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Make
sure you check out our Recommended Electronic
& Microcontroller Books
The
book, "Easy Step'n" provides the experimenter with the information needed
to use stepper motors.
Determine
important surplus motor electrial and mechancial specs using simple, easy
to build electrical and mechanical test equipment. Design and build microcontroller-based
control systems for stepper motor applications (flow charts and code examples
included). Design and build the driver circuits needed to switch the power
applied to stepper motor windings. Analyze the mechanical characteristics
of stepper motor-driven devices.
The
book is hands-on and full of experiments. The approach is the crawl-before-you-walk-before-you-run
and it's fun!
Complete
Table of Contents For "Easy Step'n
Square
1 Electronics' new book, "Easy Step'n", An Introduction to Stepper Motors
for the Experimenter," explains to the reader how to determine
surplus motor electrical and mechanical specs by using easy-to-build electrical
and mechanical test equipment. The experimenter will learn to design and
build microcontroller based control systems and to design and build driver
circuits to switch power applied to stepper motor windings. The book is
hands-on and full of experiments. The format of the books uses flow charts
and many code examples in a step-by-step approach. The complete table of
contents follows:
Please
note: This book is available only from us or from the usual catalog electronics
suppliers. It is not available in bookstores.
This
book was written by David Benson (8-1/2 x 11", 200 pages, $34.95USD). David
is also the author of "Easy PIC'n", "PIC'n Up the Pace," and "PIC'n Techniques",
which are books instructing people on how to use Microchip's PICmicro®
microcontrollers.
EASY
STEP'n, An Introduction to Stepper Motors for the Experimenter from Square
1 Electronics, written by David Benson
As
postage is included in the cost of the total, when adding item to the cart
please select one of the following destinations:
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to the US
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to Rest of World
Table
of Contents
INTRODUCTION
Terminology
Coil
vs. winding vs. phase
Stepper
Motor Types
Stepper
Motor Specifications
Stepper
Motor Selection Criteria
Stepper
Motor Sizes
NEMA
"Teen" Cubes
NEMA
Size 23 Cylinders
Stacked
Cans With Diamond-Shaped Mounting Flange
Rough
Motor Specs - Based On My Experiments
Gear
Puller
GETTING
STARTED
4-Phase
Stepper Motors
Exercise
motor with four SPST toggle switches and a power supply
Testing
5-wire and 6-wire motors
-
Full steps - one winding energized (wave drive)
-
Full steps - two adjacent windings energized in each
detent position (normal mode)
-
Half steps - alternately one winding energized, two
adjacent windings energized
Testing
an 8-wire motor
2-Phase
Stepper Motors
Determine
wiring with ohmmeter
Exercise
motor with two DPDT on-off-on toggle switches and a
power supply
-
Full steps - one winding energized (wave drive)
-
Full steps - two windings energized (normal mode)
-
Half step sequence - alternately one winding energized,
two windings energized
MICROCONTROLLER-BASED
STEPPER MOTOR CONTROL - INTRODUCTION
PICMicro®
instruction set
Hexadecimal
notation
Compare
using PICMicro®
Interrupt
service and saving context
TEST
CIRCUITS OVERVIEW
Overview
Test
Board for Exercising Stepper Motors
Pulser
Switches
And Pull-ups
Construction
Techniques And Board Design
Pulser
software
Testing
the pulser
Translators
PIC16F84A
translator (unipolar bit pattern)
-
Software design
-
Hardware design
-
Code
-
Testing the PIC16F84A unipolar translator
PIC16F84A
translator (bipolar bit pattern)
-
Design
-
Code
-
Testing the PIC16F84A bipolar translator
Simple
Drivers
Unipolar
Simple
ULN2803A driver
Exercising
a unipolar stepper motor using a pulser, PIC16F84A
translator and a ULN2803A unipolar driver
Simple
TIP120 driver
Exercising
a unipolar stepper motor using a pulser, PIC16F84A
translator and a TIP120 unipolar driver
UCN5804B
translator/driver
Exercising
a unipolar stepper motor using a pulser and a UCN5804B translator/driver
Bipolar
H-Bridge
L293D
driver (dual H-bridge)
Exercising
a bipolar stepper motor using a pulser, PIC16F84A
translator and an L293D bipolar driver
L298N
driver (dual H-bridge)
Exercising
a bipolar stepper motor using a pulser, PIC16F84A,
translator and an L298N biopolar driver
TORQUE
MEASUREMENT
Motor
(what's available) via lever arm and weights
-
Holding, add weight until slips
-
Moving, add weight until won't turn
Application
(what's required) via lever arm and weights
Lever
arms and fishing sinkers
MAXIMUM
STEP RATE MEASUREMENT
MICROCONTROLLER-BASED
STEPPER MOTOR CONTROL
Unipolar
Simple
unipolar stepper control - straight line code
Full
steps - one winding energized
How
to reverse direction
Change
delay time to change speed
Table
lookup and counter to get bit pattern for each step
Full
steps - two windings energized
Half
step sequence
Exercising
a unipolar stepper motor using a microcontroller,
PIC16F84A translator and a ULN2803A or TIP 120 unipolar driver
Exercising
a unipolar stepper motor using a microcontroller and a UCN5804B translator/driver
Bipolar
Exercising
a bipolar stepper motor using a microcontroller and
an L293D or L298N bipolar driver
HIGH
PERFORMANCE DRIVE CIRCUITS - Current Control
Limitations
of voltage control and need for high performance current control
Unipolar
SLA7024M
unipolar driver - Allegro
Exercising
a unipolar stepper motor using a pulser, PIC16F84A
translator and a SLA7024M driver
-
Maximum stepping rate at higher than rated voltage
-
Torque operating at higher than rated voltage
Bipolar
L297/L298N
bipolar translator/driver
Exercising
a bipolar stepper motor using a pulser and a L297/L298N translator/driver
-
Maximum stepping rate at higher than rated voltage
-
Torque operating at higher than rated voltage
Exercising
a bipolar stepper motor using a microcontroller and a
L297/L298N translator/driver
Controlling
A STEPPER MOTOR WITH A PC
Serial
port, parallel port
Programming
languages
Port
board, not mother board
MECHANICAL
CONSIDERATIONS
Mounting
The Stepper Motor And Heat Dissipation
Grabbing
On To The Shaft = Mechanical Connection
Avoid
damaging the shaft (clamp, flat, split hub)
Shaft
couplings - alignment, flex
Avoid
applying a thrust load to the shaft
Converting
Rotary Motion To Linear Motion
Mechanics
Torque
Inertia
Position
- Home Or Starting Position Sensor
Test
for accuracy
Backlash
NEMA
23 Tester
PRINTER
EXPERIMENT
Software
design
Code
snippet
Implement
your design
QUICK
STEP'n
Test
Hardware
Software
design details
Home
Position
Ramping
up/down and rapid traverse
-
Ramping up - acceleration
-
Ramping down - deceleration
Speed
- rapid traverse
Destination
More
software details
Code
APPENDIX
A - Fast Diodes
APPENDIX
B - Parts Lists
APPENDIX
C - Sources
APPENDIX
D - Program Listings vs. Page Number
Author:
David Benson: sqone AT pacific.net
http://www.sq-1.com/
Post
Office Box 501
Kelseyville,
CA 95451 U.S.A.
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