EP0190591A1 - Motorwerk geeignet für hohe Geschwindigkeit - Google Patents

Motorwerk geeignet für hohe Geschwindigkeit Download PDF

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Publication number
EP0190591A1
EP0190591A1 EP86100645A EP86100645A EP0190591A1 EP 0190591 A1 EP0190591 A1 EP 0190591A1 EP 86100645 A EP86100645 A EP 86100645A EP 86100645 A EP86100645 A EP 86100645A EP 0190591 A1 EP0190591 A1 EP 0190591A1
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EP
European Patent Office
Prior art keywords
motor
pulses
coil
circuit
rotor
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP86100645A
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English (en)
French (fr)
Inventor
Yves Guérin
René Besson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ETA SA Manufacture Horlogere Suisse
Ebauchesfabrik ETA AG
Original Assignee
Ebauchesfabrik ETA AG
Eta SA Fabriques dEbauches
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Filing date
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Application filed by Ebauchesfabrik ETA AG, Eta SA Fabriques dEbauches filed Critical Ebauchesfabrik ETA AG
Publication of EP0190591A1 publication Critical patent/EP0190591A1/de
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C3/00—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means
    • G04C3/14—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means incorporating a stepping motor

Definitions

  • the present invention relates to an engine assembly capable of operating at high speed and usable, in particular but not exclusively, in an electronic watch with analog display.
  • the invention relates to a motor assembly comprising a stepping motor and its control circuit, which makes it possible to obtain a rotation speed significantly increased compared to that which the stepping motors currently used in watchmaking can achieve.
  • step by step means that the motor is designed so that its rotor can move in spurts by stopping in one or more well-defined rest positions. This does not preclude the possibility of rotating it continuously, that is to say without the rotor stopping when it passes through a rest position and even without being braked at this place.
  • Patent application EP 0 103 542 indicates an interesting solution which makes it possible to operate a Lavet type motor in forward and reverse directions at a speed much greater than 50 or 64 steps per second.
  • This solution consists in applying to the motor first a driving impulse for launching in forward or reverse direction to effectively cause the engine to start in the desired direction of rotation, then a train of simple maintenance pulses of alternating polarity and of shorter duration than that of the starting pulse, and finally a single stop pulse of polarity opposite to that of the last pulse-of maintenance and longer than this one.
  • the start pulse is, like the others, a single pulse whereas, for reverse travel, this start pulse is formed of three elementary pulses of alternating polarity, the polarity of the first pulse. depending on the rest position initially occupied by the rotor. The role of the first elementary pulse is to start the engine in forward so that the rotor acquires sufficient energy to be able to take the first step in reverse under the effect of the following two pulses.
  • the instants of application of the drive and stop pulses relative to the start of the start pulse can either be determined in advance, taking into account the characteristics of the motor, or be fixed by detecting a quantity representative of the movement of the rotor, such as for example the voltage induced by the latter in the motor coil.
  • the first is that it can be applied to different types of stepping motors, especially among those currently used in the manufacture of watches or other timepieces.
  • the second is that, combined with the well-known technique of servo-control, it effectively achieves the speed it takes to be able to equip a seconds hand watch with an electronic correction system and which must be at least 1000 steps per second.
  • the object of the present invention is to provide a solution for increasing the maximum operating speed of a stepping motor which does not have these drawbacks.
  • a motor assembly which comprises a stepping motor provided with a rotor, a stator and a coil magnetically coupled to the stator and for which there are values optimal resistance and self inductance of the coil and an optimal duration of the driving pulses to be applied to this coil to control it which allow it to have a yield n of maximum value when it is supplied at a determined voltage, this return being defined by the relation where T is the maximum useful torque that the motor can supply, n the number of steps per revolution made by its rotor, V the voltage at which it is supplied and 1 the average current which is applied to it for one second; and a control circuit for operating this motor at low and high speed by applying driving pulses of low frequency and high frequency respectively, the actual values of the resistance and of the self inductance of the motor coil are lower at optimum values and the driving pulses of low frequency are such that this motor has a value efficiency substantially equal to the maximum value when it operates at low speed.
  • the low frequency driving pulses are pulses which have the optimum duration and the determined voltage in question and which are formed by trains of elementary pulses whose cyclic ratio allows the efficiency n of the motor to have substantially the value maximum when it operates at low speed.
