10

Electronics
Quarter 4 – Module 2:
Stepper and Servo Motors

DIVISION OF ANGELES CITY

Electronics – Grade 10
Alternative Delivery Mode
Quarter 4 – Module 2: Stepper and Servo Motors
First Edition, 2021

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Published by the Department of Education

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Editors: Marjorie D. Lacson, Nerissa N. Valdez, Eliza M. Roque
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Layout Artist: Lithos F. Sto. Domingo
Management Team: May B. Eclar PhD, CESO V
Rhoda T. Razon EdD, CESO V
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Ma. Editha R. Caparas EdD
Emily F. Sarmiento PhD
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Rochella C. David

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Telephone: (045) 322-5722; 322-4702 888-0582; 887-6099
E-mail Address: angeles.city@deped.gov.ph
 10

Electronics
Quarter 4 – Module 2:
Stepper and Servo Motors
Introductory Message
This Self-Learning Module (SLM) is prepared so that you, our dear learners,
can continue your studies and learn while at home. Activities, questions, directions,
exercises, and discussions are carefully stated for you to understand each lesson.

Each SLM is composed of different parts. Each part shall guide you step-by-
step as you discover and understand the lesson prepared for you.

Pre-tests are provided to measure your prior knowledge on lessons in each

SLM. This will tell you if you need to proceed on completing this module or if you
need to ask your facilitator or your teacher’s assistance for better understanding of
the lesson. At the end of each module, you need to answer the post-test to self-check
your learning. Answer keys are provided for each activity and test. We trust that you
will be honest in using these.

In addition to the material in the main text, Notes to the Teacher are also
provided to our facilitators and parents for strategies and reminders on how they can
best help you on your home-based learning.

Please use this module with care. Do not put unnecessary marks on any part
of this SLM. Use a separate sheet of paper in answering the exercises and tests. And
read the instructions carefully before performing each task.

If you have any questions in using this SLM or any difficulty in answering the
tasks in this module, do not hesitate to consult your teacher or facilitator.

Thank you.
 What I Need to Know

This module was designed and written with you in mind. It is here to help you
master Stepper and Servo Motors. The scope of this module permits it to be used
in many different learning situations. The language used recognizes the diverse
vocabulary level of students. The lessons are arranged to follow the standard
sequence of the course. But the order in which you read them can be changed to
correspond with the textbook you are now using.

The module will cover the lesson:

● Lesson 1 – Stepper and Servo Motors

After going through this module, you are expected to:

1. Describe the kind of motors to be used in constructing the robot.
• Stepper motor
• Servo motor

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 What I Know

Directions: Read each question carefully. Choose the letter of the correct answer.
1. Which of the following devices are powered by the motion of alternating currents
to create rational motion and positioning?
a. Electro-motors c. Servo motors
b. Magnetic motors d. Stepper motor
2. Which of the following is NOT a characteristic of stepper motors?
a. High cost c. High reliability
b. High precision d. High torque
3. Which of the following machines uses a stepper motor?
a. DVD player c. Microwave
b. Electric fan d. Vacuum cleaner
4. Which of the following motors is best described as powerful, accurate, small,
easily programmable, and precise redundant motion?
a. Electro-motors c. Servo motors
b. Magnetic motors d. Stepper motors
5. What mechanism of the servomotor is comprised of a controller, motor amplifier,
and sensor?
a. automatic c. low risk
b. feedback d. pneumatic
6. What motors have the characteristics of being low cost, high reliability, high
torque, and have low speeds?
a. Electric motors c. Servo motors
b. Magnetic motors d. Stepper motors
7. What form of energy do motors convert electrical energy into?
a. electric current c. motion
b. magnetic field d. torque
8. Which of the following is NOT a component of a stepper motor?
a. Brushes c. Rotor
b. Coil d. shaft
9. What do we mean by “Circular motion to linear motion”?
a. rotational to straight c. straight to rotational
b. sideways to rotational d. straight to sideways
10. What are the features of a stepper motor?
a. high reliability and low torque c. high cost and high torque
b. high torque and low speeds d. low speeds and high cost

2
 Lesson

1 Stepper and Servo Motors

In every facet of society, we normally see the digital blueprint of robotic

technology. At home, robots have taken the role of intelligent devices that do the
things we ignore like cleaning and washing. At work, repetitive, dirty, and dangerous
tasks come easy as one-two-three for a robotic arm with servo or stepper motors.
This type of engineering marvel provides accuracy, smoothness, and flexibility of
motion compared to a human limb, but without being tired and has no complaint.

