ELECTRONICS 10

STEPPER & SERVO MOTORS

Quarter 4 : Module 2
LEARNING OBJECTIVES
Describe the kind of motors to be
used in constructing the robot.
•Stepper motor
•Servo motor
ACTIVITY 1: SEE THIS!

DIRECTIONS:
IN THIS ACTIVITY, WE
WILL DO A PICTURE
ANALYSIS OF A CAR
FACTORY LOCATED IN
JAPAN. ANSWER THE
GUIDE QUESTIONS
BELOW.
GUIDE QUESTIONS:
1. What is the function of the robotic arm?

2. Can you locate any

people on the factory floor
while this is happening?

3. Why do you think so?

What do you think are the
advantages of using
robots in factories?
MOTORS
❑ are working devices that
convert electrical energy into
mechanical motion enabling
robots to move, manipulate
objects or perform tasks.
❑ they are essential for
controlling robotic arms,
wheels, legs and other
moving parts.
TYPES OF MOTORS
1. DC Motors – common for simple
motion control, used in wheels
and small robots
2. Servo Motors – provide precise
control over position and speed,
often used in robotic arms
3. Stepper Motors – move in
discrete steps for accurate
positioning
4. Brushless Motor – more efficient
and durable than DC motors
often found in drones and
advanced robots.
STEPPER
MOTORS
 are devices that are powered by the
motion of alternating currents to create
rotational motion and positioning.

STEPPER this is useful to control accurate and

MOTORS specific movements where holding a
position is expected.

These are fitted into robots that perform

certain types of tasks like packaging
goods, 3D printing, and other
movements that are done in repetition
 Use permanent magnets on their rotors
that can be controlled in discrete
intervals by energizing the stator field

STEPPER It needs a controller or drive to

MOTORS function.

Steppers typically have a 1.8O index of

rotation, meaning that for every pulse
the shaft moves and rotates at an
angle of 1.8O (200 steps per revolution)
Types of Stepper Motor
- 2 phase and 5 phase
FIGURE 5: INTERNAL STRUCTURE OF STEPPER MOTOR
1. STATOR - represents
the
electromagnetic
coils which remains
stationary

2. ROTOR – represents
the permanent
magnet which
rotates
HOW DOES IT WORK
• Its working principle is Electromagnetism
- it includes a rotor which is made of
permanent magnet whereas the stator is with
electromagnets. Once the supply is provided to
the winding of the stator, the magnetic field will
developed within the stator. Now the rotor in the
motor will start to move with the rotating
magnetic field of the stator.
How it rotates:
1. Electromagnetic coils – stepper
motor has multiple coils arrange in
phase. They are energized in
sequence
2. Magnetic Rotor – its either
permanent magnet of a soft iron
core that aligns with the
energized stator coils
3. Stepwise Rotation – as the coils
are energized in sequence the
rotor aligns with the changing
magnetic field causing it to “step”
forward
4. Controlled by a driver – driver
sends pulses to control the speed
and direction of rotation.
HOW DOES IT WORK
 Permanent Magnet (PM) Stepper
Motor: Uses a permanent magnet
as the rotor and moves as coils are
energized.

TYPES OF Variable Reluctance (VR)

Stepper Motor: Has a rotor with
STEPPER multiple teeth that align with the
MOTORS stator's magnetic field.

Hybrid Stepper Motor:

Combines features of PM and
VR motors for better precision
and torque.
ADVANTAGES OF STEPPER MOTOR

✔ Precise Control – Can move to exact

positions without feedback systems.
✔ Open-Loop Operation – No need for
sensors, reducing cost and complexity.
✔ High Torque at Low Speeds – Works
well in applications that require slow
movement with force
DISADVANTAGES OF STEPPER MOTOR
✖ Power Consumption – Even when
stationary, stepper motors consume
power.
✖ Loss of Steps – If overloaded, the
motor can skip steps without
detection.
✖ Lower Speed & Efficiency – Not as
fast or efficient as some other motor
types like servo motors.
 APPLICATIONS
Industrial machines (Computer numerical control (CNC)
machines, milling machines, laser cutters)
Computer Technology (CD-ROMs, DVD players, floppy
disk drives, scanners)
Printing technology (printers, plotters, 3D printers), and

Intelligent lightning systems (lasers, optical devices, mirror

mounts).
 MILLING MACHINES

CNC MACHINES LASER CUTTER

CD ROOMS FLOPPY DISK DRIVES

DVD CDROOMS
3D PRINTERS MACHINES
Who invented the stepper motor?