  • the invention does not make the winding operation more complicated and more expensive. On the contrary, it shortens it and makes it easier since there is a need for fewer turns and a larger wire can be used.
  • control circuit does not need to include more transistors power or output terminals as usual. As will appear later, it is only when it becomes necessary to provide braking means that the number of transistors increases but it takes even less than to be able to selectively connect two windings in series or in parallel.
  • the motor assembly which is represented diagrammatically in FIG. 1 and the elements of which could belong to a watch without a seconds hand, consists only of a bipolar single-phase stepping motor 1, of Lavet type, and d '' a control circuit 2 provided to rotate this motor in one direction, that indicated by the arrow F, and at two different speeds, a low speed when the watch is to operate normally and a high speed to allow setting at the fast hour.
  • the motor 1 conventionally comprises a stator 3 which is shown in the figure as being in one piece but which could just as easily be produced in two parts, a rotor 4 comprising a cylindrical permanent magnet with diametrical magnetization, surrounded by the stator, and a coil 5 which surrounds a core 6 magnetically coupled to the stator 3.
  • the elements of the motor 1 are supposed to have exactly the same geometric and physical characteristics as those of an engine of the same kind, currently used for the manufacture of analog watches and therefore do not need to be described in detail here. It suffices to specify that these characteristics are those for which it is generally used to supply the motor with driving pulses such as those which are represented by the diagram a in FIG. 2, that is to say pulses continuous, of alternating polarity and of a duration of 7.8 ms, this when the watch is intended to be equipped with a source of electrical energy supplying a voltage of 1.55 V, for example a battery money, and when it has no means to adapt the duration of the driving pulses to the momentary load of the motor.
  • driving pulses such as those which are represented by the diagram a in FIG. 2, that is to say pulses continuous, of alternating polarity and of a duration of 7.8 ms, this when the watch is intended to be equipped with a source of electrical energy supplying a voltage of 1.55 V, for example a battery money, and when it has no means
  • This duration of 7.8 ms corresponds to an optimal or quasi-optimal efficiency of the motor when it truly operates in step, in its normal direction of rotation, taking into account the maximum torque that it must provide.
  • T is the maximum useful torque that the motor must be able to supply
  • n the number of steps per revolution made by its rotor
  • V the voltage at which it is supplied
  • 1 the average current flowing through its winding for one second, unladen, that is to say when its rotor is not subjected to any resistive torque due to external elements.
  • this minimum electrical energy E m begins to decrease rapidly when the pulse duration T increases, then passes through a minimum and then increases relatively slowly.
  • the duration TD which corresponds to the minimum is precisely that for which the efficiency of the motor is maximum.
  • this duration TO which will later be described as "normal" varies in fairly large proportions depending on the way in which the motor is produced, that is to say according to the shape and dimensions of the different elements, the materials which constitute them, etc.
  • the duration ⁇ 0 is 7.8 ms but there are also some for which it is only 3.9 ms approximately.
  • stepper motors with several coils, determining the optimal duration of the driving pulses is generally more difficult since often it is not enough to apply a pulse to one of the coils to make it pass a step to the rotor.
  • the different coils must be supplied simultaneously or consecutively and with driving pulses which are not necessarily simple pulses. At least some of these motor pulses can indeed be formed from two or more elementary pulses, of different polarity. On the other hand, some motors can operate by being controlled in several distinct ways which do not always lead to the same performance.
  • the originality of the motor 1 is that its coil 5 is produced so as to have a resistance and an inductance proper that are clearly lower than those which would allow the motor to effectively have a maximum efficiency if powered by continuous driving pulses of 1.55 V and 7.8 ms.
  • This reduction in resistance and self inductance compared to the values they should normally have can be, for example, by a factor of 4. This can be easily obtained by making the coil 5 with half the turns it should include it and using a wire whose diameter is / 2 times greater than it should be. In this case the motor coil is equivalent to the two identical windings of patent application CH 2 180/84 when these are connected in parallel.
  • the control circuit 2 comprises an oscillator 7, composed of a quartz resonator and its maintenance circuit, which delivers a standard frequency signal, of 32,768 Hz for example, to a frequency divider circuit 8 which provides at its output a signal whose frequency is the one at which the engine should run when the watch is operating normally.
