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Motor Drive Module

MC05

Learning Material

Ver 2.1

Designed & Manufactured by:

141-A, Electronic Complex, Pardesipura, Indore- 452 010 India, Tel.: 91-731- 4211500,

Tele-fax: 91-731-4202959, Toll free: 1800-103-5050, E-mail: [email protected]

Website: www.nvistech.com
mailto:[email protected]://www.nvistech.com/http://www.nvistech.com/mailto:[email protected]

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Nvis Technologies Pvt. Ltd. 2

Motor Drive Module

MC05

Table of Contents

1. Introduction 3

2. Features 4

3. Technical Specifications 5

4. Pin Configuration of Connectors 6

5. Stepper Motor 7

Experiment 1 9To study & observe direction control of Stepper Motor using NV500X

series Microcontroller Development Platform

Experiment 2 10To study & implement Stepper Motor angle control using NV500X series

Microcontroller Development Platform

6. DC Motor 11

Experiment 3 12

To study & observe direction control of DC Motor using NV500X seriesMicrocontroller Development Platform

Experiment 4 14To study & implement speed control of DC Motor using PWM method

using NV500X series Microcontroller Development Platform

7. Servo Motor 15

Experiment 5 19To study & observe position control of Servo Motor using NV500X series


8. Warranty 20

9. List of Service Centers 21

10. List of Accessories 22

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Introduction

MC05 Motor Drive Module for Microcontroller Development Platform is an Extension module. The

module has been designed to have a clear understanding of how motors are interfaced and controlled

with microcontroller. The Motor drive module is made in such a way that student can understand the

whole concepts of steeper motor, DC motor and Servo motor.

The object is to connect and program a microcontroller to do any operation with motors. Motor Drive

module, MC05 has input and output terminals for connection of external real world applications.

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Features

Steeper motor interface & control

DC motor interface & control

Servo motor interface & control

Expansion connectors for plug in with Microcontroller Unit and prototyping area

Every pin is marked in order to make work easier

Input/Output & test points provided on board

Learning Material

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Technical Specifications

Stepper Motor : +5V DC

DC Motor : +12V DC

Servo Motor : +5V DC

Power Supply : From NV500X seriesMicrocontroller

Development Platform

Interface : 20 pin FRC Cable &

Patch Cords

Dimension (mm) : W 255 X D 155 X H 80

Weight : 660 gm. (Approx.)

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Pin Configuration of Connectors

Stepper Motor Interface Block Connector Details:

Pin1&2 is A

Pin3&4 is B

Pin5&6 is C

Pin7&8 is D

Pin9&10 is SW1

Pin11&12 is SW2

Pin17&18 is VCC

Pin19&20 is GND

Remaining pins are not connected or used in the module.

DC Motor/ PWM Interface Block Connector Details:

Pin1&2 is Enable

Pin3&4 is I/P1

Pin5&6 is I/P2

Pin7&8 is Direction control switch

Pin9&10 is PWM switch

Pin17&18 is VCC

Pin19&20 is GND


Servo Motor Interface Block Connector Details:

Pin1&2 is Input pin of servo motor

Pin3&4 is Position control switch

Pin17&18 is VCC

Pin19&20 is GND


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Stepper Motor

A stepper motor can be viewed as a synchronous DC motor with the number of poles (on both rotor and

stator) increased, taking care that they have no common denominator. Additionally, soft magnetic

material with many teeth on the rotor and stator cheaply multiplies the number of poles (reluctance

motor). Modern steppers are of hybrid design, having both permanent magnets and soft iron cores.

A stepper motor is a brushless, synchronous electric motor that can divide a full rotation into a large

number of steps, for example, 200 steps. When commutated electronically, the motor's position can be

controlled precisely, without any feedback mechanism (see open loop control).

A stepper motor's design is virtually identical to that of a low-speed synchronous AC motor. In that

application, the motor is driven with two phase AC, one phase usually derived through a phase shifting

capacitor. Another similar motor is the switched reluctance motor, which is a very large stepping motor

with a reduced pole count, and generally closed-loop commutated.

