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Stepper Motors
Cleverness with Magnets and Coils
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Stepper Motors
Different types of stepper motors
Differences in Characteristics
Snubbing for Stepper Motors
Stepper Drive Techniques
Stepper Dynamics
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The Permanent Magnet (PM) Stepper Motor
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PM Stepper peration
S
!
S !
S
!
S!
S
!
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Torque v"s" #ngular Displacement
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The $ariable %eluctance ($%) Stepper Motor
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The &ybrid Stepper Motor
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The &ybrid Motor %otor
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ffset Teeth in &ybrid %otor
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$ariations in utput Torque
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'inding Direction is mportant
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*Phase +niversal 'ound v"s" ,*Phase
a b
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Driving Stepper Motors
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Stepper Sequences- .ull Step
V +
V +
G n d
G n dS
!
S
! S
!
S
!
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Stepper Sequences- 'ave Drive
V +
G n d
S
!
S !
S
!
S!
S
!
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Driving- 'ave Drive
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V +
V +
G n d
G n d
A
B
C D
Stepper Sequences- &alf*Step
S !
S
!
S
!
S
!
S!
S
!
S
!
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Driving- &alf*Step
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Stepper Sequences- Micro*Stepping
V +
V +
G n d
G n d
A
B
C DS
!
S !
S
!
S
!
S
!
S
!
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/enerating the Drive
0ogic
Sequencer
Coil
Drive
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Stepping Dynamics
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0oad #ffects the Step Dynamics
i ff h i
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Drive #ffects the Step Dynamics
ab
S f C
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Stepper Motor Performance Curves
C D i
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Current Dynamics
01 % D i
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01n% Drive
C %i i D il
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Current %ise in Detail
0
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Performance mprovement with 01n% Drive
0 l D i
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*0evel Drive
Ch D i
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Chopper Drive
V
o
lta
g
e
C
u
rre
n
t
t 0
t 0
t 1
t 1 t i m e
Di d S bb f & 2 id
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Diode Snubber for an &*2ridge
3 Di d S bb f d & 2 id
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3ener Diode Snubber for and &*2ridge
S l th lt ti
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Several other alternatives+ V
1 2 V
E x t F i l e
0 / 0 V2 N 3 0 5 5
1 . 2 m H D I O D E
5 0
1 1 . 42
+ V
1 2 V
E x t F i l e
0 / 0 V2 N 3 0 5 5
1 . 2 m HD I O D E
! E N E "
5 0
1 1 . 4
+ V
E x t F i l e
0 / 0 V2 N 3 0 5 5
1 . 2 m H
1 N 4 4 #
5 0
1 1 . 4
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Snubber Summary
3 0 3 u3 2 u 4 4 2 u 5 1 1 u 5 $ 0 u % 4 # u 1 $ u
& 1 . 0 %
& $ 5 m
& % # 0 m
& 5 0 % m
& 3 2 1 m
& 1 3 m
4 . % m
" e ' ( ) r o u n * + ( % # . 2 u , / D i - 2 4 1
Diode Only
Resistor + Diode
Diode + Zener
Zener Only
No Snubber
#ffects of Sn bbing on Performance
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#ffects of Snubbing on Performance
