Stepper Motors

Cleverness with Magnets and Coils

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Stepper Motors

Different types of stepper motors Differences in Characteristics Stepper Drive Techniques Stepper Dynamics Snubbing for Stepper Motors

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The Permanent Magnet (PM) Stepper Motor

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PM Stepper peration

! ! S

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! S

S S !

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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Stepper Motor 'iring

1 3 5 2 4 6

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'inding Direction is (mportant

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

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Driving Stepper Motors

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Stepper Sequences- .ull Step

V+

V+
S S ! !

G nd

G nd

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Driving .ull Step

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Stepper Sequences- 'ave Drive

V+

! ! S

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! S

S S !

G nd

Driving- 'ave Drive

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Stepper Sequences- &alf*Step

V+ A
S ! S
S

V+

B G nd

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G nd

!
!

S
S

Driving- &alf*Step

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Stepper Sequences- Micro*Stepping

V+ A
! !

! ! ! !

V+

S S SS

G nd

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S S

B G nd

/enerating the Drive

0ogic Sequencer Coil Drive

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Stepping Dynamics

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0oad #ffects the Step Dynamics

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Drive #ffects the Step Dynamics

a b

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Stepper Motor Performance Curves

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Current Dynamics

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01n% Drive

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Current %ise in Detail

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Performance (mprovement with 01n% Drive

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)*0evel Drive

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Chopper Drive
V o lta g e

t0
C u rre n t

t1

t0

t1

t im e

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Diode Snubber for an &*2ridge

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3ener Diode Snubber for and &*2ridge

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12V +V

Several other alternatives

1 .2 m H D IO D E 2

12V +V

1 .2 m H

D IO D E !ENE"

1 1 .4

1 1 .4

0 /0 V E xt F ile

50

2N 3055

+V

0 /0 V

50

2N 3055

1 .2 m H

E xt

F ile

1 1 .4

0 /0 V

50

2N 3055 1N 4 4#

E xt

F ile

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Snubber Summary
4 .% m &1 3 m &3 2 1 m

Diode Only Resistor + Diode Zener Only No Snubber Diode + Zener

&5 0 % m &% # 0 m &$ 5 m &1 .0 % 303u

3 2u

442u

511u " e '( ) ro u n * + ( % # .2 u , /D i- 2 4 1 .

5$0u

%4#u

1$u

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#ffects of Snubbing on Performance

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