Complete Motor Guide For Robotics

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Complete Motor guide for Robotics

by taifur (/member/taifur/)
(/member/taifur/)
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Robot is an electromechanical device which is capable of reacting in some way to its environment, and take autonomous decisions or
actions in order to achieve a specific task.
Roboticists develop man-made mechanical devices that can move by themselves, whose motion must be modelled, planned, sensed,
actuated and controlled, and whose motion behavior can be influenced by programming.
This definition implies that a device can only be called a robot if it contains a movable mechanism, influenced by sensing, planning,
actuation and control components. Motors and actuators are the devices which make the robot movable. Motors and actuators
convert electrical energy into physical motion. The vast majority of actuators produce either rotational or linear motion.
In this instructables I will explain more common types of motors and actuators, their basics and how to control them.
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STEP 1: TYPES OF MOTORS
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You already know that electric motors are used to actuate something in your robot: its wheels, legs, tracks, arms, fingers, sensor
turrets, camera, or weapon systems. There are literally dozens of types of electric motors but I will discuss the most common types
used in amateur robotics. Motors are classified as:
AC motor
Brushed DC motor
Brushless DC motor
Geared DC motor
Servo motor
Stepper motor
DC Linear Actuator
AC (alternating current) motors are rarely used in mobile robots because most of the robots are powered with direct current (DC)
coming from batteries. Also, since electronic components use DC, it is more convenient to have the same type of power supply for the
actuators as well. AC motors are mainly used in industrial environments where very high torque is required, or where the motors are
connected to the mains / wall outlet. So, I will not explain about AC motors here.
STEP 2: MOTOR CONTROLLER
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A motor controller is an electronic device that helps microcontroller to control the motor. Motor controller acts as an intermediate
device between a microcontroller, a power supply or batteries, and the motors.
Although the microcontroller (the robots brain) decides the speed and direction of the motors, it cannot drive them directly because
of its very limited power (current and voltage) output. The motor controller, on the other hand, can provide the current at the required
voltage but cannot decide how the motor should run.
Thus, the microcontroller and the motor controller have to work together in order to make the motors move appropriately. Usually, the
microcontroller can instruct the motor controller on how to power the motors via a standard and simple communication method such
as UART or PWM. Also, some motor controllers can be manually controlled by an analogue voltage (usually created with a
potentiometer).
The physical size and weight of a motor controller can vary significantly, from a device smaller than the tip of your finger used to
control a mini sumo robot to a large controller weighing several Kg. The size of a motor controller is usually related to the maximum
current it can provide. Larger current means larger size.
Since there are several types of motors, there are several types of motor controllers (different type of motor requires different type of
controller) :
Brushed DC motor controllers: used with brushed DC, DC gear motors, and many linear actuators.
Brushless DC motor controllers: used with brushless DC motors.
Servo Motor Controllers: used for hobby servo motors.
Stepper Motor Controllers: used with unipolar or bipolar stepper motors depending on their kind.
STEP 3: BRUSHED DC MOTOR
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A brushed DC motor is one which uses two brushes to conduct current from source to armature. There are several variations on the
brush DC motor, but permanent magnet DC motor (PMDC) is used extensively in robotics. Brushed DC motors are widely used in
applications ranging from toys to push-button adjustable car seats. Brushed DC (BDC) motors are inexpensive, easy to drive, and are
readily available in all sizes and shapes.
The brush DC Motor consists of six different components: the axle, armature/rotor, commutator, stator, magnets, and brushes. A
Brush DC Motor consists of two magnets facing the same direction, that surrounding two coils of wire that reside in the middle of the
Brush DC Motor, around a rotor. The coils are positioned to face the magnets, causing electricity to flow to them. This generates a
magnetic field, which ultimately pushes the coils away from the magnets they are facing, and causes the rotor to turn.
The Brush DC Motor has two terminals; when voltage is applied across the two terminals, a proportional speed is outputted to the
shaft of the Brush DC Motor. A Brush DC Motor consists of two pieces: the stator which includes the housing, permanent magnets,
and brushes, and the rotor, which consists of the output shaft, windings and commutator. The Brush DC Motor stator is stationary,
while the rotor rotates with respect to the Brush DC Motor stator.The stator generates a stationary magnetic field that surrounds the
rotor. The rotor, also called the armature, is made up of one or more windings. When these windings are energized they produce a
magnetic field. The magnetic poles of this rotor field will be attracted to the opposite poles generated by the stator, causing the rotor
to turn. As the motor turns, the windings are constantly being energized in a different sequence so that the magnetic poles generated
by the rotor do not overrun the poles generated in the stator. This switching of the field in the rotor windings is called commutation.
Unlike other electric motor types (i.e., brushless DC, AC induction), BDC motors do not require a controller to switch current in the
motor windings. Instead, the commutation of the windings of a BDC motor is done mechanically. A segmented copper sleeve, called a
commutator, resides on the axle of a BDC motor. As the motor turns, carbon brushes slide over the commutator, coming in contact
with different segments of the commutator. The segments are attached to different rotor windings, therefore, a dynamic magnetic
field is generated inside the motor when a voltage is applied across the brushes of the motor. It is important to note that the brushes
and commutator are the parts of a BDC motor that are most prone to wear because they are sliding past each other.
Applications:
Toys
RC Servos
Gear Motors
Advantages:
Inexpensive
Lightweight
Reasonably Efficient
Good low-speed torque
Limitations: In addition to the audible whine from the commutator brushes, these motors create a lot of electrical noise which can
find its way back into other circuitry and cause problems.
Visit for DC motor: https://www.sparkfun.com/categories/247 (https://www.sparkfun.com/categories/247)
STEP 4: CONTROLLING OF BRUSHED DC MOTOR
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By the term controlling I mean both direction control and the speed control. The direction of the DC motor can be reverse by simply
reversing the polarity of the battery connection. The speed of the motor can be control by changing the voltage level and dc voltage
level can be changed by PWM signal. For higher voltage level speed will be higher and for lower voltage level speed will also be lower.
Practically, Drive circuits are used in applications where a controller of some kind is being used and speed control is required. The
purpose of a drive circuit is to give the controller a way to vary the current in the windings of the BDC motor. The drive circuits
discussed in this section allow the controller to pulse width modulate the voltage supplied to a BDC motor. It is more efficient way to
vary the speed of a BDC motor compared to traditional analog control methods. In some cases the motor only needs to spin in one
direction then a single switch topology with PWM modulation can be used to vary the voltage applied to the motor and thus to control
its speed. The higher the PWM duty cycle, the faster the motor will go. Figure shows circuit for driving a BDC motor in one direction
using single FET (field effect transistor).
Note that in the circuit there is a diode across the motor. This diode is there to
prevent Back Electromag- netic Flux (BEMF) voltage from harming the MOSFET.
BEMF is generated when the motor is spinning. When the MOSFET is turned off, the
winding in the motor is still charged at this point and will produce reverse current
flow. D1 must be rated appropriately so that it will dissipate this current.
Resistors R1 and R2 in the Figure are important to the operation of the circuit. R1
protects the microcontroller from current spikes while R2 ensures that transistor is
turned off when the input pin is tristated.
When positioning is required or when both directions of rotation are needed (most
robots need) a full H-bridge with PWM control is used. The H-Bridge is a 4-transistor
circuit that allows you to reverse the current flow to the motor. With an H-Bridge and
a PWM pin, you can control both the speed and direction of the motor.
To understand please follow the next step.
STEP 5: H BRIDGE
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A H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction. These circuits are often used in
robotics and other applications to allow DC motors to run forwards and backwards.
An H-bridge is a transistor-based circuit capable of driving motors both clockwise and counter-clockwise. Its an incredibly popular
circuit the driving force behind countless robots that must be able to move both forward and backward. Fundamentally, an H-bridge
is a combination of four transistors with two inputs lines and two outputs:(Note: theres usually quite a bit more to a well-designed Hbridge including flyback diodes, base resistors and Schmidt triggers.)
To understand this, the H-bridge must be broken into its two sides, or half-bridges. Referring to Q1 and Q2 make up one half-bridge
while Q3 and Q4 make up the other half-bridge.
Each of these half-bridges is able to switch one side of the BDC motor to the potential of the supply voltage or ground. When Q1 is
turned on and Q2 is off, for instance, the left side of the motor will be at the potential of the supply voltage. Turning on Q4 and leaving
Q3 off will ground the opposite side of the motor. The switching elements (Q1..Q4) are usually bi-polar or FET transistors, in some
high-voltage applications IGBTs.
Note the diodes across each of the transistor (D1-D4).
These diodes protect the transistors from current spikes generated by BEMF when the transistors are switched off. The top-end of the
bridge is connected to a power supply (battery for example) and the bottom-end is grounded.
A capacitor can be used with parallel to the diode. But it is optional. The value of
these capacitors is generally in the 10 pF range. The purpose of these capacitors is
to reduce the RF radiation that is produced by the arching of the commutators.
The basic operating mode of an H-bridge is
fairly simple: if Q1 and Q4 are turned on, the
left lead of the motor will be connected to the
power supply, while the right lead is
connected to ground. Current starts flowing
through the motor which energizes the motor
in (lets say) the forward direction and the
motor shaft starts spinning.
..............................................................................................................
If Q2 and Q3 are turned on, the reverse will happen, the motor gets energized in the reverse
direction, and the shaft will start spinning backwards.
.............................................................................................................................................................................................
In a bridge, you should never ever close both Q1 and Q2 (or Q3 and Q4) at the same time. If you
did that, you just have created a really low-resistance path between power and GND, effectively
short-circuiting your power supply. This condition is called shoot-through and is an almost
guaranteed way to quickly destroy your bridge, or something else in your circuit.
There are many different models and brands of H-Bridge IC is available. Most commonly used
are Texas Instruments L293NE or a Texas Instruments SN754410 and L298 from
STMicroelectronics.
L293D
The L293NE/SN754410 is a very basic H-bridge. It has two bridges, one on the left side of the
chip and one on the right, and can control 2 motors. It can drive up to 1 amp of current, and
operate between 4.5V and 36V. The small DC motor generally used in robot bots can run safely
off a low voltage so this H-bridge will work just fine.
The H-bridge has the following pins and features:
Pin 1 (1,2EN) enables and disables our motor whether it is give HIGH or LOW
Pin 2 (1A) is a logic pin for our motor (input is either HIGH or LOW)
Pin 3 (1Y) is for one of the motor terminals
Pin 4-5 are for ground
Pin 6 (2Y) is for the other motor terminal
Pin 7 (2A) is a logic pin for our motor (input is either HIGH or LOW)
Pin 8 (VCC2) is the power supply for our motor, this should be given the rated voltage of your motor
Pin 9-11 are unconnected as you are only using one motor in this lab
Pin 12-13 are for ground
Pin 14-15 are unconnected
Pin 16 (VCC1) is connected to 5V Below is a diagram of the H-bridge and which pins do what in our example.
Included with the diagram is a truth table indicating how the motor will function according to the state of the logic pins (which are set by our Arduino).
Bear in mind that all motors are available in different sizes.

