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Introduction of Stepper motor and DC Motor

PS-ADD-ON, card has facility to interface Stepper motor and DC Motor. User could evaluate motors features with easily with the interface card. Separate PBT connectors for motors terminations. Motor could be driven by h-bridge drivers. All motor lines and power lines are terminated by the 20pin connector.

Specifications

Stepper Motor
- (Angle control / Clockwise/ Counterclockwise)

DC Motor controlled with PWM Control - Direction and speed control

☞Motor control line and Power lines terminated at box connector

☞20-pin FRC Cable - To connect host boards (Microcontroller/Processor)

Card Features

5V Stepper Motor

5V DC Motor

☞Motor Driver Unit

☞Terminal connectors

☞20-pin Box Connector

Stepper Motor

☞Step Angle ( o ) : 1.8

☞Motor Length (mm) : 34

☞Holding Torque (g.cm) : 1300

☞Lead Wire (NO.) : 6

☞Rated Current (A) : 0.3

☞Phase Resistance (ohm) : 40

☞Phase Inductance (mH) : 20

☞Rotor Inertia (g.cm 2 ) : 20

☞Motor Weight (Kg) : 0.18

DC Motor

☞Voltage : 6.0V (Range: 1.5 - 12.)

☞Speed : 2,700(ЎА10%) rpm (No )

☞Current : 0.02A (No )

☞Torque : 5.88 mN. M

Kit Includes

☞Motor Interface Card (with Stepper/DC Motor)

☞Interface Cable Datasheets | App notes

Hardware Description

Stepper Motor

Bipolar Stepper Motor driven by h-bridge driver, facility to connect external power supply to the motor. 5V Stepper Motor speed, direction (clockwise/counterclockwise) and angle rotation through user program.

DC Motor

5V DC Motor speed has controlled through PWM signal. Motor can run both clockwise/counter clockwise, Motor speed controlled by varying ENA (duty cycle) signal through program.

steper-and-dc-motor

What is a Stepper Motor?

A Stepper or stepping motor converts electronic pulses into proportionate mechanical movement. Each revolution of the Stepper Motor's shaft is made up of a series of discrete individual steps. These types of motors are very popular in digital control circuits, such as robotics, because they are ideally suited for receiving digital pulses for step control. Each step causes the shaft to rotate a certain number of degrees.

What is a step angle?

Step angle of a Stepper Motor is defined as the angle traversed by the motor in one step. To calculate the step angle, simply divide 360 degree by number of steps a motor takes to complete one resolution.

Stepper Motor is a motor without Commutator

stepper-motor-is-a-motor-without-commutator

Basics of DC Motor


In any electric motor, operation is based on simple electromagnetism. A current-carrying conductor generates a magnetic field; when this is then placed in an external magnetic field, it will experience a force proportional to the current in the conductor, and to the strength of the external magnetic field. As you are well aware of from playing with magnets as a kid, opposite (North and South) polarities attract, while like polarities (North and North, South and South) repel. The internal configuration of a DC motor is designed to harness the magnetic interaction between a current-carrying conductor and an external magnetic field to generate rotational motion.

basics-of-dc-motor

Here red represents a magnet or winding with a "North" polarization, while green represents a magnet or winding with a "South" polarization

DC motors vs. Stepper Motors

Stepper Motor are operated open loop, while most DC motors are operated closed loop.

Stepper Motors are easily controlled with microprocessors, however logic and drive electronics are more complex.

Stepper Motors are brushless and brushes contribute several problems, e.g., wear, sparks, electrical transients.

DC motors have a continuous displacement and can be accurately positioned, whereas Stepper Motor motion is incremental and its resolution is limited to the step size.

Stepper Motors can slip if overloaded and the error can go undetected. (A few Stepper Motors use closed-loop control.)

☞Feedback control with DC motors gives a much faster response time compared to Stepper Motors.

ADVANTAGE AND DISADVANTAGE OF Stepper Motor

a) Disadvantages of Stepper Motors

☞They have low torque capacity (typically less than 2,000 oz-in) compared to DC motors.

☞They have limited speed (limited by torque capacity and by pulse-missing problems due to faulty switching systems and drive circuits).

b) ADVANTAGES OF Stepper Motors

☞Position error is noncumulative. A high accuracy of motion is possible, even under open-loop control.

☞Large savings in sensor (measurement system) and controller costs are possible when the open-loop mode is used.

