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Ú A stepper motor is a brushless, synchronous electric motor

that converts digital pulses into mechanical shaft rotation.
Ú Every revolution of the stepper motor is divided into a
discrete number of steps, and the motor must be sent a
separate pulse for each step.
Ú The stepper motor can only take one step at a time and each
step is the same size.
Ú Typical step sizes are 2°, 2.5° ,3°, 7.5° , 15°, 30°

mm

 
Ú ARIABLE RELUCTANCE

Ú PERMANENT MAGNET

Ú HYBRID
  


 
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Ú The rotor is a soft iron cylinder with salient (protruding)
poles.
Ú This is the least complex, most inexpensive stepper motor.
Ú The only type stepper with no detent torque in hand rotation
of a de-energized motor shaft.
Ú Large step angle
Ú A lead screw is often mounted to the shaft for linear stepping
motion.
Ú In looking at this figure, note the following:

× The field appears to rotate counter clockwise while the

rotor rotates clockwise. This arrangement is common with
variable reluctance motors.
Ú d The field rotates in steps of 60 degrees while the rotor
moves in 30 degree steps (in the opposite direction). This is
reminiscent of the motion of the scale of a vernier caliper,
and for this reason, variable reluctance motors are
sometimes known as vernier motors.
Ú © It takes four complete cycles of the control system to rotate
the motor rotor through one cycle. This is because the rotor
has 4 poles!

 
 
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Ú Rotor is made of permanent magnetic material

Ú No teeth on rotor

Ú No freewheeling

Ú more torque during rotation

Ú Less acceleration

Ú Difficult to make small step pm rotors with a large number

of poles. i.e. step sizes are limited to 30° - 90°.
%
 
  


 
  
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Ú 
   

       
Ú In looking at this figure, note the following:
Ú This 6-pole rotor turns in a direction opposite the
rotation of the stator field; a two-pole rotor inside the
exact same stator would rotate with the field.

Ú This illustration is based on half-step control, where

alternate half steps involve one and two motor windings.

Ú It takes three complete cycles of the control system to

turn this 6-pole rotor one revolution. A two-pole rotor
would turn a full revolution per control system cycle.
 Ô
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Ú The hybrid stepper motor combines features of both the
variable reluctance stepper and the permanent magnet
stepper to produce a smaller step angle.

Ú The rotor is a cylindrical permanent magnet, magnetized

along the axis with radial soft iron teeth

Ú The stator coils are wound on alternating poles with

corresponding teeth.
Ô
 
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HIGHER SPEEDS
 
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 The cost for a servo motor Steppers are generally cheaper
and servo motor system is than servo motors that have the
higher than that of a same power rating.
stepper motor system with
equal power rating.

  Servo motors are very Stepper motors are also very
versatile in their use for versatile in their use for automation
automation and CNC and CNC applications. Because of
applications their simplicity stepper motors may
be found on anything from printers
to clocks.
4 
 Servo motors will do fine Stepper motors provide most

5 with low speed torque at low speed (RPM)
applications given low
friction and the correct
gear ratio


 Servo motors maintain Stepper motors lose up to 80% of

5 their rated torque to about their maximum torque at 90% of
90% of their no load RPM their maximum RPM
 
 Servo motors may Stepper motors are unlikely to be

6 malfunction if overloaded damages by mechanical overload.
  

 
 
4  Servo motors have an Stepper motors are less efficient
4
78 excellent power to weight than servo motors which usually

 ratio given their means a smaller power to
efficiency weight/size ratio
66  Servo motors are very Stepper motors consume a lot of
efficient. Yielding 80- power given their output, much of
90% efficiency given light which is converted to heat. Stepper
loads motors are usually about 70%
efficient but this has some to do
with the stepper drive
6 9   Since the encoder on a Stepper motors usually have 1.8 or
 servo motor determines 0.9 degree resolution. However
  the motor resolution thanks to micro-stepping steppers
servos have a wide range can obtain higher resolutions. This
of resolutions available. is up to the driver and not the
motor.
5 Servo motors are very Stepper motors are also capable of
 

 capable of accelerating accelerating loads but not as well
loads as servo motors. Stepper motors
may stall and skip steps if the
motor is not powerful enough.
   

