1

CONTENTS

PAGE NO

1.0 Introduction & Theory 3

1.1 Permanent Magnet (PM) Stepper Motors 3

1.2 Variable Reluctance (VR) Stepper Motors 4

2.0 Applications of Stepper Motors 5

3.0 Circuit Description 5

3.1 Specifications of the Stepper Motor Used 6

4.0 Installation 6

5.0 Demonstration Examples 7

5.1 Demonstration Program for MPS 85-3 Trainer 7

5.2 Demonstration Program for ESA 85-2 Trainer 8

5.3 Demonstration Program for ESA-80 Trainer 9

5.4 Demonstration Program for ESA-65 Trainer 10

5.5 Demonstration Program for ESA-31 Trainer 11

5.6 Demonstration Program for ESA-68K Trainer 12

5.7 Demonstration Program for ESA-196 Trainer 13

5.8 Demonstration Program for ESA 86/88-2 Trainer 14

5.9 Demonstration Program for ESA 68-2 Trainer 14

5.10 Demonstration Program for ESA-51 Trainer 15

5.11 Demonstration Program for ESA 86/88-3 Trainer 17

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5.12 Demonstration Program for ESA 51E Trainer 19

5.13 Demonstration Program for ESA 86/88E Trainer 21

6.0 Exercises 23

Appendix A : Component Layout Diagram

Appendix B : Schematic Diagram

Appendix C : Illustration of Stepper Motor Operating Principle

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STEPPER MOTOR INTERFACE

1.0 INTRODUCTION & THEORY

Electro Systems Associates Private Limited (ESA) manufacturers trainers for most of the
popular microcomputers viz 8085, Z-80, 6502, 8031, 8086/8088 and 68000. ESA offers a
variety of modules which can be interfaced to these trainers. These modules can be
effectively used for teaching/training in the laboratories.

Data acquisition and control represent the most popular applications of microprocessors. Stepper
Motor control is a very popular application of microprocessors in control area, as stepper motors
are capable of accepting pulses directly from the microprocessor and move accordingly.

There are two types of stepper motors:

(a) Permanent magnet (PM)
(b) Variable reluctance (VR).

The principle and operation of these motors are explained below.

1.1 PERMANENT MAGNET STEPPER MOTORS

Fig (in Appendix B) shows a PM stepper motor in its simplest form. It consists of two stator
windings A, B and a motor having two magnetic poles N and S. When a voltage +V is applied
to stator winding A, a magnetic field Fa is generated as shown in Fig (a). The rotor positions
itself such that its poles lock with corresponding stator poles.

With the winding `A' excited as before , winding `B' is now switched on to a voltage +V as shown
in Fig (b). This produces a magnetic field Fb in addition to Fa. The resulting magnetic field F
makes an angle of 45 degrees as shown in Fig (b). The rotor consequently moves through 45 in
anti-clock-wise direction , again to cause locking of rotor poles with corresponding stator poles.

While winding `B' has voltage +V applied to it, winding `A' is switched off in Fig(c). The rotor
then moves through a further 45 degrees in anti-clockwise direction to align itself with stator
field Fb. With voltage +V on winding B, a voltage -V is applied to winding A as shown in Fig
(d). Then the stator magnetic field has two components: Fa , Fb and their resultant F makes an
angle of 135 degrees position .

In this way it can be seen that, as the pattern of excitation of the state of windings is changed, the
rotor moves successively through 45 degrees steps through Figs (e) to (h), and completes one full
revolution in anti-clock-wise direction. The figures are meant only to illustrate the principle of

STEPPER MOTOR INTERFACE

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operation of PM stepper motor. A practical PM stepper motor will have 1.8 degrees step angle
and 50 tooth on its rotor; there are eight main poles on the stator, each having five tooth in the
pole face. The step angle is given by

A = 360 / (N*K) degrees

where N = number of rotor tooth
K = excitation sequence factor

PM stepper motors have three modes of excitation i.e.,

 Single phase mode
 Two phase mode
 Hybrid mode.

Single Phase Mode: Figs (a,c,e,g) illustrate the single phase mode in which only one of the motor
windings is excited at a time. There are four steps in the sequence, the excitation sequence factor
K=2, so that step angle is 90 degrees.

Two Phase Mode: Here both the stator phases are excited at a time as shown in figs (b,d,f,h). There
are four steps in the excitation sequence, K=2 and step angle is 90 degrees. However, the rotor
positions in the two-phase mode are 45 degrees away from those in single phase mode.

Hybrid Mode: This is a combination of single phase and two phase modes as shown in Figs (a-
h). There are eight steps in excitation sequence; K=2 and step angle = 45 degrees.

From Figs (a-h), it can be observed that a voltage +V is applied to a stator winding during some
steps, while voltage -V is applied during certain other steps. This requires a bipolar regulated
power supply capable of yielding +V, -V and zero outputs and a pair of SPDT switches, which is
quite cumbersome. Consequently each of the two stator windings is split into two sections A1-A2,
B1-B2. These sections are wound differentially as shown by the polarity dots in Fig (j). These
winding sections can now be excited from a unipolar regulated power supply through switches S1
to S4 as shown in Fig (j). This type of construction is called bipolar winding construction.
Bipolar winding results in reduced winding inductance and consequently improved torque
stepping rate characteristics.

