GRADUATION PROJECT

“BAYKUS”

Acoustic Sound Localization System

FINAL REPORT

Submitted by

ALİ OZAN ŞENGÜL

MEHMET ONUR USTA

FERHAT TOKDEMİR

ÖZGÜN TÜZÜNER

MECHANICAL ENGINEERING DEPARTMENT

HACETTEPE UNIVERSITY

APRIL 2017
 TABLE OF CONTENTS
TABLE OF FIGURES ..................................................................................................................... 2
LIST OF TABLES ........................................................................................................................... 3
ABSTRACT ..................................................................................................................................... 4
1. INTRODUCTION .................................................................................................................... 5
2. AIM OF THE PROJECT .......................................................................................................... 6
3. OBJECTIVES ........................................................................................................................... 7
4. SUCCESS CRITERIAS ............................................................................................................ 8
5. TASKS, GROUP MEMBERS’ RESPONSIBILITY AND TIME TABLE ............................. 9
6. LITERATURE SURVEY ....................................................................................................... 10
6.1. Military Activities ............................................................................................................... 10
6.1.1 First and Second World War Era ............................................................................. 10
6.1.2 Modern Military Era...................................................................................................... 11
6.2 Systems Used In Civil Areas ........................................................................................... 15
6.2.1 Sound Source Locating for Automatic Camera Steering .............................................. 15
6.2.2 Search and Rescue Operations ...................................................................................... 16
6.3. Student Projects ................................................................................................................... 17
6.3.1 Four Microphone Sound Source Localization .............................................................. 17
7. PUGH CHART AND DESIGN CRITERIAS ........................................................................ 19
8. SCHEMATIC DRAWING ..................................................................................................... 20
9. COMPONENTS ..................................................................................................................... 21
10. THEORY ................................................................................................................................. 25
11. STRESS ANALYSIS .............................................................................................................. 27
12. MECHANISM, WIRING AND ACTUATION SYSTEM ..................................................... 29
13. CODE AND EXPLANATION OF THE CODE .................................................................... 33
13.1 Explanation......................................................................................................................... 33
13.2 Code ................................................................................................................................... 37
14. COST TABLE ......................................................................................................................... 39
15. CONCLUSION ....................................................................................................................... 40
References ...................................................................................................................................... 41
Appendices ..................................................................................................................................... 42

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 TABLE OF FIGURES
Figure 1 - Schematic of the microphone setup in battlefield [1] .................................................... 10
Figure 2 - Swedish soldiers operating an acoustic locator (Trelleborg, Sweden, 1940) [2] .......... 11
Figure 3 - Acoustic Multi-Mission Sensors (AMMSs) by Microflown AVISA [3] ...................... 12
Figure 4 - Boomerang III sensor array [5] ..................................................................................... 13
Figure 5 - Boomerang III display panel [5].................................................................................... 13
Figure 6 - PILAR ground version used in urban area [6]............................................................... 14
Figure 7 - PILAR standalone version mounted on armored vehicle [6] ........................................ 14
Figure 8 - Microphone Array geometry [7].................................................................................... 15
Figure 9 - Diagram of a such rescue system algorithm [8] ............................................................ 16
Figure 10 - Picture of the MAV platform to implement the sound locating system [8] ................ 16
Figure 11 - Four microphones and the stepper motor which gives the pitch motion [9] ............... 17
Figure 12 - Overall design of the system [9] .................................................................................. 18
Figure 13 - Platform is steered to the sound source (a loud clap) [9] ............................................ 18
Figure 14 - Schematic drawing our system and its components .................................................... 20
Figure 15 - Arduino Uno ................................................................................................................ 21
Figure 16 - Sparkfun sound detector module ................................................................................. 21
Figure 17 - Nema 23 size step motor ............................................................................................. 22
Figure 18 - Nema 17 size step motor ............................................................................................. 22
Figure 19 - L298N dual bridge motor driver.................................................................................. 23
Figure 20 - 12V 1A AC/DC adaptor .............................................................................................. 23
Figure 21 - Plexiglass base plate .................................................................................................... 24
Figure 22 - Mechanical coupling elements used to connect the motor shaft to the system. U-plate
is used to hang the system .............................................................................................................. 24
Figure 23 - Far-field TDOA model ................................................................................................ 25
Figure 24 - Demonstration of far-field effect. Curvature of sound wave reduces as it propagates
further [11] ..................................................................................................................................... 26
Figure 25 – Structural loading conditions on the u-shaped plate ................................................... 27
Figure 26 - Total deformation in the u-shaped plate ...................................................................... 27
Figure 27 - Von-Mises stress values in the u-shaped plate ............................................................ 28
Figure 28 - Overall system and the components ............................................................................ 29
Figure 29 - Nema 23 step motor and t-shaped coupling which connects the shaft to the u-shaped
sheet metal ...................................................................................................................................... 30
Figure 30 - Nema 17 stepper motor and the coupling element that connects the base plate to the
motor shaft...................................................................................................................................... 31
Figure 31 - Wiring diagram that shows the connection between microphones, Arduino, motor
driver, power supply and the stepper motor. (Adaptor is represented by 9 V battery in this figure)
........................................................................................................................................................ 32
Figure 32 - Flow diagram that explains the main software algorithm ........................................... 34
Figure 33 - Flow diagram of the function that calculates the angle using tdoa value .................... 35
Figure 34 - Flow diagram of the function that converts the angle from radians to degrees........... 35
Figure 35 - Flow diagram of the function that actuates the motors to steer the system towards the
sound source ................................................................................................................................... 36

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 LIST OF TABLES
Table 1 - Time table and responsibilities of group members ........................................................... 9
Table 2 - Pugh Chart and comparison of design alternatives ......................................................... 19
Table 3 - Material properties of the u-shaped plate ....................................................................... 28
Table 4 - Cost table ........................................................................................................................ 39

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 ABSTRACT
This report covers the production steps such as preliminary design, actual design, manufacturing,
coding, analyzing, testing etc. of our graduation project. An acoustic sound localization system is
designed and produced to determine the direction of a sharp noise in two axis and rotate the system
to point the sound source. Main algorithm to calculate the angle of sound source is called
“Interaural Time Diference” and it is based on time difference of arrival (TDOA) of the sound at
each receiver. This system consists of 2 microcontrollers (Arduino Uno), 4 microphones (2 in
vertical and 2 in horizontal axis), 2 stepper motors to rotate the system, a base plate made of
plexiglas to mount the microphones on it, mechanical and electronical connection elements (wires,
breadboard, couplings, etc), motor drivers and power supplies. Such systems are widely used in
military field (sniper localization) and civil area (automatic camera and microphone steering,
search and rescue activities). This system is good for civil applications since the accuracy is not
good enough to detect the sound source presicely to be used in defence industry.

