___ Stepping Motor Servo Motor High torque in low speed High torque in high speed | Faster positioning time during shart | Faster positioning time during long | strokes strokes = = No hunting during stop position [hunting during stop position LowTolerance movement ofinertia | High Tolerance movement of inertia Suitable for low-rigidity mechanism like | No suitable for low-rigidity mechanism belt and pulley High responsiveness (Synchronous Low responsiveness (Synchronous operations easier) operations not easy) Suitable for fluctuating loads Not suitable for fluctuating loads Tuning/Gainadjustment not required | Tuning/Gain adjustment required Micro-stepping - Micro-stepping is the means of providing half-steps to.a motor that offers fewer steps than desired. 1, Micro-stepping is achieved by dividing the current between the two poles in the motor thereby increasing the resolution. 2. However, micro-stepping can have an adverse effect on a stepper motor because it can reduce torque up to 30%. Terminology — ‘Servo’ is the term used of a motor applied on a closed- loop system. A stepper motor can be optimized for the same application with identical functionality, as a servo butat a reduced cost and a slower speed. Speed - Servo motors are known for speed however, servo's are often used for applications in which the motor provides more RPMs than necessary. In such cases, belt drives, for instance, a stepper motor would fully suffice. Power - Whether it’s a stepper 1 current applied results in more toramount of torque that can be generated at a in this regard is the moto: safe voltage: if an application requires complete standstill stability, a better choice. Servo motors, however, pulsate back Servo's are the better choice in vertical id a load still and for smooth Applications ~ stepper motor is the and forth on standstill. applications in which the motor must hol joc operations while applications such as vision system positioning are better suited for a stepper motor. Why it is called stepper motor? Stepper motors are so named beeause each pulse of electricity {urns the motor one step. Stepper motors are controlled by a driver. which sends the pulses into the motor causing it to turn. Basies of Stepper Motors «Every motor converts power, Electric motors convert eleeiricity. into motion, Stepper motors convert electricity into rotation, Not only does a stepper motor convert electrical power into rotation, but it can be very accurately controlled in terms of how far it will rotate and how fast. Stepper motors are so named because each pulse of electricity tums the motor one step. Stepper motors are controlled by a driver, which sends the pulses into the motor causing ‘it{o turn. The number of pulses the motor turns is equal to the number of pulses fed into the driver. The motor will spin at a rate that is equal to the frequency of those same pulses. Stepper motors are very easy fo control. Most drivers are looking for 5 volt pulses which just so happen to be the voltage level of most integrated cireuits. One of the most remarkable features of stepper motors is their ability to position very accurately. + Stepper motors are not perfect, there ate always some little inaccuracies, ORIENTAL MOTOR's standard stepper motors have an accuracy of +3 are minutes (0.05°).* The remarkable featite of steps motors, though, is that this ervor does not acctimulate from step to step, When a standard stepper motor travels one step it will go. 1.8? + 0.052, MW the same motor travels one million steps, it will travel 1,800,000° + 0.05°. The error does not accumulate, * Stepper motors ea respond and accelerate quickly, They have low rotor inertia that ean EL Up t0 speed quickly. For this reason siepper motors are ideal for short, quick moves. ‘Stepper Motor Working Principles * Asal with electric motors, stepper motors have a stationary part (the stator) and a moving. ‘pan (the rotor), On the stator, there are teeth on which coils are wired, while the rotor is cliher' permanent magnet or a variable reluctanee iron core. <- Faure GroseSecion ofa Steger Matar “The basic working principle of the stepper motor is the following: flowing in the coil and the ror aligns with thi is eld, By snes cbt ts iStepper Motor Types and Construction The performance of a stepper motor — both in terms of resolution (or step size), speed, and torque — is influenced by construction details, which at the same time may also affect fact, not all stepper motors have the same how the motor ean be controlled. As a matter of f as there are different rotor and stator configurations. intemal structure (or construction), Rowe: Fora stepper motor, there are basically two types of rotors: tM: Stepper Motor - Construction & Worki nical deviee that actuates a train of step movements of Perm: © A stepper motor is an eleetro-mechar put pulses. The step movement may be angular or linear. a shaft in response to a train of in ‘The step movement of the motor is according (o the input pulse, The control has two elements, L. Number of Step Pulses (Which determines the angle of rotation). 