STEPPER MOTOR

• PRESENTED BY :- TARUN VERMA

• B.TECH-EEE
• RM6005
 What is a Stepper Motor?
• The stepper motor is a motor which takes
input pulses and then takes proportional
steps to input these signals. You can use
for positioning and/or speed control for
most any applications. The stepper motor
needs a power circuit and a sequence
circuit for changing phase.
 When to use
• Whenever discrete steps are required
• High torque at low speeds
• When precision positioning is required
• To eliminate closed loop control (stepper
motors can operate in open loop)
 How stepper motors work
1)Current flows through
the coil creating a
magnetic field
2)A metallic core
channels the field
perpendicular to the
rotor
3)Depending on the
polarity of the field an
attraction or repulsion
drives the rotor
 How stepper motors work

• If a coil is energized the closes rotor edges will

be attracted to that coil. As long as the coils
remain energized the rotor will remain stagnant.
• By energizing coils the correct sequence the
motor will discretely rotate
 Types of stepper motors
1. Variable-reluctance
2. Permanent-magnet
3. Hybrid
 Variable-reluctance (VR)
Variable-reluctance motors are not very
common but easy to understand
• Rotor – made of soft iron
and has multiple teeth
• Stator – wound type stator
If the stators are energized
with DC current the poles
are magnetized and the
rotor is attracted to the stator
 Permanent-magnet (PM)
• Rotor – magnetized with alternating
north and south poles situated in a
straight line parallel to the shaft
• Stator – wound type stator

Characteristics
• Low Cost
• Low Precision
• High Torque
 Hybrid
Like the name implies the hybrid motor is a
combination of VR and PM motors. The
rotor has teeth and axially concentric
magnets around its shaft
characteristics:
• More Expensive
• Better step resolution
• Better torque
• Better speed
 TYPES OF WINDING
• 1) Unipolar winding arrangement
• 2) Bipolar winding arrangement
 Unipolar
Winding Arrangement
• Has two windings for each phase (one for
each direction of current).
• Each winding has one common wire and
two coil-end wires
• Current does not need to be reversed to
change the magnetic pole
• Easily controlled with a
Stepper motor controller
 Bipolar
Winding Arrangement
• Has only one winding per phase
• Current must be reversed to change the
magnetic pole
• More difficult to control than the unipolar
winding
• Each phase has two leads (there is no
common)
 Controlling a Stepper Motor

Microcontrollers are often used to control

stepper motors because:
• Compatible with the discrete movements of
steppers
• Fast
• Can easily be programmed to work with
steppers of other types
 How to pick
1. Determine the resolution needed
- "step angle”(number of degrees the shaft
turns per input signal)
2. Choose a winding scheme
- unipolar or bipolar stator winding
3. Determine the torque required for your
application
4. Factor in the size, weight and power
requirements
 Cost
The cost of Stepper motors varies greatly
depending on the required specifications.
Lower end hobby stepper motors are
under $2 while larger high end motor can
be hundreds of dollars.
 Example Applications
Machine Tools
• X-Y and X-Y-Z Positioning
Process Control
• Main Conveyor Drive
• Assembly Line parts positioning
Business Machines
• Copy Machine- lens positioning and paper feed
Computer Peripherals
• Printer- positioning the matrix print head
 Advantages
• Rotation angle is proportional to input pulse
• Motor has full torque at standstill
• Precise positioning and repeatability of movement
• Excellent response start/stop/reverse
• Open loop control possible
• Achieve low speed with a directly couple load
• Realize a wide range of speeds
• Inexpensive relative to other motion control systems
• Easy to set up and use
• Overload safe. Motor cannot be damaged by
mechanical overload
 Disadvantages
• Low efficiency. Motor draws substantial power regarldess of load.
• Torque drops rapidly with speed (torque is the inverse of speed).
• Low accuracy. 1:200 at full load, 1:2000 at light loads.
• Prone to resonances. Requires microstepping to move smoothly.
• No feedback to indicate missed steps.
• Low torque to inertia ratio. Cannot accelerate loads very rapidly
• Motor gets very hot in high performance configurations.
• Motor will not “pick up” after momentary overload
• Motor is audibly very noisy at moderate to high speeds.
• Low output power for size and weight.
THANKS YOU