ABSTRACT:

Stepper motor is widely used in CNC machine drives, robots, and wherever an accurate

positioning is required. In such applications, step angle, direction, operating modes (single-coil

or double-coil), speed, and position are important considerations. This simple program written in

Turbo C provides easy control over the stepper motor.

The program accepts the input in decimal number and outputs on 2 digit 7 segment display for

controlling connected stepper motor.

ACKNOWLEDGEMENT

To show our deep sense of gratitude towards them, the word "thanks" is not satisfactory, but still

we would like to thank to express our gratitude in our work.

We wish to acknowledge with thanks Mr. MIHIR BHATT SIR for their various kinds of help in

the successful completion of my working model.

PREFACE

An engineer is a person who applies the knowledge of science for the welfare of society.

Neccessity is the mother of invention.

Technical knowledge is like a coin, which has two sides, one is theoretical & another is practical

knowledge. Both are very important for technical person but infect practical knowledge is more

important than theoretical.

CONTENTS

• Abstract

• Acknowledgement

• Preface

1)Stepper Motor Introduction............

2)Schematic of a 4 –phase stepper motor…………….

3)Software program……..

4)Understanding Step ................

5)Construction & operation……..

6 )application………….

7)Advantages & Limitations………

8)Conclusion……….

9)future Aspects……….

STEPPER MOTOR INTRODUCTIONS:-

A stepper motor is an electromagnetic device that translates electrical (Digital) pulses into

mechanical movement. Every stepper motor has a permanent magnet rotor (also called the staff)

surrounded by a stator. The Shaft of the motor rotates in equal increments when a train of input

pulses is applied To control the direction and number of steps, appropriate pulses are applied to

the stator windings of the motor.

STEPPER MOTOR TYPES:-

(a) Unipolar Type

(b) Bipolar Type

(2) Variable Reluctance Type

1.PERMANENT MAGNET TYPE

a) UNIPOLAR STEPPER MOTOR:-

Relatively easy to control. A simple 1- of –‘n’ counter circuit can generate the proper stepping sequence and drivers as simple as one transistor per winding are possible with unipolar motors. Two winding combination gives around 1.5 times more torque than standard sequence .

b) BIPOLAR STEPPER MOTOR:-

It is known for i1eir excellent size/torque ratio and provide more torque for their size than unipolar motors. Bipolar motors are designed with separate coils that need to be driven in that direction. for proper stepping to occur.

2. VARIABLE RELUCTANCE TYPE:-

The rotor does not carry permanent Poles. Three consecutive poles on the stator are A, B and C ,

called phase. Each phase has four poles equally apart on the circumference of the stator.

Sometimes referred to as a hybrid motors, it is the simplest to control over other types of steeper

motors. This motor feels like a D.C. motor when the shaft is spun by hand, it turns freely and

we.cannot feel the steps. This type of stepper motor is not permanently magnified like its

unipolar and bipolar counterparts.

HARDWARE:-

For driving the stepper motor, the circuit uses the ULN2003 driver IC interfaced to a PC's

parallel port via 25-pin 'D' connector as shown in Fig. 1.

In case you want to isolate the input circuit of ULN2003 from the PC's parallel port (for greater

safety), an alternative circuit for connecting the relevant pins of 25-pin 'D' connector of the

parallel port via the optocouplers (MCT2E) to the input of ULN2003 is shown in Fig. 2. This

circuit should be used only when the stepper motor has a high current rating.

Position control can be achieved by using a photo interrupter module in con-junction with a

simple spike fixed to the its initial position, by obstructing the path of light in the interrupter

module in that position.

The spike, should be long and wide enough to block the space between the LED and the photo-

detector of the interrupter module. Using this method, we can control the motor position

whenever we want. Here, we shall describe only the four-coil stepper motor control.

SOFTWARE SECTION:-

* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */

• #PROGRAM: STEPPER MOTOR CONTROL OPTIONS

* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */

#include<stdio.h>

#include<conio.h>

#include<dos.h>

#inc1ude<graphics.h>

int data[]={ 8,4,2,1,8,4,2,1};

int

single_a[]={ 1,2,4,8,1,2,4,8},single_ c[]={8,4,2,1,8,4,2,1 };

int

dual_ a[]={3,6,12,9,3,6,12,9},dual _c[]={9,12,6,3,9,12,6,3};

int

half_ a[]={ 1,3,2,6,4,12,8,9},half _c[]={9,8,12,4,6,2,3,1 };

int s= 1 ,d=O,f= I ,h=O,c= 1 ,a=O,run= 1;

union REGS i,o;

void main()

