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INTRODUCTION
What do stepper motors do? How do stepper motors work? Advantages and disadvantages Inertia effects Stepping modes Types of stepper motors Slewing
ADVANTAGES
Low cost Work in almost any environment Rugged Simplicity in construction High reliability No maintenance No feedback components are needed Inherently more failsafe than servo motors.
DISADVANTAGES
Resonance effects and relatively long settling times Rough performance at low speed unless a micro step is used Liability to undetected position loss as a result as a result of operating open-loop Consume current regardless of load Losses at speed are relatively high and can cause excessive heating and they are frequently noisy (especially at high speeds)
DISADVANTAGES
They can exhibit lag-lead oscillation, which is difficult to dampen. There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ballscrew accuracy).
STEPPING
When a stepper motor increments, each increment is referred to as a step. Depending on the number of poles in the stator, a stepper motor has the ability to either full step, or half step. Full stepping with a 4 pole stator is where 2 coils are energized at a time, so that the center of the two poles is the center point of the step.
STEPPING
Half stepping is similar to the previous, except instead of 2 coils energizing, then the next 2 coils, it only energizes 1, then 2 coils, then the next 1. This cuts in half the number of steps that the motor would otherwise be capable of. This is possible with all 3 types of stepper motors.
VARIABLE RELUCTANCE
VR stepper motors have no permanent magnet, so the rotor spins freely without detent torque. Torque output for a given frame size is restricted, although the torqueto-inertia ratio is good, and this type of motor is used frequently in small sizes for applications such as micropositioning tables. VR motors are seldom used in industrial applications (having no permanent magnet). They are not sensitive to current polarity and require a different driving arrangement than the other motor types.
PERMANENT MAGNET
PM motors have a permanent magnet in the rotor, giving it a detent torque, so it retains its position when de-energized. Also known as the tin can or canstack motor, it is the most widely used type in non-industrial applications. Low cost, low torque, and low speed, are suited to applications in fields such as computer peripherals. The motor construction results in relatively large step angles, but their simplicity lends itself to economic high-volume production at a low cost.
PERMANENT MAGNET
The axial-air gap or disc motor is a variant of the permanent magnet design which achieves higher performance, largely because of its very low rotor inertia. This restricts the applications of the motor to those involving little inertia. (e.g., positioning the print wheel in a daisy-wheel printer). It is difficult to build small PM motors with many poles therefore the step sizes for PM motors are usually large. PM rotors are also bulkier and therefore these motors have higher inertia, and consequently, they accelerate slower. The maximum pulse rate is around 300 Hz.
SLEWING
Capable of continuous operation, which is referred to as slewing. The motor is not starting and stopping at every step, and is therefore benefiting from the inertia effect. Also capable of carrying a greater load torque while sleqing as opposed to when it is stepping. When slewing, the motor is going at a steady rate of speed, and is not as erratic as when it is stepping.
CONCLUSION
Stepper motors are very useful and versatile pieces of equipment that are used for precision movement in many aspects of industry. The three types of steppers, VR, PM, and Hybrid are each vital to industry as the strengths of each can be utilized to optimize your goal achievement.
THE END