ARBAMINCH UNIVERSITY

FACALITY OF ELECTRICAL AND COMPUTER

ENGINEERING

INTERFACE AND MICRO COMPUTER PROGECT

STEPER MOTOR

Section G4 communication stream

Group members ID

1.Binyam Gulilat --------------------------------295/10

2.Ephrem Daniel-------------------------------480/10

3.Teju Tarekegm -------------------------------1285/10

4.Endalkachew Shimels----------------------471/10

5.Admasu Yetera-------------------------------T/0013/12

6.tewachew Genene-------------------------1332/10

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Table of Contents

1 objective
2 introduction
3 definition of stepper motor
4 types of steper motor
5 Advantage and Disadvantage
6 Aplication
7 Conclusion

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1.OBJECTIVE

Drive stepper motor interface to rotate the motor in clock wise direction and anti clock wise by
N step.

2.INTRODUCTION

A stepper motor is basically an electromechanical device which converts electrical pulses into
discrete mechanical movements.

 The shaft or spindle of a stepper motor rotates in discrete step increments when
electrical command pulses are applied to it in the proper sequence.
A stepper motor is a brushless, synchronous electric motor that converts digital pulses into
mechanical shaft rotation. Every revolution of the stepper motor is divided into a discrete
number of steps, in many cases 200 steps, and the motor must be sent a separate pulse for
each step. Stepper motor is a special type of electric motor that moves in
precisely defined increments of rotor position (Steps). The size of the increment is measured in
degrees and can vary depending on the application. A Stepper Motor just like any other motor,
converts electrical energy into mechanical energy. A stepper motor consists of the following
parts: These are stator and rotor

Stator:-

The stationary part of the motor. In a stepper motor, the stator is a set of
electromagnets.
Rotor:-
The non-stationary part of the motor. In a stepper motor, the rotor is a
permanent magnet.

3.DEFFINITION

What is a stepper motor?

As the name implies, the stepper motor moves in distinct steps during its rotation. Each of
these steps is defined by a Step Angle. Since this motor does move in a discreet fashion, we can

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say that a stepper motor is actually a digital motor. This characteristic makes it very suitable for
digital interfaces such as a microcontroller.

Stepper motors are DC motors that move in discrete steps. They have multiple coils that
are organized in groups called "phases". By energizing each phase in sequence, the motor
will rotate, one step at a time. With a computer controlled stepping you can achieve very
precise positioning and/or speed control. For this reason, stepper motors are the motor of
choice for many precision motion control applications. Stepper motors come in many
different sizes and styles and electrical characteristics. This guide details what you need to
know to pick the right motor for the job

A stepper motor is an electromechanical device it converts electrical power into mechanical

power. Also it is a brushless, synchronous electric motor that can divide a full rotation into an
expansive number of steps. The motor’s position can be controlled accurately without any
feedback mechanism, as long as the motor is carefully sized to the application. Stepper motors
are similar to switched reluctance motors. The stepper motor uses the theory of operation for
magnets to make the motor shaft turn a precise distance when a pulse of electricity is provided.
The stator has eight poles, and the rotor has six poles. The rotor will require 24 pulses of
electricity to move the 24 steps to make one complete revolution. Another way to say this is
that the rotor will move precisely 15° for each pulse of electricity that the motor receives
Stepper motors have multiple arranged coils and they are usually known as phases. Motor will
rotate one step at a time if we energize each phase sequence. High levels of precision can be
achieved by controlling the stepper motor with computer. Steppers motors are available in the
market in many different sizes. The speed of the stepper motor is controlled by frequency of
pulses generated. They have wide range of applications like hard disk drives, robotics, telescope,
antenna, toys etc

clockwise Rotation

 Unipolar stepper motor having 5 leads is used:

 4 leads representing the four stator windings and one for centered-tapped leads.
 As the sequence of power is applied to each stator winding the rotor will rotate.
 There are several widely used sequences where each has different degree of precision.

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Anticlockwise rotation

 To run motor in the counterclockwise direction it is not swap around two phases at any
point.
 This would produce the same relationship as described above .
 In order to keep the transient current surge from star to delta.

Step Sequence

 Stepper motors can be driven in two different patterns

or sequences :
• Full Step Sequence;

• Half Step Sequence.

Full Step Sequence

In the full step sequence, two coils are energized at the

same time and motor shaft rotates.

step angle = 90
No of step = 4
Table 1
Full step sequences

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Half Step Sequence

 In Half Step Sequence motor, step angle reduces to half the angle in full mode.
 step angle = 45
 No of step = 8
 So the angular resolution is also increased i.e. it becomes double angular resolution in
full mode.

Half mode is usually preferred over full mode.

The sequence given in table 2 is called 8 step switching sequence

Table 2:
Half step sequence

Table 2
Half step sequences

Step Angle step angle of the stepper motor is defined as the angle traversed by the motor in
one step.
 It is the minimum degree of rotation associated with a single step.
 To calculate step angle, simply divide 360 by number of steps a motor takes to
complete one revolution.
 for instance step angle for stepper motor in full mode is:
Step Angle ø = 360° / 4 = 90°

Implementation

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  Microcontroller (AT89c51) based circuit which can control all

the functions of stepper motor.

 Crystal oscillator of frequency 11.0592 MHz is used to

produce clock frequency for the microcontroller.