1.2 VARIABLE RELUCTANCE (VR) STEPPER MOTORS

The schematic diagram of a simple Variable Reluctance (VR) stepper motor is shown in fig (K).
There are twelve tooth on the stator and eight on the rotor. The rotor does not carry either a
permanent magnet or winding; it is assembled from soft iron punchings. The stator is also
assembled from soft iron punchings, and carries stator windings A,B and C as shown in Fig (k).
When stator winding A is excited, it creates a patterns of N and S poles as shown in Fig (i). The
rotor then positions itself as shown in Fig (i), so as to minimize the reluctance of the magnetic
circuit. When phase B is excited next, the rotor will move through 15 degrees to again seek

STEPPER MOTOR INTERFACE

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minimum reluctance position. VR stepper motors are available as 3-5 phase motors with step angle
given by

B = 360 ( N1-N2)
N1*N2

Where N1 = number of stator tooth

N2 = number of rotor tooth
N1 and N2 are related by
N1 = N2+n = p*n

Where n = number of stator tooth per phase

p = number of phases

2.0 APPLICATIONS OF STEPPER MOTORS

There are several areas of stepper motor applications like instrumentation, computer peripherals, and
machine tool drives. Tiny stepper motors are used in quartz analog electronic watches for driving
the second, minute and hour hands. These motors operate directly with the button cells used in
these electronic watches. Bigger stepper motors are used for driving the hands of slave clocks on
railway platforms, bus stations, offices, factories etc. Computer peripherals form an important
area of stepper motor applications. Card readers/punches, paper tape readers/punchers, teleprinters
and teletypes represent the first applications area of stepper motors. Digital X-Y plotters and dot
matrix printers use stepper motors for driving the arm and pen, and the paper respectively. Stepper
motors find application in line printers to drive the paper advance mechanism. Floppy disks and
hard/winchester disks have their magnetic reading/writing heads positioned by stepper motors.

The main application area of stepper motors is in numerical control (NC) systems for machine
tools. Here they are employed for driving the cutting tool along x,y,z directions. Another application
in this area is the coordinate table. Indexing mechanisms used in multistation machine tools employ
stepper motors for moving either work piece or cutting tools.

Stepper motors find application in positioning the spraying gun in spray painting machines. In
the medical field, positioning servos for X-ray machines or Radio-isotope heads employ stepper
motor drives. The latest application of stepper motors is in industrial robots for actuating the
robot joints.

3.0 CIRCUIT DESCRIPTION

The stepper motor interface uses four transistor pairs (SL100 & 2N3055) in a darlington pair
configuration. Each darlington pair is used to excite the particular winding of the motor connected to

STEPPER MOTOR INTERFACE

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4 pin connector on the interface. T he inputs to these transistors are from the 8255 PPI I/O lines of
the Microprocessor Trainer kit or from Digital I/O card plugged in the PC. "Port A" lower nibble
PA0, PA1, PA2, PA3 are the four lines brought out to the 26 pin FRC male connector (J1) on the
interface module. The free-wheeling diodes across each winding protect transistors from switching
transients. Refer to appendix B for detailed schematic diagram.

3.1 SPECIFICATION OF THE STEPPER MOTOR USED

The stepper motor specification is available at the end of the manual. The motor is reversible on with
a torque of 3kgcm. The power requirement is +5V DC @ 1.2A current per winding at full torque.
The step angle is 1.8* i.e, for every single excitation, the motor shaft rotates by 1.8*. For the motor to
rotate one full revolution (360*), number of steps required is 200. The stepper motor used has four
stator windings which are brought out through coloured wires terminated at a 4 pin polarized female
connector. The remaining two wires ( usually White & Black wires) are shorted and terminated at 2
pin polarized female connector.

4.0 INSTALLATION
The interface is housed in a plastic enclosure which has a locking mechanism. To open the cover,
push in the locking mechanism with a finger and lift the cover to open.

The interface has two nos of 3 pin and one four pin connectors. Plug in four pin polarised
connector of the motor to interface and the 3 pin connector of the motor to the 3 pin connector of the
interface marked as "WHT BLK". Connect the 3 pin female connector of the stepper motor power
supply to the connector on the interface marked as "GND +5/12V". Connect the 26 core flat ribbon
cable to J1 connector on the interface module and the other end of the cable to Microprocessor trainer
kit as stated in Table 3.1. Now the installation is done. Switch on power to the trainer kit as well as
the stepper motor. Key-in the demo program for the appropriate trainer & execute the same. When
the program is executed, the motor shaft rotates in steps at the speed depending upon the delay
between successive steps, which is generated and can be controlled by the program. The direction of
rotation can also be controlled through software.

