DE2164715C3 - 03/30/71 Japan 18899-71 Method for controlling an electric multiphase stepper motor and circuit arrangement for carrying out the method - Google Patents

Description

The invention relates to a method for

14; POR, NOR) is inserted, consisting of a control of an electrical multiphase step the command impulses emitted by the control unit motor, the rotor of which in partial steps by counting (CW, CCW) M number system counter (3), subsequent simultaneous activation of the same of the at each / i-th command pulse (CW, CCW) or different excitation states in several one pulse (PP, NP) is generated, one is moved on the windings of the stator, the partial counter connected pulse generator (12) for 40 steps between the Number of phases Generation of command pulse modulated signals and teeth per phase with certain step positions with constant period and different pulse ~

wide and for the generation of forward and backward pulses (VPP, VNP) by using the command pulse modulated signals, also one to the counter and to the pulse areas, and to a circuit arrangement for carrying out the method. Such a method is known from US Pat. No. 3,445,741.

From the magazine Maschinenmarkt, Würzburg, vol. 70, (1964) No. 75, pages 96-98 and 119-122 a method is known for controlling an electric multiphase stepper motor driving a mechanical system, whose runner by

generator connected gate circuit (POR, NOR), which the excitation control circuit (4) the pulses (PP, NP) as well as the forward and reverse

upward pulses (VPP, VNP) supplies (Fig. 1 50 subsequent activation of the excitation states, the A- (I). by the number of phases and the number of

3. Circuit arrangement for performing the method according to claim 1 with a plurality simultaneously to be excited windings of the crotch pages 13 to 18 described.

If you want to enable very small step sizes, you can, for example, use reducing gears increase the number of steps of the stepper motor and

Teeth correspond to certain step positions per phase, is moved step by step. A stepper motor that is suitable for this method is in the time motor controlling stepper motor drive circuit, 55 script control technology, 1st year (1968), no
Control device, characterized in that between the numerical control device (1)
and the stepper motor drive circuit (PDA) reduce its step length. Due to the play, the pacer unit (18, 20, 21, 22) is inserted, the gears in the transmission, however, result from one of the inaccuracies from the control unit. and at high speed, command pulses (CIf, CCW) are given counting the response sensitivity due to the demand counter (18), a pulse generator (22) for Er- samurig and this backlash of the gears poor, generation of command pulse modulated signals 65 Furthermore, the number of steps by increasing the (Pl, P 2, ... PlO) with constant period and number of phases of the stepper motor. Such a different pulse width, a decoder (20) connected to the counter to increase the number of phases of the stepping motor (18) for decoding is associated with great difficulties because the

Pole number must be increased while maintaining the mechanical accuracy. Also is this causes a substantial increase in cost, since the number of phases increases, so too does the number of Excitation control circuits increases

A third possibility is to achieve a higher number of steps by controlling the current of the neighboring excitation phases of the stepping motor. Such a process has become known from US Pat. No. 3,445,741. Intermediate steps compared to the step positions given by the number of phases and the number of teeth can be achieved by exciting neighboring stator windings once during the same excitation phase in order to generate a resulting magnetic field vector, and by making the windings differently excited. Due to the different levels of excitation, further intermediate positions of the magnetic field vector and thus of the stepper motor can be reached. Further intermediate positions can be set by exciting the adjacent stator windings with equally strong excitation of all simultaneously excited windings. The different excitation currents are achieved by switching on different resistors that are connected in series with the excitation windings. Or even two windings are used, which are switched on individually or together. The row widths provided in both cases; However, stalls bring with them considerable power losses, so that the efficiency of the stepper motor is reduced and the temperature is increased due to the heat generation. In addition, only a relatively small number of intermediate steps between the main steps specified by the number of phases and the number of teeth can be achieved with a reasonable effort.

From US-PS 33 34 547 and GB-PS 11 83 830 it is known a stepping motor with high speed and reduced vibration by bringing it into a new position that with the help of Delay circuits when a command pulse occurs from a forward, a reverse and a forward rotation excitation cycle is run through again. The reverse rotation excitation however, it is only used to brake that which is accelerated in the direction of rotation by the forward rotation excitation Rotor, while the second forward rotation excitation a back swing of the strong braking the backward rotation excitation should avoid the exposed part of the rotor. The reverse rotation excitation causes no real reverse rotation of the stepper motor, but only its braking, and thus with this known method do not set intermediate positions of the stepper motor between the by the The number of phases and the number of teeth are given in the main steps.

The object of the invention is to make available a method of the type mentioned at the beginning the intermediate steps between the number of phases and the number of teeth given in a simple manner Main steps of a stepper motor can be taken, with an increase in power loss and thus a reduction in efficiency \ should be avoided.

This task is carried out with a method of taxation an electric multiphase stepper motor of the type mentioned according to the invention solved by the fact that the excitation states result in a sequence of alternating forward and backward steps is generated during the entire time interval between two command pulses, where the switch-on times of the excitation states determining the forward and backward steps are in a fixed ratio to each other during a time interval, which occurs after each further incremental pulse step by step by changing that

ίο numerator and denominator each by the same amount is changed with the opposite sign.

It is therefore possible with the method according to the invention that is achieved by the construction of the stepping motor to subdivide given main steps into intermediate steps and thus a more precise positioning For example, to achieve a machining tool driven by the stepping motor. The intermediate steps can be made as small as you want without difficulty. Since none Ballast resistors are required in order to differently strong excitations for different phases achieve, no additional power losses are caused by the method according to the invention, so that a high efficiency is maintained, which is a smaller and thus with the same torque cheaper stepper motor means.

A circuit arrangement for carrying out the method according to the invention with a plurality of simultaneously to be excited windings of the stepping motor selecting exciter control circuit, wherein the selection is made depending on command pulses supplied by a numerical control unit, is characterized in that between the numerical control device and the excitation control circuit for A pacer unit is inserted into the windings, consisting of one emitted by the control unit Number system counter which counts command pulses and generates a pulse with every i-th command pulse, a pulse generator connected to the counter for generating command pulse modulated signals with constant period and different pulse widths and for exciting forward and backward] pulse by using the command pulse modulated signals, further one to the counter and gate circuit connected to the pulse generator, which sends the pulses to the excitation control circuit as well as supplying the forward and reverse pulses. Another circuit arrangement for implementation of the V method according to the invention with a plurality of windings to be excited at the same time Stepper motor controlling stepper motor control circuit, the control depending on command pulses takes place, which are fed from a numerical control unit, is characterized by that between the numerical control unit and the stepper motor control circuit a pacer unit is inserted, consisting of a counter that counts the command pulses issued by the control unit, a Pulse generator for generating command pulse modulated signals with constant and different periods Pulse widths, a decoder connected to the counter for decoding the content of the count and a gate circuit connected to the decoder and the pulse generator, the multiple crc the windings of the stepper motor to be excited at the same time and the command pulse modulated Signals the selected windings depending on the content of the counter.

5 6

A further development of the mentioned switching process of the rotor of a known circuit for arrangements for implementing the inventive control of the stepper motor in alternating two dimensions The method is characterized in that phase / three-phase excitation system explains the pulse generator contains an oscillator, FIG. 5 is a representation showing the pacing pulses generates a counter that counts these pulses 5 as the rotor of the step-7 according to the invention, as well as a motor connected to the meter is explained,

Decoder, the command pulse modulated signals with Fig. 6 a detailed circuit diagram of the exciter constants Period and different pulse widths circuit when using pulse modulation according to generated, and that a reset of the contents of Fig. IA,

Counter each time a command pulse io F i g is generated. 7 is a timing diagram showing the pulse waveform in

he follows. the circuit according to FIG. 6 explains

For ease of understanding, the description will refer to FIGS. 8A-8D block diagrams showing some examples

the embodiments, a basic functional types of guides according to the example shown in Fig. IA \

description sent ahead. Explain the system,

Typically, the step positions of a 15 FIGS. 9A-9C schematic are another illustration

electric multiphase stepper motor determined by the embodiment of the invention;

the number of phases and the number of teeth per Fig. 10 is a timing diagram showing the waveform in

Phase. By the present method, some parts of the diagram shown in Fig. 9B are

shows between these structurally specified step-gram; >

Positions allows further intermediate steps to ao F i g. 11A and 11B schematics, the two execution- i '

for example a form driven by the stepper motor according to the system shown in Fig. 9A ''

