Lab 6: Intro to Position Control Stepper Motors
|
|
- Primrose Walters
- 7 years ago
- Views:
Transcription
1 Lab 6: Intro to Position Control Stepper Motors Objectives Learn what stepper motors are and how they work Learn to interface steppers to the DAQ Board Program the computer to drive the steppers forward, backward and at various speeds. Introduction Stepper motors are a special kind of motor designed to move in discrete steps. This can perhaps best be understood by looking at how they are designed. While there are many variations, you will get the general idea by studying a simple type of stepper called the permanent magnet stepper. Actually, the more common type is the variable reluctance stepper, but the function is basically the same and the permanent magnet version is easier to understand. Consider the diagram below. The stepper rotor is the moving part attached to the shaft. It is a permanent magnet with orth () and South (S) poles. The stepper stator surrounds the rotor and is the stationary part of the motor. It consists of several coils of wire wound around iron laminations, which make up electromagnets that can be turned on and off. Recall that opposite magnetic poles (i.e. and S S) attract each other while like poles ( S) repel. The magnetic polarity of the stator magnets can be controlled, by controlling the current direction through the coils. Let us assume that our stepper is set up so that when we turn a coil on it generates a magnetic pole closest to the rotor. Then, if we turn on coil A and leave all of the others off, it is clear that the rotor will try to line itself up with its S pole aligned with coil A, as shown in Figure 1A. If we leave coil A on, the rotor will come to rest in alignment with coil A and will not move farther. In fact, it will vigorously resist any attempt to manually move it from this position. The amount of external torque the motor can resist is called its holding torque. coil A coil A S S coil D coil D coil B coil B coil C Figure 1A: rotor aligned with coil A coil C Figure 1B: rotor aligned with coil B
2 If we then turn off coil A and turn on coil B, the rotor will turn ¼ rotation to the right and align with coil B, as shown in Figure 1B. Continuing to rotate the magnetic field around the circle will cause the rotor to align next with coil C then coil D, etc. Each of these locations is a stable position. That is, as long as one of the coils is energized, the rotor will attempt to lock itself in alignment with that coil. Stepper Resolution The motor just described has only four stable positions, when operated in the full step mode. It is easy to envision a need to have more options than this, and steppers are available with many more than four steps per revolution. The ones you will be using in your lab have 100 steps per revolution, for example. Many of the variations on the design of the stepper have been created with an eye to improving the resolution and torque/speed characteristics of the motors. The invention of solid state electronic stepper controllers has made it possible to generate literally thousands of steps per revolution from relatively simple stepper motors. One method for doing this is called half stepping and can be done using your motors. Look again at Figure 1, and imagine that we control the coils in the following way: 1. Energize coil A and wait for the motor to come to equilibrium in alignment with coil A. 2. Without turning off coil A, energize coil B. Assuming that the two coils generate equally powerful magnetic fields, the rotor will come to rest halfway between coils A and B. It has moved exactly ½ step. 3. ow turn off coil A, leaving only coil B energized, and the rotor will move on to align itself with coil B. Microstepping The same idea can be exted by the use of electronic current controls. Suppose instead of having equal currents flowing in coil A and coil B, that the current in coil A were twice as large as the current in coil B. ow the rotor would come to rest a little more than ¼ of the way between A and B (tan 1 (0.5) = 26.5 degrees). By controlling the relative strengths of the currents between two adjacent coils, the rotor can be made to move in even smaller increments than the half steps described above. Unipolar/Bipolar Windings The motors you will use are unipolar. That means that you only have access to one of each winding individually. Schematically, the motor windings look like Figure 2, with one wire being the common lead for all of the windings. It is possible using split power supplies and special controllers to control the direction of current flow through these motors, but nobody would bother with that. In a unipolar motor, the positive supply voltage is usually fed to the common wire, and each of the windings is then connected to a driver transistor, which acts as an on/off switch.