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 1. INTRODUCTION

In today's world, mechatronic systems are very popular and improving. Robots and autonomous
systems are used in a lot of fields such as military, medical and heavy labor involved industries.
They can assist people in daily life or they do the whole job for them. Accordingly, these systems
have a very important role in making our life easier. For this reason, we are going to build a sound
localization system for our Graduation Project to be used in various fields such as military or civil
industry.

Our group is going to design a sound localization system using sound sensors, electronic processors
and motors. This system should point the source of a sharp noise such as a gunshot or clap.

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 2. AIM OF THE PROJECT
Aim of this project is to build a combination of mechanical and electronic system to detect sound
source with its angle in horizontal and vertical plane. To build this system, two Arduinos, four
microphones, motor drivers, stepper motors, and mechanical coupling elements are going to be
used. After creating a prototype model, tests in various conditions are going to be held.

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 3. OBJECTIVES
Our objective is to build a working system by merging all the fundamental engineering knowledge
(mathematics, numerical methods, mechatronics, dynamics, CAD, MATLAB, manufacturing,
material science) learned from the courses so far while co-operating and dividing the labor among
us. At the end of this project, we will have a point of view about how to overcome problems and
get an experience on fulfilling the given task in a specific period of time and on creating a real
working system. Bottom line, this objectives and project will be a representation of real business
life.

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 4. SUCCESS CRITERIAS
Our design should have the following specifications to be considered as successful.
• As cheap as possible but effective enough
• Compact design
• Accurate
• Point the sound source in two planes (yaw and pitch)
• Simple or easily manufacturable
• Low response time
• Safe and reliable
• Only detect low frequency sound (explosion or clap)

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 5. TASKS, GROUP MEMBERS’ RESPONSIBILITY AND TIME
TABLE
This project has difficult parts and we need to overcome these difficulties. Here are some
difficulties;
- Project is a group study and group members have a little experience on teamwork.
- We don’t have enough knowledge of mechatronic systems.

With these challenges, we also have some questions to answer;

- How to select material and servo-motor?
- How can we code in Arduino?
- How can we do cost analysis?
- Where can we purchase the required components?
- Which option is logical? To buy or to manufacture?
- What are the working principles of mechatronic systems such as sensors and motors?

Table 1 - Time table and responsibilities of group members

Weeks Onur Ali Ozan Ferhat Özgün

1 Literature Survey Literature Survey Literature Survey Literature Survey
2-4 Theoretical Background Theoretical Background Design Parameters Design Parameters
Preliminary Cost Mechanical Components
4-6 Component Research Sponsor Research
Analysis Research
Preliminary Mechanical Mechatronic System Preliminary Mechanical Mechatronic System
6-9
Design and Sketching Creation Design and Sketching Creation
9-21 Testing Coding and Testing - -
9-21 CAD Modeling CAD Modeling CAD-FEM Modeling Final Cost Analysis
21-23 Manufacturing Manufacturing Manufacturing -
Preparation and Demo Preparation and Demo Preparation and Demo Preparation and Demo
23-25
Rehearsal Rehearsal Rehearsal Rehearsal
Presentation Design Poster Design Poster Design
25-26 Final Report
Final Report Presentation Design Presentation Design

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 6. LITERATURE SURVEY
Sound source localization systems are used in many fields such as, search and rescue, military
activities (sniper,artillery,mortar position), camera steering for conference meetings and sound
tracking robots. Below some of those applications are given in 3 categories: Military, civil and
ameteur (student) projects.

6.1. Military Activities

6.1.1 First and Second World War Era

In the first and second world war with the fast development of heavy firearms (mortar,
bombers and artillery) the casualties given in a single battle hit a peak in the history of war. To
reduce the casualties it became a crucial mission to locate these mortar and artillery positions. Early
methods consisted of a series of microphones mounted with a fixed distance between them. Time
of arrival of the sound is recorded and the calculations were based on these time values.

Figure 1 - Schematic of the microphone setup in battlefield [1]

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 Figure 2 - Swedish soldiers operating an acoustic locator (Trelleborg, Sweden, 1940) [2]

6.1.2 Modern Military Era

Computers and microprocessors become more advanced as time passes. Following these
developments more complicated equations are solved in less time compared to old times and
calculations become more accurate. In current sound localization systems hi-tech and sensitive
microphones are used to determine the enemy positions especially snipers since the battle types
shifted to urban or guerilla warfare where the possibility of RPG and sniper ambushes is very high.

6.1.2.1 Microflown AVISA Products

A Netherland originated company Microflown AVISA designs and produces military sound
locating systems to detect small firearms, rockets, artillery, mortars, and aerial threads.
One of the many products of the company is Acoustic Multi-Mission Sensor. “It utilizes the
worldwide unique Acoustic Vector Sensor technology allowing it to detect, classify and localize
the full spectrum of acoustic battlefield signatures such as Rockets, Artillery, Mortars (RAM) and
Small Arms Fire (SAF).” [3]

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 Figure 3 - Acoustic Multi-Mission Sensors (AMMSs) by Microflown AVISA [3]

The system has the following specifications. [4]

Range: Up to 1500 m
Directional Accuracy: < 1.5°
Range Accuracy: 5-10 %
Detection Capability: Small Fire Arms (SAF)
Dimensions: 10.0 x Ø 26.5 cm
Total weight: 1.75 Kg
Assembly: Stainless Steel & Foam
Powering: 12V-24
Power consumption: 1W-2W

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6.1.2.2 Boomerang III

Another sound localization system is designed by Raytheon called Boomerang III has been
used by UK troops deployed in Afghanistan. It comes both with vehicle mounted or stationary
systems. “Non-ballistic events, such as road bumps, door slams, wind noise, tactical radio
transmissions, vehicle traffic, firecrackers and urban activity do not cause false alarms. The system
also does not alert when shots are fired from the vehicle or the protected site”. [5]

Figure 4 - Boomerang III sensor array [5]

Figure 5 - Boomerang III display panel [5]

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6.1.2.3 Metravib – PILAR
The PILAR system is used not only in the battlefield but in the civil areas such as airports or
public meetings to detect any gunshot fired by a small firearm. Number of acoustic arrays depends
on the application. “Results are given on a ruggedized PC and include the GPS localization of the
threat, as well as azimuth, elevation and range.”[6]

Figure 6 - PILAR ground version used in urban area [6]

Figure 7 - PILAR standalone version mounted on armored vehicle [6]

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PILAR has the following specifications [6]
Azimuth Accuracy: ±2°
Elevation Accuracy: ±5°
Range Accuracy: ±20%
Identification of the calibre according to two classes: ≤ 7.62 mm or > 7.62 mm.
Operating temperature: from -40°C to +50°C
Average response time: 2 seconds

6.2 Systems Used In Civil Areas

6.2.1 Sound Source Locating for Automatic Camera Steering
In business life it is important to set meetings to discuss the ongoing processes, project and
future plans. To get in touch with the people from all around the world professionals prefer
conference meetings where the meetings are held online. To see the person who is talking a camera
steering system can be implemented.
Four students from American University in Dubai Department of Electrical and Computer
Engineering designed a system to automatically steer the camera towards the speaker. “The
technique used in this project is based on the time difference of arrival (TDOA) computation. The
result of the computation will be used to approximate the location of the sound source.”[7] They
used Multilateration technique due to its low computational complexity which depend on TDOA
computation [7].

