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week 5 - asic Stepping Op eration Load Torque Range for...

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B asic Stepping Op eration Load Torque Range for Forward rr al$t! 1 fiel.ronce Toqeø Tu( o î-> (D rs, i¿ ã rg'aL 29
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þl l,rs ,4 ? +5i L Sz e,-/g -- tå. u?\ Jþsak*' wf 9N a¿t-? I (r¡ ir t1 S -rr Õ-0 + +) uts g-S Q.f-7 t t'b€ {, \-= - àt -l d- Ðr -l o-À G) l.t o: - (å. t -r7rä) r"rS ËÉ rrN + å- t + pct-7 I : ) rr\s
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Derivation of Advance Torque o Start with r" = - +, u{t,,^(# o,*). û,,^l#(r,*. î)l *i',,,^l#(t,* î)]Ì Te \r-phore = ¿, s,n(GÍi 3 Te\t- ph¡¡Ç Ð = sr\(RrQn -T) 30
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HalÊStep Operation ar¡ù ¿t Þ ---___-ì___.- -e.tf b! "a AS +As*et¡ÐC': ê¿frrcrrC€ {u1e e a' (3'lo fcd. þr¡tt Ct .\Jùs ttf.q rã> Cs { 6} bs 31 b:
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Driving VR Stepper Motor o Common solution i.¿o + nalb€ -- vo¡ lar ' V¿" log. *"?"t"ì:i;' 32
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Driving VR Stepper o Typicalwaveforms 1V ¿l Ê¡ r t (r ¡ c, t it lr o J 33
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Driving VR Stepper o Better (but more expensive) solution + Ìo¡., V¿. \o¿c Tr¡o t ¡au.rì s\o¡ t ot< s-ìlchcs r'¡\trio\ aol ìo scl\c¡ O V4 * l¿ a + Vo[ t V^91V¿ t Vor.- =c) V", = -Vol..-}'fo\ ( Uoì\ st^"tt\es oçÊ) Va¡
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Driving VR Stepper ..Typical waveforms g (1 I t, 6 35
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Example o Consider a multistack VR
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