3 Bipolar motors are available which provide access to both s of each winding individually. These motors allow relatively simple H bridge controllers to switch the direction of the current through the windings, allowing even more flexibility in the control of the motor, and offering the possibility of achieving higher torque from a given frame size. Returning to Figure 1, suppose that while we were energizing coil A to be a orth pole, we reversed the current in coil C and caused it to be a South pole. Deping on the geometry of the motor and the state of magnetic saturation of the rotor iron, additional torque might be derived from the motor in this way. Common Lead Coil Leads Figure 2: Stepper coil winding Lab Exercises: Stepper Control Programs Connect your motor to the interface board in the following way. Connect the black wire to +12V. Then connect the four colored wires to four successive digital outputs ( terminals) in the following order: brown, green, red, white. Recall that each of the digital outputs provides a path to the power supply ground when the output is turned on. To turn on a coil in the stepper motor, you need only to turn on the corresponding motor output. So the command digital_out(a,1) will turn on coil A, where A is the output to which you have wired the brown wire. Likewise, digital_out(a+1,1) will turn on coil B through the green wire, etc. Use the digital output commands to turn on and off the coils in the proper sequence to get the stepper to move. Try this using Command Line inputs. Don t forget to turn off coil A after turning on coil B, etc. When the motor is in a stable position, try to turn the shaft with your hand. The motor will resist surprisingly hard for a little motor. The torque required to force the motor to move away from a stable position is called the holding torque and is one of the primary specifications for a stepper motor. Program 1: Forward and Reverse Motion Knowing that there are 100 full steps per revolution of the motor, write a program that will drive the motor one revolution clockwise and one revolution counterclockwise. Use the full stepping mode. Put a piece of tape on the motor shaft as a flag to help you see how far the shaft has gone. Start by making a flow chart of your programming logic for making the program work. Hint: Don t forget to turn off the coils at the appropriate times. Also, don t forget that it will take a finite amount of time for the stepper to move from one point to another, and that it will move much slower than the computer can run through the program. You must insert some time delay in the appropriate places or the motor will not be able to keep up. If the motion is erratic or it appears that steps are being skipped, you either have the coils out of sequence or you need
4 to insert more time. You can insert time delay by using the Matlab command pause(t ) where t is the amount of time in seconds you want the program to wait before executing the next step. Hint: You will probably want to use a for loop for this task. The general form of your loop will be A = address; coil = A; for step = 1:100 digital_out(coil,1); pause(p); coil = coil + 1; if coil >= A+4; coil = A; % address is the output number for coil A % default step size is 1 unless you specify it otherwise %coil is the output address for thecurrent coil % p is the amount of time to pause between steps %resets coil back to A for the cycle % if statement % forward for loop OTE THAT THIS CODE WILL OT WORK AS IS BECAUSE WE EVER TUR OFF AY OF THE COILS. It is just given here to help you get started. Modify it to include turning off the correct coil at the appropriate time. Also note that the code above only counts up. You must add your own second loop or modify this one to make the motor go backwards to its starting point. Also note that there are multiple ways to do this and the one shown here is simple to understand but not particularly elegant. The whole business with the if statement can be eliminated by taking modulo 4 of count: coil = mod(count,4); You are certainly free to make other improvements to the program, but be sure to properly comment your code so the T/A s can understand it when they grade your lab. Program 2: Input from Keyboard For motion control, we want to be able to tell the motor when to stop and which direction to go from a program or perhaps from the keyboard. Let s use the keyboard as our input interface. Matlab can accept input from the keyboard via the command input( prompt ). Type help input for more information on this command. Modify your first program to prompt the user for a number between 100 and 100, and use this number to drive the motor that number of steps in the forward (n>0) or reverse directions, correspondingly. Hint: You can set up a for loop with a variable as the start point, the point or the step size for that matter. So, for example, it is permissible to write for j = P:Q:R %P, Q and R are integer variables. Q is the step size and can be negative do stuff; ote that P,Q, and R must have already been assigned values before you can call them in a loop like this.
5 Program 3: Scaling I/O In the real world, we deal in engineering units like millimeters and degrees, not in steps. Modify your program so the user is prompted to enter the number of degrees to move, with the limit between 170 and Insert a math statement to convert the input to a number of steps for your program. Demonstrate your program to one of the T/A s before going on. Save the code for your Lab Report. Program 4: Home Position ext, we want to see how to make our robot go to a specific point in space. To do this, we must have a reference position we call home or zero or the origin. For robots, this is usually called home. Use a rubber band or some tape or a dab of hot melt glue to fasten a Lego beam to your motor shaft so it sticks out like an arm. Set up the optical proximity sensor to detect when the of the beam is in the HOME position see the diagram below. The optical sensor is wired as follows: Red: +5V Black: 5V Ground Orange: Digital Input For best accuracy, Home should always be approached from the same direction, since the beam has finite thickness >0. Robots always find home as the first thing they do when they are powered up. Modify your program so when it first starts, the motor is driven slowly in the clockwise direction until the optical sensor turns on. When the sensor turns on, the robot should stop moving and set its position counter to zero. We will use the convention that positive is counterclockwise and negative is clockwise. Lego beam To digital input +5V Stepper motor Optical sensor emits a beam of IR light and detects it if it reflects from object Gnd F
6 End Y Start Find Home Position, disp( Ready ) Prompt for quit flag Wanna quit? Final Program ow synthesize everything you have learned into one complete position control program. The program should find home, then ask the user if they want to exit the program. If so,. If not, ask for an angle between o and move the arm to that position. It should then go back and prompt for exit again, ask for a new position and go there, and just keep doing this until the user gives the quit signal. Here is a general outline of what your program will look like. ote that each of these boxes has a significant amount of code inside. You should draw a more detailed flow chart for each of the major elements of the program. Demonstrate your program to the T/As before disassembling your setup. Get new position from Keyboard Hint: You can make your code more compact by using the concept of position error. You know your current position. When you read a new position command from the keyboard, compute the error: error = desired_angle current angle; Calculate error ow the error is a signed value that you can scale to give you the number of steps and the direction you need to go to get to the new commanded location. It can be used directly in your for loop in a number of ways. A simple one would be as the of the counter: Is error zero? Move motor to reduce error Calculate new error Y numsteps = floor(0.5 + abs(error)/3.6); % rounds to integer steps = numsteps*sign(error); % sets direction for count = 0:sign(error):steps Move the motor; %you figure this out You can do this in a simple, clunky way if you can t figure this out, but it s rewarding to write nice compact code when possible (and, it runs faster).
