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[hopelin]

Three control methods of integrated servo motor

1.Basic definition of integrated servo motor An integrated servo motor is a compact unit that combines a servo motor, a servo drive, and often a feedback mechanism (like an encoder) into a single, unified package. This integration simplifies motion control systems by eliminating the need for separate external components and reducing wiring complexity. These motors are widely used in industrial automation, robotics, medical devices, and various other fields requiring accurate and reliable motion control.

2.Main parts of integrated servo motor 1.Motor:The motor is the main part of the system. It changes electricity into movement for precise control. Motors can be AC, DC, or brushless types. 2.Controller:The controller is built inside the motor. It controls how the motor works by reading signals. It adjusts speed, position, and force based on commands. This removes the need for extra controllers, making setups easier. 3.Feedback System:The feedback system keeps the motor accurate. It uses tools like encoders to check speed, position, and force. This data helps the controller fix mistakes instantly. This ensures the motor moves correctly every time. 4.Communication Interface:The communication interface helps the motor connect with other devices. It works like a bridge, letting the motor get commands and send feedback. This keeps the motor and your equipment working together smoothly.

3.Main control methods of integrated servo motor 1.Torque control:The torque control method is to set the external output torque of the motor shaft through external analog input or direct address assignment. For example, if 10V corresponds to 5Nm, when the external analog is set to 5V, the motor shaft Output is 2.5Nm: If the motor shaft load is less than 2.5Nm, the motor will rotate forward. When the external load is equal to 2.5Nm, the motor will not rotate. When the external load is greater than 2.5Nm, the motor will rotate reversely (usually caused by a gravity load). The set torque can be changed by changing the analog setting in real time, or by changing the corresponding address value through communication. 2.Position control:The position control mode generally determines the rotation speed through the frequency of externally input pulses, and determines the rotation angle through the number of pulses. Some servo can also directly assign speed and displacement through communication. Since the position mode can strictly control both speed and position, it is generally used in positioning devices. 3.Speed mode:The rotational speed can be controlled through analog input or pulse frequency. The speed mode can also be used for positioning when there is an outer loop PID control of a host control device, but the position signal of the motor or the position signal of the direct load must be given to the host. Feedback for calculation purposes. The position mode also supports direct load outer ring detection of position signals. At this time, the encoder on the motor shaft end only detects the motor speed, and the position signal is provided by the direct detection device on the final load end. This has the advantage of reducing the need for intermediate transmission. The error increases the positioning accuracy of the entire system.

4.Common applications of integrated servo motor 1.High Speed Doors:Integrated servo motors are perfect for high-speed roll up doors. They help doors move smoothly and accurately, which is important in busy places. For example, Frog Pupil motors from Germany are popular in fast doors. Their small size and built-in controllers make setup quick and easy.These doors often work in tough spots like warehouses or cleanrooms. Integrated servo motors handle these conditions well. 2.Robotics:Robots need integrated servo motors for exact movement. These motors combine the motor, encoder, and controller in one unit. This design makes robots simpler and saves space for other parts.In robotic arms and moving robots, these motors give strong and fast motion. 3.Medical Equipment:Medical tools need to be small, reliable, and precise. Integrated servo motors meet all these needs. Surgical robots use them for exact movements during delicate surgeries. Diagnostic machines benefit from their quiet and compact design, making them patient-friendly. Prosthetics also use these motors for smooth and natural motion. Their energy efficiency and long life make them a top choice in healthcare. The market for these motors in medical tools is expected to grow, reaching $3,302.10 million by 2031. 4.Manufacturing and Automation:Integrated servo motors are important in today’s factories and automation. They help machines work faster, more accurately, and more efficiently. These motors combine the motor, controller, and feedback system into one small unit. This design makes systems simpler and reduces delays.In factories, these motors are great for tools, conveyors, and assembly lines. They ensure precise cutting, welding, and moving materials.

Source:https://plaza.rakuten.co.jp/beverlystepper/diary/202507230000/

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Main functions and maintenance tips of harmonic reducer gearbox

1.Basic introduction of harmonic reducer gearbox The harmonic reducer gearbox uses the rotation of the wave generator to force the flexible wheel to produce radial elastic deformation, form zero backlash meshing with the rigid wheel, and transmit motion and power through controllable deformation. It is mainly composed of three core components: wave generator, flexible wheel (flexible gear), and rigid wheel (rigid gear). Its transmission speed ratio can reach 30-320, and even more than 30000:1 after multi-stage combination. It is widely used in robot joints, aerospace and other fields.

2.Core components and functions of harmonic reducer gearbox ‌1. Wave generator: usually composed of an elliptical cam or ball bearing assembly, as the power input end, it realizes transmission by forcing the flexible wheel to produce periodic deformation. ‌ ‌2. Flexible wheel: Made of thin-walled elastic metal material, it produces controllable deformation under the action of the wave generator. Its number of teeth is usually less than that of the rigid wheel, and it realizes partial meshing with the rigid wheel through elastic deformation. ‌ ‌3. Rigid wheel: Rigid internal gear with slightly more teeth than flexible wheel, alternately meshing with flexible wheel to achieve high-precision reduction transmission.

3.Main functions of harmonic reducer gearbox

1.Precision transmission: Use wave generator to force flexible wheel to produce controllable elastic deformation, forming zero backlash meshing with rigid wheel to achieve millimeter-level precision transmission. The single-stage reduction ratio can reach 30-320, and the multi-stage combination can reach 30000:1. The repeatability accuracy can reach ±1 arc second, which can meet the high-precision requirements of robot joints, spacecraft pointing mechanisms, etc. ‌

2.Efficient power transmission: Using flexible gear transmission, the single-stage transmission efficiency reaches 92%-96%, far exceeding the 70% of traditional worm transmission. At the same time, it has zero backlash characteristics, completely eliminating the return clearance problem of traditional gearboxes, and is suitable for high-speed and high-load scenarios. ‌

3.Compact and lightweight design: The overall structure only requires three core components (rigid wheel, flexible wheel, wave generator), the volume is only 1/3 of the same level planetary reducer, and the power density is increased by 4 times. This design makes it show significant advantages in space-constrained scenarios such as robot joints and medical machinery.