 

 Servo motors produce very Stepper motors produce a slight
little noise. hum due to the control process.
However a high quality driver will
decrease the noise level.

§
 Servo motors are more

§ 
 mechanically complex due to Stepper motors are very simple in
their internal parts and the design with no designed
external encoders consumable part


 Servo motors usually require Stepper motors will work fine in



 more gearing ratios due to direct drive mode. Many people
their high RPM. It is very rare simple use a motor couple and
to see a direct drive servo attach the motor shaft directly to
motor setup. the lead screw or ball screw

 4

 Because servo motors are The power availability range for
available in DC and AC servo stepper motors is not that of servo
motors have a very wide motors
power availability range
  mm

 
Ú %igure 6-17 illustrates a simple application for a stepper motor.
Each time the controller receives an input signal, the paper is
driven a certain incremental distance. In addition to the paper
drive mechanism in a printer, stepper motors are also popular
in machine tools, process control systems, tape and disk drive
systems, and programmable controllers.
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Card Reader position cards

Banking Systems credit card positioning , paper feed

Card Sorter route card flow


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Carburettor Adjusting air-fuel mixture adjust

alve Control fluid gas metering

Laser Trimming X-Y positioning

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Ú DC MOTORS

Ú AC MOTORS
    

Ú   
: when a current-carrying conductor is
located in an external magnetic field perpendicular to the
conductor, the conductor experiences a force perpendicular
to itself and to the external magnetic field.
Ú   !" for force on a conductor can be used to
determine the direction of the force experienced on the
conductor: if the right thumb points in the direction of the
current in the conductor and the fingers of the right hand
point in the direction of the external magnetic field, then the
force on the conductor is directed outward from the palm of
the right hand.
  

  
 
 
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Ú Single Phase Squirrel-cage induction motor

Ú Three Phase Induction motor

Ú Synchronous motor
 m 
Ô m
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Ú This motor consists of a Ǯsquirrel-cageǯ rotor, this being
copper or aluminium bars that fit into slots in end
rings to form complete electrical connections.
Ú The basic motor consists of this rotor with a stator
having a set of windings.
Ú WORKING: When an a.c passes through the stator
windings an alternating magnetic field is produced. As
a result e.m.f is induced in the conductors of the rotor
and current flow in the rotor.
Ú The motor is not self starting.
Ú A number of methods are used to make the motor self
starting and give this initial impetus to start it; one is
to use an auxiliary starting winding to give rotor an
initial push.
Ú The motor runs at a speed determined by the
frequency of the a.c applied to the stator.
Ú %or a constant frequency supply to a two-pole single-
phase motor the magnetic field will alternate at this
frequency. This speed of rotation of the magnetic field
is termed the #  "!
 Ô

Ô m
   
Ú It is similar to single-phase induction motor but has a
stator with three windings located 120 degrees apart,
each winding being connected to one of the three lines
of the supply.

Ú Because the three phases reach their maximum

currents at different times, the magnetic field can be
considered to rotate round the stator poles,
completing one rotation in one full cycle of the
current.
Ú The three phase motor has a great advantage over the
single phase motor of being self-starting.

Ú The direction of rotation is reversed by interchanging

any two of the line connections, this changing the
direction of rotation of the magnetic field.
 mÔm m
Ú Synchronous motors have stators similar to those described
above for induction motors but a rotor which is a
permanent magnet.

Ú The magnetic field produced by the stator rotates and so

the magnet rotates with it.

Ú With one pair of poles per phase of the supply, the

magnetic field rotates through 360 degrees in one cycle of
the supply and so the frequency of rotation with this
arrangement is the same as the frequency of the supply.
Ú Synchronous motors are used when a precise speed is
required.

Ú They are not self starting and some system has to be

employed to start them.