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Motor Control Circuits In order to interface the stepper motor with a μP (or similar) we need a TTL compatible circuit. The 5v control should be well regulated. The motor power will not require regulation. Motor Control Circuits For low current options the ULN200x family of Darlington Arrays will drive the windings direct. Interfacing to Stepper Motors 8255 PPI Stepper Motor Step Angles Terminology Steps per second, RPM SPS = (RPM * SPR) /60 Number of teeth 4-step, wave drive 4-step, 8-step Motor speed (SPS) Holding torque Vector Generation Hardware solutions Logic design State machine Software solutions Microprocessor and output ports timing Example LRT Cooling Tower (big Chiller ) Low rider tower /~jones/step/types.html reluctance magnet becomes temporarily magnetized when placed in a magnetic field (/motors/linste.htm) Rotor is magnet University of Tehran * Stepper Motors Motors coils of conductive wire magnetic fields rotational motion except for linear induction motor everywhere from the very large (LRT) to the very small (toys) electrical energy converted to mechanical Stepper Motors more accurately controlled than a normal motor allowing fractional turns or n revolutions to be easily done low speed, and lower torque than a comparable D.C. motor useful for precise positioning for robotics Servomotors require a position feedback signal for control Stepper Motor Diagram Stepper Motor Types Variable Reluctance Unipolar/Bipolar Permanent Magnet Variable Reluctance Motors Variable Reluctance Motors This is usually a four wire motor – the common wire goes to the +ve supply and the windings are stepped through Our example is a 30o motor The rotor has 4 poles and the stator has 6 poles Example Variable Reluctance Motors To rotate we excite the 3 windings in sequence W1 - 1001001001001001001001001 W2 - 0100100100100100100100100 W3 - 0010010010010010010010010 This gives two full revolutions Unipolar Motors Four Phase Stepper Motor Unipolar Motors This is usu