1 0 0 1 -270°

"0" means grounding.

You can find by the figure, the rotor is stable in the middle of 2 poles of stator. When one side of the stator polarity is changed, the bounce by the magnetism occurs. As a result, the direction of rotor's turn is fixed.

The characteristic of stepper motor is the angle can be correctly controlled and to be stable rotates ( It is due to the reliability of the control signal ). Moreover, because the rotor is fixed by the magnetism in the stationary condition as shown in the principle, the stationary power(Stationary torque) is large. It suits the use to make stop at some angle.

--------------------------------------------------------------------------------

The motor which was used this time is 48 steps and the step angle is 7.5 degrees.
The way of controlling is the same as the previous example completely. It operates when controlling the electric current of coil, coil, coil and coil.


The case of the clockwise control is shown below.
The combination of , , and repeats four patterns.
Step angle
0 1 0 1 0.0°
1 0 0 1 7.5°
1 0 1 0 15.0°
0 1 1 0 22.5°
0 1 0 1 30.0°
1 0 0 1 37.5°
1 0 1 0 45.0°
0 1 1 0 52.5°
0 1 0 1 60.0°
1 0 0 1 67.5°
1 0 1 0 75.0°
0 1 1 0 82.5°
0 1 0 1 90.0°
1 0 0 1 97.5°
1 0 1 0 105.0°
0 1 1 0 112.5°
0 1 0 1 120.0°
1 0 0 1 127.5°
1 0 1 0 135.0°
0 1 1 0 142.5°
0 1 0 1 150.0°
1 0 0 1 157.5°
1 0 1 0 165.0°
0 1 1 0 172.5°
Step angle
0 1 0 1 180.0°
1 0 0 1 187.5°
1 0 1 0 195.0°
0 1 1 0 202.5°
0 1 0 1 210.0°
1 0 0 1 217.5°
1 0 1 0 225.0°
0 1 1 0 232.5°
0 1 0 1 240.0°
1 0 0 1 247.5°
1 0 1 0 255.0°
0 1 1 0 262.5°
0 1 0 1 270.0°
1 0 0 1 277.5°
1 0 1 0 285.0°
0 1 1 0 292.5°
0 1 0 1 300.0°
1 0 0 1 307.5°
1 0 1 0 315.0°
0 1 1 0 322.5°
0 1 0 1 330.0°
1 0 0 1 337.5°
1 0 1 0 345.0°
0 1 1 0 352.5°


Circuit drawing of Stepper Motor controller


--------------------------------------------------------------------------------

Pattern drawing of Stepper Motor controller
(Wiring side)

 

[tkvenki]

Good work sanjeevi

 

[geezergeek]

Stepper Motor controller

I don't see any image or file to download where you indicate the schematic is supposed to be. Am I doing something wrong? Please advise, TIA. Joe

 

[elcopart]

Stepp Motor Driver.

 

[xplus]

Good work

think you

 

[bibinjohn]

Here are some links for controlling stepper motor using AVR microcontroller

**broken link removed**
**broken link removed**

 

[florin]

Stepper

This design implements a simple stepper motor controller using a PIC16F84.

The two buttons cause the motor to rotate clockwise or anticlockwise
using a standard two-coil drive pattern.

The ULN2003A darlington driver provides the interface between the low
current PIC outputs and the stepper motor coils.
**broken link removed**

 LIST    p=16F84 ; PIC16F844 is the target processor

              #include "P16F84.INC" ; Include header file

              CBLOCK 0x10   ; Temporary storage                 
                 pos
                 dc1
                 dc2
              ENDC
              LIST    p=16F84 ; PIC16F844 is the target processor

              #include "P16F84.INC" ; Include header file

              CBLOCK 0x10   ; Temporary storage
              ENDC

              ORG   0
entrypoint    goto  start

              ORG   4
intvector     goto  intvector
        
start         clrw                    ; Zero.

              movwf   PORTB           ; Ensure PORTB is zero before we enable it.
              bsf     STATUS,RP0      ; Select Bank 1
              movlw   0xF0            ; Set port B bits 0-3 as outputs
              movwf   TRISB           ; Set TRISB register.           
                                                               
              bcf     STATUS,RP0      ; Select Bank 0
                 
              movlw   3  	      ; Initialize the motor position 
              movwf   pos                                             
              movwf   PORTB
              call    delay
              clrf    PORTB	      ; Motor drive off	

;Main loop               
loop	      btfss   PORTA,0         ; Test clockwise button
	      call    stepcw
	      btfss   PORTA,1         ; Test anti-clockwise button
	      call    stepccw
	      goto loop
                               
