ST.

JOSEPH COLLEGE OF ENGINEERING AND

TECHNOLOGY

DEPARTMENT: ECEE
BRANCH:EEE
SEMESTER:VI
ACADEMIC YEAR:2020/2021
PRESENTERS: SAMWEL A.MWAKALINGA &
OMARY IDDI MMASA

053EC605
MICROPROCESSOR AND MICROCONTROLLERS
PRESENTATION TOPIC: STEPPER MOTOR INTERFACING
Stepper Motor interfacing with 8051
Microcontroller
What is a Stepper Motor?
• A stepper motor is a device used to obtain an accurate position control of rotating shafts.

• Stepper motors are used to translate electrical pulses into mechanical movements. In some
disk drives, dot matrix printers, and some other different places the stepper motors are
used.

• The main advantage of using the stepper motor is the position control. Stepper motors
generally have a permanent magnet shaft (rotor), and it is surrounded by a stator.

• Normal motor shafts can move freely but the stepper motor shafts move in fixed
repeatable increments
Stepper motor operation

Wave Drive motor operation (Animation) Half Drive motor operation (Waveform)
…Cont.
• It employs rotation of its shaft in terms of steps, rather than continuous
rotation as in case of AC or DC motors. To rotate the shaft of the stepper
motor, a sequence of pulses is needed to be applied to the windings of the
stepper motor, in a proper sequence.

• The number of pulses required for one complete rotation of the shaft of the
stepper motor is equal to its number of internal teeth on its rotor. The stator
teeth and the rotor teeth lock with each other to fix a position of the shaft.
Some parameters of stepper motors
• Step Angle − The step angle is the angle in which the rotor moves when one
pulse is applied as an input of the stator. This parameter is used to determine the
positioning of a stepper motor.
• Steps per Revolution − This is the number of step angles required for a complete
𝑆𝑡𝑒𝑝𝑠 360°
revolution. So the formula is =
𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛 𝑆𝑡𝑒𝑝 𝑎𝑛𝑔𝑙𝑒

• Steps per Second − This parameter is used to measure a number of steps covered
in each second.
• RPM − The RPM is the Revolution Per Minute. It measures the frequency of
rotation. By this parameter, we can measure the number of rotations in one minute.
• The relation between RPM, steps per revolution, and steps per second is like
below;

• With a pulse applied to the winding input, the rotor rotates by one teeth
position or an angle X. The angle X may be calculated as;
360°
𝑋=
𝑁𝑜. 𝑜𝑓 𝑟𝑜𝑡𝑜𝑟 𝑡𝑒𝑒𝑡ℎ

• After the rotation of the shaft through angle X, the rotor locks itself with
the next tooth in the sequence on the internal surface of stator.

.
Stepper motor Schematic
• The internal schematic of a typical stepper motor with four windings is shown in
fig.1.
 Bipolar vs. Unipolar stepper motor
BIPOLAR STEPPER MOTOR
• No center tap wire between full coils
of the windings.
• Can not be converted into Unipolar.
• Have to use a complex H bridge
circuitry to control the stepper motor.
• Produces higher torque as current will
flow through the full coil.
UNIPOLAR STEPPER MOTOR
• Has a center tap wire, which splits the
full coils of the windings in half.
• Can be converted into BIPOLAR
• Only a simple driver like ULN2003A
will do the task satisfactorily.
• The torque generated by them is quite
less. This is because the current is
flowing only through half the winding.
Operation of Unipolar Stepper Motor

• The stepper motors have been designed to

work with digital circuits. The sequence of
the pulses can be decided, depending upon
the required motion of the motor.

• Stepper Motors operate in 3 modes

• Wave drive mode
• Half drive mode
• Full drive mode
WAVE DRIVE MODE
• One coil is energized at a time.
• So all four coils are energized one after another.
• This mode produces less torque than full step drive mode.
Full Drive Mode
• In this mode, two coils are energized at the same time.
• This mode produces more torque.
• Here the power consumption is also high.
Half Drive Mode
• In this mode, one and two coils are energized alternately.
• At first, one coil is energized then two coils are energized.
• This is basically a combination of wave and full drive mode.
• It increases the angular rotation of the motor
…Cont.
Steps for interfacing with 8051
• Use an ohmmeter to measure the resistance of the leads. This should
identify which are the COM leads are connected to which winding
leads.
• The common wire(s) are connected to the positive side of the motor's
power supply. In many motors, +5 V is sufficient.
• The four leads of the stator winding are controlled by four bits of the
8051 port (e.g. P2.0- P2.3). However, since the 8051 lacks sufficient
current to drive the stepper motor windings, we must use a driver such
as the ULN2003 to energize the stator Instead.
Interfacing diagram
Circuit diagram
CODING (IN ASSEMBLY) - CLOCKWISE
CODING (IN ASSEMBLY) – ANTI
CLOCKWISE
Applications of stepper motors
• Used in Dot Matrix Printer.
• Used in tape drives, floppy disc drives, printers, and electric watches.
• Metal cutting & Metal forming machines.
• Used in textile industries.
• Used in integrated circuits fabrications.
THANK YOU