7 Lab Report Write a an introduction summarizing the operation of stepper motors and showing a schematic of how you are controlling yours using the digital outputs. Summarize each of the programs you have written. Describe the purpose of the program and briefly describe the strategy you used to solve the problem. Include formatted and commented source code for each program.
Motor Fundamentals. DC Motor
Motor Fundamentals Before we can examine the function of a drive, we must understand the basic operation of the motor. It is used to convert the electrical energy, supplied by the controller, to mechanical
More informationIntroduction to Linear Actuators: Precision Linear Motion Accomplished Easily and Economically
Introduction to Linear Actuators: Precision Linear Motion Accomplished Easily and Economically Part 1 of 2 When students are trained in classic mechanical engineering, they are taught to construct a system
More informationDIRECT CURRENT GENERATORS
DIRECT CURRENT GENERATORS Revision 12:50 14 Nov 05 INTRODUCTION A generator is a machine that converts mechanical energy into electrical energy by using the principle of magnetic induction. This principle
More informationTable 1 Comparison of DC, Uni-Polar and Bi-polar Stepper Motors
Electronics Exercise 3: Uni-Polar Stepper Motor Controller / Driver Mechatronics Instructional Laboratory Woodruff School of Mechanical Engineering Georgia Institute of Technology Lab Director: I. Charles
More informationDC Motor control Reversing
January 2013 DC Motor control Reversing and a "Rotor" which is the rotating part. Basically there are three types of DC Motor available: - Brushed Motor - Brushless Motor - Stepper Motor DC motors Electrical
More informationDC GENERATOR THEORY. LIST the three conditions necessary to induce a voltage into a conductor.
DC Generators DC generators are widely used to produce a DC voltage. The amount of voltage produced depends on a variety of factors. EO 1.5 LIST the three conditions necessary to induce a voltage into
More informationUsing the Motor Controller
The Motor Controller is designed to be a convenient tool for teachers and students who want to use math and science to make thing happen. Mathematical equations are the heart of math, science and technology,
More informationThe purposes of this experiment are to test Faraday's Law qualitatively and to test Lenz's Law.
260 17-1 I. THEORY EXPERIMENT 17 QUALITATIVE STUDY OF INDUCED EMF Along the extended central axis of a bar magnet, the magnetic field vector B r, on the side nearer the North pole, points away from this
More informationDrive circuit basics + V. τ e. Industrial Circuits Application Note. Winding resistance and inductance
ndustrial Circuits Application Note Drive circuit basics For a given size of a stepper motor, a limited space is available for the windings. n the process of optimizing a stepper motor drive system, an
More informationUnderstanding the Alternator
http://www.autoshop101.com THIS AUTOMOTIVE SERIES ON ALTERNATORS HAS BEEN DEVELOPED BY KEVIN R. SULLIVAN PROFESSOR OF AUTOMOTIVE TECHNOLOGY AT SKYLINE COLLEGE SAN BRUNO, CALIFORNIA ALL RIGHTS RESERVED
More informationSpeed Control Methods of Various Types of Speed Control Motors. Kazuya SHIRAHATA
Speed Control Methods of Various Types of Speed Control Motors Kazuya SHIRAHATA Oriental Motor Co., Ltd. offers a wide variety of speed control motors. Our speed control motor packages include the motor,
More informationPermanent Magnet Motor Kit, Magnetic Reed Type. (SKY-ReedMotorKit) Instructions
Permanent Magnet Motor Kit, Magnetic Reed Type (SKY-ReedMotorKit) Instructions This kit contains powerful permanent magnets. Exercise caution when handling them as they can pull on iron tools and snap
More informationStepper motor I/O. Application Note DK9222-0410-0014 Motion Control. A General information on stepper motors
Stepper motor Keywords Stepper motor Fieldbus Microstepping Encoder Phase current Travel distance control Speed interface KL2531 KL2541 Part A of this Application Example provides general information on
More informationExperiment 3: Magnetic Fields of a Bar Magnet and Helmholtz Coil
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics 8.02 Spring 2006 Experiment 3: Magnetic Fields of a Bar Magnet and Helmholtz Coil OBJECTIVES 1. To learn how to visualize magnetic field lines
More informationEquipment: Power Supply, DAI, Wound rotor induction motor (8231), Electrodynamometer (8960), timing belt.