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5.0 DEMONSTRATION EXAMPLES

Table 3.1 shows the connectors on various trainers to which this interface can be connected. Some
trainers have two connectors to which this interface can be connected. The demonstration
programs presented in this manual assumes that the connectors shown in column A are used, then
user has to change the port addresses appropriately. User may refer to component layout diagrams
of respective ESA trainer to locate the connectors mentioned here.
TABLE-3.1

MICROPROCESSOR A B
TRAINER
MPS 85-3 J2 J1
ESA 85-2 J2 J1
ESA-80 J2 J1
ESA-65 P4
ESA-68K P3 P4
ESA 68K-2 J2 J1
ESA 68-2 J1 J6
ESA 196 J1 J2
ESA-31 J2 J1
ESA-51 J10 J7
ESA-51E J5 J3
ESA 86/88-2 J4 J5
ESA 86/88-3 J8 J9
ESA-86/88E J4 J6

5.1 DEMONSTRATION PROGRAM FOR MPS 85-3 TRAINER

; Assume the interface is connected over J2 of the trainer.
; The trainer can be in KEYBOARD MODE or SERIAL MODE.

CMD55 EQU 43H

PORTA EQU 40H

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

8C00 3E 80 MVI A,80H ;All ports are O/P

8C02 D3 43 OUT CMD55
8C04 3E 88 MVI A, 88H ;Initial bit
;pattern
8C06 D3 40 LOOP: OUT PORT A ;Bit PA0-PA3
;used to control

STEPPER MOTOR INTERFACE

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;the motor
8C08 CD 20 8C CALL DELAY ;Delay between
;steps
8C0B 0F RRC ;change this
;to RLC to
;reverse the
;direction
8C0C C3 06 8C JMP LOOP
ORG 8C20H
8C20 F5 DELAY: PUSH PSW ;This routine
;gives an
8C21 21 01 00 LXI H,0001H ;approximate
;delay of 1.5secs
8C24 11 FF FF DELAY20: LXI D,0FFFFH
8C27 1B DELAY10: DCX D
8C28 7A MOV A,D
8C29 B3 ORA E
8C2A C2 27 8C JNZ DELAY10
8C2D 2B DCX H
8C2E 7C MOV A,H
8C2F B5 ORA L
8C30 C2 24 8C JNZ DELAY20
8C33 F1 POP PSW
8C34 C9 RET

5.2 DEMONSTRATION PROGRAM FOR ESA 85-2 TRAINER

; Assume the interface is connected over J2 of the trainer.
; The trainer can be in KEYBOARD MODE or SERIAL MODE.

CMD55 EQU 43H

PORT A EQU 40H

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

8000 3E 80 MVI A,80H ;All Ports are

8002 D3 43 OUT CMD55 ;output Ports
8004 3E 88 MVI A,88H ;Initial bit
;pattern
8006 D3 40 LOOP: OUT PORT A ;Bit PA0-PA3
;used to control
;the motor
8008 CD 20 80 CALL DELAY ;Delay between
;steps

STEPPER MOTOR INTERFACE

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800B 0F/07 RRC ;Instruction RLC

;is used to
;reverse the
;direction of
;Motor rotation
800C C3 06 80 JMP LOOP
ORG 8020H
8020 F5 DELAY: PUSH PSW ;This routine
8021 21 01 00 LXI H,0001H ;gives an
;approximate
;delay of 1.5secs
8024 11 FF FF DELAY20: LXI D,0FFFFH ;approximate
8027 1B DELAY10: DCX D
8028 7A MOV A,D
8029 B3 ORA E
802A C2 27 80 JNZ DELAY10
802D 2B DCX H
802E 7C MOV A,H
802F B5 ORA L
8030 C2 24 80 JNZ DELAY20
8033 F1 POP PSW
8034 C9 RET

5.3 DEMONSTRATION PROGRAM FOR ESA-80 TRAINER

; Assume the interface is connected over J2 of the trainer.
; The trainer can be in KEYBOARD MODE or SERIAL MODE.

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

8000 3E 80 LD A,80H ;Initialize 8255

8002 D3 43 OUT (43H),A ;for all ports
;Output
8004 06 88 LD B,88H ;Initial bit
;pattern
8006 0E 40 LD C,40H ;To be sent to
;motor
8008 ED 41 LOOP: OUT (C),B ;Pattern sent
;on PA0-PA3
800A CD 11 80 CALL DELAY ;Delay between
;Successive steps
800D CB 08 RRC B ;Next Pattern
;to be sent.
800F 18 F7 JR LOOP ;Go back to

STEPPER MOTOR INTERFACE

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;send the next

;pattern
8011 16 01 DELAY: LD D,COUNT1 ;Subroutine
;generating the
8013 21 00 00 LD HL,COUNT2 ;delay between
8016 2B DEC HL ;successive
;steps =1.5secs
8017 7C LD A,H
8018 B5 OR L
8019 20 FB JR NZ,DELAY+5
801B 15 DEC D
801C 20 F5 JR NZ,DELAY+2
801E C9 RET

5.4 DEMONSTRATION PROGRAM FOR ESA-65 TRAINER

; Assume the interface is connected over P4 of the trainer.
; The trainer can be in KEYBOARD MODE or SERIAL MODE.

