Grade 10 STE Electronics Robotics Q4 Module 2 Wk2 ADM
Grade 10 STE Electronics Robotics Q4 Module 2 Wk2 ADM
Grade 10 STE Electronics Robotics Q4 Module 2 Wk2 ADM
Electronics
Quarter 4 – Module 2:
Stepper and Servo Motors
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Electronics
Quarter 4 – Module 2:
Stepper and Servo Motors
Introductory Message
This Self-Learning Module (SLM) is prepared so that you, our dear learners,
can continue your studies and learn while at home. Activities, questions, directions,
exercises, and discussions are carefully stated for you to understand each lesson.
Each SLM is composed of different parts. Each part shall guide you step-by-
step as you discover and understand the lesson prepared for you.
In addition to the material in the main text, Notes to the Teacher are also
provided to our facilitators and parents for strategies and reminders on how they can
best help you on your home-based learning.
Please use this module with care. Do not put unnecessary marks on any part
of this SLM. Use a separate sheet of paper in answering the exercises and tests. And
read the instructions carefully before performing each task.
If you have any questions in using this SLM or any difficulty in answering the
tasks in this module, do not hesitate to consult your teacher or facilitator.
Thank you.
What I Need to Know
This module was designed and written with you in mind. It is here to help you
master Stepper and Servo Motors. The scope of this module permits it to be used
in many different learning situations. The language used recognizes the diverse
vocabulary level of students. The lessons are arranged to follow the standard
sequence of the course. But the order in which you read them can be changed to
correspond with the textbook you are now using.
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What I Know
Directions: Read each question carefully. Choose the letter of the correct answer.
1. Which of the following devices are powered by the motion of alternating currents
to create rational motion and positioning?
a. Electro-motors c. Servo motors
b. Magnetic motors d. Stepper motor
2. Which of the following is NOT a characteristic of stepper motors?
a. High cost c. High reliability
b. High precision d. High torque
3. Which of the following machines uses a stepper motor?
a. DVD player c. Microwave
b. Electric fan d. Vacuum cleaner
4. Which of the following motors is best described as powerful, accurate, small,
easily programmable, and precise redundant motion?
a. Electro-motors c. Servo motors
b. Magnetic motors d. Stepper motors
5. What mechanism of the servomotor is comprised of a controller, motor amplifier,
and sensor?
a. automatic c. low risk
b. feedback d. pneumatic
6. What motors have the characteristics of being low cost, high reliability, high
torque, and have low speeds?
a. Electric motors c. Servo motors
b. Magnetic motors d. Stepper motors
7. What form of energy do motors convert electrical energy into?
a. electric current c. motion
b. magnetic field d. torque
8. Which of the following is NOT a component of a stepper motor?
a. Brushes c. Rotor
b. Coil d. shaft
9. What do we mean by “Circular motion to linear motion”?
a. rotational to straight c. straight to rotational
b. sideways to rotational d. straight to sideways
10. What are the features of a stepper motor?
a. high reliability and low torque c. high cost and high torque
b. high torque and low speeds d. low speeds and high cost
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Lesson
What’s In
Analyze the robotic arm in this picture. List the materials you think were used
in the construction of this robot and give a brief explanation on why these materials
were used.
Material/s used____________________________________________________________
_______________________________________________________________
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What’s New
Car manufacturers like General Motors (GM), Ford, Hyundai, Toyota, and
other car brands have been developing industrial robots since the 1970s and
introducing them into their manufacturing systems to improve quality and reduce
costs. Robots are primarily used in their welding, painting, and assembly processes.
Like in Toyota, it aims to combine industrial robot technologies with automobile
control technologies and state-of-the-art Information Technology (IT).
Source: https://rb.gy/zfhyar
Figure 2: A car assembly line where robotic arms are welding a car frame.
Guide Questions:
1. What is the function of the robotic arm ?
2. Can you locate any people on the factory floor while this is happening?
Why do you think so?
3. What do you think are the advantages of using robots in factories?
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What is It
Before we go deeper into our lesson, try to complete the statements below to
check your understanding of robotic motors. Choose the letter of the correct answer.