Explain how to control machine tools in even smaller steps,

to be able to, which for example in the surface Fig. 12 is a block diagram in which the control processing of workpieces is advantageous. pulses for the stepper motor using a

As a memory circuit can be generated by the method according to the invention, ■ '

such intermediate steps can be achieved by Fig. 13 to 15 diagrams showing the invention '

that the stepper motor between two stable, by the proper system compare with the known system,

Number of phases and number of teeth per Fig. 16 is a pulse map showing the pulse waveform

Phase predetermined step positions so quickly the circuit of FIG. 6 explained when the

it is switched back and forth that it has been reset as a result of its 30 decimal counter,

Inertia of these forward and reverse rotations Fig. 17 is a diagram showing the torque

can no longer follow. The rotor oscillates as the characteristic curve represents

do not follow between the two stable positions, in Fig. 18A and 18B diagrams showing the reverse

which he by the alternating forward and reverse setting conditions at high speed in the

actually seeks to get upward steps, but explains 35 system according to the invention,

as a result of this inertia it takes an intermediate position. FIG. 1A shows a block diagram one after the other

between these two stable layers. numerically controlled principle according to the invention

The relationship between the machine can now be represented by command pulses. The circuit comprises a known>

those times in which the engine is in the forward part, namely a numerical control unit 1, a

and is then again excited in the reverse direction, 40 exciter control circuit 4, a control device 6 for one

can be varied optionally. This makes it possible to use a stepper motor, an electro-hydraulic step- c

to change the quasi-stable intermediate step, motor 7 and a machine tool 11. At the (

in which the rotor is between the structurally known circuit are those of the numerical j

predetermined stable step positions as a result of its control unit 1 supplied command pulses CW or ν

Indolence levels off. Since the ratio between 45 CCW is directly related to the excitation control circuit 4

Forward and reverse excitation times are not listed and it is the command unit of the mechanical: 1

lovingly, but only changed in discrete steps system equal to the command impulse. This means, <

can be (for example in 10 steps), remains dk that z. B. in steps of the mechanical device

Characteristic property of the motor obtained, command pulses output from 0.01 mm each

to be a stepper motor. 50, each of which corresponds to 0.01 mm The 1

The rapidly changing and the motor in a circuit according to the invention differs from this i

quasi stable state holding forward and backward by an n-number system counter 3, an oscillator I ί

Forward excitations are repeated in that by the gate 13, a pulse generator 12 and OR gate % 1

Command pulse given ratio until POR, NOR etc. <

a new input pulse occurs. 55 The numerical control unit 1 sends the servo i

In the following, the invention and its pre-system are: .en "Forward" command pulse CW and a; 1

parts explained in more detail by exemplary embodiments. »Reverse command pulse CCW off, with the er ί ¹

In the drawing, the device according to the invention corresponds to the command 1

Fig. IA to IB block diagrams according to the unity of the mechanical system, not one

Principle according to the invention numerically controlled 60 missing pulse That is, if z. B. the position of the <

Machine, mechanical device by 0.01 mm each

F i g. 2 is a sectional view of one in the invention, then command pulses are given, from s

Known electrodes used according to the circuit, one pulse corresponds to one micron. Where I ]

see stepper motor, a decimal counter is used as an n-number system counter 3 1

Fig. 3 shows an example of a known drive 65 used. The excitation control circuit 4 and the:

circuit for the electric stepper motor shown in Fig. IA advance by one pulse, and s

see stepper motor, the mechanical device moves by 0.01 mm <

F i g. 4 shows the usual step with 10 command pulses. The n-number system counter

in Fig. IA represents a decimal counter which generates a forward pulse PP from each 10 forward command pulses CW and a backward pulse A'P from each 10 backward command pulses CCW. A pulse series PP is given via the OR gate (POR) to the excitation control circuit 4, corresponding to a forward command pulse CWl, and a pulse series NP via the OR gate {NOR) to the excitation control circuit 4, corresponding to a reverse command pulse CCWl. The excitation control circuit 4, the control device 6 for the stepper motor and the electro-hydraulic stepper motor 7 are arranged in the known technology, the excitation control circuit 4 having five output terminals Π to T5 corresponding to the respective excitation coil of the 5-phase electric stepper motor 8. The excitation control circuit 4 first supplies the excitation control signals ESA, ESB and ESC to the outputs Π, Tl and Γ3 and then outputs excitation control signals in the order shown in Table I for each command pulse CW \ that reaches a direct input PT .

table I. ESA ESB ESC ESD ESE step pulse 1 1
.L 1 0 0 0 0 1 1 0 0 1 0 1 1 1 0 2 0 0 1 1 0 3 0 0 1 1 1 4th 0 0 0 1 1 5 1 0 0 1 1 6th 1 0 0 0 1 7th 1 1 0 0 1 8th 1 1 0 0 0 9 1 1 1 0 0 10

35

That is, Table I is a function table for the excitation when the 5-phase motor is excited by the alternate two-phase / three-phase excitation, for example. As Table I shows, when the first command pulse CWl is input into the excitation control circuit 4, only the excitation signals ESB and ESC are output, and then each time the following pulses CWl change the control signals, as indicated in the function table above.

In table I, "1" corresponds to the state "excited" and "0" corresponds to the state "not excited". On the other hand, the control commands change in the reverse order of table I when a CCWl pulse reaches the input NT. As described above, the excitation control signals ESA - ESE are fed to the control circuits of the control device 6 of the stepper motor, which are available for each excitation coil of the stepper motor, and if the excitation control signal is "1", the corresponding coil among the coils Wa - We of the stepper motor excited.

The example just described is a known drive system for a five-phase stepper motor. Every time a "forward" command pulse CW is supplied to the excitation control circuit 4 by the numerical control device, the excitation signal changes! in the manner evident from the above function table.

Tn F i ι ». 2 shows the structure of a known stepper motor (control technology 1968, H. 1, pp. 13 to 18) which can be used in the circuit arrangement according to the invention. The stepper motor consists of rotor elements R, stator elements S and excitation coils W for five phases. Both the outer ring of a rotor element and the side surface of a stator element are provided with 24 teeth. The teeth of the rotor elements are arranged in phase in the axial direction, the teeth of the stator elements are offset from one another in the circumferential direction by a fifth of the tooth pitch in each phase. The magnetic flux generated by the excitation of a ring winding W flows through the cross section designated MC in FIG. The excitation windings are controlled by the control device 6 which, as shown in FIG. 3, can consist of transistor circuits β 1-β 3. Such control devices are already known.

In the previously described known control circuit for driving a five-phase stepping motor, the rotor of the stepping motor moves as a function of "forward" command pulses; C W according to the in F i g. 4 illustrated sequence of steps.

F i g. 4 illustrates the case where the number of teeth of the rotor and the stator is 24 per phase. The numbers 1, 2. ... 24 represent the numbering of the teeth. With step pulse 0, phases A - C are excited, as Table I shows, and the rotor teeth R 24 are in the middle of the area of the stator teeth A 24 - C24. In the next step, as a result of the excitation of phases B and C, the rotor teeth J? 24 to the center of the area of the stator teeth 524 and C24, and this step is followed by the next steps in the same way until a full revolution in 240 steps is reached. This number (240) is equal to twice the product of the number of teeth and the number of phases. The stepper motor rotates in the "forward" direction by 1.5 ° per "forward" command pulse CW.

The rotation of the output shaft of the stepping motor 8 can be transmitted to the machine tool. In the example shown in FIG. 1A, an electro-hydraulic stepping motor 7 is used. Within this electro-hydraulic stepping motor 7, the electric stepping motor 8 controls the four-way control valve 9 in a known manner, and the hydraulic motor 10 is rotated via this. The electrohydraulic stepping motor 7 works by means of reduction gears RGl and RGl on a drive spindle FS of the machine tool. FIG. 1B corresponds to FIG. 1A with the difference that here, instead of an electro-hydraulic stepping motor, only an electric stepping motor, that is to say without a hydraulic part, is used. In FIG. 1B, the numerical control device 1 and the stabilized attainment circuit 2 are not shown.

