n simplified terms.docx

8/18/2019 n simplified terms.docx

1/39

n simplified terms, the rotor of a stepper motor consists of permanent magnets with

poles and a stator with windings. The rotor is constructed using a single magnet mounted in

line with the rotor axis and two pole pieces with many teeth. The teeth are staggered to

produce many salient poles.

The stepper motor is easy to position and moves in steps based on pulses supplied to the

stator windings. The direction of rotation is changed by reversing the pulse sequence and

speed is controlled by the frequency of pulses or pulse rate. The "Micro Stepping Details"

below demonstrates this principle for a stepper motor using full step commutation. ust as

the rotor aligns with one of the stator poles, the second phase is energi!ed. The two phases

alternate on and off, and also reverse polarity. There are four steps. ne phase lags the

other phase by one step. This is equivalent to one fourth of an electrical cycle or

#$%. Stepper motors have a high holding torque but they cannot run at high speeds.

Input:

• &nputs are typically pulses digital communications speed

Control:

• 'asic &( for full)step and half)step control

• *omparators for over)current detection

• *apture(*ompare(+M for micro stepping -or half stepping

Feedback:

• /imits switches for homing and safety

Driver:

• Multiple Switches -MS01TS


2/39

Applications

• &dle speed ad2ust

• 1xhaust gas re)circulation

• Duct airflow vanes

• Mirror control

• Telescopes

• 3ntennas

• Toys


3/39

Stepper Motor 4 Types, 3dvantages 5 3pplications

stepper motor is an electromechanical device it converts electrical power into mechanical power.

3lso it is a brushless, synchronous electric motor that can divide a full rotation into an expansive

number of steps. The motor6s position can be controlled accurately without any feedbac7

mechanism, as long as the motor is carefully si!ed to the application. Stepper motors are similar to

switched reluctance motors.

The stepper motor uses the theory of operation for magnets to ma7e the motor shaft turn a precise

distance when a pulse of electricity is provided. The stator has eight poles, and the rotor has six

poles. The rotor will require 89 pulses of electricity to move the 89 steps to ma7e one complete

revolution. 3nother way to say this is that the rotor will move precisely :;% for each pulse of

electricity that the motor receives.

Types of Stepper Motor<

There are three main types of stepper motors, they are<

:. +ermanent magnet stepper


4/39

8. =ybrid synchronous stepper

>. ?ariable reluctance stepper

Permanent Magnet Stepper Motor: +ermanent magnet motors use a permanent magnet -+M in

the rotor and operate on the attraction or repulsion between the rotor +M and the stator

electromagnets.

ariable !eluctance Stepper Motor: ?ariable reluctance -?@ motors have a plain iron rotor and

operate based on the principle that minimum reluctance occurs with minimum gap, hence the rotor

points are attracted toward the stator magnet poles.

"#brid S#nchronous Stepper Motor: =ybrid stepper motors are named because they use a

combination of permanent magnet -+M and variable reluctance -?@ techniques to achieve

maximum power in a small pac7age si!e.

3dvantages of Stepper Motor<

:. The rotation angle of the motor is proportional to the input pulse.

8. The motor has full torque at standstill.

>. +recise positioning and repeatability of movement since good stepper motors have an

accuracy of > 4 ;A of a step and this error is non cumulative from one step to the next.

9. 1xcellent response to starting, stopping and reversing.

;. ?ery reliable since there are no contact brushes in the motor. Therefore the life of the motor

is simply dependant on the life of the bearing.

B. The motors response to digital input pulses provides open)loop control, ma7ing the motor

simpler and less costly to control.

C. &t is possible to achieve very low speed synchronous rotation with a load that is directly

coupled to the shaft.

. 3 wide range of rotational speeds can be reali!ed as the speed is proportional to the

frequency of the input pulses.

3pplications<

:. Industrial Machines 4 Stepper motors are used in automotive gauges and machine tooling

automated production equipments.


5/39

8. Securit# 4 new surveillance products for the security industry.

>. Medical 4 Stepper motors are used inside medical scanners, samplers, and also found

inside digital dental photography, fluid pumps, respirators and blood analysis machinery.

9. Consumer $lectronics 4 Stepper motors in cameras for automatic digital camera focus and

!oom functions.

3nd also have business machines applications, computer peripherals applications.

peration of Stepper Motor<

Stepper motors operate differently from D* brush motors, which rotate when voltage is applied to

their terminals. Stepper motors, on the other hand, effectively have multiple toothed electromagnets

arranged around a central gear)shaped piece of iron. The electromagnets are energi!ed by an

external control circuit, for example a microcontroller.

ApplicationsEeditF

*omputer controlled stepper motors are a type of motion)control positioning system. They are

typically digitally controlled as part of an open loop system for use in holding or positioning

applications.

&n the field of lasers and optics they are frequently used in precision positioning equipment such

as linear actuators, linear stages, rotation stages, goniometers, and mirror mounts. ther uses are in

pac7aging machinery, and positioning of valve pilot stages for fluid control systems.

*ommercially, stepper motors are used in floppy dis7 drives, flatbed scanners, computer

printers, plotters, slot machines, image scanners, compact disc drives, intelligent lighting,camera

lenses, *G* machines and, more recently, in >D printers.

Stepper motor systemEeditF

3 stepper motor system consists of three basic elements, often combined with some type of user

interface -host computer, +/* or dumb terminal<

• &ndexers ) The indexer -or controller is a microprocessor capable of generating step pulses

and direction signals for the driver. &n addition, the indexer is typically required to perform many

other sophisticated command functions.

• Drivers ) The driver -or amplifier converts the indexer command signals into the power

necessary to energi!e the motor windings. There are numerous types of drivers, with different

http://www.edgefxkits.com/four-quadrant-dc-motor-control-without-microcontrollerhttps://en.wikipedia.org/w/index.php?title=Stepper_motor&action=edit&section=21https://en.wikipedia.org/wiki/Positioning_systemhttps://en.wikipedia.org/wiki/Open-loop_controllerhttps://en.wikipedia.org/wiki/Linear_actuatorhttps://en.wikipedia.org/wiki/Linear_stagehttps://en.wikipedia.org/wiki/Linear_stagehttps://en.wikipedia.org/wiki/Rotation_stagehttps://en.wikipedia.org/wiki/Goniometer_(positioning)https://en.wikipedia.org/wiki/Mirror_mounthttps://en.wikipedia.org/wiki/Floppy_diskhttps://en.wikipedia.org/wiki/Floppy_diskhttps://en.wikipedia.org/wiki/Image_scannerhttps://en.wikipedia.org/wiki/Computer_printerhttps://en.wikipedia.org/wiki/Computer_printerhttps://en.wikipedia.org/wiki/Plotterhttps://en.wikipedia.org/wiki/Plotterhttps://en.wikipedia.org/wiki/Slot_machinehttps://en.wikipedia.org/wiki/Slot_machinehttps://en.wikipedia.org/wiki/Image_scannerhttps://en.wikipedia.org/wiki/Image_scannerhttps://en.wikipedia.org/wiki/Compact_dischttps://en.wikipedia.org/wiki/Compact_dischttps://en.wikipedia.org/wiki/Intelligent_lightinghttps://en.wikipedia.org/wiki/Camera_lenshttps://en.wikipedia.org/wiki/Camera_lenshttps://en.wikipedia.org/wiki/Camera_lenshttps://en.wikipedia.org/wiki/Camera_lenshttps://en.wikipedia.org/wiki/Numerical_controlhttps://en.wikipedia.org/wiki/3D_printerhttps://en.wikipedia.org/wiki/3D_printerhttps://en.wikipedia.org/w/index.php?title=Stepper_motor&action=edit&section=22https://en.wikipedia.org/w/index.php?title=Stepper_motor&action=edit&section=21https://en.wikipedia.org/wiki/Positioning_systemhttps://en.wikipedia.org/wiki/Open-loop_controllerhttps://en.wikipedia.org/wiki/Linear_actuatorhttps://en.wikipedia.org/wiki/Linear_stagehttps://en.wikipedia.org/wiki/Rotation_stagehttps://en.wikipedia.org/wiki/Goniometer_(positioning)https://en.wikipedia.org/wiki/Mirror_mounthttps://en.wikipedia.org/wiki/Floppy_diskhttps://en.wikipedia.org/wiki/Image_scannerhttps://en.wikipedia.org/wiki/Computer_printerhttps://en.wikipedia.org/wiki/Computer_printerhttps://en.wikipedia.org/wiki/Plotterhttps://en.wikipedia.org/wiki/Slot_machinehttps://en.wikipedia.org/wiki/Image_scannerhttps://en.wikipedia.org/wiki/Compact_dischttps://en.wikipedia.org/wiki/Intelligent_lightinghttps://en.wikipedia.org/wiki/Camera_lenshttps://en.wikipedia.org/wiki/Camera_lenshttps://en.wikipedia.org/wiki/Numerical_controlhttps://en.wikipedia.org/wiki/3D_printerhttps://en.wikipedia.org/w/index.php?title=Stepper_motor&action=edit&section=22http://www.edgefxkits.com/four-quadrant-dc-motor-control-without-microcontroller