Figure 8 - Microphone Array geometry [7]

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6.2.2 Search and Rescue Operations
In search and rescue operations unmanned air vehicles are used to locate the victim more
easily. Beside infrared technologies to seek the heat trail of the victim, a sound tracking and
localizing system can be used to find the location of the victim. With the help of the emergency
whistles these micro air vehicles (MAVs) can locate the person on the ground and send the
information to the rescue team.

Figure 9 - Diagram of a such rescue system algorithm [8]

Figure 10 - Picture of the MAV platform to implement the sound locating system [8]

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6.3. Student Projects
6.3.1 Four Microphone Sound Source Localization
Two students from Oslo and Akershus University College designed a system to steer the
platform to the sound source. The system uses 4 analog microphones, Arduino board, two stepper
motors and various electronics components. We take this system as our datum to compare our
design ideas given in the Pugh chart. This system only computes the direction of the sound and
with the results the motors are rotated to steer the platform to the sound source.

Figure 11 - Four microphones and the stepper motor which gives the pitch motion [9]

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 Figure 12 - Overall design of the system [9]

Figure 13 - Platform is steered to the sound source (a loud clap) [9]

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 7. PUGH CHART AND DESIGN CRITERIAS
Our design options, criteria and their weights are given below.
Table 2 - Pugh Chart and comparison of design alternatives

Selection 2x2 3x3

Weight Datum
Criteria Microphone Microphone
Yaw Angle 4 0 + +
Pitch Angle 4 0 + +
Cost 2 0 − −−
Accuracy 3 0 + ++
Simplicity 4 0 + 0
Ease of Coding 4 0 + −
Computational
3 0 − −−−
Time
+ 19 14
− 5 17
0 0 4
Total 14 -3

We decided to implement the 2x2 system which means 2 microphones on the horizontal plane and
2 microphones on the vertical plane. Arduino will collect the sounds record the time of arrivals.
After the time of arrival values the algorithm will calculate horizontal and vertical angle of the
sound source. Since there is no or very small amount of mechanical design the manufacturing
processes will be determined along the final weeks of the project.

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 8. SCHEMATIC DRAWING

Figure 14 - Schematic drawing our system and its components

As mentioned above we are going to use 2 microphones on the horizontal plane and 2 on the
vertical plane. The stepper motors will rotate the platform to the sound source according to the
calculated angle. We are going to use separate elements for each plane. In other word there are two
of each component included in this report (2 Arduinos, 2 motors, 2 breadboards, etc.).

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 9. COMPONENTS
All the electronical and mechanical components are given and explained below. Detailed
explanations are given in the mechanism and assembly section. Technical drawings are also given
in the appendices section.
Our most important component is Arduino Uno. It does the data collection, logical decisions,
calculations etc. We used the Uno version because it is cost effective and it has all specifications
we need (2 interrupt pins and digital and analog pins).

Figure 15 - Arduino Uno

Sounds are collected by the microphones. We used four Sparkfun microphones since it is the best
for a low budget project and it has three outputs (digital, analog, and envelope) which gives a good
variety of alternatives.

Figure 16 - Sparkfun sound detector module

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To actuate or rotate the system two bipolar step motors are used. For the yaw plane a Nema 23 size
and for the pitch plane a Nema 17 size motor is used since pitch motion does not require a high
torque and inertia ratio. Step motors are easy to drive and they do not require a reference point to
rotate compared to servo motors.

Figure 17 - Nema 23 size step motor

Figure 18 - Nema 17 size step motor

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In order to drive the step motor a dual bridge motor driver is needed since these motors require a
high voltage and current rate which cannot be satisfied by Arduino’s itself.

Figure 19 - L298N dual bridge motor driver

To power the system two 12V 1A AC/DC adaptors are used. Their output voltage and current
values are enough to power the whole system.

Figure 20 - 12V 1A AC/DC adaptor

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The microphones are mounted on a base plate made of plexiglass with dimensions of 220x200x2
mm. Plexiglass is a light and easy to machine material which also gives a elegant outlook to the
system.

Figure 21 - Plexiglass base plate

To mount the base plate to the motors a u-shaped sheet metal made of steel is designed. Motors are
mounted to this platform by using couplings, set screws, nuts and bolts.

Figure 22 - Mechanical coupling elements used to connect the

motor shaft to the system. U-plate is used to hang the system

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 10. THEORY
The angle of the sound source can be found by using time differences of arrival (TDOA) of the
sound at each microphone. The sound is a pressure wave which moves as circles. As these waves
travel further the circular shape becomes flat if we focus our analysis in the field near the
microphones. These phenomenon is called far-field model and can be understood much clearly in
the following figures [10].

Figure 23 - Far-field TDOA model

The angle of the sound source can be calculated by using the formula
𝜏𝜏 𝑐𝑐𝑐𝑐
𝜃𝜃 = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 � � = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 � � [1]
𝛿𝛿 𝛿𝛿
Where
𝜃𝜃 = Angle of the sound source (degrees) and 0 < 𝜃𝜃 < 90
𝜏𝜏 = Distance between the sound wave and the microphone at the instant when the sound reaches
other microphone (m)
𝛿𝛿 = Distance between the microphones (m). It is 0.16 m in our systems.
c = Speed of sound which is approximately 343 m/s.
T = Time difference of arrival of the sound to the microphones (s)

25
The accuracy is heavily depends on the frequency of the microcontroller which in our case Arduino
has 16 MHz clock speed at max. This speed can decrease with the code structure. In our tests the
system pointed the sound source accurately 4 out of 5 times.
In addition the far-field model gets more accurate as the microphones get closer. After one or two
trials we decided to keep the microphones 16 cm away from each other.

Figure 24 - Demonstration of far-field effect. Curvature of sound wave reduces as it propagates

further [11]

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 11. STRESS ANALYSIS
Since all the load is carried by the u-shaped plate the analyses are done only on the plate. The stress
values are very small but it is not the critical part of the analysis. The most vital parameter is the
deformation in the u-shaped plate. Clearance between the little coupling and its housing in the u-shaped
plate is 2.5 mm. The deformation should be less than that value in order not to lock the system. If the
deformation is too much the coupling will stuck in the housing which will cause high friction thus high
torque on the step motor. Results show that the maximum deformation occurs where the small step motor
is mounted which is expected. The value is approximately 1.6 mm which is much less than we desired.

Figure 25 – Structural loading conditions on the u-shaped plate

Figure 26 - Total deformation in the u-shaped plate

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We did not expect high stress values since the components are very light (less than 1 kg except big
stepper motor). The results are given in the figure below. Maximum stress occurs where the u-
shaped plate meets the big coupling which can be seen at the bottom of the figure.