CMDPORT EQU A043H

PORTA EQU A040H
COUNT1 EQU 00H
COUNT2 EQU FFH
COUNTER1 EQU 1050H
COUNTER2 EQU 1051H

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

1000 A9 80 LDA #80 ;Initialize

;8255 for all
;ports output
1002 8D 43 A0 STA CMDPORT
1005 A2 04 REPEAT: LDX #04
1007 A9 88 LDA #88 ;Bit pattern
;to be sent
1009 8D 40 A0 LOOP: STA PORTA ;Output the
;bit pattern
100C 20 16 10 JSR DELAY ;Generate a
;step delay of
;approximately
;0.6 sec
100F CA DEX
1010 F0 F3 BEQ REPEAT
1012 4A LSR A

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1013 4C 09 10 JMP LOOP ;Go back to send

;the next pattern
1016 A0 00 DELAY: LDY #COUNT1 ;delay routine
1018 8C 50 10 STY COUNTER1
101B A0 FF DELAY10: LDY #COUNT2
101D 8C 51 10 STY COUNTER2
1020 CE 51 10 DELAY20: DEC COUNTER1
1023 D0 FB BNE DELAY20
1025 CE 50 10 DEC COUNTER1
1028 D0 F4 BNE DELAY10
102A 60 RTS

5.5 DEMONSTRATION PROGRAM FOR ESA-31 TRAINER

; Assume the interface is connected over J2 of the trainer.
; The trainer can be in KEYBOARD MODE or SERIAL MODE.

SEG EQU 0E8H

P2 EQU 0A0H
DPL EQU 82H

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

8000 75 A0 E8 MOV P2,#SEG ;Configure

8003 78 03 MOV R0,#03H ;8255 for all
8005 74 80 MOV A,#80H ;ports output
8007 F2 MOVX @R0,A
8008 74 88 MOV A,#88H ;Initialise
;bit pattern
;Bit PA0-PA3
;used to
800A 78 00 LOOP: MOV R0,#00H ;control
800C F2 MOVX @R0,A ;motor Out at
;Port A
800D 12 80 13 LCALL DELAY
8010 03 RR A ;Rotate right
8011 80 F7 SJMP LOOP

8013 F9 DELAY: MOV R1,A ;Delay Routine

8014 7A 03 MOV R2,#03H
8016 90 00 00 DELAY2: MOV DPTR,#0000H
8019 A3 DELAY1: INC DPTR
801A E5 82 MOV A,DPL
801C 45 82 ORL A,DPL

STEPPER MOTOR INTERFACE

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801E 70 F9 JNZ DELAY1

8020 DA F4 DJNZ R2,DELAY2
8022 E9 MOV A,R1
8023 22 RET

5.6 DEMONSTRATION PROGRAM FOR ESA-68K TRAINER

; Assume the interface is connected over P3 of the trainer.

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

040600 20 7C 00 MOVE.L #$80306,A0

08 03 06
040606 10 BC 00 MOVE.B #$80,(A0) ;Initialise
80 ;8255 for
;all ports
04061A 12 3C 00 MOVE.B #$88,D1 ;Bit pattern
88 ;sent to motor
04060E 22 7C 00 MOVE.L #$80300,A1
08 03 00
040614 12 81 MOVE.B D1,(A1) ;Pattern sent
;to PA0-PA3
040616 4E B9 00 JSR.L $00040624 ;Delay
04 06 24 ;between
;successive
;steps
04061C E2 19 ROR.B #$1,D1 ;Next pattern
;to be sent
04061E 4E F9 00 JMP.L $00040614 ;Go back to
04 06 14 ;send the
;next pattern
040624 24 3C 00 DELAY: MOVE.L #$0FFFF,D2 ;Subroutine
00 FF FF ;generating
04062A 04 82 00 SUB.L #$1,D2 ;the delay
00 00 01 ;between
040630 66 F8 BNE #$04062A ;successive
040632 4E 75 RTS ;steps

5.7 DEMONSTRATION PROGRAM FOR ESA 196 TRAINER

;Assume the trainer is connected over J1 of the trainer.
;The trainer can be in KEYBOARD MODE or SERIAL mode.

STEPPER MOTOR INTERFACE

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REG1 EQU 52H

REG2 EQU 60H
REG3 EQU 56H
REG4 EQU 64H
PORT_A EQU 200H
PORT_B EQU 202H
CMD_PORT EQU 206H

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

8000 B1 80 52 LDBREG1,#80H ;Initialise

8003 C7 01 06 02 STBREG1,CMD_PORT ;8255 for
8007 52 ;all O/P Ports.
8008 B1 88 52 LDB REG1,#88H ;Initial bit
;pattern.
800B C7 01 00 02 LOOP: STB REG1,PORT_A ;Bit PA0-PA3
800F 52 ;used to control
;the motor.
8010 EF 07 00 LCALL DELAY
8013 19 01 52 SHLB REG1,#01H ;Use
;'SHRB REG1,#01H'
8016 DB 15 JC ADDR ;Instruction to
;change the
;direction of
;the motor.
8018 27 F1 BACK: SJMP LOOP ;Loop back.
801A F2 DELAY: PUSHF ;Delay
801B A1 05 00 60 LD REG2,#0005H ;Routine.
801F A1 FF DF 56 DEL20: LD REG3,#0DFFFH
8023 05 56 DEL10: DEC REG3
8025 D7 FC JNE DEL10
8027 05 60 DEC REG2
8029 D7 F4 JNE DEL20
802B F3 POPF
802C F0 RET
802D 91 01 52 ADDR: ORB REG1,#01H ;Use 'ORB REG1,
;#080H'
8030 27 E6 SJMP BACK ;Instruction
;instead of 'SHRB
;REG1,#01H'is
;used to change
;the direction

5.8 DEMONSTRATION PROGRAM FOR ESA 86/88-2 TRAINER

STEPPER MOTOR INTERFACE

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; Assume the interface is connected over J4 of the trainer.

