Page 807 - Mechatronics with Experiments

LABORATORY EXPERIMENTS 793

FIGURE 11.30: Picture of the complete circuit for the stepper motor control experiment.

Procedure
1. Assemble the circuit as shown in the circuit diagram.
2. Compile and run the code to rotate the stepper with a pre-specified speed and number
of steps.
3. Change the stepping direction.
4. Change the status of the stepping-mode input signal to switch between Full and Half
Step modes. Experiment and compare the difference in the motion between Full and
Half Step modes. Note the difference for your lab report.
5. While holding a position in Full Step mode and in Half Step mode, test the holding
torque magnitude with your hand by trying to move the shaft. Verify the difference
in the holding torque magnitude between Full Step mode and Half Mode.