MC05 Common

Motor Drive Module
MC05
Learning Material
Ver 2.1
Designed & Manufactured by:
141-A, Electronic Complex, Pardesipura, Indore- 452 010 India, Tel.: 91-731- 4211500,
Tele-fax: 91-731-4202959, Toll free: 1800-103-5050, E-mail: info@nvistech.com
Website: www.nvistech.com
MC05
Nvis Technologies Pvt. Ltd. 2
Motor Drive Module
MC05
Table of Contents
1. Introduction 3
2. Features 4
3. Technical Specifications 5
4. Pin Configuration of Connectors 6
5. Stepper Motor 7
Experiment 1 9
To study & observe direction control of Stepper Motor using NV500X
series Microcontroller Development Platform
Experiment 2 10
To study & implement Stepper Motor angle control using NV500X series
Microcontroller Development Platform
6. DC Motor 11
Experiment 3 12
To study & observe direction control of DC Motor using NV500X series
Experiment 4 14
To study & implement speed control of DC Motor using PWM method
using NV500X series Microcontroller Development Platform
7. Servo Motor 15
Experiment 5 19
To study & observe position control of Servo Motor using NV500X series
8. Warranty 20
9. List of Service Centers 21
10. List of Accessories 22
MC05
Introduction
MC05 Motor Drive Module for Microcontroller Development Platform is an Extension module. The
module has been designed to have a clear understanding of how motors are interfaced and controlled
with microcontroller. The Motor drive module is made in such a way that student can understand the
whole concepts of steeper motor, DC motor and Servo motor.
The object is to connect and program a microcontroller to do any operation with motors. Motor Drive
module, MC05 has input and output terminals for connection of external real world applications.
MC05
Features
Steeper motor interface & control
DC motor interface & control
Servo motor interface & control
Expansion connectors for plug in with Microcontroller Unit and prototyping area
Every pin is marked in order to make work easier
Input/Output & test points provided on board
Learning Material
MC05
Technical Specifications
Stepper Motor : +5V DC
DC Motor : +12V DC
Servo Motor : +5V DC
Power Supply : From NV500X series
Microcontroller
Development Platform
Interface : 20 pin FRC Cable &
Patch Cords
Dimension (mm) : W 255 X D 155 X H 80
Weight : 660 gm. (Approx.)
MC05
Pin Configuration of Connectors
Stepper Motor Interface Block Connector Details:
Pin1&2 is A
Pin3&4 is B
Pin5&6 is C
Pin7&8 is D
Pin9&10 is SW1
Pin11&12 is SW2
Pin17&18 is VCC
Pin19&20 is GND
Remaining pins are not connected or used in the module.
DC Motor/ PWM Interface Block Connector Details:
Pin1&2 is Enable
Pin3&4 is I/P1
Pin5&6 is I/P2
Pin7&8 is Direction control switch
Pin9&10 is PWM switch
Pin17&18 is VCC
Pin19&20 is GND
Servo Motor Interface Block Connector Details:
Pin1&2 is Input pin of servo motor
Pin3&4 is Position control switch
Pin17&18 is VCC
Pin19&20 is GND
MC05
Stepper Motor
A stepper motor can be viewed as a synchronous DC motor with the number of poles (on both rotor and
stator) increased, taking care that they have no common denominator. Additionally, soft magnetic
material with many teeth on the rotor and stator cheaply multiplies the number of poles (reluctance
motor). Modern steppers are of hybrid design, having both permanent magnets and soft iron cores.
A stepper motor is a brushless, synchronous electric motor that can divide a full rotation into a large
number of steps, for example, 200 steps. When commutated electronically, the motor's position can be
controlled precisely, without any feedback mechanism (see open loop control).
A stepper motor's design is virtually identical to that of a low-speed synchronous AC motor. In that
application, the motor is driven with two phase AC, one phase usually derived through a phase shifting
capacitor. Another similar motor is the switched reluctance motor, which is a very large stepping motor
with a reduced pole count, and generally closed-loop commutated.