Small motors are engineered for applications where compactness is valued over torque. While there are small high-torque motors,
these tend to be expensive because they use rare earth magnets, high efficiency bearings, and other features that add to their
cost.Large motors may produce more torque, but also require higher currents. High current motors require larger capacity batteries,
and bigger control circuits that wont overheat and burn out under the load. Therefore, match the size of the motor with the rest of the
robot. Dont overload a small robot with a large motor when big size isnt important.When decided on the size of the motor, compare
available torque after any gear reduction. Gear reduction always increases torque. The increase in torque is proportional to the
amount of gear reduction: if the reduction is 3:1, the torque is increased by about three times (but not quite, because of frictional
losses).
For H-bridge IC and module please visit :
https://www.sparkfun.com/search/products?term=h%20... (https://www.sparkfun.com/search/products?term=h%20bridge%20ic)
STEP 6: ARDUINO DC MOTOR CONTROL
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As you already know DC motor must not connect directly to arduino pin because it can burn your arduino. So you must connect a
transistor between arduino and motor. Let's first control a small DC motor using single transistor. Using single transistor you know
only speed can be control. PWM is used to control speed of a DC motor. Connect your circuit as Figure-1. Arduino PWM pin must be
connected to the base pin of transistor.
/*
Single transistor DC Motor control
*/
int motorPin = 3;
int speed = 100;
void setup()
{
pinMode(motorPin, OUTPUT);
}
void loop()
{
// analogWrite() function is used to generate PWM signal.
// speed define the duty cycle of the PWM.
// if the speed = 0 means duty cycle is 0 and motor is off
// the maximum value of speed can be 255, then motor will run with maximum speed
analogWrite(motorPin, speed);
delay(1000); // wait 1 sec
analogWrite(motorPin, 175);
delay(1000);
analogWrite(motorPin, 255); // maximum speed
delay(1000);
}
Now, connect the motor using H-Bridge IC (I used L293 here). Follow Fig-3 & Fig-4. We can control both speed and direction now. Pin 9
is used as PWM pin and a switch is added to control the speed.
const int switchPin = 2;