; The trainer can be in KEYBOARD MODE or SERIAL MODE.

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

2000 B0 80 MOVB AL,#80. ;Initialize 8255

2002 BA E6 FF MOVW DX,#0FFE6 ;All ports output.
2005 EE OUTB DX
2006 B0 88 MOVB AL,#88 ;Initial bit
;pattern to be
;sent to motor
2008 BA E0 FF MOVW DX,#0FFE0 ;pattern sent on
200B EE OUTB DX ;PA0-PA3.
200C E8 11 00 CALL DELAY ;Delay between
200F 90 XCHGW AX,AX ;successive steps
2010 D0 C8 RORB AL,1 ;Next pattern
;to be sent
2012 EB F4 JMP 2008 ;Go back to send
;the next pattern
2020 9C DELAY: PUSHF
2021 50 PUSH AX ;Subroutine for
;the delay
;between
;successive Steps
2022 BB FF 0F MOVW BX,#0FFF
2025 4B LOOP: DECW BX
2026 75 FD JNZ LOOP
2028 58 POP AX
2029 9D POPF
202A C3 RET

5.9 DEMONSTRATION PROGRAM FOR ESA 68-2 TRAINER

; Assume the interface is connected over J1 of the trainer.
; The trainer can be in KEYBOARD MODE or SERIAL MODE.

CNTLA EQU 0C801H

CNTLB EQU 0C803H
DIRA EQU 0C800H
DIRB EQU 0C802H

ADDRESS OPCODE LABLE MNEMONIC COMMENTS

ORG 400H

STEPPER MOTOR INTERFACE

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0400 4F CLRA ;INTIALISE 8255

0401 B7 C8 01 STA CNTLA ;ALL PORTS OUTPUT
0404 B7 C8 03 STA CNTLB ;INITIAL BIT PATTERN
0407 B6 04 47 LDA BREG
040A 43 COMA ;BIT PA0-PA3
040B B7 C8 00 STA DIRA ;USED TO CONTROL
040E B7 C8 02 STA DIRB ;THE MOTOR
0411 B7 C8 01 STA CNTLA
0414 B7 C8 03 STA CNTLB
0417 CC 05 50 LDD #$550
041A 1F 03 TFR D,U
041C 86 11 LOOP: LDA #11H ;ROTATES LEFT
041E B7 C8 00 STA DIRA
0421 8D 17 BSR DELAY ;DELAY BETWEEN STEPS
0423 86 22 LDA #22H ;IF DIRECTION OF
0425 B7 C8 00 STA DIRA ;ROTATION OF MOTOR
;HAS TO BE CHANGED
0428 8D 10 BSR DELAY ;THAT IS TO RIGHT
042A 86 44 LDA #44H ;LOAD PORT A WITH
042C B7 C8 00 STA DIRA ;PATTERN IN THE
042F 8D 09 BSR DELAY ;REVERSE ORDER WITH
;88H,44H,22H,11H.
0431 86 88 LDA #88H
0433 B7 C8 00 STA DIRA ;PRESS RESET KEY ON
0436 8D 02 BSR DELAY ;THE TRAINER TO COME
0438 20 E2 BRA LOOP ;OUT OF LOOP.
043A 36 02 DELAY: PSHU A ;DELAY ROUTINE
043C CC FF FF LDD #$0FFFF
043F 83 00 01 DELAY1: SUBD #1H
0442 26 FB BNE DELAY1
0444 37 02 PULU A
0446 39 RTS
0447 00 00 BREG: FDB 0
0449 00 00 CREG: FDB 0

5.10 DEMONSTRATION PROGRAM FOR ESA-51 TRAINER

;Assume the interface is connected over J10 of the trainer.
;The trainer can be in KEYBOARD MODE or in SERIAL MODE.