A normal DC motor is commutated internally and generates torque when a voltage is impressed across
its two terminals. Stepper motors, on the other hand, have multiple winding phases, typically two but
could be three or five, which require external commutation. The number of terminals, or wires going to
the motor, varies depending on its internal circuit and the number of winding phases, but is typically
four or more.
The motor stator features multiple "toothed" electromagnet poles. Having the poles toothed greatly
increases the effective number of magnetic poles in the motor. The rotor is also toothed, and is
magnetically polarized through reluctance or contains permanent magnets. To make the rotor turn one
full step, the current in one of the winding phases is reversed (which one will determine the direction).
To move the rotor continuously, the winding phases are reversed alternately.
If we consider a two phase stepper motor, the net effect of activating each winding is to produce a
torque that draws the rotor teeth into a position between two stator poles. When a stator pole's polarity
is switched, a rotor pole moves into a new equilibrium position on the other side of an unswitched
stator pole. Each of those slight rotations is called a full step.
There are two basic winding arrangements for the electromagnetic coils in a two phase stepper motor:
bipolar and unipolar.
Unipolar Motor:
A unipolar stepper motor has logically two windings per phase, one for each direction of current. Since
in this arrangement a magnetic pole can be reversed without switching the direction of current, the
commutation circuit can be made very simple (eg. a single transistor) for each winding. Typically,
given a phase, one end of each winding is made common: giving three leads per phase and six leads for
a typical two phase motor. Often, these two phase commons are internally joined, so the motor has only
five leads.
A microcontroller or stepper motor controller can be used to activate the drive transistors in the right
order, and this ease of operation makes unipolar motors popular with hobbyists; they are probably the
cheapest way to get precise angular movements.
MC05
(For the experimenter, one way to distinguish common wire from a coil-end wire is by measuring the
resistance. Resistance between common wire and coil-end wire is always half of what it is between
coil-end and coil-end wires. This is due to the fact that there is actually twice the length of coil between
the ends and only half from center (common wire) to the end.)
A six lead unipolar motor may be driven by a bipolar driver. In this case, one of the windings on each
phase is wasted as it never carries current.
Bipolar Motor:
Bipolar motors have logically a single winding per phase. The current in a winding needs to be reversed
in order to reverse a magnetic pole, so the driving circuit must be more complicated, typically with an
H-bridge arrangement. There are two leads per phase, none are common.
Because windings are better utilised, they are more powerful than a unipolar motor of the same weight.
Stepper motor performance is strongly dependent on the drive circuit. Torque curves may be extended
to greater speeds if the stator poles can be reversed more quickly, the limiting factor being the winding
inductance. To overcome the inductance and switch the windings quickly, one must increase the drive
voltage. This leads further to the necessity of limiting the current that these high voltages may
otherwise induce.
Full Step Drive (Two Phases On):
This is the usual method for full step driving the motor. Both phases are always on. The motor will
have full rated torque.
Half Stepping:
When half stepping, the drive alternates between two phases on and a single phase on. This increases
the angular resolution, but the motor also has less torque at the half step position (where only a single
phase is on). This may be mitigated by increasing the current in the active winding to compensate. The
advantage of half stepping is that the drive electronics need not change to support it.
How it works:
The control sequence for rotating the motor is shown in the table given below. The respective windings
should be made high according to the sequence given in the table and the controller very well executes
this function.
Clockwise Rotation:
Step L1 L2 L3 L4
1 1 0 1 0
2 0 1 1 0
3 0 1 0 1
4 1 0 0 1
Anti Clock Wise Rotation:
Step L1 L2 L3 L4
1 1 0 0 1
2 0 1 0 1
3 0 1 1 0
4 1 0 1 0
The above shown sequence is in full step mode.