6/39

voltage and current ratings and construction technology. Got all drivers are suitable to run all

motors, so when designing a motion control system the driver selection process is critical.

• Stepper motors ) The stepper motor is an electromagnetic device that converts digital pulses

into mechanical shaft rotation. 3dvantages of step motors are low cost, high reliability, hightorque at low speeds and a simple, rugged construction that operates in almost any

environment. The main disadvantages in using a stepper motor is the resonance effect often

exhibited at low speeds and decreasing torque with increasing speed.ECF

Advantages/disadvantages of stepper motors

Advantages

•

/ow cost for control achieved

• =igh torque at startup and low speeds

• @uggedness

• Simplicity of construction

• *an operate in an open loop control system

•

/ow maintenance

• /ess li7ely to stall or slip

• ill wor7 in any environment

• *an be used in robotics in a wide scale.

• =igh reliability

• The rotation angle of the motor is proportional to the input pulse.

• The motor has full torque at standstill -if the windings are energi!ed

• +recise positioning and repeatability of movement since good stepper motors have an

accuracy of > 4 ;A of a step and this error is non)cumulative from one step to the next.

https://en.wikipedia.org/wiki/Stepper_motor#cite_note-7https://en.wikipedia.org/wiki/Stepper_motor#cite_note-7


7/39

• 1xcellent response to starting(stopping(reversing.

• ?ery reliable since there are no contact brushes in the motor. Therefore the life of the motor

is simply dependant on the life of the bearing.

• The motors response to digital input pulses provides open)loop control, ma7ing the motor

simpler and less costly to control.

• &t is possible to achieve very low)speed synchronous rotation with a load that is directly

coupled to the shaft.

• 3 wide range of rotational speeds can be reali!ed as the speed is proportional to the

frequency of the input pulses.

Disadvantages

• @equire a dedicated control circuit

• Hse more current than D.*. motors

• Torque reduces at higher speeds

• @esonances can occur if not properly controlled.

• Got easy to operate at extremely high speeds.

%hat is a Stepper Motor&

3 stepper motor -also referred to as step or stepping motor is anelectromechanical device achieving mechanical movements throughconversion of electrical pulses. Stepper motors are driven by digital pulsesrather than by a continuous applied voltage. Hnli7e conventional electricmotors which rotate continuously, stepper motors rotate or step in fixedangular increments. 3 stepper motor is most commonly used for positioncontrol. ith a stepper motor(driver(controller system design, it is assumedthe stepper motor will follow digital instructions. ne important aspect ofstepper motors is the lac7 of feedbac7 to maintain control of position, whichclassifies stepper motors as open)loop systems.

http://www.anaheimautomation.com/products/stepper/stepper-motors-list.php?cID=19http://www.anaheimautomation.com/products/stepper/stepper-motors-list.php?cID=19


8/39

'lock Diagram for Stepper Motor S#stem


9/39

Ph#sical Properties of a Stepper Motor

The main components of a stepper motor are the shaft, rotor and statorlaminations, magnets, bearings, copper wires and lead wires, washers, andfront and end covers. The shaft of a stepper motor is typically made ofstainless steel metal, while the stator and the rotor laminations are comprisedof silicon steel. The silicon steel allows for higher electrical resistivity whichlowers core loss. The various magnets available in stepper motors allow formultiple construction considerations. These magnets are ferrite plastic, ferrite

sintered and Gd)0e)' bonded magnets. The bearings of a stepper motor varywith si!e of the motor. The housing materials are composed of various othermetals li7e aluminum, which allow for high resistance to heat.

"o( Does a Stepper Motor %ork&

The main use of stepper motors is to control motion, whether it is linear orrotational. &n the case of rotational motion, receiving digital pulses in a correctsequence allows the shaft of a stepper motor to rotate in discrete stepincrements. 3 pulse -also referred to as a cloc7 or step signal used in a

stepper motor system can be produced by microprocessors, timing logic, atoggle switch or relay closure. 3 train of digital pulses translates into shaftrevolutions. 1ach revolution requires a given number of pulses and eachpulse equals one rotary increment or step, which is only a portion of onecomplete rotation. There are numerous relationships between the motors shaftrotation and input pulses. ne such relationship is the direction of rotation andthe sequence of applied pulses. ith proper sequential pulses being delivered


10/39

to the device, the rotation of the shaft motor will undergo a cloc7wise orcountercloc7wise rotation. 3nother relation between the motorIs rotation andinput pulses is the relationship between frequency and speed. &ncreasing thefrequency of the input pulses allows for the speed of the motor shaft rotationto increase.

'asic )#pes of Stepper Motors

3 stepper motor varies per application by construction and functionality. Thethree most common stepper motor types are ?ariable @eluctance, +ermanentMagnet, and =ybrid Stepper Motors.

ariable !eluctance *!+ Stepper Motor ?@ stepper motors are characteri!ed as having multiple soft iron rotors and awound stator. ?@ stepper motors generally operate on the basic principle of

the magnetic flux finding the lowest reluctance pathway through a magneticcircuit. &n general operation, ?@ stepper motors have relatively high step ratesof ; to :; degrees and have no detent torque. The step angles ta7en in ?@stepper motors are related to the number of teeth the stator and rotor have.The equation relating these two variables can be found in the formula sectionof this guide.

"o( Does a ariable !eluctance Stepper Motor %ork&@eferring to 0igure : on +age 8, the poles become magneti!ed when thestator windings are energi!ed with D* current. ith the poles becoming

magneti!ed, the rotor teeth are now attracted to the energi!ed stator polesand rotate to line up. ith the windings around stator 3 becoming energi!edthe rotor teeth become attracted allowing the poles to line up. hen 3Iswindings become de)energi!ed and 'Is windings become energi!ed, the rotorrotates to line its teeth with the stator teeth. This process continues insequence with *, followed by D being energi!ed allowing for the rotor torotate.