SEG EQU 0E8H

P2 EQU 0A0H
DPL EQU 82H
OUTPUT EQU 0404H

STEPPER MOTOR INTERFACE

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GETCH EQU 12BBH

GETKB EQU 0161H
DSPCHR EQU 3E6H

ADDRESS OPCODE LABLE MNEMONIC COMMENT

8000 ORG 8000H

8000 90 80 75 MOV DPTR,#MSG ;To display
8003 12 04 04 LCALL OUTPUT ;the message.
8006 90 E9 04 MOV DPTR,#E904H ;check for serial
8009 E0 MOVX A,@DPTR ;or keyboard mode
800A 20 E3 05 CHK: JB ACC.3,KBD
800D 12 12 BB LCALL GETCH ;Get the key code
8010 80 03 SJMP L1
8012 12 01 61 KBD: LCALL GETKB ;Get the key code
8015 B4 41 05 L1: CJNE A,#41H,L2 ;Checking for 'A'
8018 12 03 E6 LCALL DSPCHR ;Display character
801B 80 1B SJMP L3 ;Jump to routine
801D B4 61 05 L2: CJNE A,#61H,L4 ;Checking for 'a'
8020 12 03 E6 LCALL DSPCHR ;Display character
8023 80 13 SJMP L3 ;Jump to routine
8025 B4 43 05 L4: CJNE A,#43H,L5 ;Checking for 'C'
8028 12 03 E6 LCALL DSPCHR ;Display character
802B 80 22 SJMP L6 ;Jump to routine
802D B4 63 05 L5: CJNE A,#63H,L7 ;Checking for 'c'
8030 12 03 E6 LCALL DSPCHR ;Display character
8033 80 1A SJMP L6 ;Jump to routine
8035 02 00 00 L7: LJMP 0

;Routine for clockwise rotation

8038 75 A0 E8 L3: MOV P2,#SEG ;Configure 8255

803B 78 03 MOV R0,#03H ;For all ports O/P
803D 74 80 MOV A,#80H
803F F2 MOVX @R0,A
8040 74 88 MOV A,#88H ;Initialise bit
;pattern. Bit PA0-
;PA3 used to control
;motor
8042 78 00 LOOP: MOV R0,#00H ;O/P the pattern
8044 F2 MOVX @R0,A ;to Port A
8045 C0 E0 PUSH A
8047 12 80 66 LCALL DELAY
804A D0 E0 POP A
804C 23 RL A

STEPPER MOTOR INTERFACE

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804D 80 F3 SJMP LOOP

;Routine for anti-clockwise rotation

804F 75 A0 E8 L6: MOV P2,#SEG

8052 78 03 MOV R0,#03H
8054 74 80 MOV A,#80H
8056 F2 MOVX @R0,A
8057 74 88 MOV A,#88H
8059 78 00 LOOP1: MOV R0,#00H
805B F2 MOVX @R0,A
805C C0 E0 PUSH A
805E 12 80 66 LCALL DELAY
8061 D0 E0 POP A
8063 03 RR A
8064 80 F3 SJMP LOOP1
8066 7A 03 DELAY: MOV R2,#03H ;Delay routine
8068 90 05 00 DELAY2: MOV DPTR,#500H
806B A3 DELAY1: INC DPTR
806C E5 82 MOV A,DPL
806E 45 82 ORL A,DPL
8070 70 F9 JNZ DELAY1
8072 DA F4 DJNZ R2,DELAY2
8074 22 RET
8075 45 4E 54 45 52 MSG:DB 'ENTER OPTION(A/C):',00H
807A 20 4F 50 54 49
807F 4F 4E 28 41 2F
8084 43 29 3A 00

5.11 DEMONSTRATION PROGRAM FOR ESA 86/88-3 TRAINER.

; Assume the interface is connected over J8 of the trainer.
; This program illustrates the control of direction of
; rotation of the Stepper motor depending upon user choice.
; The program executes in a continuous loop.
; The program can be executed in STAND-ALONE MODE or SERIAL
; MODE of operation.
; The program starts at memory location 0:2000H
; Please refer ESA 86/88-3 user's manual for mnemonic
; syntax suitable to trainer
Code Segment :0000H

ADDRESS OPCODE LABEL MNEMONIC COMMENTS

STEPPER MOTOR INTERFACE

 18

2000 B8 00 00 MOVW AX,0000H ;Initialise

;Segment
2003 8E C8 MOVW CS,AX ;Registers
2005 8E C0 MOVW ES,AX
2007 BA E6 FF MOVW DX,0FFE6H ;Initialise
200A B0 80 MOVB AL,80H ;all 8255
;Ports as o/p
200C EE OUTB DX,AL
200D EB 47 JMP START
; Display Message String
200F 0A 0D 53 54 45 50 MES: DB 0AH,0DH,'STEPPER MOTOR I/F'
2015 50 45 52 20 4D 4F
201B 54 4F 52 20 49 2F
2021 46
2022 0A 0D 45 4E 54 45 DB 0AH,0DH,'ENTER DIRECTION'
2028 52 20 44 49 52 45
202E 43 54 49 4F 4E
2033 0A 0D 41 20 2D 20 DB 0AH,0DH,'A - ANTICLOCKWISE'
2039 41 4E 54 49 43 4C
203F 4F 43 4B 57 49 53
2045 45
2046 0A 0D 43
20 2D 20 DB 0AH,0DH,'C - CLOCKWISE',00H
204C 43 4C 4F
43 4B 57
2052 49 53 45
00
2056 9A 31 00
00 FB START:CALLS 0FB00:0031H ;New line
;routine
205B 2E CS
205C 8D 16 0F 20 LEA DX,@MES ;Display message
2060 8B C2 MOVW AX,DX ;on LCD or Console
2062 9A 13 00 00 FB CALLS 0FB00:0013H ;Wait for
2067 9A A9 00 00 FB GET:CALLS 0FB00:00A9H ;user entry
206C 3C 41 CMPB AL,41H ;If key ='A',
206E 74 1D JE ANTI ;rotate anti-
;clockwise
2070 3C 43 CMPB AL,43H ;If key = 'C'
2072 74 02 JE CLO ;rotate clockwise
2074 EB F1 JMP GET ;Accept valid
;key only