MC05
Experiment 1
Objective:
To study & observe direction control of Steeper Motor using NV500X series Microcontroller
Development Platform
Apparatus Required:
NV500X series Microcontroller Development Platform with SMPS Supply
MC05 Motor Drive Module
20 Pin FRC Cable
Procedure:
1. Program the Microcontroller with Stepper Motor Direction Control.hex file. For programming
procedure details refer NV500X manual.
2. Connect 20 Pin FRC cable between Motor Drive Module (MC05) & Port of NV500X series
Microcontroller Development Platform as mentioned in respective programs. Also refer readme
file in code folder.
MC05
Experiment 2
Objective:
To study & implement Steeper Motor angle control using NV500X series Microcontroller Development
Platform
Apparatus Required:
20 Pin FRC Cable
Procedure:
1. Program the Microcontroller with Stepper Motor Angle Control.hex file. For programming
MC05
DC Motor
A motor is a machine that converts electrical energy into mechanical energy (rotation). The key
elements of DC motor are field winding and an armature winding. As electric currents flow through the
windings, torque is developed between these two windings.
In the DC motor we have only + and leads. By reversing the polarity, the DC motor will move in the
opposite direction. While a stepper motor moves in steps of 1 to 15 degree, DC motor moves
continuously.
The maximum speed of DC motor is indicated in rpm and is given in the datasheets of motor.
MC05
Experiment 3
Objective:
To study & observe direction control of DC Motor using NV500X series Microcontroller Development
Platform
Apparatus Required:
20 Pin FRC Cable
2 mm Patch Cord
Procedure:
1. Program the Microcontroller with DC Motor Direction Control.hex file. For programming
3. Make the circuit as mentioned in respective programs.
MC05
Pulse width Modulation (PWM)
The speed of the motor depends on three factors load, voltage and current. For a given fixed load we
can maintain a steady speed by using a method called Pulse code modulation (PWM). By changing
(modulating) the width of the pulse applied to the DC motor we can increase or decrease the amount of
power provided to the motor, thereby increasing or decreasing the motor speed. Notice that, although
the voltage has fixed amplitude, it has a variable duty cycle. That means the wider the pulse, the higher
the speed. Fig shows some PWMcomparisons.
Connection Diagram:
MC05
Experiment 4
Objective:
To study & implement speed control of DC Motor using PWM method using NV500X series
Apparatus Required:
20 Pin FRC Cable
2 mm Patch Cord
Procedure:
1. Program the Microcontroller with DC Motor PWM Switch.hex file. For programming
3. Make the circuit as mentioned in respective programs.
MC05
Servo Motor
Servos are DC motors with built in gearing and feedback control loop circuitry. And no motor drivers
required
A Servo is a small device that has an output shaft. This shaft can be positioned to specific angular
positions by sending the servo a coded signal. As long as the coded signal exists on the input line, the
servo will maintain the angular position of the shaft. As the coded signal changes, the angular position
of the shaft changes. In practice, servos are used in radio controlled airplanes to position control
surfaces like the elevators and rudders. They are also used in radio controlled cars, puppets, and of
course, robots.
Servos are extremely useful in robotics. The motors are small, as you can see by the picture above, have
built in control circuitry, and are extremely powerful for their size. A standard servo such as the Futaba
S-148 has 42 oz/inches of torque, which is pretty strong for its size. It also draws power proportional to
the mechanical load. A lightly loaded servo, therefore, doesn't consume much energy. The guts of a
servo motor are shown in the picture below. You can see the control circuitry, the motor, a set of gears,
and the case. You can also see the 3 wires that connect to the outside world. One is for power (+5volts),
ground, and the white wire is the control wire.
