Stepper Motors

Widely use in Robotics ---why?? ---why?? Because More precise than DC motor Measured rotation and can be held at a particular position- U can rotate the positionstepper motor with an accuracy of 0.9 degree!!!!!! Alignment is much better...

Stepper Motors contd..

Types of Stepper Motors

Mainly 2 types:
Unipolar- Current can flow only in one Unipolardirection in the coils Bipolar- Current can flow in both the Bipolardirections

Comparison
Unipolar
Current flow in one direction Simple drive circuit Less torque

Bipolar
Current flow in both direction Complicated drive Circuit High Torque

Modes of Operation
Single Coil Excitation: Only one out of the 4 coils is excited at a given time Double Coil: Two adjacent coils are excited at a given time Single and Double: It s a hybrid of both..(refer diagram for details)

Stepper Motor basics

The stepper motor contains a permanent magnet which is attached to the shaft at centre and there are 4 coils on the 4 sides Actually the stator contains 100 teeth to get a step angle of 360/(2*100)=1.8degrees. But here for the sake of simplicity, we are showing only one tooth of stator. So don t get misled into believing that it s atep angle is 90 degrees

Single Coil Mode

Single coil Excitation

Note that until the next coil is switched on, the stator remains in its position only And as we can control when to switch on a particular coil thru software, we can rotate it by exactly the angle we wish.. Compare this with DC motor where the shaft keeps on rotating as soon as the current is switched on

a. Single-Coil Excitation - Each Singlesuccessive coil is energized in turn.

Double coil Excitation

b. Two-Coil Excitation - Each successive pair Twoof adjacent coils is energized in turn.

Single and Double coil Excitation

Interleaving the two sequences will cause the motor to half-step half-

Comparison
Single coil
Low torque

Double coil
High torque

Consume less energy Consume double

energy Settling time is more Settling time is less
Note: The advantage of hybrid mode is that the step angle gets halved.. So we can control the rotation with double precision

Circuit Diagram

Controlling motors thru Computer

Parallel Ports: It s the easiest way to control the motors from computer. No complicated intermediate circuits are required Serial/USB ports Bluetooth
* The last 2 modes are beyond the scope of this workshop

2525-way Female D-Type DConnector

The pin configuration of the other end of parallel port connector

Pin details

Pin details contd.....

Pin Details
D0D0-D7 are the data pins(used for output) C0C0-C3 are control pins. Note that C1 and C3 are hardware inverted. They can be used for both input and output S3S3-S7 are status pins. They are used for taking input from external ckt

PC parallel Port
The PC's Parallel Printer Port had a total of 12 digital outputs and 5 digital inputs accessed via 3 consecutive 8-bit ports in the processor's 8I/O space. 8 output pins accessed via the DATA Port 5 input pins (one inverted) accessed via the STATUS Port 4 output pins (three inverted) accessed via the CONTROL Port The remaining 8 pins are grounded

Controlling pins thru program

Almost every programming language has commands to control the ports. For example in Turbo C, we can use the outportb function defined in dos.h
outportb(0x378,5) 0x378 is the address of the data pins of the parallel port. The binary form of 5 will appear as an output in the data pins i.e the binary of 5 is 00000101. Therefore D0 and D2 are on and rest pins are off. The ouput can be upto 2^8-1=255

Control pins
The address for control pins can be obtained by adding 2 to the address of data pins. For eg, here the address of control pins will be 0x378+0x2=0x37a Therefore the command outportb(0x37a,3) will make both the 1st 2 control pins(C0,C1) low! Because 3=0011 low! and C0 and C1 are hardware inverted

Controlling DC motors by H-Bridge H-

Implementation of H bridge

Driving the DC motor

Connections for a stepper motor

Data Port1

Motor 1

Data Port2

Motor 2

Note connect a 15v zener diode to pin 10 of IC as shown to prevent damage to the IC due to "back emf" when loads such as motors switch on and off

Driving the Stepper Motor

In the following slides, we discuss the code for driving the stepper motor in various modes
Single coil mode Double coil mode Hybrid mode

Single Coil Mode

The order of the values to be written to parallel port(data pins)
00000001 (1st coil is on) = 1 00000010 (2nd coil is on) = 2 00000100 (3rd coil is on) = 4 00001000 (4th coil is on) = 8 For 2nd motor 00010000 (1st coil is on) = 16 0010000 (2nd coil is on) = 32 0100000 (3rd coil is on) = 64 1000000 (4th coil is on) = 128

Double Coil Mode

The order of the values to be written to parallel port(data pins)
00000011 (1st & 2nd coils are on) = 3 00000110 (2nd & 3rd coils are on) = 6 00001100 (3rd & 4th coils are on) = 12 00001001 (4th & 1st coils are on) = 9 For 2nd motor 00110000 (1st & 2nd coils are on) = 48 01100000 (2nd & 3rd coils are on) = 96 11000000 (3rd & 4th coils are on) = 192 10010000 (4th & 1st coils are on) = 144

Hybrid mode
The order of the values to be written to parallel port(data pins)
00000001 00000011 00000010 00000110 00000100 00001100 00001000 00001001 (1st coil is on) = 1 (1st & 2nd coil is on) = 3 (2rd coil is on) = 2 (2nd & 3rd coil is on) = 6 (3st coil is on) = 4 (4th & 3nd coil is on) = 12 (4rd coil is on) = 8 (1st & 4th coil is on) = 9

The values for the other coil can be determined by shifting the binary representation by 4 places left or multiply the decimal values by 2^4=16

