Stepper Motor Control
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Posts: 46,084
Hi,
Excuse my ignorance, this is the first post, but I have been monitoring
for a while, and searching the net high and low. I am a beginner, no prob
admiting it, and need some help. I have some knowledge, since I have been a
HAM for 10 years, so I will understand some of what you tell me back, but
probably not all, so please bare with me.
I have been searching high and low for information on how to get the stamp
to control 2 stepper motors. Some one sent me to the ALLEGRO website
(allegromicro.com) where there is a stepper motor driver IC. That is pretty
straight forward. I just need some help with interfacing the stamp to that
IC, and the IC to the steppers. In my application, motor 1 runs until switch
#1 is tripped, then motor 2 runs until switch 2 is tripped. Then the reverse
happens, running motor 2 until switch 3 is tripped, and then motor 1 until
switch 4 is tripped. I think I have most of the programming worked out for
the most part, but if anyone has some ideas, that would be great.
If anyone can help me out (There was someone that did help me out a little,
but I unfortunately lost his/your e-mail) I would certainly appreciate it,
OR, if anyone can direct me to a website, I would appreciate that as well.
Thanx
Mike
Excuse my ignorance, this is the first post, but I have been monitoring
for a while, and searching the net high and low. I am a beginner, no prob
admiting it, and need some help. I have some knowledge, since I have been a
HAM for 10 years, so I will understand some of what you tell me back, but
probably not all, so please bare with me.
I have been searching high and low for information on how to get the stamp
to control 2 stepper motors. Some one sent me to the ALLEGRO website
(allegromicro.com) where there is a stepper motor driver IC. That is pretty
straight forward. I just need some help with interfacing the stamp to that
IC, and the IC to the steppers. In my application, motor 1 runs until switch
#1 is tripped, then motor 2 runs until switch 2 is tripped. Then the reverse
happens, running motor 2 until switch 3 is tripped, and then motor 1 until
switch 4 is tripped. I think I have most of the programming worked out for
the most part, but if anyone has some ideas, that would be great.
If anyone can help me out (There was someone that did help me out a little,
but I unfortunately lost his/your e-mail) I would certainly appreciate it,
OR, if anyone can direct me to a website, I would appreciate that as well.
Thanx
Mike
Comments
The Parallax Basic Stamp Manual 1.2 (and subsequent versions) has Note 6: A
Serial Stepper Motor Controller. It shows how to control a stepper with
only 2 stamp pins by using a Darlington driver chip (ULN 2003) to control
the stepping sequence logic. I modified this idea to control 2 steppers
with one stamp and 4 stamp pins, by simply using 2 ULN2003 driver chips. It
worked well, and could easily handle the logic that you describe.
My main modification of the Parallax design was to use one of the spare 2003
channels, and a 12 volt relay, to turn the motors on/off. In the original
design, the motors are always on.
Dennis
Original Message
From: <HQ54@A...>
To: <basicstamps@yahoogroups.com>
Sent: Thursday, November 15, 2001 11:12 AM
Subject: [noparse][[/noparse]basicstamps] Stepper Motor Control
>
>
> Hi,
>
> Excuse my ignorance, this is the first post, but I have been monitoring
> for a while, and searching the net high and low. I am a beginner, no prob
> admiting it, and need some help. I have some knowledge, since I have been
a
> HAM for 10 years, so I will understand some of what you tell me back, but
> probably not all, so please bare with me.
>
> I have been searching high and low for information on how to get the
stamp
> to control 2 stepper motors. Some one sent me to the ALLEGRO website
> (allegromicro.com) where there is a stepper motor driver IC. That is
pretty
> straight forward. I just need some help with interfacing the stamp to
that
> IC, and the IC to the steppers. In my application, motor 1 runs until
switch
> #1 is tripped, then motor 2 runs until switch 2 is tripped. Then the
reverse
> happens, running motor 2 until switch 3 is tripped, and then motor 1
until
> switch 4 is tripped. I think I have most of the programming worked out
for
> the most part, but if anyone has some ideas, that would be great.
>
> If anyone can help me out (There was someone that did help me out a
little,
> but I unfortunately lost his/your e-mail) I would certainly appreciate it,
> OR, if anyone can direct me to a website, I would appreciate that as well.
>
> Thanx
> Mike
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>
>
I would like to know if any of you out in cyberspace would share
stepper motor programs with me. I am having great difficulty with my
stepper motor project.
Current setup:
Parralax BS2 OEM as translator, suppling "steps" to driver
cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-oz
12 volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
motor chassis is a NEMA 23.
