Motors

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Step motors (also known as stepping motors) are first used for the remote control of direction indicators for torpedo tubes and cannons in British war English and, later, for similar purposes in the United States Navy. A type of variable reluctance motor was patented for the first time in 1919, by C. L. Walker, a Scottish civil engineer; however, its commercial production did not begin until 1950.

These engines are used in some robots in the smallest and middle of the industrial range and with teaching and hobby robots. They are also widely used in other industrial applications and have the advantages that they do not necessarily require a feedback system and the associated costs. However, it is compatible with many feedback devices, if this is required, and is used in full servo control configurations in medium duty industrial robots. Since these are digital control motors, you do not need the additional cost of digital conversion of equipment when they are connected to a computer control system. Normally, the motor flange rotates incrementally in equal steps in response to a programmed input pulse train. As the rotor indexes a specific amount for each control pulse, any positioning error is non-cumulative. To know the final position of the rotor, all that is required to count the number of pulses transmitted to the phase winding of the stator coil. The number of pulses per unit of time determined the speed of the motor. The rotor can be made to index slowly, pausing after each increment, or it can move quickly generating a continuous movement called "spinning" (until it reaches a constant speed of rotation).

The maximum dynamic torque in a step motor occurs with low pulse frequencies. Therefore, you can simply accelerate a load. Once the required position has been reached and the command pulses are finished, the arrow is maintained without the need for clutches or brakes. The rotation moments or the actual pitch angles of the arrow can be obtained from 8 ° to 90 °, depending on the selection of the motor. Thus, with a nominal pitch angle of 1.8 °, a current of 1000 pulses give an angular displacement of 1800 ° or five full revolutions. They also have a low speed capability without the need for gear reduction.