5. Which type of motor is usually found in robotic arms that welds metals?
a. motor b. servo c. stepper d. micro
Stepper motors are devices that are powered by the motion of alternating
currents to create rotational motion and positioning. They achieve this positioning
control by turning the motor rotor discretely into several steps. This is useful to
control accurate and specific movements where holding a position is expected. These
motors can be fitted into robots that perform certain types of tasks like packaging
goods, 3D printing, and other movements that are done in repetition. Stepper motors
can usually hold a load while stopped, a benefit for positioning applications.
Stepper motors use permanent magnets on their rotors that can be controlled
in discrete intervals by energizing the stator field. A stepper motor needs a controller
or drive to function. Steppers typically have a 1.8O index of rotation, meaning that
for every pulse the shaft moves and rotates at an angle of 1.8O. Motor construction
also plays a role in a stepper motor’s resolution—the number of steps per revolution
with five (5)-phase motors offering a higher number of steps than two (2)-phase
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motors. Stepper motors offer a comparatively inexpensive way of mimicking servo
positioning, though they generally lack positional feedback.
Stepper motors have the characteristics of being low cost, high reliability, high
torque at low speeds. With these features, stepper motors are widely used in
industrial, commercial applications, and advanced technologies rather than simple
motors. Computer-controlled stepper motors are a type of motion-control
positioning system. Stepper motors are usually digitally controlled motors
commonly used in holding precise positioning applications.
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Stepper motors are used in industrial machines (Computer numerical control
(CNC) machines, milling machines, laser cutters), computer technology (CD-Roms,
DVD players, floppy disk drives, scanners), printing technology (printers, plotters,
3D printers), and intelligent lightning systems (lasers, optical devices, mirror
mounts).
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controls both speed and precision through the use of feedback loops. A special
servomotor, called a torque motor, is designed to apply torque to a shaft without
necessarily rotating it, as might be needed to keep constant tension. The design lets
the motor apply torque on the gears to reduce the motor’s high-speed output to a
slower speed, higher torque servo output to attain the actual desired position.
There are many different applications that servo motors are being used. The
advantages of using servo motors in robots outweigh other motors that are used in
industrial applications. It replaces the common conventional AC motors and stepper
motors as well as hydraulic and pneumatic systems.
There are many applications where servo motors have an advantage. It is used
in industrial applications where high accuracy, power, and speed are required and
low weight and size is a needed factor. Servo motors provide numerous benefits in
robotic applications as well. They are small, powerful, easily programmable, and
accurate. Most importantly, though, they allow for near-perfect repeatability of
motion. Robotic welding in high tech factories utilizes servo motors that are mounted
in every joint of a robotic welding arm, actuating movement and adding dexterity.
Robotic vehicles also use servos in steering systems of autonomous vehicles used to
disarm and dispose of bombs.
Servo motors are also used in conveyor and handling systems where speed
and accuracy, as well as high torque, is expected. Antenna positioning systems like
in TV, radio, and satellite, typically need high torque and very high accuracy.
Simulation applications like in printing press businesses, where speed, torque, and
smoothness are important. Besides this, Servo motors can also be used in renewable
energy applications where performance and efficiency are needed. It can be used in
machine tools where high accuracy is required to finish the job properly. It can also
be used in defense applications, subsea gas and oil exploration, and food and
beverage preparation.
What’s More
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2) Powerful, accurate, small, easily programmable, and precise redundant
motion are words that would describe it.
3) These motors can be fitted into robots that perform certain types of tasks
like packaging goods, 3D printing, and other movements that are done
in repetition.
4) These are motors that use permanent magnets on their rotors that can be
controlled in discrete intervals by energizing the stator.
5) It uses a feedback loop to control the radial position of the motor rotor
concerning its stator and utilized in motion control applications.
6) They are used in positioning applications where smooth, controllable
motion is expected like in the case of an industrial robot.
7) They typically have an index of 1.80 of rotation for every step and it can
be operated by microcontrollers.
8) A robot programmed in packaging boxes might use this motor to carefully
package the boxes with plastic film within a specified zone inside the factory.
9) These are motors that offer an inexpensive way of copying movements but they
lack sensors for data feedback.
10) Robotic welding in high tech factories utilizes this type of motors that are
mounted in every joint of a robotic welding arm.