11/39

'rief Summar# of ariable !eluctance Stepper Motors:

• The rotor has multiple soft iron rotors with a wound stator • Least complex, therefore least expensive stepper motor • Large step angles • No detent torque detected in hand rotation of a de-energizedmotor shaft

Permanent Magnet *PM+ Stepper Motor +M stepper motors are comprised of permanent magnet rotors with no teeth,which are magneti!ed perpendicular to the axis of rotation. 'y energi!ing thefour phases in sequence, the rotor rotates due to the attraction of magneticpoles. The stepper motor shown in 0igure 8 on page > will ta7e #$ degreesteps as the windings are energi!ed in cloc7wise sequence< 3'3'. +Mstepper motors generally have step angles of 9; or #$ degrees and step at

relatively low rates. =owever, they exhibit high torque and good dampingcharacteristics. 3naheim 3utomation carries a wide selection of +M steppermotors, ranging from :; to ;Cmm in diameter.

http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=78&pt=t&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=78&pt=t&cID=19


12/39

'rief Summar# of Permanent Magnet *PM+ Stepper Motors: • The rotor is a permanent magnet • Large to moderate step angle • Often utilized in computer printers as a paper feeder

"#brid Stepper Motors=ybrid stepper motors incorporate the qualities of both the ?@ and +M

stepper motor designs. ith the =ybrid stepper motorIs multi)toothed rotorresemblance of the ?@, and an axially magneti!ed concentric magnet aroundits shaft, the =ybrid stepper motor provides an increase in detent, holding anddynamic torque. &n comparison to the +M stepper motor, the =ybrid steppermotor provides performance enhancement with respect to step resolution,torque, and speed. &n addition, the =ybrid stepper motor is capable ofoperating at high stepping speeds. Typical =ybrid stepper motors are

http://www.anaheimautomation.com/products/stepper/stepper-linear-actuators-list.php?cID=52http://www.anaheimautomation.com/products/stepper/stepper-linear-actuators-list.php?cID=52


13/39

designed with step angles of $.#%, :.%, >.B% and 9.;%J :.% being the mostcommonly used step angle. =ybrid stepper motors are ideally suited forapplications having stable loads with speeds under :,$$$ rpm. There are 7eycomponents which are influential with respect to the running torque of a=ybrid stepper motorJ laminations, teeth and magnetic materials. &ncreasingthe amount of laminations on the rotor, precision and sharpness of the rotorand stator teeth, and strength of magnetic material are all factors ta7en intoconsideration in designing for optimal torque output for =ybrid stepper motors.

'rief Summar# of "#brid Stepper Motors: • Smaller step angles in comparison to ! and "# steppermotors • !otor is made of a permanent magnet with fine teeth • $ncrease in detent, holding and d%namic torque • &'() is the most common step angle

,-)$: 3t 3naheim 3utomation, the :. degree =ybrid stepper motor is themost widely stoc7ed stepper motor type, ranging in si!e from G1M3 $ to 98.The =ybrid stepper motor can also be driven two phases at a time to yieldmore torque, or alternately one then two then one phase, to produce half)steps or $.# degree increments.

Stepper .earmotors

The primary difference between individual Stepper Kearmotors is their

performance characteristics. The main function of a Stepper Kearmotor is toconvert the input of a Stepper Motor into an output, with high torque and low@+M. 3naheim 3utomation carries both +lanetary and Spur StepperKearmotors offering various gear ratios, stac7 lengths and torque outputs.

Stepper Motors (ith Spur .earbo/esStepper motors integrated with spur gearboxes are readily available, compact

http://www.anaheimautomation.com/products/stepper/stepper-gearmotors-list.php?cID=51http://www.anaheimautomation.com/products/stepper/stepper-gearmotors.php?tID=76&pt=t&cID=51http://www.anaheimautomation.com/products/stepper/stepper-gearmotors-list.php?cID=51http://www.anaheimautomation.com/products/stepper/stepper-gearmotors.php?tID=76&pt=t&cID=51


14/39

and efficient. 3naheim 3utomationIs Stepper Kearmotors are available withgear ratios ranging from >


15/39

driver is an open)loop system, the problems of feedbac7 loop phase shift andresultant instability, common with servo motor systems are eliminated.

"o( to Select a Stepper Motor

There are several important criteria involved in selecting the proper steppermotor< &' *esired #echanical #otion +' Speed !equired ' Load ' Stepper #ode .' /inding 0onfiguration

ith appropriate logic pulses, stepper motors can be bi)directional,synchronous, provide rapid acceleration, run(stop, and can interface easily

with other digital mechanisms. *haracteri!ed as having low)rotor moment ofinertia, no drift, and a noncumulative positioning error, a stepper motor is acost)effective solution for many motion control applications. Kenerally, stepper motors are operated without feedbac7 in an open)loop fashion and sometimesmatch the performance of more expensive D* Servo Systems. 3s mentionedearlier, the only inaccuracy associated with a stepper motor is anoncumulative positioning error which is measured in A of step angle.Typically, stepper motors are manufactured within a >);A step accuracy.

Motion requirements, load characteristics, coupling techniques, and electrical

requirements need to be understood before the system designer can selectthe best stepper motor(driver(controller combination for a specific application.hile not a difficult tas7, several 7ey factors need to be considered whendetermining an optimal stepper motor solution. The system designer shouldad2ust the characteristics of the elements under his(her control, to meet theapplication requirements. 3naheim 3utomation offers many options in itsbroad line of stepper motor products, allowing for the maximum amount ofdesign flexibility. 3lthough it may appear overwhelming to choose, the result of having a large number of options is a high)performance system that is cost)effective. 1lements needed to be considered include the stepper motor, driver,and power supply selections, as well as the mechanical transmission, such asgearing or load weight reduction through the use of alternative materials.Some of these relationships and system parameters are described in thisguide.

Inertial 0oads&nertia is a measure of an ob2ectIs resistance to a change in velocity. The


16/39

larger an ob2ectIs inertia, the greater the torque is required to accelerate ordecelerate it. &nertia is a function of an ob2ectIs mass and shape. 3 systemdesigner may wish to select an alternative shape or low)density material foroptimal performance. &f a limited amount of torque is available in a selectedsystem, then the acceleration and deceleration times must increase. 0or mostefficient stepper motor systems, the coupling ratio -gear ratio should beselected so the reflected inertia of the load is equal to, or greater than, therotor inertia of the stepper motor. &t is recommended that this ratio not be lessthan :$ times the rotor inertia. The system design may require the inertia to beadded or subtracted by selecting different materials or shapes of the loads.

,-)$: The reflected inertia is reduced by a square of the gear ratio, and thespeed is increased by a multiple of the gear ratio.

Frictional 0oads

3ll mechanical systems exhibit some frictional force. The designer of astepper motor system must be able to predict elements causing friction withinthe system. These elements may be in the form of bearing drag, slidingfriction, system wear, or the viscosity of an oil filled gear box -temperaturedependent. 3 stepper motor must be selected that can overcome any systemfriction and still provide the necessary torque to accelerate the inertial load.

,-)$: Some friction is desired, since it can reduce settling time and improveperformance.

Positioning !esolutionThe positioning resolution required by the application may have an effect onthe type of transmission used, and(or selection of the stepper motor driver. 0or example< 3 lead screw with ; threads per inch on a full)step drive provides$.$$: inch(stepJ half)step provides $.$$$; inch(stepJ a microstep resolution of8;,9$$ steps(rev provides $.$$$$$:; inch(step.

Stepper Motor ModesStepper motors are driven by waveforms which approximate to sinusoidalwaveforms. There are three excitation modes commonly used with steppermotors< full)step, half)step and microstepping.


17/39

Stepper Motor 1 Full1Step *)(o Phases are on+

&n full)step operation, the stepper motor steps through the normal step angle,e.g. with a 8$$ step(revolution the motor rotates 2345 per full step, while inhalf)step operation the motor rotates 6375 per full step. There are two 7inds of full)step modes which are single)phase full)step excitation and dual)phase full)step excitation. &n single)phase full)step excitation, the stepper motor operateswith only one phase energi!ed at a time. This mode is typically used inapplications where torque and speed performances are less important,wherein the motor operates at a fixed speed and load conditions are welldefined. Typically, stepper motors are used in full)step mode as replacementsin existing motion systems, and not used in new developments. +roblems with

resonance can prohibit operation at some speeds. This mode requires theleast amount of power from the drive power supply of any of the excitationmodes. &n dual)phase full)step excitation, the stepper motor operates with twophases energi!ed at a time. This mode provides excellent torque and speedperformance with minimal resonance problems.