4.Maintenance tips for harmonic reducer gearbox

1.Cleaning and inspection: Perform external cleaning at least once a month, use a soft cloth or compressed air to remove dust, and avoid using corrosive chemicals. Regularly check the wear of gears, bearings and other parts, and replace them in time if abnormal wear is found. ‌

2.Lubrication management: Select lubricants (lubricating oil or grease) according to the manufacturer's recommendations. The lubricating oil needs to be checked and replaced every 1000-2000 hours of operation, and the grease needs to be replenished or replaced every 6-12 months. Use a grease gun or automatic lubrication system for lubrication to ensure even application and no overflow. ‌

3.Temperature control: Install a temperature sensor to monitor the temperature of the equipment in real time to ensure that there is enough heat dissipation space around it. If the ambient temperature is high, a cooling fan or cooling system can be added. Avoid performance degradation or component damage due to overheating. ‌

4.Load management: Avoid long-term overload, and gradually increase the load at startup to reduce impact. Strictly distribute the load according to the manufacturer's specifications to ensure smooth operation and no excessive wear of components.

5.Electrical maintenance: Regularly check whether electrical connections are loose or corroded, and outdoor equipment needs to be equipped with waterproof and dustproof covers. Record maintenance history and develop a detailed maintenance plan, including cleaning, lubrication, and component replacement cycles.

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Technical characteristics and maintenance measures of stepper motor drivers

1.Basic definition of stepper motor drivers A stepper motor driver is a device that converts an electrical pulse signal into a drive current signal, which is mainly used to control the angular displacement, speed and position of a stepper motor. The stepper motor driver receives the pulse signal from the controller and converts it into a drive current signal to control the operation of the stepper motor. The speed of the stepper motor is proportional to the pulse frequency, so the speed can be accurately adjusted by controlling the pulse frequency, and the positioning can be accurately achieved by controlling the number of pulses.

2.Working principle of stepper motor driver The main components of the stepper driver include a ring distributor and a power amplifier. The ring distributor is responsible for receiving pulse signals, direction signals and offline signals, and distributing and processing these signals. The power amplifier provides power to the coil of the stepper motor according to the instructions of the ring distributor, thereby controlling the operation of the motor. The stepper motor requires continuous pulse signal input to operate, otherwise it will stop rotating.

3.Technical features of stepper motor drivers

1.High-precision control: The stepper motor driver receives electrical pulse signals and accurately drives the stepper motor to rotate a fixed angle (i.e., the "step angle"), thereby achieving high-precision position control. Each pulse signal corresponds to a specific angle of motor rotation, which enables the stepper motor to achieve high-precision open-loop position control without a feedback system. ‌2. Advantages of open-loop operation: Stepper motor drivers have significant advantages under open-loop operation. Due to the "step-one-step-stop" characteristics of stepper motors, the driver can operate reliably without position sensor feedback by accurately controlling the pulse signal. This open-loop operation simplifies the system structure and reduces costs. ‌3. Controllable speed and direction: The stepper motor driver receives pulse signals and direction signals to control the motor's speed, number of steps, and direction of rotation, respectively. The higher the pulse frequency, the faster the motor speed; the direction signal determines whether the motor rotates clockwise or counterclockwise. ‌4. Low speed and high torque: The stepper motor can provide a large output torque at low speed, which makes it perform well in applications that require low speed and high torque. The driver maintains this advantage by ensuring that the motor coils receive sufficient and accurate current.

5.Programmable current control: Most stepper motor drivers allow users to set the peak current and operating current delivered to the motor, which directly affects the torque and heat output of the motor. Some drivers also support setting the holding current to reduce the heat generated when the motor stops.

6.Microstep drive technology: Modern stepper motor drivers usually provide microstep drive technology, which can achieve finer position control through subdivision control without changing the physical step angle of the motor, further improving the accuracy and performance of the system.

4.Maintenance measures for stepper motor drivers

1.Regular cleaning: Depending on the use environment, regularly clean the surface and interior of the stepper driver to remove dust and impurities. You can use clean gas to blow dust or a soft dry cloth to wipe it gently, but be careful not to use chemical solvents or strong acid and alkali solutions to avoid damage to the driver.

2.Check the connection: Regularly check whether the connection between the stepper driver and the stepper motor and control system is firm to ensure that there is no looseness. If looseness is found, it should be re-fixed in time. ‌3. Power supply check‌: Ensure that the power supply of the stepper driver is stable and the voltage meets the equipment standards. If the power supply is found to be unstable or abnormal, the fault should be promptly eliminated or the power supply equipment should be replaced. ‌4. Temperature control‌: Pay attention to the operating temperature of the stepper driver and avoid long-term high-temperature operation. You can add heat dissipation equipment such as fans or heat sinks to maintain the normal operating temperature of the driver. ‌5. Environmental protection‌: Install the stepper driver in a dry and well-ventilated environment to avoid moisture, excessive dust and other conditions that may adversely affect the equipment. When working in harsh environments, you can consider using dustproof, waterproof covers or shells to improve the protection level of the equipment. ‌6. Fault handling‌: If the stepper driver is abnormal or fails, first perform fault diagnosis according to the equipment manual, and repair or replace parts according to the methods provided in the manual. If the problem cannot be solved, you need to contact professional technicians for inspection.

[hopelin]

‌Application advantages and precautions of worm reduction gearbox

1.Introduction to worm reduction gearbox The worm reduction gearbox is a mechanism that uses a gear speed converter to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque. It transmits torque through the meshing of the worm wheel and the worm to achieve the purpose of deceleration. The worm wheel is usually made of specially configured wear-resistant nickel bronze, while the worm is made of specially treated steel to ensure that the tooth surface hardness reaches HRC60 after fine grinding to ensure its wear resistance.

2.Working principle of worm reduction gearbox The working principle of worm reduction gearbox is to achieve deceleration through the meshing transmission of the worm and the turbine. When the worm rotates, the power is transmitted to the worm wheel through the interaction between its spiral tooth surface and the tooth surface of the worm wheel, thereby achieving deceleration. This transmission method has the characteristics of large transmission ratio, compact structure and smooth transmission. It is widely used in various mechanical transmission systems, such as lifting equipment, mining machinery, construction machinery and other fields, especially suitable for occasions requiring large transmission ratio, limited space and certain requirements for stability.