Problem:
I have tried every Command/Instruction utilizing the BS2 and cannot
get the stepper motor to spin beyond 80 rpm's which is redicously
slow for this motor - or is it?
I'm an electronics engineer but new to the stamp and stepper motors.
Here is a sample of my rather simple program efforts to date.
'My motor stepping program.
'remember - pin 1 of BS2= step input to UCN5804B
' " " - pin 3 of BS2= direction control output
Low 3 'Set pin 3 low = ccw
Again:
low 1
pause 1
high 1
pause 1
goto again
The above program turns the motor approx 75 rpm's. Changing pause to
a higher value slows the motor even more.
Next program.
Again:
pulsout 1,100
pause 1
goto again
Same result
Next Program.
Again:
PWM 1,125,125
goto again
Apparently I don't have a clue how to get this unipolar 6 wire unit
to run. I would appreciate all communication on this.
Thanks Bruce Wynn
managerafs@a...
Did you try removing the pause 1 statements from your first program?
Again:
low 1
high 1
goto again
Dennis
Original Message
From: brucewynn [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=GmLSE-a0aqwDfNXkhh-p666GJ3rv_2fYIE9FUvzyAALXHJwlTOVFhEsy8mlb2InefSe_ljIUuK2Rjw]managerafs@a...[/url
Sent: Saturday, June 08, 2002 12:33 PM
To: basicstamps@yahoogroups.com
Subject: [noparse][[/noparse]basicstamps] Stepper Motor Control
Greetings All,
I would like to know if any of you out in cyberspace would share
stepper motor programs with me. I am having great difficulty with my
stepper motor project.
Current setup:
Parralax BS2 OEM as translator, suppling "steps" to driver
cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-oz 12
volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
motor chassis is a NEMA 23.
Problem:
I have tried every Command/Instruction utilizing the BS2 and cannot
get the stepper motor to spin beyond 80 rpm's which is redicously
slow for this motor - or is it?
I'm an electronics engineer but new to the stamp and stepper motors.
Here is a sample of my rather simple program efforts to date.
'My motor stepping program.
'remember - pin 1 of BS2= step input to UCN5804B
' " " - pin 3 of BS2= direction control output
Low 3 'Set pin 3 low = ccw
Again:
low 1
pause 1
high 1
pause 1
goto again
The above program turns the motor approx 75 rpm's. Changing pause to
a higher value slows the motor even more.
Next program.
Again:
pulsout 1,100
pause 1
goto again
Same result
Next Program.
Again:
PWM 1,125,125
goto again
Apparently I don't have a clue how to get this unipolar 6 wire unit
to run. I would appreciate all communication on this.
Thanks Bruce Wynn
managerafs@a...
Yes I did remove the pause statements. The clock out (toggle hi - lo)
increased 100 fold. The motor just sits their and hums. I've noticed that the
motor will not keep step to higher freq's.
Thanks Dennis,
Bruce
not that I'm a guru but from what little I have done with steppers about 70
rpm is about the max I have ever achieved with any accuracy.
unless I'm also doing something wrong.
regards
victor Faria
Original Message
From: "brucewynn" <managerafs@a...>
To: <basicstamps@yahoogroups.com>
Sent: Saturday, June 08, 2002 3:33 PM
Subject: [noparse][[/noparse]basicstamps] Stepper Motor Control
> Greetings All,
>
> I would like to know if any of you out in cyberspace would share
> stepper motor programs with me. I am having great difficulty with my
> stepper motor project.
>
> Current setup:
>
> Parralax BS2 OEM as translator, suppling "steps" to driver
> cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-oz
> 12 volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
> motor chassis is a NEMA 23.
>
> Problem:
>
> I have tried every Command/Instruction utilizing the BS2 and cannot
> get the stepper motor to spin beyond 80 rpm's which is redicously
> slow for this motor - or is it?
> I'm an electronics engineer but new to the stamp and stepper motors.
> Here is a sample of my rather simple program efforts to date.
>
> 'My motor stepping program.
>
> 'remember - pin 1 of BS2= step input to UCN5804B
> ' " " - pin 3 of BS2= direction control output
>
> Low 3 'Set pin 3 low = ccw
>
> Again:
>
> low 1
> pause 1
> high 1
> pause 1
> goto again
>
> The above program turns the motor approx 75 rpm's. Changing pause to
> a higher value slows the motor even more.
>
> Next program.
>
> Again:
>
> pulsout 1,100
> pause 1
>
> goto again
>
> Same result
>
> Next Program.
