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LEUVEN

Stepper Motor

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Step Motor
KATHOLIEKE UNIVERSITEIT

LEUVEN Block scheme:

Open loop

Step Motor Amplifier Pulse Generator Nominal-Position

Diagram:

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Stepper Motor - Features
KATHOLIEKE UNIVERSITEIT

LEUVEN
• Open loop and speed control loop.
• Relatively cheap.
• By turning the control pulse to a drive axle increment (micro
step).
• Per rotation are more than 10,000 increments (micro-steps).
• Magnetic rigidity is low in the positioning.
• As drive system with the furnace control circuit is not
damped and therefore inclined to impulse vibration.
• Mechanical vibrations or of control (closed-loop damped).
• Power-weight ratio is the lowest of all electric motors.

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Universitas Indonesia Development of Regional Interdisciplinary Mechatronic Studies - DRIMS

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KATHOLIEKE UNIVERSITEIT
Full Stepper Motor
LEUVEN

• This animation demonstrates the principle for a stepper motor using full
step commutation. The rotor of a permanent magnet stepper motor
consists of permanent magnets and the stator has two pairs of windings.
Just as the rotor aligns with one of the stator poles, the second phase is
energized. The two phases alternate on and off and also reverse polarity.
There are four steps. One phase lags the other phase by one step. This is
equivalent to one forth of an electrical cycle or 90°.

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Half Stepper Motor
LEUVEN

• This animation shows the stepping pattern for a half-step stepper motor.
The commutation sequence for a half-step stepper motor has eight steps
instead of four. The main difference is that the second phase is turned on
before the first phase is turned off. Thus, sometimes both phases are
energized at the same time. During the half-steps the rotor is held in
between the two full-step positions. A half-step motor has twice the
resolution of a full step motor. It is very popular for this reason.

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Stepper Motors
LEUVEN

• This stepper motor is very simplified. The rotor of a real stepper motor usually
has many poles. The animation has only ten poles, however a real stepper
motor might have a hundred. These are formed using a single magnet
mounted inline with the rotor axis and two pole pieces with many teeth. The
teeth are staggered to produce many poles. The stator poles of a real stepper
motor also has many teeth. The teeth are arranged so that the two phases are
still 90° out of phase. This stepper motor uses permanent magnets. Some
stepper motors do not have magnets and instead use the basic principles of a
switched reluctance motor. The stator is similar but the rotor is composed of a
iron laminates.

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LEUVEN More on Stepper Motors

• Note how the phases are driven so that the

rotor takes half steps

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More on Stepper Motors
LEUVEN

• Animation shows how coils are energized for

full steps
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Stepper Motor Driving Techniques
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LEUVEN

Wave Mode Steps

In wave mode, only one phase at a time is energized

Stepper Motors: Types, Uses and Working Principle | Article | MPS (monolithicpower.com)

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Stepper Motor Driving Techniques
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LEUVEN

Full-Step Mode Steps

In full-step mode, two phases are always energized at the same time

Stepper Motors: Types, Uses and Working Principle | Article | MPS (monolithicpower.com)

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Stepper Motor Driving Techniques
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LEUVEN

Full-Step Mode Steps

Half-step mode is a combination of wave and full-step modes

Stepper Motors: Types, Uses and Working Principle | Article | MPS (monolithicpower.com)
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More on Stepper Motors
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LEUVEN

• Full step sequence • Half step

showing how binary sequence of
numbers can control binary control
the motor numbers

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LEUVEN Stepper Motor Applications

• Film Drive • I. V. Pump

• Optical Scanner • Blood Analyzer
• Printers • FAX Machines
• ATM Machines • Thermostats

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Advantages
KATHOLIEKE UNIVERSITEIT

LEUVEN
• Due to their internal structure, stepper motors do not require
a sensor to detect the motor position. Since the motor moves
by performing “steps,” by simply counting these steps, you
can obtain the motor position at a given time.
• In addition, stepper motor control is pretty simple. The motor
does need a driver, but does not need complex calculations
or tuning to work properly. In general, the control effort is
lower compared to other motors. With microstepping, you can
reach high position accuracy, up to approximately 0.007°.
• Stepper motors offer good torque at low speeds, are great for
holding position, and also tend to have a long lifespan.

Stepper Motors: Types, Uses and Working Principle | Article | MPS (monolithicpower.com)

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Disadvantages
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LEUVEN
• They can miss a step if the load torque is too high. This
negatively impacts the control, since there is no way to know
the real position of the motor. Using microstepping makes
stepper motors even more likely to experience this issue.
• These motors always drain maximum current even when still,
which makes efficiency worse and can cause overheating.
• Stepper motors have low torque and become pretty noisy at
high speeds.
• Finally, stepper motors have low power density and a low
torque-to-inertia ratio.

Stepper Motors: Types, Uses and Working Principle | Article | MPS (monolithicpower.com)

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