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This article introduces stepper motor at full length.There are five parts of this article--the definition of stepper motor; types of steppers; how a stepper motor work; how to select and the basic wiring.

 

 


Catalog

I. What is a Stepper Motor?

II. Types of Stepper Motors

III. How Does a Stepper Motor Work

IV. How to Select a Stepper motor

V. Basic Wiring of Stepper Motor

FAQ


I. What is a Stepper Motor?

 

A Stepper Motor or a step motor is a brushless, synchronous motor which divides a full rotation into a number of steps. Unlike a brushless DC motor which rotates continuously when a fixed DC voltage is applied to it, a step motor rotates in discrete step angles. The Stepper Motors therefore are manufactured with steps per revolution of 12, 24, 72, 144, 180, and 200, resulting in stepping angles of 30, 15, 5, 2.5, 2, and 1.8 degrees per step. The stepper motor can be controlled with or without feedback.

 

 

 


II. Types of Stepper Motor

There are a wide variety of stepper types, some of which require very specialized drivers. By construction the step motors come into three broad classes:

 

1.Permanent Magnet Stepper

Permanent magnet motors tend to "cog" as you twist the rotor with your fingers, while variable reluctance motors almost spin freely (although they may cog slightly because of residual magnetization in the rotor). You can also distinguish between the two varieties with an ohmmeter. Variable reluctance motors usually have three (sometimes four) windings, with a common return, while permanent magnet motors usually have two independent windings, with or without center taps. Center-tapped windings are used in unipolar permanent magnet motors.

 

2.Variable Reluctance Stepper

Just as resistance determines the flow of electric current, reluctance determines the flow of magnetic flux. In a variable reluctance (VR) stepper, the rotor turns at a specific angle to minimize the reluctance between opposite windings in the stator. The primary advantage of VR steppers is that they have an excellent angular resolution. The primary disadvantage is low torque.

 

3. Hybrid Step Motor

Hybrid stepper motors provide excellent performance in areas of torque, speed, and step resolution. This type of motor provides a combination of the best features available on both the PM and VR types of stepper motors. Permanent magnet and hybrid stepper motors are two types of the most commonly used stepper motors. Permanent magnet and hybrid stepper motors are two types of the most commonly used stepper motors.

 


III. How Does a Stepper Motor Work

 

Stepper motors consist of a permanent magnetic rotating shaft, called the rotor, and electromagnets on the stationary portion that surrounds the motor called the stator. Figure above illustrates one complete rotation of a stepper motor. At position 1, we can see that the rotor is beginning at the upper electromagnet, which is currently active (has voltage applied to it). To move the rotor clockwise (CW), the upper electromagnet is deactivated and the right electromagnet is activated, causing the rotor to move 90 degrees CW, aligning itself with the active magnet. This process is repeated in the same manner at the south and west electromagnets until we once again reach the starting position.

 

 

In the above example, we used a motor with a resolution of 90 degrees for demonstration purposes. In reality, this would not be a very practical motor for most applications. The average stepper motor's resolution -- the number of degrees rotated per pulse -- is much higher than this. For example, a motor with a resolution of 5 degrees would move its rotor 5 degrees per step, thereby requiring 72 pulses (steps) to complete a full 360-degree rotation.

 

You may double the resolution of some motors by a process known as "half-stepping". Instead of switching the next electromagnet in the rotation on one at a time, with half-stepping you turn on both electromagnets, causing an equal attraction between, thereby doubling the resolution. As you can see in Figure 2, in the first position only the upper electromagnet is active, and the rotor is drawn completely to it. In position 2, both the top and right electromagnets are active, causing the rotor to position itself between the two active poles. Finally, in position 3, the top magnet is deactivated and the rotor is drawn all the way right. This process can then be repeated for the entire rotation.

 

 


IV. How to Select a Stepper Motor

 

Selecting between a servo motor and a stepper motor can be quite a challenge involving the balancing of several design factors. Cost considerations, torque, speed, acceleration, and drive circuitry all play a role in selecting the best motor for your application.

 

 

At first, we need to know the basic differences between stepper and servo motors.  

 

  • Stepper and servo motors differ in two key ways, in their basic construction and how they are controlled.

 

 

  • Stepper motors have a large number of poles, magnetic pairs of north and south poles generated either by a permanent magnet or an electric current, typically 50 to 100 poles. In comparison, servo motors have very few poles, often 4 to 12 in total. Each pole offers a natural stopping point for the motor shaft.

     

 

  • Driving a stepper motor to a precise position is much simpler than driving a servo motor. With a stepper motor, a single drive pulse will move the motor shaft one step, from one pole to the next. Since the step size of a given motor is fixed at a certain amount of rotation, moving to a precise position is simply a matter of sending the right number of pulses. In contrast servo motors read the difference between the current encoder position and the position they were commanded to and just the current required to move to the correct position.

