12-Volt Unipolar Stepper Motor (#27964) Stepper motors electromec
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12-Volt Unipolar Stepper Motor (#27964)
Stepper motors electromechanical devices that convert pattern inputs rate-of-change those inputs into precise rotational motion. rotational angle direction each change (step) determined construction motor well step pattern input. #27964 standard, four-phase unipolar stepper motor that easily controlled with BASIC Stamp Javelin Stamp when buffered with appropriate high-current driver (ULN2003 similar suggested).
Applications
Robotics Motion Control Industrial Equipment Techno-Art
Technical Specifications
Rated Voltage Rated Current/Phase Phase Coil Resistance Step Angle Excitation Method
phase (100 coil) 7.5° phase phase (unipolar)
Mechanical Specifications
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
Stepper Basics
Control stepper motor comes from applying specific step sequence; rotational speed controlled timing applied steps. simplified diagrams below illustrate effect phase sequencing rotational motion. Full Step, Torque
Full Step, High Torque (standard application)
Half Step (best precision):
Circuit Connections
circuit below connect 4-phase unipolar stepper motor BASIC Stamp Javelin Stamp. ULN2803 also used enough driver circuits control stepper motors sure verify motor current requirement versus ULN2x03 sink capability multiple outputs).
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
Motor Connections
table below when connecting your stepper motor driver circuit. Manufacturer Degrees Step Steps Revolution Phase Phase Phase Phase Common
Mitsumi Black Orange Brown Yellow
Howard Industries Brown Green White Black
Current motor supplied #27964 Motor originally supplied with StampWorks
BASIC Stamp Application
This program demonstrates basic full-step, high-torque control unipolar stepper motor. Step sequence data stored EEPROM table simplify program design modification. Separate subroutines used manipulate step index pointer that controls rotational direction. Note that stepper update routine (Do_Step) designed preserve state pins that being used stepper motor. {$STAMP BS1} {$PBASIC 1.0} SYMBOL SYMBOL SYMBOL SYMBOL SYMBOL StpsPerRev phase stpIdx stpDelay whole steps loop counter phase data step pointer delay speed control
Full_Steps: EEPROM (%00110000, %01100000, %11000000, %10010000)
Setup: DIRS %11110000 stpDelay Main: StpsPerRev GOSUB Step_Fwd NEXT PAUSE StpsPerRev GOSUB Step_Rev NEXT
make P4.P7 outputs step delay
revolution rotate clockwise wait second revolution rotate counter-clockwise
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
PAUSE GOTO Main Step_Fwd: stpIdx stpIdx GOTO Do_Step Step_Rev: stpIdx stpIdx GOTO Do_Step Do_Step: READ stpIdx, phase PINS PINS %00001111 phase PAUSE stpDelay RETURN
wait second
point next step
point previous step
read phase data update stepper pins pause between steps
BASIC Stamp Application
This program demonstrates basic full-step, high-torque control unipolar stepper motor using family microcontrollers. With family, programmer take advantage structure pins grouped nibbles) which simplifies programming. {$STAMP BS2} {$PBASIC 2.5} Phase StpsPerRev stpIdx stpDelay Steps DATA OUTB Byte Byte phase control outputs whole steps loop counter step pointer delay speed control
%0011, %0110, %1100, %1001
Setup: DIRB %1111 stpDelay Main: StpsPerRev GOSUB Step_Fwd NEXT PAUSE StpsPerRev
make P4.P7 outputs step delay
revolution rotate clockwise wait second revolution
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
GOSUB Step_Rev NEXT PAUSE GOTO Main Step_Fwd: stpIdx stpIdx GOTO Do_Step Step_Rev: stpIdx stpIdx GOTO Do_Step Do_Step: READ (Steps stpIdx), Phase PAUSE stpDelay RETURN
rotate counter-clockwise wait second
point next step
point previous step
output phase data pause between steps
Javelin Stamp Application
This program demonstrates basic, full-step control unipolar stepper motor using Javelin Stamp microcontroller. Stepper class handles connection details contains methods that allow programmer specify number steps, well delay milliseconds between steps). Stepper Motor Class package stamp.misc; import stamp.core.*; public class Stepper private stpIdx private private private private ph1Pin; ph2Pin; ph3Pin; ph4Pin; current step index phase phase phase phase control control control control
public Stepper(int ph1Pin, ph2Pin, ph3Pin, ph4Pin) this.ph1Pin this.ph2Pin this.ph3Pin this.ph4Pin private void setFullStep(int theStep) ph1Pin; ph2Pin; ph3Pin; ph4Pin;
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
switch (theStep) case CPU.writePin(ph1Pin, CPU.writePin(ph2Pin, CPU.writePin(ph3Pin, CPU.writePin(ph4Pin, break; case CPU.writePin(ph1Pin, CPU.writePin(ph2Pin, CPU.writePin(ph3Pin, CPU.writePin(ph4Pin, break; case CPU.writePin(ph1Pin, CPU.writePin(ph2Pin, CPU.writePin(ph3Pin, CPU.writePin(ph4Pin, break; case CPU.writePin(ph1Pin, CPU.writePin(ph2Pin, CPU.writePin(ph3Pin, CPU.writePin(ph4Pin, break; true); true); false); false);
false); true); true); false);
false); false); true); true);
true); false); false); true);
public void stepFFwd(int steps, msDelay) while (steps- stpIdx (stpIdx setFullStep(stpIdx); CPU.delay(msDelay 10);
public void stepFRev(int steps, msDelay) while (steps- stpIdx (stpIdx setFullStep(stpIdx); CPU.delay(msDelay 10);
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
Test Program Stepper Class public class stepperTest public static final STEPS_PER_REV public static void main() Stepper motor Stepper(CPU.pin4, CPU.pin5, CPU.pin6, CPU.pin7); while(true) motor.stepFFwd(STEPS_PER_REV, 15); CPU.delay(5000); motor.stepFRev(STEPS_PER_REV, 15); CPU.delay(5000); clockwise wait second counter clockwise wait second
Parallax, Inc. Unipolar Stepper Motor (#27964) 02/2006
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