,-)$: Dual excitation provides about >$ to 9$ percent more torque thansingle excitation, but does require twice the power from the drive powersupply. Many of 3naheim 3utomationIs microstepping drivers can be set tooperate at full)step mode if necessary.

Stepper Motor 1 "alf1StepStepper motor half)step excitation mode alternates between single and dual)phase operations resulting in steps that are half the normal step si!e.Therefore, this mode provides twice the resolution. hile the motor torqueoutput varies on alternate steps, this is more than offset by the need to stepthrough only half the angle. This mode had become the predominately usedmode by 3naheim 3utomation beginning in the :#C$Is, because it offersalmost complete freedom from resonance issues. The stepper motor canoperate over a wide range of speeds and drive almost any load commonlyencountered. 3lthough half)step drivers are still a popular and affordablechoice, many newer microstepping drivers are cost)effective alternatives.

3naheim 3utomationIs '0D89 series is a popular half)step driver and issuitable for a wide range of stepper motors. ith this driver, the customer onlyneeds a transformer, as the other power supply components are built into thedriver itself.

http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=75&pt=t&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=75&pt=t&cID=19http://www.anaheimautomation.com/products/stepper/stepper-driver-item.php?sID=225&serID=26&pt=i&tID=88&cID=20http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=75&pt=t&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=75&pt=t&cID=19http://www.anaheimautomation.com/products/stepper/stepper-driver-item.php?sID=225&serID=26&pt=i&tID=88&cID=20


18/39

Stepper Motor 1 Microstepping&n the stepper motor microstepping mode, a stepper motorIs natural stepangle can be partitioned into smaller angles. 0or example< a conventional :.degree motor has 8$$ steps per revolution. &f the motor is microstepped with aIdivide)by):$,I then each microstep moves the motor $.: degrees, whichbecomes 8,$$$ steps per revolution. The microsteps are produced byproportioning the current in the two windings according to sine and cosinefunctions. This mode is widely used in applications requiring smoother motionor higher resolution. Typical microstep modes range from Idivide)by):$I toIdivide)by)8;BI -;:,8$$ steps per revolution for a :. degree motor. Somemicrostep drivers have a fixed divisor, while the more expensive microstepdrivers provide for selectable divisors. 0or cost)effective microstep drivers,see 3naheim 3utomationIs M'C and M0A Series.

,-)$: &n general, the larger the microstep divisor provided, the more costlywill be the stepper motor driver. Should you prefer, 3naheim 3utomation alsomanufactures a series of &ntegrated Stepper Motors(Drivers, meaning thestepper motor and driver are in one unit. This design approach ta7es theguesswor7 out of motor and driver compatibility. 0or more information, pleasesee the 28MD, ;MD and ;


19/39

Formulas for a Stepper Motor

Step angle calculation<

L Step 3ngleGs Gumber of teeth on stator Gr Gumber of teeth on rotor

Steps per second -rpm N steps per revolution NB$

Advantages of a Stepper Motor

O *ost)effectiveN O Simple designs O =igh reliability

http://www.anaheimautomation.com/support/links/formulas-index.phphttp://www.anaheimautomation.com/support/links/formulas-index.php


20/39

O 'rushless construction O Maintenance)free O &f windings are energi!ed at standstill, the motor has full torque O Go feedbac7 mechanisms required O =igh acceleration and power rate O 3 wide range of rotational speeds can be attained as the speed isproportional to the frequency of the input pulses O Pnown limit to the dynamic position error

NStepper motor products vary in cost based on the criteria for eachapplication. Some criteria include options of $.#%, :.%, >.B% and 9.;% stepangles, torque ranging from : to ;,C$$ o!)in, and G1M3 frame si!es of $ to98. 3dditional attachments such as cables and encoders can be purchasedseparately for an additional cost. ith our friendly customer service andprofessional application assistance, 3naheim 3utomation often surpassescustomer expectations for fulfilling specific stepper motor and driverrequirements, as well as other motion control needs.

Disadvantages of a Stepper Motor

• Low efficienc% 1#otor attracts a su2stantial amount of powerregardless of the load3 • Torque drops rapidl% with speed 1torque is inversel%

proportional of speed3 • "rone to resonance4 1#icrostepping allows for smooth motion3

• No feed2ac5 to indicate missed steps • Low torque-to-inertia ratio • 0annot accelerate loads ver% rapidl% • #otor gets ver% hot in high performance configurations • #otor will not 6pic5 up6 after momentar% overload • #otor is nois% at moderate to high speeds • Low output power for size and weight

N@esonance)is inherent in the design and operation of all stepping motors andoccurs at specific step rates. &t is the combination of slow stepping rates, high

rotor inertia, and elevated torque which produce ringing as the rotorovershoots its desired angular displacement and is pulled bac7 into positioncausing resonance to occur. 3d2usting either one of the three parameters 4inertial load, step rate, or torque) will reduce or eliminate resonance. &npractical practice, the torque parameter is more controllable usingmicrostepping. &n microstepping mode, power is applied to the stator windings


21/39

incrementally which causes torque to slowly build, reducing overshoot andtherefore reducing resonance.

%here are Stepper Motors =sed&

3lthough the stepper motor has been overshadowed in the past by servosystems for motion control, it has emerged as the preferred technology inmore and more areas. The ma2or factor in this trend towards the steppermotor is the prevalence of digital control, the emergence of themicroprocessor, improved designed -i.e. high)torque models, and lower cost.Today, stepper motor applications are all around us< they are used in printers-paper feed, print wheel, dis7 drives, cloc7s and watches, as well as used infactory automation and machinery. 3 stepper motor is most often found inmotion systems requiring position control.

3naheim 3utomationIs cost)effective stepper motor product line is the wisechoice for both 1M and user accounts. 3naheim 3utomationIs customers forthe stepper motor product line is diverse< industrial companies operating ordesigning automated machinery or processes involving food, cosmetics ormedical pac7aging, labeling or tamper)evident requirements, cut)to)lengthapplications, assembly, conveyor, material handling, robotics, special filmingand pro2ection effects, medical diagnostics, camera trac7ing, inspection andsecurity devices, aircraft controls, pump flow control, metal fabrication -*G*machinery, and equipment upgrades.

3naheim 3utomation, &nc. stepper motor product line integrates a matchedstepper motor, driver and controller in one unit. This design concept ma7esselection easy, thus reducing errors and wiring time. ith friendly customerservice and professional application assistance, 3naheim 3utomation oftensurpasses the customerIs expectations for fulfilling specific stepper motor anddriver requirements, as well as other motion control needs.

