Types of motors

• Stepper motors
• Servo motors
• Hybrid motors

Stepper motor:

Definition:
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's position
can then be commanded to move and hold at one of these steps without
any feedback sensor (an open- loop controller), as long as the motor is
carefully sized to the application.
Switched reluctance motors are very large stepping motors with a reduced
pole count, and generally are closed- loop commutated.
Fundamentals of operation:

DC brushed motors rotate continuously when voltage is applied to

their terminals. The stepper motor is known by its important property to
convert a train of input pulses (typically square wave pulses) into a precisely
defined increment in the shaft position. Each pulse moves the
shaft through a fixed angle. Stepper motors effectively have multiple
"toothed" electromagnets arranged around a central gear-shaped piece of
iron. The electromagnets are energized by an external control circuit, such
a microcontroller. To make the motor shaft turn, first, one
electromagnet is given power, which magnetically attracts the gear's
teeth. When the gear's teeth are aligned to the first electromagnet, they are
slightly offset from the next electromagnet. This means that when the next
electromagnet is turned on and the first is turned off, the gear rotates
slightly to align with the next one. From there the process is repeated
Each of those rotations is called a " step", with an integer number of steps
making a full rotation. In that way, the motor can be turned by a precise angle.
Two-phase stepper motor
There are two basic winding arrangements for the electromagnet coils in
a two phase stepper motor:

• Bipolar.
• Unipolar.

Stepper motor Standards

We can depart stepper motor standards to:
• Size Standards
• Color code standards

Stepper motor size Standards

The stepper motors are delivered in many size standards such as " nema
17-nema 23 - nema 34 - nema 42 " & some rare sizes like nema 14-
nema 24... etc
 ➢ Nema 17 size

Note: suitable for 3d printers & small size plotters

➢ Nema 23 size

Note: Suitable for small scale routers, Laser cutting machines & PCB
mills
 ➢ Nema 34 size

Note: Suitable for large scale routers, plasma cutting machines

➢ Nema 42 size

Note: Suitable for large applications

Stepper motor color code Standards

For each size standard one or more color code standard
Wires based color code
Manual Color code definition
Occasionally you may come across an old stepper motor salvaged
from a printer, or an ancient floppy drive. If you are lucky, there will be a
part number on the motor and after some digging around you will come
up with a datasheet from internet by search with it's number

Servo motor:

Definition:
A servomotor is a rotary actuator or linear actuator that allows for precise
control of angular or linear position, velocity and acceleration. It consists of
a suitable motor coupled to a sensor for position feedback. It also requires
a relatively sophisticated controller, often a dedicated module designed
specifically for use with servomotors

Mechanism:
A servomotor is a closed-loop servomechanism that uses position feedback to
control its motion and final position. The input to its control is a signal
(either analogue or digital) representing the position commanded for the
output shaft.
The motor is paired with some type of position encoder to provide position
and speed feedback. In the simplest case, only the position is measured.
The measured position of the output is compared to the command position,
the external input to the controller. If the output position differs from that
required, an error signal is generated which then causes the motor to rotate
in either direction, as needed to bring the output shaft to the appropriate
position. As the positions approach, the error signal reduces to zero and
the motor stops.

What Is the Difference Between a Stepper Motor

and Servo Motor?

• Stability

If stability is a requirement, you will want to gravitate towards stepper motors.

• Torque

You can usually get roughly the same torque from a stepper motor as from a servo motor.
You will generally get higher performance from a servo.

• Size

Stepper motors and servo motors are available in similar sizes. Consider, however, that
the length of the motor is a factor in torque value and inertia value, so a motor of greater
length may offer different performance even if it is roughly the same overall size as another
motor.

• Speed

if speed is the priority, you need servo motors.

• Micro-Stepping

Micro-stepping involves increasing the resolution of the motor by dividing the current
between the two poles to provide half-steps when a motor offers fewer steps than you need.
The name might suggest that a stepper motor is optimal for such a procedure, but servo
 motors are preferable, as this process results in a considerable reduction of torque in a
stepper motor.

• Feedback

the stepper motor doesn't have feedback, but servo motor have feedback, as it have encoder
inside it

• Cost

the servo motor is more expensive than the stepper motor

• Programming

stepper motor is easy to program than servo motor

hybrid motor : is just a stepper motor with an encoder

Note: resolution of motor 1.8 mean that it needs 200 pulses for
complete one revolution
What IS an encoder?
An encoder is a sensing device that provides feedback. Encoders

convert motion to an electrical signal that can be read by some

type of control device in a motion control system, such as a
counter or PLC. The encoder sends a feedback signal that can be
used to determine position, count, speed, or direction. A control
device can use this information to send a command for a
particular function.

Types of encoders:
1. optical rotary encoder
 2. magnetic rotary
encoder

3. linear encoder

Motor Drivers

Motor driver : uses a large chip which are able to handle larger
amounts of current and higher voltages than the standard
5V/3.3V from a microcontroller pin. They allow you to control a
much larger load, from a small signal.
Types of motor drivers:

• used for 3D printer

• used for CNC routers but not

practical
 • used for CNC router and industrial

Setting of motor driver:

• Microstep is repesented by sw1,sw2 and sw3 and we can choose what the
option we need from the datasheet on the driver.
• sw4 is set on the option half step for the smoothest motion.
• current rate is represented by sw5,sw6,sw7 and sw8 and we set it on the
option we need from the datasheet on the driver too.

Breakout Boards

Breakout boards are a common electrical components that take a bundled cable and
breaks out each conductor to a terminal that can easily accept a hook-up wire for
distribution to another device. They are a common item in electronic projects and
enable easy, clean installation of electronic devices.

The breakout board is positioned between your computer or indexer and the motor
drivers and serves two purposes in the CNC control system: circuit protection and
signal distribution
 Limit switch
A limit switch is an electromechanical device that consists

of an actuator mechanically linked to a set of contacts.

When an object comes into contact with the actuator, the

device operates the contacts to make or break an

electrical connection.

Types of limit switches

Electronic proximity magnetic proximity optical proximity

 Mechanical

• optical proximity is used in automation

• the magnetic and electronic is used for CNC routers
• the mechanical limit switch is less efficient than the proximity limit switch
• life of the proximity limit switch is more than the mechanical limit switch

power supply
• A power supply is an electrical device that supplies electric power to an electrical
load. The primary function of a power supply is to convert electric current from a
source to the correct voltage, current, and frequency to power the load.
• Other functions that power supplies may perform include limiting the current
drawn by the load to safe levels, shutting off the current in the event of an
electrical fault, power conditioning to prevent electronic noise or voltage surges
on the input from reaching the load, power-factor correction, and storing energy
so it can continue to power the load in the event of a temporary interruption in
the source power.
Electronic Data Sheet