applications of ppi stepper motors- d/a - a/d - temperature sensor
TRANSCRIPT
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Applications of PPI
Stepper Motors - D/A - A/D - Temperature Sensor
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Stepper Motors
• More accurately controlled than a normal motor
allowing fractional turns or n revolutions to be
easily done
• Lower speed, and lower torque than a comparable
D.C. motor
• useful for precise positioning for robotics• Servomotors require a position feedback signal for
control
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Stepper Motor DiagramRotor Alignment
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Stepper Motor Step AnglesSPR: Steps per Revolution SA: Step Angle (degree)
500 0.72
200 1.8
180 2
144 2.5
72 5
48 7.5
24 15
SASPR
360 SPS: Steps per second
SPS = (RPM * SPR) /60
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Stepper Motor Types
– Variable Reluctance
– Permanent Magnet
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Variable Reluctance Motors
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Variable Reluctance Motors
• This is usually a four wire motor – the common wire goes to the +ve supply and the windings are stepped through
• The current example is a 30o motor• The rotor has 4 poles and the stator has 6
poles• Example
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Transient StateStable State
0
30
60
50
25
75
1
43
2
5 6
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Variable Reluctance Motors
• To rotate we excite the 3 windings in sequence–W1 – 1 0 0 1 0 0 1 0 0 1 0 0 1
001001001001 –W2 – 0 1 0 0 1 0 0 1 0 0 1 0 0
100100100100 –W3 – 0 0 1 0 0 1 0 0 1 0 0 1 0
010010010010• 0 30 60 90 120 150 180 210 240 270 300 330 360 30
• This gives two full revolutions
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Unipolar Motors
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Half Cycle Stepping
105
75
45
150
90
60
30
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Full Cycle Stepping
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Unipolar Motors (Full)
• To rotate we excite the 2 windings in sequence–W1a – 1 0 0 0 1 0 0 0 1 0 0 0
1000100010001 –W1b – 0 0 1 0 0 0 1 0 0 0 1 0
0010001000100 –W2a – 0 1 0 0 0 1 0 0 0 1 0 0
0100010001000–W2b – 0 0 0 1 0 0 0 1 0 0 0 1
0001000100010 – 0 30 60 90 120 150 180 210 240 270 300 330 360
• This gives two full revolutions
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Basic Actuation Wave Forms
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Unipolar Motors (Half)
• The two sequences are not the same, so by combining the two you can produce half stepping–W1a – 1 1 0 0 0 0 0 1 1 1
0000011100000111 –W1b – 0 0 0 1 1 1 0 0 0 0
0111000001110000 –W2a – 0 1 1 1 0 0 0 0 0 1
1100000111000001 –W2b – 0 0 0 0 0 1 1 1 0 0
0001110000011100 – 0 15 30 45 60 75 90 105 120 145 150
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Enhanced Waveforms (Full)
• better torque• more precise control
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Unipolar Motors (Enhanced Full)
• To rotate we excite the 2 windings in sequence–W1a - 1100110011001100110011001 –W1b - 0011001100110011001100110 –W2a - 0110011001100110011001100 –W2b - 1001100110011001100110011
• This gives two full revolutions at 1.4 times greater torque but twice the power
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Motor Control Circuits• For low current options the ULN200x
family of Darlington Arrays will drive the windings direct.
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Interfacing to Stepper Motors
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8255 Control Word
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Example (Enhanced Full)
Required Sequence: 1100 – 0110 – 0011 - 1001
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Digital to Analog Converter
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Example – Step Ramp
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Analog to Digital
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Vin Range
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Timing
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Interfacing ADC
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Example
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Temperature Sensor
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Printer Connection
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IO Base Address for LPT
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Printer’s Ports
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8255 Mode Definition Summary
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Mode 0
• Provides simple input and output operations for each of the three ports. – No “handshaking” is required, data is simply
written to or read from a specified port.– Two 8-bit ports and two 4-bit ports.– Any port can be input or output.– Outputs are latched.– Inputs are not latched
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• Mode 1 Basic functional Definitions:– Two Groups (Group A and Group B).– Each group has one 8-bit data port and one 4-bit control/data port.– The 8-bit data port can be either input or output. Both inputs and outputs are latched.– The 4-bit port is used for control and status of the 8-bit data port.
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8255 mode 1 (output)
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Mode 1 – Control Signals
• Output Control Signal Definition– OBF (Output Buffer Full F/F). (C7 for A, C1 for B)
• The OBF output will go “low” to indicate that the CPU has written data out to the specified port.– A signal to the device that there is data to be read.
– ACK (Acknowledge Input). (C6 for A, C2 for B)• A “low” on this input informs the 8255 that the data from Port A
or Port B has been accepted. – A response from the peripheral device indicating that it has read the
data.– INTR (Interrupt Request). (C3 for A, C0 for B)
• A “high” on this output can be used to interrupt the CPU when an output device has accepted data transmitted by the CPU.
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Timing diagram for mode1(output)
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8255 mode 1 (input)
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Mode 1 – Control Signals
• Input Control Signal Definition– STB (Strobe Input). (C4 for A, C2 for B)
• A “low” on this input loads data into the input latch.– IBF (Input Buffer Full F/F) (C5 for A, C1 for B)
• A “high” on this output indicates that the data has been loaded into the input latch; in essence, an acknowledgement from the 8255 to the device.
– INTR (Interrupt Request) (C3 for A, C0 for B)• A “high” on this output can be used to interrupt the CPU when an
input device is requesting service.
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Timing diagram for mode1(input)
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• MODE 2 Basic Functional Definitions:– Used in Group A only.– One 8-bit, bi-directional bus port (Port A) and a 5-bit control port (Port C).– Both inputs and outputs are latched.– The 5-bit control port (Port C) is used for control and status for the 8-bit, bi-directional bus
port (Port A).
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Mode 2• Output Operations
– OBF (Output Buffer Full). The OBF output will go low to indicate that the CPU has written data out to port A.
– ACK (Acknowledge). A low on this input enables the tri-state output buffer of Port A to send out the data. Otherwise, the output buffer will be in the high impedance state.
• Input Operations– STB (Strobe Input). A low on this input loads data
into the input latch.– IBF (Input Buffer Full F/F). A high on this output
indicates that data has been loaded into the input latch.
Pin Function
PC7 /OBF
PC6 /ACK
PC5 IBF
PC4 /STB
PC3 INTR
PC2 I/O
PC1 I/O
PC0 I/O
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