2. CONTENTS
• What Is a Stepper Motor?
• Construction
• Working Of Stepper Motor?
• The 3 Types Of Motors?
• 1. Variable Reluctance Stepper
• 2. Permanent Magnet Stepper
• 3. Hybrid Synchronous Stepper
• Phase Current Waveforms
• Applications
3. Stepper Motor
• Brushless DC electric
motor.
• Division of full rotation.
• Divided to equal steps.
• Motor position
commanded to move.
• Hold at any of steps
without an open loop
controller
8. One phase on mode full step
A B C 𝜃
A + 0 0 00
B 0 + 0 300
C 0 0 + 600
A + 0 0 900
9. Two phase on mode full step
A B C ANGLE
AB + + 0 15
BC 0 + + 45
CA + 0 + 75
AB - + 0 105
10. Alternate one phase & two phase on
mode,half step operation
A B C ANGLE
A + 0 0 0
AB + + 0 15
B 0 + 0 30
BC 0 + + 45
C 0 0 + 60
CA + 0 + 75
A + 0 0 90
11. Micro stepping
• excitation of two phases simultaneously
as in two phase on operation, but with
one difference.
• current in one phase is held constant at
its maximum, while the current in the
other phase is increased in very small
steps till it reaches its maximum.
• After this further movement of the rotor
is actuated by decreasing the current in
the first phase again in very small steps.
12. Permanent magnet stepper motor
• permanent magnet (PM) in the rotor
• operate on the attraction or repulsion b/w the
rotor PM and the stator electromagnets.
• The motor operates in the following modes of
operation:
• One phase on mode full step operation.
• Two phase on mode full step operation.
• Alternate one phase on mode, Two phase on
mode, half step operation.
• Micro stepping
13. One phase on mode full step operation
A B ANGLE
IN
DEGRE
ES
A+ + 0 0
B+ 0 + 90
A- - 0 180
B- 0 - 270
A+ + 0 0
14. Two phase on mode full step operation
A B ANGLE(DEG)
A+B+ + + 45
B+A- - + 135
A-B- - - 225
B-A+ + - 315
A+B+ + + 45
19. Wave drive
• only a single phase is activated at a time.
• same number of steps as the full step drive,
• motor will have significantly less than rated torque.
• It is rarely used.
20. Full step drive
• usual method for full step driving the motor
• Two phases are always on.
• The motor will have full rated
• Wave drive and single phase full step both are one
and the same.
21. Half stepping
• drive alternates between two phases on and a single
phase on.
• increased angular resolution, motor has less torque
(approx. 70%) at the half step position (where only a
single phase is on).
• This may be mitigated by increasing the current in
the active winding to compensate.
• advantage -drive electronics need not change to
support it.
22. Micro stepping
• Sine cosine micro stepping most common but other waveforms
can be used.
• Regardless of the waveform used
• as the microsteps become smaller, motor operation becomes
more smooth,
• reduced resonance in any parts of connection /motor itself.
23. APPLICATIONS
• They are commonly used in watches and old electric meters
• They are used in wide variety
1. In Industry
As - Drilling Machine,
- Grinder,
- Laser Cutting,
- Conveyor;&
- Assembly Lines.
2. In computer Peripherals
As - Printer,
- Plotter,
- Tape Reader,
- Card Reader;&
- Copy Machines.
3. In Business
As - Banking systems;&
- Automatic typewriters.
4. In Motion Control and Robotics
As - Silicon Processing;&
- I.C. Bonding.