Stepper Motors are =sed in Man# Industries

Stepper motors have become an essential component to applications in manydifferent industries. The following is a list of industries ma7ing use of steppermotors<

O Aircraft 4 &n the aircraft industry, stepper motors are used in aircraftinstrumentations, antenna and sensing applications, and equipment scanningO Automotive 4 The automotive industry implements stepper motors forapplications concerning cruise control, sensing devices, and cameras. The


22/39

military also utili!es stepper motors in their application of positioning antennasO Chemical 4 The chemical industry ma7es use of stepper motors for mixingand sampling of materials. They also utili!e stepper motor controllers withsingle and multi)axis stepper motors for equipment testingO Consumer $lectronics and -ffice $quipment 4 &n the consumerelectronics industry, stepper motors are widely used in digital cameras forfocus and !oom functionality features. &n office equipment, stepper motors areimplemented in +*)based scanning equipment, data storage drives, opticaldis7 drive driving mechanisms, printers, and scannersO .aming 4 &n the gaming industry, stepper motors are widely used inapplications li7e slot and lottery machines, wheel spinners, and even cardshufflersO Industrial 4 &n the industrial industry, stepper motors are used in automotivegauges, machine tooling with single and multi)axis stepper motor controllers,and retrofit 7its which ma7e use of stepper motor controllers as well. Steppermotors can also be found in *G* machine controlO Medical 4 &n the medical industry, stepper motors are utili!ed in medicalscanners, microscopic or nanoscopic motion control of automated devices,dispensing pumps, and chromatograph auto)in2ectors. Stepper motors arealso found inside digital dental photography -Q)@3R, fluid pumps, respirators,and blood analysis machinery, centrifugeO Scientific Instruments 4Scientific equipment implement stepper motors inthe positioning of an observatory telescope, spectrographs, and centrifugeO Surveillance S#stems 4 Stepper motors are used in camera surveillance

$nvironmental Considerations for a Stepper Motor

The following environmental and safety considerations must be observedduring all phases of operation, service and repair of a stepper motor system.0ailure to comply with these precautions violates safety standards of design,manufacture and intended use of the stepper motor, driver and controller.


23/39

+lease note that even with a well)built stepper motor, products operated andinstalled improperly can be ha!ardous. +recaution must be observed by theuser with respect to the load and operating environment. The customer isultimately responsible for the proper selection, installation, and operation ofthe stepper motor system.

The atmosphere in which a stepper motor is used must be conducive to goodgeneral practices of electrical(electronic equipment. Do not operate thestepper motor in the presence of flammable gases, dust, oil, vapor ormoisture. 0or outdoor use, the stepper motor, driver and controller must beprotected from the elements by an adequate cover, while still providingadequate air flow and cooling. Moisture may cause an electrical shoc7 ha!ardand(or induce system brea7down. Due consideration should be given to theavoidance of liquids and vapors of any 7ind. *ontact the factory should yourapplication require specific &+ ratings. &t is wise to install the stepper motor,driver and controller in an environment which is free from condensation, dust,electrical noise, vibration and shoc7.

3dditionally, it is preferable to wor7 with the stepper motor(driver (controllersystem in a non)static, protective environment. 1xposed circuitry shouldalways be properly guarded and(or enclosed to prevent unauthori!ed humancontact with live circuitry. Go wor7 should be performed while power isapplied. DonIt plug in or unplug the connectors when power is G. ait for atleast ; minutes before doing inspection wor7 on the stepper motor system

after turning power 00, because even after the power is turned off, there willstill be some electrical energy remaining in the capacitors of the internal circuitof the stepper motor driver.

+lan the installation of the stepper motor, driver and(or controller in a systemdesign that is free from debris, such as metal debris from cutting, drilling,tapping, and welding, or any other foreign material that could come in contactwith circuitry. 0ailure to prevent debris from entering the stepper motor systemcan result in damage and(or shoc7.

Gote< 3naheim 3utomation supplies IP>9 !ated Sealed Motors, available foruse in harsh environments.

0ifetime for a Stepper Motor

The typical lifetime for a stepper motor is :$,$$$ operating hours. Thisapproximates to 9. yearsJ given the stepper motor operates one eight)hour



24/39

shift per day. The lifetime of a stepper motor may vary in regards to userapplication and how rigorous the stepper motor is run.

!equired Maintenance for a Stepper Motor&

Since stepper motors are brushless, they require no maintenance for wearand tear on brushes and commutators.

Stepper Motor .lossar#

'ifilar %inding 4 refers to the winding configuration of a stepper motor whereeach stator pole has a pair of windingsJ the stepper motor will have either B or lead wires, depending on termination. This wiring configuration can bedriven from a unipolar or bipolar driver.

Clock 4 a pulse generator , which controls the timing of switching circuits thatcontrol the speed of the step motor.

Closed10oop 4 a system with a feedbac7 type of control, such that the outputis used to modify the input.

Controller *Stepper Motor+ 4 a regulating mechanismJ essentially a DCpo(er suppl# plus power switching with associated circuits for controlling theswitching in the proper sequence.

Detent )orque 4 is the holding torque when no current is flowing in the motor.The maximum torque which can be applied to the shaft of an unenergi!edstep motor without causing continuous rotation. The minimal torque present inan unenergi!ed motor. The detent torque of a step motor is typically about :Aof its static energi!ed torque.

Driver *Stepper Motor+ 4 often referred to as a translator, drives a step motor based on pulses from a cloc7, pulse generator, or computer. Translates thetrain of pulses and applied power to the appropriate step motor windings.

D#namic )orque 4 the torque developed by a motor while stepping at lowrates.

$ncoder 4 often called a pulse generator, is a feedbac7 device for stepmotors. &t consists of a disc, vane, or reflector attached to a step motor shaftto provide digital pulses, which are provided to a translator and (or counters.This provides positional information if fed into a counter. Speed information

http://www.anaheimautomation.com/support/links/glossary-index.phphttp://www.anaheimautomation.com/products/stepper/stepper-drivers-controllers.php?tID=133&pt=t&cID=49http://www.anaheimautomation.com/products/stepper/stepper-controllers-indexers.php?tID=90&pt=t&cID=21http://www.anaheimautomation.com/products/accessories/power-supplies-list.php?cID=37http://www.anaheimautomation.com/products/accessories/power-supplies-list.php?cID=37http://www.anaheimautomation.com/products/stepper/stepper-driver-list.php?cID=20&cdID=91http://www.anaheimautomation.com/products/encoder/rotary-encoders-list.php?cID=422http://www.anaheimautomation.com/support/links/glossary-index.phphttp://www.anaheimautomation.com/products/stepper/stepper-drivers-controllers.php?tID=133&pt=t&cID=49http://www.anaheimautomation.com/products/stepper/stepper-controllers-indexers.php?tID=90&pt=t&cID=21http://www.anaheimautomation.com/products/accessories/power-supplies-list.php?cID=37http://www.anaheimautomation.com/products/accessories/power-supplies-list.php?cID=37http://www.anaheimautomation.com/products/stepper/stepper-driver-list.php?cID=20&cdID=91http://www.anaheimautomation.com/products/encoder/rotary-encoders-list.php?cID=422


25/39

may be derived if the time between successive pulses is measured anddecoded.

"olding )orque 4 the maximum torque that can be externally applied to thestep motor shaft without causing continuous rotation when one or morephases of the motor are energi!ed.

Inertia 4 is a measure of an ob2ectIs resistance to a change in velocity.

Ma/imum !unning )orque 4 the maximum torque load that the motor candrive without missing a step. This typically occurs when the windings aresequentially energi!ed at approximately ; pps.

-pen10oop 4 refers to a motion control system where no external sensorsare used to provide position or velocity correction signals.

Permanent Magnet Stepper Motor 4 a step motor having permanent magnetpoles.

Pole 4 the part of a magnetic circuit where a magnetic pole is generatedeither by a permanent magnet or by windings.

Pulse 4 an electrical signal or voltage of short duration, used in conveyingintelligence.

!ated )orque 4 the torque)producing capacity of a motor at a given speed.This is the maximum torque the motor can deliver to a load and is usuallyspecified with a torque(speed curve.

!esolution 4 the smallest positioning increment that can be achieved. &t isfrequently defined as the number of steps required for a motorIs shaft to rotateone complete revolution. The reciprocal of the number of steps per revolutionof the motor.

!otor 4 the rotating part of the motor -the shaft may be included.

Stator 4 the stationary magnetic parts of the motor including the windings.

Step 4 movement of the rotor from one energi!ed position to the next.