Lab 13: Wound rotor induction motor. Objective: to examine the construction of a 3-phase wound rotor induction motor; to understand exciting current, synchronous speed and slip in this motor; to determine
More informationPhysics 41, Winter 1998 Lab 1 - The Current Balance. Theory
Physics 41, Winter 1998 Lab 1 - The Current Balance Theory Consider a point at a perpendicular distance d from a long straight wire carrying a current I as shown in figure 1. If the wire is very long compared
More information1. The diagram below represents magnetic lines of force within a region of space.
1. The diagram below represents magnetic lines of force within a region of space. 4. In which diagram below is the magnetic flux density at point P greatest? (1) (3) (2) (4) The magnetic field is strongest
More informationPrinciples of Adjustable Frequency Drives
What is an Adjustable Frequency Drive? An adjustable frequency drive is a system for controlling the speed of an AC motor by controlling the frequency of the power supplied to the motor. A basic adjustable
More informationExperiment 3: Magnetic Fields of a Bar Magnet and Helmholtz Coil
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics 8.02 Spring 2009 Experiment 3: Magnetic Fields of a Bar Magnet and Helmholtz Coil OBJECTIVES 1. To learn how to visualize magnetic field lines
More informationAC generator theory. Resources and methods for learning about these subjects (list a few here, in preparation for your research):
AC generator theory This worksheet and all related files are licensed under the Creative Commons Attribution License, version 1.0. To view a copy of this license, visit http://creativecommons.org/licenses/by/1.0/,
More informationCHAPTER 11: Flip Flops
CHAPTER 11: Flip Flops In this chapter, you will be building the part of the circuit that controls the command sequencing. The required circuit must operate the counter and the memory chip. When the teach
More informationWORKING WITH STEPPER MOTORS
19 WORKING WITH STEPPER MOTORS In past chapters we ve looked at powering robots using everyday continuous DC motors. DC motors are cheap, deliver a lot of torque for their size, and are easily adaptable
More informationLab 37: Magnetic Field ; Magnets - Drawing magnetic fields - Magnetic poles - Forces between magnets
Lab 37: Magnetic Field ; Magnets - Drawing magnetic fields - Magnetic poles - Forces between magnets 1) The following simple magnet configurations were shown to you in class - draw the magnetic field lines
More informationAN470 APPLICATION NOTE
AN470 APPLICATION NOTE THE L297 STEPPER MOTOR CONTROLLER The L297 integrates all the control circuitry required to control bipolar and unipolar stepper motors. Used with a dual bridge driver such as the
More informationMicro-Step Driving for Stepper Motors: A Case Study
Micro-Step Driving for Stepper Motors: A Case Study N. Sedaghati-Mokhtari Graduate Student, School of ECE, University of Tehran, Tehran, Iran n.sedaghati @ece.ut.ac.ir Abstract: In this paper, a case study
More informationServo Motors (SensorDAQ only) Evaluation copy. Vernier Digital Control Unit (DCU) LabQuest or LabPro power supply
Servo Motors (SensorDAQ only) Project 7 Servos are small, relatively inexpensive motors known for their ability to provide a large torque or turning force. They draw current proportional to the mechanical
More informationECEN 1400, Introduction to Analog and Digital Electronics
ECEN 1400, Introduction to Analog and Digital Electronics Lab 4: Power supply 1 INTRODUCTION This lab will span two lab periods. In this lab, you will create the power supply that transforms the AC wall
More informationSynchronous motor. Type. Non-excited motors
Synchronous motor A synchronous electric motor is an AC motor in which the rotation rate of the shaft is synchronized with the frequency of the AC supply current; the rotation period is exactly equal to
More informationMobile Robotics I: Lab 2 Dead Reckoning: Autonomous Locomotion Using Odometry
Mobile Robotics I: Lab 2 Dead Reckoning: Autonomous Locomotion Using Odometry CEENBoT Mobile Robotics Platform Laboratory Series CEENBoT v2.21 '324 Platform The Peter Kiewit Institute of Information Science
More informationSTEPPER MOTOR SPEED AND POSITION CONTROL
STEPPER MOTOR SPEED AND POSITION CONTROL Group 8: Subash Anigandla Hemanth Rachakonda Bala Subramanyam Yannam Sri Divya Krovvidi Instructor: Dr. Jens - Peter Kaps ECE 511 Microprocessors Fall Semester
More informationAmpere's Law. Introduction. times the current enclosed in that loop: Ampere's Law states that the line integral of B and dl over a closed path is 0
1 Ampere's Law Purpose: To investigate Ampere's Law by measuring how magnetic field varies over a closed path; to examine how magnetic field depends upon current. Apparatus: Solenoid and path integral
More informationMotors and Generators
Motors and Generators Electro-mechanical devices: convert electrical energy to mechanical motion/work and vice versa Operate on the coupling between currentcarrying conductors and magnetic fields Governed
More informationPhysics 112 Homework 5 (solutions) (2004 Fall) Solutions to Homework Questions 5
Solutions to Homework Questions 5 Chapt19, Problem-2: (a) Find the direction of the force on a proton (a positively charged particle) moving through the magnetic fields in Figure P19.2, as shown. (b) Repeat
More informationTERMINAL MARKINGS AND INTERNAL WIRING DIAGRAMS SINGLE PHASE AND POLYPHASE MOTORS MEETING NEMA STANDARDS
INTRODUCTION The following represents the most up-to-date information on motor terminal marking for proper connection to power source for all alternating current motors manufactured in accordance with
More informationInduction Motor Theory
PDHonline Course E176 (3 PDH) Induction Motor Theory Instructor: Jerry R. Bednarczyk, P.E. 2012 PDH Online PDH Center 5272 Meadow Estates Drive Fairfax, VA 22030-6658 Phone & Fax: 703-988-0088 www.pdhonline.org
More informationEquipment: Power Supply, DAI, Synchronous motor (8241), Electrodynamometer (8960), Tachometer, Timing belt.
