CAMPUS PUEBLA

Primavera 2015
 Temario

1. Introducción a los actuadores.

2. Principios Básicos
3. Motores de DC
4. Trasmisión de potencia
5. Motores de Pasos
6. Motores de CA
7. Motores Brushless & RC
8. Actuadores Neumáticos
9. Lógica Eléctrica
10. Válvulas de Control
11. Micro actuadores (MEMS).
Stepper Motor Basics
 Stepper Motor Basics

INTRODUCTION

 Stepper motors are highly accurate pulse-driven motors that

change their angular position in steps, in response to input
pulses from digitally controlled systems.
 Stepper Motor Basics

INTRODUCTION

 The size of the step (step angle) depends on the type and
design of the stepper motor.
 Stepper Motor Basics

C
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P
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N
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 Stepper Motor Basics

INTRODUCTION

 The stepper motor makes a step for each applied pulse.

 Stepper Motor Basics

INTRODUCTION

 The input pulses to the stepper motor must be in a proper

sequence with acceptable frequency and must provide the
phase windings with sufficient current.
 Stepper Motor Basics

INTRODUCTION

 Typical applications of stepper motors requiring incremental

motion are printers, disk drives, robotics, X-Y plotters.
 Stepper Motor Basics

Then…,
Stepper motors
provide a means
for precise
positioning and
speed control
without the use of
feedback sensors.
 Stepper Motor Basics

Then…,

The basic operation of a stepper motor allows the shaft to

move a precise number of degrees each time a pulse of
electricity is sent to the motor. Since the shaft of the motor
moves only the number of degrees that it was designed for
when each pulse is delivered, you can control the pulses
that are sent and control the positioning and speed.
 Stepper Motor Basics

Then…, The rotor of the motor

produces torque from the
interaction between the
magnetic field in the
stator and rotor. The
strength of the magnetic
fields is proportional to
the amount of current
sent to the stator and the
number of turns in the
windings.
 Stepper Motor Basics

Stepper Motors.
Operation modes:
-Full Step Motor
-Half Step Motor

-Unipolar
-Bipolar
Stepper Motor Basics

StepperMotor.exe
Nanotec
Stepper Motor Basics
 Stepper Motor Basics

Construction and operation of stepper motors

 Stepper Motor Basics

Construction and operation of stepper motors

Stepper Motor Basics
Stepper Motor Basics
Stepper Motor Basics
Stepper Motor Basics

4 phases

Phases: This is the number of

separate coils that make up the
system.
 Stepper Motor Basics
Example of speed control:
1000 pulses/second (1000 No Mov Mov X Mov Y Ind X Ind Y Vel X Vel Y
Hz) in a 1.8° stepper
motor results in precisely?
(10,20) cm cm Pulses Pulses cm/s cm/s
1 5 2 100 40 10 4
300 rpm 2 25 8 500 160 10 4
(1000/(360°/1.8°)*60 s= 3
300 rpm).

(30,10)

(5,2)

M2
20 pulsos/cm

El trazo total debe tomar 5 seg. 20 pulsos/cm M1

 Stepper Motor Basics

200 N
paso=2mm

350 N

r2=2.5 cm

r1=1.2 cm
k= 100 pulsos/mm 7.5°/paso

Requerimientos: Indices y frecuencia

Half step Half step
Eficiencia polea 90%
1) 20 cm @ 2 cm/seg 20000 p 2000 pps Eficiencia Husillo 70%
2) 8.3 cm @ 3.8 cm/seg 8300 p 3800 pps Torque en el motor 0.1 N-mt
3) -15.9 cm @ 1.15 cm/seg 15900 p 1150 pps Potencia requerida 12 W
 Stepper Motor Basics. Torque

Stepper motor holding torque is one of the main specs of any stepper motor. It is a
simple indication of the "strength" of the motor.