{

int

gd=DETECT,gm,x,y,button,time=25 ,k=O, speed;

char speeds[20],ch=O;

initgraph(&gd,&gm,");

setviewport( 1,1 ,640,480, 1);

if(initmouse==O)

{

cIosegraph();

restorecrtmode();

printf("\n Mouse driver not loaded");

exit(1);

}

restrictmouseptr( 1,1,635,475);

image();

setcolor(9);

showmouseptr();

line(225,258,265,258);

line(225,188,275,188);

Iine(330,188,345,188);

while(ch!=27) //main polling loop •

{

if(kbhit())

ch=getch();

getmousepos(&button,&x,&y);

if(x>200&&x<2 lO&&y>l75 &&y<l 85&&button== I &&h ! =1)

{//single coil mode

s=1;

d=0;

rectangle(201,176,209,184);

if(c==1)

single_cf();

if(a==i)

sing1e_af();

if(f==1)

line(225,1 88,275,188);

setcolor(0);

line(225,208,275,208);

setcolor(9);

}

if(x>200&&x<2 10&&y> 195 &&y<205 &&button==1)

{//double coil mode

d=1;

S=O;

rectanglê(20 1,196,209,204);

if(c==1)

dual_cf();

if(a==1)

dual_af();

if(f==1)

line(225,208,275,208);

setcolor(0);

line(225,188,275,188);

setcolor(9);

}

if(x>305 &&x<3 15&&y>1 75&&y< 1 85&&button= 1)

{//step angle 1.8

f=1;

h=0;

rectangle(306, 176,314,184);

if(s==1&&c==l)

single_cf();

if(s==1&&a==1)

single_af();

if(d==1&&c=1)

dual_cf();

if(d== 1 &&a== 1)

dual_af();

line(330,188,345,188);

line(225,208,275,208);

setcolor(0);

line(330,208,345,208);

setcolor(9);

}

if(x>305 &&x<3 l5&&y>l 95&&y<205&&button== 1)

{//step angle 0.9

f=0,

h=1,

d=1;

S=O;

rectangle(306, 196,314,204);

if(c==1)

half_ cf();

if(a==1)

half _af();

line(330,208,345,208);

line(225,208,275,208);

setcolor(0);

line(330,188,345,188);

//line(225,208,275,208);

line(225,188,275,188);

setcolor(9);

}

if(x>200&&x<2 1 0&&y>245 &&y255 &&button== 1) {/

/clockwise direction

C=I;

a=0;

rectangle(201 ,246,209,254);

if(h==1)

half_ cf();

if(f== I &&s== I)

singIe_cf();

if(f==1&&d==1)

dual_cf();

line(225,258,265,258);

setcolor(0);

line(225,278,265,278);

setcolor(9);

}

if(x>200&&x<2 1O&&y>265 &&y<275 &&button== 1)

{//anticlockwise

C=O;

a=1;

rectangle(20 1,266,209,274);

if(h==i)

half _af();

if(f==1&&s==1)

sing1e_af();

if(f==1&&d==1)

dual _af();

line(225 ,278,265,278);

setcolor(0);

line(225,258,265,258);

setcoior(9);

}

if(x>320&&x<3 35 &&y>300&&y<3 1 0&&button== 1)

{ //speed increase

rectangle(32 1,301,334,309);

if(time>5)

time—;

}

if(x>320&&x<3 35&&y>3l 0&&y<320&&button== 1)

{ //speed decrease

rectangle(321,311,334,319);

if(time<1000)

time++;

}

lf(x>205 &&x<255 &&y>3 50&&y<370&&button== 1)

{//run

run=1;

rectangle(206,35 1,254,369); //run

sound( 1500);

delay(300);

nosound();

}

if(x>285&&x<335&&y>350&&y<370&&button==1)

{//Istop

run=O;

rectangle(286,35 1,334,369);

sound(l 500);

delay(50);

nosound();

}

if(x>305&&x<3 l5&&y>255 &&y<265 &&button== 1)

{//reset

Rectangle(306,256,314,264);

Reset();

}

if(x>365&&x<4 l5&&y>3 50&&y<370&&button== 1)

{

rectangle(366,35 1,414,369);

sound(1000);

outport(0x378,0);

delay(500);

nosound();

c1osegraph();

exit();