What’s In

Analyze the robotic arm in this picture. List the materials you think were used
in the construction of this robot and give a brief explanation on why these materials
were used.

Figure 1: An Industrial robotic arm.

Material/s used____________________________________________________________
_______________________________________________________________

Why was it used____________________________________________________________

_______________________________________________________________

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 What’s New

Car manufacturers like General Motors (GM), Ford, Hyundai, Toyota, and
other car brands have been developing industrial robots since the 1970s and
introducing them into their manufacturing systems to improve quality and reduce
costs. Robots are primarily used in their welding, painting, and assembly processes.
Like in Toyota, it aims to combine industrial robot technologies with automobile
control technologies and state-of-the-art Information Technology (IT).

Activity 1: See This!

Directions: In this activity, we will do a picture analysis of a car factory located in
Japan. Answer the guide questions below.

Source: https://rb.gy/zfhyar
Figure 2: A car assembly line where robotic arms are welding a car frame.

Guide Questions:
1. What is the function of the robotic arm ?
2. Can you locate any people on the factory floor while this is happening?
Why do you think so?
3. What do you think are the advantages of using robots in factories?

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 What is It

Before we go deeper into our lesson, try to complete the statements below to
check your understanding of robotic motors. Choose the letter of the correct answer.

1. Which are mechanical or electro-mechanical devices that convert electrical energy

into motion?
a. motors b. servos c. steppers d. solar

2. Which other motion can motors perform besides linear motion?

a. sideways b. swinging c. punching d. rotational

3. Which motor can be powered by AC/DC to do rotational and positioning motion?

a. micro b. servo c. stepper d. solar

4. Which motor is comparatively inexpensive but lacks positional feedbacking?

a. stepper b. servo c. generator d. alternator

5. Which type of motor is usually found in robotic arms that welds metals?
a. motor b. servo c. stepper d. micro

Motors are working devices whether mechanical or electro-mechanical means

convert electrical energy into motion. That is why they are being used by robots for
locomotion and other programmable movements. The energy that goes into motors
can be converted into rotational or linear action. This motion can be connected to a
shaft or to a transmission mechanism that can provide extra work. There are
different kinds of motors that can be fitted to a robot but for now, we will only focus
on stepper motors and servo motors.

Stepper motors are devices that are powered by the motion of alternating
currents to create rotational motion and positioning. They achieve this positioning
control by turning the motor rotor discretely into several steps. This is useful to
control accurate and specific movements where holding a position is expected. These
motors can be fitted into robots that perform certain types of tasks like packaging
goods, 3D printing, and other movements that are done in repetition. Stepper motors
can usually hold a load while stopped, a benefit for positioning applications.
Stepper motors use permanent magnets on their rotors that can be controlled
in discrete intervals by energizing the stator field. A stepper motor needs a controller
or drive to function. Steppers typically have a 1.8O index of rotation, meaning that
for every pulse the shaft moves and rotates at an angle of 1.8O. Motor construction
also plays a role in a stepper motor’s resolution—the number of steps per revolution
with five (5)-phase motors offering a higher number of steps than two (2)-phase

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motors. Stepper motors offer a comparatively inexpensive way of mimicking servo
positioning, though they generally lack positional feedback.

Figure 3: The Block Diagram of a Stepper Motor.

Figure 4: How a stepper motor work?

Figure 5: Internal Structure of a Stepper Motor.

Stepper motors have the characteristics of being low cost, high reliability, high
torque at low speeds. With these features, stepper motors are widely used in
industrial, commercial applications, and advanced technologies rather than simple
motors. Computer-controlled stepper motors are a type of motion-control
positioning system. Stepper motors are usually digitally controlled motors
commonly used in holding precise positioning applications.

5
 Stepper motors are used in industrial machines (Computer numerical control
(CNC) machines, milling machines, laser cutters), computer technology (CD-Roms,
DVD players, floppy disk drives, scanners), printing technology (printers, plotters,
3D printers), and intelligent lightning systems (lasers, optical devices, mirror
mounts).