☞Because of the incremental nature of command and motion, Stepper Motors are easily adaptable to digital control applications.

☞No serious stability problems exist, even under open-loop control.

☞Torque capacity and power requirements can be optimized and the response can be controlled by electronic switching.

☞Brushless construction has obvious advantages.

Hardware Configuration of DC & Stepper Motor with 8051/8086/8085

hardware-configuration-of-dc--stepper-motor-with-8051-8086-8085

NOTE:

Ps & Stepper Motor and DC Motor interface card has Stepper motor and DC Motor. We cannot connect the motors directly to the controllers, because the driving voltage of the motor and the Controller is different. So to drive the motors we have a Driver IC L293DNE to drive the Stepper Motor and DC motor.

Connect the DC motor and Stepper Motor interface card with the 8051/8086/8085 using 20 pin FRC cable connector dump the program to 8051/8086/8085

Programs on Ps-Addon Stepper/DC Motor Interface Card

Stepper Motor and DC Motor Interface with 8086 Trainer Kit

IN 8086 WE HAVE TWO 8255 IC’S

U1 8255

PORTS

ADDRESS

Control port

FF26

PORT A

FF20

PORT B

FF22

PORT C

FF24

U2 8255

PORTS

ADDRESS

Control port

FF36

PORT A

FF30

PORT B

FF32

PORT C

FF34

DC Motor Interface With 8086

Program 1:

Aim:

To interface DC motor with 8086 and to run the DC motor in forward direction


ADDRESS

OPCODE

MNEMONICS

1100

B0 80

MOV AL,80

1102

BA 26 FF

MOV DX,FF26

1105

EE

OUT DX,AL

1106

B0 05

MOV AL,05

1108

BA 22 FF

MOV DX,FF22

110B

EE

OUT DX,AL

110C

E8 F1 00

CALL 1200

110F

EB F5

JMP 1106

 

 

DELAY LOOP

1200

B9 FF FF

MOV CX,FFFF

1203

49

DEC CX

1204

75 FD

JNZ 1203

1206

C3

RET

Result:

Execute the program. Now you can see that the DC motor runs in forward direction with a delay.

Stepper Motor Interafce with 8086

Program 1:

Aim:

To interface the stepper motor with 8086 and to run the Stepper Motor in clockwise direction

ADDRESS

OPCODE

MNEMONICS

1100

B0 80

MOV AL,80

1102

BA 26 FF

MOV DX,FF26

1105

EE

OUT DX,AL

1106

BE 00 12

START : MOV SI,1200

1109

B3 04

MOV BL,04

110B

8A 04

REPEAT : MOV AL,[SI]

110D

BA 20 FF

MOV DX,FF20

1110

EE

OUT DX,AL

1111

E8 07 00

CALL DELAY

1114

46

INC SI

1115

FE CB

DEC BL

1117

75 F2

JNE REPEAT

1119

EB EB

JMP START

111B

B9 03 09

MOV CX,0903

111E

49

LOOP : DEC CX

111F

75 FD

JNE LOOP

1121

C3

RET

Look up table:

DATA

1200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

1204 END

Result:

Execute the program. Now you can see that the Stepper Motor runs in forward direction.

Program 2:

Aim:

To interface the stepper motor with 8086 and to run the Stepper Motor in clockwise direction to a required angle

ADDRESS

OPCODE

MNEMONICS

1100

B0 80

MOV AL,80

1102

BA 26 FF

MOV DX,FF26

1105

EE

OUT DX,AL

1106

B1 19

START : MOV CL,0C

1108

BE 00 12

CLKWI : MOV SI,1200

110B

E8 09 00

CALL ROTAT

110E

FE C9

DEC CL

1110

75 F6

JNE CLKWI

1112

E8 16 00

CALL HLT

1115

EB EF

JMP START

1117

B3 04

ROTAT : MOV BL,04

1119

8A 04

REPEAT : MOV AL,[SI]

111B

BA 20 FF

MOV DX,FF20

111E

EE

OUT DX,AL

111F

BA 03 09

MOV DX,0903

1122

4A

LOOP : DEC DX

1123

75 FD

JNE LOOP

1125

46

INC SI

1126

FE CB

DEC BL

1128

75 EF

JNE REPEAT

112A

C3

RET

112B

F4

HLT

Look up table:

DATA

1200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

1204 END

Result:

Execute the program. Now you can see that the Stepper Motor runs in forward direction with a required angle.

