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actuators:stepper_motor [2021/03/24 01:08] kasey.pociusactuators:stepper_motor [2022/03/23 03:39] (current) – [Products] albert-ngabo.niyonsenga
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 Compared to other motor types, stepper motors have a high number of magnetic poles. These poles are can be modified with each pulse like other motors, however, this high number of poles will result only in a small step as opposed to a larger rotation. This helps them maintain high rotational accuracy, and to maintain a high torque at resting or low operational speeds. However, this torque will drop off as the speed of rotations are increased.  Compared to other motor types, stepper motors have a high number of magnetic poles. These poles are can be modified with each pulse like other motors, however, this high number of poles will result only in a small step as opposed to a larger rotation. This helps them maintain high rotational accuracy, and to maintain a high torque at resting or low operational speeds. However, this torque will drop off as the speed of rotations are increased. 
  
-{{ :actuators:components_steppermotor.mp4 |}}+{{ :actuators:components_steppermotor.mp4 |}} ((https://learn.adafruit.com/all-about-stepper-motors/what-is-a-stepper-motor))
  
  
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 {{:actuators:stepper3_dbw.jpeg?600|}}((https://dronebotworkshop.com/stepper-motors-with-arduino/)) {{:actuators:stepper3_dbw.jpeg?600|}}((https://dronebotworkshop.com/stepper-motors-with-arduino/))
  
-Through PWM, 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====
 +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====
 +Here's a tutorial on getting stepper motors up and running with an arduino
 +
 +{{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====
 +“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.
 +
 +“How Accurate Is Microstepping Really?” Hackaday (blog). August 29, 2016. https://hackaday.com/2016/08/29/how-accurate-is-microstepping-really/.
 +
 +“Choosing the Right Motor for Your Project - DC vs Stepper vs Servo Motors.” 2019. Latest Open Tech from Seeed Studio (blog). April 1, 2019. /blog/2019/04/01/choosing-the-right-motor-for-your-project-dc-vs-stepper-vs-servo-motors/.
 +
 +Ding, Steven, and Colin Gallacher. 2018. “The Haply Development Platform: A Modular and Open-Sourced Entry Level Haptic Toolset.” In Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems, 1–4. Montreal QC Canada: ACM. https://doi.org/10.1145/3170427.3186512.
 +
 +“How to Use Stepper Motors from Old Printers, Identify Pin Outs, Arduino Code.” n.d. Accessed March 24, 2021. https://anthscomputercave.com/recycling/stepper/use_stepper_motors_from_printers.html.
 +
 +Kirkegaard, Mathias, Mathias Bredholt, Christian Frisson, and Marcelo M Wanderley. 2020. “TorqueTuner: A Self Contained Module for Designing Rotary Haptic Force Feedback for Digital Musical Instruments,” 6.
 +
 +Lackey, Bill. 2018. “What’s the Difference Between Servo and Stepper Motors?” Machine Design. June 24, 2018. https://www.machinedesign.com/mechanical-motion-systems/article/21836868/whats-the-difference-between-servo-and-stepper-motors.
 +
 + Motion Control Online Marketing Team. “Servo Motors vs. Stepper Motors in Motion Control: How to Choose the Right One for Your Application.” MCMA - Motion Control Online. Accessed March 23, 2021. https://www.motioncontrolonline.org/blog-article.cfm/Servo-Motors-vs-Stepper-Motors-in-Motion-Control-How-to-Choose-the-Right-One-for-Your-Application/34.
 +
 +“Stepper Motors: Permanent Magnet, Variable Reluctance, and Hybrid.” 2018. Linear Motion Tips. April 26, 2018. https://www.linearmotiontips.com/stepper-motors-differences-between-permanent-magnet-variable-reluctance-and-hybrid-types/.
 +
 +“Tutorial: Stepper vs Servo.” Accessed March 23, 2021. https://www.amci.com/industrial-automation-resources/plc-automation-tutorials/stepper-vs-servo/.
 +
 +DroneBot Workshop. 2018. “Stepper Motors with Arduino – Bipolar & Unipolar.” DroneBot Workshop. February 10, 2018. https://dronebotworkshop.com/stepper-motors-with-arduino/.
 +