  • This frequency can for example be 1/30 Hz so that the minute hand advances at the rate of two jumps per minute.
  • the low frequency signal delivered by the divider 8 is transmitted, with other periodic signals of different frequencies taken from the outputs of intermediate stages of this same divider, to a waveform converter circuit 9 which is responsible for producing continuously , on the one hand, continuous pulses of 7.8 ms whose frequency is the same as that of the output signal of the divider and, on the other hand, pulses also continuous but shorter than the previous ones and dcnt the frequency is otherwise equal at least very close to the maximum frequency at which the motor can rotate.
  • this frequency of short pulses can be for example 128 Hz and their duration by 3.9 ms.
  • the pulses of the two types generated by the converter circuit 9 are transmitted separately to a control and chopping circuit 10 which also receives the output signal (s) respectively from one or more intermediate stages of the frequency divider circuit 8 and a signal binary S coming from a contact actuatable by a manual control member such as a push button or a time-setting rod, which is provided with the watch and which is not shown in the figure.
  • This circuit 10 is also connected to a circuit 11 for supplying the motor, conventionally constituted by a bridge of four power transistors in the diagonal of which the coil 5 is connected.
  • control and chopping circuit 10 is content to transmit as such the short pulses which come from the waveform converter circuit 9 to the supply circuit 11, so that the coil re - then receives continuous driving pulses of high frequency and alternating polarity like those which are represented by diagram b of FIG. 2.
  • circuit 10 does not only transmit the 7.8 ms pulses which are applied to it on circuit 11. It chops them at a determined rate, using the signal or signals that it receives from the circuit frequency divider, so that the driving pulses applied to the coil are no longer continuous but formed by trains of elementary pulses like those which are represented by the diagram c of figure 2, the elementary pulses of each train having a polarity opposite to that of the pulses that make up the previous train. Note that diagram c shows only five elementary pulses for each motor pulse when there are in fact a very large number of them.
  • the rate at which circuit 10 chops the 7.8 ms pulses from converter circuit 9 or, which comes to the same thing, the duty cycle of the trains of elementary pulses applied to the coil is that which allows the motor 1 to have at low speed if not exactly at least very substantially the same efficiency as if the resistance and the inductance proper of its coil had their usual values and if the latter was supplied by normal driving pulses, i.e. 7.8 ms continuous pulses.
  • this duty cycle is equal to 0.5.
  • FIG. 4 shows how the control and chopping circuit 10 can be produced in this particular case.
  • This figure also shows the coil 5 and the supply circuit 11 formed as already indicated by a bridge of four transistors.
  • a bridge of four transistors In each branch of this bridge is a p-type transistor 12, respectively 14, in series with an n-type transistor 13, respectively 15.
  • the sources of the p-type transistors 12, 14 are connected to the positive terminal + V of the source of the watch supply voltage and those of the n type transistors 13, 15 at its negative terminal, the coil 5 being connected between the common point of the drains of the transistors 12 and 13 and that of the drains of the transistors 14 and 15 .
  • this comprises two AND gates 16 and 17 with two inputs to which the pulses of 7.8 ms and short pulses of 3.9 ms are applied, for example, produced by the converter circuit waveform 9 (see Figure 1).
  • Gate 17 also receives the control signal S and gate 16 the inverted signal S.
  • the circuit needs to perform this chopping only a periodic signal supplied by the frequency divider circuit 8.
  • This signal whose frequency can be for example of 1024 Hz is applied to an input of an OR gate 22 which receives the signal S on another input and the output of which is connected to the third inputs of AND gates 20 and 21, the output of the first, 20, of these gates being connected to the grids of the transistors 12 and 13 of the supply circuit 11 and that of the second, 21, to the grids of the transistors 14 and 15.
  • the AND gate 16 When the watch is operating normally, the signal S being at logic level "0", the AND gate 16 is open to the 7.8 ms pulses which it receives and the OR gate 22 transmits the periodic signal which is applied to it at the third inputs AND gates 20 and 21. However, the short pulses are blocked by AND gate 17.
  • the output of the OR gate 18 being at level "0"
  • the AND gates 20 and 21 remain blocked as well as the two transistors of type n 13 and 15 of the circuit 11.