3.Application advantages of worm reduction gearbox ‌1. High load capacity and significant deceleration effect: The worm reduction gearbox can withstand large torque and load through the large meshing area and sturdy structure of the turbine and worm pair. Its efficient deceleration mechanism can convert the high-speed input of the motor into low-speed output and increase the torque, which is suitable for various working conditions, especially in heavy-load environments such as lifting, transportation and metal processing. ‌2. Smooth transmission and low noise: The worm reduction gearbox adopts a continuous helical gear transmission method, which reduces "shock", "vibration" and "noise", making the equipment run more smoothly and reliably, extending its service life, while also improving the quality of the working environment and reducing the impact on operators. ‌3. Self-locking function: In certain specific scenarios, such as lifting equipment or devices that need to be fixed in position, the self-locking function of the worm reduction gearbox is particularly important. It can effectively prevent self-reversal caused by external forces such as gravity when the equipment stops running, ensuring the safety and stability of the equipment. ‌4. Wide range of applications‌: The worm reduction gearbox plays a key role in many mechanical equipment, covering lifting equipment, mining machinery, food machinery, packaging machinery and other fields. Its compact structure, small footprint, and large output torque make it perform well in situations where high torque and low-speed transmission are required. ‌

4.Precautions for the use of worm reduction gearbox ‌1. Select the appropriate reduction ratio and power‌: Accurately calculate the load according to actual needs, select the appropriate reduction ratio and power, and avoid overload or frequent start and stop to cause impact damage to the reducer.

2.Pay attention to temperature and environmental conditions‌: Ensure that the working environment temperature of the worm reduction gearbox is within the specified range (-40℃ to +40℃, which may vary for different models). When the temperature is below 0℃, the lubricating oil must be heated to above 0℃ before starting or a lubricating oil with a low freezing point must be used. At the same time, avoid overheating caused by long-term continuous work. ‌

3.Regular inspection and maintenance‌: Regularly check the oil level and quality of the lubricating oil and replace it in time; check whether the seal is aging or damaged to prevent leakage. In addition, attention should be paid to the wear of bearings and gears and repair or replace them in time to ensure the normal operation of the machine and extend its service life. ‌4. Smooth start and stop operation: During the start or stop process, the machine should be operated slowly to avoid the impact caused by sudden and drastic changes, which may damage the internal parts. ‌5. Use and maintenance of lubricating oil: After the first use or the replacement of the worm pair, the lubricating oil should be replaced after 150-400 hours of operation, and the subsequent oil change cycle should be less than or equal to 4000 hours. The amount of oil to be filled must be as required. Oils of different brands are prohibited from mixing. Oils of the same brand but different viscosities are allowed to be mixed. Check the amount and quality of the oil regularly, and replace the oil mixed with impurities or deteriorated in time. ‌6. Installation precautions: The worm reduction gearbox must be firmly installed on the equipment without looseness. Confirm whether the direction of the reducer is correct before installation. Reducers are usually used in conjunction with reduction motors or motors, and ventilation devices must be installed to improve heat dissipation and maintain normal operation.

[hopelin]

Structural characteristics and heat dissipation methods of CNC spindle motors

1.Working principle of CNC spindle motors CNC spindle motors usually use AC motors, and their working principle is based on electromagnetic induction. There are stators and rotors inside the motor, and AC coils are wound around the stators. When power is turned on, a rotating magnetic field is generated. The conductor in the rotor will generate eddy currents under the action of the rotating magnetic field, and then generate electromagnetic force to drive the rotor to rotate. By controlling the input AC frequency, the speed of the motor can be changed to achieve the speed regulation function.

2.Heat dissipation methods of CNC spindle motors

1.Water cooling: Water cooling is to cool the heat generated by the high-speed rotation of the spindle through water circulation. The core components of the water cooling system include the coolant inlet and outlet. The coolant circulates in the system, takes away the heat generated by the spindle, and is discharged through the coolant outlet. The advantages of water cooling include good heat dissipation, low noise, long service life, and high precision. However, it should be noted that in cold areas, the circulating water may freeze and damage the spindle.

2.Air cooling: Air cooling is to dissipate heat through a fan. The air-cooled spindle relies on its own fan for cooling. Although the heat dissipation effect is not as good as water cooling, it has a simple structure and low cost. The air-cooled spindle may damage its service life when working continuously for a long time, and usually needs to rest regularly to avoid overheating.

3.Structural characteristics of CNC spindle motors ‌1. Integrated design: CNC spindle motors usually adopt an integrated design, that is, the rotor of the motor is directly used as the spindle of the machine tool, and the housing of the spindle unit is the base of the motor. This design makes the spindle and the motor closely integrated, reduces the length of the transmission chain, and improves mechanical efficiency and precision. ‌2. Bearing type: Common bearing types for CNC spindle motors include ceramic ball bearings, hydrostatic bearings and magnetic bearings. Ceramic ball bearings are lightweight and high hardness, which can effectively reduce the centrifugal force and internal load of the bearing, reduce wear and extend service life; hydrostatic bearings are widely used due to their advantages of low wear, long life and low vibration; magnetic bearings achieve high precision and high speed performance through non-contact suspension design, but the cost is relatively high. ‌3. Cooling system‌: Since high-speed operation will generate a lot of heat, CNC spindle motors are usually equipped with cooling devices, such as forced circulation oil cooling systems, which remove heat through circulating cooling oil to keep the temperature of the spindle unit within an appropriate range. ‌4. Drive mode‌: CNC spindle motors mostly use AC asynchronous induction motors, which are widely used because of their reasonable price, high limit speed, and convenient maintenance. The drive mode includes inverter drive and vector control drive drive. The former is a constant torque drive, and the latter is a constant torque drive at the low speed end and a constant power drive at the medium and high speed ends.

4.Common application areas of CNC spindle motors ‌1. Oil and gas exploration‌: In oil and gas exploration, CNC spindle motors can go deep into the ground for thousands of meters to find oil and gas resources. Deep hole drilling rigs use CNC spindle motors for high-precision drilling operations to meet the needs of oil and gas exploration. ‌2. Aerospace‌: In the field of aerospace, CNC spindle motors are used to manufacture high-precision parts such as aircraft engines and rocket components. It can process complex hole shapes, meet the requirements of lightweight and high strength, and is widely used in the manufacture of aircraft engines and fuselage parts. ‌3. Automobile manufacturing: In automobile manufacturing, CNC spindle motors are used to process key components such as automobile steering systems and brake systems. Its high precision and high efficiency make the processing of automobile parts more precise, improving the performance and reliability of the car. ‌4. Mold manufacturing: In mold manufacturing, CNC spindle motors are used to process mold cooling holes and injection holes to improve the service life of the mold and product quality. Its precise control and high efficiency make the processing of molds more efficient and accurate. ‌5. CNC lathe: CNC lathe is one of the important application areas of CNC spindle motors. CNC lathes use components such as computers, CNC devices and servo systems to accurately control the machine tools according to pre-set programs to process various complex parts. CNC lathes are widely used in many fields such as machinery manufacturing, automobile manufacturing, aviation manufacturing, medical equipment and electronic products. ‌4. High-speed machining‌: In the field of high-speed machining, CNC spindle motors can achieve high-speed and high-precision machining. Its direct transmission structure eliminates the intermediate transmission link, improves machining efficiency and precision, and is widely used in high-speed CNC milling, high-speed engraving and milling, machining centers and other fields‌.