}

if(run==1)

outport(0x378,data[k%8]);

k++;

if(k>=3 2000)

k=0;

speed=( 1 000/time)*60;

itoa(speed, speeds, 10);

outtextxy(290,305,speeds);

nosound();

delay(time) ;//time

setcolor(0); //erasing the previousvalues

outtextxy(290,305,speeds);

rectangle(206,35 1,254,369);

rectangle(286,35 1,334,369);

rectangle(366,35 1,414,369);

rectangle(201 ,176,209,184);

rectangle(20 1,1 96,209,204);

rectangle(306,176,314,184);

rectangle(306, 196,314,204);

rectangle(201 ,246,209,254);

rectangle(20 1,266,209,274);

rectangle(32 1,301,334,309);

rectangle(321,31 1,334,319);

rectangle(306,256,3 14,264);

outtextxy(340,270,"SEARCHING”);

outtextxy(240,282,"PROBLEM IN POSITION CONTROL

CIRCUIT");

setcolor(9);

}

Closegraph();

} //end

initmouse()

{

ix. ax=0;

int86(0x33,&i,&o);

return(o.x.ax);

}

showmouseptr()

{

i,x.ax=1;

int86(0x33,&i,&o);

return(0);

}

restrictmouseptr(int xl,int yl,int x2,int y2)

{

ix, ax=7;

i.x,cx=xl;

i.x.dx=x2;

int86(0x33,&i,&o);

i.x,ax=8;

i.x.cx=y 1,

i.x.dx=y2;

int86(0x33,&i,&o);

return(0);

}

getmousepos( int *button,int *x,jnt *y)

{

i.x.ax=3;

int86(0x33,&i,&o);

*button=o.x.bx;

*X=O.X.CX;

*y=o.x.dx;

return(0);

}

image()

{

setcolor(3);

rectangle(190,1 15,435,135);

rectangle( 175,100,450,400);

rectangle(173,98,452,402);

rectangle(205,350,255,370); //run

rectangle(285 ,350,335,370);

rectangle(365,350,415,370);

//rectangle(365,230,41 5,250);

rectangle(200,175,210, 185);

rectangle(200,195,210,205);

rectangle(305,175,315,185);

rectangle(305, 195,315,205);

rectangle(200,245,210,255);

rectangle(200,265 ,2 10,275);

rectangle(285,300,335,320);

rectangle(320,300,335,3 10);

rectangle(320,3 10,335,320);

rectangle(305 ,255,3 15,265);

settextstyle(2,0,6);

setcolor(3);

outtextxy(210,1 15,"STEPPER MOTOR CONTROL");

settextstyle(2,0,5);

outtextxy(200, 1 50,"MODE");

outtextxy(300, 150,' 'STEP ANGLE");

outtextxy(200,220,"DIRECTION");

outtextxy(2 1 7,352,"RUN");

outtextxy(295,352,"STOP");

outtextxy(35,352,"EXIT");

outtextxy(225,300,"SPEED");

outtextxy(340,300,"SPM");

settextstyle(2,0,4);

outtextxy (220,1 75"S1NGLE COIL");

outtextxy(220,195,"DOUBLE COIL");

outtextxy(325, 175," 1 ,8u);

outtextxy(325, 195,"0.9");

outtextxy(220,245 ,"CLOCKWISE");

outtextxy(220,265 ,"ANTICLOCK");

outtextxy(325,255,"RESET");

outtextxy(150,425,"x CLICK THE PROPER BOXES TO CONTROL THE STEPPER MOTOR");

outtextxy(150,438,"x WHEN THE STEP ANGLE IS

0,9 SINGLE COIL MODE DOESN'T WORK");

outtextxy(1 50,451 ,"x DURING RESETTING

PERIOD OTHER FUNCTIONS DOESN'T WORK");

outtextxy( 150,464,' 'x WITHOUT MOUSE YOU

CAN'T OPERATE THIS PROGRAM");

settextstyle(2, 1,4);

outtextxy(322,3 I 0,"<");

outtextxy(322,300,">");

settextstyle(2,0,4);

return(0);

}

single_cf()

{

Int i;

for(i=0;i<8 ;i++)

data [i]=singlec[i];

sound( 1500);

delay(100);

nosound();

return(0);

}

Dual_af()

{

Int i;

for(i=0;i<8 ;i++)

data [i] = single.a [i];

sound( I 500);

delay( 100);

nosound();

return(0);

}

dual_cf()

