STEPPER

MOTOR
CONTROL
(Project)

MINDANAO STATE UNIVERSITYILIGAN INSTITUTE OF TECHNOLOGY

DEPARTMENT OF EECE

STEPPER MOTOR
CONTROL

Submitted to:
by:
Jeffrey C. Pasco
S.

Submitted
Verano, Jeric
Juanday, Juhaira M.
Sinugbuhan, Sheramay C.
Cebedo, Erika

INTRODUCTION:
A stepper motor is an electromechanical
device which converts electrical pulses into
discrete mechanical movements. The shaft or
spindle of a stepper motor rotates in discrete step
increments when electrical command pulses are
applied to it in the proper sequence. The motors
rotation has several direct relationships to these
applied input pulses. The sequence of the applied
pulses is directly related to the direction of motor
shafts rotation. The speed of the motor shafts
rotation is directly related to the frequency of the
input pulses and the length of rotation is directly related to the number of
input pulses applied.
There are a wide variety of stepper types. There are two basic winding
arrangements for the electromagnetic coils in a two phase stepper motor:
bipolar and unipolar.
UNIPOLAR
A unipolar stepper motor has one winding
with center tap per phase. Each section of
windings is switched on for each direction of
magnetic field. Since in this arrangement a
magnetic pole can be reversed without
switching
the
direction
of
current,
the commutation circuit can be made very
simple (e.g., a single
transistor) for each a center-tapped unipolar winding, which
winding.
Typically,
allows the field to be reversed by turning
given a phase, the one winding off and the other on
center tap of each
winding is made
common: giving three
leads per phase and six leads for a typical two phase
motor.BIPOLAR
Bipolar motors have a single winding per phase.
The current in a winding needs to be reversed in order
to reverse a magnetic pole, so the driving circuit must
be
more
complicated,
typically
with
an Hbridge arrangement (however there are several off-theshelf driver chips available to make this a simple
affair). There are two leads per phase, none are
common.
Static friction effects using an H-bridge
have been observed with certain

as a bipolar winding, which requires

reversal of the current flow to reverse
the field.

drive topologies.[2]
Dithering the stepper signal at a higher frequency than the motor can
respond to will reduce this "static friction" effect.
Because windings are better utilized, they are more powerful than a
unipolar motor of the same weight. This is due to the physical space
occupied by the windings. A unipolar motor has twice the amount of wire in
the same space, but only half used at any point in time, hence is 50%
efficient (or approximately 70% of the torque output available). Though a
bipolar stepper motor is more complicated to drive, the abundance of driver
chips means this is much less difficult to achieve.
Specifically, a bipolar stepper motor (EM323) was used in this project
in making a counter.

METHODOLOGY:
Input/
Source
Clock 2

Clock 1

Shift
register
H-bridge
drivers
Stepper
motor
sensor

counter

At the left is
the diagram
showing of
the whole
process of
making a
counter.

The input/source is the power that the circuit needed to supply the whole counter.
First, we would be dealing with the variable clock. It will determine how fast or how
slow the cycle of the stepper motor. LM555 IC is used.(circuit diagram for clock 1 is

1k

4.7F

shown
below).

After varying the clock1 and choosing the speed of the rotation of the
stepper motor. Its output is connected to the input of the shift register. The
shift in any direction, either clockwise or counterclockwise.
We use 74LS95B IC for our shift register.
The SN54/74LS95B is a 4-Bit Shift Register with serial and parallel
synchronous operating modes. The serial shift right and parallel load are
activated by separate clock inputs which are selected by a mode control
input.
The data is transferred from the serial or parallel D inputs to the Q
outputs synchronous with the HIGH to LOW transition of the appropriate
clock input.
Below are the circuit diagram and
other information regarding 74LS95.

74LS9B

Circuit diagram of shift register

pinout configuration of

Then the output of the shift register then goes to the H-bridge.
An H bridge is an electronic circuit that enables a voltage to be
applied across a load in either direction. These circuits are often used
in robotics and other applications to allow DC motors to run forwards and
backwards. Here SN754410/ L293NE IC is what we have used.
The L293 and L293D are quadruple high-current half-H drivers.
The L293 is designed to provide bidirectional drive currents of up to 1 A at
voltages from 4.5 V to 36 V.
These devices are designed to drive inductive loads such as
relays, solenoids, dc and bipolar stepping motors, as well as other highcurrent/high-voltage loads in positive-supply applications. All inputs are TTL
compatible. Each output is a complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo Darlington source. Drivers are
enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4
enabled by 3,4EN. When an enable input is high, the associated drivers are
enabled, and their outputs are active and in phase with their inputs. When
the enable input is low, those drivers are disabled, and their outputs are off
and in the high-impedance state. With the proper data inputs, each pair of
drivers forms a full-H (or bridge) reversible drive suitable for solenoid or
motor applications. On the L293, external high-speed output clamp diodes
should be used for inductive transient suppression.
A VCC1 terminal, separate from VCC2, is provided for the logic inputs to
minimize device power dissipation.The L293and L293D are characterized for
operation from 0C to 70C.

Below are the pinout and information about L293NE IC.