; Routine for Clockwise rotation of motor

2076 9A 31 00 00 FB CLO:CALLS 0FB00:0031H

207B 9A 00 00 00 FB CALLS 0FB00:00H
2080 B0 11 MOVB AL,11H ;Output value
;to Port A

STEPPER MOTOR INTERFACE

 19

2082 BA E0 FF MOVW DX,0FFE0H

2085 EE R1:OUTB DX,AL
2086 E8 1B 00 CALL DELAY ;Introduce
;delay
2089 D0 D8 RCRB AL,1 ;Rotate bits in
208B EB F8 JMP R1 ;data byte
;right & repeat

; Routine for Anti-clockwise rotation of motor

208D 9A 31 00 00 FB ANTI:CALLS 0FB00:0031H

2092 9A 00 00 00 FB CALLS 0FB00:00H
2097 B0 11 MOVB AL,11H ;Output value
;to Port A
2099 BA E0 FF MOVW DX,0FFE0H
209C EE R2:OUTB DX,AL
209D E8 05 00 CALL DELAY
20A0 D0 D0 RCLB AL,1 ;Rotate bits
20A2 EB F8 JMP R2 ;left & repeat
20A4 B9 00 08 DELAY:MOVW CX,800H ;Delay routine
20A7 E2 FE $ :LOOP $
20A9 C3 RET

5.12 DEMONSTRATION PROGRAM FOR ESA-51E

;Assume the interface is connected over J5 of the trainer.
;The trainer can be in KEYBOARD MODE or in SERIAL MODE.
;Press key "C" for clock wise rotation & "A" for anti-
;clockwise rotation

SEG EQU 0E8H

P2 EQU 0A0H
DPL EQU 82H
OUTPUT EQU 03FAH
GETCH EQU 12A5H
GETKB EQU 0142H
DSPCHR EQU 03DCH

STEPPER MOTOR INTERFACE

 20

ADDRESS OPCODE LABLE MNEMONIC COMMENT

8000 ORG 8000H

8000 90 80 75 MOV DPTR,#MSG ;To display
8003 12 03 FA LCALL OUTPUT ;the message.
8006 90 E1 02 MOV DPTR,#E102H ;check for serial
8009 E0 MOVX A,@DPTR ;or keyboard mode
800A 20 E3 05 CHK: JB ACC.3,KBD
800D 12 12 A5 LCALL GETCH ;Get the key code
8010 80 03 SJMP L1
8012 12 01 42 KBD: LCALL GETKB ;Get the key code
8015 B4 41 05 L1: CJNE A,#41H,L2 ;Checking for 'A'
8018 12 03 DC LCALL DSPCHR ;Display character
801B 80 1B SJMP L3 ;Jump to routine
801D B4 61 05 L2 CJNE A,#61H,L4 ;Checking for 'a'
8020 12 03 DC LCALL DSPCHR ;Display character
8023 80 13 SJMP L3 ;Jump to routine
8025 B4 43 05 L4: CJNE A,#43H,L5 ;Checking for 'C'
8028 12 03 DC LCALL DSPCHR ;Display character
802B 80 22 SJMP L6 ;Jump to routine
802D B4 63 05 L5: CJNE A,#63H,L7 ;Checking for 'c'
8030 12 03 DC LCALL DSPCHR ;Display character
8033 80 1A SJMP L6 ;Jump to routine
8035 02 00 00 L7: LJMP 0

;Routine for clockwise rotation

8038 75 A0 E8 L3: MOV P2,#SEG ;Configure 8255

803B 78 03 MOV R0,#03H ;For all ports O/P
803D 74 80 MOV A,#80H
803F F2 MOVX @R0,A
8040 74 88 MOV A,#88H ;Initialise bit
;pattern. Bit PA0-
;PA3 used to
;control motor
8042 78 00 LOOP: MOV R0,#00H ;O/P the pattern
8044 F2 MOVX @R0,A ;to Port A
8045 C0 E0 PUSH A
8047 12 80 66 LCALL DELAY
804A D0 E0 POP A
804C 23 RL A
804D 80 F3 SJMP LOOP

;Routine for anticlockwise rotation

STEPPER MOTOR INTERFACE

 21

804F 75 A0 E8 L6: MOV P2,#SEG

8052 78 03 MOV R0,#03H
8054 74 80 MOV A,#80H
8056 F2 MOVX @R0,A
8057 74 88 MOV A,#88H
8059 78 00 LOOP1: MOV R0,#00H
805B F2 MOVX @R0,A
805C C0 E0 PUSH A
805E 12 80 66 LCALL DELAY
8061 D0 E0 POP A
8063 03 RR A
8064 80 F3 SJMP LOOP1
8066 7A 03 DELAY: MOV R2,#03H ;Delay routine
8068 90 05 00 DELAY2: MOV DPTR,#500H
806B A3 DELAY1: INC DPTR
806C E5 82 MOV A,DPL
806E 45 82 ORL A,DPL
8070 70 F9 JNZ DELAY1
8072 DA F4 DJNZ R2,DELAY2
8074 22 RET
8075 45 4E 54 45 52 MSG: DB 'ENTER OPTION(A/C):',00H
807A 20 4F 50 54 49
807F 4F 4E 28 41 2F
8084 43 29 3A 00

