e Stepping(stepper) motor control table Step index pbc Pb2 Pb3 Full wave 1 0011=0x03 stepping 2 0110=0x06 11030 1001=0x09 Half wave 1 0001=0x01 stepping 2 0011=0x03 0010=0x02 000 000 0110=0z06 0100=0x04 1100=0x0C 1000=0x08 1001=0x09 foie a sterming motor excitation seience
CEG2400 Ch16: feedback control V7f 11 Stepping (stepper)motor control table •
Control method comparisons Excitation method Advantages Disadvantages Full step Shorter sequence Oscillate, relatively unstable Higher torque Easy to slip steps when excitation time step is too short: slower rotation speed limit Half step Longer sequence Smooth rotation, relative stable Lower torqu le Higher rotation speed limit table 7 2 The relative advantages and disadvantages are shown below CEG2400 Ch16: feedback control Vlf
CEG2400 Ch16: feedback control V7f 12 Control method comparisons
Use of stepping motor Positional control of robot range scanner. Ultrasonic Radar system obstacle on a rotational platform Transmitter IR Distance sensor Receiver CEG2400 Ch16: feedback control 13 Vlf
CEG2400 Ch16: feedback control V7f 13 Use of stepping motor • Positional control of robot range scanner. Ultrasonic Radar system on a rotational platform obstacle Transmitter Receiver IR Distance sensor
Stepping motor(stepper in our robot Infrared(IR) distnace Sensor stepper or setting the angular positioning of an inferred (IR)distance sensor stepper Operation: Photo First at initialization the interrupter LED emitter stepper will be adjusted to sensor the reference position(0 degree the plate is blocking the photo interrupter gap) Then it can be rotated to e The photo degrees with respect to the interrupter reference 0 degree CEG2400 Ch16: feed back control
Stepping motor (stepper) in our robot • For setting the angular positioning of an inferred (IR) distance sensor • Operation: – First, at initialization, the stepper will be adjusted to the reference position (0 degree, the plate is blocking the Photo interrupter gap). – Then, it can be rotated to t degrees (with respect to the reference 0 degree) CEG2400 Ch16: feedback control V7f 14 Infrared (IR) distnace Sensor, stepper stepper Photo interrupter LED emitter & sensor t The photo interrupter
Other usage Robot building, micro mouse CEG2400 Ch16: feedback control 15 Vlf
CEG2400 Ch16: feedback control V7f 15 Other usage • Robot building, micro mouse