Stepper motor torque is usually measured in oz/in or ounces per inch. The picture
above shows what that measurement means, and a method of actually measuring it. If
the motor can HOLD a weight of 100oz on a 1 inch radius pulley it is said to have a
stationary "holding torque" of 100oz/in and is therefore sold as a 100oz/in motor
 Stepper Motor Basics. Torque

Measuring stepper motor torque

Stepper Motor Basics
Stepper Motor Benefits
Stepper motors have the following
benefits:
• Low cost
• Ruggedness
• Simplicity in construction
• High reliability
• No maintenance
• Wide acceptance
• No feedback components are
needed
• They work in just about any
environment
• Inherently more failsafe than servo
motors.
 Stepper Motor Basics

Stepper Motor Benefits

 There is virtually no conceivable failure within the stepper
drive module that could cause the motor to run away.
 Stepper motors are simple to drive and control in an open-
loop configuration. They only require four leads.
 They provide excellent torque at low speeds, up to 5 times
the continuous torque of a brush motor of the same frame
size or double the torque of the equivalent brushless
motor. This often eliminates the need for a gearbox.
 A stepper-driven system is inherently stiff (consistente),
with known limits to the dynamic position error.
 Stepper Motor Basics

Stepper Motor Disadvantages

 Resonance effects and relatively long settling times
 Rough performance at low speed unless a microstep drive is used
 Liability to undetected position loss as a result of operating open-
loop
 They consume current regardless of load conditions and therefore
tend to run hot
 Losses at speed are relatively high and can cause excessive heating,
and they are frequently noisy (especially at high speeds).
 They can exhibit lag-lead oscillation, which is difficult to damp. There
is a limit to their available size, and positioning accuracy relies on the
mechanics (e.g., ballscrew accuracy). Many of these drawbacks can
be overcome by the use of a closed-loop control scheme.
Stepper motor types
 Stepper Motor Basics

Stepper motor types

There are three main stepper motor types:
 Permanent Magnet (P.M.) Motors
 Variable Reluctance (V.R.) Motors
 Hybrid Motors
 Stepper Motor Basics

Permanent Magnet (P.M.) Motors.

Construction:
The permanent magnet stepper
motor has a rotor construction
made of a permanent magnet
material. The figure shows a 2-
pole permanent stepper motor.
The rotor poles align with two
stator pole according to the
winding excitation.
 Stepper Motor Basics
Permanent Magnet (P.M.) Motors.
Motor with typical step
angles of 7.5° to 15°. (48 -24
steps/revolution)
These magnetized rotor poles
provide an increased magnetic flux
intensity and because of this the
PM motor exhibits improved torque
characteristics.
 PM steeping motor (tin can or canstack) is perhaps the most widely-used
type in non-industrial applications.
 It is essentially a low-cost, low-torque, low-speed device ideally suited to
applications in fields such as computer peripherals.
 The motor construction results in relatively large step angles, but their
overall simplicity lends itself to economic high-volume production at very
low cost.
 Stepper Motor Basics

Permanent Magnet (P.M.) Motors.

Diagram that shows

the position of the
six-pole rotor and
eight-pole stator of
a typical stepper
motor.
Step Motor CCW

Step Motor CW

Step Motor HS
 Stepper Motor Basics

Permanent Magnet (P.M.) Motors.

 Stepper Motor Basics

“can-stack” or “tin-can” motors, are called so because they are made of stamped
sheet metal cans which are stacked and spot welded together. The cans contain
bobbins for the field windings and a multi-pole ceramic magnet rotor.
 Stepper Motor Basics

Applications
 Stepper Motor Basics

Applications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics
Motor specifications
 Stepper Motor Basics

Motor specifications
 Stepper Motor Basics
Motor specifications
 Stepper Motor Basics
Motor specifications
 Stepper Motor Basics
Motor specifications
 Stepper Motor Basics
Motor specifications
Stepper Motor Basics
Stepper Motor Basics
Stepper Motor Basics
Stepper Motor Basics
 Stepper Motor Basics

Stepper motor color code

 Stepper Motor Basics

Stepper Motor Driver

L298
DUAL FULL-BRIDGE DRIVER
50 Volts, 2.5 amperes
 Stepper Motor Basics

Stepper Motor Driver

 Stepper Motor Basics

Stepper Motor Driver

STEPPER MOTOR CONTROLLER

 Stepper Motor Basics

Stepper motor driving

The PIC's output lines are first buffered by a 4050

hex buffer chip, and are then connected to an
NPN transistor. The transistor used, TIP120, is
actually a NPN Darlington (it is shown as a
standard NPN). The TIP120's act like switches,
activating one stepper motor coil at a time.
 Stepper Motor Basics
Stepper motor driving
The simplest way to operate a stepper motor with a PIC is with the full step pattern
shown in Table 1. Each part of the sequence turns on only one transistor at a time, one
after the other. After the sequence is completed, it repeats infinitely until power is
removed.
Stepper Motor Basics

Stepper motor driving

 Stepper Motor Basics

Stepper motor driving V2

The first program was fine for demonstrating how to control a stepper motor with a PIC
Micro, but was severely limited to the one mode of operation preprogrammed into it.