[hopelin]

How to use hybrid stepper motors reasonably

1.Structure of hybrid stepper motors Hybrid stepper motors are mainly composed of two parts: the stator and the rotor. The stator usually has 8 poles or 4 poles, with a certain number of small teeth evenly distributed on the pole surface, and the coil on the pole can be energized in two directions. The rotor consists of two tooth plates, which are staggered by half a tooth pitch, and an axially magnetized annular permanent magnet is sandwiched in the middle. This structure makes all teeth on the same section of the rotor plate have the same polarity, while the polarity of the rotor plates in different sections is opposite.

2.Control principle of hybrid stepper motors

1.Microstep control: Control the movement of the motor to multiple positions within a step interval by subdividing the step pulse. Microstep control can make the motor move in multiple small steps in each step cycle, making the rotation smoother. This control method adjusts the phase and amplitude of the current so that the motor can stay in a finer position within each step interval, thereby improving the positioning accuracy. ‌2. Speed ​​control: Control the speed of the motor by adjusting the frequency of the input pulse. The higher the pulse frequency, the faster the motor speed; conversely, the speed decreases. This control method is suitable for application scenarios that require adjusting the motor speed. ‌3. Torque control: Adjust the torque output of the motor according to the load demand. By adjusting the input current, the torque of the motor can be controlled to adapt to different load conditions. This control method can ensure that the motor can operate stably under different loads.

3.Design advantages of hybrid stepper motors

1.High output torque: The rotor of the hybrid stepper motor is made of permanent magnetic material, which gives it a high output torque and can drive a large load, which is suitable for application scenarios that require a large torque. ‌2. High step accuracy: The step accuracy of the hybrid stepper motor is high, which can reach 0.9° or even less. This makes it perform well in applications that require high-precision positioning, such as CNC machine tools and robots. ‌3. Low noise and low vibration: Because the rotor is made of permanent magnetic material, the hybrid stepper motor generates low noise and vibration during operation, which is suitable for application scenarios with high requirements for noise and vibration, such as medical equipment and precision instruments. ‌4. High efficiency‌: The efficiency of hybrid stepper motors is relatively high, reaching more than 70%, which makes them advantageous in energy conversion and utilization‌. ‌5. Multiple drive modes‌: Hybrid stepper motors can adopt multiple drive modes such as unipolar drive, bipolar drive, subdivision drive and microstep drive. These drive modes can be selected and adjusted according to specific application requirements to achieve the best performance and control effect‌.

4.Protection measures for hybrid stepper motors ‌1. Heat dissipation management‌: Hybrid stepper motors usually have left and right heat dissipation slots. Through the design of these heat dissipation slots, the heat inside the housing can be effectively dissipated to the outside of the housing to avoid heat accumulation and burnout of motor components‌. In addition, it is also necessary to regularly remove dust from the surface of the motor, because dust will affect the heat dissipation effect of the motor‌. ‌2. Voltage and current monitoring‌: During operation, ensure that the load current does not exceed the rated value to avoid overheating or insulation aging of the motor due to overload. The power supply voltage fluctuation range should be controlled between -5% and +10% of the rated voltage to avoid overload or difficulty in starting the motor due to low voltage. ‌3. Temperature protection: Check the bearing and winding temperature regularly to ensure that it does not exceed the allowable upper limit (such as the bearing temperature generally does not exceed 95°C). Abnormal temperature rise may be a sign of insufficient lubrication, overload or poor ventilation, and the machine needs to be shut down for inspection. ‌4. Mechanical maintenance: Regularly replace grease (every 1000 hours for sliding bearings and every 500 hours for rolling bearings), monitor abnormal noise or vibration of bearings, and deal with jamming or wear problems in a timely manner. Manually turn the shaft to check whether it is smooth and ensure that there is no mechanical jamming or friction. ‌5. Environmental management: Prevent water droplets, oil stains, and dust from entering the motor. Protective or closed structures are preferred in harsh environments. Explosion-proof motors should be used in flammable and explosive places. ‌6. Regular inspection and maintenance‌: including regular inspection of bearing wear and timely replacement of severely worn bearings; ensuring that the motor operates in a suitable application environment to avoid the impact of high temperature environment on the motor; reasonably controlling the power supply voltage and current to avoid overload operation causing damage to the motor‌.

[hopelin]

‌‌Structural advantages and selection of helical planetary gearboxes

1.Introduction to helical planetary gearboxes ‌Helical planetary gearboxes‌ are a mechanical transmission device composed of a planetary gear mechanism and helical gears. The core lies in the layout of the planetary gears. The central sun gear is surrounded by multiple planetary gears, and the outer side of the planetary gears is wrapped with an annular gear ring, and all gear axes remain parallel. The characteristic of helical gears is that the tooth shape is inclined at an angle to the axis, and the common angle range is between 15 degrees and 30 degrees. This design makes the gear meshing process more coherent and effectively reduces the operating noise. ‌ .

2.Working principle of helical planetary gearboxes The working principle of helical planetary gearboxes is based on the layout of planetary gears and the meshing characteristics of helical gears. When the motor drives the sun gear to rotate, the planetary gears generate a reaction force during the self-rotation process, pushing the planet carrier to start rotating. The unique meshing method of the helical gears causes an axial component of force to exist at each contact point, and this force is transmitted to the output shaft through the planet carrier. Because multiple planetary gears share the load at the same time, this structure has a load-bearing capacity of about 40% higher than that of parallel shaft gearboxes at the same volume, which is particularly suitable for heavy-duty equipment.