What are Servo motors?

Powerful, accurate, small, easily programmable, and precise redundant
motion are words that best describe servo motors. It precisely converts rotational
(circular) motion into linear (straight) motion.

Servo motors can be driven by an alternating or a direct current to make a

rotational motion and positioning. Servomotors use a feedback loop to control the
radial position of the motor rotor concerning its stator. They are usually found in
motion control applications. Servomotors are used in positioning applications where
smooth, controllable motion is expected like in the case of an industrial robot.

A robot programmed in packaging boxes might use a servomotor to carefully

package the boxes with a plastic film within a specified zone inside the factory.

Figure 6: Internal Structure of a Servo Motor.

Figure 7: The Block Diagram of a Servo Motor Feedback

Servomotors have feedback mechanisms in the form of the controller, motor
amplifier, and specific sensors connected to the motor that incorporate encoders to
report positional information back to their controllers to check target position. It

6
controls both speed and precision through the use of feedback loops. A special
servomotor, called a torque motor, is designed to apply torque to a shaft without
necessarily rotating it, as might be needed to keep constant tension. The design lets
the motor apply torque on the gears to reduce the motor’s high-speed output to a
slower speed, higher torque servo output to attain the actual desired position.

There are many different applications that servo motors are being used. The
advantages of using servo motors in robots outweigh other motors that are used in
industrial applications. It replaces the common conventional AC motors and stepper
motors as well as hydraulic and pneumatic systems.

There are many applications where servo motors have an advantage. It is used
in industrial applications where high accuracy, power, and speed are required and
low weight and size is a needed factor. Servo motors provide numerous benefits in
robotic applications as well. They are small, powerful, easily programmable, and
accurate. Most importantly, though, they allow for near-perfect repeatability of
motion. Robotic welding in high tech factories utilizes servo motors that are mounted
in every joint of a robotic welding arm, actuating movement and adding dexterity.
Robotic vehicles also use servos in steering systems of autonomous vehicles used to
disarm and dispose of bombs.

Servo motors are also used in conveyor and handling systems where speed
and accuracy, as well as high torque, is expected. Antenna positioning systems like
in TV, radio, and satellite, typically need high torque and very high accuracy.
Simulation applications like in printing press businesses, where speed, torque, and
smoothness are important. Besides this, Servo motors can also be used in renewable
energy applications where performance and efficiency are needed. It can be used in
machine tools where high accuracy is required to finish the job properly. It can also
be used in defense applications, subsea gas and oil exploration, and food and
beverage preparation.

What’s More

ACTIVITY 1: I am the one!

Directions: Read the following sentences below and identify which of them describes
a stepper motor or a servo motor. If the sentence describes a stepper motor, write
the number “0”, but if the statement describes a servo motor, then write the number
“1”.

1 = Servo motors 0 = Stepper motors

1) They are devices powered by the motion of alternating currents to create

rotational motion and positioning.

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2) Powerful, accurate, small, easily programmable, and precise redundant
motion are words that would describe it.
3) These motors can be fitted into robots that perform certain types of tasks
like packaging goods, 3D printing, and other movements that are done
in repetition.
4) These are motors that use permanent magnets on their rotors that can be
controlled in discrete intervals by energizing the stator.
5) It uses a feedback loop to control the radial position of the motor rotor
concerning its stator and utilized in motion control applications.
6) They are used in positioning applications where smooth, controllable
motion is expected like in the case of an industrial robot.
7) They typically have an index of 1.80 of rotation for every step and it can
be operated by microcontrollers.
8) A robot programmed in packaging boxes might use this motor to carefully
package the boxes with plastic film within a specified zone inside the factory.
9) These are motors that offer an inexpensive way of copying movements but they
lack sensors for data feedback.
10) Robotic welding in high tech factories utilizes this type of motors that are
mounted in every joint of a robotic welding arm.

Guide Questions:
1. What is the similarity between a Stepper motor and a Servo motor?
2. What is the difference between a Stepper motor and a Servo motor?
3. In your opinion, which do you think is better, a stepper motor or a servo motor?
Why do you think so?

Assessment 1: Who am I!
Directions: Read the following scripts and identify who would say these lines.
A stepper motor or a servo motor?