 However, the 89c51 lacks sufficient current to drive the stepper motor windings,
 so driver ULN2003 (U3) is used to energize the stator Instead of ULN 2003 transistors
can also be used.
 The 89c51 has two pins that are used specifically
 for transferring and receiving data serially.
 These pins are called TxD and RxD and are part of Port 3 (P3.0 and P3.1)

4.Types of Stepper Motor:

There are three main types of stepper motors, they are

 Permanent magnet stepper

 Hybrid synchronous stepper

 Variable reluctance stepper
Permanent Magnet Stepper
Permanent magnet motors use a permanent magnet (PM) in the rotor and operate on
the attraction or repulsion between the rotor PM and the stator electromagnets. A
stepper motor using a permanent magnet in the rotor is called a PMSM. The rotor no
longer has teeth as with the VRM. Instead the rotor is magnetized with alternating north
and south poles situated in a straight line parallel to the rotor shaft.

These magnetized rotor poles provide an increased magnetic flux intensity and,
because of this the PM motor exhibits improved torque characteristics when compared
with the VRM type.

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 An elementary PM motor is which employs a cylindrical permanent magnet as the rotor
and possesses four poles in its stator Two overlapping windings are wound as one
winding and these two windings are separated from each other at terminals to keep
them as independent windings.

Variable Reluctance Stepper Motor:-

 Variable reluctance (VR) motors have a plain iron rotor and operate based on the principle
that minimum reluctance occurs with minimum gap, hence the rotor points are attracted
toward the stator magnet poles.

It consists of a soft iron multi-toothed rotor and a wound stator. When the stator windings
are energized with DC current, the poles become magnetized. Rotation occurs when the
rotor teeth are attracted to the energized stator poles. Both the stator and rotor materials
must have high permeability and be capable of allowing high magnetic flux to pass through
even if a low magneto motive force is applied. When the rotor teeth are directly lined up
with the stator poles, the rotor is in a position of minimum reluctance to the magnetic flux.

Hybrid Synchronous Stepper Motor:-

 Hybrid stepper motors are named because they use a combination of permanent magnet
(PM) and variable reluctance (VR) techniques to achieve maximum power in a small package
size.

The term hybrid is derived from the fact that motor is operated with the combined
principles of the permanent magnet and variable reluctance motors in order to achieve
small step motto is operated with length and high torque in spite of motor size. Standard
HSM have 50 rotor teeth and rotate at 1.8 degree per step.

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 The windings are placed on the stator poles and a PM is mounted on the rotor. The
important feature of the HSM is its rotor structure. A cylindrical or disk-shaped magnet lies
in the rotor core. Stator and rotor end-caps are toothed

5.Advantage and disadvantage of Stepper Motor:-

Stepper disadvantage

1. The rotation angle of the motor is proportional to the input pulse.

2. The motor has full torque at standstill.
3. Precise positioning and repeatability of movement since good stepper motors have an
accuracy of 3 – 5% of a step and this error is non cumulative from one step to the next.
4. Excellent response to starting, stopping and reversing.
5. Very reliable since there are no contact brushes in the motor. Therefore the life of the
motor is simply dependent on the life of the bearing.
6. The motors response to digital input pulses provides open-loop control, making the
motor simpler and less costly to control.
7. It is possible to achieve very low speed synchronous rotation with a load that is directly
coupled to the shaft.
8. A wide range of rotational speeds can be realized as the speed is proportional to the
frequency of the input pulses

Stepper Disadvantages:-

1. Low efficiency. Motor draws substantial power regardless of load.

2. Torque drops rapidly with speed (torque is the inverse of speed).

3. Low accuracy. 1:200 at full load, 1:2000 at light loads.

4. Prone to resonances. Requires micro stepping to move smoothly.

5. No feedback to indicate missed steps.

6. Low torque to inertia ratio. Cannot accelerate loads very rapidly.

7. Motor gets very hot in high performance configurations.

8. Motor will not "pick up" after momentary overload.

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 9. Motor is audibly very noisy at moderate to high speeds

6. Applications

Industrial Machines: – Stepper motors are used in automotive gauges and machine tooling
automated production equipments.

Security: – new surveillance products for the security industry.

Medical: – Stepper motors are used inside medical scanners, samplers, and also found inside
digital dental photography, fluid pumps, respirators and blood analysis machinery.
Consumer Electronics: – Stepper motors in cameras for automatic digital camera focus and
zoom functions.

APPENDIX

Rotation Source code for stepper motor clock wise and anti-clock wise full

ORG 00H ; set the location of counter to 00H

MAIN: MOV A, #09H ;step 0 FULL STEP INITIAL SEQUENCE NUMBER LOADED
INTO ACC

MOV P2,A ;NUMBER OUTPUTTED TO PORT OF STEPPER MOTOR

ACALL DELAY ;DELAY TIME SUBROUTINE CALLED

MOV A, #0cH ;step 1 FULL STEP SECOND SEQUENCE NUMBER LOADED INTO
ACC

MOV P2,A ;NUMBER OUTPUTTED TO PORT OF STEPPER MOTOR

ACALL DELAY ;DELAY TIME SUBROUTINE CALLED

MOV A, #06H ;step 2 FULL STEP THIRD SEQUENCE NUMBER LOADED INTO
ACC

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MOV P2, A ;NUMBER OUTPUTTED TO PORT OF STEPPER MOTOR

ACALL DELAY ;DELAY TIME SUBROUTINE CALLED

MOV A, #03H ;step 3 FULL STEP FOURTH SEQUENCE NUMBER LOADED INTO
ACC

MOV P2, A ;NUMBER OUTPUTTED TO PORT OF STEPPER MOTOR

ACALL DELAY ;DELAY TIME SUBROUTINE CALLED

SJMP MAIN

DELAY: MOV R3,#02H ; INITIALIZE THE DELAY TIME

UP2: MOV R2,#0FFH

UP1: MOV R1,#0FFH

Here: DJNZ R1,Here

DJNZ R2, UP1

DJNZ R3,UP2

ret

end

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 7. Conclusion

Generally in our project we try to explain about stepper motor , its principle of operation and
finally we generate an assembly language program to rotate stepper motor in a clock wise and in
anti clock wise direction.

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