How it works:
The servo motor has some control circuits and a potentiometer (a variable resistor, a pot) that is
connected to the output shaft. In the picture above, the pot can be seen on the right side of the circuit
board. This pot allows the control circuitry to monitor the current angle of the servo motor. If the shaft
is at the correct angle, then the motor shuts off. If the circuit finds that the angle is not correct, it will
turn the motor the correct direction until the angle is correct. The output shaft of the servo is capable of
traveling somewhere around 180 degrees. Usually, its somewhere in the 210 degree range, but it varies
by manufacturer. A normal servo is used to control an angular motion of between 0 and 180 degrees. A
normal servo is mechanically not capable of turning any farther due to a mechanical stop built on to the
main output gear.
The amount of power applied to the motor is proportional to the distance it needs to travel. So, if the
shaft needs to turn a large distance, the motor will run at full speed. If it needs to turn only a small
amount, the motor will run at a slower speed. This is called proportional control.
How do you communicate the angle at which the servo should turn? The control wire is used to
communicate the angle. The angle is determined by the duration of a pulse that is applied to the control
wire. This is called Pulse Coded Modulation. The servo expects to see a pulse every 20 milliseconds
(.02 seconds). The length of the pulse will determine how far the motor turns. A 1.5 millisecond pulse,
for example, will make the motor turn to the 90 degree position (often called the neutral position). If the
pulse is shorter than 1.5 ms, then the motor will turn the shaft to closer to 0 degrees. If the pulse is
longer than 1.5ms, the shaft turns closer to 180 degrees.
MC05
Servo motors are used in closed loop control systems in which work is the control variable, above
Figure. The digital servo motor controller directs operation of the servo motor by sending velocity
command signals to the amplifier, which drives the servo motor. An integral feedback device (resolver)
or devices (encoder and tachometer) are either incorporated within the servo motor or are remotely
mounted, often on the load itself. These provide the servo motor's position and velocity feedback that
the controller compares to its programmed motion profile and uses to alter its velocity signal. Servo
motors feature a motion profile, which is a set of instructions programmed into the controller that
defines the servo motor operation in terms of time, position, and velocity. The ability of the servo
motor to adjust to differences between the motion profile and feedback signals depends greatly upon
the type of controls and servo motors used. See the servo motors Control and Sensors Product section.
Three basic types of servo motors are used in modern servo systems: ac servo motors, based on
induction motor designs; dc servo motors, based on dc motor designs; and ac brushless servo motors,
based on synchronous motor designs.
Servomotors are used in many radio-controlled model airplanes, cars, boats, and helicopters. Because
of this large hobbyist market, servomotors are readily available in a number of stock sizes. Servomotors
are used in a few of our robots.
Primarily, servomotors are geared dc motors with a positional feedback control that allows the rotor to
be positioned accurately. The specifications state that the shaft can be positioned through a minimum of
90 (45). In reality we can extend this range closer to 180 (90) by adjusting the positional control
signal.
There are three wire leads to a servomotor. Two leads are for power +5v and GND. The third lead feeds
a position control signal to the motor. The position control signal is a single variable width pulse. The
pulse can be varied from 1 to 2 ms. The width of the pulse controls the position of the servomotor shaft.
A 1-ms pulse rotates the shaft to the extreme counter clockwise (CCW) position (-45). A 1.5-ms pulse
places the shaft in a neutral midpoint position (0). A 2-ms pulse rotates the shaft to the extreme CW
position (+45).
The pulse width is sent to the servomotor approximately 50 times per second (50Hz). Figure illustrates
the relationship of pulse width to servomotor position.
MC05
DC servo motors are normally used as prime movers in computers, numerically controlled machinery,
or other applications where starts and stops are made quickly and accurately. Servo motors have
lightweight, low-inertia armatures that respond quickly to excitation-voltage changes. In addition, very
low armature inductance in these servo motors results in a low electrical time constant (typically 0.05
to 1.5 m sec) that further sharpens servo motor response to command signals. Servo motors include
permanent-magnetic, printed-circuit, and moving-coil (or shell) dc servo motors. The rotor of a shell dc
servo motor consists of a cylindrical shell of copper or aluminum wire coils which rotate in a magnetic
field in the annular space between magnetic pole pieces and a stationary iron core. The servo motor
features a field, which is provided by cast AlNiCo magnets whose magnetic axis is radial. Servo motors
usually have two, four, or six poles.
