Practical

Stepper Motor Control

Control System Engineering

Practical Report

Kr. Rajeev Ranjan 07438

Sumeet Sharma 07434
Manish Thakur 07425
Ajay Kumar 07439
Practical
STEPPER MOTOR CONTROL

Aim:
To Interface Stepper Motor to 8086 using 8255 and write Assembly Language Program to
rotate Stepper Motor in Clockwise & Anticlockwise direction and control it’s Speed.

Apparatus:
Sl. No. Apparatus Specification Quantity
1 8085 Microprocessor Trainer KIT 8 bit-uP 01
2 20 Pin FRC Cable - 01
3 SMC Card - 01
4 8225 uP Interface - 01
6 Stepper Motor 01
6 Power Supply 230V, 1 ø, 50Hz 01

Theory:
Introduction:

A stepper motor (or step motor) is a brushless, synchronous electric motor that can divide a
full rotation into a large number of steps. The motor's position can be controlled precisely
without any feedback mechanism (see Open-loop controller), as long as the motor is
carefully sized to the application

Fundamentals of Operation

Stepper motors operate differently from DC brush motors, which rotate when voltage
is applied to their terminals. Stepper motors, on the other hand, effectively have multiple
"toothed" electromagnets arranged around a central gear-shaped piece of iron. The
electromagnets are energized by an external control circuit, such as a microcontroller. To
make the motor shaft turn, first one electromagnet is given power, which makes the gear's
teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth are thus
aligned to the first electromagnet, they are slightly offset from the next electromagnet. So
when the next electromagnet is turned on and the first is turned off, the gear rotates slightly
to align with the next one, and from there the process is repeated. Each of those slight
rotations is called a "step," with an integer number of steps making a full rotation. In that
way, the motor can be turned by a precise angle.
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STEPPER MOTOR CONTROL

Stepper motor characteristics

1. Stepper motors are constant power devices.

2. As motor speed increases, torque decreases. (most motors exhibit maximum torque when
stationary, however the torque of a motor when stationary is of little use, torque is more important
when the motor is actually spinning)

3. The torque curve may be extended by using current limiting drivers and increasing the driving
voltage (sometimes referred to as a 'chopper' circuit, there are several off the shelf driver chips
capable of doing this in a simple manner).

4. Steppers exhibit more vibration than other motor types, as the discrete step tends to snap the
rotor from one position to another, (this is important as at certain speeds the motor can actually
change direction).

5. This vibration can become very bad at some speeds and can cause the motor to lose torque (or
lose direction). You must pay attention to the torque of the motor)

6. The effect can be mitigated by accelerating quickly through the problem speeds range, physically
damping (frictional damping) the system, or using a micro-stepping driver.
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STEPPER MOTOR CONTROL

7. Motors with a greater number of phases also exhibit smoother operation than those with fewer
phases (this can also be achieved through the use of a micro stepping drive)

Types
There are three main types of stepper motors:
1. Permanent Magnet Stepper (can be subdivided in to 'tin-can' and 'hybrid', tin-can being a
cheaper product, and hybrid with higher quality bearings, smaller step angle, higher power density)
2. Hybrid Synchronous Stepper
3. Variable Reluctance Stepper
Permanent magnet motors use a permanent magnet (PM) in the rotor and operate on the attraction
or repulsion between the rotor PM and the stator electromagnets. Variable reluctance (VR) motors
have a plain iron rotor and operate based on the principle of that minimum reluctance occurs with
minimum gap, hence the rotor points are attracted toward the stator magnet poles. Hybrid stepper
motors are named because they use a combination of PM and VR techniques to achieve maximum
power in a small package size.

Procedure:
1. Switch on the 8085 microprocessor trainer KIT.
2. Connect 20 PIN FRC cable from 8225 I connector to SMC card.
3. Connect the stepper motor cables to given stepper motor card
4. Connect the motor to the power supply.
5. Enter the given program from 2000 address and execute the program.
6. Change the code for changing the direction and controlling its speed and execute the
program again.

WORKING:
The stepper motors have been designed to work with digital circuits. Binary level pulses of 0-5V are
required at its winding inputs to obtain the rotation of the shafts. The sequence of the pulses can be
decided, depending upon the required motion of the shaft. By suitable sequence of the pulses the
motor can be used in three modes of operation.

 One phase ON (medium torque)

 Two phase ON (high torque)
 Half stepping (low torque)

8255 is interfaced with 8086 in I/O mapped I/O. port C (PC0, PC1, PC2, PC3) is used to give pulse
sequence to stepper motor. The 8255 provides very less current which will not be able to drive
stepper motor coils so each of the winding of a stepper motor needs to be interfaced using high
speed switching Darlington transistors with max 1A, 80V rating with heat sink, with the output port of
8255. Output the sequence in correct order to have the desired direction to rotate the motor.
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STEPPER MOTOR CONTROL

Program:
Address Mnemonics Hex-Code
2000 MVI A, 80 3E 80
2002 OUT 00 D3,00
2004 START: MVI A, FA 3E,FA
2006 OUT 00 03,00
2008 CALL DELAY CD,30,20
200B MVI A, F6 3E,F6
200D OUT 00 D3,00
200F CALL DELAY CD,30,20
2012 MVI A, F5 3E,F5
2014 OUT 00 D3,00
2016 CALL DELAY CD,30,20
2019 MVI A, F9 3E,F9
201B OUT 00 D3,00
201D CALL DELAY CD,30,20
2020 JMP START C3,04,20

Delay Routine:

Address Pnemonics Hex-Code

DELAY LXI D,
2030 0000 11,00,00
2033 CALL DELAY CD,BC,03
2038 RET C9