1. I am found in milling machines, laser cutters and DVD players.

2. I have a feedback loop to control the radial position of my rotor.
3. I am usually found in robotic arms that weld.
4. I am a low cost, have high reliability and a high torque motor.
5. I am powered by AC or DC to perform rotational motions.

Activity 2. You complete me!

Directions: Label the parts of a stepper motor and a servo motor correctly using the
words inside the word bank.

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 Word bank

Ball bearings Magnet

Coil Position feedback sensor
Control circuit Rotating shaft
DC motor Rotor
Flange Shaft
Gear Stator

Stepper motor Servo motor

Guide Questions:
1. What are the parts of a Servo motor?
2. What are the parts of a Stepper motor?
3. In your opinion, which motor would be troublesome to use?
Why do you think so?

Assessment 2:
Directions: Read each question carefully. Choose the letter of the correct answer.
1. These are motors used in positioning applications where smooth and controllable
motion is expected, like in an industrial robot.
a. electric motors
b. magnetic motors
c. servo motors
d. stepper motors
2. Servomotors have ____________ mechanisms in the form of the controller, motor
amplifier, and specific sensors connected to the motor.
a. automatic
b. feedback
c. forward
d. reverse
3. A special servomotor, called a ___________, is designed to apply torque to a shaft
without necessarily rotating it, as might be needed to keep constant tension.
a. high-speed motor
b. hydraulic motor
c. pneumatic motor
d. torque motor

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4. All applications use a servo motor, EXCEPT_________.
a. Autonomous steering technology
b. Computer hardware
c. Defense Industries
d. Gas and Oil exploration
5. It is the diagram that shows a servo motor feedback loop system.
a. controller à motor à gears àsensors
b. gears à sensor à controller à motor
c. motor à gears à sensor à controller
d. sensor à controller à motor à gears

What I Have Learned

Activity 1. Pair me up!

Directions: Complete the sentence in column A by matching the correct letter of the
answer from Column B.

Column A Column B
1. ________ are working devices whether a. computer controlled
mechanical or electro-mechanical means b. defense application
convert electrical energy into motion. c. gears
2. ___________ stepper motors are a type of d. motor
motion-control positioning system. e. programmable
3. It is powerful, accurate, small, easily f. radio
_______ and precise redundant g. rotational
motion are words that best describe h. satellite
servo motors. i. servo
4. Servo motors can be driven by an j. speed
alternating or a direct current to make k. torque
a _______ motion and positioning.
5. A special servomotor, called a _______
motor, is designed to apply torque to
a shaft without necessarily rotating it.
6. Stepper motors have the characteristics
of being low cost, high reliability, high
torque at low _______.
7. Antenna positioning systems like in TV,
radio, and ______, typically need high
torque and very high accuracy.
8. It can also be used in ______________,
subsea gas and oil exploration, and food
and beverage preparation.

10
 9. The design lets the motor apply torque on
the ______ to reduce the motor’s high-speed
output to a slower speed, higher torque servo
output to attain the actual desired position.
10.Robotic welding in high-tech factories utilizes
______ motors that are mounted in every joint
of a robotic welding arm, actuating movement
and adding dexterity.

What I Can Do

Activity 1: Plastic Bottle racer!

Constructing a Bottle Racer

The spool racer has all the inner workings of how a robotic motor should
perform. It uses a plastic bottle of water that is powered by energy stored in a wound-
up rubber band. Gather the tools and materials below and follow the instructions on
the next pages.

Figure 8: A plastic bottle racer.

Tools and Materials Needed:

Quantity Description of Tools and Materials

1 500 ml cylindrical plastic bottle of water
1 Large nail (3 to 4 inches long)
3 Rubber bands (Note: You can use more than three or
less, provided they stretch approximately the length of
the bottle without being extremely tight).
2 Jumbo paper clips
1 Small steel washer or any similar washer
1 Drinking straw (or pencil or bamboo skewer
approximately the same length as a straw)
1 Masking tape or rubber bands that will fit around the
outside of the bottle
1 Candle
1 Pliers

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Assembly:
Step 1. Make a hole in the center of the cap using a hot nail. Using pliers to hold
the nail, heat it with a lit candle. Remove the cap for now. You’ll need it again in Step
6.