A normal DC motor is commutated internally and generates torque when a voltage is impressed across

its two terminals. Stepper motors, on the other hand, have multiple winding phases, typically two but

could be three or five, which require external commutation. The number of terminals, or wires going to

the motor, varies depending on its internal circuit and the number of winding phases, but is typically

four or more.

The motor stator features multiple "toothed" electromagnet poles. Having the poles toothed greatly

increases the effective number of magnetic poles in the motor. The rotor is also toothed, and is

magnetically polarized through reluctance or contains permanent magnets. To make the rotor turn one

full step, the current in one of the winding phases is reversed (which one will determine the direction).To move the rotor continuously, the winding phases are reversed alternately.

If we consider a two phase stepper motor, the net effect of activating each winding is to produce a

torque that draws the rotor teeth into a position between two stator poles. When a stator pole's polarity

is switched, a rotor pole moves into a new equilibrium position on the other side of an unswitched

stator pole. Each of those slight rotations is called a full step.

There are two basic winding arrangements for the electromagnetic coils in a two phase stepper motor:

bipolar and unipolar.

Unipolar Motor:A unipolar stepper motor has logically two windings per phase, one for each direction of current. Since

in this arrangement a magnetic pole can be reversed without switching the direction of current, the

commutation circuit can be made very simple (eg. a single transistor) for each winding. Typically,given a phase, one end of each winding is made common: giving three leads per phase and six leads for

a typical two phase motor. Often, these two phase commons are internally joined, so the motor has only

five leads.

A microcontroller or stepper motor controller can be used to activate the drive transistors in the right

order, and this ease of operation makes unipolar motors popular with hobbyists; they are probably the

cheapest way to get precise angular movements.

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(For the experimenter, one way to distinguish common wire from a coil-end wire is by measuring the

resistance. Resistance between common wire and coil-end wire is always half of what it is between

coil-end and coil-end wires. This is due to the fact that there is actually twice the length of coil between

the ends and only half from center (common wire) to the end.)

A six lead unipolar motor may be driven by a bipolar driver. In this case, one of the windings on each

phase is wasted as it never carries current.

Bipolar Motor:

Bipolar motors have logically a single winding per phase. The current in a winding needs to be reversedin order to reverse a magnetic pole, so the driving circuit must be more complicated, typically with an

H-bridge arrangement. There are two leads per phase, none are common.

Because windings are better utilised, they are more powerful than a unipolar motor of the same weight.

Stepper motor performance is strongly dependent on the drive circuit. Torque curves may be extended

to greater speeds if the stator poles can be reversed more quickly, the limiting factor being the winding

inductance. To overcome the inductance and switch the windings quickly, one must increase the drive

voltage. This leads further to the necessity of limiting the current that these high voltages may

otherwise induce.

Full Step Drive (Two Phases On):

This is the usual method for full step driving the motor. Both phases are always on. The motor willhave full rated torque.

Half Stepping:When half stepping, the drive alternates between two phases on and a single phase on. This increases

the angular resolution, but the motor also has less torque at the half step position (where only a single

phase is on). This may be mitigated by increasing the current in the active winding to compensate. The

advantage of half stepping is that the drive electronics need not change to support it.

How it works:The control sequence for rotating the motor is shown in the table given below. The respective windings

should be made high according to the sequence given in the table and the controller very well executes

this function.

Clockwise Rotation:Step L1 L2 L3 L4

1 1 0 1 0

2 0 1 1 0

3 0 1 0 1

4 1 0 0 1

Anti Clock Wise Rotation:

Step L1 L2 L3 L4

1 1 0 0 1

2 0 1 0 1

3 0 1 1 0

4 1 0 1 0The above shown sequence is in full step mode.

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Experiment 1

Objective:To study & observe direction control of Steeper Motor using NV500X series Microcontroller

Development Platform

Apparatus Required:

NV500X series Microcontroller Development Platform with SMPS Supply

MC05 Motor Drive Module 20 Pin FRC Cable

Procedure:

1. Program the Microcontroller with Stepper Motor Direction Control.hex file. For programming

procedure details refer NV500X manual.

2. Connect 20 Pin FRC cable between Motor Drive Module (MC05) & Port of NV500X series

Microcontroller Development Platform as mentioned in respective programs. Also refer readme

file in code folder.