;Rotate one step clockwise                               
stepcw        bcf    STATUS,C	      ; Clear the carry flag
 	      btfsc  pos,3            ; Set carry if this bit set
 	      bsf    STATUS,C
	      rlf    pos,W	      ; Pick up and rotate the motor's current position
              andlw  0x0F             ; Mask to lower nibble
              movwf  pos
              movwf  PORTB	      ; Drive the outputs
              call   delay	      ; Wait
              clrf   PORTB            ; Clear the output
              return

;Rotate one step counter clockwise                                                                             		
stepccw       bcf    STATUS,C	      ; Clear the carry flag
	      btfsc  pos,0
	      bsf    pos,4
	      rrf    pos,W	      ; Pick up and rotate the motor's current position
              andlw  0x0F             ; Mask to lower nibble
              movwf  pos
              movwf  PORTB	      ; Drive the outputs
              call   delay	      ; Wait
              clrf   PORTB            ; Clear the output
              return

; This routine implements the delay between steps,
; and thus controls the motor speed.
delay         movlw   18	     ; Outer loop iteration count
	      movwf   dc1		
dl1	      clrf    dc2            ; Initialize inner loop
dl2	      nop
	      nop
	      decfsz  dc2,F         
	      goto    dl2
	      decfsz  dc1,F
	      goto    dl1
	      return

	      END

 

[chamilrohana]

But i cannot see the diagrams

Operation principle of stepper motor

On this page, I will explain about the operation principle of stepper motor.
There are many kind of stepper motors. Unipolar type, Bipolar type, Single-phase type, Multi-phase type... Single-phase stepper motor is often used for quartz watch.
On this page, I will explain the operation principle of the 2-phase unipolar PM type stepper motor.

In the PM type stepper motor, a permanent magnet is used for rotor and coils are put on stator. The stepper motor model which has 4-poles is shown in the figure on the left. In case of this motor, step angle of the rotor is 90 degrees.

As for four poles, the top and the bottom and either side are a pair. coil, coil and coil, coil correspond respectively. For example, coil and coil are put to the upper and lower pole. coil and coil are rolled up for the direction of the pole to become opposite when applying an electric current to the coil and applying an electric current to the coil. It is similar about and , too.
The turn of the motor is controlled by the electric current which pours into , , and . The rotor rotational speed and the direction of the turn can be controlled by this control.



Clockwise control
, , and are controlled in the following order.
Step angle
0 1 0 1 0°
1 0 0 1 90°
1 0 1 0 180°
0 1 1 0 270°

"0" means grounding.



Counterclockwise control
, , and are controlled in the following order.
Step angle
0 1 0 1 0°
0 1 1 0 -90°
1 0 1 0 -180°
1 0 0 1 -270°

"0" means grounding.

You can find by the figure, the rotor is stable in the middle of 2 poles of stator. When one side of the stator polarity is changed, the bounce by the magnetism occurs. As a result, the direction of rotor's turn is fixed.

The characteristic of stepper motor is the angle can be correctly controlled and to be stable rotates ( It is due to the reliability of the control signal ). Moreover, because the rotor is fixed by the magnetism in the stationary condition as shown in the principle, the stationary power(Stationary torque) is large. It suits the use to make stop at some angle.

--------------------------------------------------------------------------------

The motor which was used this time is 48 steps and the step angle is 7.5 degrees.
The way of controlling is the same as the previous example completely. It operates when controlling the electric current of coil, coil, coil and coil.


The case of the clockwise control is shown below.
The combination of , , and repeats four patterns.
Step angle
0 1 0 1 0.0°
1 0 0 1 7.5°
1 0 1 0 15.0°
0 1 1 0 22.5°
0 1 0 1 30.0°
1 0 0 1 37.5°
1 0 1 0 45.0°
0 1 1 0 52.5°
0 1 0 1 60.0°
1 0 0 1 67.5°
1 0 1 0 75.0°
0 1 1 0 82.5°
0 1 0 1 90.0°
1 0 0 1 97.5°
1 0 1 0 105.0°
0 1 1 0 112.5°
0 1 0 1 120.0°
1 0 0 1 127.5°
1 0 1 0 135.0°
0 1 1 0 142.5°
0 1 0 1 150.0°
1 0 0 1 157.5°
1 0 1 0 165.0°
0 1 1 0 172.5°
Step angle
0 1 0 1 180.0°
1 0 0 1 187.5°
1 0 1 0 195.0°
0 1 1 0 202.5°
0 1 0 1 210.0°
1 0 0 1 217.5°
1 0 1 0 225.0°
0 1 1 0 232.5°
0 1 0 1 240.0°
1 0 0 1 247.5°
1 0 1 0 255.0°
0 1 1 0 262.5°
0 1 0 1 270.0°
1 0 0 1 277.5°
1 0 1 0 285.0°
0 1 1 0 292.5°
0 1 0 1 300.0°
1 0 0 1 307.5°
1 0 1 0 315.0°
0 1 1 0 322.5°
0 1 0 1 330.0°
1 0 0 1 337.5°
1 0 1 0 345.0°
0 1 1 0 352.5°


