Stepper Motor Control using 8085 Microprocessor
Introduction:
Stepper motors serve as unique electromechanical devices that translate digital control
pulses into highly accurate angular or linear movements. Unlike other motion control systems,
these specialized motors offer precise incremental positioning with a standard step angle of
1.8° in their two-phase bifilar configuration. Their operational capabilities include maintaining
indefinite static holding positions and achieving rotational speeds up to 3,000 RPM (equivalent
to 10,000 steps per second) through programmable control of three key parameters: speed
(determined by pulse frequency rather than voltage), direction, and step count.
The motor's shaft advances one step per input pulse when driven by a two-phase clock
signal, enabling exact positioning control. When pulse signals cease, the motor maintains its
last position through electromagnetic locking from its continuously energized windings. This
characteristic makes stepper motors particularly valuable for applications requiring precise
digital-to-mechanical conversion with inherent position retention.
Stepper Motor:
Stepping Motors differ from conventional Servo Motors in following respect:
1. There is no control winding in stepping motors. Both windings are Identical.
2. The stepping rate (speed of rotation) is governed by frequency of switching and not
supply voltage.
3. A pulse input two phase clock (instead of continuous pulses) will move the shaft of
motor by one step for every pulse, thus number of steps be moved can be precisely
controlled.
4. When there is no pulse input, the rotor will remain locked up in the portion in which
the last step was taken since at any time two windings always energized which lock
the rotor electromagnetically.
Stepping motors can be programmed in three parameters namely:
a) Direction, b) Speed and c) Number of Steps
Fig 1. Hardware connection of the Stepper Motor (KITECH Technologies Pvt. Ltd.)
Fig 2. Simplified connection diagram of the Stepper motor
Fig 3. Simplified connection diagram of the Stepper motor (contd.)
Working of stepping motor
The stepping mechanism is achieved through sequential activation of the motor's two phases,
as illustrated in the switching diagram. These motors utilize a bifilar configuration with six
leads, where each phase contains dual windings with center taps. By alternately energizing
opposite sides of a phase winding, the magnetic polarity reverses without changing the actual
supply polarity. This design enables precise angular movements - a four-step input sequence
produces a standard 1.8° (full step) rotation, while an eight-step sequence generates a finer 0.9°
(half step) motion.
The switching Sequence/Logic written below, will move the shaft in one direction. To change
direction of rotation read the sequence upward in the following table.
Fig 4. Switching sequence of the coils for operating the stepper motor as per requirement.
A stepper motor's specified torque refers to its holding torque, which is directly proportional
to the current in its windings. However, during operation, the winding's inductive reactance
increases with switching frequency, hindering the current from reaching its desired level within
the step time. This limitation, governed by the winding's L/R time constant, causes a decrease
in torque as speed increases. To enhance high-speed torque, the current needs to be maintained.
Two methods can achieve this:
1. Increasing the supply voltage and adding current-limiting resistors to each phase. These
resistors improve the winding's time constant. Adding resistance seven to nine times
the winding resistance significantly enhances the torque-speed characteristics.
2. Employing a constant current source, with or without a chopper, instead of a constant
voltage source, which yields even better performance.
Starting and stopping under load
The speed at which a stepping motor can start and stop without losing synchronism is limited
by the load torque and inertia. To mitigate this, acceleration and deceleration are necessary.
Acceleration is the process of gradually increasing the switching step rate from a low initial
value to the target speed, taking into account the load's inertia. These acceleration and
deceleration rates can reach 1000 to 3000 steps/second.
Circuit description
The four winding of the motor is connected with PA0 to PA3 through buffer and driving circuit.
So, the Port A of 8255 will has to initializes in output mode.
Hardware installation
1. Connect Stepper Motor Controller Module to 8255-I of 8051/8085/8086 Trainer Kit
through 26 pin FRC Cable.
2. Be sure about the direction of the cable i.e. Pin No. 1 of Module should be connected
to Pin NO. 1 of 8255 connector.
3. Connect +5V, GND from the Trainer Kit (+5V & GND signals are available in the 25
& 26 pin of FRC 8255-I Connector)
4. Connect the Motor Supply to +12V from the Trainer Kit
Fig 5. Simplified diagram for exciting the different coils for two-phase or one-phase operation
Software installation
1. Enter the program from 2000 Location for 8085/8051 Kit / 0400 for 8086 Kit / 3000
for 8051 LCD Kit and make sure that your program is entered properly before
execution.
2. Execute your program from respective Location & observe the results.
Stepper Motor Controller Interfacing Module
Flowchart for Program - 1
Stepper Motor Controller Interfacing Module
Program for 8085 led trainer kit
8255 Port Address
Port A : 00 H
Port B : 01 H
Port C : 02 H
Control word : 03 H
Program-1 for Two-Phase Full Step Operation
This program will move the motor in an Anti-Clock direction. For Clock wise direction
change F9, F5, F6, FA in place of FA, F6, F5, F9.
Problem sheet for this lab experiment
1. Operate the stepper motor in two-phase
2. Reverse the direction of rotation.
3. Operate the stepper motor with increasing speed.
4. Operate the stepper motor in a single phase.
What are the uses of stepper motors?
Write conclusions about this experiment.