Sample codes to rotate in ccw drn

//single coil mode #include <stdio.h> #include <dos.h>

//double coil #include <stdio.h> #include <dos.h>

//hybrid mode #include <stdio.h> #include <dos.h> main() { char a[]={1,3,2,6,4,12,8,9 }; for (int i=0;i<=100;i++) { outportb(888,a[i%8]); delay(10); } outportb(888,0); }

main() main() { char a[]={3,6,12,9}; { char a[]={1,2,4,8}; for (int for (int i=0;i<=100;i++) i=0;i<=100;i++)
{ outportb(888,a[i%4]); delay(10); } outportb(888,0);

{outportb(888,a[i% 4]); delay(10); } outportb(888,0); }

Sample codes to rotate in cw drn

//single coil mode #include <stdio.h> #include <dos.h>

//double coil #include <stdio.h> #include <dos.h>

//hybrid mode #include <stdio.h> #include <dos.h>

main() main() main() { char a[]={3,6,12,9}; { char { char a[]={1,2,4,8}; a[]={1,3,2,6,4,12,8,9 for (int i=100;i<=0;ii=100;i<=0;ifor (int i=100;i<=0;i--) i=100;i<=0;i--) }; -) { outportb(888,a[i%4]); for (int i=100;i<=0;i--) i=100;i<=0;i--) delay(10); {outportb(888,a[i% { } 4]); outportb(888,a[i%8]); outportb(888,0); delay(10); delay(10); } } } outportb(888,0); outportb(888,0); } }

Sample codes to move the robot backward

//single coil mode #include <stdio.h> #include <dos.h> main() { char a[]={1,2,4,8}; char b[]={16,32,64,128}; for (int i=100;i<=0;i--) i=100;i<=0;i--) { outportb(888,a[i%4]|b [i%4]); delay(10); } outportb(888,0); }

//double coil #include <stdio.h> #include <dos.h> main() { char a[]={3,6,12,9};

//hybrid mode #include <stdio.h> #include <dos.h> main() { char a[]={1,3,2,6,4,12,8,9 char }; b[]={48,96,192,144}; for (int i=100;i<=0;i- char i=100;i<=0;ib[]={16,48,32,96,64,19 -)
2,128,144};

{outportb(888,a[i% 4]|b[i%4]); delay(10); } outportb(888,0); } }

for (int i=100;i<=0;i--) i=100;i<=0;i--) { outportb(888,a[i%8]| b[i%8]); delay(10); } outportb(888,0);

Sample codes to move the robot forward

//single coil mode #include <stdio.h> #include <dos.h> main() { char a[]={1,2,4,8}; char b[]={16,32,64,128}; for (int i=0;i<=100;i++) { outportb(888,a[i%4]|b [i%4]); delay(10); } outportb(888,0); }

//double coil #include <stdio.h> #include <dos.h> main() { char a[]={3,6,12,9};

char b[]={48,96,192,144};

//hybrid mode #include <stdio.h> #include <dos.h> main() { char a[]={1,3,2,6,4,12,8, 9};
char b[]={16,48,32,96,64,1 92,128,144};

for (int i=0;i<=100;i++) {outportb(888,a[i% 4]|b[i%4]); delay(10); } outportb(888,0); }

for (int i=0;i<=100;i++) { outportb(888,a[i%8] |b[i%8]); delay(10); } outportb(888,0); }

Sample codes to turn the bot left

//hybrid mode #include <stdio.h> #include <stdio.h> #include <dos.h> #include <dos.h> main() main() { char { char a[]={1,2,4,8}; a[]={1,3,2,6,4,12,8, char char 9}; b[]={48,96,192,144}; b[]={16,32,64,128}; char for (int for (int i=0;i<=100;i++) b[]={16,48,32,96,64,1 i=0;i<=100;i++) { outportb(888,a[(100outportb(888,a[(100//single coil mode i)%4]|b[i%4]); delay(10); 92,128,144}; } outportb(888,0); }

//double coil #include <stdio.h> #include <dos.h> main() { char a[]={3,6,12,9};

{outportb(888,a[(10 0-i)%4]|b[i%4]); delay(10); } outportb(888,0); } }

for (int i=0;i<=100;i++) { outportb(888,a[(100 -i)%8]|b[i%8]); delay(10); } outportb(888,0);

Sample codes to turn the bot right

//hybrid mode #include <stdio.h> #include <stdio.h> #include <dos.h> #include <dos.h> main() main() { char { char a[]={1,2,4,8}; a[]={1,3,2,6,4,12,8, char char 9}; b[]={48,96,192,144}; b[]={16,32,64,128}; char for (int for (int i=0;i<=100;i++) b[]={16,48,32,96,64,1 i=0;i<=100;i++) { 92,128,144}; outportb(888,a[i%4]|b {outportb(888,a[i%4]| [(100[(100-i)%4]); b[(100b[(100-i)%4]); for (int delay(10); i=0;i<=100;i++) delay(10); } { } outportb(888,0); outportb(888,a[i%8] outportb(888,0); |b[(100|b[(100-i)%8]); } } delay(10); } outportb(888,0); }
//single coil mode

//double coil #include <stdio.h> #include <dos.h> main() { char a[]={3,6,12,9};

Cracking Techno Tennis....

Here we present some vague ideas for developing your robot. Two important considerations are: Basic movable base which can be accurately positioned and moved in any direction Hitting mechanism

If u use stepper motors

The data pins D0-D3 will be connected to the D0left motor and D4-D7 to the right one (or vice D4versa) To control the hitting mechanism u can use the 4 control pins. For example u can switch on a control pin to trigger a flap mechanism. A power amplifier must be used in between port pins and devices involved in hitting mechanism

MATLAB CODE
dio=digitalio('parallel','LPT1'); addline(dio,0:3,'out'); putvalue(dio,[0 1 1 0]);