3.Structural advantages of helical planetary gearboxes 1.Reduce shock and vibration: The helical tooth design of the helical gear makes the contact line longer and the meshing smoother during the transmission process, effectively reducing shock and vibration. The planetary gear has a compact structure and even power distribution, which further improves the stability of the system. ‌2.High transmission efficiency: The transmission efficiency of the helical planetary gearbox can usually reach more than 90%, or even higher. Efficient energy conversion means that more input power is converted into useful output torque, reducing energy loss. ‌3.High-precision transmission: Through high-precision processing and assembly, the helical planetary gearbox can achieve extremely high transmission accuracy and is suitable for occasions with high precision requirements. ‌4.High load-bearing capacity: The multi-tooth meshing design of the helical gear and the distributed design of the planetary gear enable the gearbox to withstand large loads and torques, especially for heavy-load conditions. ‌5.Low noise: The helical angle design of the helical gear disperses the meshing frequency to different phases, and the symmetrical layout of the planetary gear train offsets some vibration harmonics, thereby reducing noise. Comparative tests in a certain automobile transmission laboratory show that at the same speed, the helical planetary structure has an 8-12 dB lower sound pressure level than the spur planetary structure. ‌6.Compact design‌: The planetary gear has a compact structure, small size and light weight, which is suitable for use in environments with limited space. This is very beneficial for some compact mechanical equipment. ‌7.Long life‌: With high-quality materials and advanced heat treatment technology, the helical planetary gearbox has excellent wear resistance and fatigue resistance, which prolongs the service life.

4.Selection of helical planetary gearbox ‌1.Reduction ratio selection‌: The reduction ratio is one of the key parameters for the selection of helical planetary gearboxes. The selection of the reduction ratio should be determined according to the actual load characteristics and the required output torque. For heavy loads, a higher reduction ratio should be selected; for light or medium loads, a lower reduction ratio can be selected. In addition, the selection of the reduction ratio also needs to consider the rated power and speed of the motor. ‌2.Accuracy selection‌: The accuracy (return clearance) of the planetary reducer directly affects its transmission performance and stability. The smaller the return clearance, the higher the accuracy, but the higher the cost. Users should choose a reducer that meets the accuracy requirements according to actual needs. ‌3.Materials and design‌: The use of high-quality low-carbon alloy steel and the grinding process can reduce noise and vibration. The hardness of the working tooth surface of the small gear should be slightly higher than that of the large gear. In addition, the use of a smaller pressure angle and helical gear design can also help reduce vibration and noise. ‌4.Economic considerations‌: The cost of a planetary reducer is closely related to its speed ratio. On the premise of meeting the use requirements, an economically reasonable speed ratio selection should be pursued to reduce the overall cost of the equipment. ‌5.Installation space‌: Select a planetary reducer with a compact structure that meets specific space requirements to adapt to the limitations of the actual installation space. ‌6.Service life‌: Consider axial/radial force and average life. Reducers with large axial/radial forces are highly reliable during installation and use, and their actual life is usually far longer than the life of the servo motor they are equippe.

Source:https://plaza.rakuten.co.jp/stovenstepper/diary/202503180000/

[hopelin]

Construction and maintenance methods of pancake stepper motors

1.Basic principles of pancake stepper motors Pancake stepper motors are motors that convert electrical pulse signals into corresponding angular displacements or linear displacements. Each time an electrical pulse signal is input, the rotor rotates an angle or moves forward one step. The angular displacement or linear displacement output is proportional to the number of pulses input, and the speed is proportional to the pulse frequency. This motor controls the angular displacement by controlling the number of pulses, and controls the speed and acceleration of the motor by controlling the pulse frequency.

2.Construction of pancake stepper motors 1.Stator: The stator is an important component of the stepper motor, usually composed of multiple small tooth-shaped magnetic poles, which are wound with coils. The magnetic poles of the stator are magnetized to the same polarity by the flow of current, thereby generating a magnetic field. ‌2.Rotor: The rotor consists of rotor 1 and rotor 2. When rotor 1 is the N pole, rotor 2 is the S pole. The outer ring of the rotor is composed of multiple small teeth, and the small teeth of rotor 1 and rotor 2 are staggered by 1/2 pitch in structure. ‌3.End caps‌: Stepper motors usually have two end caps, located at the front and rear ends of the motor, which are used to fix and protect the internal structure. ‌4.Rotor shaft‌: The rotor shaft is the central axis of the rotor, which is used to support and drive the rotation of the rotor. ‌5.Front and rear plates‌: The front and rear plates of the motor are used to fix and protect other parts of the motor. ‌6.Stator coil‌: The stator coil is an electric coil wound around the stator pole, which generates a magnetic field by switching on and off the current to drive the rotation of the rotor.

3.Advantages of pancake stepper motors ‌1.High precision and fast response‌: Pancake stepper motors can control the stepping by electric pulses, and have the characteristics of high precision, fast response and strong stability. It can achieve precise stepping according to the control signal, and is suitable for application scenarios that require high-precision positioning, such as CNC machine tools, printing machines and textile machines. ‌2.Large torque and strong driving force‌: Pancake stepper motors can generate large torque during operation, which is suitable for heavy loads, low speeds and occasions with high starting torque requirements. This characteristic makes it excel in mechanical equipment that requires high driving force. ‌3.Simple control: The control signal of the pancake stepper motor only needs to output electrical pulses, which is simple and convenient to control. In addition, it can also realize the control of tiny steps, providing more accurate motion control for mechanical equipment. ‌4.High reliability and long life: The pancake stepper motor is not easy to damage, has a long life, and has high reliability in use. This characteristic makes it very suitable for equipment that requires long-term stable operation. ‌5.Energy saving and high efficiency: The pancake stepper motor has high efficiency when running at low speed, which can minimize energy consumption and reduce costs. In addition, its compact structure and light weight make it suitable for space-constrained applications.

