INTERFACING OF STEPPER MOTOR

USING 8051
 STEPPER MOTOR

 It is a brushless, synchronous electric motor which converts digital

pulses into mechanical shaft rotation.

 Every resolution of stepper motor is divided into a discrete number of

steps.

 Motor must be send a separate pulse foe each step.

 It can take only one step at a time and each step is the same size.

 Motor position can be controlled without any feedback mechanism

 Speed of rotation is proportional to frequency of pulses.

 priniciple of stteper motor

Operation of this motor works in the principle that

“UNLIKE POLES ATTRACT EACH OTHER AND LIKE POLES REPEL

EACH OTHER”.
 TYPES OF STEPPER MOTOR
 Permanent magnet stepper motor: These motors use a permanent
magnet in the rotor and operate on the attraction or repulsion
between the rotor permanent magnet and stator electro magnets.

 Variable reluctance stepper motor: These motors have a plain iron

rotor and operate based on the principle that minimum reluctance
occurs with minimum gap hence the rotor points are attracted toward
the stator magnet poles.

 Hybrid synchronous stepper motor: These motors are named

because they use a combination of permanent magnet and variable
reluctance stepper motors to achieve maximum power in small
package size.
 OPERATION OF STEPPER MOTOR

 In today's world we use unipolar stepper motor ,which has 5 or 6

wires in which 4 wires are at one end of 4 stator coils and other end of
4 coils are tied together which represents5th wire which is called the
common wire.

 Stator represents 4 electromagnetic coils which remains stationary

around the rotor and the rotor represents permanent magnet which
rotates whenever the coil is energized by applying the current, the
electromagnetic field is created resulting rotation of rotor .

 coils should be energized in a particular sequence to make rotor to

rotate.
 The important parameter of a stepper motor is the step angle.
 It is the minimum angle through which the motor rotates in response to each
excitation pulse.
 In a four phase motor if there are 4 steps in one complete rotation then the step
angle is 360/4= 90
 So to rotate the stepper motor we have to apply the excitation pulse.
 For this the controller should send a hexa decimal code through one of its ports.
 The hex code mainly depends on the construction of the stepper motor.
 So, all the stepper motors do not have the same Hex code for their rotation. (refer
the operation manual supplied by the manufacturer.)
Basically we use two step sequences

1. HALF STEP SEQUENCE

2.FULL STEP SEQUENCE

HALF STEP SEQUENCE: Here we get step angle of 45

degrees with eight steps

360/no of steps=step angle

FULL STEP SEQUENCE: Here we get step angle of 90 degrres

with four steps..
Here we discuss about full step sequence about pulse which we have to give to
get rotation
step A B C D HEXCODE
1 1 0 0 0 08H
2 0 1 0 0 04H
3 0 0 1 0 02H
4 0 0 0 1 01H
 INTERFACING

 Even a small stepper motor require a current of 400 mA for

its operation.
 But the ports of the microcontroller cannot source this much
amount of current.
 If such a motor is directly connected to microprocessor or
microcontroller ports, the motor may draw large current from
the ports and damage it.
 So a suitable driver circuit is used with the
microprocessor/microcontroller to operate the motor.
 Motor Driver Circuit (ULN2003)
 Stepper motor driver circuits are available readily in the form of
ICs. ULN2003 is one such driver IC which is a High-Voltage High-
Current Darlington transistor array and can give a current of
500mA.

This current is sufficient to drive a small stepper motor. Internally, it

has protection diodes used to protect the motor from damage due to
back emf and large eddy currents.

 So, this ULN2003 is used as a driver to interface the stepper motor

to the microcontroller
ULN PIN DIAGRAM
INTERFACING SCHEMATIC DIAGRAM
Main : MOV A, # 0FF H ; Initialization of Port 1
MOV P1, A ;
MOV A, #08H ; Code for the Phase 1
MOV P1, A ;
ACALL DELAY ; Delay subroutine
MOV A, # 04 H ; Code for the Phase II
MOV P1, A ;
ACALL DELAY ; Delay subroutine.
MOV A, # 02 H ; Code for the Phase III
MOV P1, A ;
ACALL DELAY ; Delay subroutine
MOV A, # 01 H ; Code for the Phase 1
MOV P1, A ;
ACALL DELAY ; Delay subroutine
SJMP MAIN ; Keep the motor rotating continuously.
DELAY Subroutine

MOV R4, #0FF H ;Load R4 with FF

MOV R5, # 0FF ; Load R5 with FF
LOOP1: DJNZ R4, LOOP1 ; Decrement R4 until zero,wait
 ADVANTAGES
 Rotation angle of motor is proportional to the input pulse.

 Controlling a stepper motor becomes comparitively easier

than a DC motor

 Excellent response to Starting, Stoping and Reversing.

 Very realible, therefore there are no contact brushess in motors.

 The life of motor depends on life of bearing.

 A wide range of rotatinal speeds can be realised as speed is proportional to

input pulse.
 APPLICATIONS

1.INDUSTRIAL MACHINES: Automative guages,machine tooling

automated production equipments.

2.SECURITY: New surveiliance products for security industry.

3. MEDICAL INDSTRY: Used in medical scanners,samplers,digital

dental photography,fluid pumps,blood anaysis machines.

4. CONSUMER ELECTRONICS: Used in cameras,for automatic

digital camera focus and zoom functions.
5. Used in Robotics.