Figure 27 - Von-Mises stress values in the u-shaped plate

The material is Grede 304 stainless steel and its properties are given in the table below.

Table 3 - Material properties of the u-shaped plate

Material Grade 304 Steel
Yield Strength 205 MPa
Tensile Strength 515 MPa
Elastic Modulus 183 GPa
Poisson’s Ratio 0.3

Factor of Safety = 205 MPa / 36 Mpa = 5.7

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 12. MECHANISM, WIRING AND ACTUATION SYSTEM
In the literature our mechanism is called pan-tilt and it is widely used in the areas where a two axis
motion is needed such as radars, weapon systems, solar panels, camera steering etc. A u-shaped
plate is used to carry the base plate and it is rotated by a stepper motor attached at the bottom by
using a mechanical coupling. To give the pitch motion the plate is clipped to the second stepper
motor by using a different coupling element. Following images are given to explain the system in
a better way.

Figure 28 - Overall system and the components

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Figure 29 - Nema 23 step motor and t-shaped coupling which connects the shaft to the u-shaped
sheet metal

30
Figure 30 - Nema 17 stepper motor and the coupling element that connects the base plate to the
motor shaft

31
 Figure 31 - Wiring diagram that shows the connection between microphones, Arduino, motor
driver, power supply and the stepper motor. (Adaptor is represented by 9 V battery in this figure)

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 13. CODE AND EXPLANATION OF THE CODE
13.1 Explanation
The microcontroller makes logical decisions according to the code embedded in the chip. In our
system our main objective is to get time of arrival of the sound at each microphone. Arduino has a
very simple yet effective function that listens to dedicated pins and pauses the main loop whenever
the defined situation occurs. This function is called attachInterrupt and it is very easy to use.
The user only needs to define the interrupt pin, interrupt function and the corresponding interrupt
pin. Let’s examine one of the two interrupt algorithms to get a clear understanding.
Digital output (gate) of the microphone is connected to the digital pin 2 (interrupt pin 0). Code tells
the microcontroller to record the time value whenever the output is rising (switching to high value).
As soon as the output starts to rise the interrups pauses the loop and runs the already defined
interrupt function (time_left). After both time values are recorded and checked if they are logical
the system initiates the angle calculation and then the actuation sequence begins.
In order to explain the code following flow diagrams are given. The corresponding algorithm and
functions are given separately.

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Figure 32 - Flow diagram that explains the main software algorithm

34
 Figure 33 - Flow diagram of the function that calculates the angle using tdoa value

Figure 34 - Flow diagram of the function that converts the angle from radians to degrees

35
Figure 35 - Flow diagram of the function that actuates the motors to steer the system towards the
sound source

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13.2 Code
#include <math.h>
#define distance 0.16 //distance between the microphones
#include <Stepper.h>

const int stepsPerRevolution = 200;

// defining volatile time values of microphones
volatile float tleft;
volatile float tright;
volatile float dt;
float rad;
float deg;
Stepper stepper(stepsPerRevolution, 8, 9, 10, 11); //defining motor pins into
built-in step motor library
void setup()
{
stepper.setSpeed(16); // defining motor speed
tleft = 0;
tright = 0;
dt = 0;
pinMode(2,INPUT);//defining interrupt pins
pinMode(3,INPUT);//defining interrupt pins
Serial.begin(9600);
//attaching interrupt functions
//arduino waits for high signal from the microphones
attachInterrupt(0,time_left,RISING);
attachInterrupt(1,time_right,RISING);
}

void loop()
{
//checking if there is time value and if it is logical
if((dt != 0) && (abs(dt) < 1000))
{
rad = angle_in_rad(dt); //calcuates the angle in radians
deg = rad_to_deg(rad); //converts the radian into degress
Serial.print("angle = ");
Serial.println(deg);
delay(20);
turn_the_stepper(int(deg+0.5)); //activates the step motors
//refreshes the time values
dt=0;
tleft = 0;
tright = 0;
}
}

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//interrupt function for the microphone on the left
void time_left()
{
tleft = micros(); //record the time of arrival
dt=tleft-tright; //calcuate the time diff. of arrival
}

//interrupt function for the microphone on the right

void time_right()
{
tright = micros(); //record the time of arrival
dt=tleft-tright; //calcuate the time diff. of arrival
}

float angle_in_rad (float TDOA)

//FIND THE ANGLE OF THE SOURCE USING TIME DIFFERENCE
//NOTE THAT THE ANGLE FOUND IS IN RADIANS
{
return (asin((TDOA*0.000001*343.00)/(distance)));
}

float rad_to_deg (float rad)

//CONVERT THE RADIAN TO DEGREES
{
return ((rad/(PI))*180);
}

void turn_the_stepper(int deg)

//FUNCTION THAT ACTUATES THE STEPPER MOTORS
{
int number_of_steps = 0;

//SCALE THE DEGREE INTO STEPS

number_of_steps = map(abs(deg),0,180,0,100);

//IF THE SOURCE IS ON THE LEFT, TURN THE MOTOR BACKWARD

if (deg < 0 )
{
stepper.step(number_of_steps);
}
//IF THE SOURCE IS ON THE RIGHT, TURN THE MOTOR FORWARD
else if (deg > 0)
{
stepper.step(-number_of_steps);
}
else
{}
}

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 14. COST TABLE
The cost analysis and the component price list is given below. Since some of the parts are
manufactured in our machine shop laboratory by using unused aluminum parts and steel sheet
metal, they are cost-free.
Table 4 - Cost table
Product Quantity Price Cost
Sparkfun Microphone 4 40 TRY 160 TRY
Plexiglass 1 10 TRY 10 TRY
Motor Driver (L298N) 2 15 TRY 30 TRY
Nema 23 Step Motor 1 30 TRY 30 TRY
Nema 17 Step Motor 1 25 TRY 25 TRY
Arduino Uno 1 65 TRY 65 TRY
Arduino Uno Clone 1 30 TRY 30 TRY
Adaptor 1 30 TRY 30 TRY
Breadboard, Jumpers and Wires 1 30 TRY 30 TRY
Fasteners 1 10 TRY 10 TRY
Total Cost 420 TRY

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 15. CONCLUSION
In this project a sound source localization system is designed and produced. Sounds are collected
with 4 microphones and their time of arrival is recorded by microcontrollers (Arduino Uno). Using
the equations given in the section 10 (Theory) angle of the sound source with respect to center
point between the microphones is calculated and the whole assembly is pointed toward the sound
source by the stepper motors. System correctly calculates the angle 4 out of 5 times with a 5 degrees
of accuracy. Design can be improved by using a microcontroller with a higher clock frequency
which allows us to determine the angle more accurately.
Moreover our system can only detect the source between 0-180 degrees. To make this range 360
degrees a third microphone can be used behind the base plate mounted a certain distance away
from the main axis.
This system can be used in camera and speaker steering mechanism to automatically turn the
camera towards the speaker.
System Properties
Accuracy in Pitch Plane : 4-5 degress
Accuracy in Yaw Plane : 8-10 degress
Range : 0.5 – 10 meters
Response Time : < 1 seconds
Minimum Sound Level for Response : 55-70 dB (varies with distance)
Accurate Response Rate (Pitch Plane) : For the 80 % of the inputs the angle is determined
accurately enough.
Accurate Response Rate (Yaw Plane) : 50 %

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 References
[1] "ARTILLERY INTELLIGENCE AND COUNTER-BATTERY," 31 01 2015. [Online].
Available: http://nigelef.tripod.com/p_artyint-cb.htm. [Accessed 27 11 2016].

