Assignment-2

Course number: ISEE 741.01

Submitted by Abdul Mathin Shaik

Question 1:
Given details: The pulley diameter is 25mm, step angle is 1.8 and 1/8th micro stepping is
available.
a) The smallest distance that nozzle can move:
Since the stepper motor is stepped at 1.8, with one step it rotates 1.8. With
one revolution of pulley, i.e., with 360 rotation, the nozzle moves D units,
where D is the diameter of the pulley. So, my cross multiplication, we can get
how much does the nozzle moves with 1.8 rotation (One step) of pulley.

1.8 25
= = 0.392 mm
360

b) If micro stepping of 1/8 is used, then the value that changes is the angle pulley rotates
with one step.

1.8
= = 0.225
8

Therefore, in calculation of smallest distance, instead of 1.8, 0.225 will be used.

0.225 25
= = 0.049
360

c) If the diameter of pulley is changed to 50 mm, the angle would be 1.8 and calculations
would be done like the above two cases.

1.8 50
= = 0.785
360
d) Here, we know the distance that nozzle travels which is 20mm and the number of steps
should be found out. First, we find the angle by which the pulley rotates and then find
the number of steps.
50
20 = ,
360
= 45.83
As the stepping motors stepping angle is 1.8, one step turns the pulley by 1.8, then
the steps required to turn the pulley by 45.83 can be found out by cross multiplication.
45.83
= 26
1.8

e) Now micro stepping is applied.

1.8
= = 0.225
8
45.83
= = 204
0.225

f) If nozzle moves at 1.5mm/sec, frequency (Steps/sec) should be found. For this, we find
the number of steps for 1.5 mm movement of nozzle.
50
1.5 =
360
= 3.43

For 1.8, 1 step occurs, then the number of steps for 3.43 can be found out by cross
multiplication

3.43
= = 1.909 2
1.8
 For 1.5 mm of nozzle movement, 2 steps are required. This means, for the 1.5mm/sec
velocity, the frequency would be 2 steps/sec

Question 2:
Lead screw has 16 threads per inch. Stepper motor angle is 1.8 (200 steps/rev). If the
lead screw has 16 TPI, then for every revolution, the screw moves 1/16 th inch.

a) If the screw moves 1/16th of an inch for 360, then the distance it moves for 1.8 of
rotation would be the smallest distance
1.8 1 1
= =
360 16 3200
b) Platform moves by 1.5 inches; the steps of motor should be found.
For one inch, the thread rotates 16 times and for one rotation 200 steps are done as the
stepping angle is 1.8
~ 200
1 ~16 ~ 200 16 = 3200
1 ~ 3200
1.5 ~3200 1.5 = 4800

c) Platform moves at 10 inches/minute, rotational speed (rev/min) of motor must be

found.
For every minute:
1 ~3200
10 ~ 3200 10 = 32000
32000
~ 200 32000 ~ = 160
200
Therefore, for 10 inches/min velocity of platform, the motor rotates at 160 rev/min
 d) The platform speed is 10 inches/min, the frequency of motor (Steps/sec) must be found.
For every minute:
1 ~ 3200
10 ~ 3200 10 = 32000
1 ~ 32000
32000
1 ~ = 534
60
Therefore, when platform moves at 10 inches/min, the frequency of motor is
534 steps/sec

Question 3:
Small pulley diameter (d) = 0.25 inch
Large pulley diameter (D) = 0.625 inch
Stepper motor has 200 steps per revolution, i.e., stepping angle is 1.8.

a) For one rotation of large pulley, we need to find the number of rotations, large pulley
will make.
As we know,
=

For one rotation of large pulley (If N= 1 rpm)
0.25 = 1 0.625
= 2.5
This means for one rotation of large pulley the small pulley rotates 2.5 times.

b) Number of motor steps required for one rotation of large pulley must be found.
~ 2.5
~ 200
 2.5 ~ 200 2.5 = 500
For one rotation of large pulley, 500 steps are taken

c) For 100 steps of motor, the rotation of large pulley must be found.
~ 200
100 ~ 0.5
2.5 ~ 1
0.5
0.5 ~ = 0.2
2.5
1 ~ 360 angle
0.2 = 0.2 360 = 72
The rotation of large pulley for 100 steps of motor is 72

d) If 500 steps/sec of motor, how many revolutions would large pulley make?
From b, 500 steps would make 1 rotation of large pulley
500 sec ~ 1
= 60
The large pulley would make 60 revs/second