2 Direction Data (Which determines the order in which the Phases are excited). When a number of voltage signals are given to the motor, the shaft gets rotated through a. known angle. The angle at which the motor rotates or moves for each signal is known as the step angle, expressed in degrees. Construction + : * The stator is a multi-polar (having 4 number of poles for different steps) type. The rotor 7 may be a salient pole type. But generally, it is a smooth cylindrical type. «Ibis made out of ferrite material which is permanently magnetized. Hence the miotor is known as a permanent magnet stepper motor.ving, 4-poles. Around magnet stepper motor with» stator Re he ratot has 2 poles. + Let us consider # permanent 1 the poles, the exciting coils are wound. T Suter svindiow Ds ro a dings are given by using a driving circuit foursphase (four-stator windings) permanent ‘The voltage signals for different stator wi (used 2 virouit for ® to control the motor). The drivin, magnet siepper matoris shown inthe below HEUTE: Operation : = When the input pulse is given 10 the motor with the help ofadriving circuit, the motor starts rotating in step movements. ' F Case-1Case -2 Now the supply is disconnected from phase A und itis connected actoss phase B by SW. ive,, ‘© the terminals Bi and Ba: Due to this, phase A is desenergized and phase B is energized. Here, ‘again a magnetic pole N is established in phase B, Therefore the rotor further rotates with an angle of seep moveent accorcling to the pole axis of phase B. Similarly, in cases 3 and 4 when the phases C aid D are connected to the supply sequentially, The rotor further changes its motion with an angle according to its respective pale axis. We can’ See that the motion Of this rotor is in step movement, ‘The major limitation of this type of motor is small step movements are impossible because the number of poles that can be made on the stator is litnited. This is overcome by the utilization of a variable reluctance type stepper motor, jon of Vi eluctance Ste Iv is the most basic type of stepper motor, The stator of this motor consists ‘of a three-phase ‘wounded type. It hes six salient poles with concentrated windings around each one of them. The. setor has 4 slots to produve the effecis of 4 poles,Principte of Operation ; Variable Reluctance Stepper Motor - Construction & Principle of Operation Py : a ‘Snstruction of Variable Reluctance Stepper Motor : Wis the most basic {ype Of stepper motor. The stator of this motor consists of a three-phase Wounded type. It has six salient poles with concentrated windings around each one of them. The TOLOE has 4 slots to produce the effects of 4 poles. ‘The two stator windings which are in the opposite direction are connected in series. These \sindings are then energized by three different switches as shown in the figure. Principle of Operation : The basic working principle of the reluctance motor is based on the various reluctance Positions of the rotor. When a yoltage signal is given to any one of the phases of the stator and excited, it setups a magnetic field whose axis lies along the poles. ‘Now the rotor tries to rotate in such a direction that it has to achieve minimum reluctance, ‘Such a rotation means a position where the axis of the magnetic field set up by a stator will be equal to the axis passing through any two poles of the rotor. Let us see the operation when the windings A, B, and C are connected in sequence and energized one after the other, with the help of switches SW), SW2, and SW3. Case -1 \ ~ When the supply is connected across the terminals of AA\, closing exist magnetic poles between the windings AA‘. Now, die to the for magnetic poles rotor tries to achieve the minimun xStator Magnetic iy Axis Case -2 Now when the supply is connected across the windings BB'. axis of the stator poles axis from BB*. Now the rotor again tries to path, thereby moving the rotor.Here we can s see that rotation of the the rator pole axis 2 and 4 are’nearer to the windings BB! This causes a rotor § : 80 that the axis of the rotor poles 2 and 4 get aligned with BB!. Therefore, moving the rot ot 10 a step movement of angle 30 ceyrees as sown inthe below figure Case-3 Simi ’ Sait larly, when the windings CC! get supplied with switch SW3 and AA! und BB! are discon nected, ‘The rotor pole axis tiesto align its postion with the stator pole NS: Here we get another:30° of rotation by the rotor. We totally get an an gle of 60° of step motion from phases AA’ wl. w= By successively exciting the thee pases in he specific sequence, the motor takes 12 steps evolution, The direetion of rotation af the motor depends upon the sequence of to complete one r supply given to each stator phase. The 1orave developed by the motor, which acts om the rotor is proportional to the square ofthe phase Curent (rer). Important Observations : From the above discussion, the following observations can be made, 1. When the sequence of supply fo phases is: A-B-C-A...., the movement of the rotor is in an ‘anti-clockwise direction. 2. When the sequence cain phases is C-B-A-C..., the movement of the rotor is in a clockwise ¢ . anghTherefore step angle is given by, a. = 360° /n p Where + n=No. of stator phases, and p = No, of rotor pole/rotor teeth. Micro Stepping : To get a micro-step movement of the rotor. The supply to two phases AA ang BB" are given at the same time by closing the switches SW1 and SW2. Here the axis of the magnetic poles of the stator lies between the two phases. Hence the rotor tries to align with its axis, i.e., haif step 15°.