const int motor1Pin = 3;
const int motor2Pin = 4;
const int enablePin = 9;
// switch input
// H-bridge leg 1 (pin 2, 1A)
// H-bridge leg 2 (pin 7, 2A)
// H-bridge enable pin
//In the setup(), set all the pins for the H-bridge as outputs,
//and the pin for the switch as an input. The set the enable pin high
//so the H-bridge can turn the motor on.
void setup() {
// set the switch as an input:
pinMode(switchPin, INPUT);
// set all the other pins you're using as outputs:
pinMode(motor1Pin, OUTPUT);
pinMode(motor2Pin, OUTPUT);
pinMode(enablePin, OUTPUT);
pinMode(ledPin, OUTPUT);
// set enablePin high so that motor can turn on:
digitalWrite(enablePin, HIGH);
}
//In the main loop() read the switch. If its high,
//turn the motor one way by taking one H-bridge pin high and the other low.
// If the switch is low, reverse the direction by reversing the states of
// the two H-bridge pins.
void loop() {
// if the switch is high, motor will turn on one direction:
if (digitalRead(switchPin) == HIGH) {
digitalWrite(motor1Pin, LOW); // set leg 1 of the H-bridge low
digitalWrite(motor2Pin, HIGH); // set leg 2 of the H-bridge high
}
// if the switch is low, motor will turn in the other direction:
else {
digitalWrite(motor1Pin, HIGH); // set leg 1 of the H-bridge high
digitalWrite(motor2Pin, LOW); // set leg 2 of the H-bridge low
}
}
L293 is a dual H bridge IC. So, you can control two motor by single IC. Connect two motor to the IC as like figure 5 and use the
following code. Make modification according to your requirement.
/*
* created by Md. Khairul Alam
* Control 2 DC motors with arduino
* 2015
*/
int motor1Pin1 = 3; // pin 2 on L293D IC
int motor1EnablePin = 6; // pin 1 on L293D IC
int motor2EnablePin = 11; // pin 9 on L293D IC
int Speed = 100;
void setup() {
// sets the pins as outputs:
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1EnablePin, OUTPUT);
pinMode(motor2EnablePin, OUTPUT);
// sets enable1Pin and enable2Pin high so that motor can turn on:
//digitalWrite(Motor1EnablePin, HIGH);
//digitalWrite(Motor2EnablePin, HIGH);
// initialize serial communication at 9600 bits per second:
Serial.begin(9600);
}
void loop() {
//write your code here
}
void forword(){ // run two motor in forward direction
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
analogWrite(motor1EnablePin, Speed);
//Serial.println("Go Forward!");
}
void backword(){ // run two motor in reverse direction
//Serial.println("Go Reverse!");
}
void turnRight(){ // motor 1 off, motor 2 forward
//Serial.println("Turn Right");
}
void turnLeft(){ // motor 2 off, motor 1 forward
//Serial.println("Turn Left");
}
void Stop(){ two motor off
//Serial.println("Stop");
}
.
STEP 7: DC GEAR MOTOR
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Geared DC motors can be defined as an extension of DC motor which already had its Insight details demystified before. A geared DC
Motor has a gear assembly attached to the motor. The speed of motor is counted in terms of rotations of the shaft per minute and is
termed as RPM .The gear assembly helps in increasing the torque and reducing the speed. Using the correct combination of gears in a
gear motor, its speed can be reduced to any desirable figure. This concept where gears reduce the speed of the vehicle but increase
its torque is known as gear reduction. This Insight will explore all the minor and major details that make the gear head and hence the
working of geared DC motor.
Working of the DC Geared Motor
The DC motor works over a fair range of voltage. The higher the input voltage more is the RPM (rotations per minute) of the motor. For
example, if the motor works in the range of 6-12V, it will have the least RPM at 6V and maximum at 12 V. In terms of voltage, we can
put the equation as: RPM= K1 * V, where, K1= induced voltage constant V=voltage applied.
The working of the gears is very interesting to know. It can be explained by the principle of conservation of angular momentum. The
gear having smaller radius will cover more RPM than the one with larger radius. However, the larger gear will give more torque to the
smaller gear than vice versa. The comparison of angular velocity between input gear (the one that transfers energy) to output gear
gives the gear ratio. When multiple gears are connected together, conservation of energy is also followed. The direction in which the
other gear rotates is always the opposite of the gear adjacent to it. In any DC motor, RPM and torque are inversely proportional. Hence
the gear having more torque will provide a lesser RPM and converse. In a geared DC motor, the concept of pulse width modulation is
applied.
For example, an unloaded DC motor might spin at 12000 rpm and provide 0.1 kg-cm of torque. A 225:1 geardown is added to
proportionally reduce the speed and increase the torque: 12000 rpm / 225 = 53.3 rpm and 0.1 x 225 = 22.5 kg-cm. The motor will now
be able to move significantly more weight at a more reasonable speed.
In a geared DC motor, the gear connecting the motor and the gear head is quite small, hence it transfers more speed to the larger
teeth part of the gear head and makes it rotate. The larger part of the gear further turns the smaller duplex part. The small duplex part
receives the torque but not the speed from its predecessor which it transfers to larger part of other gear and so on. The third gears
duplex part has more teeth than others and hence it transfers more torque to the gear that is connected to the shaft.
Controlling of Geared Motor
DC gear motor can be controlled exactly the same way DC motor control.
Applications:
Robot Drive Trains
Radio Control Vehicles
Cordless Tools
Advantages:
Speed Reduction - Many DC motors simply run too fast to be useful in direct-drive applications.
Increased Torque - A lot of work can be coaxed from a relatively small motor if fitted with a suitable gear train.
Limitations: This is especially a problem with low-cost plastic gear trains used with low-voltage motors. The extra resistance can
make these gear-trains balky at low speeds.
For Controller & Motor browse: www.sparkfun.com (https://www.sparkfun.com/categories/247)
STEP 8: BRUSHLESS DC MOTOR
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Brushless DC (BLDC) motors are called by many names: brushless permanent magnet, permanent magnet ac motors, permanent
magnet synchronous motors etc. The confusion arises because a brushless dc motor does not directly operate from a dc voltage
source. However, as we shall see, the basic principle of operation is similar to a dc motor.
A BLDC has a rotor with permanent magnets and a stator with