>
> Again:
>
> PWM 1,125,125
>
> goto again
>
> Apparently I don't have a clue how to get this unipolar 6 wire unit
> to run. I would appreciate all communication on this.
>
> Thanks Bruce Wynn
>
> managerafs@a...
>
>
>
>
>
>
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>
Wow! I thought they would zing along much faster than that. I have worked in
the manufacturing industry with AT&T for 17 years and watched FUJI Pick and
Place machines (X,Y,Z) devices place parts @ hundreds per minute. The table
trays moved so fast you couldn't see them move.
Possibly they were using dc motors. I should have paid more attention.
Your reply is greatly appreciated.
Bruce
you did not mention if you are using a unipolar or bipolar stepper.
also you should know that the motor specs on the name plate are there
for reference purposes, not operational purposes.
the motor is an induction load and will only accept the nameplate
amps. but, and this is a good but, the voltage is for testing
purposes.
Current limiting resistors are for start up or stalls as the motor
resistance at no speed is near zero and will act like a dead short.
once it is spinning the resistior is not as critical. chopper drives
or H bridge drives offer good functionality.
if you try to run a 5 volt 1.5 amp stepper on 5 volts you will bet
very poor results. you can run a stepper from between 5 and 25 times
namplate voltage (except Pacific which are listed for proper
operational voltage)
the higher voltage the higher speed.
Bipolar will operate much better than unipolar. if you are using a 6
wire, use the center and end leads. leave on end open for each coil.
for more data on steppers google search "jones stepper" he wrote the
best resourse materials for learning about making drivers.
also there is a white paper at Gecko stepper drives. it offer a
really simple description on how to wire steppers.
In addition you angle of rotation per step has a lot to do with speed.
figure that professional drivers run at 5 to 50 hz a 1.9 degree per
step should be running MUCH faster. probably voltage related slow.
The stamp would be on the slow end of pulses, but in the high torque
end of the motor torque curve.
Also, remember that steppers will deliver all torque at low speed and
almost none at high speeds. power will be constant. so a 10
revolution to get 1 foot pound would be the same power if you
required 1,000 revolutions to get 1 foot pound. that has to do with
gearing of the drives, but high speed means little or no power.
Hope this helps.
Dave
--- In basicstamps@y..., HQ54@A... wrote:
>
>
> Hi,
>
> Excuse my ignorance, this is the first post, but I have been
monitoring
> for a while, and searching the net high and low. I am a beginner,
no prob
> admiting it, and need some help. I have some knowledge, since I
have been a
> HAM for 10 years, so I will understand some of what you tell me
back, but
> probably not all, so please bare with me.
>
> I have been searching high and low for information on how to get
the stamp
> to control 2 stepper motors. Some one sent me to the ALLEGRO
website
> (allegromicro.com) where there is a stepper motor driver IC. That
is pretty
> straight forward. I just need some help with interfacing the stamp
to that
> IC, and the IC to the steppers. In my application, motor 1 runs
until switch
> #1 is tripped, then motor 2 runs until switch 2 is tripped. Then
the reverse
> happens, running motor 2 until switch 3 is tripped, and then motor
1 until
> switch 4 is tripped. I think I have most of the programming worked
out for
> the most part, but if anyone has some ideas, that would be great.
>
> If anyone can help me out (There was someone that did help me out
a little,
> but I unfortunately lost his/your e-mail) I would certainly
appreciate it,
> OR, if anyone can direct me to a website, I would appreciate that
as well.
>
> Thanx
> Mike
circuit could be modified to use with a Stamp (just replace the clock, 4069,
and 4017 with the stamp, but keep the 4066 for switching direction).
Maximum speed I got was with 180Hz clock pulse. Of course, the gears in the
system I pulled the motor from would have increased the ratio as well.
The whole page goes through how I started the experiment, and tests to check
the logic works, etc, and how I figured out to control the motor.
http://www.lennard.net.nz/electronics/motor.html
cheers,
Ben, Wellington, New Zealand.
--
> From: "Victor Faria" <victorf@g...>
> Reply-To: basicstamps@yahoogroups.com
> Date: Sat, 8 Jun 2002 19:02:50 -0400
> To: <basicstamps@yahoogroups.com>
> Subject: Re: [noparse][[/noparse]basicstamps] Stepper Motor Control
>
> HI, Bruce.
> not that I'm a guru but from what little I have done with steppers about 70
> rpm is about the max I have ever achieved with any accuracy.
