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UNIPOLAR STEPPER MOTOR CONTROL
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The unipolar stepper motor is subtly different from the bipolar motor in how its four coils are wired. Instead of current passing through two coils at a time, the unipolar stepper motor is designed with a common connection between each set of parallel-wired coils so that each coil can be turned on or off individually. The normal wiring con guration of the unipolar stepper motor is shown in Fig. 18.12, with the common wires
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Figure 18.12 The unipolar stepper motor is built from multiple coils with a common connection.
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connected to positive power and the individual coil wires being passed to open-collector drivers, which turn the coils on in sequence, drawing the shaft toward one coil at a time. The unipolar stepper motor is usually differentiated by the number of wires coming out of it, whereas in Fig. 18.12 I imply that there are ve wires coming from the unipolar stepper motor, there are usually six. Each pair of coils has its own common wire. There are some stepper motors that have ve wires coming out, these seem to be a hybrid unipolar/bipolar stepper motor with each pair of coils wired differently. In such cases, you should treat the stepper motors as simply bipolar. The unipolar stepper motor can be used in exactly the same applications as the bipolar motor when the common wires are disconnected, and the four wires leading to an individual pair of coils are used. There are a couple of differences that you should be aware of between the two types of stepper motors. Because the unipolar motor has only one coil active instead of the bipolar motor s two, it doesn t have the same torque as a bipolar motor. On the plus side, the bipolar motor control circuitry is a lot simpler to program, simply pulsing each coil in sequence. Figure 18.13 shows the circuit that I came up with for testing the unipolar servo motor, and Table 18.4 lists the materials. In the gure you can see the six-pin header to which I soldered the six unipolar stepper motor wires, with the common wires (found with a DMM resistance check) being placed in the middle of the connector. Along with having to solder the stepper motor wires to a header, you should also Krazy glue a cardboard pointer to the shaft of the stepper motor so as to be able to observe its motion when you test it. Testing the unipolar stepper motor is accomplished in exactly the same way as testing the bipolar stepper motor: cStepper 3.c will sequence through the coils, hopefully
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Vdd PIC16F684 SPDT 0.01 uF Vdd Vss 5 7 100 2N3904
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1N914
1N914
100 2N3904
RC5 RC3 RC4
Vdd 6 8 100 2N3904 1N914
Vdd 1N914
+ 10 k Pot 6.0 V
RA4 RC2
100 2N3904
Unipolar stepper motor control circuit.
STEPPER MOTORS
TABLE 18.4 PART
BILL OF MATERIALS FOR UNIPOLAR STEPPER MOTOR CIRCUIT DESCRIPTION
PIC16F684 3904 1N914 10-k 1000.01- F SPDT Stepper motor Misc. pot
PIC16F684 04/P 2N3904 NPN bipolar transistors 1N914 or 1N4148 silicon diodes 10-k 100 single-turn potentiometer , 1/4 W resistor
0.01- F capacitor, any type PCB mountable single-pole double-throw switch Unipolar stepper motor (see text) Prototyping PCB, 4 AA battery clip, six screw terminal headers, cardboard arrow (see text)
moving the cardboard pointer continuously. Again, if the pointer doesn t move, then move the wires to the control transistors until it does. A simpler way of testing and decoding the wiring is to touch the base connection (through the 100- resistor) of each transistor to the Vdd rail of the breadboard to gure out which circuit is wired to which pin and then attach them in sequence (starting at RC2 and going to RC5) to the PIC MCU.
#include <pic.h> /* cStepper 3.c - Turn a Unipolar Stepper Motor Hardware Notes: PIC16F684 Running at 4 MHz with Internal Oscillator RC5:RC2 - Stepper Motor Outputs myke predko 05.01.15 */ __CONFIG(INTIO & WDTDIS & PWRTEN & MCLRDIS & UNPROTECT \ & UNPROTECT & BORDIS & IESODIS & FCMDIS);
unsigned int j; unsigned char OutputVal = 1 << 2; main() {
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