4.Maintenance methods of pancake stepper motors ‌1.Keep the motor clean: Regularly clean the dust and dirt on the surface of the stepper motor to prevent debris from entering the motor and affecting its normal operation. At the same time, check whether the motor vents are unobstructed to ensure good heat dissipation. ‌2.Check the connection lines‌: Regularly check the connection lines of the stepper motor, including the power line, signal line, etc., to ensure that the connection is firm and undamaged. If the line is found to be aging or damaged, it should be replaced in time to avoid safety hazards‌. ‌3.Replace worn parts‌: During the long-term operation of the stepper motor, some parts may wear out. Therefore, it is necessary to regularly check and replace severely worn parts, such as bearings, gears, etc., to ensure the normal operation of the motor‌. ‌4.Adjust the motor parameters‌: According to the actual application scenario, reasonably adjust the parameter settings of the stepper motor, such as current, subdivision, etc., to achieve the best operating effect. Avoid problems such as motor overheating and excessive noise caused by improper parameter settings‌. ‌5.Power supply and interface inspection‌: Ensure that the power supply voltage is stable, the current is appropriate, and the power cord is in good contact. At the same time, check the interface line between the stepper motor and the controller to ensure that there is no looseness, damage or poor contact‌. ‌6.Driver and motor body inspection‌: Check whether the output signal of the driver is stable and whether there is overheating or burning. Check whether the motor body is damaged or abnormal, such as whether the motor coil is open or short-circuited, and whether the rotor is in good condition. ‌7.Mechanical device and heat dissipation cleaning: Check whether the mechanical device is stuck, loose or worn to ensure smooth operation of the mechanical part. Ensure that the motor has good heat dissipation conditions to avoid overheating and failure. Keep the motor and its surroundings clean to avoid dust, impurities, etc. that affect the normal operation of the motor. ‌8.Parameter setting and protection: Check and adjust the parameter settings of the stepper motor, such as frequency, current, step angle, etc., to ensure that these parameters match the actual operation requirements of the motor. When installing and using the motor, take appropriate protective measures to prevent the motor from contacting liquid substances such as cutting fluid and lubricating oil for a long time.

Source:https://plaza.rakuten.co.jp/stovenstepper/diary/202502220000/

[hopelin]

Structural features and precautions of Worm Gearbox

1.What is Worm Gearbox Worm Gearbox is a transmission machine with compact structure, large transmission ratio and self-locking function under certain conditions. It is one of the most commonly used reducers. It is mainly composed of a worm wheel and a worm. The speed converter of the gear is used to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque.

2.Working principle of Worm Gearbox Worm Gearbox realizes the function of reducing speed and increasing torque through the meshing of the worm wheel and the worm. The worm usually has a spiral thread, and the worm wheel has a corresponding groove to match it. When the worm rotates, the worm wheel moves along the spiral line, thereby achieving the effect of reducing speed and increasing torque.

3.Structural features of Worm Gearbox 1.Large transmission ratio: The worm gearbox has a large transmission ratio, which can achieve a wide transmission ratio range in a limited space and meet the deceleration needs of various scenarios. 2.Compact structure: The structural design of the worm gearbox is compact, occupies a small space, and is easy to install and maintain. Its compact structure enables a large transmission ratio to be achieved in a limited space, meeting the needs of various complex working conditions. ‌3.Smooth transmission and low noise: The transmission process of the worm gearbox is extremely smooth and the noise is very low, which helps to improve the operating stability and durability of the equipment. ‌4.Strong load-bearing capacity: The worm gearbox can withstand significant radial and axial loads, which is very suitable for applications under heavy loads. Its load-bearing capacity is higher than that of the staggered axis helical gear mechanism, and is suitable for occasions requiring high load-bearing capacity. ‌5.Self-locking function: Under certain conditions, the worm gearbox has a self-locking function, that is, when the lead angle of the worm is less than the equivalent friction angle between the meshing gear teeth, the mechanism has self-locking properties and can achieve reverse self-locking, which is suitable for application scenarios that require safety protection. ‌6.Materials and manufacturing processes: The worm gearbox usually uses high-quality materials and exquisite design processes to ensure that the produced worm gearbox has long-term wear resistance, high transmission efficiency and long life.

4.Precautions for the use of Worm Gearbox 1.Choose the appropriate reduction ratio and power: Accurately calculate the load according to actual needs, choose the appropriate reduction ratio and power, and avoid overload or frequent start and stop to cause impact damage to the worm gearbox. 2.Temperature and environmental conditions: Ensure that the working environment temperature of the worm gearbox is within the specified range (-40℃ to +40℃). Appropriate measures such as heating the lubricating oil (below the freezing point) and adding cooling equipment should be taken to maintain normal working conditions. At the same time, avoid overheating caused by long-term continuous work. 3.Installation and commissioning: Before installing the worm gearbox, carefully check whether the various components of the reducer are intact. During installation, ensure that the axis between the reducer and the power source is well aligned to avoid vibration and noise that affect the operating efficiency and life. Before starting, a no-load test run should be carried out, and after confirmation, it should be gradually loaded to normal working conditions. 4.Lubrication and maintenance: Regular inspection and replacement of lubricating oil is one of the key steps to keep the reducer working properly. The oil volume must be kept within the specified range to avoid excessive oil leakage or lack of oil to cause increased wear. In addition, the status of wearing parts such as seals and bearings should be checked and updated and maintained in time to ensure the stability of the overall performance. ‌5.Smooth start and stop operations: During the start or stop process, the operation should be slow to avoid the impact caused by sudden and drastic changes, thereby damaging the structural integrity and stability of the internal components. ‌6.Environmental requirements: Ensure that there is a good ventilation environment near the motor fan, and avoid exposing the reducer to the sun and harsh environment to avoid affecting the heat dissipation effect.

Source:https://plaza.rakuten.co.jp/stovenstepper/diary/202501140000/

[hopelin]

How to improve the braking effect of the brake stepper motor

1.Working principle of the brake stepper motor The working principle of the brake stepper motor is to install a brake device (brake device) at the tail of the stepper motor, which is connected in parallel with the circuit of the stepper motor. When the motor is powered on, the brake device is also powered on, so that the brake device is separated from the output shaft of the stepper motor, and the motor can operate normally. When the motor is powered off, the brake device is released and tightly holds the motor shaft to achieve the power-off self-locking function.

2.Performance parameters of the brake stepper motor 1.Braking method: There are two main braking methods: electromagnetic brake and mechanical brake. Electromagnetic brake achieves braking through electromagnetic force, with fast response speed but high power consumption; mechanical brake achieves braking through mechanical structure, with low power consumption but slow response speed. Choosing a suitable braking method requires weighing according to the actual application scenario. ‌2.Braking torque: Braking torque is an important indicator of the braking performance of the stepper motor, which determines the braking ability of the motor during braking. The size of the braking torque needs to be comprehensively considered based on factors such as the motor's load condition, moment of inertia, and required braking time. The greater the braking torque, the stronger the braking ability, but it will also bring greater power consumption and noise. ‌3.Braking time: Braking time is another important parameter in the braking process of the stepper motor, which determines the time required for the motor to stop completely from normal operation. Reasonable adjustment of the braking time can ensure that the equipment can stop quickly and smoothly when it needs to stop, while avoiding damage to the motor. ‌4.Other parameters: Such as braking current, braking frequency, etc. also need to be adjusted according to the specific stepper motor model and application scenario to achieve the best braking effect.