Lab 9: Synchronous motor. Objective: to examine the design of a 3-phase synchronous motor; to learn how to connect it; to obtain its starting characteristic; to determine the full-load characteristic of
More informationC Standard AC Motors
C Standard AC Standard AC C-1 Overview, Product Series... C-2 Constant... C-9 C-21 C-113 Reversible C-147 Overview, Product Series Constant Reversible Electromagnetic Brake C-155 Electromagnetic Brake
More informationSimple Analysis for Brushless DC Motors Case Study: Razor Scooter Wheel Motor
Simple Analysis for Brushless DC Motors Case Study: Razor Scooter Wheel Motor At first glance, a brushless direct-current (BLDC) motor might seem more complicated than a permanent magnet brushed DC motor,
More informationLab 8: DC generators: shunt, series, and compounded.
Lab 8: DC generators: shunt, series, and compounded. Objective: to study the properties of DC generators under no-load and full-load conditions; to learn how to connect these generators; to obtain their
More informationThe Simple DC Motor: A Teacher s Guide
The Simple DC Motor: A Teacher s Guide Kristy Beauvais Research Experience for Teachers Center for Materails Science and Engineering Massachusetts Institute of Technology August 2003 Motor Design: Steven
More informationArduino Lesson 16. Stepper Motors
Arduino Lesson 16. Stepper Motors Created by Simon Monk Last updated on 2013-11-22 07:45:14 AM EST Guide Contents Guide Contents Overview Parts Part Qty Breadboard Layout Arduino Code Stepper Motors Other
More informationGLOLAB Two Wire Stepper Motor Positioner
Introduction A simple and inexpensive way to remotely rotate a display or object is with a positioner that uses a stepper motor to rotate it. The motor is driven by a circuit mounted near the motor and
More informationTopics to cover: 1. Structures and Drive Circuits 2. Equivalent Circuit. Introduction
Chapter 12. Brushless DC Motors Topics to cover: 1. Structures and Drive Circuits 2. Equivalent Circuit 3. Performance 4. Applications Introduction Conventional dc motors are highly efficient and their
More informationEquipment: Power Supply, DAI, Universal motor (8254), Electrodynamometer (8960), timing belt.
Lab 12: The universal motor. Objective: to examine the construction of the universal motor; to determine its no-load and full-load characteristics while operating on AC; to determine its no-load and full-load
More informationChen. Vibration Motor. Application note
Vibration Motor Application note Yangyi Chen April 4 th, 2013 1 Table of Contents Pages Executive Summary ---------------------------------------------------------------------------------------- 1 1. Table
More informationData Sheet. Adaptive Design ltd. Arduino Dual L6470 Stepper Motor Shield V1.0. 20 th November 2012. L6470 Stepper Motor Shield
Arduino Dual L6470 Stepper Motor Shield Data Sheet Adaptive Design ltd V1.0 20 th November 2012 Adaptive Design ltd. Page 1 General Description The Arduino stepper motor shield is based on L6470 microstepping
More informationSECTION 4 ELECTRIC MOTORS UNIT 17: TYPES OF ELECTRIC MOTORS
SECTION 4 ELECTRIC MOTORS UNIT 17: TYPES OF ELECTRIC MOTORS UNIT OBJECTIVES After studying this unit, the reader should be able to Describe the different types of open single-phase motors used to drive
More informationLab 3 - DC Circuits and Ohm s Law
Lab 3 DC Circuits and Ohm s Law L3-1 Name Date Partners Lab 3 - DC Circuits and Ohm s Law OBJECTIES To learn to apply the concept of potential difference (voltage) to explain the action of a battery in
More informationHow To Write A Project Report For A Senior Year Project
Senior Year Project Report Writing Guidelines Each student in the ECE-492 Senior Year Project class will be expected to hand in a project report on the day of presenting his/her work in front of a professor
More informationUnit 33 Three-Phase Motors
Unit 33 Three-Phase Motors Objectives: Discuss the operation of wound rotor motors. Discuss the operation of selsyn motors. Discuss the operation of synchronous motors. Determine the direction of rotation
More informationHow To Program An Nxt Mindstorms On A Computer Or Tablet Computer
NXT Generation Robotics Introductory Worksheets School of Computing University of Kent Copyright c 2010 University of Kent NXT Generation Robotics These worksheets are intended to provide an introduction
More informationMagnetic Fields and Their Effects
Name Date Time to Complete h m Partner Course/ Section / Grade Magnetic Fields and Their Effects This experiment is intended to give you some hands-on experience with the effects of, and in some cases