In this next program, we will make the program controllable by external user input in the
form of four switches: SW1 will incrementally increase the delay variable, thereby slowing
the rotation of the motor. SW2 does the opposite.

SW3 halts all operation while the switch is pressed.

SW4 reverses direction of the motor (CW to CCW or vice-versa) while it is closed
(pressed).
 Stepper Motor Basics

Stepper motor driving V2

 Stepper Motor Basics

Stepper motor driving V2

Stepper Motor Basics

Stepper motor driving V2

 Stepper Motor Basics
Stepper motor driving. Half stepping
Operating the motor in half-stepping doubles the resolution of the motor. Consider that
we are using a motor with a 5 degree / per step resolution, requiring 72 steps to complete
one rotation. By half stepping, we could double this to 2.5 degrees / pulse, requiring 144
steps to complete one rotation. Table 2 shows the step pattern.
 Stepper Motor Basics
The UCN 5804 Stepper Motor IC
By using an external stepper motor controller, such as the UCN 5804, you can simplify
your programs and control as many motors as you have outputs via an array of UCN
5804's. Not only does it allow for the control of more motors, but more importantly, it
simplifies the process. You now only have to output the pulse of your desired speed.
Additionally, you can switch between full and half stepping in real time via a switch on the
UCN 5804 (or you may have the PIC control it), as well as reverse direction.
 Stepper Motor Basics

Stepper motor driving V3

Since the input of the UCN
5804
Pins is CMOS
9 and 10and TTL the
control
compatible, we can(half
stepping method connect
or
the outputs from the PIC
full steps). Pin 14 controls
directly
the stepinto the UCNBoth
direction. 5804.of
Two outputs are needed;
these controls can be
one to control by
manipulated thethe
step
PIC,
input
but it(pin 11), and
is easier one to
to control
control the output
them directly enable
through the
(pin
use15) which enables
of jumpers acting the
as
stepper
switches.motor while high
and disables the stepper
motor while low.
 Stepper Motor Basics

Stepper motor driving V3

All the program has to do, is output a pulse and set the output enable low. This can
be accomplished with a very simple program such as the following:
 Stepper Motor Basics

Speed Control via Potentiometers

The PIC Basic language has a command that allows you to read the value of
potentiometers on a given scale. This is the "pot" command, and is used in the
following manner:
pot pin,scale,var
Where pin is the pin the potentiometer is connected to (pins B0-7), scale is the maximum
value the command will return (in this case 245, being the maximum amount of ms we
want in between pulses), and var is the variable the value will be placed in.

Using this command, we can determine the value of a potentiometer (we will be using a
50K ohm pot) and then use it to control the pulsewidth outputted to the UCN 5804.
 Stepper Motor Basics
Speed Control via Potentiometers
Stepper Motor Basics

Speed Control via Potentiometers

Stepper Motor Basics
Stepper Motor Basics
Evaluación 2 Actividad 3 Operación de motores de pasos (15 puntos)
1) Utilizando un motor a pasos de 8 (6) terminales, una tarjeta
Arduino One ó un microcontrolador PIC y la teoría discutida en
clase, demuestre el funcionamiento de su motor de pasos (a
diferentes velocidades, con diferentes torques y con referencia de
posicionamiento) con las siguientes configuraciones.
- Unipolar full y half step
- Bipolar full y half step
- CW y CCW
El motor deberá recorrer distancias de 5, 10 y 15 cms en 1, 3 y 5
segundos respectivamente y en ambos sentidos.
Incremente la carga y la velocidad del motor hasta el punto donde
el motor pierda su sincronismo. Reporte sus resultados
Evaluación 2 Actividad 3 Operación de motores de pasos
2) Trace las curvas torque contra velocidad de su motor operando en
modo unipolar half y full step y en modo bipolar half y full step
determinando los siguientes parámetros de comportamiento:
• Holding Torque
• Detent Torque

masa variable
Thin-disk rotor PM stepper motor.
 Stepper Motor Basics

 A more recent development in PM stepper motor technology

is the thin-disk rotor.
 This type of stepper motor dissipates much less power in
losses such as heat than the cylindrical rotor and as a result, it
is considerably more efficient.
 Efficiency is a primary concern in industrial circuits such as
robotics, because a highly efficient motor will run cooler and
produce more torque or speed for its size.
 Thin-disk rotor PM stepper motors are also capable of
producing almost double the steps per second of a
conventional PM stepper motor.
 Stepper Motor Basics