Step Angle 4 the nominal angle through which the shaft of a step motor turns



26/39

between ad2acent step positions. &t depends upon the motor and drivingsequence -mode of drive.

Step Increment 4 an indication of step or motion si!e. Hsually this is specifiedin degrees for a rotary motor and inches or millimeters for a linear motor.

Step *Stepping? Stepper+ Motor 4 a digital actuator, which operates fromdiscrete pulses -input signals and produces motion in discrete increments.May be rotary or linear increment.

Step Position 4 the angular position that the shaft of an unloaded step motorassumes when energi!ed. The step position is not necessarily the same asthe detent position.

)eeth 4 pro2ections on both rotor and stator such that when aligned theyproduce a low reluctance magnetic path.

)orque 4 a force or couple tending to, or producing, rotation. *ommon stepmotor torque units are o!)in, G)m, or mGm.

)rain Pulse 4 a series of spaced pulses.

=nifilar %inding 4 refers to the winding configuration of the stepper motorwhere each stator pole has one set of windingsJ the stepper motor will have

only 9 lead wires. This winding configuration can only be driven from a bipolardriver.

ariable !eluctance Step Motor 4 a step motor having only soft iron poles.

)roubleshooting a Stepper Motor

Problem: &ntermittent or erratic stepper motor or stepper driver function.Solution: This is the most common cause of failure and one of the mostdifficult to detect. Start by chec7ing to ensure all connections are tight

between the stepper motor and the stepper driver and controllers. 1vidence of discoloration at the terminals(connections, may indicate a loose connection.hen replacing a stepper motor, stepper driver or driver pac7, or controller ina motion control system, and be sure to inspect all terminal bloc7s andconnectors. *hec7 cabling(wiring for accuracy. Stress stepper motor wiringand connections for poor conditions and chec7 with an ohmmeter. heneverpossible, use 3naheim 3utomationIs shielded cables for stepper motor

http://www.anaheimautomation.com/support/links/troubleshooting-index.phphttp://www.anaheimautomation.com/products/accessories/cables-list.php?cID=36http://www.anaheimautomation.com/support/links/troubleshooting-index.phphttp://www.anaheimautomation.com/products/accessories/cables-list.php?cID=36


27/39

wiring.

Problem: +oor system performance.Solution: *hec7 to see if the wire(cables are too long. Peep stepper motorwire(cables less than 8; feet in length. 0or applications where the wiring fromthe stepper motor to the stepper driver exceeds 8; feet, please contact thefactory for instructions, as it is li7ely that transient voltage protection deviceswill be required. 3nother possibility is the stepper motor lead wires are of agauge too small. Do not match your cable wires to the gauge si!e of thestepper motor lead wires, this is a common mista7e. To avoid this mista7e,

3naheim 3utomation suggests using its shielded cable for such wiringpurposes -purchased separately. 3dditionally, chec7 the age of your steppermotor, as with time and use, stepper motors lose a portion of their magnetismwhich affects performance. Typically one can expect :$,$$$ operating hoursfor stepper motors -approximately 9. years, running a one eight)hour shift per wor7 day. 3lso, ma7e certain your stepper motor and driver combination is agood match for your application. *ontact the factory should you have anyconcerns.

Problem: The stepper motor is stalling.Solution: &n some cases, stalling of a stepper motor causes a large voltagespi7e that often damages the phase transistors on the driver. Some driversare designed to protect themselves from such occurrences. &f not, TransientSuppression Devices can be added externally. *onsult the factory for further

information.

Problem: Stepper motor wires were disconnected while the driver waspowered up.Solution: 3void performing any service to the stepper motor, driver orcontroller while the power is on, especially in regard to the motor connections.This precaution is imperative for both the driver and the technician(installer.

Problem: The stepper motor has a shorted winding or a short to the motorcase.

Solution: &t is li7ely you have a defective stepper motor. Do not attempt torepair motors. pening the stepper motor may cause the motor to lose itsmagnetism, causing poor performance. pening of the stepper motor casewill also void your warranty. The motor windings can be tested with anohmmeter. 3s a rule of thumb, if the stepper motor is a frame si!e of G1M3$, ::, :9, :;, :C, 8>, or >9 and the warranty period has expired, it is not cost)effective to return these stepper motors for repair. *ontact the factory if you


28/39

suspect a defective stepper motor that is still under warranty, or if the steppermotor is a G1M3 frame si!e 98 or a @1series motor .

Problem: 1nvironmental factors are less than ideal.Solution: 1nvironmental factors such as welding, chemical vapors, moisture,humidity, dust, metal debris, etc., can damage the electronic components andthe stepper motor. +rotect drivers, controllers and stepper motors fromenvironments that are corrosive, contain voltage spi7es, or prevent goodventilation. 3naheim 3utomation offers products in several line voltage ranges,as well as splash)proof, IP>9 rated stepper motors. 0or wash)down orexplosion)proof motors, contact the factory directly. 0or 3* lines containingvoltage spi7es, a line regulator -filter will li7ely be required. ,-)$: &f your application requires welding, or if welding is done in the samewor7 environment, contact the factory for advice on how to protect the stepper motor driver and controller.

Problem: The stepper motor is bac7)driving the stepper driver.Solution: 3 stepper motor being turned by a load creates a bac7 1M0 voltageon the driver. =igher speeds will produce higher voltage levels. &f the rotationalspeed gets excessively high, this voltage may cause damage to the driver.This is especially dangerous when the motor is bac7)driven while the driver isstill on. +lace a mechanical stop or bra7e in applications which may be sub2ectto these phenomena.

P0$AS$ ,-)$: Technical assistance regarding its Stepper Motor productline, as well as all the products manufactured or distributed by 3naheim

3utomation, is available at no charge. This assistance is offered to help thecustomer in choosing 3naheim 3utomation products for a specific application.=owever, any selection, quotation, or application suggestion for a StepperMotor, or any other product, offered from 3naheim 3utomationIs staff, itsIrepresentatives or distributors, are only to assist the customer. &n all cases,determination of fitness of the custom Stepper Motor in a specific systemdesign is solely the customersI responsibility. hile every effort is made to

offer solid advice regarding the Stepper Motor product line, as well as othermotion control products, and to produce technical data and illustrationsaccurately, such advice and documents are for reference only, and sub2ect tochange without notice.

Contact =s: 3naheim 3utomation has applications engineers readily

http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=23&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=81&pt=t&cID=19http://www.anaheimautomation.com/contact-us.phphttp://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=23&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motors.php?tID=81&pt=t&cID=19http://www.anaheimautomation.com/contact-us.php


29/39

available and happy to help with most troubleshooting issues. *ontact us fordetailed assistance.

Stepper Motor %iring:

The following information is intended as a general guideline for wiring of the 3naheim 3utomation stepper motor product line. 'e aware when you routepower and signal wiring on a machine or systemJ radiated noise from thenearby relays, transformers, and other electronic devices can be introducedinto the stepper motor and encoder signals, input(output communications, andother sensitive low)voltage signals. This can cause system faults andcommunication errors.

%A!,I,. Dangerous voltages capable of causing in2ury or death may bepresent in a stepper motor system. Hse extreme caution when handling,

wiring, testing, and ad2usting during installation, set)up, tuning, and operation.DonIt ma7e extreme ad2ustments or changes to the stepper motor systemparameters, which can cause mechanical vibration and result in failure and(orloss. nce the stepper motor is wired, do not run the stepper driver byswitching n(ff the power supply directly. 0requent power n(ff switchingwill cause fast aging of the internal components, which will reduce the lifetimeof the stepper motor system.