Having thus described the prior art, the present invention will now be explained. In the present invention, the pulse generator 12 is supplied with command pulses in parallel. A “forward” signal VPP and a “reverse” signal VNP are generated in the pulse generator 12 and supplied to the excitation control circuit 4 via the OR gates (POJ ”? And NOR) with a predetermined period and phase difference 1A, the oscillation period of the oscillator 13 is smaller

-me ei 1/1 on

as the period of the command pulses CW and CCW, respectively. The number of steps of the exciter control circuit 4 is determined by the step setter 14. If a step is specified by the step setter 14, the pulse generator 12 generates a "forward" pulse VPP and after a predetermined time rl a "backward" pulse VNP and after a further predetermined time ti again a »forward sc-pulse VPP. As will be explained below, the times t \ and ti determined depending on the count of "-Zahlensystemzählers third / 1 denotes the period from the generation of the forward pulse VPP to the generation of the reverse pulse VNP and ti denotes the period from the reverse pulse to the forward pulse. If in the circuit shown in Fig. 1A the / ^ number system counter 3 is a decimal counter, then the ratio between t \ and ti has ten different values, and the w number system counter 3, ie the decimal counter, generates a forward pulse PP or a backward pulse NP if the n-number system counter 3 has received ten command pulses CW or CCW . Let us assume that the excitation control signals ESA - ESC are fed to the stepping motor control device 6 and that the content of the / z number system counter 3 has the value 9. When the command pulse CW is supplied from the numerical control device 1, the content of the n-number system counter 3 becomes zero. At the same time, the n- number system counter generates an overflow pulse, namely a forward pulse PP, which is fed to the excitation control circuit 4 via the OR gate (POR). As a result, this interrupts the excitation of phase A and only forwards excitation control signals ESB and ESC to stepper motor control device 6. If the content of the w-number system counter 3 is zero, neither a forward pulse VPP nor a backward pulse VNP is generated. The excitation of phases B and C of the stepper motor therefore continues until the next command pulse CW arrives. If the second command pulse is generated in this state, the content of the n-number system counter 3 becomes 1. The result is. that the pulse generator 12 alternately generates forward pulses FPP and reverse pulses VNP in the ratio / l / i2 = 1/9. The excitation control circuit 4 then alternately generates excitation control signals ESB - ESD on the one hand and excitation control signals ESB, ESC on the other. The three-phase excitation, ie the excitation of phases B, C and D and the two-phase excitation, ie the excitation of phases C, D is repeated in a time ratio of 1: 9 until the third command pulse CW is generated. Theoretically, the rotor of the stepping motor oscillates between a stable position determined by the three-phase excitation of phases B, C and D and a stable position determined by the two-phase excitation C, D. In fact, the period of the forward pulses VPP, which cause forward rotation, and the reverse pulses VNP, which cause reverse rotation, are so small that the stepping motor cannot follow due to its inertia. The rotor does not vibrate between the stable positions of the three-phase excitation B, C, D and the two-phase excitation C, D. It only vibrates in a small area that corresponds to a tenth of the distance between the two stable positions.
Every time a command pulse C W is subsequently issued by the numerical control device 1, the content of the number system counter 3 increases and with it the ratio of the times / 1 and ti. The rotor advances from the stable position of the three-phase excitation B, C, D to the stable position of the two-phase excitation C, D by steps which each correspond to a tenth of the distance between the two stable positions. The steps of the stepper motor thus correspond to a tenth of the steps with the known one

ίο Control of the stepper motor.

The behavior of the rotor when the pulses VPP and VNP are fed into the excitation control circuit 4 is shown in FIG. Like F i g. 5 shows, in the present example of alternate three- and two-phase excitation, ten (generally n) stable positions can be obtained during the step pulse O in which the phases A - C are excited, that is, any number of steps more than the number of steps that can be achieved with a conventional stepper motor. This point will now be described in detail with reference to Figs.

According to FIG. 6, the oscillator 13 generates a pulse train with a predetermined frequency, and a binary counter 15 counts these pulses continuously. The content of the binary counter 15 is converted by a decoder 16 into pulse trains Cl- Cn . These pulse trains Cl-Cn all have the same period, but the pulse length increases in a regular sequence

to. If η equals 10, then the impulses Cl-ClO have those in FIG. 16 shown shape. The oscillator 13 generates pulses To of a predetermined period, and a binary counter 15, which is made up of four flip-flops and forms a decimal counter, counts the pulses To.

Let us assume that the logic outputs on the set side of the respective flip-flop of the decimal counter 15 mean the values 2 °, 2 \ V-, 2 ³ , then the waveforms of these logic outputs correspond to the representation according to FIG. 16. The logic signals 2 °, 2 ¹ , 2 ^% , 2 ⁸ are fed to the decoder 16, and this generates ten pulses Cl-ClO. Each of the pulses Cl-ClO has a period ten times the period of the pulses To generated by the oscillator 13. The pulse width is modulated depending on the content of the decimal counter 15. The pulses Cl-ClO can be obtained by using the logic signals 2 °, 2 ¹ , 2 ² , 2 ³ with a logic circuit which satisfies the following equations.

Cl = 2 ° -2 ¹ -2 ² -'5 ^s _ C2 = Cl + 1 ° 2 ¹ 2 ²

C3 = C2 + 2 °

C6 = C5 + T ⁰ Cl = C6 + 2 ° C8 = C7 + 2 ° C9 = CS + 2 ¹

2 ^l
2 ¹
2 ¹
2 ¹
2 ¹
2 ³
2 ³

■ 2 »
• 2 ^a

• 2 *
■ 2 *
• 2 ^a

On the other hand, the n-number system counter 3 counts the command pulses CW or CCW and generates output pulses PP or AfP for each η command pulses. The content of the count is converted by a decoder, not shown in the figure, and a logic “1” is generated on one of the output lines 1-η , which corresponds to the content of the count. This logical "1"

is held until the next command pulse or CCW is supplied to the / i-number system counter3. The logic signals of the outputs 1 - η of the decoder are fed to the inputs of the AND gate group AND3 , and the aforementioned pulse trains Cl - Cn are fed to the other inputs of the said / l / VZ) 3 group, while the output signals of the / 1A '£> 3-Gruppc get into the OR circuit OR3 . The result is that each of the output signals Cl- Cn of the decoder 16 appears selectively in the output of the OR circuit OR3 , corresponding to the content of the / i number system counter 3. The output of the OR circuit OR3 is connected to a differentiating circuit 17 which consists of Flip-flops FF3 and FF 4 as well as a NAND gate NANDl and an AND gate ANDl and ANDl is constructed. By differentiating the increasing portion of the output signal of the OR circuit OR3 , the differentiating circuit 17 then forms the "forward" signal VPP, and by differentiating the decreasing portion of the output signal of the OR circuit OR3, the "reverse" signal VNP. These signals FPP and VNP are fed to the OR gates POR and NOR , which are located in the output lines of the number system counter 3. By choosing any output signal Cl- Cn of the decoder 16, it becomes possible to change the time ratio Il to r 2. Here ti means the period from the creation of the "forward" signal to the creation of the "backward" signal and ti the period from the creation of the "backward" signal to the creation of the "forward" signal. The step impulse »1« in Fig. 5 corresponds to the case in which the time / 1 is equal to "9" and the time ti is equal to "1", the step pulse "2" corresponds to the case in which the time / 1 is equal to "8" and the time ti is equal to " 2 «is. The remaining cases are formed in the same way. When excited with the "forward" or "reverse pulse, the rotor Rl of the stepping motor tends to switch between the stable position, which is determined by the excitation of phases A, B and C, and the stable position, which is determined by the excitation of phases B. and C is destined to oscillate. As already mentioned, it cannot follow the forward and reverse impulses VPP or VNP and takes a position that is a tenth of a step on the way from the stable position of the three-phase excitation (/ i, B, C) for two-phase excitation (B, C) . In this context, reference may be made to FIG. 5 should be pointed out. The case just described corresponds to step pulse 1 in the left column. The rotor of the stepper motor swings around the assumed position by a very small amount. With the following step impulses 2-9 (see left column of FIG. 5) the rotor Rl assumes positions that are by two tenths to one hundredth. Tenth of a whole step further in the direction of the stable position of the two-phase excitation and oscillates slightly around the position taken. The number of steps by which the excitation control circuit 4 advances is set by a dial SW of the step adjuster 14. A cycle is generated by a series of pulses, as in (1) in Fig. 7, formed and counted by means of a binary counter from the flip-flops FFi and FFl (FIG. 6). If a step is specified, the gate ANDA is opened via the gates AND6 and OR4 , and the differentiating circuit 17 including the hip-flops FF3 and FF4 respond as often as the clock emits a pulse. If two steps are given, we use the AND4 gate via the AND! and OR4 open, and the differentiating circuit 17 responds to every other clock pulse. As a result, the pulse widths of the forward pulses VPP and the reverse] mp pulses KA'P generated by the differentiating circuit 17 become twice the period of the clock pulses. The excitation control circuit 4 contains a ring counter. This is made up of flip-flop circuits that are synchronized with the clock pulses and are set and reset. Therefore, when the excitation control circuit 4 is supplied via the OR gates (POR, NOR) with pulses VPP and VNP of a pulse width which corresponds to twice the period of the clock pulses, the content of the ring counter increases by two steps. Thus, when a reverse pulse VNP is generated, phases B, C and D are excited and the excitation changes to phases A, B and C by the reverse pulse and then back to phases by the next forward pulse VPP B, C and £>. Then the excitation control circuit 4 executes an operation by two steps forward or two steps backward respectively when a forward pulse VPP or a backward pulse KiVP occurs, and the oscillation amplitude of the rotor increases compared to the previous case. In this case the ratio of the times ti and ti is not changed. After three steps are carried out, the same operation is carried out. As in Fig. 6, the OR circuit ORS and the NAND circuit NAND1 are provided for the pulses PP and NP , and the signals VPP and VNP are not generated at the same time.