More informationBob Rathbone Computer Consultancy
Raspberry PI Stepper Motor Constructors Manual Bob Rathbone Computer Consultancy www.bobrathbone.com 20 th of December 2013 Bob Rathbone Raspberry PI Robotic Arm 1 Contents Introduction... 3 Raspberry
More informationElectronics and Soldering Notes
Electronics and Soldering Notes The Tools You ll Need While there are literally one hundred tools for soldering, testing, and fixing electronic circuits, you only need a few to make robot. These tools
More information3-Phase BLDC Motor Control with Hall Sensors Using 56800/E Digital Signal Controllers
Freescale Semiconductor Application Note AN1916 Rev. 2.0, 11/2005 3-Phase BLDC Motor Control with Hall Sensors Using 56800/E Digital Signal Controllers Leonard N. Elevich Contents 1. Application Benefits...1
More informationThe DC Motor/Generator Commutation Mystery. Commutation and Brushes. DC Machine Basics
The DC Motor/Generator Commutation Mystery One small, yet vital piece of the DC electric motor puzzle is the carbon brush. Using the correct carbon brush is a key component for outstanding motor life,
More informationTable of Contents Getting Started... 3 The Motors... 4 The Control Board... 5 Setting up the Computer with Mach3... 6 Starting up the Equipment...
User Manual Table of Contents Getting Started... 3 The Motors... 4 The Control Board... 5 Setting up the Computer with Mach3... 6 Starting up the Equipment... 12 G-Code Example... 13 2 Getting Started
More informationcs281: Introduction to Computer Systems Lab08 Interrupt Handling and Stepper Motor Controller
cs281: Introduction to Computer Systems Lab08 Interrupt Handling and Stepper Motor Controller Overview The objective of this lab is to introduce ourselves to the Arduino interrupt capabilities and to use
More informationInterference. Physics 102 Workshop #3. General Instructions
Interference Physics 102 Workshop #3 Name: Lab Partner(s): Instructor: Time of Workshop: General Instructions Workshop exercises are to be carried out in groups of three. One report per group is due by
More informationAND8008/D. Solid State Control Solutions for Three Phase 1 HP Motor APPLICATION NOTE
Solid State Control Solutions for Three Phase 1 HP Motor APPLICATION NOTE INTRODUCTION In all kinds of manufacturing, it is very common to have equipment that has three phase motors for doing different
More informationThe DC Motor. Physics 1051 Laboratory #5 The DC Motor
The DC Motor Physics 1051 Laboratory #5 The DC Motor Contents Part I: Objective Part II: Introduction Magnetic Force Right Hand Rule Force on a Loop Magnetic Dipole Moment Torque Part II: Predictions Force
More information*ADVANCED ELECTRIC GENERATOR & CONTROL FOR HIGH SPEED MICRO/MINI TURBINE BASED POWER SYSTEMS
*ADVANCED ELECTRIC GENERATOR & CONTROL FOR HIGH SPEED MICRO/MINI TURBINE BASED POWER SYSTEMS Jay Vaidya, President Electrodynamics Associates, Inc. 409 Eastbridge Drive, Oviedo, FL 32765 and Earl Gregory,
More informationEXPERIMENT O-6. Michelson Interferometer. Abstract. References. Pre-Lab
EXPERIMENT O-6 Michelson Interferometer Abstract A Michelson interferometer, constructed by the student, is used to measure the wavelength of He-Ne laser light and the index of refraction of a flat transparent
More informationHand Crank Generator (9 May 05) Converting a Portable Cordless Drill to a Hand Crank DC Generator
Converting a Portable Cordless Drill to a Hand Crank DC Generator The unit is light weight (2.5 lb), portable, low cost ($10-$20) and can be used to recharge single cell batteries at from 1-3.5 amps. It
More informationMDC151-024031 Series
MDC151-024031 Series 24V, 3A Brushless DC Controller User s Guide A N A H E I M A U T O M A T I O N 910 East Orangefair Lane, Anaheim, CA 92801 e-mail: info@anaheimautomation.com (714) 992-6990 fax: (714)
More informationServo Info and Centering
Info and Centering A servo is a mechanical motorized device that can be instructed to move the output shaft attached to a servo wheel or arm to a specified position. Inside the servo box is a DC motor
More informationDatasheet of the Easy Servo Drive ES-D808. 24-75VDC, 8.2A Peak, Close-loop, No Tuning. Version 0.1.0. http://www.leadshine.com
Datasheet of the Easy Servo Drive ES-D808 4-75VDC, 8.A Peak, Close-loop, No Tuning Version 0.1.0 http://www.leadshine.com Features Step and direction control Closed position loop for no loss of movement
More informationMagnetism. d. gives the direction of the force on a charge moving in a magnetic field. b. results in negative charges moving. clockwise.