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Experiment 2

Objective:To study & implement Steeper Motor angle control using NV500X series Microcontroller Development

Platform

Apparatus Required:


MC05 Motor Drive Module

20 Pin FRC Cable

Procedure:

1. Program the Microcontroller with Stepper Motor Angle Control.hex file. For programming





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DC Motor

A motor is a machine that converts electrical energy into mechanical energy (rotation). The key

elements of DC motor are field winding and an armature winding. As electric currents flow through the

windings, torque is developed between these two windings.

In the DC motor we have only + andleads. By reversing the polarity, the DC motor will move in the

opposite direction. While a stepper motor moves in steps of 1 to 15 degree, DC motor moves

continuously.

The maximum speed of DC motor is indicated in rpm and is given in the datasheets of motor.

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Experiment 3

Objective:To study & observe direction control of DC Motor using NV500X series Microcontroller Development

Platform

Apparatus Required:



20 Pin FRC Cable

2 mm Patch Cord

Procedure:

1. Program the Microcontroller with DC Motor Direction Control.hex file. For programming





3. Make the circuit as mentioned in respective programs.

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Pulse width Modulation (PWM)

The speed of the motor depends on three factors load, voltage and current. For a given fixed load we

can maintain a steady speed by using a method called Pulse code modulation (PWM). By changing

(modulating) the width of the pulse applied to the DC motor we can increase or decrease the amount of

power provided to the motor, thereby increasing or decreasing the motor speed. Notice that, although

the voltage has fixed amplitude, it has a variable duty cycle. That means the wider the pulse, the higher

the speed. Fig shows some PWM comparisons.

Connection Diagram:

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Experiment 4

Objective:To study & implement speed control of DC Motor using PWM method using NV500X series


Apparatus Required:



20 Pin FRC Cable

2 mm Patch Cord

Procedure:

1. Program the Microcontroller with DC Motor PWM Switch.hex file. For programming





3. Make the circuit as mentioned in respective programs.

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Servo Motor

Servos are DC motors with built in gearing and feedback control loop circuitry. And no motor drivers

required

A Servo is a small device that has an output shaft. This shaft can be positioned to specific angular

positions by sending the servo a coded signal. As long as the coded signal exists on the input line, the

servo will maintain the angular position of the shaft. As the coded signal changes, the angular position

of the shaft changes. In practice, servos are used in radio controlled airplanes to position control

surfaces like the elevators and rudders. They are also used in radio controlled cars, puppets, and ofcourse, robots.

Servos are extremely useful in robotics. The motors are small, as you can see by the picture above, have

built in control circuitry, and are extremely powerful for their size. A standard servo such as the Futaba

S-148 has 42 oz/inches of torque, which is pretty strong for its size. It also draws power proportional to

the mechanical load. A lightly loaded servo, therefore, doesn't consume much energy. The guts of a

servo motor are shown in the picture below. You can see the control circuitry, the motor, a set of gears,

and the case. You can also see the 3 wires that connect to the outside world. One is for power (+5volts),

ground, and the white wire is the control wire.

How it works:The servo motor has some control circuits and a potentiometer (a variable resistor, a pot) that is

connected to the output shaft. In the picture above, the pot can be seen on the right side of the circuitboard. This pot allows the control circuitry to monitor the current angle of the servo motor. If the shaft

is at the correct angle, then the motor shuts off. If the circuit finds that the angle is not correct, it will

turn the motor the correct direction until the angle is correct. The output shaft of the servo is capable of

traveling somewhere around 180 degrees. Usually, its somewhere in the 210 degree range, but it varies

by manufacturer. A normal servo is used to control an angular motion of between 0 and 180 degrees. A

normal servo is mechanically not capable of turning any farther due to a mechanical stop built on to the

main output gear.

The amount of power applied to the motor is proportional to the distance it needs to travel. So, if the

shaft needs to turn a large distance, the motor will run at full speed. If it needs to turn only a small

amount, the motor will run at a slower speed. This is called proportional control.

