Permanent Magnet Stepper Motors
Introduction
There are two types of permanent magnet stepper motors. namely, those are unipolar stepper and bipolar stepper. in unipolar stepper has center tap every windings it has at its stator.
Figure 1: Bipolar stepper
Figure 2: Unipolar stepper
There are two types of operation mode in stepper motors, those are known as full step and half step.
Control stepper motor
To rotate stepper motor in either direction, it has to be energized its windings sequentially. as mention about mode of operation has the different sequences, however half stepper mode has the intermediate state in between full step sequence.
1. Bipolar Stepper Motor controlling(sequencing phases for rotation )
Figure 3: Biploar stepper motor connection of stator windings
1.1 full step mode.
Figure 4: Bipolar stepper motor full step sequence.
Clockwise
|
Anti-Clockwise
| |||||||
A
|
1
|
0
|
0
|
0
|
0
|
0
|
0
|
1
|
B
|
0
|
1
|
0
|
0
|
0
|
0
|
1
|
0
|
A_bar
|
0
|
0
|
1
|
0
|
0
|
1
|
0
|
0
|
B_bar
|
0
|
0
|
0
|
1
|
1
|
0
|
0
|
0
|
Table 1: bipolar stepper full step sequence
1.2 half step mode
.
Figure 5: Bipolar stepper motor half step sequence.
Clockwise
|
Anti-Clockwise
| ||||||||||||||
A
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
1
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
B
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
A_bar
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
B_bar
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
Table 2: Bipolar stepper half step sequence
2 Unipolar stepper motor control.
Figure 6: Unipolar stepper motor wiring arrangement
2.1 full step mode for unipolar stepper motor.
Clockwise
|
Anti-Clockwise
| |||||||
A1
|
1
|
0
|
0
|
0
|
0
|
0
|
0
|
1
|
B1
|
0
|
1
|
0
|
0
|
0
|
0
|
1
|
0
|
A2
|
0
|
0
|
1
|
0
|
0
|
1
|
0
|
0
|
B2
|
0
|
0
|
0
|
1
|
1
|
0
|
0
|
0
|
G1
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
G2
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
Table 3: Full step mode for unipolar stepper
2.2 half step mode for unipolar stepper motor.
Clockwise
|
Anti-Clockwise
| ||||||||||||||||
A1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
B1
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
A2
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
B2
|
0
|
0
|
0
|
0
|
0
|
1
|
1
|
1
|
0
|
1
|
1
|
1
|
0
|
0
|
0
|
0
|
0
|
G1
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
G2
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
Table 4: Half step mode for unipolar stepper