Strictly comply with the following rules<

O 0ollow the wiring diagram for each stepper motor O @oute high)voltage power cables separately from low)voltage power cablesO Segregate input power wiring and stepper motor power cables from controlwiring and motor feedbac7 cables as they leave the stepper motor driver.Maintain this separation throughout the wire runO Hse shielded cable for power wiring and provide a grounded >B$ degreeclamp termination to the enclosure wall. 3llow room on the sub)panel for wirebendsO Ma7e all cable routes short as possible

,-)$: 0actory)made cables are recommended for use in our stepper motorand driver systems. These cables are purchased separately, and are designedto minimi!e 1M&. These cables are recommended over customer)built cablesto optimi!e system performance and to provide additional safety for thestepper motor system and the user.

%A!,I,. To avoid the possibility of electrical shoc7, perform all mounting


30/39

and wiring of the stepper motor and driver system prior to applying power.nce power is applied, connection terminals may have voltage present.

,-)$: 3lways read the specification sheet(userIs guide accompanying eachproduct.

Stepper Motor FABs

B: %h# is the stepper motor sie important& Is it possible to ust choosea large motor sie&A: The stepper motor si!e is important because if the motorIs rotor inertiapredominately consists of the load, resonance increases and poses issues.

3lso, larger rotors require more time to accelerate and decelerate andtherefore it is important to choose a motor si!e dependent on the criteria foruser applications.

B: %hile increasing speed? (h# do stepper motors lose torque&A: &nductance is the leading cause for motors losing torque at high speeds.The electrical time constant, , is the amount of time it ta7es a motor windingto charge up to B>A of its rated value given a resistance, @, and inductance,/. ith @(/, at low speeds, high inductance is not an issue since currentcan easily flow through the motor windings quic7ly. =owever, at high speeds,sufficient current cannot pass through the windings quic7 enough before thecurrent is switched to the next phase, thereby reducing the torque provided bythe motor. Therefore, it is the current and number of turns in the windingswhich determines the maximum output torque in a motor, while the appliedvoltage to the motor and the inductance value of the winding will affect on thespeed at which a given amount of torque can be produced.

B: %h# does increasing the voltage increase the torque if steppermotors are not voltage driven&A: ?oltage can be viewed as forcing current through the coil windings. 'yincreasing voltage, pressure to force current through the coil also increases.This in turn causes the current to build faster in the winding and is able to

produce a larger magnetic field. This larger magnetic field is what producesmore torque.

B: %hat temperatures are stepper motors able to run at&A: Most stepper motors include *lass ' insulation. This allows the motor tosustain temperatures of up to :>$% *. Therefore, with an ambient temperatureof 9$% *, the stepper motor has a temperature rise allowance of #$% *

http://www.anaheimautomation.com/support/links/faq-index.phphttp://www.anaheimautomation.com/support/links/faq-index.php


31/39

allowing for stepper motors to run at high temperatures.

B: Is it possible to get more torque b# running the stepper motor atdouble its rated current&A: &t is possible to increase torque by increasing the current but by doing so, itwea7ens the motorIs ability to run smoother.

B: %hat is the difference bet(een four? si/ and eight leads in motors&A: Stepper motors have the capability to run in either parallel or series modes.&n a parallel mode, only a four lead motor can be run while in a series mode asix lead motor can be run. 1ight lead motors can run in either parallel or seriesconfigurations. &n applications where more torque is required at higherspeeds, a lower inductance value given from a four lead motor is betterchoice.

B: %hat is the difference bet(een =nipolar and 'ipolar motors&A: 3 unipolar wound motor has six lead wires with each winding having acenter tap. Most applications implementing unipolar wound motors requirehigh speed and torque. n the other hand, a bipolar wound motor has fourlead wires with having no center tap connections. Most applicationsimplementing bipolar wound motors require high torque at low speeds.

B: %hat is the difference bet(een a closed1loop stepper motorcontroller and an open1loop stepper motor controller&

A: &n an open)loop stepper motor controller, no feedbac7 is going from themotor to the controller. This type of controller is effective when the motor iscarrying a constant load at a steady speed. 3 closed)loop motor controller ismore applicable in applications where load or speed varies. &n comparison tothe closed)loop controller, the open)loop controller lac7s complexity and ismore affordable.

B: %hen should I use microstepping&A: Microstepping is typically used in applications which require the motor tooperate at less than C$$ pulses per second.

B: %hat do brakes do on a Stepper Motor&A: 'ra7es do not slow the shaft of a motor, they only hold it in place. &f 89? issupplied to the bra7e, the bra7e is "released" and the motor shaft is free tospin. &f 89? is not supplied to the bra7e, it loc7s position, and holds the motorshaft in place.


32/39

B: %hat is the difference bet(een a round and square stepper motor&A: 3 round -D and % series motor is an older style design with a flatter T(Scurve. They offer more torque at a higher @+M than the square - E or 0series motors. The square motors offer more torque at lower @+M.

B: %hat is the recommended cable distance bet(een AnaheimAutomation stepper motors and drivers&A: e recommend that the wiring between stepper motors and drivers notexceed 8; feet. 3lthough it is not required, we suggest using 3naheim

3utomation shielded motor cable. This cable is ideally suited to handle alldriver and motor combinations that we offer. e can also add connectors tothe cables. +lease contact an 3pplications 1ngineer for more details.

B: I have a motor (ith < leads plus a ground (ire3 Can I hook it up toAnaheim Automation products&A: &f the motor is a true 9 lead motor, you must loo7 at specific models thataccommodate 9)lead motors. &f it is a B or lead motor that was modified tobe used as a 9 lead motor, the ground wire is not required if the motor isgrounded to the machine.

B: If I appl# too much load to a stepper motor (hich causes the shaft tostop rotating? (ill I damage the motor&A: Go. The stepper motor will 2ust stall. =owever, damage can be done todrivers if this stall condition lasts for long periods.

B: Does Anaheim Automation sell encoders for stepper motors&A: Res. e supply encoders for any si!e orders for customers that require acomplete motor(encoder assemble ready to mount. e can assemble theencoder to the motor for a nominal charge. 3s7 a *ustomer Servicerepresentative for more details.

B: %hat is the life e/pectanc# of Anaheim Automation Stepper Motors&A: 3naheim 3utomation stepper motors have a :$,$$$ hour life expectancyunder normal operating conditions. 3naheim 3utomationIs warranty is :8

months after the invoice date. See the "1nvironmental *onditions" sections ofthe stepper motor guide for more details.

B: %hat gauge (ire should be used for a ,$MA ;< stepper motor 26feet of distance&A: 3naheim 3utomation motor cable is ideal. &t is :B gauge, conductor withmatching color code for the stepper motors carried by 3naheim 3utomation.

http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=17&pt=i&tID=74&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=33&pt=i&tID=74&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=8&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=69&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=69&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=17&pt=i&tID=74&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=33&pt=i&tID=74&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=8&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=69&pt=i&tID=75&cID=19http://www.anaheimautomation.com/products/stepper/stepper-motor-item.php?sID=69&pt=i&tID=75&cID=19


33/39

e can also add connectors for you if you prefer. See the 3ccessories sectionof our web site for more details.

B: "o( can I change the direction of m# si/1lead ;D;67S standardround stepper motor (ithout changing the logic&A: @everse the +hase : -red wire with the +hase > -red(white wire and themotor will run in the opposite direction.

B: Is there an# damage caused b# a stepper motor that isdisassembled&A: Res Hp to B$A magneti!ing loss can be the result if the rotor is pulledapart. &f all parts are replaced properly, the motor can be remagneti!ed at thefactory, but the charge is substantial. &f you have a motor failure, or areconcerned about the performance, contact 3naheim 3utomation. +lease notethat the warranty period is :8 months from the date of invoice.

B: Does Anaheim Automation have Permanent Magnet Stepper Motors&A: Res. &n si!e ranging from :; to ;C mm in diameter, with torque ranges of :to 8> o!.)in. -model dependent. See +M Stepper Motors under the StepperMotor category on our web site for more details and product specifications.