Magnetism 1. An electron which moves with a speed of 3.0 10 4 m/s parallel to a uniform magnetic field of 0.40 T experiences a force of what magnitude? (e = 1.6 10 19 C) a. 4.8 10 14 N c. 2.2 10 24 N b.
More informationAN235 Application note
Application note Stepper motor driving By Thomas Hopkins Introduction Dedicated integrated circuits have dramatically simplified stepper motor driving. To apply these ICs, designers need little specific
More informationBluetooth + USB 16 Servo Controller [RKI-1005 & RKI-1205]
Bluetooth + USB 16 Servo Controller [RKI-1005 & RKI-1205] Users Manual Robokits India info@robokits.co.in http://www.robokitsworld.com Page 1 Bluetooth + USB 16 Servo Controller is used to control up to
More informationMagnets. Electromagnets. and. Thomas Jefferson National Accelerator Facility - Office of Science Education http://education.jlab.
Magnets and Electromagnets Magnets and Electromagnets Can you make a magnet from a nail, some batteries and some wire? Problems Can the strength of an electromagnet be changed by changing the voltage of
More informationELECTRODYNAMICS 05 AUGUST 2014
ELECTRODYNAMICS 05 AUGUST 2014 In this lesson we: Lesson Description Discuss the motor effect Discuss how generators and motors work. Summary The Motor Effect In order to realise the motor effect, the
More informationLinear DC Motors. 15.1 Magnetic Flux. 15.1.1 Permanent Bar Magnets
Linear DC Motors The purpose of this supplement is to present the basic material needed to understand the operation of simple DC motors. This is intended to be used as the reference material for the linear
More informationInteraction at a Distance
Interaction at a Distance Lesson Overview: Students come in contact with and use magnets every day. They often don t consider that there are different types of magnets and that they are made for different
More informationChapter 22: Electric motors and electromagnetic induction
Chapter 22: Electric motors and electromagnetic induction The motor effect movement from electricity When a current is passed through a wire placed in a magnetic field a force is produced which acts on
More informationMotor-CAD Software for Thermal Analysis of Electrical Motors - Links to Electromagnetic and Drive Simulation Models
Motor-CAD Software for Thermal Analysis of Electrical Motors - Links to Electromagnetic and Drive Simulation Models Dave Staton, Douglas Hawkins and Mircea Popescu Motor Design Ltd., Ellesmere, Shropshire,
More informationOdyssey of the Mind Technology Fair. Simple Electronics
Simple Electronics 1. Terms volts, amps, ohms, watts, positive, negative, AC, DC 2. Matching voltages a. Series vs. parallel 3. Battery capacity 4. Simple electronic circuit light bulb 5. Chose the right
More informationA Practical Guide to Free Energy Devices
A Practical Guide to Free Energy Devices Part PatD5: Last updated: 28th January 2006 Author: Patrick J. Kelly Please note that this is a re-worded excerpt from this patent. It describes a self-contained
More informationSYNCHRONOUS MACHINES
SYNCHRONOUS MACHINES The geometry of a synchronous machine is quite similar to that of the induction machine. The stator core and windings of a three-phase synchronous machine are practically identical
More informationYour Multimeter. The Arduino Uno 10/1/2012. Using Your Arduino, Breadboard and Multimeter. EAS 199A Fall 2012. Work in teams of two!
