Motor Peripheral Input/Output

Types of motors:

• Stepper Motors (long life, high torque, hold exact position without feedback, but need drivers, and are low speed and efficiency, medium cost)
• DC Motors (high efficiency, strong, fast, low cost, cheap drivers but provide lower torque at low speeds, often requiring gearing of some sort, can't hold position or speed unless part of a servo. Short life)
• BLDC Brush Less DC Motors (Efficient, fast, strong at speed, low cost, long life, but require special drivers, low resolution position control possible, generally low torque; need gearing)
• Universal (AC/DC) Motors. By removing the magnets, and using a second "field" winding instead, these motors can be used with either AC or DC power.
• Servo "Motors" are really a system with a controller, position encoders, and driver along with any type of motor; Stepper, DC, AC, etc.... (can be very strong, fast and efficient, but need gearing, sensors, complex control, and tuning to avoid oscillation and achieve good position control, higher cost)

Methods:

• Motion Control Methods and
  Microcontroller based Motion Controllers (RAMPs/Marlin, GRBL, etc...)
• PID Control
• Torque: Measuring and Torque Units Conversions
• Speed / torque regulation
• Tachometer, RPM Sensors
• Over-Current
• Position Encoders - Quadrature
• Relays
• PWM ... vs Switched continuous power
• H-Bridges +
• The BOB

Also:

• Gears, Mechanical power transmission, torque, ratio, drive train +
• PIC Microcontoller Input / Output Methods for DC Perminant Magnet Motors
• Easy Vision Systems : "Think about this: Would you rather pay for high precision bearings, drive trains, and encoders for each joint in an arm, or pay for two high precision servos for a tiny little eye that will track the end point of the arm?"

Motors from:

• CD ROM Drives
• Powered Assist for Bicycles

Hey, don't power the motor from the regulated supply that is running your processor... use the unregulated DC and connect the controller to the motor via a semiconductor like a transistor, mosfet, etc...

Start Simple

Lance Allen says

[Ed: Rather than relays or H-Bridges or PIDs in many cases you can drive a moter with a..] N channel LOGIC LEVEL mosfet such as RFD14N05L or even up to BUZ101L ( good for 29 amps). They are cheaper than a relay [ed: or anything else] and dont need another drive transistor.

The Mosfet connects the gate directly to the [uProcessor or control curcuit], the source to 0 volts and the drain to the motor -ve, motor +ve goes to +5volts. You will need a reverse biased diode across the motor for back EMF suppression, such as 1N4004

EMF detection

When the motor stops rotating it'll stop making back EMF and the voltage across it will drop. You can use an op amp as a comparator.

Rewinding motors for higher RPM: fewer winding turns of larger diameter wire = more current = higher RPM

See also:

• http://home.clear.net.nz/pages/joecolquitt/0hdd.html Driving a Hard Drive motor with a PIC
• "The Motor Handbook" by Bob Boucher from www.astroflight.com online
• http://www.rcgroups.com/forums/showthread.php?s=&threadid=127606&tgt=post modifying a CDROM motor for use in RC aircraft.
• http://www.compumotor.com/catalog_eng_ref.htm
• http://www.tinaja.com - Flutter wumpers
• http://www.infosite.com/%7Ejkeyzer/piclist/1999/Sep/0256.html
• http://www.infosite.com/%7Ejkeyzer/piclist/1999/Sep/0612.html
• http://www.kt.rim.or.jp/~suu/PalmRobo/PiloRobo_e.shtml
• http://www.allegromicro.com/control/prodsel1.htm
• http://www.inconnect.com/~dennis/osmc/
• http://www.semodeler.com/
• http://beam-online.com/Robots/Tutorials/Pager/pager.html removing the counter weight from pager motors.
• http://real.uwaterloo.ca/~robot/ HEXPLORER 2000 - A Six-Legged Walking Robot. Lots of motor control info.
• http://real.uwaterloo.ca/~robot/Mc_sw.html Motor control module
• http://real.uwaterloo.ca/~robot/reports/00_Final_Report_3B.pdf PIC C PID motor control and Leg movement command API software.
• H-Bridge
• Motor controller chips
  • http://www.rohm.com/products/databook/motor/pdf/ two very cheap, common and good motor driver chips, the BA6209 and BA6219. These are the same size as L293 and are good for 1.2A and 2.0A respectively. They have direction/speed control with two input pins. Speed control is analogue. They are about $1.50 to $2 US if you shop around.
• Suppliers
  • http://www.solarbotics.com/products1.shtml
  • http://www.micromo.com
  • http://www.tokyoparts.co.jp

Archive:

• PICList post "TRIPLE DC MOTOR CONTROL"

Phil Says:

an addition to -->'motor control chips'
LM628 and LM629 high precision motion control IC's. Apt for control by a uC. expensive, ~$30.

for h-bridges
LM18201 National Semiconductor single package, 3A 55V h-bridge. ~$8.

See also:

• https://mjbots.com/ Lost cost, powerful, BLDC motor controller. Open Source.+
• https://hackaday.io/project/39494-pcb-motor PCB Motor+
• https://youtu.be/ZKodxGcRSnw Wiring common AC appliance motors.+
• http://vedder.se/2015/01/vesc-open-source-esc/ Open source ESC.+
• steppers.htm Hardware Peripheral Input/Output - Stepper Motors

Questions:

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