  • the p-type transistors 12 and 14 are conductive and short-circuit the coil 5 of the motor.
  • its output Q can then be either at level "0" or at level "1".
  • the input T of the flip-flop After 7.8 ms, the input T of the flip-flop returns to "0" and the periodic signal is no longer transmitted by gate 20.
  • the AND gate 16 blocks the 7.8 ms pulses which it receives while the AND gate 17 lets through the short pulses of high frequency which are applied to it. These pulses are transmitted alternately by AND gates 20 and 21, respectively to transistors 12 and 13 and to transistors 14 and 15 which control the passage of current in the coil sometimes in the direction of arrow F ', sometimes in the opposite direction. Furthermore, since the output of the OR gate 22 remains at level "1" as long as the signal S is also there, the driving pulses applied to the coil are continuous.
  • this possibility for the rotor to miss a step is especially troublesome for the transition from high to low speed because it means that, immediately after being reset, the watch can delay by, for example, half a -minute if the pulse frequency of 7.8 ms is 1/30 Hz.
  • T 2 0.35 ⁇ Nm we usually obtain, for a supply voltage of 1.55 V and continuous driving pulses of 7.8 ms, a maximum useful torque T u of 0.22 ⁇ Nm and an average current I m of approximately 105 ⁇ A, therefore an optimized efficiency substantially equal to 42.4%.
  • the maximum frequency at which the motor can be controlled is, as already indicated, of the order of 50 or 60 Hz.
  • N again designates the number of turns of the motor coil, ⁇ 0 the maximum value of the coupling coefficient and U i the voltage induced in the coil by the movement of the rotor, it is enough to divide by two the number of turns for double it.
  • FIG. 5 schematically shows one of the simplest forms in which the engine assembly according to the invention can then appear.
  • This possible embodiment corresponds to that which has been described previously, that is to say that the motor assembly shown in FIG. 5 simply consists of a Lavet type motor 1 'identical to that of the motor assembly of Figure 1 and on which it is therefore not necessary to return and a control circuit 2 'provided to rotate this motor in only one direction, at low and high speed.
  • control circuit 2 comprises, connected one after the other, an oscillator 7', a frequency divider circuit 8 ', a converter circuit waveform 9 ', a control and chopping circuit 10' which receives a binary control signal S 'and a power supply circuit 11' of the motor.
  • the oscillator 7 'and the power supply circuit 11' are identical to those of the circuit 2.
  • the divider circuit 8 ' can comprise fewer stages than the divider circuit 8 and provide an output signal of higher frequency and equal to 1 Hz for example.
  • the converter circuit 9 ' is simpler than the circuit 9 because it no longer has to supply the control and chopping circuit 10' with 7.8 ms pulses at the frequency of the output signal of the divider circuit 8 ', for the operation of the motor 1' at low speed.
  • control circuit 2 comprises a circuit 30 for permanently detecting, when the rotor 4' is rotating, a parameter representative of the instantaneous position thereof and for applying a short pulse to the control and chopping circuit 10 'each time this rotor passes through a position angular well determined or by the opposite position.
  • positions can be those of static equilibrium but it is preferable that they are located before, that is to say that each of them is between a position of static equilibrium and that of the two positions of equilibrium with current which is angularly the closest or is confused with the latter.
  • the detected parameter it can be the intensity of the current in the coil 5 ', the voltage induced in the latter by the movement of the rotor, the variation of magnetic flux in the stator 3', etc.
  • the circuit 30 can take one of the many forms which have been disclosed in the context of systems for adapting the energy of the driving pulses applied to a motor under its load.
  • the circuit which is described in US Pat. No. 4,446,413 can be used and for the flux variation that which appears in US Pat. No. 4,430,007.
  • this detection circuit 30 has been shown in the figure as being connected to the terminals of the coil 5 ′, but it could also be connected to one or more points of the supply circuit 11 ′. It all depends in fact on the parameter chosen and the way in which the circuit is made.
  • control circuit 2' When the control signal S 'is at logic level "0", the motor rotates step by step at low speed and the control circuit 2' then operates in exactly the same way as circuit 2 in FIG. 1 except that the pulses chopped driving motors are applied to the motor at a slightly higher frequency and the control and chopping circuit no longer blocks short pulses of high frequency originating from the waveform converter circuit but pulses of the same frequency as the driving pulses , produced by the detection circuit 30.