The above explanation is for the rotary electric stepping motor. Same explanation however, it can also be applied to a linear electric stepping motor.

F i g. 8A shows a circuit in which an excitation control circuit 4 with a three-phase / two-phase excitation ".ng and a decimal counter used as counter 3 and a five-phase stepper motor is operated with 100 steps. The function values for the case according to FIG. 5A, Table II shows. In this Table means "10" full arousal. "0" no excitation and "9", "8", ... "1" states of excitement, at which an alternating two-phase / three-phase excitation is present, the time ratio of the respective The duty cycle depends on the pulse duty factor of the pulses 10, 09, ... 01, which is shown in Fig. SB are shown.

Fig. 8C shows a circuit in which by application an alternating single-phase / two-phase excitation with a decimal counter a three-phase i Stepper motor operated wildly at 60 steps.

The excitation changes according to the function table III.

Fig.8D shows a circuit with a five phase stepper motor that converts two-phase / three-phase excitation by alternating a binary counter with 100 steps. Table IV serves as the function table in this case In this table, "20" means full excitation, "0" no excitation and "1", "2", ... the excitement bein Step 1/20, 2/20, ... etc. In the functional sequence shown in table P, a

13th

14th

Two-phase / two-phase excitation spoken, because not simultaneously, but alternately in time

only two phases are ever excited. Looking at the 19: 1 ratio aroused. So it always just lies

In the case of step pulse 1, then either one of the two phases A and B is excited

Phase B is continuously excited, phases A and C or the two phases B and C before.

Table II

Step pulse

ESA

ESB

ESC

ESD

ESE

Step pulse

ESA

ESB

ESC ESD

ESE

0 10 10 10 0 0 41 0 0 9 10 10 1 9 10 10 0 0 42 0 0 8th 10 10 2 8th 10 10 0 0 43 0 0 7th 10 10 3 7th 10 10 0 0 44 0 0 6th 10 10 4th 6th 10 10 0 0 45 0 0 5 10 10 5 5 10 10 0 0 46 0 0 4th 10 10 6th 4th 10 10 0 0 47 0 ö 3 10 10 7th 3 10 10 0 0 48 0 0 2 10 10 8th 2 10 10 0 0 49 0 0 1 10 10 9 1 10 10 0 0 50 0 0 0 10 10 10 0 10 10 0 0 51 1 0 0 10 10 11th 0 10 10 1 0 52 2 0 0 10 10 12th 0 10 10 2 0 53 3 0 0 10 10 13th 0 10 10 3 0 54 4th 0 0 10 10 14th 0 10 10 4th 0 55 5 0 0 10 10 15th 0 10 10 5 0 56 6th 0 0 10 10 16 0 10 10 6th 0 57 7th 0 0 10 10 17th 0 10 10 7th 0 58 8th 0 0 10 10 18th 0 10 10 8th 0 59 9 0 0 10 10 19th 0 10 10 9 0 60 10 0 0 10 10 20th 0 10 10 10 0 61 10 0 0 9 10 21 0 9 10 10 0 62 10 0 0 8th 10 22nd 0 8th 10 10 0 63 10 0 0 7th 10 23 0 7th 10 10 0 64 10 0 0 D. 10 24 0 6th 10 10 0 65 10 0 0 5 10 25th 0 5 10 10 0 66 10 0 0 4th 10 26th 0 4th 10 10 0 67 10 0 0 3 10 27 0 3 10 10 0 68 10 0 0 2 10 28 0 2 10 10 0 69 10 0 0 1 10 29 0 1 10 10 0 70 10 0 0 0 10 30th 0 0 10 10 0 71 10 1 0 0 10 31 0 0 10 10 1 72 10 2 0 0 10 32 0 0 10 10 2 73 10 3 0 0 10 33 0 0 10 10 3 74 10 4th 0 0 10 34 0 0 10 10 4th 75 10 5 0 0 10 35 0 0 10 10 5 76 10 6th 0 0 10 36 0 0 10 10 6th 77 10 7th 0 0 10 37 0 0 10 10 7th 78 10 8th 0 0 10 38 0 0 10 10 8th 79 10 9 0 0 10 39 0 0 10 10 9 80 10 10 0 0 10 10 0 0 10 10 10 81 10 10 0 0 9

Step-
pulse ESA ESB ESC ESD ESE step
pulse ESA ESB ESC ESD IT £ 82 10 10 0 0 8th 92 10 10 2 0 0 83 10 10 0 0 7th 93 10 10 3 0 0 84 10 10 0 0 6th 94 10 10 4th 0 0 85 10 10 0 0 5 95 10 10 5 0 0 86 10 10 0 0 4th 96 10 10 6th 0 0 87 10 10 0 0 3 97 10 10 7th 0 0 88 10 10 0 0 2 98 10 10 8th 0 0 89 10 10 0 0 1 99 10 10 9 0 0 90 10 10 0 0 0 100 10 10 10 0 0 91 10 10 1 0 0

Table III

Step pulse ESA ESB ESC Step pulse ESA ESB ESC 0 10 10 0 31 1 O 10 1 9 10 0 32 2 O 10 2 8th 10 0 33 3 O 10 3 7th 10 0 34 4th O 10 4th 6th 10 0 35 5 O 10 5 5 10 0 36 6th O 10 6th 4th 10 0 37 7th O 10 7th 3 10 0 38 8th O 10 8th 2 10 0 39 9 O 10 9 1 10 0 40 10 O 10 10 0 10 0 41 10 O 9 11th 0 10 1 42 10 O 8th 12th 0 10 2 43 10 O 7th 13th 0 10 3 44 10 O 6th 14th 0 10 4th 45 10 O 5 15th 0 10 5 46 10 O 4th 16 0 10 6th 47 10 O 3 17th 0 10 7th 48 10 O 2 18th 0 10 8th 49 10 O 1 19th 0 10 9 50 10 O O 20th 0 10 10 51 10 1 O 21 0 9 10 52 10 2 O 22nd 0 8th 10 53 10 3 O 23 0 7th 10 54 10 4th O 24 0 6th 10 55 10 5 O 25th 0 5 10 56 10 6th O 26th 0 4th 10 57 10 7th O 27 0 3 10 58 10 8th O 28 0 2 10 59 10 9 O 29 0 1 10 60 10 10 O 30th 0 0 OK 70! L 01 7/1