> unless I'm also doing something wrong.
> regards
> victor Faria
>
Original Message
> From: "brucewynn" <managerafs@a...>
> To: <basicstamps@yahoogroups.com>
> Sent: Saturday, June 08, 2002 3:33 PM
> Subject: [noparse][[/noparse]basicstamps] Stepper Motor Control
>
>
>> Greetings All,
>>
>> I would like to know if any of you out in cyberspace would share
>> stepper motor programs with me. I am having great difficulty with my
>> stepper motor project.
>>
>> Current setup:
>>
>> Parralax BS2 OEM as translator, suppling "steps" to driver
>> cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-oz
>> 12 volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
>> motor chassis is a NEMA 23.
>>
>> Problem:
>>
>> I have tried every Command/Instruction utilizing the BS2 and cannot
>> get the stepper motor to spin beyond 80 rpm's which is redicously
>> slow for this motor - or is it?
>> I'm an electronics engineer but new to the stamp and stepper motors.
>> Here is a sample of my rather simple program efforts to date.
>>
>> 'My motor stepping program.
>>
>> 'remember - pin 1 of BS2= step input to UCN5804B
>> ' " " - pin 3 of BS2= direction control output
>>
>> Low 3 'Set pin 3 low = ccw
>>
>> Again:
>>
>> low 1
>> pause 1
>> high 1
>> pause 1
>> goto again
>>
>> The above program turns the motor approx 75 rpm's. Changing pause to
>> a higher value slows the motor even more.
>>
>> Next program.
>>
>> Again:
>>
>> pulsout 1,100
>> pause 1
>>
>> goto again
>>
>> Same result
>>
>> Next Program.
>>
>> Again:
>>
>> PWM 1,125,125
>>
>> goto again
>>
>> Apparently I don't have a clue how to get this unipolar 6 wire unit
>> to run. I would appreciate all communication on this.
>>
>> Thanks Bruce Wynn
>>
>> managerafs@a...
>>
>>
>>
>>
>>
>>
>>
>>
>> To UNSUBSCRIBE, just send mail to:
>> basicstamps-unsubscribe@yahoogroups.com
>> from the same email address that you subscribed. Text in the Subject and
> Body of the message will be ignored.
>>
>>
>> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>>
>>
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and Body
> of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>
you are using a unipolar stepper.
change the voltage to 24 volts and see how the speed will increase.
remember you can use an unregulated power supply and run transformers
in series to get the higher voltage. also, you will need big
capacity caps to keep the voltage up. over size the caps by at leat
20% of voltage.
steppers will act as generators when they are spining and you remove
power. a zener diode will act as a voltage clamp to protect your
drive, but be sure to size it for the power supply voltage.
Also, remember that your AC voltage from the power supply will jump
up to 1.414 times the AC voltage when you rectify it and add the
caps. so if you want more voltage you get a little kick there.
For the caps, figure the capactor microfarad rating is equal to (80
times the current) divided by the voltage.
your 0.6 amp unit at 24 volts would require a 30 volt, 2,000uF cap.
And remember that once you start getting near namplate ratings
through a gear, lead screw or timing belts the ammount of power is
huge.
a 1/4-20 leadscrew with your 25in oz motor driven 2:1 through a gear
will deliver over 200 pounds of force. that 1/4-20 shaft will push
right through your hand if it is in the path. these things can
deliver painfully high forces.
Dave
--- In basicstamps@y..., "Dennis P. O'Leary" <doleary@h...> wrote:
> Bruce,
>
> Did you try removing the pause 1 statements from your first program?
> Again:
> low 1
> high 1
> goto again
>
> Dennis
>
>
Original Message
> From: brucewynn [noparse][[/noparse]mailto:managerafs@a...]
> Sent: Saturday, June 08, 2002 12:33 PM
> To: basicstamps@y...
> Subject: [noparse][[/noparse]basicstamps] Stepper Motor Control
>
>
> Greetings All,
>
> I would like to know if any of you out in cyberspace would share
> stepper motor programs with me. I am having great difficulty with
my
> stepper motor project.
>
> Current setup:
>
> Parralax BS2 OEM as translator, suppling "steps" to driver
> cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-
oz 12
> volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
> motor chassis is a NEMA 23.
>
> Problem:
>
> I have tried every Command/Instruction utilizing the BS2 and
cannot
> get the stepper motor to spin beyond 80 rpm's which is redicously
> slow for this motor - or is it?
> I'm an electronics engineer but new to the stamp and stepper
motors.