  • this detection circuit would also be possible not to operate this detection circuit as long as the engine is running at low speed, but it would then be necessary to provide, between it and the coil 5 ′ or the supply circuit 11 ′, a controlled switching system by the signal S '.
  • the control and chopping circuit 10' controls the supply circuit 11 'so that the coil 5' is traversed by a current of opposite direction with respect to that which passed through it for the duration of the last driving impulse and the rotor then begins to rotate. Furthermore, from this moment, the circuit 10 'blocks the 7.8 ms pulses which it receives from the converter circuit 9'.
  • the detection circuit 30 sends a pulse to the circuit 10 'which acts on the supply circuit to reverse the direction of the current in the coil and continue to do turn the rotor.
  • the detection circuit applies a new pulse to the control and chopping circuit which again changes the direction of the current in the coil and so on as long as the signal S 'is at level "1".
  • the coil 5 ′ is then supplied with driving pulses of voltage V, of alternating polarity, which follow one another without interruption, the start of one of these pulses being confused with the end of the previous one.
  • FIG. 6 represents, in algebraic value, the voltage applied to the coil as a function of the angle a of rotation of the rotor.
  • This parameter was chosen preferably over time because, in this case, the duration of the motor pulses is not constant. Indeed, from the moment the rotor begins to rotate, its speed increases, which means that this duration decreases and it only becomes constant from the moment when the rotor speed reaches a maximum value which it then keeps, this of course provided that the signal S 'remains at level "1" long enough.
  • the control and chopping circuit controls the supply circuit so that the coil 5 'is short-circuited as it was just before the level of the signal S' goes to "1" and, from this moment, it starts again to transmit the low frequency pulses of 7.8 ms by them chopping and blocking pulses from the detection circuit.
  • FIG. 7 shows in detail a way of making the control and chopping circuit 10 ′ in the particular case where the driving pulses applied to the motor are chopped with a duty ratio equal to 0.5, as well as the supply circuit 11 'with its four power transistors 12', 13 ', 14' and 15 'to control the passage of current through the coil 5'.
  • the circuit 10 ′ includes all the elements of the circuit of FIG. 4 which are designated by the same references with, in addition, the signal ""'and which are connected together in the same way to this near that the output of the OR gate 18 'is not connected to inputs of the AND gates 20' and 21 'directly but via an OR gate 24 which also receives the signal S'.
  • this OR gate 18 ′ has not only two inputs but three, the additional input being connected to the output Q of a monostable circuit 23 whose input TR also receives the signal S '.
  • the short pulses of the waveform converter circuit are replaced by the pulses coming from the detection circuit 30. Note that if it had been planned to operate the latter only when the engine must run at high speed, this door 17 'would not have happened.
  • the current which has started to pass through the coil 5 'in one direction continues to do so after the signal level S' has gone to "1" and if the rotor has already exceeded the reference position by the time this change occurs, it is placed in its equilibrium position with current and it remains there as long as the level of the signal S 'is not reduced to "0". Naturally, if the rotor has not yet passed through the reference position there is no problem.
  • An effective solution for achieving this braking consists in connecting a resistor of adequate value in series with the coil for a certain time before interrupting the supply of the motor.
  • braking is all the more important the higher the resistance value and this value must be chosen according to the parameters of the coil, the speed at which it is planned to rotate the rotor and the time during which we plans to connect this resistor. It will generally be of the same order of magnitude as that of the coil and it may be, for example, substantially equal to the difference between the resistance which the coil should normally have in order to obtain optimum efficiency in step-by-step operation at low speed and the one she really has.
  • Curves I and II of the diagram in FIG. 8 represent the variation of the maximum no-load speed v of the rotor as a function of the value R ′ of the resistor which is connected in series with the coil for the two motors which have been chosen as examples.
  • this speed which is 624 steps per second in the absence of resistance increases to 305 steps per second for a resistance of 1400 n, that is to say it is little almost halved. This is already enough for the rotor to stop without taking any additional steps after the power supply to the motor has been interrupted.
  • the speed is no more than 118 steps per second.
  • the speed decreases from 2075 to 665 steps per second when the resistance value goes from 0 to 5000 n. This decrease is significant but not entirely sufficient. On the other hand, a resistance of around 7000 ⁇ could be suitable.