windings. It is essentially a dc motor turned inside out. The
brushes and commutator have been eliminated and the windings
are connected to the control electronics. The control electronics
replace the function of the commutator and energize the proper
winding. As shown in the animation, the winding are energized in
a pattern which rotates around the stator. The energized stator
winding leads the rotor magnet, and switches just as the rotor
aligns with the stator. There are no sparks, which is one
advantage of the BLDC motor.
The brushes of a dc motor have several limitations; brush life,
brush residue, maximum speed, and electrical noise. BLDC
motors are potentially cleaner, faster, more efficient, less noisy
and more reliable. However, the BLDC motor requires electronic
control.
Then the construction of a brushless DC motor is very similar to
the AC motor making it a true synchronous motor but one
disadvantage is that it is more expensive than an equivalent
brushed motor design.
Inrunners vs Outrunners
There are two types of Brushless RC motors, inrunners and
outrunners.
The permanent magnets of inrunner brushless motors are positioned on the inside of the electromagnets. An outrunner brushless
motor has the permanent magnets on the outside of the electromagnets.
The faster a motor spins, the more efficient it is. Inrunner motors turn very fast and are much more efficient than outrunner motors.
Inrunner Brushless RC Motors require a speed reducing gearbox between the motor and propeller of your RC airplane.
The downside of an inrunner is the added parts that can and do fail. The gears get stripped, and the gearbox shafts are easily bent. It
can also be an obstacle when mounting the gearbox motor combination for your RC airplane neatly, especially under a cowling.
Theory of Operation
The mechanics of a brushless motor are incredibly simple. The only
moving part is the the rotor, which contains the magnets. Where things
become complicated is orchestrating the sequence of energizing
windings. The polarity of each winding is controlled by the direction of
current flow. The animation demonstrates a simple pattern that
controllers would follow. Alternating current changes the polarity, giving
each winding a push/pull effect. The trick is keeping this pattern in sync
with the speed of the rotor. There are two (widely used) ways this can be
accomplished. Most hobby controllers measure the voltage produced
(back EMI) on the un-energized winding. This method is very reliable in
high velocity operation. As the motor rotates slower, the voltage produced
becomes more difficult to measure and more errors are induced. Newer
hobby controllers and many industrial controllers utilize Hall effect
sensors to measure the magnets position directly. This is the primary
method for controlling computer fans.
Control
The control of the brushless DC motors is very different from the normal brushed DC motor, in that it this type of motor incorporates
some means to detect the rotors angular position (or magnetic poles) required to produce the feedback signals required to control the
semiconductor switching devices. The most common position/pole sensor is the Hall Effect Sensor, but some motors also use
optical sensors. Using Hall effect sensors, the polarity of the electromagnets is switched by the motor control drive circuitry. Then the
motor can be easily synchronized to a digital clock signal, providing precise speed control. Brushless DC motors can be constructed
to have, an external permanent magnet rotor and an internal electromagnet stator or an internal permanent magnet rotor and an
external electromagnet stator.
In figure 4 (A), the GREEN winding labeled 001 is energized as the NORTH pole and the BLUE winding labeled as 010 is energized
as the SOUTH pole. Because of this excitation, the SOUTH pole of the rotor aligns with the GREEN winding and the NORTH pole aligns
with the RED winding labeled 100. In order to move the rotor, the RED and BLUE windings are energized in the direction shown in
figure 4(B). This causes the RED winding to become the NORTH pole and the BLUE winding to become the SOUTH pole. This shifting
of the magnetic field in the stator produces torque because of the development of repulsion (Red winding NORTH-NORTH
alignment) and attraction forces (BLUE winding NORTH-SOUTH alignment), which moves the rotor in the clockwise direction.
Speed Control
Brushless dc motor are actually three phase ac motors. To controll the speed an electronic speed control or ESC is used. Brushless
ESC systems basically create a tri-phase AC power output of limited voltage from an onboard DC power input, to run brushless motors
by sending a sequence of AC signals generated from the ESC's circuitry, employing a very low impedance for rotation. Brushless
motors, otherwise called outrunners or inrunners depending on their physical configuration, have become very popular with
"electroflight" radio-control aeromodeling hobbyists because of their efficiency, power, longevity and light weight in comparison to
traditional brushed motors. However, brushless AC motor controllers are much more complicated than brushed motor controllers.
The correct phase varies with the motor rotation, which is to be taken into account by the ESC: Usually, back EMF from the motor is
used to detect this rotation, but variations exist that use magnetic (Hall Effect) or optical detectors. Computer-programmable speed
controls generally have user-specified options which allow setting low voltage cut-off limits, timing, acceleration, braking and direction
of rotation. Reversing the motor's direction may also be accomplished by switching any two of the three leads from the ESC to the
motor.
Current Rating of ESC
An ESC will have a power limit. To handle more power, the ESC needs to be larger, heavier, and is more expensive. Its important to
know the peak current your motor is going to pull at full throttle. This determines the current rating you should look for in an ESC.
Always choose an ESC with a current rating that is higher than what you need. If the motor is going to pull 12A, a 25A-rated ESC is a
much better choice than a 10A-rated one. The 10A ESC will probably overheat and cook, even if you only fly at half throttle. ESCs are
relatively light and maintain great resale value, so this is one item in your power system where skimping isnt worth while. Choosing
the correct type and identifying the minimum current rating are the two big steps. The next choices depend on your preferences.
Voltage Rating
All ESCs have voltage limits. Some even have more than one! What is your battery voltage? Choose an ESC that is designed to work
with an equal or higher voltage. Some ESCs are designed for low voltages (below 13V), some for medium voltages (below 25V), and
some for high voltages (above 25V). You shouldnt connect a high voltage battery to a low voltage ESC, but it is also wasteful to use a
high voltage ESC with a low voltage battery.
Advantages
Advantages of the Brushless DC Motor compared to its brushed cousin is higher efficiencies, high reliability, low electrical noise,
good speed control and more importantly, no brushes or commutator to wear out producing a much higher speed. However their
disadvantage is that they are more expensive and more complicated to control.
Arduino Control
Brushless motors designed for autonomous and remote control aircraft and vehicles typically require a separate controller. These are
typically of the sensorless type and use standard servo type pulsed signals for speed control.
Controlling BLDC motor is very easy. Most of the ESCs need a 50Hz frequency i.e. a 20 ms cycle and the speed depends upon the duty
cycle you provide. 1ms will reduce its speed to minimum or even stop it (it depend upon the ESC model) while a 2ms pulse will run the
motor on its fullest speed. The values between them give you a variation in speed.
Usually ESCs need a voltage higher than the one provided by the Arduino from his 5V pin: typically they need 2 LiPo cells (around 8V).
To achieve that all the circuit must be powered from an external power supply connected directly to the ESC and not via the Arduino,
which will be powered by the BEC circuit of the ESC. To make that happen its enough to connect the red and black of the control
connector to the 5V and GDN of the Arduino board.
The rest of the circuit is pretty easy: from pin 9 of the Arduino we have the signal for the ESC, and into pin 0, the voltage reading from
the potentiometer comes in.
Sometimes ESC needs calibration and in terms of ESCs, calibration means to set the max and min speeds of
the motor in relation to the max and min width of the PWM signal sent by the Arduino. The PWM signal read by the ESC is the same
type as a servo signal, meaning the Servo library from Adruino can be used to calibrate and control the ESCs. The ESC sets the speed
of the motor depending on the ratio of high to low signals. Calibration involves programming the ESC to understand the PWM waves
corresponding to the stop and maximum speeds of the motor.
The default signal range for most servo motors and ESCs is a high signal width between 1000 and 2000 microseconds over a
repetition period of 20 milliseconds (assuming a 50hz PWM signal). For the quad copter, however, we want the range to be as wide as
possible to allow for greater incremental control of the motor. To this end, we calibrated the ESCs to read a signal width from 700 to
2000 microseconds with 700 being the stop speed and 2000 being the max speed. Some ESC could not read a signal lower than 700
microseconds.
Calibrating the ESCs is quite simple. To enter programming mode, the maximum servo signal (2000 microseconds) is sent to the ESC,
the ESC is powered on and waits for two seconds, then the minimum servo signal is sent (700 microseconds). Once the ESC emits a
series of confirmation beeps (special wave signals sent to the motor to emit beeping sounds), the ESC is calibrated (check the ESC
specific datasheet for details).
// For calibrating you may use the following code snipet