Figure 9: The plastic bottle cap and a nail.

Step 2. Using the hot nail, make a hole in the center of the bottom of the plastic
bottle.

Figure 10: A plastic bottle of water and a nail.

Step 3. Bend one jumbo paper clip to make a hook as in the photo below and set it
aside. You will need this in a moment.

Figure 11: A paper clip being bent to follow the shape of a hook.
Step 4. Loop the three rubber bands together as shown in the photo below, pulling
them tight to form a three-band chain. Then thread the end of the rubber-band chain
onto the other paper clip.

Loop

Figure 12: A paper clip being looped at the end of a rubber band.
Step 5. Push the free end of the rubber band chain up through the hole in the bottom
of the bottle, and then feed the rest of the chain into the bottle. If necessary, use the
straight end of the paper clip hook to help push the
rubber bands through the hole.

12
Figure 13: The paperclip acts as a stopper as the rubber band is inserted at the
bottom of the plastic bottle.

Step 6. Pull the top end of the rubber-band chain out the mouth of the bottle, either
by reaching in with a finger (if possible) or by using the paper-clip hook. When the
end of the rubber-band chain emerges from the top of the bottle, grab it with your
fingers and thread the end loop through the bottom of the bottle cap and then
through the washer (see photo below).

Figure 14: The end of the rubber band is inserted through the plastic bottle cap and
the metal washer.

Step 7. Screw the cap back onto the bottle while still holding the end loop, and then
push about 3 inches (7 cm) of the straw through the loop. The rubber band will hold

the straw in place against the washer and bottle (see photo below).
Figure 15: A plastic straw is inserted at the end of the rubber band to secure it.
Step 8. Check that the paper clip attached to the rubber band at the other end is
held flush and centered against the bottom of the bottle and it doesn’t stick out
past the edge of the bottom (see photo below).

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Source: https://rb.gy/vmh6rf
Figure 16: The paper clip is at the bottom center of the plastic bottle.

Step 9. Use your finger to wind up the rubber band—try starting with around 25
turns. Put the bottle on the floor, release it—and watch it go! (If it doesn't go, try
winding a few more turns.)
Guide Questions:
1. What is your feeling while doing this activity?
2. What are the factors that help you to do the task accordingly?
3. If you would have the opportunity to change or add any material in this design to
improve your racer, What material would that be and why?
Your bottle racer will be scored using the rubric below.
INDICATORS 5 4 3 2
Structural Rigid and Somewhat Fairly rigid Loosely rigid
Durability strong in its rigid and and strong in and strong in
construction strong in its its its
construction construction construction
Materials Used Used of the Failed use Failed to use Failed to use
materials one (1) of two (2) three (3)
required. materials materials materials
required required required
Motion Efficiency Has traveled Has traveled Has traveled Has traveled a
(25 turns) a distance of a distance of a distance of distance of
7 feet and 5 feet and 3 feet and fewer than 3
more more more feet or did not
move forward

Activity 2: Let’s Race!

Directions: After building your plastic bottle racer it’s now time to test it by
performing this activity.

Materials Needed:
Improvised plastic bottle racer, meterstick (any tool that measures distance)

Step 1: Hold your bottle racer and wind up the rubber band around 25 turns and
then release it at a starting point on the floor and measure how far did it go. Record
the distance traveled in the table below.

Step 2: Repeat step 1 and this time wind up the rubber for 35 turns.

14
Step 3: Repeat step 1 and this time wind up the rubber for 45 turns.

Water bottle racer rubber Distance (inches)

band wind up
25 turns

35 turns

45 turns

Guide Questions:
1. Which among the turns of the rubber bands ended up the farthest and the nearest
distance travelled? Why?
2. What is the relationship between distance travelled by the bottle racer and the
number of turns in the rubber band?
3. If you were to add or change any material to your bottle racer to travel further
what would that be and why?