Program 3:

Aim:

To interface the stepper motor with 8086 and to run the Stepper Motor in clockwise direction and anti clockwise direction.

ADDRESS

OPCODE

MNEMONICS

1100

B0 80

MOV AL,80

1102

BA 26 FF

MOV DX,FF26

1105

EE

OUT DX,AL

1106

B1 19

START : MOV CL,0C

1108

BE 00 12

CLKWI : MOV SI,1200

110B

E8 18 00

CALL ROTAT

110E

FE C9

DEC CL

1110

75 F6

JNE CLKWI

1112

E8 25 00

CALL DELAY

1115

B1 0C

MOV CL,0C

1117

BE 50 12

ANCKWI : MOV SI,1250

111A

E8 09 00

CALL ROTAT

111D

FE C9

DEC CL

111F

75 F6

JNE ANCKWI

1121

E8 16 00

CALL DELAY

1124

EB E0

JMP START

1126

B3 04

ROTAT : MOV BL,04

1128

8A 04

REPEAT : MOV AL,[SI]

112A

BA 20 FF

MOV DX,FF20

112D

EE

OUT DX,AL

112E

BA 10 10

MOV DX,1010

1131

4A

LOOP : DEC DX

1132

75 FD

JNE LOOP

1134

46

INC SI

1135

FE CB

DEC BL

1137

75 EF

JNE REPEAT

1139

C3

RET

113A

BA FF FF

DELAY : MOV DX,FFFF

113D

4A

LOOP1 : DEC DX

113E

75 FD

JNE LOOP1

1140

C3

RET

Look up table:

DATA

1200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

1250 DB 09H, 0CH, 06H, 03H (ANTI CLOCK WISE)

Result:

Execute the program. Now you can see that the Stepper Motor runs in Clockwise and anticlockwise direction.

Stepper motor and DC Motor Interface with 8051 Trainer Kit

IN 8051 WE HAVE SINGLE 8255

U1 8255

PORTS

ADDRESS

Control port

4003

PORT A

4000

PORT B

4001

PORT C

4002

a) 8051 Interface with DC Motor

Program 1:

Aim:

To interface DC motor with 8086 and to run the DC motor in forward direction

ADDRESS

OPCODE

MNEMONICS

8500

B1 06

ACALL RF

8502

B1 0D

ACALL DELAY

8504

80 FA

SJMP BACK

8506

D2 B0

RF: SETB B0

8508

C2 B1

CLR B1

850A

D2 B2

SETB B2

850C

22

RET

850D

7F 25

DELAY: MOV R7,#25

850F

7E FF

H3: MOV R6,#FF

8511

7D FF

H2: MOV R5,#FF

8513

DD FE

H1: DJNZ R5,H1

8515

DE FA

DJNZ R6,H2

8517

DF F6

DJNZ R7,H3

8519

22

RET

Result:

Execute the program. Now you can see that the DC motor runs in forward direction with a delay.

b) Stepper Motor Interface with 8051

Program 1:

Aim:

To interface the Stepper Motor with 8051 trainer kit and to run a Stepper Motor at different speed in clockwise direction

ADDRESS

OPCODE

MNEMONICS

9100

74 80

MOV A,#80

9102

90 40 03

MOV DPTR,#4003

9105

F0

MOVX @DPTR,A

9106

90 92 00

START :MOV DPTR,#9200

9109

A9 82

MOV R1,DPL

910B

AA 83

MOV R2,DPH

910D

78 04

MOV R0, #04

910F

E0

REP : MOVX A,@DPTR

9110

90 40 00

MOV DPTR,#4000

9113

F0

MOVX @DPTR,A

9114

12 91 20

LCALL DELY

9117

09

INC R1

9118

89 82

MOV DPL,R1

911A

8A 83

MOV DPH,R2

911C

D8 F1

DJNZ R0, REP

911E

80 E6

SJMP START

9120

7F 03

DELY : MOV R7,#03

9122

7E 0A

LOP3 : MOV R6,#0A

9124

7B FF

LOP2 : MOV R3,#FF

9126

DB FE

LOP1 : DJNZ R3, LOP1

9128

DE FA

DJNZ R6,LOP2

912A

DF F6

DJNZ R7,LOP3

912C

22

RET

Look up table:

DATA

9200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

9204 END

Result:

Execute the program. Now you can see that the Stepper Motor runs in forward direction with a delay.