#include <Servo.h>
#define MAX_SIGNAL 2000
#define MIN_SIGNAL 700
#define MOTOR_PIN 9
Servo motor;
void setup() {
Serial.begin(9600);
Serial.println("Program begin...");
Serial.println("This program will calibrate the ESC.");
motor.attach(MOTOR_PIN);
Serial.println("Now writing maximum output.");
Serial.println("Turn on power source, then wait 2 seconds and press any key.");
motor.writeMicroseconds(MAX_SIGNAL);
// Wait for input
while (!Serial.available());
Serial.read();
// Send min output
Serial.println("Sending minimum output");
motor.writeMicroseconds(MIN_SIGNAL);
}
void loop() {
}
// For controlling you may use the following code
#include <Servo.h> // include servo library
Servo esc;
int throttlePin = 0;
void setup()
{
esc.attach(9);
}
void loop()
{
int throttle = analogRead(throttlePin); // read from pot
throttle = map(throttle, 0, 1023, 0, 179);
esc.write(throttle); // throttle value define the speed of esc
}
It just takes the reading of the throttle, maps it from 0-1023 to 0-179 (analog reading to servo degrees) and then sends it to the
ESC via the Servo library. Even in its extreme simplicity this sketch it very useful when you want to calibrate a new ESC to work with
the Servo library of Arduino.
Applications:
Multicopters
Drones
Radio Control Vehicles
Disk Drives
Fans
Industrial Servos
Hybrid Vehicles
High-End Gearmotors
Advantages:
Quiet
Efficient
Limitations: Some types of brushless motors require a separate controller for operation.
For brushless DC motor visit https://www.sparkfun.com/categories/245 (https://www.sparkfun.com/categories/245)
STEP 9: SERVO MOTOR
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A servo motor is an electrical device which can push or rotate an object with great precision. If you want to rotate and object at some
specific angles or distance, then you use servo motor. It is just made up of simple motor which run through servo mechanism. If
motor is used is DC powered then it is called DC servo motor, and if it is AC powered motor then it is called AC servo motor. We can
get a very high torque servo motor in a small and light weight packages. Doe to these features they are being used in many
applications like toy car, RC helicopters and planes, Robotics, Machine etc. The position of a servo motor is decided by electrical pulse
and its circuitry is placed beside the motor.
Now days servo system has huge industrial applications. Servo motor applications are also commonly seen in remote controlled toy
cars for controlling direction of motion and it is also very commonly used as the motor which moves the tray of a CD or DVD player.
Beside these there are other hundreds of servo motor applications we see in our daily life. The main reason behind using a servo is
that it provides angular precision, i.e. it will only rotate as much we want and then stop and wait for next signal to take further action.
This is unlike a normal electrical motor which starts rotating as and when power is applied to it and the rotation continues until we
switch off the power. We cannot control the rotational progress of electrical motor; but we can only control the speed of rotation and
can turn it ON and OFF.
Servo Mechanism
It consists of three parts:
Controlled device
Output sensor
Feedback system
It is a closed loop system where it uses positive feedback system to control motion and final position of the shaft. Here the device is
controlled by a feedback signal generated by comparing output signal and reference input signal.
Here reference input signal is compared to reference output signal and the third signal is produces by feedback system. And this third
signal acts as input signal to control device. This signal is present as long as feedback signal is generated or there is difference
between reference input signal and reference output signal. So the main task of servomechanism is to maintain output of a system at
desired value at presence of noises.
Working principle of Servo Motors
A servo consists of a Motor (DC or AC), a potentiometer, gear assembly and a controlling circuit. First of all we use gear assembly to
reduce RPM and to increase torque of motor. Say at initial position of servo motor shaft, the position of the potentiometer knob is
such that there is no electrical signal generated at the output port of the potentiometer. Now an electrical signal is given to another
input terminal of the error detector amplifier. Now difference between these two signals, one comes from potentiometer and another
comes from other source, will be processed in feedback mechanism and output will be provided in term of error signal. This error
signal acts as the input for motor and motor starts rotating. Now motor shaft is connected with potentiometer and as motor rotates
so the potentiometer and it will generate a signal. So as the potentiometers angular position changes, its output feedback signal
changes. After sometime the position of potentiometer reaches at a position that the output of potentiometer is same as external
signal provided. At this condition, there will be no output signal from the amplifier to the motor input as there is no difference between
external applied signal and the signal generated at potentiometer, and in this situation motor stops rotating.
Controlling Servo Motor:
Servo motor is controlled by PWM (Pulse with Modulation) which is provided by
the control wires. There is a minimum pulse, a maximum pulse and a repetition
rate. Servo motor can turn 90 degree from either direction form its neutral
position. The servo motor expects to see a pulse every 20 milliseconds (ms) and
the length of the pulse will determine how far the motor turns. For example, a
1.5ms pulse will make the motor turn to the 90 position, such as if pulse is
shorter than 1.5ms shaft moves to 0 and if it is longer than 1.5ms than it will turn
the servo to 180. Servo motor works on PWM (Pulse width modulation) principle,
means its angle of rotation is controlled by the duration of applied pulse to its
Control PIN. Basically servo motor is made up of DC motor which is controlled by
a variable resistor (potentiometer) and some gears. High speed force of DC motor
is converted into torque by Gears. We know that WORK= FORCE X DISTANCE, in
DC motor Force is less and distance (speed) is high and in Servo, force is High and
distance is less. Potentiometer is connected to the output shaft of the Servo, to calculate the angle and stop the DC motor on required
angle.
To recap, there are two important differences between the control pulse of the servo motor versus the DC motor. First, on the servo
motor, duty cycle (on-time vs. off-time) has no meaning whatsoeverall that matters is the absolute duration of the positive-going
pulse, which corresponds to a commanded output position of the servo shaft. Second, the servo has its own power electronics, so
very little power flows over the control signal. All power is draw from its power lead, which must be simply hooked up to a high-current
source of 5 volts.
Continuous Rotation Servo Motors
Continuous rotation servo motors are actually a modified version of what the servos are actually meant to do, that is, control the shaft
position. The 360 rotation servos are actually made by changing certain mechanical connections inside the servo. However, certain
manufacturer like parallax sells these servos as well. With the continuous rotation servo you can only control the direction and speed
of the servo, but not the position.
Arduino Servo Control
Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on
the Arduino or Genuino board. The ground wire is typically black or brown and should be connected to a ground pin on the board. The
signal pin is typically yellow, orange or white and should be connected to pin 9 on the board.
Code
#include <Servo.h>
Servo myServo; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0;
// variable to store the servo position
void setup() {
myServo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop() {
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos);
// tell servo to go to position in variable 'pos'
delay(15);
// waits 15ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos);
// tell servo to go to position in variable 'pos'
delay(15);
// waits 15ms for the servo to reach the position
}
}
Applications:
Robotics
Animatronics
Radio Control Cars/Boats/Planes
Advantages:
Low cost - (RC Servos) Smaller sized servos can be purchased for just a few dollars.
Variety - There is a wide range of sizes and torque ratings
Simple to control - using logic level pulses from a microcontroller or a dedicated servo controller
Limitations: Most RC servos are limited to 180 degrees of motion and positioning accuracy and repeatability of +/- 1 degree is typical.
You can find different types of Servo motor at Sparkfun.com (https://www.sparkfun.com/categories/245)
STEP 10: STEPPER MOTOR
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A stepper motor is an electromechanical device which converts electrical pulses into discrete mechanical movements. The shaft or
spindle of a stepper motor rotates in discrete step increments when electrical command pulses are applied to it in the proper
sequence. The motors rotation has several direct relationships to these applied input pulses. The sequence of the applied pulses is
directly related to the direction of motor shafts rotation. The speed of the motor shafts rotation is directly related to the frequency of
the input pulses and the length of rotation is directly related to the number of input pulses applied.
Stepper motors are great motors for position control. They can be found in desktop printers, plotters, 3d printers, CNC milling
machines, and anything else requiring precise position control. Steppers are a special segment of brushless motors. They are
purposely built for high-holding torque. This high-holding torque gives the user the ability to incrementally step to the next position.
This results in a simple positioning system that doesnt require an encoder. This makes stepper motor controllers very simple to build
and use.
One of the most significant advantages of a stepper motor is its ability to be accurately controlled in an open loop system. Open loop
control means no feedback information about position is needed. This type of control eliminates the need for expensive sensing and
feedback devices such as optical encoders. Your position is known simply by keeping track of the input step pulses.
What are stepper motors good for?
A stepper motor can be a good choice whenever controlled movement is required. They can be used to advantage in applications
where you need to control rotation angle, speed, position and synchronism.
Positioning Since steppers move in precise repeatable steps, they excel in applications requiring precise positioning such as 3D
printers, CNC, Camera platforms and X,Y Plotters. Some disk drives also use stepper motors to position the read/write head.
Speed Control Precise increments of movement also allow for excellent control of rotational speed for process automation and
robotics.
Low Speed Torque - Normal DC motors don't have very much torque at low speeds. A Stepper motor has maximum torque at low
speeds, so they are a good choice for applications requiring low speed with high precision.
Theory of Operation
Stepper motors behave exactly the same as a brushless motor, only the step size is much smaller. The only moving part is the the
rotor, which contains the magnets. Where things become complicated is orchestrating the sequence of energizing windings. The
polarity of each winding is controlled by the direction of current flow. The animation demonstrates a simple pattern that controllers
would follow. Alternating current changes the polarity, giving each winding a push/pull effect. A notable difference is how the
magnet structure of a stepper is different. It is difficult to get an array of magnets to behave nicely on a small scale. Its also very
expensive. To get around this, most stepper motors utilize a stacked plate method to direct the magnetic poles into teeth.
There are two types of stepper motors: unipolar and bipolar stepper motors. On a fundamental level, these two types work exactly the
same way; electromagnets are turned on in a sequential fashion, inducing the central motor shaft to spin.
The difference between the two types is the voltage levels. A unipolar stepper motor only operates with positive voltage, so the high
and low voltages applied to the electromagnetic coils would be something like 5V and 0V. A bipolar stepper motor has two polarities,
positive and negative, so its high and low voltages would be something like 2.5V and -2.5V. Taking these electrical differences into
account, the physical difference between these two styles is that the unipolar configuration requires an extra wire in the middle of
each coil to allow current to flow through either to one end of the coil or the other. These two opposite directions produce the two
polarities of the magnetic field, effectively mimicking the positive and negative voltage capabilities of the bipolar stepper motor.
Although both of these have a overall voltage range of 5V, the bipolar stepper motor will actually have more torque because current
flows the entire coil, producing a stronger magnetic field to induce the shaft to rotate to the appropriate angle. On the other hand,
unipolar stepper motors only utilize half of the coil length due to the extra wire in the middle of the coil, so less torque is available to
magnetically hold the shaft in place.
A two phase bipolar motor has 2 groups of coils. A 4 phase unipolar motor has 4. A 2-phase bipolar motor will have 4 wires - 2 for
each phase. Some motors come with flexible wiring that allows you to run the motor as either bipolar or unipolar.
Driving a Stepper
Driving a stepper motor is a bit more complicated than driving a regular brushed DC motor. Stepper motors require a stepper
controller to energize the phases in a timely sequence to make the motor turn.
There are several different ways that stepper motors are able to be driven including full step, half step, and microstepping. Each of
these driving styles offer different amounts of torque and step sizes that the stepper motor can use.
A full step drive always has two of the electromagnets "turned on". To rotate the central shaft, one of the electromagnets gets turned
off and the next electromagnet is turned on, causing the shaft to rotate 1/4 of a tooth (at least for hybrid stepper motors). This style of
always having two electromagnets on has the most torque out of all of the styles, but the largest step size. A half step drive alternates
between having two electromagnets and just one electromagnet turned on. To rotate the central shaft, the first electromagnet is
energized as the first step, then the second one is also energized while the first one is still powered for the second step. The third step
turns off first electromagnet and the fourth step turns on the third electromagnet, all while the second electromagnet is still powered.
This pattern, shown in a picture above, uses twice as many steps as the full step drive, allowing for half of the step size, but it also has
less overall torque since there are not always two electromagnets holding the central shaft in place. Microstepping, not surprisingly,
has the smallest possible step size out of these styles. One of the most common ways to peform microstepping is to do "sine cosine
microstepping". This means that the current flowing through each coil is manipulated such that a sine/cosine wave is created. The
"overlap" of the waves between two coils results in a large number of substeps. The actual number of substeps is dependent on how
many distinct changes in current you can provide to the coils, but microstepping will still have the smallest step sizes, and thus the
most precise movement, out of all of the styles. The torque associated with this style is dependent on how much current is flowing
through the coils at a particular time, but will always be less than the full step drive.
The simplest type of driver can be built with a handful of transistors. These are simply switched on and off in sequence to energize
the phases and step the motor. Unipolar drivers are relatively inexpensive to build, but only work with unipolar motors. There is an
excellent tutorial on how to build one at the Arduino site.
Driving a bipolar motor requires 2 full H-bridges so it can reverse the current to the phases. H-bridges can be tricky to build from
scratch. But there are plenty of H-bridge chips available to simplify the task.The L293D is one of the most popular and economical
chips. These can be found at the heart of most first-generation motor shields.
Following code snippet can be used to control stepper motor using arduino board.
// Global variables
int timeDelay = 3000;
void setup(){
// declaring the four pins to be outputs
pinMode(34, OUTPUT);
// setting the inital state of the electromagnets
digitalWrite(34, HIGH);
digitalWrite(32, LOW);
delay(10); // a small time delay to allow the motor to move
}// end of setup
void loop(){
for(int i=0; i<202; i++){ // looping through this chunk of code for ~ a full rotation
delayMicroseconds(timeDelay);
}// end of looping
// preparing the electromagnets to go the other direction
delayMicroseconds(timeDelay*500);
for(int j=0; j<204; j++){ // looping through this chunk of code for ~ a full rotation in the other direction
}// end of looping
// preparing the electromagnets to go the other direction
delayMicroseconds(timeDelay*500);
}//end of loop
Applications:
3D Printers
CNC Machines
Camera rigs Robotics
Printers
Precision Gearmotors
Advantages:
Precise repeatable positioning
Precise speed control
Excellent low-speed torque
Excellent 'holding torque' to maintain position
Limitations:
Low efficiency
May need encoder or limit switch to establish a reference position
Subject to missed steps if overloaded
More details of stepper motor: http://www.instructables.com/id/How-to-use-a-Step... (http://www.instructables.com/id/How-to-usea-Stepper-Motor/)