{

Int i;

for(i=0;i<8 ;i++)

data [i]=dualc[i];

sound( 1500);

delay( 100);

nosound();

return(0);

}

Dual_af()

{

Int i;

for(i=0;i<8 ;i++)

data [i]=duala[i];

sound(1 500);

delay(100);

nosound();

return (0)

}

half_cf()

{

Int i;

for(i=0 ;i<8 ;i++)

data[i]=halfc[i];

sound(1500);

delay(100);

nosound();

return (0)

}

half af()

{

inti; for(i=0;i<8;i++)

data[i]=half a[i];

sound(! 500);

delay( 100);

nosound();

return(0);

}

reset()

{

int in=0,1=0;

outportb(007a,002);

in=inportb(0x378);

outportb(0x37a,0);

outtextxy(340,270,"SEARCHING…”);

sound( 1500);

delay(5010);

nosound();

whiIe(in>200&&R=400)

rectangle e(306,256,314,264);

outportb(0x378 , sing1ec [1% 8]);

delay(S);

outportb(0x37a,002);

in=inportb(0x378);

if(l==401)

{

setcolor(0);

outtextxy(340,270,"SEARCHING…”);

setcolor(9);

outtextxy(240,282,"PROBLEM IN POSITION CONTROL CIRCUIT");

sound( 1500);

delay(100);

nosoundO;

delay(3000);

}

outportb(0x37a,0);

}

outportb(0x37a,0); return(0);

}

CONST. & OPER.:-

HOLDING TORQUE:-

The following is a definition of holding torque "With the motor shaft at stand still or zero RPM

condition, the amount of torque, from an external source, required to break away the shaft from

its holding position. This is measured with rated voltage and current applied to the motor

DYNAMIC TORQUE:-

Mainly controlled by the electronic control circuit. Torque will drop down as the speed increases

VOLTAGE:-

Stepper Motor usually has a voltage rating, which is directly printed on the unit or is specified in

the motor's datasheet. Exceeding the rated voltage is sometimes necessary to obtain the desired

torque from a given motor, but it will produce excessive heat and/or shorten the life of motor,

RESISTANCE:-

Resistance per winding will determine, current drawn by the motor as well as affect the motor's

torque curve at a maximum speed

START RANGE:-

The start range is the region such that the stepper motor with load can start and synchronize with

the input pulse rate without losing steps. (Note that to drive a load the stepper motor must be able

to overcome the static friction in the system and start and stop inertial loads, which includes rotor

inertia.)

SLEW RANGE:-

The region such that the motor speed can follow the input pulse rate without losing steps but

cannot stop or reverse on command without losing steps.

.

MAXIMUM PULL –IN PULSE RATE:-

The maximum pulse rate that the stepper motor, resting under no load, can start and synchronize

with, (The input pulse train must have a constant frequency when applied to the driving unit.)

MAXIMUM PULL OUT RATE:-

The maximum pulse rate that the stepper motor, without load, can be operated in a synchronous

manner with theinput once it has been started.

-:TORQUE Vs PULSE RATE CURVES:-

UNDERSTANDING OF OPERATION:-

After we output one step code, we must wait a few milliseconds before we output another step

command~= because the motor can only step so fast. Maximum stepping rates for different types

of steppers vary from a few hundred steps per seconds to several thousand steps per second.

MULTI PHASE STEPPER MOTOR:-

When A is energized four poles of the phase A are magnetized in the order N-pole, S-pole, N-

pole and s-pole. The rotor occupies the position of minimum reluctance. When phase B is

excited the rotor moves 150 and it again occupies the position of minimum reluctance.

STEPPER MOTOR APPLICATION:-

Stepper motor is used primarily for getting precise incremental motions it can provide accurate

positioning without the need for position feedback.

Because of low cost, stepper motors are used very frequently in industry and it can be found in

almost any piece of electro-mechanical equipment.

ADVANTAGES:-

1. We can control the speed , direction and running modes by simply clicking the switch

2. Small hardware is requires for position control system.

LIMITATIONS:-

1. Smooth increment of speed is not possible

2. Since we are using the polling concept fir detecting the option selected , at the lowest

speed the switch will take long time to select the option. However at a high speed this

time delay will not matter.

-: MCT2E:-

DESCRIPTION:-

The MCT2XXX series optoisolators consist of agallium arsenide

infrared emitting diode driving a silicon

phototransistor in L 6-pin

dual in-line package.

