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Steppers X 2
Steppers X 2
STEPPER MOTORS
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Stepper Internals
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4-wire bipolar
4-wire bipolar
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Make it Turn
Energize the coils in a very specific sequence
Make it Turn
Energize the coils in a very specific sequence
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Make it Turn
Energize the coils in a very specific sequence
Use a Library
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Knob Example
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0 to 170 .write
Pin 9
return current
deg position .read
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Stepper Object
.setSpeed Stepper
name: mystepper
.step
Internal state:
What step am I on?
What sequence
do I use?
Stepper Object
.setSpeed Stepper
Drivers
name: mystepper
.step
Internal state:
What step am I on?
What sequence
do I use?
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Stepper Specs
Degrees/Step
Common values: 15, 7.5, 3.6, 1.8 deg/step
This is the same as 24, 48, 100, and 200 steps/full-rev
Coil Resistance
Measured resistance of motor coils
Volts/Amps
Rated values for running the motor
Amps is the important one!
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So far…
Steppers move very precisely and are relatively
powerful
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Up to 2A per coil
(with heat sink)
8 – 35V on motor
Provides 5v to Arduino
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Current Limit
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.step
StepperDS
.stepDeg name: mystepper
Internal state:
DirPin
.setMicrostepping StepPin
.setSpeed
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Finale
Use one Pololu driver for each stepper
Measure REF, turn pot, to set current limit
Set microstepping if desired
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Next Assignment
Use a pair of steppers to make a suspended-style
drawing machine
Use same pairs as for museum assignment
Due 2/28 – 3/1
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