[2] "Aircraft detection before radar, 1917-1940," 01 09 2016. [Online]. Available:

http://rarehistoricalphotos.com/aircraft-detection-radar-1917-1940/. [Accessed 27 11
2016].

[3] "Acoustic Multi-Mission Sensor - Microflown AVISA : Microflown AVISA," Microflown

AVISA, [Online]. Available: http://microflown-avisa.com/products/acoustic-multi-
mission-sensor/. [Accessed 27 11 2016].

[4] M. AVISA, "Ground Based Gunshot Localisation System Datasheet," http://microflown-

avisa.com/, 2016.

[5] "Raytheon: Boomerang III," [Online]. Available:

http://www.raytheon.com/capabilities/products/boomerang/. [Accessed 27 11 2016].

[6] "METRAVIB PILAR : enemy fire detection system," [Online]. Available:

http://metravib.acoemgroup.com/. [Accessed 27 11 2016].

[7] Dahlan Bassilio, Mansoor Wathiq, Abbasi Milad, Honarbakhsh Parham, "Sound Source
Localization for Automatic Camera," IEEE, 29 07 2011.

[8] Meysam Basiri, Felix Schill, Pedro U.Lima, Dario Floreano, "Robust Acoustic Source
Localization of Emergency Signals from Micro," in 2012 IEEE/RSJ International
Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012.

[9] "Arduino Sound Localizer (Lydlokalisering," [Online]. Available:

https://www.youtube.com/watch?v=FeweLvQhIZg. [Accessed 27 11 2016].

[10] Kunin Vitality, Turqueti Marcos, Saniie Jafar, Oruklu Erdal, "Direction of Arrival
Estimation and Localization Acoustic Sensor Arrays," Journal of Sensor Technology, 2011
01, p71-80

[11] "Acoustic Source Localization," [Online]. Available:

https://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/W
ebPages/fl08/JoshuaYork/index.html/. [Accessed 13 03 2017].

41
Appendices

42
P10-21 06.11.1 09:51 AM ページ 20

2-Phase Hybrid Stepping Motor 1.8

KH56 series
HIGH TORQUE, LOW VIBRATION AND LOW NOISE

■ STANDARD SPECIFICATIONS

KH56QM2
M O D E L SINGLE SHAFT -901 -902 -903 -951
DOUBLE SHAFT -911 -912 -913 -961
DRIVE METHOD ──── UNI-POLAR BI-POLAR

NUMBER OF PHASES ──── 2 2

STEP ANGLE deg./step 1.8 1.8

VOLTAGE V 3.54 5.46 9.9 4.0

CURRENT A/PHASE 3.0 2.0 1.0 2.0

WINDING RESISTANCE Ω/PHASE 1.18 2.73 9.9 2.0

INDUCTANCE mH/PHASE 2.4 5.4 21.6 7.35

HOLDING TORQUE mN・m 1324 1324 1324 1373

oz・in 187 187 187 194

DETENT TORQUE mN・m 69 69 69 69

oz・in 9.8 9.8 9.8 9.8

ROTOR INERTIA g・cm 2

269 269 269 269

oz・in 2
1.47 1.47 1.47 1.47

WEIGHTS kg 1.0 1.0 1.0 1.0

Ib 2.2 2.2 2.2 2.2

INSULATION CLASS ──── JIS Class E (120℃ 248°F) (UL VALUE : CLASS B 130℃ 266°F)

INSULATION RESISTANCE ──── 500VDC 100MΩmin.

DIELECTRIC STRENGTH ──── 500VAC 50HZ 1min.

OPERATING TEMP. RANGE ℃ 0 to 50

ALLOWABLE TEMP. RISE K 70

■ DIMENSIONS unit = mm (inch)

20.6±0.5
20.6±0.5
5.85-0.1 (0.23-0.004)

(0.81±0.02) 76(2.99)
(0.81±0.02) 76(2.99) 16(0.63)
6.35dia.-0.02 (0.25dia.-0.0008)
0
38.1dia.±0.5(1.5dia.±0.002)

6.35dia.-0.02 (0.25dia.-0.0008)

1.6±0.2
0

56(2.21) 56(2.21) 1.6

0

(0.063±0.008) 15±0.2
5.85-0.1 (0.23-0.004)
6.35dia.-0.02 (0.25dia.-0.0008)

47.14±0.2 47.14±0.2 15±0.2

4-4.5dia. (0.17dia.)
38.1dia.±0.5 (1.5dia.±0.002)

4-4.5dia. (0.17dia.)
0

(0.59±0.008)
0

(1.856±0.008) (1.856±0.008)
THRU HOLE THRU HOLE (0.59±0.008)
0

0
47.14±0.2 (1.856±0.008)

47.14±0.2 (1.856±0.008)

0
56(2.21)

56(2.21)
※7(0.27)
※7(0.27)

0
0

1357911 3579 5(0.2) 5(0.2)

PIN No. PIN No.

UNI-POLLAR Bi-POLAR SINGLE SHAFT DOUBLE SHAFT

20
P10-21 06.11.1 09:51 AM ページ 21

Features
¡ Stronger torque generated in higher speed zone
(KH56KM2-901 generates 1.2 times torque of our previous
model at 1200 r/min. speed)
¡ Lowered Vibration by increased stiffness of body construction
(lowered by 10% than our previous model)
¡ Improved Efficiency
(1.1 times of our previous model, by high grade materials)

─── PULL-OUT
■ TORQUE CHARACTERISTICS vs. PULSE RATE ──● PULL-IN
UNI-POLAR BI-POLAR
KH56QM2-901, 911 KH56QM2-951, 961
(oz・in) (oz・in)
1400 250 1400
250
DRIVER=Constant-current driver DRIVER=Constant-current driver
1200 Vcc=24(V) 1200 Vcc=24(V)
CURRENT=3.0(A)/Phase 200 CURRENT=2.0(A)/Phase 200
1000 EXCITING MODE=2Phase 1000 EXCITING MODE=2Phase
TORQUE(mN･m)

TORQUE(mN･m)
INERTIAL LOAD=576gcm2 (3.1oz･in2) INERTIAL LOAD=576gcm2 (3.1oz･in2)
800 150 800 150

600 600
100 100
400 400

200 50 200 50

0 0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
PULSE RATE(pps) PULSE RATE(pps)
0 1000 2000 3000 0 1000 2000 3000
(r/min) (r/min)