> Here is a sample of my rather simple program efforts to date.
>
> 'My motor stepping program.
>
> 'remember - pin 1 of BS2= step input to UCN5804B
> ' " " - pin 3 of BS2= direction control output
>
> Low 3 'Set pin 3 low = ccw
>
> Again:
>
> low 1
> pause 1
> high 1
> pause 1
> goto again
>
> The above program turns the motor approx 75 rpm's. Changing pause
to
> a higher value slows the motor even more.
>
> Next program.
>
> Again:
>
> pulsout 1,100
> pause 1
>
> goto again
>
> Same result
>
> Next Program.
>
> Again:
>
> PWM 1,125,125
>
> goto again
>
> Apparently I don't have a clue how to get this unipolar 6 wire unit
> to run. I would appreciate all communication on this.
>
> Thanks Bruce Wynn
>
> managerafs@a...
double your speed. and yes, you can expect to get a drive at 5 hz to
drive that stepper, figure well over 1,ooo rpm on your 1.8 deg/step
motor. but you need the juice !
Dave
--- In basicstamps@y..., "brucewynn" <managerafs@a...> wrote:
> Greetings All,
>
> I would like to know if any of you out in cyberspace would share
> stepper motor programs with me. I am having great difficulty with
my
> stepper motor project.
>
> Current setup:
>
> Parralax BS2 OEM as translator, suppling "steps" to driver
> cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-
oz
> 12 volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
> motor chassis is a NEMA 23.
>
> Problem:
>
> I have tried every Command/Instruction utilizing the BS2 and
cannot
> get the stepper motor to spin beyond 80 rpm's which is redicously
> slow for this motor - or is it?
> I'm an electronics engineer but new to the stamp and stepper
motors.
> Here is a sample of my rather simple program efforts to date.
>
> 'My motor stepping program.
>
> 'remember - pin 1 of BS2= step input to UCN5804B
> ' " " - pin 3 of BS2= direction control output
>
> Low 3 'Set pin 3 low = ccw
>
> Again:
>
> low 1
> pause 1
> high 1
> pause 1
> goto again
>
> The above program turns the motor approx 75 rpm's. Changing pause
to
> a higher value slows the motor even more.
>
> Next program.
>
> Again:
>
> pulsout 1,100
> pause 1
>
> goto again
>
> Same result
>
> Next Program.
>
> Again:
>
> PWM 1,125,125
>
> goto again
>
> Apparently I don't have a clue how to get this unipolar 6 wire unit
> to run. I would appreciate all communication on this.
>
> Thanks Bruce Wynn
>
> managerafs@a...
Goto Parallax's downloads and download the StampWorks Manual, it has an
experiment using a unipolar stepper
motor along with the code to make it work. It uses a different motor driver
IC, but it should help in getting
better performance from the IC and stepper motor you have.
Have Fun !!
Dale Fleischmann
brucewynn wrote:
> Greetings All,
>
> I would like to know if any of you out in cyberspace would share
> stepper motor programs with me. I am having great difficulty with my
> stepper motor project.
>
> Current setup:
>
> Parralax BS2 OEM as translator, suppling "steps" to driver
> cicuitry. Using UCN 5804B stepper motor driver IC to drive a 50 in-oz
> 12 volt/phase .600 amp/phase 1.8/step Changzou stepper motor. The
> motor chassis is a NEMA 23.
>
> Problem:
>
> I have tried every Command/Instruction utilizing the BS2 and cannot
> get the stepper motor to spin beyond 80 rpm's which is redicously
> slow for this motor - or is it?
> I'm an electronics engineer but new to the stamp and stepper motors.
> Here is a sample of my rather simple program efforts to date.
>
> 'My motor stepping program.
>
> 'remember - pin 1 of BS2= step input to UCN5804B
> ' " " - pin 3 of BS2= direction control output
>
> Low 3 'Set pin 3 low = ccw
>
> Again:
>
> low 1
> pause 1
> high 1
> pause 1
> goto again
>
> The above program turns the motor approx 75 rpm's. Changing pause to
> a higher value slows the motor even more.
>
> Next program.
>
> Again:
>
> pulsout 1,100
> pause 1
>
> goto again
>
> Same result
>
> Next Program.
>
> Again:
>
> PWM 1,125,125
>
> goto again
>
> Apparently I don't have a clue how to get this unipolar 6 wire unit
> to run. I would appreciate all communication on this.
>
> Thanks Bruce Wynn
>
> managerafs@a...
>
>
>
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and Body
of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/