For good quality stepper motors & drivers visit Sparkfun (https://www.sparkfun.com/search/results?term=stepper+motor).
STEP 11: HOW YOU SELECT CORRECT MOTOR FOR YOUR ROBOT?
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Choosing a motor that is suitable for your task is one of the most important parts of planning a robotics project. The good news is
that there are many types of motors from which to choose and, as the joke goes, the bad news is that there are many types of motors
from which to choose.
To choose the electric motors that can fit for your project you should consider some important motor specifications:
Torque
Speed
Precision and Accuracy
Voltage
Cost
Form Factor
Torque is a measure of a motors ability to provide a turning force. In a robot, the motor torque is conveyed to a wheel or a lever,
which then causes the robot to move or the lever to lift, push, or pull something. Torque is measured in terms of force times the
perpendicular distance between the force and the point of rotation, i.e. the shaft of motor. It is usually given in terms of ounce-inches
(oz-inch), gram-centimeters (gm-cm) or foot-pounds (ft-lbs). Ounce-inches (oz-in) is the most common.
Estimating the required torque is a difficult task. We need to know the mass of the load/rover and the friction in order to determine the
torque for motor selection. Getting a mass estimate (or even better an actual mass) is critical for choosing a motor. If you are
designing based on a mass estimate you should apply a good margin for mass bloating. Friction is a force than opposes the motion
between two surfaces in contact with one another. You have to consider static friction, dynamic friction and rolling friction to
accurately measure the torque.
In order to drive the robot, the motor torque must at a minimum overcome the external torque of the friction force acting on the radius
of the wheel. Use the following equation to find required torque:
T=8xCxWxD
where:
T is the torque in oz-in
C is the coefficient of friction
W is the weight in lbs
D is the wheel diameter in inches
Friction varies from 0.001 to 0.03. As an example, for a C= 0.03, the minimum torque to move a 5 lb robot with 4 inch diameter wheels
would be:
T = 8 x 0.03 x 5lb x 4in = 4.8 oz-in
A motor can maintain a constant speed only if the torque is greater than the combined forces in opposite of the robot movement. In
case that the motor torque is smaller than the opposition torque, the motor will stop and may be damaged since the electrical energy
cannot be converted into torque.
After determining how much force/torque you need, the next step is to determine the speed that the wheel needs to turn. Speed
requirement is easier to estimate and depends on how fast your robot should run. DC motors run at speeds of thousands of RPMs
with low torque but most robots required less speed compare to this. The output torque is much too low to move the robot. So, this is
not suitable for driving a robot. In order to use the motor, we add a gearbox to reduce the motor speed and increase the output torque.
The same motor may produce different torque and speed ratings depending on the gearing used between the motor and the gearbox
output shaft. Many DC motors come with a gearbox already attached and these are simply called DC gear motors and are the type of
motors. By reducing the speed, you also increase the positional accuracy of the motor. The speed, torque and accuracy of a gear
motor are affected directly by the gear ratio, as seen in these equations:
Output Speed = Motor Speed / Gear Ratio
Output Accuracy = Motor Accuracy / Gear Ratio
Although the reduction ratio plays a large part in determining the Gearbox Output Torque, there is also an inefficiency that is
introduced through the use of a gearbox. Some of the torque of the motor is converted into heat and lost due to friction between the
gears. Another disadvantage is that gear motors are not precise. That is, two motors of the same model, manufactured on the same
day, and operated with identical current and voltages, will NOT turn at exactly the same rate. Thus a robot with two drive motors, the
most common configuration, will not move in a straight line without some way of controlling individual motor speeds.
With gearboxes, torque and speed can be seen as one interchangeable characteristic: If you need more torque and less speed, try to
find the same motor with a gearbox with a higher reduction ratio. If you need more speed and less torque, try to find the same motor
with a gearbox with a lower reduction ratio. However, it is not advisable buy gearboxes and motors separately to mix and match,
unless they are specifically designed for each other. There's a lot that can go wrong in gearbox customization and for most users it's a
lot less hassle to simply buy a motor with a gearbox already attached.
One main disadvantage is that gear head motors are not precise. Some applications have need of very precise movements and angles
like robotic arms and model plane control surfaces. Stepper motors and servo motors are best suited to these sorts of applications.
Servo motors have internal position regulation and are geared down to lower speeds, resulting in very precise position control.
Stepper motors move step by step, using magnetic fields to move the motor in discrete increments. Depending on the step size of the
motor and the step pattern of the controller stepper motors can achieve extremely accurate position. Often stepper motors have step
angles as low as 1.8 and with micro-stepping controllers can be advanced one sixteenth of a step at a time. Stepper motors also
have the advantage of high holding torque- when the motor is stopped but still powered, it will hold its position firmly.
In general, servo motors are smaller in size and have less torque than a stepper motor. Most servos also have limited range of motion.
A typical servo motor has a rotation range of 180 or less, although there are some that are capable of multiple revolutions or even
continuous rotation. Servos are most common in RC (remote control) applications where it is not necessary to have high torque or a
large range of motion. Stepper motors, on the other hand, are used in applications where extreme precision or high torque is required.
CNC (computer numerical control) machines are a prime example of what stepper motors are used for.
Some applications require high speed and light weight such as multi copter and drone, in that case high efficient brushless dc motor
is used.
Another important consideration is operating voltage. Before planning what battery packs will be used in the project, you have to find
the nominal voltage where the motor runs Typically the higher the voltage the higher the speed of the motor. You can look at the
Voltage Constant from the motor data sheet to figure out how fast you will go per volt.
Most common electric motors used in robotics projects are the DC motors. Common preferred voltages for DC motors are 3, 6, 12
and 24 Volts. If to a motor is applied a voltage lower than the voltage listen in the data sheet, the torque will not overcome the internal
friction mostly from the brushes. Also, if a higher voltage than that supported is applied to the motor, it may heat up and can be
damaged.
STEP 12: CONCLUSION
Most of the picture of this instructable is taken from the Internet. Some topic, image and text were copied from:
1. https://www.sparkfun.com/ (https://www.sparkfun.com/)
2. https://en.wikipedia.org/ (https://en.wikipedia.org/)
3. https://learn.adafruit.com/ (https://learn.adafruit.com/)
4. www.microchip.com/ (http://www.microchip.com/)
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99 comments
w I Made It!
Comment
(/member/kronar30/)
kronar30 (/member/kronar30)
Great job explaining motors. I've been interested but confused over all the different types and how they are different. Now I have a
much better grasp of the types and what they are used for. Thanks so much.
Reply
9 days ago
(/member/commodus/)
commodus (/member/commodus)
Thank you for the thorough detail you've put into this, I've been toying with motors and servos for quite some time and I'll be sharing
this 'ble with my 9yr old's to help explain and show how they work. Thanks again for the time you put into this!
Reply
25 days ago
(/member/commodus/)
commodus (/member/commodus)
Thank you for the thorough detail you've put into this, I've been toying with motors and servos for quite some time and I'll be sharing
this 'ble with my 9yr old's to help explain and show how they work. Thanks again for the time you put into this!
Reply
25 days ago
(/member/Ardenne/)
Ardenne (/member/Ardenne)
Thank you for the time you dedicated to write this guide. For me it is really useful.
2 months ago
21lafrancea (/member/21lafrancea)
Reply
(/member/21lafrancea/)
(/member/21lafrancea/)
sorry, not enough explanation. look it up
Reply
2 months ago
21lafrancea (/member/21lafrancea)
Its easy, that happens in a motor is the electrical current if each side (negative and positive) switch making a circular movement.
Reply
2 months ago
(/member/techno maker/)
techno maker (/member/techno maker)