• Frank W. Wood in a couple of patents filed

between 1912 and 1918. Here's the 1918-filed
design (officially patented on March 7, 1922),
titled "Art of producing step-by-step movements,"
which uses an outer ring of five magnets
(energized in various combinations) to make a
pair of inner magnets and a shaft rotate.

• In Wood's own words, his gadget produces

"step-by-step movements to a rotable element...
provided by the resultant action of a plurality of
magnetic circuits."
 SERVO
MOTORS
SERVO MOTORS

• A servo motor is defined as an electric motor

that provides precise control of angular or
linear position, speed, and torque using a
feedback loop system.

• Can be driven by an alternating (AC) or a

direct current (DC)to make a rotational
motion and positioning.
Control Systems :
It utilizes advanced control systems like PID and
fuzzy logic to adjust movement according to input
and feedback signals for optimal performance

Feedback Mechanism:
Effective use of sensors such as potentiometers and
encoders helps in precise monitoring and
adjustments of motor positions, speeds, or torques.
INTERNAL STRUCTURE OF SERVO MOTOR
 A servo motor consists of three main components:

MOTOR SENSOR CONTROLLER

Can be either an analog

Can be either DC Can be a or a digital circuit that
or AC depending potentiometer, compares the feedback
on power source. encoder, resolver signals from the sensor
Provides or any device that with the desired setpoint
mechanical signals from an external
measures position, source (such as a
power to rotate or speed or torque computer or a joystick)
move the output of the output shaft and generates control
shaft and send signal to signals to adjust the
the controller motor’s voltage or
current accordingly.
 ADVANTAGES IN USING SERVO MOTORS
• High Efficiency: Servo motors are known for their high
efficiency. They can approach 90% efficiency at light
loads
• High Output Power: Relative to their size and weight,
servo motors provide high output power.
• High Torque to Inertia Ratio: Servo motors can rapidly
accelerate loads due to their high torque to inertia
ratio
• Precise Motion: Servo motors are precisely engineered
and manufactured to work optimally with high-
resolution feedback devices, providing precise control
over position, speed, and velocity
APPLICATIONS /USES
1. Robotics: Servo motors are used to provide precise motion and
force for robotic arms, legs, joints, grippers, etc. They enable robots
to perform tasks such as picking, placing, welding, assembling, etc.
2. CNC machinery: Servo motors are used to drive the axes of CNC
machines such as lathes, mills, routers, etc. They enable CNC
machines to perform accurate and complex machining
operations such as cutting, drilling, engraving, etc.
3. Automated manufacturing: Servo motors are used to control the
movement and position of various components and devices in
automated manufacturing systems, such as conveyors, feeders,
loaders, unloaders, etc. They enable automated manufacturing
systems to achieve high productivity and quality.
4. Medical equipment: Servo motors are used to operate various
medical devices and instruments such as surgical robots, scanners,
pumps, ventilators, etc. They enable medical equipment to
perform precise and safe operations and treatments.
LET’S PRACTICE
ACTIVITY 1: I am the one!
Directions: If the sentence describes a stepper
motor, write the number “0”, but if the statement
describes a servo motor, then write the number “1”.
1 = Servo motors 0 = Stepper motors

____ 1) They are devices powered by the motion of

alternating currents to create rotational motion and
positioning.
____ 2) Powerful, accurate, small, easily
programmable, and precise redundant motion are
words that would describe it.
____ 3) These motors can be fitted into robots that perform
certain types of tasks like packaging goods, 3D printing, and
other movements that are done in repetition.
____ 4) These are motors that use permanent magnets on
their rotors that can be controlled in discrete intervals by
energizing the stator.
____ 5) It uses a feedback loop to control the radial position
of the motor rotor concerning its stator and utilized in
motion control applications.
____ 6) They are used in positioning applications where
smooth, controllable motion is expected like in the case of
an industrial robot.
____ 7) They typically have an index of 1.8 of rotation for
every 0 step and it can be operated by microcontrollers.
____ 8) A robot programmed in packaging boxes might use
this motor to carefully package the boxes with plastic film
within a specified zone inside the factory.
____ 9) These are motors that offer an inexpensive way of
copying movements, but they lack sensors for data
feedback.
____ 10) Robotic welding in high tech factories utilizes this
type of motors that are mounted in every joint of a robotic
welding arm.
Activity 2- Directions: Read the following devices and
classify which of them uses a stepper motor or a servo
motor.
1) Computer numerical counter (CNC) machines
2) Laser cutters
3) Defense applications
4) Optical devices
5) Weather satellite receivers
6) Mirror mounts
7) Bomb disposal robots
8) Robotic arm of the International space station
9) DVD players
10) Milling machines