DC servo motor characteristics include inertia, physical shape, costs, shaft resonance, shaft
configuration, speed, and weight. Although these dc servo motors have similar torque ratings, their
physical and electrical constants vary.
DC Servo Motor Selection The first selection approach is to choose a servo motor large enough for a
machine that has already been designed; the second is to select the best available servo motor with a
specific feature and then build the system around it; and the third is to study servo motor performance
and system requirements and mate the two.
The final servo motor system design is usually the least sophisticated that meets the performance
specifications reliably. Servo motor requirements may include control of acceleration, velocity, and
position to very close tolerances. This says that the servo designer must define the system carefully,
establish the servo motor's performance specifications, determine critical areas, and set up tolerances.
Only then will the designer be able to propose an adequate servo system and choose a servo motor type.
Servos -vs. - Stepper - How are they different?
Stepper motors are permanent magnetic motors that 'step' one increment each time the computer gives
its control electronics one pulse. They don't require position feed back if run within their limits. When
stopped they inherently hold their position.
Servo motors are standard DC or brushless motors with an encoder feedback loop. The computer reads
the position of the motor and controls the power applied to the motor.
Stepper motors generally are just as accurate as servos and are simpler and more reliable and
maintenance free in harsh dusty applications. The servomotor's encoder is susceptible to dirt and
vibration causing problems.
Servo's are faster moving point to point and are better at accelerating very heavy machinery, but their
higher maintenance should be a factor in deciding which to go with. Our stepper motor system can be
just as fast as or faster than many servo systems because of the control's software's algorithms.
MC05
Many companies that sell servo controls try to run steppers down. They don't know how good a
properly made stepper motor system can be! Our stepper systems never loose steps and can run for
days with perfect repeatability. A servo system with dust on the encoder will loose steps.
Motion
Characteristics
Servo Motors Stepper Motors
High Torque,
Low Speed
Can be considered if cost/ complexity
are not an issue.
Continuous duty applications
requiring high torque & low speed
High Torque and
high speed
(>2000 rpm)
Continuous duty applications require
high torque and high speed. A DC
servomotor can deliver greater
continuous shaft power at high speeds
compared to steppers. High speed up
to 12000 rpm is possible. AC servo
motors can handle higher current
surges compared to DC servos. You
can get lot stronger AC servo
compared to either DC servo or DC
stepper.
If speeds are less than 2000 rpm
stepper may be economical.
Stepper becomes bulky at high
torque.
Short, Rapid
Repetitive Moves
Use servo if you need high dynamic
requirements.
Stepper will offer more economic
solution when requirements are
more modest.
Positioning
Applications
Servo can handle effectively when
load is mostly inertia instead of
friction. The ability to overdrive servo
motor in intermittent duty allows a
smaller motor to be used. If
positioning is critical in micron level
use servo
Use stepper motor if torque is
lower than 500 oz-in, less 2000
rpm, low to medium acceleration
rates.
Applications in
Hazardous
Environments
Use brushless servo motor Use step motor.
Low Speed, High
Smoothness
Use DC servo Use micro stepping
Control Method Closed loop
Preferred to be used in open loop
applications
MC05
Experiment 5
Objective:
To study & observe position control of Servo Motor using NV500X Microcontroller Development
platform
Apparatus Required:
20 Pin FRC Cable
Procedure:
1. Program the Microcontroller with Servo Motor Interface.hex file. For programming procedure
details refer NV500X manual.
MC05
Warranty
1) We guarantee the product against all manufacturing defects for 24 months from the date of sale by
us or through our dealers. Consumables like dry cell etc. are not covered under warranty.
2) The guarantee will become void, if
a) The product is not operated as per the instruction given in the learning material
b) The agreed payment terms and other conditions of sale are not followed.
c) The customer resells the instrument to another party.
d) Any attempt is made to service and modify the instrument.