Using Your Arduino, Breadboard and Multimeter Work in teams of two! EAS 199A Fall 2012 pincer clips good for working with breadboard wiring (push these onto probes) Your Multimeter probes leads Turn knob
More informationJCUT CNC Router 3030A/6090/8090/1212/60150/1218/1224/1325/1530/A/B
JCUT CNC Router 3030A/6090/8090/1212/60150/1218/1224/1325/1530/A/B User s Operation Manual Jinan Jcut CNC Equipment Co., Ltd. Content Content... 1 Ⅰ. Introduction of wiring of CNC router.......2.2 Ⅱ.Install
More informationPreview of Period 16: Motors and Generators
Preview of Period 16: Motors and Generators 16.1 DC Electric Motors What causes the rotor of a motor to spin? 16.2 Simple DC Motors What causes a changing magnetic field in the simple coil motor? 16.3
More informationNorth Texas FLL Coaches' Clinics. Beginning Programming October 2014. Patrick R. Michaud pmichaud@pobox.com republicofpi.org
North Texas FLL Coaches' Clinics Beginning Programming October 2014 Patrick R. Michaud pmichaud@pobox.com republicofpi.org Goals Learn basics of Mindstorms programming Be able to accomplish some missions
More informationService and Maintenance. SEW-EURODRIVE Driving the world
SEW Brakes Service and Maintenance 2 Objectives Upon completion of this session, you will be able to do the following: - Identify the components of an SEW brakemotor - Explain the operation of the SEW
More informationLine Reactors and AC Drives
Line Reactors and AC Drives Rockwell Automation Mequon Wisconsin Quite often, line and load reactors are installed on AC drives without a solid understanding of why or what the positive and negative consequences
More informationDC generator theory. Resources and methods for learning about these subjects (list a few here, in preparation for your research):
DC generator theory This worksheet and all related files are licensed under the Creative Commons Attribution License, version 1.0. To view a copy of this license, visit http://creativecommons.org/licenses/by/1.0/,
More informationXS-3525/8S-3. Preliminary DataSheet Version 2.02
XS-3525/8S-3 Preliminary DataSheet Version 2.02 X The XS-3525/8S-3 microstepping stepper motor driver is the perfect choice for CNC retrofitting of desktop and small benchtop milling machines. Connect
More informationEV3 Programming. Overview for FLL Coaches. A very big high five to Tony Ayad
EV3 Programming Overview for FLL Coaches A very big high five to Tony Ayad 2013 Nature s Fury Coach Call Basic programming of the Mindstorm EV3 Robot People Introductions Deborah Kerr & Faridodin Lajvardi
More informationThe Charging System. Section 5. Charging System. Charging System. The charging system has two essential functions:
The Charging System Charging System The charging system has two essential functions: Generate electrical power to run the vehicle s electrical systems Generate current to recharge the vehicle s battery
More informationModeling and Simulation of a Novel Switched Reluctance Motor Drive System with Power Factor Improvement
American Journal of Applied Sciences 3 (1): 1649-1654, 2006 ISSN 1546-9239 2006 Science Publications Modeling and Simulation of a Novel Switched Reluctance Motor Drive System with Power Factor Improvement
More informationHow to Turn an AC Induction Motor Into a DC Motor (A Matter of Perspective) Steve Bowling Application Segments Engineer Microchip Technology, Inc.
1 How to Turn an AC Induction Motor Into a DC Motor (A Matter of Perspective) Steve Bowling Application Segments Engineer Microchip Technology, Inc. The territory of high-performance motor control has
More informationAC Induction Motor Slip What It Is And How To Minimize It
AC Induction Motor Slip What It Is And How To Minimize It Mauri Peltola, ABB Oy, Helsinki, Finland The alternating current (AC) induction motor is often referred to as the workhorse of the industry because
More informationDigital Systems Based on Principles and Applications of Electrical Engineering/Rizzoni (McGraw Hill
Digital Systems Based on Principles and Applications of Electrical Engineering/Rizzoni (McGraw Hill Objectives: Analyze the operation of sequential logic circuits. Understand the operation of digital counters.
More informationElectric Landing Gear controllers and sequencer LGC12 / LGC 13C
Electric Landing Gear controllers and sequencer LGC12 / LGC 13C Users Guide. Torrent d en Puig, 31. 08358, Arenys de Munt, Barcelona,Catalonia,Spain E-mail: info@xicoy.com. Fax: +34 933 969 743 web: www.xicoy.com
More informationResistance, Ohm s Law, and the Temperature of a Light Bulb Filament
Resistance, Ohm s Law, and the Temperature of a Light Bulb Filament Name Partner Date Introduction Carbon resistors are the kind typically used in wiring circuits. They are made from a small cylinder of
More informationExperiment 6: Magnetic Force on a Current Carrying Wire
Chapter 8 Experiment 6: Magnetic Force on a Current Carrying Wire 8.1 Introduction Maricourt (1269) is credited with some of the original work in magnetism. He identified the magnetic force centers of
More informationChapter 7. Magnetism and Electromagnetism ISU EE. C.Y. Lee
Chapter 7 Magnetism and Electromagnetism Objectives Explain the principles of the magnetic field Explain the principles of electromagnetism Describe the principle of operation for several types of electromagnetic
More information10 tips for servos and steppers a simple guide
10 tips for servos and steppers a simple guide What are the basic application differences between servos and steppers? Where would you choose one over the other? This short 10 point guide, offers a simple
More informationDesign and Analysis of Switched Reluctance Motors
Design and Analysis of Switched Reluctance Motors İbrahim ŞENGÖR, Abdullah POLAT, and Lale T. ERGENE Electrical and Electronic Faculty, İstanbul Technical University, 34469, Istanbul, TURKEY sengoribrahim@gmail.com,
More informationPRO PLM Installation Instructions
PRO PLM Installation Instructions PROFESSIONAL INSTALLATION STRONGLY RECOMMENDED Installation Precautions: Roll down window to avoid locking keys in vehicle during installation Avoid mounting components
More information