KH56QM2-902, 912
(oz・in)
1400 250
DRIVER=Constant-current driver
1200 Vcc=24(V)
CURRENT=2.0(A)/Phase 200
1000 EXCITING MODE=2Phase
■ CONNECTION DIAGRAMS
TORQUE(mN･m)

INERTIAL LOAD=576gcm2 (3.1oz･in2)

800 150

600 UNI-POLAR
100
EXCITATION SEQUENCE
400
STEP 1 2 3 4
200 50
1 7 BLACK − −
0 BLACK YELLOW
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 YELLOW − −
φB
PULSE RATE(pps)
3 φA
9 BLOWN − −
0 1000 2000 3000 RED BLUE ORENGE − −
(r/min)
− −
KH56QM2-903, 913 5 φA φB
11 RED ＋ ＋ ＋ ＋

BLOWN ORENGE BLUE ＋ ＋ ＋ ＋

(oz・in)
1400 250
DRIVER=Constant-current driver
1200 Vcc=24(V)
CURRENT=1.0(A)/Phase 200
1000 EXCITING MODE=2Phase
TORQUE(mN･m)

2
INERTIAL LOAD=576gcm (3.1oz･in2) BI-POLAR
800 150
EXCITATION SEQUENCE
600
100
3 7
400
RED YELLOW STEP 1 2 3 4
φA φB
RED ＋ ＋ − −
200 50
YELLOW − ＋ ＋ −
0 BLUE − − ＋ ＋
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
PULSE RATE(pps) 5 −
φA −
φB 9 WHITE ＋ − − ＋
0 1000 2000 3000 BLUE WHITE
(r/min)

■ CONNECTION CABLE TO MOTOR unit = mm (inch)

UNI-POLAR BI-POLAR

+1.57 +40 +1.57

+40
300 0(11.8 )
0 300 0 (11.8 0 )
10 (0.39) 10 (0.39)

LEAD:UL3266 AWG22 LEAD:UL3266 AWG22

21
17HDN SERIES 1.8°
■ Key Features

• High Torque
Why
• High Accuracy Stepping
Motor
• Smooth Movement

encapsulated
2 phase
■ General Specifications NEMA 14

encapsulated
• Bi-polar 3 phase
NEMA 14
Holding Rated Resistance Inductance Detent Rotor NEMA 17
Series
Model Torque Current per Phase per Phase Torque Inertia
&
Number new release
Length mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2 2 phase
NEMA 8
17HD4022-01N 220 31.18 1.1 3 4.2
17HD4N
34.3 mm 17HD4024N 300 42.52 0.5 15 20 12 1.7 38 0.21 new release
(1.35 in.) 2 phase
17HD4025N 250 35.43 0.25 54 78 NEMA 14

17HD2011N 380 53.85 1.5 1.9 4

new release
2 phase
17HD2N 17HD2018N 450 63.78 0.85 8 14 NEMA 16
39.8 mm 15 2.12 57 0.31
(1.57 in.) 17HD2026N 460 65.19 1 4.4 10
2 phase
NEMA 10
17HD2027N 450 63.78 0.25 71.4 140 25.0 mm
(1.00 inch)
17HD6012N 430 60.94 1.5 2.4 5.1
2 phase
17HD6016N 600 85.03 1 5.3 10 NEMA 11
17HD6N 28.0 mm
48.3 mm 17HD6017N 480 68.03 0.85 7.5 14 25 3.54 82 0.45 (1.10 inch)
(1.90 in.)
17HD6019N 500 70.86 0.25 80 130 2 phase
NEMA 14
35.0 mm
17HD6020N 540 76.53 0.5 20 35 (1.38 inch)
17HDBN 17HDB001N 730 103.5 1.5 2.3 4.6 2 phase
62.8 mm 30 4.25 123 0.68 NEMA 16
(2.47 in.) 17HDB002N 800 113.4 2 1.6 3 39.0 mm
(1.53 inch)

• Uni-polar
2 phase
Holding Rated Resistance Inductance Detent Rotor NEMA 17
Series 42.0 mm
Model Torque Current per Phase per Phase Torque Inertia
& (1.65 inch)
Number
Length mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
2 phase
17HD4030N 220 31.18 1.2 2.4 2 NEMA 23
56.0 mm
17HD4N 17HD4031N 200 28.34 0.95 4.2 2.4 (2.22 inch)
34.3 mm 12 1.7 38 0.21
(1.35 in.) 17HD4032N 220 31.18 0.4 24 13 2 phase
NEMA 24
17HD4033N 220 31.18 0.31 38.5 21 60.0 mm
(2.36 inch)
17HD2N 17HD2032N 260 36.85 1.4 1.8 1.7
2 phase
39.8 mm 15 2.12 57 0.31
NEMA 34
(1.57 in.) 17HD2033N 280 39.68 0.8 7.5 6.9 86.0 mm
(3.39 inch)
17HD6023N 360 51.02 1 4.6 4
3 phase
17HD6N 17HD6024N 330 46.77 0.4 30 21.6 NEMA 24
48.3 mm 25 3.54 82 0.45 60.0 mm
(1.90 in.) 17HD6025N 390 55.27 0.8 7.5 7.3 (2.36 inch)

17HD6026N 360 51.02 1.4 2.4 2.2 3 phase

NEMA 34
86.0 mm
17HDBN 17HDB003N 460 65.19 1.5 2.3 2.4 (3.39 inch)
62.8 mm 30 4.25 123 0.68
(2.47 in.) 17HDB004N 500 70.86 2 1.6 1.6
how
to
select
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64

31
 ■ Mechanical Dimension

-0.0005 )
L Max. 31±0.1

0
L Mass
(1.220±0.004)

(ø0.1968
-0.012
Series

0
mm kg

ø5
(in.) (lb.)

-0.002)

(1.220±0.004)

(□41.67Max.)
□42.3Max.
34.3 0.21

-0.052

31±0.1
17HD4N

0
Why
(1.35). (0.46)

(ø0.866
Stepping

ø22
Motor 39.8 0.28
17HD2N
(1.57) (0.62)

48.3 0.36
encapsulated 17HD6N 4-M3

(0.28)
(1.90) (0.79)

7
2
2 phase Depth 4.5Min
NEMA 14 24±0.5 (0.08) 11
62.8 0.60 (Depth 0.18Min.) 16
17HDBN (0.95±0.02) JSTS6B-PH-K(LF)(SN)
(0.43) (0.63)
(2.47) (1.32)
encapsulated Unit: mm(inch)
3 phase
NEMA 14
NEMA 17

new release
2 phase
NEMA 8

new release
2 phase
■ Dynamic Torque Curves
NEMA 14

new release • Bi-polar

2 phase
NEMA 16 17HD4022-01N 17HD4024N 17HD4025N
Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver
2 phase Driver: AMA MS3540M Driver: AMA MS3540M Driver: AMA MS3540M
NEMA 10
Mode:Full Step Mode:Full Step Mode:Full Step
25.0 mm
(1.00 inch) 1.1A(Peak) 12V 1.1A(Peak) 24V 0.5A(Peak) 12V 0.5A(Peak) 24V 0.25A(Peak) 12V 0.25A(Peak) 24V
250 250 250
2 phase
NEMA 11