3.Methods to improve the braking effect of the braking stepper motor 1.Change the braking circuit: By changing the design of the braking circuit, the braking performance can be improved. When the motor is working, the motor receives a braking signal during deceleration, and the reverse current passes through the motor drive tube and the braking resistor to drive the motor to brake. The current in the braking resistor can reduce the motor excitation to zero, thereby reducing the rotor inertia or directly braking. ‌2.Adding a braking resistor: Adding a braking resistor to the motor braking circuit can avoid the occurrence of current limiting and improve the braking speed and effect. Braking resistors are loads that convert reverse current into heat, and have the characteristics of durability and energy saving. ‌3.Use back-EMF brakes: Back-EMF brakes apply back-EMF to the motor to slow down the motor speed to zero and achieve braking. This method requires that the motor speed cannot be too fast, cannot be overloaded, the voltage cannot be too high, and the circuit must remain closed. ‌4.Use mechanical brakes: Braking is achieved through a built-in mechanical brake disc. The brake disc must have an elastic constraint relative to the drive shaft and pass over the radiator. When the brake signal is transmitted to the motor, the brake disc will clamp the motor to achieve braking.

4.Application of brake stepper motors ‌1.Multi-axis linkage manipulators: Braking stepper motors play a key role in multi-axis linkage manipulators, which can ensure the precise positioning and stable operation of the manipulator. ‌2.Automation equipment: In automation equipment, brake stepper motors are often used to maintain the stability and accuracy of the equipment, and are suitable for various automation production lines and equipment. ‌3.Fixtures and jigs: In fixtures and jigs, brake stepper motors can provide stable positioning and holding torque to ensure the accuracy of work. ‌4.Fully automatic dispensing machine: The precise control requirements of the dispensing machine make the brake stepper motor one of its core components, which can ensure the accuracy and stability of dispensing. ‌5.Engraving machine: The engraving machine requires high-precision motion control, and the brake stepper motor can provide stable power and positioning to ensure the accuracy and efficiency of engraving. ‌6.Automatic board splitter: In the automatic board splitter, the brake stepper motor can ensure the accuracy and stability of cutting, and is suitable for various precision processing tasks. ‌7.Automatic soldering machine: The soldering machine requires precise control and stable positioning, and the brake stepper motor can meet these requirements and improve the welding quality. ‌8.Semiconductor equipment: In semiconductor manufacturing equipment, the brake stepper motor can provide high-precision motion control to ensure the stability and reliability of the production process. ‌9.Packaging machinery‌: Packaging machinery requires precise positioning and stable motion control, and brake stepper motors can meet these requirements and improve packaging efficiency and quality. ‌ 10.Textile machinery‌: In textile machinery, brake stepper motors can ensure the stable operation and precise control of looms, improve production efficiency and product quality. ‌ 1‌1.CNC machine tools‌: CNC machine tools require high-precision motion control, and brake stepper motors can provide stable power and positioning to ensure processing accuracy and stability. ‌ 12.Bioanalysis and testing instruments‌: Bioanalysis and testing instruments require precise control and stable motion, and brake stepper motors can meet these requirements and improve detection accuracy and reliability. ‌ 13.Optical testing equipment, laser focusing equipment, taper machines, and automotive testing equipment‌: These equipment require high-precision motion control and stable positioning, and brake stepper motors can provide the required performance to ensure the normal operation and efficient work of the equipment.

Source:https://plaza.rakuten.co.jp/beverlystepper/diary/202412130000/

[hopelin]

Technical features and control strategies of integrated stepper motors

1.A brief introduction to integrated stepper motors ‌Integrated stepper motors‌ are devices that integrate motors and drivers into one, and control the rotation angle of the motor through electrical pulse signals. Each pulse signal causes the motor to rotate a fixed step angle, usually 1.8 degrees or 0.9 degrees. Integrated stepper motors have two driving modes: full step and half step. Full step means that each pulse signal causes the motor to rotate a step angle, while half step means that each step angle is divided into two half steps, which control the forward and reverse rotation of the motor respectively, thereby achieving more precise control‌.

2.Working principle of integrated stepper motors ‌The working principle of integrated stepper motors‌ is to achieve rotation by controlling the magnetic field of the motor, specifically by controlling the movement of the motor through digital signals. Integrated stepper motors use a fully digital control method, integrating the control circuit and the motor body, and controlling the movement of the motor through digital signals. The controller sends a series of pulse signals to the motor, and the frequency and number of these signals determine the speed and direction of rotation of the motor.

3.Technical features of integrated stepper motors 1.Integrated design: The integrated stepper motor integrates the control circuit and the motor body, reducing external equipment and wiring, reducing the complexity and failure rate of the system, and improving the reliability of the system and the convenience of installation and maintenance. 2.High-precision control: The integrated stepper motor uses a high-precision sensor to detect the position and speed of the motor in real time, and controls the movement of the motor through digital signals, which can achieve high-precision positioning and control. In addition, the closed-loop control technology further improves the stability and accuracy of the system, reduces the phenomenon of step loss, and improves the positioning accuracy and repeat positioning accuracy of the system. 3.High efficiency and energy saving: The integrated stepper motor adopts a digital control method, which can effectively save energy and improve the efficiency and life of the motor. The design of the motor and the driver is optimized, the power conversion efficiency is improved, the energy consumption is reduced, and it meets the requirements of green environmental protection. 4.Self-protection function: The integrated stepper motor has built-in overcurrent protection, overheating protection and other safety protection functions, which can effectively prevent the motor from being damaged by external factors and improve the service life and safety of the motor. ‌5.Intelligent operation‌: Supports multiple control protocols and interface standards, can achieve seamless connection with host computers or PLCs and other devices, and facilitates users to conduct remote monitoring and debugging. Intelligent operation helps reduce energy consumption and maintenance costs and improve the overall economic benefits of equipment‌. ‌6.Electromagnetic compatibility characteristics‌: Integrated stepper motors have good electromagnetic compatibility characteristics, which enhances the system's anti-interference ability to electromagnetic interference and environmental noise‌. ‌7.Application scenarios‌: Integrated stepper motors are widely used in industrial automation, medical equipment, smart homes and other fields. In industrial automation, it can be used for automatic control systems, industrial machinery, etc.; in medical equipment, it can be used for the control and positioning of equipment such as CT and nuclear magnetic resonance; in smart homes, it can be used for smart curtains, smart door locks, etc.‌.

