There are three main types of stepper motors: permanent magnet, variable reluctance, and hybrid. Hybrid stepper motors are most commonly used in industry applications due to their high static and dynamic torque. Stepper motors can operate in full step, half step, or microstep modes which determine the motor resolution in steps per revolution. Higher resolution modes like half stepping increase the number of steps per revolution.

1. STEPPER MOTOR CHAPTER 7

2. Stepper Motor S tepper motor is a brushless , synchronous electric motor and an electromagnetic device that uses magnetic field to move the rotor with the aid of digital pulses that drives power solid state devices ON and OFF Three types of stepper motor: -Permanent magnet -Hybrid -Variable reluctance

3. Types of stepper motor Variable reluctance Permanent magnet Hybrid 1) Soft iron multipole rotor and a laminated core in the wound stator 2) Has four "stator pole sets" (A, B, C,) set 15 degrees apart 3) Rarely use in industry because of less detent torque. 1) Rotor has no teeth and and a laminated core in the wound stator 2) Has four phase and 90 degrees apart. 3) Ideal choice for non industrial application such as a line printer print wheel positioner and operate at fairly low speed. 1) Standard Hybrid motor has 200 rotor teeth and bifilar stator windings. 2) Standard Hybrid motor move at 1.8 step angles.Other Hybrid motor available in 0.9ºand 3.6º step angle configurations. 3) Wide variety used for industrial applications because of high static and dynamic torque and run at very high step rates.

4. Stepper Motor -Stepper motor “step modes” include full step,half step and microstep.

5. Full Step ONE-ON full step operation

6. Full Step Two-ON full step operation

7. Half Step(also known as one ON,two ON operation)

8. Four operational mode of stepper motor Rest mode – the stator windings are de-energized and the motor is not running, resisting movement until a load-originating torque exceeds the detent torque. Stall mode – the stator windings are energized and the rotor is not running resisting movement until a load-originating torque exceeds the holding torque. Bidirectional mode – the rotor turns continually then stops. It can continue in the same direction or the reverse direction Unidirectional mode – the rotor is accelerated (ramped up) beyond the bidirectional rate and cannot be reversed instantaneously. In some of the literature this mode is called the slew mode

9. Stepper motor resolution The resolution of stepper motor depends on the type and energize method of the stepper motor. Res = 360 β Where : Res = resolution of the stepper motor (step/rev) β = step angle 360 = conversion factor ( 360°/rev) Example: Determined the resolution of a four-phase hybrid stepper motor with a 1.8° step angle if the stepper motor operated: a) full step B)half step Answer: (a) β = 1.8° for full step rotation Res = 360/1.8 = 200 steps/rev (b) Half step, β = 0.9°. Res = 360/0.9 = 400 steps/rev.

10. Stepper Motors Sequence Full step sequence showing how binary numbers can control the motor Half step sequence of binary control numbers