Stepper Driver 1 STPD1

Stepper Driver 1
User Manual

Rev : 1.1
Date: 12/2011

Copyright 2011 Titans Technology

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Hardware Revision
STPD1 Rev 1.0 : phin bn u tin.
STPD1 Rev 1.1 :

B xung hai bin tr chnh tc .

B sung hai led ch th trng thi.

Thm nt nhn emergency stop.

B sung chip m I/O.

Document Revision

STPD1 Userguide Rev 1.0 : phin bn u tin

Copyright 2011 Titans Technology. Ti liu ny thuc bn quyn ca Titans

Tecnology (www.titans.com.vn), chng ti hy vng cc bn khi s dng vi bt k mc
ch no bng bt c hnh thc no bao gm sao chp, in, copy, trch dn cn phi ghi
r xut x ngun gc t trang web ca chng ti. Hy truy xut trang web ca chng
ti thng xuyn c nhng cp nht mi nht v cc thit b, hay nhng bi vit mi
nht. Hy vng s cng cc bn pht trin nn cng nghip in t Vit Nam.

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Mc lc
1

Gii thiu............................................................................................................4
1.1

Gii thiu STPD1 .......................................................................................................... 4

1.2

Kin trc b iu khin ................................................................................................ 4

1.3

Thng s:........................................................................................................................ 5

Gii thiu v ng c stepper...........................................................................7

2.1

Cc loi ng c stepper............................................................................................... 7

2.2

Cc kiu ni dy ng c stepper ................................................................................ 8

2.3
Nguyn l hot ng ca ng c stepper .................................................................. 9
2.3.1 Dng sng iu khin ng c stepper ....................................................................... 9

M t phn cng..............................................................................................15
3.1

STPD1 layout v schematic ........................................................................................ 15

3.2

I/O Connector .............................................................................................................. 17

Hng dn s dng STPD1 ...........................................................................18

4.1

Dng xung u ra ca STPD1 : ................................................................................. 18

4.2

Cc kiu u dy ca STPD1 : .................................................................................. 19

Ti liu tham kho .................................................................................................21

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Gii thiu

1.1 Gii thiu STPD1

Stepper Driver STPD1 l module iu khin ng c stepper, STPD1 tch hp mt vi
iu khin dng PIC16F ca microchip hiu sut cao, cho php thc hin thut ton iu
khin bc. Nh , ngi dng c th giao tip vi ng c stepper ging nh l ng
c DC thng thng vi ch hai chn iu khin l DIR chn hng v Pulse, lnh di
chuyn. STPD1 s t ng phn tch v to ra cc chui xung lin tc iu khin ng
c stepper, do ngi dng khng cn quan tm nhiu n ng c bc na.
STPD1 c thit k s dng ch vi ng c bc 5 hoc 6 dy kiu
unipolar (s m t phn sau). Tuy nhin, y l loi ng c bc tng i ph bin
STPD1 c th s dng trong nhiu ng dng nh iu khin my cng nghip, my
CNC, dy chuyn sn xut, Robot

1.2 Kin trc b iu khin

Nh ni phn gii thiu, tri tim ca b iu khin ng c bc STPD1 l mt
vi iu khin 8 bit hiu sut cao ca Microchip. Chip vi x l ny s thc hin thut ton
iu khin ng c bc. Tn hiu iu khin sau c khuch i qua b khuch i
cng sut.

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Hnh 1: Thit k ca STPD1

1.3 Thng s:
STDP1 c cc thng s sau :
phn gii na bc, ch hot ng vi ng c bc 5 hoc 6 dy kiu
Unipolar.
Tn s to xung ln ti 1Khz.
in p hot ng ca b iu khin l 5VDC.
in p hot ng ca phn cng sut l t 9-24VDC, dng tnh max 3A trong
iu kin tn nhit y .
Giao tip thng qua hai tn hiu DIR/PULSE tiu chun. Tn hiu pulse hot ng
theo cnh ln (ch mc nh).
Cho php giao tip thng qu RS232 hoc I2C hoc SPI (firmware 2.x tr ln)
Cho php dng ngay lp tc bng nt nhn Emergency Step trn module.
(firmware 1.2 tr ln)
C led bo trng thi hot ng.
C bin tr cho php chnh tc ng c trong ch chy theo mc (firmware
2.x tr ln)
C th update firmware thng qua cng ICSP
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Hnh 2 : STPD1 v ng c bc