4.Control strategy of integrated stepper motors 1‌.PID control‌: PID control is a simple and practical control method that calculates the control deviation by comparing the given value and the actual output value, and the proportion, integral and differential of the deviation are linearly combined to form the control quantity to control the controlled object. PID controller has the advantages of simple structure, strong robustness and high reliability, but it cannot effectively deal with uncertain information in the system. Therefore, it is often used in combination with other control strategies to form a new type of composite control with intelligence. ‌2.Adaptive control: Adaptive control is a branch of the field of automatic control developed in the 1950s. It is mainly used in situations where dynamic characteristics are unknown or unpredictable changes occur. Adaptive control can overcome the influence of changes in motor model parameters, improve the drag torque characteristics of the motor through closed-loop feedback and adaptive processing, and achieve more precise position control and smoother speed. Adaptive control is often used in combination with other control methods to solve the limitations of pure adaptive control. ‌3.Subdivision technology: By improving the drive circuit, a complete step angle is subdivided into multiple smaller steps to improve the smoothness and positioning accuracy of the motor operation. This technology can significantly improve the performance of stepper motors and reduce vibration and step loss. ‌4.Current control technology: The current size of the motor winding is accurately controlled by the intelligent driver, which can not only improve the dynamic performance of the motor, but also reduce heat and noise, and extend the life of the motor. ‌5.Vector control technology‌: Similar to the control strategy of AC servo motors, it optimizes the torque output and efficiency of the motor by calculating and adjusting the current vector of each phase. This technology can significantly improve the performance of stepper motors and make them perform well under complex working conditions. ‌6.High-speed communication interface‌: Modern stepper motor controllers use high-speed communication protocols (such as CANopen, EtherCAT, etc.) to achieve efficient data exchange and real-time control with the host computer. 7.Intelligent algorithm integration‌: Advanced control algorithms such as PID control, fuzzy logic control, and adaptive control are used to improve the dynamic response of stepper motors and reduce vibration and step loss. These intelligent algorithms enable stepper motors to perform well in complex environments.

[hopelin]

How to adjust the speed of a geared stepper motor

1.A brief explanation of a geared stepper motor A geared stepper motor is an electromechanical device that converts electrical pulses into discontinuous mechanical motion. ‌It achieves precise position control by receiving digital control signals (electrical pulse signals) and converting them into corresponding angular displacements or linear displacements. The main feature of a geared stepper motor is that its output angular displacement or linear displacement is proportional to the number of input pulses, and its speed is proportional to the pulse frequency, which makes it important in systems that require high-precision motion control. As an important component of a stepper motor, the gearbox achieves precise control of speed and torque through its precise control function, thereby ensuring the irreplaceability of stepper motors in open-loop high-resolution positioning systems. ‌

2.Advantages of geared stepper motors 1.Reduce speed and increase output torque: Through different reduction ratios, geared stepper motors can reduce the speed of the input shaft while increasing the output torque, which is very useful for applications that require large torque output. ‌2.Compact structure and small footprint: The design of the geared stepper motor makes its structure very compact, thereby reducing the required installation space. ‌ ‌ 3.High transmission efficiency and precise speed ratio‌: The geared stepper motor has high transmission efficiency and can ensure the accuracy of the speed ratio, which is critical for applications that require precise control of speed and position. ‌4.Reduce the inertia of the load‌: By reducing speed, the geared stepper motor can reduce the inertia of the load, which is very beneficial for applications that require fast response and precise control. ‌5.Provide more accurate timing than the chain system, reduce friction loss and noise‌: Compared with the chain system, the geared stepper motor provides more accurate timing, while reducing friction loss and noise, improving the reliability and durability of the system.

3.Methods for adjusting the speed of the geared stepper motor 1.Change the main frequency of the controller‌: By adjusting the main frequency of the controller to change the pulse frequency output to the motor, the speed of the motor is controlled. The higher the main frequency, the higher the output pulse frequency, and the faster the motor speed. ‌2.Use PWM (pulse width modulation) control‌: Use the PWM signal to control the duty cycle of the pulse output, and then adjust the pulse frequency to achieve fine adjustment of the motor speed. ‌3.Table lookup speed regulation‌: According to the set speed value, by looking up the corresponding table of the pre-set speed value and pulse frequency, select the appropriate pulse frequency output to achieve a specific speed. ‌4.Adopting S-type acceleration curve‌: By adopting S-type acceleration curve, the motor can be smoothly accelerated and decelerated, providing better start and stop control. ‌5.Closed-loop control system‌: The real-time speed of the motor is fed back by the encoder, and the output of the pulse frequency is adjusted after comparison with the set value to achieve accurate speed tracking and enhance control accuracy.

4.Drive mode of gear stepper motor 1.Single voltage drive‌: In this mode, only one direction voltage is used to power the winding during the operation of the motor winding. The advantages of this mode are simple circuit structure, few components, low cost and high reliability. However, due to the increased power consumption, the efficiency of the entire power drive circuit is low, and it is only suitable for driving low-power stepper motors‌. ‌2.High and low voltage drive‌: In order to enable the winding to quickly reach the set current when power is on, and the winding current quickly decays to zero when power is off, while maintaining high efficiency, high and low voltage drive modes have emerged. This method uses high voltage power supply at the front edge of conduction to increase the front rise rate of the current, and uses low voltage to maintain the current of the winding after the front edge. High and low voltage drive can obtain better high-frequency characteristics, but may cause oscillation at low frequencies. ‌3.Full-step drive: including single-phase full-step drive and two-phase full-step drive. Full-step drive changes the direction and magnitude of the current to make the stepper motor rotate according to the set step angle. The advantage of this method is that it is simple and intuitive, and it is suitable for occasions where the torque requirement is not high. However, due to its relatively small torque, it may need to be used in combination with other drive methods. ‌4.Half-step drive: By changing the direction and magnitude of the current, the stepper motor rotates according to half a step angle. Compared with full-step drive, half-step drive has higher resolution and smoother movement, and is suitable for occasions with higher positioning requirements. ‌5.Micro-step drive: By controlling the magnitude and direction of the current in segments, the stepper motor rotates according to a smaller micro-step angle. Microstepping drives can achieve higher resolution and smoother motion, and are suitable for situations where high-precision positioning and control are required.