i 64 715 ((

18th

table IV ESA ESB ESC ESD ESE step ESA ESB ESC ESD ESE step pulse pulse 20th 20th O O O 51 O O 9 20th 11th O 19th 20th 1 O O 52 O O 8th 20th 12th 1 18th 20th 2 O O 53 O O 7th 20th 13th 2 17th 20th 3 O O 54 O O 6th 20th 14th 3 16 20th 4th O O 55 O O 5 20th 15th 4th 15th 20th 5 O O 56 O O 4th 20th 16 5 14th 20th 6th O O 57 O O 3 20th 17th 6th 13th 20th 7th O O 58 O O 2 20th 18th 7th 12th 20th 8th O O 59 O O 1 20th 19th 8th 11th 20th 9 O O 60 O O O 20th 20th 9 10 20th 10 O O 61 1 O O 19th 20th ΊΟ 9 20th 11th O O 62 2 O O 18th 20th 11th 8th 20th 12th O O 63 3 O O 17th 20th 12th 7th 20th 13th O O 64 4th O O 16 20th 13th 6th "> .O 14th O O 65 5 O O 15th 20th 14th 5 20th 15th O O 66 6th O O 14th 20th 15th 4th 20th 16 O O 67 7th O O 13th 20th 16 3 20th 17th O O 68 8th O O 12th 20th 17th 2 20th 18th O O 69 9 O O 11th 20th 18th 1 20th 19th O O 70 10 O O 10 20th 19th O 20th 20th O O 71 11th O O 9 20th 20th O 19th 20th 1 O 72 12th O O 8th 20th 21 O 18th 20th 2 O 73 13th O O 7th 20th 22nd O 17th 20th 3 O 74 14th O O 6th 20th 23 O 16 20th 4th O 75 15th O O 5 20th 24 O 15th 20th 5 O 76 16 O O 4th 20th 25th O 14th 20th 6th O 77 17th O O 3 20th 26th O 13th 20th 7th O 78 18th O O 2 20th 27 O 12th 20th 8th O 19th 19th O O 1 20th 28 O 11th 20th 9 O 80 20th O O O 20th 29 O 10 10 10 O 81 20th O O O 19th 30th O 9 20th 11th O 82 20th 2 O O 18th 31 O 8th 20th 12th O 83 20th 3 O O 17th 32 O 7th 20th 13th O 84 20th 4th O O 16 33 O 6th 20th 14th O 85 20th 5 O O 15th 34 O 5 20th 15th O 86 20th 6th C. O 14th 35 O 4th 20th 16 O 87 20th 7th O O 13th 36 O 3 20th 17th O 88 20th 8th O O 12th 37 O 2 20th 18th O 89 20th 9 O O 11th 38 O 1 20th 19th O 90 20th 10 O O 10 39 O O 20th 20th O 91 20th 11th O O 9 40 O O 19th 20th 1 92 20th 12th O O 8th 41 O O 18th 20th 2 93 20th 13th O O 7th 42 O O 17th 20th 3 94 20th 14th O O 43 O O 16 20th 4th 95 20th 15th O O 5 44 O O 15th 20th 5 96 20th 16 O O 4th 45 O O 14th 20th 6th 97 20th 17th O O 3 46 O O 13th 20th 7th 98 20th 18th O O 2 47 O O 12th 20th S. 99 20th 19th O O 1 48 O O 11th 20th 9 100 20th 20th O O O 49 O O 10 20th 10 50

ν dg PC d ti

br mi di wc we

Fi Im · des

As can be seen from the previous description, JVG1 to M79 and a group of OR gates can be used in the invention through the use of an OG. The decoder 20 converts the content of the counter 18 n-counting system counter to obtain w times the number of steps, and if the said content is e.g. B. "56" is _x will become. For example, with an alternating line 50_ and 6 from lines 0, T,.. The logic circuit in phase stepper motor 5 times 2 equals 10 steps per F i g. 9C generates the Im cycle listed in Table V and 10 times η steps are possible through the pulse with the aid of the input signal P1 to P1O and the use of an n-number system counter according to this 0 to 9ff. These im-invention (listed in Table V). In the described embodiment pulse, the drive circuit is provided with an excitation control circuit 4 as a control, which supplies an io signals for phases A to E.
Forward command pulse CWl and a reverse Fig. HA sets a on F i g. 9A-based command pulse CCWl receives excitation control signals circuit in which, using a Zente ESA to ESE, generated and selects the winding counter to be excited as a reversible counter 18 and one hingen. Fig. 9A shows a further alternating three-phase / two-phase excitation of the embodiment according to the invention, in which the excitation control circuit 4 is removed from the five-phase stepping motor 100 steps per cycle. Fig.9B shows a leads. The example of a pulse generator brought about by the circuit according to HA, as it is in the case of excitation states, correspond to those of the functional order according to FIG. 9 A can be used. table II.

Fig. 10 shows the waveform at the circuit output F ig. HB represents a circuit in which with

the circuit according to Fi g. 9B. 20 the help of a centesimal counter and an alternating

According to FIG. 9A, a reversible counter 18 counts single-phase / two-phase excitation at the five-

the command pulses CW or CCW. This counting phase stepper motor 100 steps can be achieved. the

is used by a decoder 20 which is in a pulse-excited states are given in Table V,

modulator 19 is included, implemented. Each of Table VI shows the excitation conditions for one

gears 0, 1, 2, ... 9, 00, 10, ... 80, 90 can be energized 25 five-phase stepper motor with 100 steps, at

will. The signals of these outputs and the series in which a centesimal counter is used and a

of the output pulses Pl, P2, ... PlO of the pulse maximum 1.1 phase excitation is present. Under one

generator 22 are connected to a gate circuit 21 - maximum 1.1 phase excitation is the following

led. The pulse generator 22 consists of the stand.

The oscillator 13, the binary counter 15 and the deco- 30 With the step pulse "0", only the 16 of the circuit according to FIG. 6. The oscillator excites phase A , ie there is a complete gate 13 generates pulses PT of a given period of single-phase excitation. In the case of step pulse 1, the binary counter 15 is fully excited (the pulses PT correspond to the pulses To of phase A and phase i? The ratio of the excitation consisting of four flip-flops decimal counter off time to the non-excitation time is 1: 9, so that the phases are re-formed and counts the pulses PT. If we the A and B are excited at the same time only during 1/10 of the total time of the o ^ isic outputs of the set sides of the respective.

Fiip-flops of the decimal counter 15 the values 2 °, 2 \ When step pulse 2 is in a time ratio of 9: 1

Assign 2 ² , 2 ³ , then the waveforms repeatedly correspond to an alternating excitation between the

these outputs the in F i g. 10 carried out through 2 °, 2 \ 2 * and 40 phases A and B , i.e. there is an

2 ³ shown. The logical output signals 2 °, 2 \ phase / single-phase alternating excitation. Similar be

2 ² , 2 ³ are fed to the decoder 16, the ten the phase A and phase i in step pulse 3

Pulses P1 to P10 are generated, the period of which repeatedly excites the ten alternately, in this case

times the period of the pulses PT corresponds to the time ratio of 9: 2. However, this means

Oscillator 13 are supplied and their pulse 45 that phase A and phase 1 during V10 of the time

width depending on the content of the decimal counter 15 are excited at the same time. Afterwards a «

is modulated. The pulses Pl to PlO can be similar to excitation. It can therefore be the Ver

Decoder 16 obtained by a logic circuit ratio of two-phase excitation periods as λ-: j

which denote the logical signals 2 °, 2 ¹ , 2 ² , 2 ³ , where χ and y are integers, whom

applies and satisfies the following equations: 50 this excitation is defined as (x 4- j) / 10 phases

excitement. The excitement shown in Table VI

Pl - 2 ° -1 ^l · 1 ² · 1 ³ can then be determined as the maximum 1.1 phases

P2 = 2 ¹ -I ² excitation.

P3 = 2 ° · 2 ¹ Ό ¹ -T ³ 4- 2 ¹ - "2 ^s Table VII presents the excitation of a five-phase

P4 _ 2 «''^'55 stepper motor with 100 steps using

P5 == 2 ² 4- 2 ~ ° · 2 ^{3 emes} centesimal numerator. There is a maximum ·

pg_-j _a 2.1 phase excitation. Let’s press there

ρη H 2 ² 4- 2 ³ 4-T ⁰ · 2 " ¹ · Τ ² -" Σ ³ Ratio of the excitation times of the three phases durc!

P8 = I ¹ 4- 2 ² · · · x: y: z from, where x, y and ζ are integers

pg Z-yo 1 2 ¹ 1 2 ² 4- 2 ^{3 6o} then ^la ^ ^{1 s} ' ^c h d' ^e define excitation as maximum

P10 ~ = 0 (always logical "0") ^(x + ^y + z) / 10-phase excitation. It acts as,

^v a / at that given in Table VII. Type of excitation uii

üne maximum 2.1 phase excitation.

The gate circuit 21 generates the Er by means of the function table VIII illustrated

Fig. 9C shown logic circuit a 65 states of excitation of a five-phase sliding motor mi

Pulse sequence for the control of phases A to E 100 steps for another case, from Zentesi

of the stepper motor. The logic circuit after the malt counter is used. There is a maximum

Fig. 9C provides a group of NAND gates for 2.5 phase excitation.