Guide Questions:
1. What is the similarity between a Stepper motor and a Servo motor?
2. What is the difference between a Stepper motor and a Servo motor?
3. In your opinion, which do you think is better, a stepper motor or a servo motor?
Why do you think so?
Assessment 1: Who am I!
Directions: Read the following scripts and identify who would say these lines.
A stepper motor or a servo motor?
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Word bank
Guide Questions:
1. What are the parts of a Servo motor?
2. What are the parts of a Stepper motor?
3. In your opinion, which motor would be troublesome to use?
Why do you think so?
Assessment 2:
Directions: Read each question carefully. Choose the letter of the correct answer.
1. These are motors used in positioning applications where smooth and controllable
motion is expected, like in an industrial robot.
a. electric motors
b. magnetic motors
c. servo motors
d. stepper motors
2. Servomotors have ____________ mechanisms in the form of the controller, motor
amplifier, and specific sensors connected to the motor.
a. automatic
b. feedback
c. forward
d. reverse
3. A special servomotor, called a ___________, is designed to apply torque to a shaft
without necessarily rotating it, as might be needed to keep constant tension.
a. high-speed motor
b. hydraulic motor
c. pneumatic motor
d. torque motor
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4. All applications use a servo motor, EXCEPT_________.
a. Autonomous steering technology
b. Computer hardware
c. Defense Industries
d. Gas and Oil exploration
5. It is the diagram that shows a servo motor feedback loop system.
a. controller à motor à gears àsensors
b. gears à sensor à controller à motor
c. motor à gears à sensor à controller
d. sensor à controller à motor à gears
Column A Column B
1. ________ are working devices whether a. computer controlled
mechanical or electro-mechanical means b. defense application
convert electrical energy into motion. c. gears
2. ___________ stepper motors are a type of d. motor
motion-control positioning system. e. programmable
3. It is powerful, accurate, small, easily f. radio
_______ and precise redundant g. rotational
motion are words that best describe h. satellite
servo motors. i. servo
4. Servo motors can be driven by an j. speed
alternating or a direct current to make k. torque
a _______ motion and positioning.
5. A special servomotor, called a _______
motor, is designed to apply torque to
a shaft without necessarily rotating it.
6. Stepper motors have the characteristics
of being low cost, high reliability, high
torque at low _______.
7. Antenna positioning systems like in TV,
radio, and ______, typically need high
torque and very high accuracy.
8. It can also be used in ______________,
subsea gas and oil exploration, and food
and beverage preparation.
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9. The design lets the motor apply torque on
the ______ to reduce the motor’s high-speed
output to a slower speed, higher torque servo
output to attain the actual desired position.
10.Robotic welding in high-tech factories utilizes
______ motors that are mounted in every joint
of a robotic welding arm, actuating movement
and adding dexterity.
What I Can Do
The spool racer has all the inner workings of how a robotic motor should
perform. It uses a plastic bottle of water that is powered by energy stored in a wound-
up rubber band. Gather the tools and materials below and follow the instructions on
the next pages.
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Assembly:
Step 1. Make a hole in the center of the cap using a hot nail. Using pliers to hold
the nail, heat it with a lit candle. Remove the cap for now. You’ll need it again in Step
6.
Figure 11: A paper clip being bent to follow the shape of a hook.
Step 4. Loop the three rubber bands together as shown in the photo below, pulling
them tight to form a three-band chain. Then thread the end of the rubber-band chain
onto the other paper clip.
Loop
Figure 12: A paper clip being looped at the end of a rubber band.
Step 5. Push the free end of the rubber band chain up through the hole in the bottom
of the bottle, and then feed the rest of the chain into the bottle. If necessary, use the
straight end of the paper clip hook to help push the
rubber bands through the hole.
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Figure 13: The paperclip acts as a stopper as the rubber band is inserted at the
bottom of the plastic bottle.
Step 6. Pull the top end of the rubber-band chain out the mouth of the bottle, either
by reaching in with a finger (if possible) or by using the paper-clip hook. When the
end of the rubber-band chain emerges from the top of the bottle, grab it with your
fingers and thread the end loop through the bottom of the bottle cap and then
through the washer (see photo below).