  • This same diagram also shows how the average consumption per step C expressed in nano-amps varies in both cases.
  • R 'increases from 0 to 5000 ⁇ this consumption drops roughly from 800 to 1765 nA for the first motor (see curve III) and from 535 to 1000 nA for the second (see curve IV). It is therefore roughly doubled.
  • the engine is only supposed to run at high speed only very rarely and since, in addition, the braking period would often represent only a very small part of the time during which the engine would operate thus, this does not constitute not a drawback.
  • FIG. 9 shows how the supply circuit of a motor such as that of FIG. 1 or of FIG. 5 must be produced when this solution of the solution is actually used. Additional resistance to brake the rotor. We can also consider that the resistance is part of this circuit.
  • a third branch is added in parallel with the two others and also consists of a p-type transistor 31 and an n-type transistor 32 in series, the additional resistor 33 of value R 'being connected between the junction point of the drains of these two additional transistors 31 and 32 and that of the drains of the transistors 14 "and 15".
  • the control and chopping circuit can no longer have a shape as simple as that of FIG. 7.
  • this circuit will not be described here.
  • it is designed to control the supply circuit of FIG. 9, so that the rotor makes 1800 revolutions, that is to say that the hands of the watch advance exactly one hour each time it receives a control pulse produced when a specific action is exerted such as pressing, pulling or rapid rotation, on a manual control member.
  • the motor control circuit must also include a device for detecting the momentary speed of the rotor and the cores to connect the resistor in series with the coil for a determined time when this speed exceeds a certain threshold or better for connecting the resistance when the speed becomes greater than a first value and disconnect it as soon as the speed falls below a second value less than the first.
  • this regulation system must be rendered inoperative at the time of the final braking phase.
  • the invention can be extended to many kinds of engines.
  • the motors normally with a single coil but truly bidirectional which derive from motors of the aforementioned kind and which are the subject of patent CH 616 302 and of the application EP 0 085 648 or the two-phase motor, several forms of which are described in the patents CH 625 646 and CH 634 696.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Electromechanical Clocks (AREA)
EP86100645A 1985-01-23 1986-01-18 Motorwerk geeignet für hohe Geschwindigkeit Withdrawn EP0190591A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH28885A CH660108GA3 (de) 1985-01-23 1985-01-23
CH288/85 1985-01-23

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EP0190591A1 true EP0190591A1 (de) 1986-08-13

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EP86100645A Withdrawn EP0190591A1 (de) 1985-01-23 1986-01-18 Motorwerk geeignet für hohe Geschwindigkeit

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EP (1) EP0190591A1 (de)
JP (1) JPS61170297A (de)
CH (1) CH660108GA3 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0361015A2 (de) * 1988-09-29 1990-04-04 Timex Corporation Hochgeschwindigkeits-Hin- und Rückwärtssteuerung für einen bipolaren Uhrenschrittmotor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5345577A (en) * 1977-01-19 1978-04-24 Seiko Epson Corp Electronic wristwatch
JPS582556B2 (ja) * 1980-01-08 1983-01-17 株式会社精工舎 モ−タの駆動回路

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
B.C. KUO: "Theory and applications of step motors", 1974, pages 173-241, West Publishing Co., St. Paul, US. *
INSTRUMENTS & CONTROL SYSTEMS, vol. 46, no. 2, février 1973, pages 60-65, Radnor, PA, US; T.E. BELING et al.: "Permanent magnet stepping motors. Part II. Drivers" *
PATENTS ABSTRACTS OF JAPAN, vol. 5, no. 171 (E-80) [843], 30 octobre 1981; & JP - A - 56 98 398 (SEIKOUSHIYA K.K.) 07-08-1981 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0361015A2 (de) * 1988-09-29 1990-04-04 Timex Corporation Hochgeschwindigkeits-Hin- und Rückwärtssteuerung für einen bipolaren Uhrenschrittmotor
EP0361015A3 (de) * 1988-09-29 1991-03-20 Timex Corporation Hochgeschwindigkeits-Hin- und Rückwärtssteuerung für einen bipolaren Uhrenschrittmotor

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JPS61170297A (ja) 1986-07-31
CH660108GA3 (de) 1987-03-31

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