21 ^J 22

Table V

Step- ESA ESB ESC ESD ESE Step- ESA ESB ESC ESD ESE

pulse ^{in the} P ^uls

O 10 10 0 0 0 51 0 0 0 10 1 1 9 10 0 0 0 52 0 0 0 10 2 2 8th 10 0 0 0 53 0 0 0 10 3 3 7th 10 0 0 0 54 0 0 0 10 4th 4th 6th 10 0 0 0 55 0 0 0 10 5 5 5 10 0 0 0 56 0 0 0 10 6th 6th 4th 10 0 0 0 57 0 0 0 10 7th 7th 3 10 0 0 0 58 0 0 0 10 8th 8th 2 10 0 0 0 59 0 0 0 10 9 9 1 10 0 0 0 60 0 0 0 10 10 10 0 10 0 0 0 61 0 0 0 9 10 11th 0 10 1 0 0 62 0 0 0 8th 10 12th 0 10 2 0 0 63 0 0 0 7th 10 13th 0 10 3 0 0 64 0 0 0 6th 10 14th 0 10 4th 0 0 65 0 0 0 5 10 15th 0 10 5 0 0 66 0 0 0 4th 10 16 0 10 6th 0 0 67 0 0 0 3 10 17th 0 10 7th 0 0 68 0 0 0 2 10 18th 0 10 8th 0 0 69 0 0 0 1 10 19th 0 10 9 0 0 70 0 0 0 0 10 20th 0 10 10 0 0 71 1 0 0 0 10 21 0 9 10 0 0 72 2 0 0 0 10 22nd 0 8th 10 0 0 73 3 0 0 0 10 23 0 7th 10 0 0 74 4th 0 0 0 10 24 0 6th 10 0 0 75 5 0 0 0 10 25th 0 5 10 0 0 76 6th 0 0 0 10 26th 0 4th 10 0 0 77 7th 0 0 0 10 27 0 3 10 0 0 78 8th 0 0 0 10 28 0 2 10 0 0 79 9 0 0 0 10 29 0 1 10 0 0 80 10 0 0 0 10 30th 0 0 10 0 0 81 10 0 0 0 9 31 0 0 10 1 0 82 10 0 0 0 8th 32 0 0 10 2 0 83 10 0 0 0 7th 33 0 0 10 3 0 84 10 0 0 0 6th 34 0 0 10 4th 0 85 10 0 0 0 5 35 O 0 10 5 0 86 10 0 0 0 4th 36 0 0 10 6th 0 87 10 0 0 0 3 37 0 0 10 7th 0 88 10 0 0 0 2 38 0 0 10 8th 0 89 10 0 0 0 1 39 0 0 10 9 0 90 10 0 0 0 0 40 0 0 10 10 0 91 10 1 0 0 0 41 0 0 9 10 0 92 10 2 0 0 0 42 0 0 8th 10 0 93 10 3 0 0 0 43 0 0 7th 10 0 94 10 4th 0 0 0 44 0 0 6th 10 0 95 10 5 0 0 0 45 0 0 5 10 0 96 10 6th 0 0 0 46 0 0 4th 10 0 97 10 7th 0 0 0 47 0 O 3 10 0 98 10 8th 0 0 0 48 0 0 2 10 0 99 10 9 0 0 0 49 0 0 1 10 0 100 10 10 0 0 0 50 0 0 O 10 0

Table VI

23

24

Step pulse

ESA

ESB

ESC

ESD

ESE

Step pulse.

ESB

ESC

ESD

O 10 0 0 0 0 51 0 0 5 6th 0 I. 1 10 1 0 0 0 52 0 0 4th 6th 0 2 9 1 0 0 0 53 0 0 4th 7th 0 3 9 2 0 0 0 54 0 0 3 7th 0 4th 8th 2 0 0 0 55 0 0 3 8th 0 5 8th 3 0 0 0 56 0 0 2 8th 0 ; ^6th 7th 3 0 0 0 57 0 0 2 9 0 '7 7th 4th 0 0 0 58 0 0 1 9 0 \ 8 6th 4th 0 0 0 59 0 0 1 10 0 f 9 6th 5 0 0 0 60 0 0 0 10 0 I 10 5 5 0 0 0 61 0 0 0 10 1 ! left 5 6th 0 0 0 62 0 0 0 9 1 ί 12 4th 6th 0 0 0 63 0 0 0 9 2 i ⁱ³ 4th 7th 0 0 0 64 0 0 0 8th 2 ! 14th 3 7th 0 0 0 65 0 0 0 8th 3 ; 15th 3 8th ΰ 0 0 66 0 0 0 7th 3 i ¹⁶ 2 8th 0 0 0 67 0 0 0 7th 4th ^: 17 2 9 0 0 0 68 0 0 0 6th 4th i 18 1 9 0 0 0 69 0 0 0 6th 5 19th 1 10 0 0 0 70 0 0 0 5 5 20th 0 10 0 0 0 71 0 0 0 5 6th ί 21 0 10 1 0 0 72 0 0 0 4th 6th I 22 0 9 1 0 0 73 0 0 0 4th 7th P 23 0 9 2 0 0 74 0 0 0 3 7th I 24 0 8th 2 0 0 75 0 0 0 3 8th , 25 0 8th 3 0 0 76 O 0 O 2 8th I 26 0 7th 3 0 0 77 0 O 0 2 9 I 27 0 7th 4th 0 0 78 0 0 0 1 9 I 28 0 6th 4th 0 0 79 0 0 0 1 10 I 29 0 6th 5 0 0 80 0 0 0 0 IC ! 30th 0 5 5 0 0 81 1 0 0 0 IC \ 31 0 5 6th 0 0 82 1 0 0 0 S. I 32 0 4th 6th 0 0 83 2 0 0 0 S. 1 33 0 4th 7th 0 0 84 2 0 0 0 ί ] 34 O 3 7th 0 Cl 85 3 0 0 0 ι ϊ 35 O 3 8th 0 0 86 3 0 0 0 • I ³⁶ 0 2 8th 0 0 87 4th 0 0 0 • 1 37 O 2 9 0 0 88 4th 0 0 0 ( I 38 O 1 9 0 0 89 5 0 0 0 ( j 39 0 1 10 O 0 90 5 0 0 0 f 40 0 0 10 0 0 91 6th 0 0 0 1 41 0 0 10 1 0 ° 2 6th 0 0 0 ί 42 O 0 9 1 0 93 7th 0 0 0 I 43 0 0 9 2 0 94 7th 0 0 0 I 44 0 0 8th 2 0 95 8th 0 0 0 1 45 0 0 8th 3 0 96 8th 0 O 0 3 46 0 0 7th 3 0 97 9 0 0 0 ϊ 47 O 0 7th 4th 0 98 9 0 0 0 I 48 O 0 6th 4th 0 99 10 O 0 0 ΐ 49 0 0 6th 5 i. 100 10 0 0 0 i 50 0 0 5 5 0