  • The greater number of poles allows a stepper motor to move accurately and precisely between each pole and allows a stepper to be operated without any position feedback for many applications. Servo motors often require a position encoder to keep track of the position of the motor shaft, especially if precise movements are required.

 

Note that with today's digital electronics, stepper motors are much easier to control than servo motors.

 

All in all, Selecting the best motor for your application depends on a few key design criteria for your system including cost, positional accuracy requirements, torque requirements, drive power availability, and acceleration requirements. Overall, servo motors are best for high speed, high torque applications while stepper motors are better suited for lower acceleration, high holding torque applications.

 


V. Basic Wiring of Stepper Motor

 

 

Stepper motors are available in two basic wiring configurations, bipolar and unipolar. Unipolar motors have one winding with a center tap for each phase. This allows the motor direction to be reversed easily by changing which section of the phase is powered rather than reversing the flow of current. This allows the control circuitry to be very simple. Unipolar motors typically have six leads, three for each phase, but can also be found with five leads, with the center tap of both phases internally connected. Unipolar motors can be easily controlled with a microcontroller or stepper motor controller and are very affordable.

 

 

Bipolar motors have one or two windings without a center tap for each phase. In order for the direction of rotation to be reversed on a bipolar motor, the current direction needs to be reversed. This requirement makes the driving circuitry more complicated and is generally implemented with an H-bridge control arrangement or an H-bridge motor driver. While more complicated to drive, bipolar motors are much stronger for the same weight and size. Bipolar motors can be configured with series or parallel windings, allowing them to be driven with the lower current in series or higher inductance and greater torque in parallel. Bipolar motors generally have four or eight leads, two or four per phase, allowing them to be distinguished from the five and six-lead unipolar motors.

 


FAQ

 

1. What is a stepper motor used for?

The stepper motor is used for precise positioning with a motor, such as hard disk drives, robotics, antennas, telescopes, and some toys. Stepper motors cannot run at high speeds, but have a high holding torque.

 

2. What is a stepper motor and how does it work?

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.

 

3. What is the working principle of stepper motor?

The basic working principle of the stepper motor is the following: By energizing one or more of the stator phases, a magnetic field is generated by the current flowing in the coil and the rotor aligns with this field.

 

4. Are stepper motors AC or DC?

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.

 

5. How long do stepper motors last?

4.8 years

The typical lifetime for a stepper motor is 10,000 operating hours. This approximates to 4.8 years; given the stepper motor operates one eight-hour shift per day. The lifetime of a stepper motor may vary in regards to user application and how rigorous the stepper motor is run.

 

6. Do stepper motors need drivers?

Stepper motors require a driver. There are usually 200 steps per revolution or 1.8 degrees per step (but they also can be “micro-stepped”). In general, you use an H-driver to reverse a DC motor, but it can also be done with a DPDT relay.

 

7. Do stepper motors go bad?

Stepper motors very rarely go bad. It's possible, like a bearing fails. More often the wiring goes bad, or the stepper driver, or the driver overheats.

 

8. Why is it called stepper motor?

Stepper motors are so named because each pulse of electricity turns the motor one step. Stepper motors are controlled by a driver, which sends the pulses into the motor causing it to turn.

 

9. What are the three types of stepper motor?

There are three main types of stepper motors:

Permanent Magnet Stepper. 

Variable Reluctance Stepper.

Hybrid Syncronous Stepper.

 

10. How is stepper motor different from DC motor?

The stepper motor operates in open loop whereas Direct current motor operates in closed loop. Stepper are are easy to control with the help of microprocessors and other controlling devices. Control of DC motor is not easy. ... DC motor has a continuous displacement and can be controlled accurately and positioned exactly.

 

 

11. Do stepper motors have brushes?

Stepper motors are different from ordinary DC motors in at least four important ways. The first difference you notice is that they have no brushes or commutator (the parts of a DC motor that reverse the electrical current and keep the rotor—the rotating part of a motor—constantly turning in the same direction).

 

12. What voltage is a stepper motor?

Stepper motors have a rated voltage and current. A typical stepper motor like our NEMA 17 might have a rated voltage of 2.8 Volts and a maximum current of 1.68 Amps. This basically means if you hook it up to 2.8 Volts it will draw 1.68 Amps.

 

13. Why do stepper motors fail?

One of the major problems with a stepper motor is complete motor failure. This problem is caused by excessive current being sent to the device by the power supply. A short circuit in the wiring from the power supply to the motor cause this problem with the stepper motor. Some application will cause this short circuit.

 

14. Can stepper motors run continuously?

Stepper motors fall somewhere in between a regular DC motor and a servo motor. They have the advantage that they can be positioned accurately, moved forward or backwards one 'step' at a time, but they can also rotate continuously.

 

15. How do I choose a stepper motor driver?

A simple way to choose a stepper drive is to look for four things — voltage, current, microstepping, and maximum step pulse rate. Ensure that the drive can handle a wide range of current so that you can test the system at different voltage levels to fit your application.

 

 

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