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2 Gii thiu v ng c stepper

ng c bc hay cn gi l ng c step l loi ng c to ra chuyn ng quay
khi c dng in chy qua motor. Kch thc ca ng c bc ln hay nh ty vo cng
sut ca chng. Khc vi ng c DC thng thng, ng c step chy theo tng bc
ng nh tn gi ca chng. Tuy nhin, ta c th bt chng chy lin tc nh ng c
DC bng cch p dng cc dng sng iu khin thch hp ln ng c bc. Phn sau
m t mt s loi ng c bc thng dng .

2.1 Cc loi ng c stepper

Hnh 3 : ng c bc kiu Bipolar (tri) v Unipolar (bn phi)

ng c bc c hai loi ph bin nht l Bipolar v Unipolar. Hai loi ny tng

i ging nhau ngoi tr vic ng c bc kiu Unipolar c thm hai dy gia
mi cun dy. Nh vy ta c th thy rng ng c Unipolar c th bin thnh ng
c Bipolar bng cch b hai dy gia mi cun dy.

Hnh 4 : Mt s loi ng c bc

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2.2 Cc kiu ni dy ng c stepper

Hnh 5 : Mt s kiu ni dy ca ng c bc

Hnh 6 : V d in hnh v dy ni ca ng c bc

Hnh 7 : Cc kiu ni dy ca ng c bc

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Ch rng STPD1 ch h tr ng c bc ni dy kiu unipolar nh hnh b,d.

v ng c step loi 5 dy
Bi v ng c Bipolar cn iu khin trn c hai cc to ra dng in trn ng
c, do cn mt cu H y iu khin mi cun dy ca ng c bc. Trong khi
ng c bc kiu unipolar vi dy gia mi cun dy cho php iu khin d hn ch
vi na cu H, tuy nhin v dng in ch chy trn mi na cun dy ca ng c, do
cng sut s yu hn so vi loi bipolar.

2.3 Nguyn l hot ng ca ng c stepper

Hnh sau m t hot ng ca ng c bc n gin. Trong hnh 3a), dng in
a vo cc /C v chy ra C, do to ra lc t gi ng c v tr nh hnh 3a). Sau
, chng ta tt dng in ny i v chuyn sang cp /A v A, nh vy ng c s b
xoay v v tr mi do lc t thay i hng. Sau n cp B v /B. Nh vy, bng cch
to cc dng in chy qua cc cun dy, ta lm xoay roto theo chiu mong mun,
mi ln quay mt bc khong cch gia hai cun dy st nhau. Nh vy nu ta t cc
cun dy cng st nhau th ta c phn gii cng cao, cc ng c trong thc t c th
t ti phn gii gc 1.80

Hnh 8 : Nguyn l hot ng ca ng c bc

2.3.1 Dng sng iu khin ng c stepper

iu khin full-step (wave drive 1 phase on):
Trong ch Wave drive, ti mt thi im ch c mt cun dy c cp dng. Cch
iu khin ny n gin, nhng cng sut rt thp, ch t 25% i vi ng c bc
kiu unipolar, v 50% i vi kiu bipolar. Do lc xon xinh ra bi dng iu khin
ny tng i yu.

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Hnh 9 : iu khin kiu wave-drive

Dng sng iu khin s c xut theo dng sau :

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Hnh 10 : Dng sng iu khin kiu wave-drive

iu khin full-step (two phase drive - 2 phase on):

Trong ch ny, hai cun dy s c cp nng lng ng thi, cho cng sut cao hn
dng trn.