Figure 14: The end of the rubber band is inserted through the plastic bottle cap and
the metal washer.
Step 7. Screw the cap back onto the bottle while still holding the end loop, and then
push about 3 inches (7 cm) of the straw through the loop. The rubber band will hold
the straw in place against the washer and bottle (see photo below).
Figure 15: A plastic straw is inserted at the end of the rubber band to secure it.
Step 8. Check that the paper clip attached to the rubber band at the other end is
held flush and centered against the bottom of the bottle and it doesn’t stick out
past the edge of the bottom (see photo below).
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Source: https://rb.gy/vmh6rf
Figure 16: The paper clip is at the bottom center of the plastic bottle.
Step 9. Use your finger to wind up the rubber band—try starting with around 25
turns. Put the bottle on the floor, release it—and watch it go! (If it doesn't go, try
winding a few more turns.)
Guide Questions:
1. What is your feeling while doing this activity?
2. What are the factors that help you to do the task accordingly?
3. If you would have the opportunity to change or add any material in this design to
improve your racer, What material would that be and why?
Your bottle racer will be scored using the rubric below.
INDICATORS 5 4 3 2
Structural Rigid and Somewhat Fairly rigid Loosely rigid
Durability strong in its rigid and and strong in and strong in
construction strong in its its its
construction construction construction
Materials Used Used of the Failed use Failed to use Failed to use
materials one (1) of two (2) three (3)
required. materials materials materials
required required required
Motion Efficiency Has traveled Has traveled Has traveled Has traveled a
(25 turns) a distance of a distance of a distance of distance of
7 feet and 5 feet and 3 feet and fewer than 3
more more more feet or did not
move forward
Materials Needed:
Improvised plastic bottle racer, meterstick (any tool that measures distance)
Step 1: Hold your bottle racer and wind up the rubber band around 25 turns and
then release it at a starting point on the floor and measure how far did it go. Record
the distance traveled in the table below.
Step 2: Repeat step 1 and this time wind up the rubber for 35 turns.
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Step 3: Repeat step 1 and this time wind up the rubber for 45 turns.
35 turns
45 turns
Guide Questions:
1. Which among the turns of the rubber bands ended up the farthest and the nearest
distance travelled? Why?
2. What is the relationship between distance travelled by the bottle racer and the
number of turns in the rubber band?
3. If you were to add or change any material to your bottle racer to travel further
what would that be and why?
Assessment
Directions: Read each question carefully. Choose the letter of the correct answer.
1. Which motor has low cost, high reliability, and has high torque at low speeds?
a. Electric motor c. Servo motor
b. Magnetic motor d. Stepper motor
2. Which motor is used in industries because of its smooth and stable motion?
a. electric motor c. servo motor
b. magnetic motor d. stepper motor
3. What feature is found in servomotors but not in stepper motors?
a. automatic c. forward
b. feedback d. reverse
4. What good things can we say about stepper motors?
a. high reliability, low torque, high cost c. low cost, high torque, low speeds
b. high torque, low speeds, high cost d. low speeds, high cost, low reliability
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Additional Activities
Directions: Read the following devices and classify which of them uses a stepper
motor or a servo motor.
Lackey, Bill, “What’s the difference between Servo and Stepper Motors?,
machinedesign.com, accessed 21/01/21,
https://www.machinedesign.com/mechanical-motion-
systems/article/21836868/whats-the-difference-between-servo-and-
stepper-motors
Motion Control Online marketing Team, Servo Motors Explained and Why They’re
useful in Robotics, Motion Control and Motor Association, accessed
21/01/2021,
https://www.motioncontrolonline.org/blog-article.cfm/Servo-Motors-
Explained-and-Why-They-re-Useful-in-Robotics/87
Motion Control Online marketing Team, What kinds of applications are best for
stepper motors?, Motion Control and Motor Association, accessed
21/01/2021,
https://www.motioncontrolonline.org/blog-article.cfm/What-Kinds-of-
Applications-are-Best-for-Stepper-Motors/76
Robotic Arm with Servo Motors-A step closer to future, rozum.com, accessed
25/01/21, https://rozum.com/servos-as-robot-
components/#:~:text=Movement%20flexibility.,with%20a%20thousandth%2
0degree%20accuracy.
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