709

Table VII

Step- ESA ESB ESC ESD ESE Step- ESA ES3 ESC ESD ESE

^{lm pulse pulse}

10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37

10 10 0 0 0 51 0 0 5 10 6th 10 10 1 0 0 52 0 0 5 10 7th 9 10 1 0 0 53 0 0 5 10 8th 9 10 2 0 0 54 0 0 5 10 9 8th 10 2 0 0 55 0 0 5 10 10 8th 10 3 0 0 56 0 0 4th 10 10 7th 10 3 0 0 57 0 0 3 10 10 7th 10 4th 0 0 58 0 0 2 10 10 6th 10 4th 0 0 59 0 0 1 10 10 6th 10 5 0 0 60 0 0 0 10 10 5 10 5 0 0 61 1 0 0 10 10 5 10 6th 0 0 62 2 0 0 10 10 4th 10 6th 0 0 63 3 0 0 10 10 4th 10 7th 0 0 64 4th 0 0 10 10 3 10 7th 0 0 65 5 0 0 10 10 3 10 8th 0 0 66 5 0 0 9 10 2 10 8th 0 0 67 5 0 0 8th 10 2 10 9 0 0 68 5 0 0 7th 10 1 10 9 0 0 69 5 0 0 6th 10 1 10 10 0 0 70 5 0 0 5 10 0 10 10 0 0 71 6th 0 0 5 10 0 10 10 1 0 72 7th 0 0 5 10 0 9 10 1 0 73 8th 0 0 5 10 0 9 10 2 0 74 9 0 0 5 10 0 8th 10 0 75 10 0 O 5 10 0 8th 10 3 0 76 10 0 0 4th 10 0 7th 10 3 0 77 10 0 0 3 10 0 7th 10 4th 0 78 10 0 0 2 10 0 6th 10 4th 0 79 10 0 0 1 10 0 6th 10 5 0 80 10 0 0 0 10 0 5 10 5 0 81 10 1 0 0 10 0 5 10 6th 0 82 10 2 0 0 10 0 4th 10 6th 0 83 10 3 0 0 10 0 4th 10 7th 0 84 10 4th 0 0 10 0 3 10 7th 0 85 10 5 0 0 10 0 3 10 8th 0 86 10 5 0 0 9 0 2 10 8th 0 87 10 5 0 0 8th 0 2 10 9 0 88 10 5 0 0 7th 0 1 10 9 0 89 10 5 0 0 6th 0 1 10 10 0 90 10 5 0 0 5 0 O 10 10 0 91 10 6th 0 0 5 0 0 10 10 1 92 10 7th 0 0 5 0 0 9 10 1 93 10 8th 0 0 5 0 0 9 10 2 94 10 9 0 0 5 0 0 8th 10 2 95 10 10 0 0 S. 0 0 8th 10 3 96 10 10 0 0 4th 0 0 7th 10 3 97 10 10 0 0 3 0 0 7th 10 4th 98 10 10 0 0 2 0 0 6th 10 4th 99 10 10 0 0 1 0 0 6th 10 5 100 10 10 0 0 0 0 0 5 10 5

27 28

table VIII ESB ESC ESD ESE step ESA ESB ESC ESD ESE step ESA pulse pulse 10 0 0 0 51 0 0 5 10 6th O 10 10 1 0 0 52 0 0 4th 10 6th 1 10 10 2 0 0 53 0 0 4th 10 7th 2 10 10 3 0 0 54 0 0 3 10 7th 3 10 10 4th 0 0 55 0 0 3 10 8th 4th 10 10 5 0 0 56 0 0 2 10 8th 5 10 10 5 0 0 57 0 0 2 10 9 6th 9 10 5 0 0 58 0 0 1 10 9 7th 8th 10 5 0 0 59 0 0 1 10 10 8th 7th 10 5 0 0 60 0 0 0 10 10 9 6th 10 5 0 0 61 1 0 0 10 10 10 5 10 6th 0 0 62 1 0 0 9 10 11th 5 10 7th 0 0 63 2 0 0 9 10 12th 5 10 8th 0 0 64 2 0 0 8th 10 13th 5 10 9 0 0 65 3 0 0 8th 10 14th 5 10 10 0 0 66 3 0 0 7th 10 15th 5 10 10 0 0 67 4th 0 0 7th 10 16 4th 10 10 0 0 68 4th 0 0 6th 10 17th 3 10 10 0 0 69 5 0 0 6th 10 18th 2 10 10 0 0 70 5 0 0 5 10 19th 1 10 10 0 0 71 6th 0 0 5 10 20th 0 10 10 1 0 72 6th 0 0 4th 10 21 0 10 10 2 0 73 7th 0 0 4th 10 22nd 0 10 10 3 0 74 7th 0 0 3 10 23 0 10 10 4th 0 75 8th 0 0 3 10 24 0 10 10 5 0 76 8th 0 0 2 10 25th 0 9 10 5 0 77 9 0 0 2 10 26th 0 8th 10 5 0 78 9 0 0 t-H 10 27 0 7th 10 5 0 79 10 O 0 1 10 28 0 6th 10 5 0 80 10 0 0 0 10 29 O 5 10 5 0 81 10 1 0 0 10 30th 0 5 10 6th 0 82 10 1 0 0 9 31 0 5 10 7th 0 83 10 2 0 0 9 32 0 5 10 8th 0 84 10 2 0 0 8th 33 0 5 10 9 O 85 10 3 O 0 8th I 34 O 5 10 10 0 86 10 3 0 0 7th ; 35 O 4th 10 10 0 87 10 4th 0 0 7th I 36 0 3 10 10 0 88 10 4th 0 0 6th I 37 0 2 10 10 0 89 10 5 0 0 6th \ 38 0 1 10 10 0 90 10 5 0 0 5 I 39 O 0 10 10 0 91 10 6th 0 0 5 I 40 0 0 10 10 1 92 10 6th 0 0 4th 1 ⁴¹ 0 0 10 10 2 93 10 7th 0 0 4th j 42 0 0 10 10 3 94 10 7th 0 0 3 I 43 0 O 10 10 4th 95 10 8th 0 0 3 * 44 0 0 10 10 5 96 10 8th 0 0 2 ! 45 0 O 9 10 5 97 10 9 0 0 L, ί 46 0 0 8th 10 5 98 10 9 0 0 1 j 47 O .0 7th 10 5 99 10 10 0 0 1 I 48 0 0 6th 10 5 100 10 10 0 0 0 1 49 O 0 5 10 5 η

Tables VI to VIII correspond to circuits, the dashed curve representing the case of the conventional

which have the same structure as the circuit according to tional systems and the solid curve den

Fig. 11B. In a five-phase step case represents the present invention. Fig. G. 13 shows

motor, the maximum torque becomes clear that the cutting motion after the invented

reached 2.5 times the phase excitation. 5 system according to the invention from a sequence is very small

In the example according to FIG. 9A has the step-step and the movement of a direct current

motor control device is very similar to a multi-stable exciter switching motor. This makes a calm one

tung26, in order to set a predetermined control impulse and achieve precise work,

produce. This multistable excitation circuit 26 has Fig. 14 represents the response characteristics of the

however a very complex structure. The cost of the stepper motor represents, with the time on the abscissa

are very high. In this case, it is convenient and plotted on the ordinate of the Winkelschntt

borrowed a memory circuit for driving the is. As the dashed line shows, the

To use stepper motor. The memory circuit conventional system has a large oscillation

can be a sequence of excited states of the step amplitude before a stable state occurs, and it

save motors. Fig. 12 shows an embodiment 15 elapses a relatively long time before the

example of this. Vibration is sufficiently damped. Like the

According to Fig. 12 counts an instruction counter 27 shows a solid line, is in the present invention

Input clock pulse CL, and the output of the being each step very small and is not of

error counter27 is accompanied by a command character generator 28 of an oscillation. The step angle change

connected. The command character T ₁ , the command character ·· ao · runs continuously.

generator 28 is a computing circuit 29, an In F i g. 15 shows the torque characteristic

Write control circuit 30, a memory circuit. The pulse repetition rate is on the abscissa

31 and a series-parallel converter 32 supplied. and the torque is recorded on the ordinate.

The memory 31 stores further command information.

mation, and by the command character T the loading _"n 5 The solid curve shows the case of the present lack character generator 28, all addresses are of the invention. The dashed curve queries the conventional memory, and the content of the memory solution. The upper line of the abscissa applies and is called up in the order in which it is called. The labeling for the number of pulses according to the conventionally retrieved information A _n is the series-parallel method, the lower line for the present Er converter 32, the series circuit 29 and the writing 30. In the example according to the invention, control circuit 30 is supplied. The information A _n , speaking the step size per 10 pulses of the steps that are read in sequence, is converted into parallel commands by the width per one pulse in the conventional series-parallel converter method. As the diagram clearly shows, changes, and the parallel commands via a with the torque output in the invention provided in front of an electrostatic shielding, compared to the conventional formator 33 on the control elements A 1 PD ~ DSPD method does not change.

