INTERFACING THE STEPPER

MOTOR WITH FPGA

CONTROLLER
Under the guidance of Dr. Mini Namboothiripad

Group members
Saloni Parab - 4020129
Chetan Umbarkar - 4020145
Shubham Kushwaha - 4020116
Anshuman Singh - 4020144
RECAP OF MAJOR PROJECT-I
 Major project-I final software output through quartus prime-
OBJECTIVE OF MAJOR
PROJECT-II
Hardware implementation:
 To generate clock pulse from oscillator in the board itself.
 Controlling angle of rotation.
 Controlling speed.
BLOCK
DIAGRAM
5V Supply

De0 Nano Board

Gate Signals

Speed Control
Stepper Motor Driver Circuit

Angle control
COMPONENTS
 DE0-Nano--------------FPGA BOARD
 ULN2803----------------Motor Driver
 Stepper Motor---------Motor
FPGA(DE0-NANO) PIN
DIAGRAM
 STEPPER MOTOR DRIVER
Use of Driver-
• The voltage capability of FPGA GPIO is only 3.3v standard logic level. So the
FPGA output cannot drive the stepper motor with 3.3v.

• Hence the driver circuit is needed to energize the stepper motor. Here the driver
circuit helps to increase the output voltage of FPGA for stepper motor that voltage
often called as bus voltage.

• The driver controller circuit provides step and direction output as an electrical signal
to the step motor.

• The rated voltage of driver circuit must be five to ten times of stepper motor rating
voltage.

• Because of the driver output is related to the speed versus torque of stepper motor.
Therefore if output increases, the speed of the stepper motor will increase and if the
output decreases, the speed of the stepper motor will decrease. On the other hand the
driver circuit current should be limited to the step motor current rating.
WHY ULN2803?
 Normally the ULN2803 have eight input and output which is operated by 5v supply.
 Here only eight pins are needed to make a connection between FPGA and stepper motor.
 The ULN2803 IC is used to drive the stepper motor with individual electrical pulse for
each winding of the stepper motor.
 Here A, A’, B, B’ is a winding of stepper motor.
 STEPPER MOTOR
• A stepper motor is usually operated in position open-loop
control for simplicity. Furthermore, open loop applications are
much less expensive than close loop ones due to encoders.
• However in order to improve the transient and steady-state
performances of the stepper motor-based drive system, a high
performance stepper motor drive system is usually designed to
feed the encoder signal back to form a closed-loop system such
as a general servo motor drive, and high-performance position
and speed loop controller can then be used to overcome the
nonlinear characteristics of the motor, such as the cogging force
and impacts from external load.
• The field programmable gate array (FPGA) is a good alternative
to be used to realize a motor drive system by considering its
programmable ability and diverse designing environment.
PERMANENT MAGNET
STEPPER MOTOR
 Specification-

Shaft type: 5 mm "D"

Current rating: 1200 mA2
Voltage rating: 5V
Holding torque: 44 oz·in
Steps per revolution: 200
Resistance: 3.3 Ohm2
Inductance per phase: 2.8 mH
Number of leads: 6
Lead length: 30 cm
CONNECTION OF FPGA
BOARD TO STEPPER MOTOR

ULN2803
 CALCULATION
• Full step
The full step of stepper motor is 200 steps per revolution. So the
angle of rotation is 1.8 degrees which is calculating from given
formula.
• Step angle = 360 degrees / no of steps.
• Step angle = 360 / 200 = 1.8 degrees.

• Half step
The half step of stepper motor is 400 steps per revolution. So
the angle of rotation is 0.9 degrees which is calculating from
given formula.
• Step angle = 360 degrees / no of steps.
• Step angle = 360 / 400 = 0.9 degrees.
CONCLUSION
 Thus, we can get a flexible and highly controllable operation by using FPGA for motor
control.
 We can control the speed of motor efficiently.
 We can control the angular rotation of motor efficiently.
REFERENCES
 VHDL code for Stepper Motor and explanation of progame (pantechsolutions.net)
 ResearchGate
 How to Control a Stepper Motor With an FPGA : 9 Steps (with Pictures) – Instructables
 FPGA and Stepper Motor (openai.com)
 Reference Book-PIC Microcontroller and Embedded Systems, Muhammad Ali Mazidi,
Pearson Education.