3) The non-working of the product is to be communicated to us immediately giving full details of the
complaints and defects noticed specifically mentioning the type, serial number of the product and
date of purchase etc.
4) The repair work will be carried out, provided the product is dispatched securely packed and insured.
The transportation charges shall be borne by the customer.
MC05
List of Service Center
Baroda
Flat No. A/1, Mudra Complex,
Behind Sudha Hotel, Ellora Park,
Baroda-390023 (Gujarat)
Tel: +91-0265-3089505
Fax : +91- 0265-3089506
email : baroda@scientech.bz
Guwahati
Avijit Roy Building, A.K. Dev
Road, Fatashil Ambari, Near
jalaram Mandir,
Guwahati-25 Assam
Mobile: 09435144068
email: guwahati@scientech.bz
Indore
94, Electronic Complex,
Pardesipura, Indore-452 010
Tel: 91-731-2570301/02,
4211100,
Fax: 91-731-2555643
E-mail: info@scientech.bz
New Delhi
First Floor, C-19, F.I.E.,
Patparganj Industrial Area,
Delhi-110092 (INDIA)
Ph: 011- 22157370, 22157371,
Fax: +91-011-22157369
email: ndel@scientech.bz
Bangalore
202/19,4th Main Street,
Ganganagar,
Bangalore - 560032
Ph.: +91-080-41285011
T.Fax: +91-080-41285022
email: bangalore@scientech.bz
Kolkata
AC-101, Prafullla Kanan, Near
Kestopur Bus Stop, Krishnapur,
Kolkata- 700059 (West Bengal)
Tel: +91 33-65266800
Mob: 9433029888
email: kolkata@scientech.bz
Mumbai
E Type, Bldg No. 5/1/3, Sector
1,Vashi, Navi Mumbai-400703
Ph: +91-022-27826616,
65266616
email: mumbai@scientech.bz
Jaipur
Flat No. G-2, S-101, Bhagat
Vatika North, Civil Lines,
Jaipur - 302006 (Raj.)
Mobile: 097998-10236
email: jaipur@scientech.bz
Lucknow
First Floor, 279/54/20/A,
Chuhar Singh Colony,
Pan Dariba, Lucknow (U.P.)
Mobile: 09918670737
email: lucknow@scientech.bz
Hyderabad
Plot No. 24, Flat no. 203,
Laxmi Residency, Chandragiri
Housing Society, Trimulgherry
Secunderabad- 500015.
Ph:040-27740147,9247712763
email: hyd@scientech.bz
Cochin/Kochi
C/o Pragalbha Valsan,
Poriyamadathil house, ABMS
Lane, Asoka Road, Near
Mathrubhumi, Kaloor, Kochi -
682 017 Ph: 0484-2409441
email: kochi@scientech.bz
Chandigarh
201, 2nd floor KMB Hospitality
Services, SCO 19, Near Kabir
Petrol Pump, Ambala-Zirakpur
Highway Zirakpur, Mohali
140603, Ph.: 0172-6530329
email: chandigarh@scientech.bz
Pune
105/106, 1st floor, Ajinkyatara,
Ganesh Mala, Sinhgad Road,
Pune - 411030
Ph.: +91-020-24254244/55
Fax: +91-020-24254244
email: pune@scientech.bz
Chennai
Flat C, 1st Floor, Old No. 49
New No. 64, Bajanai Koil
Street, Sriram Nagar Extention,
Pallipattu, Chennai-600113
Tel: 044-43514212, 43514213
email: chennai@scientech.bz
Orissa
Plot No-67 (1st Flr) Aerodrom
Area,Vimpur mouza Near
Vimpur Primary School
Bhubaneswar- 751020
Mobile: 09238307873
email: orissa@scientech.bz
MC05
List of Accessories
1. Patch Cords .. ..................................................... 1 No.
2. Learning Material CD.............1 No.

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