APPLICATION:-

Power supply regulators

Digital logic inputs

Microprocessor iputs

PIN DETAILS:-

1. ANODE2. CATHODE3. NO CONNECTION4. EMITTER5. COLLECTOR6. BASE

SCHEMETIC FEATURES:-

1. UL recognized ( File # E90700)2. VDE recognized ( File # 94766)

Add option V for white package (e.g., MCT2VM)

Add option 300 for black package (e.g.,MCT23OO)

• MCT2 and MCT2E are also available in white

COCLUSION

Stepper motor is widely used in CNC machine drives, robots, and wherever an accurate

positioning is required. In such applications, step angle, direction, operating modes (singlecoi1 or

doub1ecoi1), speed, and position are important considerations.

By this project we can control all this things in a very simple way. Thus we have various options

such as we can increase or decrease the steps per revolution as well as reverse the direction of

motor and also change the step angle of stepper motor.

FUTURE ASPECTS

We can control the stepper motor by remote control. We can control it by wireless method. So it

can make less complex. We can control more then one stepper motor.

We can control all the types of motor by only one hardware/software/circuit. We can add the

starter in case of I.M.

This is the circuit, which drives the coil of stepper motor. There are circuits which drive X coil,

( coil, V coil and V coil respectively.

Transistor is used for the drive of the coil. As for the connection, 2 stages of transistors are

connected inside in series. The "life" of this transistor is the multiplication of the "life" of each

transistor inside, in case of MJE13007 orMJE1 3005, which was used this time, the He is over

40. Because the ratio of the input electric current and the output current is big, the rising edge

and the falling edge of the control signal can be made sharp.

The diode to be putting between the collector and the power is for the protection of the transistor.

When the transistor becomes OFF from ON, the coil of the motor tries to continue to pass an

electric current and generates high voltage. An electric current by this voltage is applied to the

diode and the high voltage which applies over the transistor is prevented

The purpose of this circuit is to keep power supply voltage to AT89C51 to 5V when the power of

the stepper motor is more than 5V.Because the operating voltage of the stepper motor to be using

this time is about 5V, the power supply voltage is +5V. In this case, the voltage, which is applied

to AT89c5 1, becomes less than 5V because of the voltage drop (about IV) of the regulator. In

case of AT89C5 1, the operation is possible even if the power falls to about 3V because the

operating voltage range is from 2V to 5.5V. it is enough in the I 00-mA. type.

This is the circuit for the clockwise rotating, the counterclockwise rotating or stopping a motor.

The button switch of the non lock is used. Pull-up resistor is used for the port to become H level

when the switch is OFF. The PORT 0 of AT89c5 1 has no internal pull up therefore Pull-up

resistor is require for this port.

In this figure, we will explain about the operation principle of stepper motor.

There are many kind of stepper motors. Unipolar type, Bipolar type, Single-phase type, Multi-

phase type... Single-phase stepper motor is often used for quartz watch.

On this page, I will explain the operation principle of the 2-phase umpolar PM type stepper

motor.

In the PM type stepper motor, a permanent magnet is used for rotor and coils are put on stator.

The stepper motor model which has 4-poles is shown in the figure on the left. In case of this

motor, step angle of the rotor is 90 degrees.

I As for four poles, the top and the bottom and either side are pair. x coil, 7 coil and V coil,

V coil correspond respectively. For example, V coil and V coil are put to the upper and lower

pole. V coil and V coil are rolled up for the direction of the pole to become opposite when

applying an electric current to the V coil and applying an electric current to the V coil. it is

similar about )( and 3, too.

The turn of the motor is controlled by the electric current which pours into X, ), V and V. The

rotor rotational speed and the direction of the turn can be controlled by this control.

Operation Of Switch:-

SW 6 & SW 4 are use as Counterclockwise & Clockwise.

SW 2 & SW 3 are use as Speed UP & Speed Down.

SW 1 is use for stop the motor.

SW 5 is RESET switch. This switch is use for reset the program. if program is hang then reset

for few seconds.

LEDS indicator:-

Li :-Stop indicator; L2 :-counterclockwise, L3 :-clockwise

Features:-.

• Compatible with .MCS-5 1. Products

• 4K Bytes of in-system reprogrammable flash memory • Fully, static operation: 0 Hz to 24MHz

• Three-level program memory lock"

• 128*8 Bit internal:RAM

• 32 Programmable IN/OUT lines

• Two 16-bit timer/counters

• Six interrupt sources

. Programmable serial channel

• Low-power idle and power down modes

PIN CONFIGURATIONS:-