Circuit drawing of Stepper Motor controller


--------------------------------------------------------------------------------

Pattern drawing of Stepper Motor controller
(Wiring side)

 

[harshpix]

Circuit drawing of Stepper Motor controller


--------------------------------------------------------------------------------

Pattern drawing of Stepper Motor controller
(Wiring side)

Where r all those schematics, u mentioned?

आपने "Circuit drawing of Stepper Motor controller" लिखा तो है पर circuit diagram कहाँ है?

 

[manwani]

good work and very nice project that ever i see

 

[Vortex_]

Hi people

I am hardly looking for stepper motor control tuttorial for pic 16 f62x.

Glaad for help

 

[akg]

Hi people

I am hardly looking for stepper motor control tuttorial for pic 16 f62x.

Glaad for help

have u looked at www.winpicprog.co.uk tutorials

 

[HiTech]

Hi people

I am hardly looking for stepper motor control tuttorial for pic 16 f62x.

Glaad for help

Now, how in the world does one come up with a useful answer to that question, huh?
Why should I look hard when he's hardly looked for it himself!

 

[Meesam]

Anybody please tell me how to identify the cables of a stepper motor. I mean which will be connected to which pin of which port of MCU. Also please help me how to connect some toy tires to the motor. I am not looking for a rover like thing but want to actually test whether a motor can be really tested for speed and direction. I'll be thankful for that.

 

[goblin_techies]

good day dudes!

im sorry for spamming your thread....

im kinda new here...
we have a project (interfacing stepper motor unto computer (PC)) by using the programming language turbo-c....anyone pls help me
or pls send me some links

 

[Hero999]

Perhapps actually tryng to read and understand the above thread might give you a clue rather than spamming it.

 

[aoamb83]

driving a stepper motor using microcontroller is very easy. most steppers have 5 wires as an input . from this wires u can drive the motor by applying a combination of 1s and 0s (+5v , 0v) but u must connect the last wire with vcc, what u have to do is to write a code on PIC or AVR or whatever to give you the sequence of 4 bit combination (0110 foe example) according to the sequences that sanjivee mentioned then take the o/p of the micro controller to a ULN2003A
this IC gives u the ground to deal with stepper internal coils
if the notch of the IC on left side so pin 1,2,3,4,5 acts as i/p pin 6 should connect to ground and ur output will be the pins upper side
for example if ur i/p was on the 1st pin in the IC so ur o/p is @ pin number 12
the pin infront of the input pin on the upper side

 

[Meesam]

I have a stepper motor with 4-wires. I have also bought an IC ULN2803. Now i want to control this motor via AT89C52 MCU. Anybody can please guide me through about the circuit and its some details. I'll program the whole thing myself but I want to know that initially how will i have to start and how the hardware components will be interfacing to eachother.
I'll warmly welcome anybody's response.

 

[Sceadwian]

The ULN2803 is a darlington array. Your motor only has 4 wires which means it's a bipolar stepper motor. You need h-bridge drivers on each line. Only unipolar steppers can be driven directly from a basic transistor driver.

 

[theinfamousbob]

Anybody please tell me how to identify the cables of a stepper motor. I mean which will be connected to which pin of which port of MCU. Also please help me how to connect some toy tires to the motor. I am not looking for a rover like thing but want to actually test whether a motor can be really tested for speed and direction. I'll be thankful for that.

Use a multimeter to test...

A bipolar stepper will have two coils, four wires...check which pairs are connected by using the resistance feature

0---&&&&&&&&---0 Coil 1

0---&&&&&&&&---0 Coil 2


A unipolar motor will have five, or six wires (maybe more). To drive it, you drive each wire in series...

0​

|​

|​

0---&&&&&&&&---0 Coil 1

0---&&&&&&&&---0 Coil 2

|​

|​

0​

(Note: in five wire motors the center taps are connected)


Hope this helps.