How do you communicate the angle at which the servo should turn? The control wire is used tocommunicate the angle. The angle is determined by the duration of a pulse that is applied to the control

wire. This is called Pulse Coded Modulation. The servo expects to see a pulse every 20 milliseconds

(.02 seconds). The length of the pulse will determine how far the motor turns. A 1.5 millisecond pulse,

for example, will make the motor turn to the 90 degree position (often called the neutral position). If the

pulse is shorter than 1.5 ms, then the motor will turn the shaft to closer to 0 degrees. If the pulse is

longer than 1.5ms, the shaft turns closer to 180 degrees.

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DC servo motors are normally used as prime movers in computers, numerically controlled machinery,

or other applications where starts and stops are made quickly and accurately. Servo motors have

lightweight, low-inertia armatures that respond quickly to excitation-voltage changes. In addition, very

low armature inductance in these servo motors results in a low electrical time constant (typically 0.05

to 1.5 m sec) that further sharpens servo motor response to command signals. Servo motors includepermanent-magnetic, printed-circuit, and moving-coil (or shell) dc servo motors. The rotor of a shell dc

servo motor consists of a cylindrical shell of copper or aluminum wire coils which rotate in a magnetic

field in the annular space between magnetic pole pieces and a stationary iron core. The servo motor

features a field, which is provided by cast AlNiCo magnets whose magnetic axis is radial. Servo motors

usually have two, four, or six poles.

DC servo motor characteristics include inertia, physical shape, costs, shaft resonance, shaft

configuration, speed, and weight. Although these dc servo motors have similar torque ratings, their

physical and electrical constants vary.

DC Servo Motor Selection The first selection approach is to choose a servo motor large enough for a

machine that has already been designed; the second is to select the best available servo motor with a

specific feature and then build the system around it; and the third is to study servo motor performanceand system requirements and mate the two.

The final servo motor system design is usually the least sophisticated that meets the performance

specifications reliably. Servo motor requirements may include control of acceleration, velocity, and

position to very close tolerances. This says that the servo designer must define the system carefully,

establish the servo motor's performance specifications, determine critical areas, and set up tolerances.

Only then will the designer be able to propose an adequate servo system and choose a servo motor type.

Servos -vs. - Stepper - How are they different?Stepper motors are permanent magnetic motors that 'step' one increment each time the computer gives

its control electronics one pulse. They don't require position feed back if run within their limits. When

stopped they inherently hold their position.

Servo motors are standard DC or brushless motors with an encoder feedback loop. The computer reads

the position of the motor and controls the power applied to the motor.

Stepper motors generally are just as accurate as servos and are simpler and more reliable and

maintenance free in harsh dusty applications. The servomotor's encoder is susceptible to dirt and

vibration causing problems.

Servo's are faster moving point to point and are better at accelerating very heavy machinery, but their

higher maintenance should be a factor in deciding which to go with. Our stepper motor system can be

just as fast as or faster than many servo systems because of the control's software's algorithms.

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Many companies that sell servo controls try to run steppers down. They don't know how good a

properly made stepper motor system can be! Our stepper systems never loose steps and can run for

days with perfect repeatability. A servo system with dust on the encoder will loose steps.

Motion

CharacteristicsServo Motors Stepper Motors

High Torque,

Low Speed

Can be considered if cost/ complexity

are not an issue.

Continuous duty applications

requiring high torque & low speed

High Torque and

high speed

(>2000 rpm)

Continuous duty applications require

high torque and high speed. A DC

servomotor can deliver greater

continuous shaft power at high speeds

compared to steppers. High speed up

to 12000 rpm is possible. AC servo

motors can handle higher current

surges compared to DC servos. You

can get lot stronger AC servo

compared to either DC servo or DC

stepper.

If speeds are less than 2000 rpm

stepper may be economical.

Stepper becomes bulky at high

torque.

Short, Rapid

Repetitive Moves

Use servo if you need high dynamic

requirements.

Stepper will offer more economic

solution when requirements are

more modest.

Positioning

Applications

Servo can handle effectively when

load is mostly inertia instead of

friction. The ability to overdrive servo

motor in intermittent duty allows a

smaller motor to be used. If

positioning is critical in micron level

use servo

Use stepper motor if torque is

lower than 500 oz-in, less 2000

rpm, low to medium acceleration

rates.

Applications inHazardous

Environments

Use brushless servo motor Use step motor.