Pull out torque [oz.in]

Pull out torque [mN.m]
Pull out torque [oz.in]
Pull out torque [mN.m]

Pull out torque [mN.m]

Pull out torque [oz.in]

30 30 30
28.0 mm 200 200 200
(1.10 inch)
150 150 150
20 20 20
2 phase
NEMA 14 100 100 100
35.0 mm 10 10 10
(1.38 inch) 50 50 50

2 phase 0 0 0 0 0 0
NEMA 16 0 500 1000 1500 2000 2500 3000 0 300 600 900 1200 1500 1800 0 300 600 900 1200 1500
39.0 mm Pulse rate [pps] Pulse rate [pps] Pulse rate [pps]
(1.53 inch)

0 300 600 900 0 100 200 300 400 500 0 100 200 300 400

2 phase Speed [r/min] Speed [r/min] Speed [r/min]

NEMA 17
42.0 mm
(1.65 inch)

2 phase
NEMA 23 17HD2011N 17HD2018N 17HD2026N
56.0 mm
(2.22 inch) Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M Driver: AMA MS3540M Driver: AMA MS3540M
2 phase Mode:Full Step Mode:Full Step Mode:Full Step
NEMA 24
60.0 mm 1.5A(Peak) 12V 1.5A(Peak) 24V 0.85A(Peak) 12V 0.85A(Peak) 24V 1.0A(Peak) 12V 1.0A(Peak) 24V
(2.36 inch) 500 70
500 70 500 70
Pull out torque [mN.m]

Pull out torque [oz.in]

Pull out torque [mN.m]

Pull out torque [oz.in]

Pull out torque [mN.m]

Pull out torque [oz.in]

2 phase 60 60 60
400 400 400
NEMA 34 50
50 50
86.0 mm 300
(3.39 inch) 300 300 40
40 40

30 30 200 30
3 phase 200 200
NEMA 24 20 20 20
60.0 mm 100 100 100
10 10 10
(2.36 inch)
0 0 0 0 0 0
0 2000 4000 6000 8000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 7000
3 phase
NEMA 34 Pulse rate [pps] Pulse rate [pps]
Pulse rate [pps]
86.0 mm
(3.39 inch) 0 500 1000 1500 2000
0 500 1000 1500 2000 0 500 1000 1500

Speed [r/min] Speed [r/min] Speed [r/min]

how
to
select

32
■ Dynamic Torque Curves
• Bi-polar

17HD2027N 17HD6012N 17HD6016N

Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M Driver: AMA MS3540M Driver: AMA MS3540M Why
Mode:Full Step Mode:Full Step Mode:Full Step Stepping
0.25A(Peak) 12V 0.25A(Peak) 24V 1.5A(Peak) 12V 1.5A(Peak) 24V 1.0A(Peak) 12V 1.0A(Peak) 24V
Motor
500 70 500 70 500 70

Pull out torque [oz.in]

Pull out torque [mN.m]
Pull out torque [oz.in]
Pull out torque [mN.m]

Pull out torque [mN.m]

60
Pull out torque [oz.in]
60 60
400 400 400 encapsulated
50 50 50 2 phase
300 300 300 NEMA 14
40 40 40

200 30 200 30 200 30

encapsulated
20 20 20 3 phase
100 100 100 NEMA 14
10 10 10
NEMA 17
0 0 0 0 0 0
0 200 400 600 800 1000 0 500 1000 1500 2000 2500 3000 0 1000 2000 3000 4000 5000
new release
Pulse rate [pps] Pulse rate [pps] Pulse rate [pps]
2 phase
NEMA 8
0 100 200 300 0 100 200 300 400 500 600 700 800 900 0 300 600 900 1200 1500

Speed [r/min] Speed [r/min] Speed [r/min] new release

2 phase
NEMA 14

new release
2 phase
17HD6017N 17HD6019N 17HD6020N NEMA 16

Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M Driver: AMA MS3540M Driver: AMA MS3540M 2 phase
NEMA 10
Mode:Full Step Mode:Full Step Mode:Full Step
25.0 mm
0.8A(Peak) 12V 0.8A(Peak) 24V 0.25A(Peak) 12V 0.25A(Peak) 24V 0.5A(Peak) 12V 0.5A(Peak) 24V (1.00 inch)

500 70 500 70 500 70 2 phase

NEMA 11

Pull out torque [oz.in]

Pull out torque [oz.in]

Pull out torque [oz.in]

Pull out torque [mN.m]

Pull out torque [mN.m]

Pull out torque [mN.m]

60 60 60
400 400 400 28.0 mm
50 50 50 (1.10 inch)
300 300 300
40 40 40
2 phase
200 30 200 30 200 30 NEMA 14
20 20 20 35.0 mm
100 100 100 (1.38 inch)
10 10 10

0 0 0 0 0 0 2 phase
0 300 600 900 1200 1500 1800 0 200 400 600 800 0 300 600 900 1200 1500 NEMA 16
Pulse rate [pps] Pulse rate [pps] Pulse rate [pps] 39.0 mm
(1.53 inch)

0 100 200 300 400 500 0 100 200 0 100 200 300 400

Speed [r/min] Speed [r/min] Speed [r/min] 2 phase

NEMA 17
42.0 mm
(1.65 inch)

2 phase
17HDB001N 17HDB002N NEMA 23
56.0 mm
Conditions:Bi-polar Constant Current Driver Conditions:Bi-polar Constant Current Driver (2.22 inch)
Driver: AMA MS3540M Driver: AMA MS3540M
Mode:Full Step Mode:Full Step 2 phase
NEMA 24
1.5A(Peak) 12V 1.5A(Peak) 24V 2.0A(Peak) 12V 2.0A(Peak) 24V 60.0 mm
600 600 (2.36 inch)
80
Pull out torque [oz.in]
Pull out torque [mN.m]

Pull out torque [oz.in]

Pull out torque [mN.m]

500 70 500 80 2 phase

70 NEMA 34
400 60 400
60 86.0 mm
50 (3.39 inch)
300 300 50
40
40
200 30 200 3 phase
30 NEMA 24
20 20
100 100 60.0 mm
10 10 (2.36 inch)
0 0 0 0
0 500 1000 1500 2000 0 500 1000 1500 2000 2500 3000 3500
3 phase
Pulse rate [pps] Pulse rate [pps] NEMA 34
86.0 mm
(3.39 inch)
0 100 200 300 400 500 600 0 200 400 600 800 1000