Assessment

Directions: Read each question carefully. Choose the letter of the correct answer.
1. Which motor has low cost, high reliability, and has high torque at low speeds?
a. Electric motor c. Servo motor
b. Magnetic motor d. Stepper motor
2. Which motor is used in industries because of its smooth and stable motion?
a. electric motor c. servo motor
b. magnetic motor d. stepper motor
3. What feature is found in servomotors but not in stepper motors?
a. automatic c. forward
b. feedback d. reverse
4. What good things can we say about stepper motors?
a. high reliability, low torque, high cost c. low cost, high torque, low speeds
b. high torque, low speeds, high cost d. low speeds, high cost, low reliability

5. What motor is placed in the steering systems of autonomous robotic vehicles?

a. Servo motor c. Automatic motor
b. Stepper motor d. Remote motor

15
 Additional Activities

Activity 1: What motor do we use?

Directions: Read the following devices and classify which of them uses a stepper
motor or a servo motor.

1) Computer numerical counter (CNC) machines

2) Laser cutters
3) Defense applications
4) Optical devices
5) Weather satellite receivers
6) Mirror mounts
7) Bomb disposal robots
8) Robotic arm of the International space station
9) DVD players
10) Milling machines
 16
What’s More
What I Know What’s In Guide Questions
1.d Materials Used 1.Stepper motor are characterized of being
2.a -Aluminum, Plastic low cost, high malleability, high torque and
3.a Why was it used low speeds.
4.c -Because it needs to 2.Sevo motors have feedback mechanisms,
5.b be light and tough they have controllers, motors, gears and
6.d sensors.
7.c
3.Answer may vary.
8.a
9.a
10.b
Assessment: Who Am I
1.stepper motor
2.servo motor
3.servo motor
4.stepper motor
5.servo motor
Assessment
Activity 2: You complete me!
A. Ball bearing Activity 1: See this?
B. Rotor Guide Questions:
C. Magnet 1. The Robotic arms are welding metals.
D. Flange 2. No, bec. At this stage the robots are doing
E. Stator the work.
F. Coil 3. They make the job easier.
G. Shaft
H. Rotating Shaft
What is it!
I. Position Feedback sensor
1.a
J. Control circuit
2.d
K. DC motor
3. b
L. Gear
4. a
5. b
What’s More
Activity 1
1.0
2.1
3.0
4.0
5.1
6.1
7.0
8.1
9.0
10.1
Answer Key
References
Advantages of Servo Motors, heason.com, accessed 22/01/21,
https://www.heason.com/news-media/technical-blog-archive/advantages-
of-servo-motors

Bottle Racer, exploratorium.edu, accessed 24/01/21,

https://www.exploratorium.edu/snacks/bottle-racer

How Toyota uses automation to improve processes, RobotWorx, robots.com,

accessed 23/01/21 https://www.robots.com/articles/how-toyota-uses-
automation-to-improve-processes

Lackey, Bill, “What’s the difference between Servo and Stepper Motors?,
machinedesign.com, accessed 21/01/21,
https://www.machinedesign.com/mechanical-motion-
systems/article/21836868/whats-the-difference-between-servo-and-
stepper-motors

Motion Control Online marketing Team, Servo Motors Explained and Why They’re
useful in Robotics, Motion Control and Motor Association, accessed
21/01/2021,
https://www.motioncontrolonline.org/blog-article.cfm/Servo-Motors-
Explained-and-Why-They-re-Useful-in-Robotics/87

Motion Control Online marketing Team, What kinds of applications are best for
stepper motors?, Motion Control and Motor Association, accessed
21/01/2021,
https://www.motioncontrolonline.org/blog-article.cfm/What-Kinds-of-
Applications-are-Best-for-Stepper-Motors/76

Robotic Arm with Servo Motors-A step closer to future, rozum.com, accessed
25/01/21, https://rozum.com/servos-as-robot-
components/#:~:text=Movement%20flexibility.,with%20a%20thousandth%2
0degree%20accuracy.

Robotic manufacturing for automobiles, ancieta.com, accessed 23/01/21,

https://www.acieta.com/why-robotic-automation/robotic-solutions-
industry/automotive-applications/

Stepper Motors, Robotpark.com, accessed 21/01/21,

http://www.robotpark.com/Stepper-Motors

Stepper Motors vs Servomotors-What’s the Difference?,thomasnet.com, accessed

21/01/21, https://www.thomasnet.com/articles/machinery-tools-
supplies/stepper-motors-vs-servomotors/

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For inquiries or feedback, please write or call:

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Telefax: (045) 322-5722; 322-4702; 888-0582; 887-6099

Email Address: angeles.city@deped.gov.ph