Low Speed, High

SmoothnessUse DC servo Use micro stepping

Control Method Closed loopPreferred to be used in open loop

applications

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Experiment 5

Objective:To study & observe position control of Servo Motor using NV500X Microcontroller Development

platform

Apparatus Required:



20 Pin FRC Cable

Procedure:

1. Program the Microcontroller with Servo Motor Interface.hex file. For programming procedure

details refer NV500X manual.




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Warranty

1) We guarantee the product against all manufacturing defects for 24 months from the date of sale by

us or through our dealers. Consumables like dry cell etc. are not covered under warranty.

2) The guarantee will become void, if

a) The product is not operated as per the instruction given in the learning material

b) The agreed payment terms and other conditions of sale are not followed.

c) The customer resells the instrument to another party.

d) Any attempt is made to service and modify the instrument.

3) The non-working of the product is to be communicated to us immediately giving full details of the

complaints and defects noticed specifically mentioning the type, serial number of the product and

date of purchase etc.

4) The repair work will be carried out, provided the product is dispatched securely packed and insured.

The transportation charges shall be borne by the customer.

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List of Service Center

BarodaFlat No. A/1, Mudra Complex,Behind Sudha Hotel, Ellora Park,

Baroda-390023 (Gujarat)

Tel: +91-0265-3089505

Fax : +91- 0265-3089506

email : [email protected]

GuwahatiAvijit Roy Building, A.K. DevRoad, Fatashil Ambari, Near

jalaram Mandir,Guwahati-25 Assam

Mobile: 09435144068

email: [email protected]

Indore94, Electronic Complex,Pardesipura, Indore-452 010

Tel: 91-731-2570301/02,4211100,

Fax: 91-731-2555643

E-mail: [email protected]

New DelhiFirst Floor, C-19, F.I.E.,

Patparganj Industrial Area,

Delhi-110092 (INDIA)

Ph: 011- 22157370, 22157371,

Fax: +91-011-22157369


Bangalore202/19,4th Main Street,

Ganganagar,

Bangalore - 560032

Ph.: +91-080-41285011

T.Fax: +91-080-41285022


KolkataAC-101, Prafullla Kanan, Near

Kestopur Bus Stop, Krishnapur,

Kolkata- 700059 (West Bengal)

Tel: +91 33-65266800

Mob: 9433029888


MumbaiE Type, Bldg No. 5/1/3, Sector

1,Vashi, Navi Mumbai-400703

Ph: +91-022-27826616,

65266616


JaipurFlat No. G-2, S-101, Bhagat

Vatika North, Civil Lines,Jaipur - 302006 (Raj.)

Mobile: 097998-10236

email:[email protected]

LucknowFirst Floor, 279/54/20/A,

Chuhar Singh Colony,Pan Dariba, Lucknow (U.P.)

Mobile: 09918670737


HyderabadPlot No. 24, Flat no. 203,

Laxmi Residency, ChandragiriHousing Society, Trimulgherry

Secunderabad- 500015.

Ph:040-27740147,9247712763


Cochin/KochiC/o Pragalbha Valsan,

Poriyamadathil house, ABMSLane, Asoka Road, Near

Mathrubhumi, Kaloor, Kochi -682 017 Ph: 0484-2409441


Chandigarh201, 2nd floor KMB Hospitality

Services, SCO 19, Near KabirPetrol Pump, Ambala-Zirakpur

Highway Zirakpur, Mohali

140603, Ph.: 0172-6530329


Pune105/106, 1st floor, Ajinkyatara,

GaneshMala, Sinhgad Road,

Pune - 411030

Ph.: +91-020-24254244/55

Fax: +91-020-24254244


ChennaiFlat C, 1st Floor, Old No. 49

New No. 64, Bajanai Koil

Street, Sriram Nagar Extention,

Pallipattu, Chennai-600113

Tel: 044-43514212, 43514213


OrissaPlot No-67 (1st Flr) Aerodrom

Area,Vimpur mouza Near

Vimpur Primary School

Bhubaneswar- 751020

Mobile: 09238307873

mailto:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]

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List of Accessories

1. Patch Cords .. .....................................................1 No.

2. Learning Material CD.............1 No.

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