Program 2:

Aim:

To interface the Stepper Motor with 8051 trainer kit and To run a Stepper Motor for required angle within 360°

ADDRESS

OPCODE

MNEMONICS

9100

74 80

MOV A,#80

9102

90 40 03

MOV DPTR,#4003

9105

F0

MOVX @DPTR,A

9106

78 19

START : MOV R0,#19

9108

90 92 00

CLKWI : MOV DPTR,#9200

910B

A9 82

MOV R1,DPL

910D

AA 83

MOV R2,DPH

910F

31 17

ACALL ROTAT

9111

D8 F5

DJNZ R0, CLKWI

9113

31 32

ACALL HLT

9115

80 EF

SJMP START

9117

7B 04

ROTAT : MOV R3,#04

9119

E0

REPT : MOVX A,@DPTR

911A

90 40 00

MOV DPTR,#4000

911D

F0

MOVX @DPTR,A

911E

7C 03

MOV R4,#03

9120

7D 0A

LOP3 : MOV R5,#0A

9122

7E FF

LOP2 : MOV R6,#FF

9124

DE FE

LOP 1 : DJNZ R6, LOP1

9126

DD FA

DJNZ R5, LOP2

9128

DC F6

DJNZ R4, LOP1

912A

09

INC R1

912B

89 82

MOV DPL,R1

912D

8A 83

MOV DPH,R2

912F

DB E8

DJNZ R3, REPT

9131

22

RET

9132

80 FE

HLT : SJMP HLT

Look up table:

DATA

9200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

END

Result:

Execute the program. Now you can see that the Stepper Motor runs in forward direction with required angle.

Program 3:

Aim:

To interface the stepper motor with 8051 trainer kit and To run a Stepper Motor in both the direction

ADDRESS

OPCODE

MNEMONICS

9100

74 80

MOV A,#80

9102

90 40 03

MOV DPTR,#4003

9105

F0

MOVX @DPTR,A

9106

78 19

START : MOV R0,#19

9108

90 92 00

CLKWI : MOV DPTR,#9200

910B

A9 82

MOV R1,82

910D

AA 83

MOV R2,83

910F

31 26

ACALL ROTAT

9111

D8 F5

DJNZ R0,CLKWI

9113

31 41

ACALL DELAY

9115

78 19

MOV R0,#19

9117

90 92 50

ANCKWI: MOV DPTR,#9250

911A

A9 82

MOV R1,DPL

911C

AA 83

MOV R2,DPH

911E

31 26

ACALL ROTAT

9120

D8 F5

DJNZ R0,ANCKWI

9122

31 91

ACALL DELAY

9124

80 E0

SJMP START

9126

7B 04

ROT AT: MOV R3,#04

9128

E0

REPT : MOVX A,@DPTR

9129

90 40 00

MOV DPTR,#4000

912C

F0

MOVX @DPTR,A

912D

7C 03

MOV R4,#03

912F

7D 0A

LOP3 : MOV R5,#0A

9131

7E FF

LOP2 : MOV R6,#FF

9133

DE FE

LOP 1 : DJNZ R6, LOP1

9135

DD FA

DJNZ R5, LOP2

9137

DC F6

DJNZ R4, LOP1

9139

09

INC R1

913A

89 82

MOV DPL,R1

913C

8A 83

MOV DPH,R2

913E

DB E8

DJNZ R3, REPT

9140

22

RET

9141

7C 03

DELAY : MOV R4,#03

9143

7D FF

LP3 : MOV R5,#FF

9145

7E FF

LP2 : MOV R6,#FF

9147

DE FE

LP1 : DJNZ R6, LP1

9149

DD FA

DJNZ R5, LP2

914B

DC F6

DJNZ R4, LP1

914D

22

RET

Look up table:

DATA

9200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

9250 DB 09H, 0CH, 06H, 03H (ANTI CLOCK WISE)

END

Result:

Execute the program. Now you can see that the Stepper Motor runs in clockwise and anti clockwise direction.