Logic diagram of
Block diagram of L293
L293

After the H-bridge, then we goes to the

stepper motor.
A stepper motor is an electromechanical
device which converts electrical pulses into discrete
mechanical movements. The motors rotation has
several direct relationships to these applied input
pulses. The sequence of the applied pulses is
directly related to the direction of motor shafts
rotation. The speed of the motor shafts rotation is
directly related to the frequency of the input pulses and the length of
rotation is directly related to the number of input pulses applied. The number
of turns that the spindle would make per minute would be shown on the
counter.
In this project, we use a bipolar stepper motor (EM323).
A bipolar stepper motor has one winding per stator phase. A two phase
bipolar stepper motor will have 4 leads. In a bipolar stepper we dont have a
common lead like in a uni-polar stepper motor. Hence, there is no natural
reversal of current direction through the winding.
A bipolar stepper motor has easy wiring arrangement but its operation
is little complex. In order to drive a bipolar stepper, we need a driver IC with
an internal H bridge circuit. This is because, in order to reverse the polarity of
stator poles, the current needs to be reversed. This can only be done through
a H bridge.
There are two other reasons to use an H Bridge IC:
1) The current draw of a stepper motor is quite high. The micro-controller pin
can only provide up to 15 mA at maximum. The stepper needs current which
is around ten times this value. An external driver IC is capable of handling
such high currents.
2) Another reason why H Bridge is used is
because
R2
R1
the stator coils are nothing but inductor. When
coil2k
U1
660k
current changes direction a spike is generated.
A
normal micro-controller pin cannot tolerate
Q1
such high spikes without damaging itself.
V1
5V
Hence to protect micro-controller pins, HBC549BP
S1
bridge is necessary.
Key = Space

Then, the sensor is used to indicate every

time
Sensor
the spindle of the motor would make a rotation.
circuit
In our case, we use a tickle switch. Every time
the
tickle switch would be touched by the spindle of the stepper motor, the
counter would count.
The output of the sensor will be the input of our decoder. Now, our
decoder which serves as our counter will record the number of pulses that
our sensor have delivered. This displays the
revolution per minute (rpm) made by the motor
which is indicated by the sensor. Using a BCD or 7segment (cathode) and a CD4026 IC, the binary
inputs are decoded to produce the desired output.
The output is also dependent to clock 2.
Clock 2 is a constant clock. Frequency is 1/60Hz. It
will only create a pulse in the 60th second. When the
clock 2 reaches the 60th second, it would stop
counting. The BCD would then display the last
count. The clock is then reset back to 0.

68
k

8.6M

Clock 2 is almost the same as clock 1. Its just

that, it does not consist of a potentiometer, instead,
it has a fixed resistor that has a value of 8.6k. We also use a 1k instead of
36k.

Below are the pinout and other information regarding the IC that we used for
the counter.

CD4026

Pin configuration of

CD4026 is
a Johnson
counter IC commonly used in
digital display. It has a 5 stage

Johnson decade counter with a

decoder which converts the Johnson code to a 7 segment decoded output. To
put it simply, it will convert the input into numeric display and can be seen
on 7 segment display or with LED. It can be used for displaying analogue
value such as temperature with pic microcontroller or for counting objects.
There is various other applications like in 7 segment decimal display circuit,
in clocks, timer etc. Advantages of 4026 counter are: It contains counters
and 7 segment decoded in one package, It can be easily interfaced with 7
segment types, Ideal for low power display. Operated at wide range of
temperature from 5V to 20V and the biggest advantage of the 4026B counter
IC is that it can drive a 7-segment display without needing a decoder driver
IC.

THE BLOCK DIAGRAM OF THE OVERALL CIRCUIT OF THE

STEPPER MOTOR CONTROL

RESULTS AND DISCUSSIONS:

TIMING DIAGRAMS:

Our stepper motor is bipolar which implies that it has four pins that will
create rotation if and only if in every state theres only one pin that is in logic
HI and it follows a sequence. For clockwise, we have A-D-C-B and for
counter clockwise we have B-C-D-A. As we can observe, our sequencing
works like that of a shift register. Now, that is the reason why we make use of
a shift register operation in our circuit. However, since we are using TTL, we
can only produce a current that is enough to drive our stepper motor. Now, in
order to regulate a current that can drive our stepper motor, we used an Hbridge circuit, which works like that of an amplifier. (In our case, we used the
H-bridge of an L293NE IC). This time, weve obtain enough current to make
our bipolar motor turn/rotate.

Bipolar Stepper Motor

Clock

0
t(s)

60

Sens
0

Since our clock 1 is variable, theres no stable timing diagram for every part
frequency oft(s)
6 of the project. We set the clock 1 to have a60
1 Hz so that
0 it would produce one pulse per second. Consequently, it
produces 60 rotations per minute.

59
61

60

The final output

motor control.

of our stepper

REFERENCES

http://www.circuitstoday.com/wp-content/uploads/2009/09/555-timerIC-Block-Diagram.jpg
http://www.cs.smith.edu/~thiebaut/270/datasheets/sn74ls95brev5.pdf
http://electrical4u.com/bipolar-stepper-motor/
http://www.circuitsgallery.com/2013/12/4026-digital-countercircuit.html
http://www.engineersgarage.com/electronic-circuits/Interfacing-4026with-7-segment-display