Stepper Motors

Stator-Rotor Teeth Alignment

𝑁𝑟 = 𝑁𝑠 + 2
For the motor shown:
Nr = 50
Ns=48

When Phase A is excited:

Coil A will produce North pole
effect in the airgap. While 𝐴 will
produce South pole effect.
A is fully aligned while 𝐴 is fully
unaligned.
Single Phase Excitation
Two Phase (full step)
Phasor Diagram (Full Step)
Half Step
Micro-stepping
Wires of Stepper Motor
› 4 wires (Bipolar)
› 5 wires (Unipolar or hybrid)
› 6 wires (Unipolar or hybrid)
Determination of terminals for 6 wire machine
› Check terminal
resistance.
› For each terminal 3
reading would be inf.
(not the same coil).
› For the same coil,
the terminal with
similar reading is the
center tap.
 Terminals for Unipolar Operation
› After exciting a certain coil
(C1), energize simultaneously
another coil, one by one.
› one coil will cause forward
movement, (C2)
› One coil will cause reverse
motion (C4)
› One coil will cause no motion
(C3).
› Excitation sequence would be
C1, C2, C3, C4.
Driving in bipolar mode
› Excite the motor as show. If it
operates correctly, it is a hybrid
motor.
› Note: Not all 6 wire motors are
hybrid.

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