5.13 DEMONSTRATION PROGRAM FOR ESA 86/88E TRAINER.

; Assume the interface is connected over J4 of the trainer.
; This program illustrates the control of direction of
; rotation of the Stepper motor depending upon user choice.
; The program executes in a continuous loop.
; The program can be executed in STAND-ALONE MODE or SERIAL
; MODE of operation.
; The program starts at memory location 0:2000H
; Please refer ESA 86/88E user's manual for mnemonic
; syntax suitable to trainer

Code Segment :0000H

ADDRESS OPCODE LABEL MNEMONIC COMMENTS

2000 B8 00 00 MOVW AX,0000H ;Initialise

;Segment
2003 8E C8 MOVW CS,AX ;Registers

STEPPER MOTOR INTERFACE

 22

2005 8E C0 MOVW ES,AX

2007 BA E6 FF MOVW DX,0FFE6H ;Initialise
200A B0 80 MOVB AL,80H ;all 8255
;Ports as o/p
200C EE OUTB DX,AL
200D EB 47 JMP START
; Display Message String
200F 0A 0D 53 54 45 50 MES: DB 0AH,0DH,'STEPPER MOTOR I/F'
2015 50 45 52 20 4D 4F
201B 54 4F 52 20 49 2F
2021 46
2022 0A 0D 45 4E 54 45 DB 0AH,0DH,'ENTER DIRECTION'
2028 52 20 44 49 52 45
202E 43 54 49 4F 4E
2033 0A 0D 41 20 2D 20 DB 0AH,0DH,'A - ANTICLOCKWISE'
2039 41 4E 54 49 43 4C
203F 4F 43 4B 57 49 53
2045 45
2046 0A 0D 43
20 2D 20 DB 0AH,0DH,'C - CLOCKWISE',00H
204C 43 4C 4F
43 4B 57
2052 49 53 45
00
2056 9A 31 00
00 FB START:CALLS 0FB00:0031H;New line
;routine
205B 2E CS
205C 8D 16 10 20 LEA DX,@MES ;Display message
2060 8B C2 MOVW AX,DX ;on LCD or Console
2062 9A 13 00 00 FB CALLS 0FB00:0013H
2067 9A A9 00 00 FB GET:CALLS 0FB00:00A9H
;Wait for user entry
206C 3C 41 CMPB AL,41H ;If key ='A',
206E 74 1F JE ANTI ;rotate anti-
;clockwise
2070 3C 43 CMPB AL,43H ;If key = 'C'
2072 74 03 JE CLO ;rotate clockwise
2074 EB F1 JMP GET ;Accept valid
;key only

; Routine for Clockwise rotation of motor

2076 9A 31 00 00 FB CLO:CALLS 0FB00:0031H

207B 9A 00 00 00 FB CALLS 0FB00:00H
2080 B0 11 MOVB AL,11H ;Output value
2082 BA E0 FF MOVW DX,0FFE0H ;to Port A
2085 EE R1:OUTB DX,AL
2086 E8 1D 00 CALL DELAY ;Introduce delay

STEPPER MOTOR INTERFACE

 23

2089 D0 D8 RCRB AL,1 ;Rotate bits in

208B EB F8 JMP R1 ;data byte
;right & repeat

; Routine for Anti-clockwise rotation of motor

208D 9A 31 00 00 FB ANTI:CALLS 0FB00:0031H

2092 9A 00 00 00 FB CALLS 0FB00:00H
2097 B0 11 MOVB AL,11H;Output value
;to Port A
2099 BA E0 FF MOVW DX,0FFE0H
209C EE R2:OUTB DX,AL
209D E8 05 00 CALL DELAY
20A0 D0 D0 RCLB AL,1 ;Rotate bits
20A2 E9 F7 FF JMP R2 ;left & repeat
20A4 B9 00 08 DELAY:MOVW CX,800H ;Delay routine
20A7 E2 FE $ :LOOP $
20A9 C3 RET

6.0 EXERCISES
The sample program presented in this manual demonstrated some specific applications of this
interface. A few exercises are presented below to enable the user to gain a better understanding of the
interface. Users are encouraged to visualize other applications and develop software accordingly.

Some of the suggested exercises are:

1) Write a program for the stepper motor for the 1800 rotation for full step sequence in
Clockwise direction.

2) Write a program for the stepper motor for the 2700 rotation for half step sequence in
Anti-Clockwise direction.

3) Write a program to run two motors, one in Clockwise direction and the other in Anti-
Clockwise direction
a) Simultaneously.
b) Alternatively.

STEPPER MOTOR INTERFACE