Stepper Motor Interfacing
Embedded System Design 14EC2029
Dr. S. Paul Sathiyan
KITS | EEE | VER 1.1 | AY 2018 2019
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Stepper Motor Control: L298 Motor Driver & AVR Microcontroller, Slides of Embedded Systems
Information on interfacing a stepper motor with an l298 motor driver and an avr microcontroller. It covers the theory of stepper motor operation, advantages, and control using the l298 driver. The document also includes a schematic layout and c code for controlling the motor.
What you will learn
- What is the theory of operation for stepper motors?
- What are the advantages of using a stepper motor?
- How to write C code for stepper motor control using the L298 motor driver?
- What is the role of the AVR microcontroller in stepper motor control?
- How to control a stepper motor using an L298 motor driver?
Typology: Slides
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Stepper Motor Interfacing
Embedded System Design 14EC
Dr. S. Paul Sathiyan
KITS | EEE | VER 1.1 | AY 2018 2019
Agenda
- Stepper Motor Control Theory
- L298 Motor Driver
- Schematic Layout
- C Code
Stepper Motor Control Theory
Advantages of Stepper Motor:
- The rotation angle of the motor is proportional to the input pulse.
- The motor has full torque at standstill.
- Precise positioning and repeatability of movement since good stepper motors have an accuracy of 3 – 5 %
of a step and this error is non cumulative from one step to the next.
- Excellent response to starting, stopping and reversing.
- Very reliable since there are no contact brushes in the motor. Therefore the life of the motor is simply
dependent on the life of the bearing.
- The motors response to digital input pulses provides open-loop control, making the motor simpler and
less costly to control.
- It is possible to achieve very low speed synchronous rotation with a load that is directly coupled to the
shaft.
- A wide range of rotational speeds can be realized as the speed is proportional to the frequency of t
Stepper Motor Control Theory
- A bipolar stepper motor : the opposing coils are wired in parallel and therefore the device
has just four terminals.
- The motor must be driven using circuitry that can drive current through each pair of coils in
either direction.
- This is achieved using an H-Bridge driver for each coil – this can be most easily implemented
using bridge driver ICs such as the L 298 or L 6201 / 2 / 3 for which behavioral simulator
models are also provided.
H/W Configurations
- Direction Control Switch is connected to PortB DO and D 1 bits
- Phase A of stepper motor is connected to OUT 1 and OUT 2 of L 298
- Phase B of stepper motor is connected to OUT 3 and OUT 4 of L 298
- IN 1 of L 298 is connected to PORTA Bit 1 (D 1 )
- IN 2 of L 298 is connected to PORTA, Bit 2 (D 2 )
- IN 3 of L 298 is connected to PORTA, Bit 5 (D 5 )
- IN 4 of L 298 is connected to PORTA, Bit 6 (D 6 )
- ENA and ENB is connected to + 5 V
Schematic Layout
PE0/RXD0/PDI
2
PE1/TXD0/PDO
3
PE2/XCK0/AIN
4
PE3/OC3A/AIN
5
PE4/OC3B/INT
6
PE5/OC3C/INT
7
PE6/T3/INT
8
PE7/ICP3/INT
9
PB0/SS
10
PB1/SCK
11
PB2/MOSI
12
PB3/MISO
13
PB4/OC
14
PB5/OC1A
15
PB6/OC1B
16
PB7/OC2/OC1C
17
PG3/TOSC
18
PG4/TOSC
19
RESET
20
XTAL
23
XTAL
24
PD0/SCL/INT
25
PD1/SDA/INT
26
PD2/RXD1/INT
27
PD3/TXD1/INT
28
PD4/ICP
29
PD5/XCK
30
PD6/T
31
PD7/T
32
PG0/WR
33
PG1/RD
34
PC0/A
35
PC1/A
36
PC2/A
37
PC3/A
38
PC4/A
39
PC5/A
40
PC6/A
41
PC7/A
42
PG2/ALE
43
PA7/AD
44
PA6/AD
45
PA5/AD
46
PA4/AD
47
PA3/AD
48
PA2/AD
49
PA1/AD
50
PA0/AD
51
PF7/ADC7/TDI
54
PF6/ADC6/TDO
55
PF5/ADC5/TMS
56
PF4/ADC4/TCK
57
PF3/ADC
58
PF2/ADC
59
PF1/ADC
60
PF0/ADC
61
AREF
62
AVCC
64 PEN
1
ATMEGA
IN
5
IN
7
ENA
6
OUT
2
OUT
3
ENB
11 OUT
13
OUT
14
IN
10
IN
12
SENSA
1
SENSB
15 GND
8
VS
4
VCC
9 U
L
D
LED-BLUE
REVERSE
D
LED-GREEN
FORWARD
B
12V
A
B
C
D
+88.
C Code – Stepper Motor Control
if(PINB==0b11111110) / /Forward
PORTA|=(1<<1); // Set the First (D1) bit of Port A
_delay_ms(100);
PORTA&=~(1<<1); // Clear the First (D1) bit of Port A
PORTA|=(1<<2); // Set the Second (D2) bit of Port A
_delay_ms(100);
PORTA&=~(1<<2); // Clear the Second (D2) bit of Port A
PORTA=(1<<5); // Set the Fifth (D5) bit of Port A
_delay_ms(100);
PORTA&=~(1<<5); // Clear the Fifth (D5) bit of Port A
PORTA|=(1<<6); // Set the Sixth (D6) bit of Port A
_delay_ms(100);
PORTA&=~(1<<6); // Clear the Sixth (D6) bit of Port A
C Code – Stepper Motor Control
if(PINB==0b11111101) / /Reverse
// PORTA=0b11000100;
PORTA|=(1<<6); // Set the Sixth (D6) bit of Port A
_delay_ms(100);
PORTA&=~(1<<6); // Clear the Sixth (D6) bit of Port A
PORTA|=(1<<5); // Set the Fifth (D5) bit of Port A
_delay_ms(100);
PORTA&=~(1<<5); // Clear the Fifth (D5) bit of Port A
PORTA|=(1<<2); // Set the Second (D2) bit of Port A
_delay_ms(100);
PORTA&=~(1<<2); // Clear the Second (D2) bit of Port A
PORTA|=(1<<1); // Set the First (D1) bit of Port A
_delay_ms(100);
PORTA&=~(1<<1); // Clear the First (D1) bit of Port A
else
PORTA=0;
_delay_ms(1);
return 0;