B: Can I order a stepper motor (ith ;G accurac# instead of 9G&A: 'ecause almost all of our ;A rated stepper motors fall into the >Aaccuracy category, we usually recommend that you order our standard

motors. &f you require a "guarantee" for the >A accuracy, contact the factoryfor assistance.

B: Are stepper motors (ith optional conduit bo/? ke#(a#? encoder1read#features considered HspecialH&A: Res, they are considered a "special", non)stoc7 item and may require aG@1 or S1T)H+ charge. There is an additional cost for some changes as well.Many stepper motor series already have shaft)flat and encoder)readyprovisions. *hec7 the specification sheet for more details. Some steppermotor series include a conduit -terminal box. The shaft flat and encoder)ready

motors do not incur an extra cost -if itIs already a feature of that series.Motors with conduit boxes will cost more than the standard motors. Seeindividual dimension drawings for details.

B: I need a stepper gearmotor3 Does Anaheim Automation offer thesemotors&A: Res. 3naheim 3utomation offers stepper motors with +lanetary Kearboxes


34/39

in G1M3 si!es ::, :C and 8>. e also have stepper motors with SpurKearboxes in G1M3 si!es 8> and >9, and +M stepper gearmotors in si!ed 89to 98 mm diameters. ?isit the Stepper Kearmotor section of our web site formore details. +lease Gote< e also offer gearboxes and motors separately,should you not find the si!e or gear ratio you require.

B: Does Anaheim Automation make stepper motors (ith driversattached&A: Res. 3naheim 3utomation offers a line of &ntegrated Stepper Motors withDrivers and(or *ontrollers, in G1M3 si!es :C, 8> and >9.*hec7 our :CMD,8>MD, and >9MD series for &ntegrated Motor(Drivers, and our :CMDS& and8>MDS& series for our &ntegrated Motor(Driver(*ontroller product lines.

B: Does Anaheim Automation have stepper motor1based linearactuators&A: Res, in many different types. 3naheim 3utomation offers =ybrid Gon)*aptive /inear 3ctuator in G1M3 si!es ::, :C, 8> and >9, =ybrid ThreadedShaft /inear 3ctuators in G1M3 :C si!e, +M Gon)*aptive /inear 3ctuators insi!es 8$ 4 ;C mm diameters, and +M *aptive /inear 3ctuators in si!es 8$ 498 mm diameters.

B: Can I purchase an IP>9 rated Stepper Motor&A: Res. 3naheim 3utomation offers a &+B; version for G1M3 si!es :C, 8>, >9and 98 frame stepper motors, torque ranges from >; to ;,C$$ o!.)in.-model

specific. ?isit our web site under Stepper Motors, and search &+B; motors.

Stepper Motor B=I

"o( does a stepper motor move&

7' 8lectrical "ulse 9' 0ontinuous 7pplied oltage 0' 7lternates from 7 and 9

A pulse can be produce b# (hich means&

7' #icroprocessor 9' Timing Logic 0' Toggle Switch *' 7ll of the a2ove

%hich of the follo(ing is not a t#pe of stepper motor&

http://www.anaheimautomation.com/support/links/quiz-index.phphttp://www.anaheimautomation.com/support/links/quiz-index.php


35/39

7' aria2le !eluctance 9' :%2rid 0' #agnetic *' Lead-Screw

%hich of the follo(ing is not a component of a stepper motor&

7' /indings 9' !otor and Stator 0' 0ommutator *' 9rush 8' 9oth 0 and *

%hat is the difference bet(een full1step and half1step&

7' $n full-step two phases are on and in half-step onl% one phase is on' 9' #ore resonance is evident in half-step 0' #ore power required for full-step *' :alf-step offers 2etter resolution

%hat criteriaJs are necessar# to consider (hen selecting a steppermotor&

7' #echanical #otion 9' $nertial Load 0' Speed !equirements *' 7ll of the a2ove

%hich of the follo(ing is ,-) an advantage of stepper motors&

7' 0ost-efficient 9' #aintenance-free 0' No feed2ac5 *' #ore complex circuitr%

%ith a stator having 4 teeth and a rotor having > teeth? (hat step angle

(ill an application be able to achieve&

7' &.) 9' .&) 0' +;) *' &;.)


36/39

If an application using a stepper motor required feedback? (hich device(ould be needed to accomplish this&

7' 0ounter 9' 8ncoder

0' Linear


37/39

necessary (like putting additional wiring with a capacitor used during the start-

up). It was correctly explained in previous answers.

hy not more! "imply - it is not necessary and it generates costs. It#s not only

the pro$lem o% wires (so use o% copper& insulation) $ut also construction

pro$lem. 'an you imagine a tower %or overhead lines having nine phases! ell&pro$a$ly you can - sometimes one can meet towers that hold two -phase lines&

or even more:

(pic %rom ikipedia)

The main pro$lem here is to secure proper insulating distance $etween

conductors and conductors and ground (or tower structure)& which reuires

large use o% materials.

Also& i% you have more phases& the chance o% %ailure is higher. *% course& in this

case (say - a $roken conductor) the total asymmetry will $e lower& $ut a risk o%

necessity o% switching o%% the entire line will $e higher.

+uilding a generator %or more phases is also complicated. Typically& hydro

generators& with small speed& do have many pole pairs& so it would $e ok not to

give , pole pairs& $ut one or two (%or example& %or , phases)& $ut it is


38/39

complicated %or thermal generator-tur$ine units. There is usually one pole pair&

sometimes two. This leads to speed /// rpm (%or 0/ 12 network). It is

necessary %or the stator to receive power %rom such a machine with the lowest

risk possi$le& so less phases means less in-turn short-circuits chance.

Introducing more phases would reuire much more expensive stator

construction.

3lease also note& that even i% today it is no pro$lem to have a power electronics

%reuency converter& also multiplying phases& recti%ying etc.& it was a pro$lem

only / years ago& and more o% course. Then people decided to use three

phases& and now it is impossi$le to switch.

hy only phases! ell i% we need more phases we can convert phase easily

into 4 phase5, phase etc using a trans%ormer wired to do so. The main

application o% more phases is %or less ripple voltage into a %ull $ridge recti%ied

capacitor $ank. I#ve never seen one $ut learned a$out them %rom an ancient

lecturer at university while doing electrical engineering.

Also lets say we had a delta con%iguration o% matched resistors connected to a

phase connection. The power used over time will $e identical to a 6' powered

resistor $ecause when one phase is at /7 the other two phases will $e at

44.447 8 .7 i% I remem$er correctly. This relationship also means that the

power %rom one phase will return down the other phases. Isn#t phaseawesome9

"o to summari2e& there#s no need %or additional phases $ecause you can very

easily convert it to more phases at your end. It#s typically not done though as

phase is already awesome.

1ope this helps.

any o% the other answers erroneously state that you need phases %or amotor to start relia$ly or turn in a speci%ic direction& and to use constant


39/39

power. Actually& this could $e done with two phases& ;/< o%% %rom each other.=ou still get de%ined direction and constant power draw over a cycle.

1owever& such a two phase system would reuire a minimum o% three wires&$ut the current thru the three wires would not $e symmetric %or a constant-

power load. "o i% you need three wires anyway& what#s the $est way to usethese three wires as e%%iciently and %lexi$ly as possi$le! The answer is thethree-phase system we actually use. Instead o% one common and two >hot>lines ;/< out o% phase& you have three symmetric hot lines& each ,/< out o%

phase %rom the other two. ?ote that the average voltage (and current %or a$alanced load) is always / %or a symmetric phase system. This is not true o% a , phase system.

ore phases doesn#t give you any additional desira$le properties& so would @ust add complexity and cos

Documents

n simplified terms.docx