Stepper motor and DC Motor Interface with 8085 Trainer Kit

In 8085 we have two 8255 IC’s

U1 8255

PORTS

ADDRESS

Control port

23

PORT A

20

PORT B

21

PORT C

22

U2 8255

PORTS

ADDRESS

Control port

33

PORT A

30

PORT B

31

PORT C

32

a) DC Motor Interface With 8085

Program 1:

Aim:

To interface DC motor with 8086 and to run the DC motor in forward direction

ADDRESS

OPCODE

MNEMONICS

8500

3E 80

MVI A,80

8502

D3 23

OUT 23

8504

3E 05

MVI A,05

8506

D3 21

OUT 21

8508

CD 00 86

CALL 8600

850B

C3 04 85

JMP 8504

DELAY LOOP

8600

11 03 03

LXI D,0303

8603

00

NOP

8604

1B

DCX D

8605

7B

MOV A,E

8606

B2

ORA D

8607

JNZ 8603

RET

Result:

Execute the program. Now you can see that the DC motor runs in forward direction with a delay.

b) Stepper Motor Interface with 8085

Program 1:

Aim:

To interface the stepper motor with 8085 trainer kit and To run a Stepper Motor at different speed in clockwise directions.

ADDRESS

OPCODE

MNEMONICS

9100

3E 80

MVI A,80

9102

D3 23

OUT 23

9104

21 00 92

START: LXI H,9200

9107

06 04

MVI B,04

9109

7E

REPET : MOV A,M

910A

D3 20

OUT 20

910C

11 02 02

LXI D,0202

910F

00

DELAY: NOP

9110

1B

DCX D

9111

7B

MOV A,E

9112

B2

ORA D

9113

C2 0F 91

JNZ DELAY

9116

23

INX H

9117

05

DCR B

9118

C2 09 91

JNZ REPET

911B

C3 04 91

JNZ START

Look up table:

DATA

9200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

END

Result:

Execute the program. Now you can see that the stepper motor runs in forward direction with a delay.

Program 2:

Aim:

To interface the stepper motor with 8085 trainer kit and To run a Stepper Motor for required angle within 360°

ADDRESS

OPCODE

MNEMONICS

9100

3E 80

MVI A,80

9102

D3 23

OUT 23

9104

0E 19

START : MVI C,0C

9106

21 00 92

CLK WI : LXI H,9200

9109

CD 16 91

CALL ROTAT

910C

0D

DCR C

910D

C2 06 91

JNZ CLK WI

9110

CD 2A 91

CALL HLT

9113

C3 04 91

JMP START

9116

06 04

ROTAT : MVI B,04

9118

7E

REPEAT : MOV A,M

9119

D3 20

OUT 20

911B

11 03 03

LXI D,0202

911E

1B

DELAY : DCX D

911F

7B

MOV A,E

9120

B2

ORA D

9121

C2 1E 91

JNZ DELAY

9124

23

INX H

9125

05

DCR B

9126

C2 18 91

JNZ REPEAT

9129

C9

RET

912A

76

HLT

Look up table:

DATA

9200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

Result:

Execute the program. Now you can see that the Stepper Motor runs in forward direction with a required angle

Program 3:

Aim:

To interface the Stepper Motor with 8085 trainer kit and to run the Stepper Motor in both clockwise direction and anticlockwise direction

ADDRESS

OPCODE

MNEMONICS

9100

3E 80

MVI A,80

9102

D3 23

OUT 23

9104

0E 19

START : MVI C,19

9106

21 00 92

CLK WI : LXI H,9200

9109

CD 16 91

CALL ROTAT

910C

0D

DCR C

910D

C2 06 91

JNZ CLK WI

9110

CD 39 91

CALL DELAY

9113

0E 19

MVI C,19

9115

21 50 92

ANCKWI : LXI H,9250

9118

CD 25 91

CALL ROTAT

911B

0D

DCR C

911C

C2 15 91

JNZ ANCKWI

911F

CD 39 91

CALL DELAY

9122

C3 04 91

JMP START

9125

06 04

ROTAT : MVI B,04

9127

7E

REPEAT : MOV A,M

9128

D3 20

OUT 20

912A

11 03 03

LXI D,0303

912D

1B

LOOP : DCX D

912E

7B

MOV A,E

912F

B2

ORA D

9130

C2 2D 91

JNZ LOOP

9133

23

INX H

9134

05

DCR B

9135

C2 27 91

JNZ REPEAT

9138

C9

RET

9139

11 FF FF

DELAY : LXI D,FFFF

913C

1B

LOOP1 : DCX D

913D

7B

MOV A,E

913E

B2

ORA D

913F

C2 3C 91

JNZ LOOP1

9142

C9

RET

Look up table:

DATA

9200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)

9250 DB 09H, 0CH, 06H, 03H (ANTI CLOCK WISE)

END

Result:

Execute the program and now you can see that the Stepper Motor runs in both clockwise and anticlockwise direction.