I am confused what to study after basic electronics.. Can you help me??????
Reply
2 months ago
(/member/DeepakC20/)
DeepakC20 (/member/DeepakC20)
Dear Friends,
Reply
Can you explain me what is type of motor is used in big toy cars what is the meaning of 35W 12 V motor, & from where i can procure the same
2 months ago
(/member/HafizuddinLowhim/)
HafizuddinLowhim (/member/HafizuddinLowhim)
I am not clear with the theory operation of Brushless DC Motor. As it was said 'Alternating current changes the polarity,
giving each winding a push/pull effect.'
Reply
So, the current consumed by Brushless DC Motor is AC or DC current?

Please clear me.
2 months ago
(/member/vinicius.neves/)
vinicius.neves (/member/vinicius.neves)
Reply
"Brushless DC electric motor (BLDC motors, BL motors) also known as electronically commutated motors (ECMs, EC
motors) aresynchronous motors (https://en.wikipedia.org/wiki/Synchronous_motor) that are powered by a DC
(https://en.wikipedia.org/wiki/Direct_current) electric source via an integrated inverter/switching power supply, which produces an AC electric signal to drive the
motor. In this context, AC, alternating current, does not imply a sinusoidal waveform, but rather a bi-directional current with no restriction on waveform.
Additional sensors and electronics control the inverter output amplitude and waveform (and therefore percent of DC bus usage/efficiency) and frequency (i.e.
rotor speed)."
Source: https://en.wikipedia.org/wiki/Brushless_DC_electri... (https://en.wikipedia.org/wiki/Brushless_DC_electric_motor)
2 months ago
(/member/HafizuddinLowhim/)
HafizuddinLowhim (/member/HafizuddinLowhim)
Thank you so much.
Reply
2 months ago
(/member/Fezder/)
Fezder (/member/Fezder)
Nice guide!
Reply
2 months ago
(/member/psycho.maggot/)
psycho.maggot (/member/psycho.maggot)
this is really helpful. allowing people to know which best servos for the project that shall made, thanks
Reply
2 months ago

hello. can you say what i want to study after basic electronics . and how to make things with arduino
Reply
3 months ago
(/member/taifur/)
taifur (author) (/member/taifur)

You will need basic programming knowledge in C/C++
Reply
3 months ago

which web site can I study c++
programming
3 months ago

Many books on arduino programming are available in Internet (both free and paid). You can follow those such as:
Reply
(/member/taifur/)
http://www.apress.com/9781430247760 (http://www.apress.com/9781430247760)
Reply
http://cprogrammingforarduino.com/ (http://cprogrammingforarduino.com/)
3 months ago

Thanks for your help..Will i need to study maths in this arduino programming books?. I often hear that maths is important for
every subject. I like maths. Is there any basic necessity to study ? and do I need basic knowledge to study electronics?.
Reply
3 months ago
(/member/taifur/)