of the stepper motor PM _a ~ PMd given. Every step after F i g. 6 the command pulse CW od motor is assigned the respective excitation coil AIL ~ ASL, CC <V and the output pulse of the decoder B \ L ~ BSL, C1L ~ D5L . The control Cl ~ C10 in the AND3-GatUr processed logically. If information for the forward movement + A ~ - \ - D 4 ° the command pulse and the output pulse of the and for the backward movement - A ~ - £) of each gate circuit is not synchronized, the stepper motor is sometimes, furthermore the results of the computational excitation current of the stepper motor large and circuit 29 in a write control circuit 30 sometimes become small. If the stepping motor is entered at high speed and driven into the speed range by a write signal WP , this phenomenon becomes significant because the torque decreases and is written to the predetermined position of the memory 31. When using five pulses in the high speed range, oscillations are generated. The memory 31 consists of five shift registers. To eliminate this disadvantage, the shifted signals are eliminated via the command pulses CW or CCW from the OR series-parallel converter 32 and the transformer circuit OR6 , and the binary counter 15 33 to the control elements A \ PD ~ D5PD . Furthermore, 50 is reset to the starting position. The result will be the signals that are on each shift register, like Fig. 16 shows an alignment of the front fetched verden via the arithmetic circuit 29 and the edge of the output pulses of the decoder Cl until the write control circuit 30 is written in a further shift Cn in a line and a synchronization with the register, so that the above-mentioned command pulses C W or CCW. That in Fig. 16 alternating two-phase / three-phase excitation from 55 shown pulse diagram is fed through a switch. Accordingly, for example, the excitation is obtained in which the decimal counter as a binary of the stepping motor corresponding to the counter 15 in Table 1 corresponding to FIG. 6 is used and the specified sequence is controlled. The memory 31 of the counter is reset when it is working as a common circuit for a plurality of ten of the input pulses To has counted. On the other hand of stepper motors PM "~ PMa; 60 the / i number system counter 3 can also be constructed as decimal elements, such as shift registers. By using the synchronization described, which is advantageous with many stepper motors, the lines 1 to η of the n-number system counter 3 to be turned in the output are

The following is the result of an attempted logical output signals and the impulses, in which a stepping motor is synchronized in accordance with the following C1 to C //, and the present invention is controlled. Fig. 13 is a diagram showing the relationship between when the binary counter 15 is not reset by the instruction of the number of steps and the rotation angle, pulses CW and CCW, respectively

31

Il

namely the following phenomenon. Let us assume that the content of the H-number system counter is equal to the time to the point of intersection between that of the straight line II and the line C5, and corresponds to a similar value "1", and the stepping motor in this way shows the straight line / 3 that the period of the Be-mode is driven that repeatedly the three missing pulse equal to the time duration up to the intersection phases A, B, C and the two phases B, C in a 5 point between the straight line / 3 and the line Cl . Time ratio which corresponds to the duty cycle. In the lower speed range, the straight line corresponding to the waveform C1 in FIG. 16 is then, for example, / 1, i.e. none of the pulses C1 to C9 takes the stepping motor into a position that intersects with a representative line , and it can and tenth of the stable position of the three-phase excitation should follow the pulse reset as described above ergung A, B, C in the direction of the stable position of the two-io, and the excitation of the stepper motor z. B. phase excitation B, C is shifted. If at u: eser run according to Table II. In the higher speed assumption a command pulse CW in the middle keitsbereich, however, the straight line, z. B. the Ge area between two pulses of the pulse train Cl rade II or / 3, from the section CS, which is generated, so z. B. at the point where the content represents the mean pulse width, or from the beginning of the binary counter 15 has the value 3, then 15 is cut Cl , and in this time the content of the "number system counter 3 is immediately at" 2 "point the provision. The result is that for larger and the stepping motor repeats the three-phase pulse widths than they correspond to the specified pulses excitation A, B, C and the two-phase excitation B, C , full excitation occurs, and in a time ratio that corresponds to Duty cycle of the alternating two-phase / three-phase excitation corresponds to a pulse train Cl until the next command 10 three-phase excitation passes. To avoid this pulse CW is generated. With regard to the over-appearance, as shown in FIG. 18 B e.g. B. for the transition from the pulse train Cl to the pulse train Cl puls C5 shows, however, the reset for a pulse appears because the content of the binary counter 15 is larger than C5 and has the value "3" for all, the pulse train Cl actually Other pulses, the pulse width of which is not greater than seven pulses generated in the oscillator 13, are preset to the numerical ones after the command pulse CW has arrived. Value 5. That is, if the repetition frequency of the Be-Ls occurs in the transition from the pulse command pulses CW or CCW is high and the following Cl to the pulse train Cl is a time delay content of the / i number system counter 3 according to FIG. 6 on, and the excitation current and the torque is less than "5", the content of the binary counter 15 of the stepper motor will decrease according to this time delay every time a command pulse CW or CCW is delayed. Since the periods of the pulse trains meet Cl, preset to "5". If the content of the n-number is constant up to Cn , the time delay of the system counter 15 is greater than "5", the content of the stepper motor causes an undesired oscillation, binary counter 15 is reset every time an if the repetition frequency of the command pulses CW, CCW input pulse CW or CCW arrives. If it's bigger. 35 The content of the M number system counter 3 is less than "5",

In Fig. 17 is the difference in the characteristic, one of the pulse trains in the AND gate AND3 is selected for the case of synchronization and the case of. Since the content of the binary counter 15 is based on non-synchronization of the circuit according to FIG. 6 "5" is preset, is displayed every time a. The output torque error pulse CW or CCW arrives on the ordinate, the pulse sequence To supplied by the oscillating moment and the pulse frequency 40 tor 13 on the abscissa from "5" upwards. As the diagram shows, the larger is counted. As a result, the output torque selected by the gate when using the synchronous AND3 pulses C1 to C5 are always "OFF" reached. and consequently there is no signal VPP or VNP

If, however, the aforementioned reset is generated every time. The consequence of this is that the step takes place when the input step pulse is applied, so that the motor in an exact three-phase excitation A, B, C becomes clear that the speed range is changing. However, if the content of the n-number system-wise two-phase / three-phase excitation z. B. in a counter 3 greater than "5", then the AND three-phase excitation goes over and the WE gate AND 3 one of the impulses C6 to ClO auskungsgrad and the response suffer. This selected and the content of the binary counter 15 when it appears can be explained as follows. 50 each incoming command pulse Cif or CCW

F i g. 18 A represents the relationship between the pulse deferred. The binary counter 15 counts the pulses To supplied by the width of the pulse train Cl to ClO of the decoder oscillator 13 from "0" upwards and the period of the command pulses CW or CCW downwards, and therefore the output of the gate is represented. The period of the command pulses AND3 always becomes "1". The pulse VPP is generated, represented by the intersection of the straight line / 1 55 and the state of excitation becomes an exact to / 3 with one of the lines which illustrate the pulse width of the two-phase excitation B, C. Similarly, pulses C1 to ClO again . Because the state of excitement gets caught. As mentioned above, rade / 1 does not intersect any of the lines that the pulse- the function table II for the excitation is to illustrate in width of the pulses C1 to C10, table VIII changed. Thus, alternately, this means that the period of the command pulses 60 three-phase / two-phase excitation is maintained longer than that of the pulses Cl to ClO. The become. Table VIII contains only excerpts from rade / 2 shows that the period of the command pulses Table U. The other parts are similar.

For this purpose 22 sheets of drawings

Claims (1)

Patent claims: 1. Method for controlling an electric multiphase stepper motor, its rotor in partial steps by successive simultaneous activation of the same or different ones Excitation states in several windings of the stator is moved, with the sub-steps between the step positions determined by the number of phases and teeth per phase, thereby characterized that by the Excitation states a sequence of alternating forward and backward steps each during of the entire time interval between two command pulses, whereby the switch-on times the excitation states determining the forward and backward steps during a Time interval are in a fixed ratio to each other, after each further incremental pulse step by step by changing its numerator and denominator by the same amount is changed with the opposite sign. 2. Circuit arrangement for performing the method according to claim 1 with a plurality of simultaneously to be excited windings of the stepping motor selecting exciter control circuit, the selection being made depending on command pulses supplied by a numerical control device, characterized in that between the numerical control device (1) and the excitation control circuit (4) for the windings (WA to WE) a pacer unit (3, 12, 13, dieren the count content and a to the decoder (20) and the pulse generator (22) connected gate circuit (21), which several of the simultaneously exciting windings {WA to WE) of the stepping motor and the command pulse modulated signals (P 1, Pl, ... P 10) the selected windings depending on the content of the counter (18) feeds (Fig. 9A). 4. Circuit arrangement according to claim 2 or 3, characterized in that the pulse generator (12, 22) contains an oscillator (13, 23) which generates pulses (To, PT) , a counter (15, 24) which pays these pulses , and a decoder (16, 25) connected to the counter (15, 24) which generates command pulse modulated signals (C 1, C 2, ... Cn; Pl, P2, ... PlO) with constant periods and different pulse widths , and that the content of the counter (15, 24) is reset when a command pulse (CW, CCW) is generated (FIG. 6- (I); 9B).