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actuators:stepper_motor [2021/03/24 13:06] – kasey.pociusactuators:stepper_motor [2022/03/23 03:39] (current) – [Products] albert-ngabo.niyonsenga
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 With some minor modifications to the control signal, a half step or “micro-stepping” may be performed. Through partially charging the coils or charging multiple coils or other methods, a motor can perform, and be held in, a half, quarter, or smaller step, effectively doubling or quadrupling its rotational accuracy. This will of course reduce the holding torque at those positions proportionally. If controlled by a microcontroller, micro-stepping will also greatly increase computation load, so a specialized board such as the ULN2003 or A4988 may be desirable.  With some minor modifications to the control signal, a half step or “micro-stepping” may be performed. Through partially charging the coils or charging multiple coils or other methods, a motor can perform, and be held in, a half, quarter, or smaller step, effectively doubling or quadrupling its rotational accuracy. This will of course reduce the holding torque at those positions proportionally. If controlled by a microcontroller, micro-stepping will also greatly increase computation load, so a specialized board such as the ULN2003 or A4988 may be desirable. 
 +
 +The accuracy of microstepping is not always correct, however. A more in-depth exploration of this topic can be found here ((https://hackaday.com/2016/08/29/how-accurate-is-microstepping-really/))
  
 ====Specifications==== ====Specifications====
  
-Retail stepper motors are required to provide several specifications, including Phase, Step Angle, Voltage, Current, Resistance, Inductance, Holding Torque, Detent Torque, and Shaft Style. +Retail stepper motors are required to provide several specifications, including Phase, Step Angle, Voltage, Current, Resistance, Inductance, Holding Torque, Detent Torque, Shaft Style and NEMA size. 
  
 ===Phase=== ===Phase===
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 ===Shaft Style=== ===Shaft Style===
 The Shaft Style refers to the physical shape of the motor shaft. This is important if you plan on hooking up the motor shaft to other systems, such as gears or pulleys.  The Shaft Style refers to the physical shape of the motor shaft. This is important if you plan on hooking up the motor shaft to other systems, such as gears or pulleys. 
 +
 +===NEMA size===
 +The NEMA (National Electrical Manufacturers Association) size standard is used to measure the size of the motor. It can be approximated to be about the diameter of a motor in inches, multiplied by 10. Thus a NEMA 17 motor is about 1.7 inches in diameter. More info can be found at ((http://techref.massmind.org/techref/io/stepper/nemasizes.htm))
  
 =====Applications==== =====Applications====
-Stepper motors can be used in a wide variety of applications. They are frequently used in devices like printers, where low-speed rotational speed is valued. Their high torque at low rotational speeds also makes them great for haptics, such as their use in TorqueTuner (Kirkegaard et al., 2020) a tool kit for implementing haptics into other musical devices. +Stepper motors can be used in a wide variety of applications. They are frequently used in devices like printers, where low-speed rotational speed is valued. Their high torque at low rotational speeds also makes them great for haptics, such as their use in TorqueTuner (Kirkegaard et al., 2020) and the Haply system (Ding and Gallacher 2018), tool kits for implementing haptics into other devices. 
  
 ====Videos==== ====Videos====
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 {{youtube>0qwrnUeSpYQ?medium}} {{youtube>0qwrnUeSpYQ?medium}}
  
 +====Products====
 +
 +^ Company | Tropical Labs |
 +^ Model | Mechaduino 0.2 |
 +^ Sources | [[https://tropical-labs.com/shop/mechaduino-0-2-servo/|Tropical Labs Store]] US$ 65.00 | 
 +^ Description | A fully assembled control board, and NEMA 17 motor |
 +^ Manual | [[https://tropical-labs.com/wp-content/uploads/2018/10/MechaduinoManual0.1.2.pdf]] |
 +
 +^ Company | uStepper |
 +^ Model | uStepperS |
 +^ Sources | [[https://ustepper.com/store/ustepper-boards/27-48-ustepper-s.html#/29-connector-screw_terminal/31-stepper_motor-no_stepper_motor]] € 47.00 | 
 +^ Description | A fully assembled control board, with a magnetic encoder and motor driver |
 +^ Getting Started Guide | [[https://www.ustepper.com/getting-started-with-ustepper/]] |
 +
 +^ Company | Misfit Electronics |
 +^ Model | SmartStepper |
 +^ Sources | [[https://misfittech.net/nema-17-smart-stepper/]] US $54.95 | 
 +^ Description | A fully assembled control board, with a magnetic encoder, motor driver and LCD|
 +^ Manual | [[https://github.com/Misfittech/nano_stepper/raw/master/documentation/Smart%20Stepper%20Manual.pdf]] |
 ====References==== ====References====
 “All About Stepper Motors.” n.d. Adafruit Learning System. Accessed March 23, 2021. https://learn.adafruit.com/all-about-stepper-motors/what-is-a-stepper-motor. “All About Stepper Motors.” n.d. Adafruit Learning System. Accessed March 23, 2021. https://learn.adafruit.com/all-about-stepper-motors/what-is-a-stepper-motor.