You are correct, maths is important for all subject specially for engineering. Arduino needs basic math and can be learned when
required but before that you need some basic knowledge on electronics.
Reply
Here is my another instructables:

http://www.instructables.com/id/Complete-Guide-for-Tech-Beginners/
3 months ago

where can I learn maths for arduino
Reply
3 months ago
(/member/taifur/)
Reply
Actually the thing is not like that, the maths are not related to the Arduino. It is related to the project you want to make, such as you
want to make a thermometer using LM35 temperature sensor. To convert the data of sensor to temperature of Fahrenheit or Celsius you need
the maths or equations related to temperature scale (e.g. C = (F-32)/1.8). So, first important think you should learn about basic programming syntax and then
you will be able to implement maths as requirement as your projects.
3 months ago

thanks
Reply
3 months ago
(/member/Alok Shaw/)
Alok Shaw (/member/Alok Shaw)
Reply
i am looking forward to make a four wheeled vehicle of each 12V 300rpm dc geared motors....can you please help me with the
power supply, i am planning to use powerbank instead of li po battery but the problem is...the output of Pbank is 5v...and if i step up it to 12V ,
will it work as li po one?
3 months ago
(/member/taifur/)
Reply
For your project two important thing must be considered, one is current rating of your motor and another is C rate of the battery of
your power bank. Suppose nominal current rating of your motor is 0.6A and if it has li-ion battery in your power bank C rate may be 2. If your
power bank capacity is 10000mAh and C rate is 2 then your battery can be discharged at maximum rate of (10000*2) = 20 A. 20A is enough for four 0.6 to 1 A
dc geared motor. in this case your power bank may operate your vehicle without any problem. Remember one think in mind that a motor draws more current in
stall or starting condition (it may be 4A or more for 1A motor) and you must consider that when designing.
Now come to the point of voltage. 5V can be step up to 12V using a boost converter. But for operating 4 dc motor you need high power boost converter (200W
or more for 1A motor). For a 200W boost converter you have to pay more considering li-po battery.
I don't know the actual rating of your motor and battery and for that I tried to explain the fact using some common value. Practical scenario may be different for
your case.
3 months ago
(/member/ShadowPap/)
ShadowPap (/member/ShadowPap)
Just out of curiosity, why is there a solenoid on the 4th page?
Reply
3 months ago
(/member/taifur/)

Actually, solenoid is a type of DC linear actuator and its operating principle is like DC motor. So, I think the topic should be discussed
with DC motors.
Reply
3 months ago
(/member/ShadowPap/)
ShadowPap (/member/ShadowPap)
Reply
So, if we use your reasoning, add DC Relays, Keeper Solenoids (2 direction with magnetic hold rather than having power applied
constantly).
If you start down that path you are helping to confuse more than defining your subject.
Your topic was motors, you have many areas there to define the different types: AC, DC, PLL ...bringing other components into the mix in my opinion, as an
electronic instructional designer with 40 + years of field service and support, it is better to keep your students focus to one topic or area of focus at a time.
Motors are a large enough of a topic in themselves.
All I am trying to say, you have created a very helpful resource, but try and narrow the focus to the topic being covered.
3 months ago
(/member/taifur/)

You are absolutely right, motors are a large topic and not possible to cover here. I tried to explained most commonly used types.
Reply
In general, a motor is a device or machine which convert electrical energy to mechanical energy and a motor convert the energy one from to another through
magnetic domain. There must be two magnetic flux to produce the mechanical force or energy and from interaction of two magnetic flux always produce some
mechanical force. You know that DC Relays and Solenoids works in same principle.
I have the plan to add some more steps if I can manage the time.
3 months ago
(/member/Wrrr 10-G/)
Wrrr 10-G (/member/Wrrr 10-G)

Excellent elaboration on the theoretics of electrical motors.. Thanks!
Reply
3 months ago
(/member/jhdeedar/)
jhdeedar (/member/jhdeedar)
Excellent post ....
Reply
3 months ago
(/member/marc.deloor.5/)
marc.deloor.5 (/member/marc.deloor.5)
Very good instructable! The theoretic part is perfect!
Reply
3 months ago
(/member/Michael Tatomir/)
Michael Tatomir (/member/Michael Tatomir)

Really good work! Very helpful for my robo-project.
Reply
3 months ago
(/member/taifur/)

Thank you
Reply
3 months ago
(/member/Pekoloko/)
Pekoloko (/member/Pekoloko)
Thank you!! Great job.
Reply
3 months ago
(/member/taifur/)

Thanks
Reply
3 months ago
(/member/vozo/)
vozo (/member/vozo)
It's good.
Reply
3 months ago
(/member/taifur/)

Thanks
Reply
3 months ago
(/member/Rebelxxx/)
Rebelxxx (/member/Rebelxxx)
thanx, it's amazing
Reply
3 months ago
(/member/taifur/)

Thank you
Reply
3 months ago
(/member/abbasporyazdanpanah/)
abbasporyazdanpanah (/member/abbasporyazdanpanah)
That is very good idea . thank you
3 months ago
Reply
(/member/taifur/)
(/member/jlechner/)
Welcome
Reply
3 months ago
jlechner (/member/jlechner)
Reply
Nicely done.
3 months ago
(/member/taifur/)
Reply
Thanks
3 months ago
(/member/al46320/)
al46320 (/member/al46320)
Thank you for this amazing encyclopedia on motors !! Great job.
Reply
3 months ago
(/member/taifur/)
Reply
Thanks
3 months ago
(/member/AkshatJ5/)
AkshatJ5 (/member/AkshatJ5)
Reply
if I wanna buy them how much it will cost??
3 months ago
(/member/taifur/)
Reply
Please follow the link for price:
https://www.sparkfun.com/categories/178 (https://www.sparkfun.com/categories/178)
3 months ago
(/member/abdolhamednik/)
abdolhamednik (/member/abdolhamednik)
hello taifur
Reply
4 very well collected!!! very well explained!!!

thank you (english)
5 (https://twitter.com/intent/tweet?text=Complete%20Motor%20guide%20for%20Robotics&url=http%3A%2F%2Fwww.instructables.com%2Fid%2FComplete-Motor-Guidesepaas (farsi)
for-Robotics%2F)
p (https://www.pinterest.com/pin/create/button/?url=http%3A%2F%2Fwww.instructables.com%2Fid%2FComplete-Motor-Guide-for3 months ago
Robotics%2F&description=Complete%20Motor%20guide%20for%20Robotics&media=http://cdn.instructables.com/FCQ/150I/II4UEWY5/FCQ150III4UEWY5.RECT2100.jpg)
Reply
(/member/taifur/)
dhonnobad (bangla)
3 months ago
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Do You Know About The Dangers Of Rabies Infection?

STEP 1: TYPES OF MOTORS

STEP 2: MOTOR CONTROLLER

STEP 3: BRUSHED DC MOTOR

Bear in mind that all motors are available in different sizes.

const int switchPin = 2;

A BLDC has a rotor with permanent magnets and a stator with

// For calibrating you may use the following code snipet

// variable to store the servo position

More details of stepper motor: http://www.instructables.com/id/How-to-use-a-Step... (http://www.instructables.com/id/How-to-usea-Stepper-Motor/)

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sorry, not enough explanation. look it up

techno maker (/member/techno maker)

So, the current consumed by Brushless DC Motor is AC or DC current?

techno maker (/member/techno maker)

taifur (author) (/member/taifur)

techno maker (/member/techno maker)

taifur (author) (/member/taifur)

techno maker (/member/techno maker)

taifur (author) (/member/taifur)

Here is my another instructables:

techno maker (/member/techno maker)

taifur (author) (/member/taifur)

techno maker (/member/techno maker)

Alok Shaw (/member/Alok Shaw)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

Wrrr 10-G (/member/Wrrr 10-G)

Michael Tatomir (/member/Michael Tatomir)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

taifur (author) (/member/taifur)

if I wanna buy them how much it will cost??

taifur (author) (/member/taifur)

Please follow the link for price:

4 very well collected!!! very well explained!!!

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