 Very low moment of inertia, resulting in outstanding

acceleration and dynamic behavior.
 Any incremental movement is carried out in the shortest
possible time.
 Low inertia also means high start/stop frequencies allowing to
save time during the first step and to solve certain motion
problems without applying a ramp.
 Stepper Motor Basics

Basic construction of a thin-disk rotor PM motor. The rotor is

constructed of a special type of cobalt-steel.
Stepper Motor Basics
Stepper Motor Basics
Variable Reluctance (V.R.) Motors
 Variable Reluctance Stepper Motors

 The variable-reluctance (VR) stepper motor differs from the PM

stepper in that it has no permanent-magnet rotor and no residual
torque to hold the rotor at one position when turned off.
 When the stator coils are energized, the rotor teeth will align
with the energized stator poles.
 This type of motor operates on the principle of minimizing the
reluctance along the path of the applied magnetic field.
 By alternating the windings that are energized in the stator, the
stator field changes, and the rotor is moved to a new position.
 Variable Reluctance Stepper Motors

Principle of Alignment
Pieces of highly permeable materials
such as iron, situated in an ambient
medium of low permeability such as
air in which magnetic field is
established, experience mechanical
forces that tend to align them in such
a way to minimize the reluctance of
the system
 Variable Reluctance Stepper Motors

The stator of a variable-reluctance stepper motor has a magnetic

core constructed with a stack of steel laminations.
The rotor is made of unmagnetized soft steel with teeth and slots.
 Variable Reluctance Stepper Motors

The relationship among step angle, rotor teeth, and stator teeth is expressed
using the following equation:

15°
 Variable Reluctance Stepper Motors

Figure shows a basic variable-

reluctance stepper motor.
In this circuit, the rotor is shown
with fewer teeth than the stator.
This ensures that only one set of
stator and rotor teeth will align at
any given instant.
The stator coils are energized in
groups referred to as phases. In
Figure, the stator has six teeth and
the rotor has four teeth. According
to Eq. (6.6), the rotor will turn 30°
each time a pulse is applied.
 Variable Reluctance Stepper Motors

The amount of torque for this type of motor is

still small, so it is generally used for small
positioning tables and other small positioning
loads.
 Variable Reluctance Stepper Motors

The VR stepper motors mentioned up to this point are

all single-stack motors. That is, all the phases are
arranged in a single stack, or plane.
The disadvantage of this design for a stepper motor is
that the steps are generally quite large (above 15°).
 Variable Reluctance Stepper Motors

Multistack stepper motors can produce smaller step sizes because

the motor is divided along its axial length into magnetically
isolated sections, or stacks.
Each of these sections is excited by a separate winding, or phase.
In this type of motor, each stack corresponds to a phase, and the
stator and rotor have the same tooth pitch.
 Variable Reluctance Stepper Motors
Multistack stepper motors
Hybrid Stepper Motors
 Hibrid Stepper Motors

The hybrid stepper motor is the most widely used and

combines the principles of the permanent magnet and
the variable reluctance motors.
 Hibrid Stepper Motors

The hybrid stepper motor is more expensive than the PM stepper

motor but provides better performance with respect to step
resolution, torque and speed.
Typical step angles for the HB stepper motor range from 3.6° to
0.9° (100 – 400 steps per revolution). The hybrid stepper motor
combines the best features of both the PM and VR type stepper
motors.
 Stepper Motors
Torque versus steps per second for a stepper motor.
 Hibrid Stepper Motors

Applications and Project

http://www.youtube.com/watch?v=h_LSiQZYXhs&feature=related

YouTube - DIY 3 axis micro CNC mill drawn in solidworks

YouTube - Home Built CNC Hobby Router

YouTube - CNC Assembly Animation3.avi

YouTube - New CNC Router Part 1

http://www.youtube.com/watch?v=BJbhcJqmwtQ&feature=fvwrel