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Stepper motor circuit
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Figure 4.8B is a schematic of a stepper motor driver circuit. The stepper motor in the circuit is a unipolar (six-wire) type. IC U1 is a 555 timer that is set up in astable mode to output square-wave clocking pulses on pin 3. U2 is a stepper motor controlling chip UCN 5804. The clocking pulses received on pin 11 of the UCN 5804 turn the stepper motor. Each pulse received on pin 11 turns the stepper motor one step. The faster the clocking pulses, the quicker the stepper motor turns. In this sample circuit the clocking pulses are produced by a 555 timer. Clocking pulses can be generated by any number of sources like a microcontroller (discussed in Chap. 6) or a photoresistive neuron (discussed in Chap. 5). Switch SW1 is a fast/slow control. SW2 controls the stepper motor direction. Stepper motors may be used in making a robotic platform (see Chap. 10).
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Servo motors
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Servo motors are geared DC motors with positional control feedback. Hobbyist servo motors are commonly used for position control for radio-controlled (R/C) models. The shaft of the motor can be positioned or rotated through a minimum of 90 degrees. Because of their widespread use in the hobby market, servo motors are available in a number of stock sizes (see Fig. 4.9). While larger
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Vcc Vcc Vcc 47K 100 K 6 2 1 .47 F .02 F SW1 Speed Fast/Slow U1 555 Timer U2 UCN 5804 SW2 Direction Vcc 14 3 11 47K 48 7 1 3 6 8 15 13 4 5 9 12 U1 2 7 U2
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4.9 Servo motor
industrial servo motors are also available, they are too expensive for most hobby applications. In this book we work with inexpensive and readily available hobby servo motors. There are three wire leads to a servo motor. Two are for power, 4 to 6 V and ground. The third lead feeds a position-control signal to the motor. The control signal is a variable-width pulse between 1.0 and 2.0 milliseconds (ms). A neutral, midrange positional pulse is a 1.5-ms pulse. The pulse is sent 50 times a second (1 pulse every 20 ms or so) to the motor. This pulse signal will cause the shaft to locate itself at the midway position at 45 degrees.
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The shaft rotation on a servo motor is limited to approximately 90 degrees ( 45 degrees from the center position). A 1-ms pulse will rotate the shaft all the way to the left (see Fig. 4.10), while a 2-ms pulse will turn the shaft all the way to the right. By varying the pulse width between 1 and 2 ms, the servo motor shaft can be rotated to any rotational degree position within its range. You may feel that providing the pulse signal is a complex job; it isn t. The 16F84 PIC microcontroller, covered in Chap. 7, uses only a few lines of code to control a servo motor. And the PIC can control up to eight servo motors at a time. Another viable method is to utilize the servo motor control system used in R/C systems. Another alternative is to make your own circuit. Making a servo motor circuit isn t as difficult as it may first appear. Figure 4.11 uses a 556 dual timer to control a servo motor. The 556 has two independent timers. To see the function more clearly, look at Fig. 4.12. Here two separate 555 timers are used. One timer is set in astable mode. The astable timer outputs a 55-hertz (Hz) square wave with a 1-ms negative component. The output from this timer is connected to the second 555 timer that is set up in monostable mode.
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