Hnh 11 : iu khin kiu full-Step 2 phase Drive

Dng sng iu khin cng gn ging nh trn :

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\\

Hnh 12 : Dng sng iu khin kiu full-Step 2 phase Drive

iu khin half-step (1 or 2 phase on):

Loi iu khin ny kt hp hai dng trn li. kt qu l ng c c th di chuyn cc
gc c phn gii gp 2 ln kiu trn. Loi iu khin ny tng i phc tp hn
mt cht,. Module STPD1 s dng kiu iu khin ny

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Hnh 13 : iu khin kiu half-Step

Dng sng iu khin c thc hin nh hnh sau, bao gm 8 phase iu khin.

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Hnh 14 : Dng sng iu khin kiu half-Step

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3 M t phn cng
3.1 STPD1 layout v schematic

Hnh 15 : Layout mch STPD1

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Hnh 16 : Khi Vi X L
PVCC

P0
P1
P2
P3

Power

PHASE0
PHASE1
PHASE2
PHASE3

PGND

Hnh 17 : Khi cng sut

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3.2 I/O Connector

STPD1 c 2 connector I/O l CN2, CN3.
Trong CN3 l connector iu khin chnh, cn CN2 l port iu kin m rng,
cho php hot ng cc ch phc tp hn nh giao tip RS232, SPI, I2C, cu
hnh b iu khin, chn mode hot ng
ch mc nh, chng ta ch 1uan tm n Port CN3 m thi

Port CN3
Pin
CN3.3
CN3.2
CN3.1
CN3.0

Pic16Fs pin description

IO1
Pulse (CMD)
IO0
Dir
VCC
5VDC
GND
0VDC

Port CN2
Pin
CN2.0
CN2.1
CN2.2
CN2.3
CN2.4
CN2.5
CN2.6
CN2.7
CN2.8
CN2.9

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Pic18Fs pin description

RC0
RC1
RC2
RC3
RC4
RC5
RC6
RC7
5VDC
GND

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4 Hng dn s dng STPD1

Hnh 18 : S dng STPD1

STPD1 c hai ch hot ng : Test mode v Normal Mode. Mode hot ng c

chn bi trng thi ca chn RC0: RC0= 0 ti lc bt ngun th STPD1 s i vo test
mode. Ngc li l Normal mode.Trng thi ca RC0 ch c xem xt lc bt ngun. V
vy mi khi thay i mode hot ng,ta phi reset STPD1.
ch Test mode, Nhn button test ng c Step, thay i mc logic ca DIR
o chiu ng c
ch thng thng, STPD1 c iu khin thng qua connector CN3 gm 4 tn hiu
: ngun , mass, pulse (hay cmd) v dir.
Hnh trn th hin cch iu khin STPD1. Mi khi ta mun ng c step chy
mt bc, ta kch mt cnh ln vo chn Pulse (CMD) , tc l CN3.3 (k hiu IO1 trn
mch).
Lc ng c bc s chy mt bc theo chiu ca tn hiu DIR ti thi im cnh
ln ca tn hiu Pulse.
Ngun cng sut cp cho STPD1 c th dao ng t 9-24VDC, ty thuc loi ng c
step s dng.

4.1 Dng xung u ra ca STPD1 :

kt ni vi ng c step ng v tr, chng ta c th tham kho dng xung u
ra ca STPD1 sau y, v kt ni dy ph hp vi mt trong cc kiu phn sau :

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Hnh 19 : Dng sng u ra ca STPD1

4.2 Cc kiu u dy ca STPD1 :

ng c step kiu 6 dy :

Hnh 20 : Kt ni ng c bc 6 dy

ng c step kiu 5 dy :

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Hnh 21 : Kt ni ng c bc 5 dy

ng c step kiu 8 dy :

Hnh 22 : Kt ni ng c bc 8 dy

Ni dy cho mt ng c step in hnh :

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Ti liu tham kho

Driving stepper motors using NXP I2C-bus GPIO expanders,NXP
A Unipolar Stepper Motor Drive Using the Z8 Encore! MCU, Zilog
Quick Start for Beginners to Drive a Stepper Motor, Matthew Grant
AVR446: Linear speed control of stepper motor, Atmel Co.Ltd
Stepper Motor Control with dsPIC DSCs, Sorin Manea, Microchip
Technology Inc.

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