8/13/2019 Steppers

1/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepper Motors

Cleverness with Magnets and Coils

8/13/2019 Steppers

2/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepper Motors

Different types of stepper motors

Differences in Characteristics

Snubbing for Stepper Motors

Stepper Drive Techniques

Stepper Dynamics

8/13/2019 Steppers

3/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

The Permanent Magnet (PM) Stepper Motor

8/13/2019 Steppers

4/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

PM Stepper peration

S

!

S !

S

!

S!

S

!

8/13/2019 Steppers

5/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Torque v"s" #ngular Displacement

8/13/2019 Steppers

6/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

The $ariable %eluctance ($%) Stepper Motor

8/13/2019 Steppers

7/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

The &ybrid Stepper Motor

8/13/2019 Steppers

8/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

The &ybrid Motor %otor

8/13/2019 Steppers

9/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

ffset Teeth in &ybrid %otor

8/13/2019 Steppers

10/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

$ariations in utput Torque

8/13/2019 Steppers

11/37

8/13/2019 Steppers

12/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

'inding Direction is mportant

8/13/2019 Steppers

13/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

*Phase +niversal 'ound v"s" ,*Phase

a b

8/13/2019 Steppers

14/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Driving Stepper Motors

8/13/2019 Steppers

15/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepper Sequences- .ull Step

V +

V +

G n d

G n dS

!

S

! S

!

S

!

8/13/2019 Steppers

16/37

8/13/2019 Steppers

17/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepper Sequences- 'ave Drive

V +

G n d

S

!

S !

S

!

S!

S

!

8/13/2019 Steppers

18/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Driving- 'ave Drive

8/13/2019 Steppers

19/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

V +

V +

G n d

G n d

A

B

C D

Stepper Sequences- &alf*Step

S !

S

!

S

!

S

!

S!

S

!

S

!

8/13/2019 Steppers

20/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Driving- &alf*Step

8/13/2019 Steppers

21/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepper Sequences- Micro*Stepping

V +

V +

G n d

G n d

A

B

C DS

!

S !

S

!

S

!

S

!

S

!

8/13/2019 Steppers

22/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

/enerating the Drive

0ogic

Sequencer

Coil

Drive

8/13/2019 Steppers

23/37MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepping Dynamics

8/13/2019 Steppers

24/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

0oad #ffects the Step Dynamics

i ff h i

8/13/2019 Steppers

25/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Drive #ffects the Step Dynamics

ab

S f C

8/13/2019 Steppers

26/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Stepper Motor Performance Curves

C D i

8/13/2019 Steppers

27/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Current Dynamics

01 % D i

8/13/2019 Steppers

28/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

01n% Drive

C %i i D il

8/13/2019 Steppers

29/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Current %ise in Detail

0

8/13/2019 Steppers

30/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Performance mprovement with 01n% Drive

0 l D i

8/13/2019 Steppers

31/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

*0evel Drive

Ch D i

8/13/2019 Steppers

32/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

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

8/13/2019 Steppers

33/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

Diode Snubber for an &*2ridge

3 Di d S bb f d & 2 id

8/13/2019 Steppers

34/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

3ener Diode Snubber for and &*2ridge

S l th lt ti

8/13/2019 Steppers

35/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

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

8/13/2019 Steppers

36/37

MPE 118 MECHATRONICSMPE 118 MECHATRONICS

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

8/13/2019 Steppers

37/37

#ffects of Snubbing on Performance