Speed [r/min] Speed [r/min] how

to
select

33
 ■ Dynamic Torque Curves

• Uni-polar
17HD4030N 17HD4031N 17HD4032N
Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver
Why Driver: AMA MSU3040M Driver: AMA MSU3040M Driver: AMA MSU3040M
Stepping Mode:Full Step Mode:Full Step Mode:Full Step
Motor 1.2A(Peak) 12V 1.2A(Peak) 24V 0.95A(Peak) 12V 0.95A(Peak) 24V 0.4A(Peak) 12V 0.4A(Peak) 24V

200 200 200

Pull out torque [oz.in]

25

Pull out torque [mN.m]

Pull out torque [mN.m]

Pull out torque [mN.m]

Pull out torque [oz.in]
25

Pull out torque [oz.in]

encapsulated
150
2 phase 20 20 20
NEMA 14

100 15 100 15 100

encapsulated
10 10 10
3 phase
50
NEMA 14 5 5
NEMA 17
0 0 0 0 0 0
0 2000 4000 6000 0 2000 4000 6000 8000 0 500 1000 1500 2000 2500
new release
Pulse rate [pps] Pulse rate [pps] Pulse rate [pps]
2 phase
NEMA 8
0 500 1000 1500 0 500 1000 1500 2000 0 100 200 300 400 500 600 700

new release Speed [r/min] Speed [r/min] Speed [r/min]

2 phase
NEMA 14

new release
2 phase
NEMA 16 17HD4033N 17HD2032N 17HD2033N
Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver
2 phase Driver: AMA MSU3040M Driver: AMA MSU3040M Driver: AMA MSU3040M
NEMA 10
Mode:Full Step Mode:Full Step Mode:Full Step
25.0 mm
(1.00 inch) 0.3A(Peak) 12V 0.3A(Peak) 24V 1.6A(Peak) 12V 1.6A(Peak) 24V 0.8A(Peak) 12V 0.8A(Peak) 24V

200 250 35 300

2 phase 40
NEMA 11
Pull out torque [oz.in]

Pull out torque [oz.in]

Pull out torque [mN.m]

Pull out torque [mN.m]

Pull out torque [oz.in]

Pull out torque [mN.m]

30
28.0 mm 200
150 25
(1.10 inch) 20 200 30
150 20
2 phase 100 20
15
NEMA 14 100
10 100
35.0 mm 10
(1.38 inch) 50 10
50
5

2 phase 0 0 0 0 0 0
NEMA 16 0 500 1000 1500 2000 0 2000 4000 6000 8000 10000 0 1000 2000 3000 4000 5000
39.0 mm Pulse rate [pps] Pulse rate [pps] Pulse rate [pps]
(1.53 inch)

0 100 200 300 400 500 600 0 500 1000 1500 2000 2500 3000 0 500 1000 1500

2 phase Speed [r/min] Speed [r/min] Speed [r/min]

NEMA 17
42.0 mm
(1.65 inch)

2 phase
NEMA 23 17HD6023N 17HD6024N 17HD6025N
56.0 mm
(2.22 inch) Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M Driver: AMA MSU3040M Driver: AMA MSU3040M
2 phase Mode:Full Step Mode:Full Step Mode:Full Step
NEMA 24
60.0 mm 1.1A(Peak) 12V 1.1A(Peak) 24V 0.4A(Peak) 12V 0.4A(Peak) 24V 0.85A(Peak) 12V 0.85A(Peak) 24V
(2.36 inch) 400 400 400
50
Pull out torque [oz.in]
Pull out torque [mN.m]

50 50
Pull out torque [oz.in]

Pull out torque [mN.m]

Pull out torque [oz.in]

Pull out torque [mN.m]

2 phase
NEMA 34 300 300 300
40 40 40
86.0 mm
(3.39 inch) 30
200 200 30 200 30

3 phase 20 20 20
NEMA 24 100 100 100
60.0 mm 10 10 10
(2.36 inch)
0 0 0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 300 600 900 1200 1500 0 500 1000 1500 2000
3 phase
NEMA 34 Pulse rate [pps] Pulse rate [pps] Pulse rate [pps]
86.0 mm
(3.39 inch)
0 500 1000 1500 0 100 200 300 400 0 100 200 300 400 500 600

how Speed [r/min] Speed [r/min] Speed [r/min]

to
select

34
■ Dynamic Torque Curves

• Uni-polar
17HD6026N 17HDB003N 17HDB004N
Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M Driver: AMA MSU3040M Driver: AMA MSU3040M Why
Mode:Full Step Mode:Full Step Mode:Full Step Stepping
1.4A(Peak) 12V 1.4A(Peak) 24V 1.7A(Peak) 12V 1.7A(Peak) 24V 2.0A(Peak) 12V 2.0A(Peak) 24V
Motor
400 400 500 70
50
Pull out torque [mN.m]

Pull out torque [oz.in] 50

Pull out torque [mN.m]

Pull out torque [oz.in]

Pull out torque [oz.in]

Pull out torque [mN.m]
60 encapsulated
400
300 300
40 40 50 2 phase
300 NEMA 14
30 30 40
200 200
200 30 encapsulated
20 20
100 100 20 3 phase
10 10 100 NEMA 14
10 NEMA 17
0 0 0 0 0 0
0 1000 4000 6000 8000 0 500 1000 1500 2000 2500 3000 3500 0 500 1000 1500 2000 2500 3000 3500 4000
new release
Pulse rate [pps] Pulse rate [pps] Pulse rate [pps]
2 phase
NEMA 8
0 300 600 900 1200 0 200 400 600 800 1000 0 500 1000
Speed [r/min] Speed [r/min] Speed [r/min] new release
2 phase
NEMA 14

new release
2 phase
NEMA 16

2 phase
NEMA 10
25.0 mm
(1.00 inch)

2 phase
NEMA 11
28.0 mm
(1.10 inch)

2 phase
NEMA 14
35.0 mm
(1.38 inch)

2 phase
NEMA 16
39.0 mm
(1.53 inch)

2 phase
NEMA 17
42.0 mm
(1.65 inch)

2 phase
NEMA 23
56.0 mm
(2.22 inch)

2 phase
NEMA 24
60.0 mm
(2.36 inch)

2 phase
NEMA 34
86.0 mm
(3.39 inch)

3 phase
NEMA 24
60.0 mm
(2.36 inch)

3 phase
NEMA 34
86.0 mm
(3.39 inch)

how
to
select

35
 ■ Schematic Diagrams & Stepping Sequence

• 2 PHASE
4 lead wire (bipolar) 6 lead wire (unipolar)
Lead Wire Configuration Sequence Model Lead Wire Configuration Sequence Model

Why BLK A Bi-Polar full step BLK A Uni-Polar full step

Stepping step A B C D YEL O step A B C D O M
Motor 1
CCW CCW
1
GRN C GRN C
2 2
RED B 3 RED B 3
encapsulated
4 4
2 phase CW WHT M CW
NEMA 14
CW(clockwise) & CCW(counter clockwise) rotation CW(clockwise) & CCW(counter clockwise) rotation
BLU D when seen from the flange side of the motor
BLU D when seen from the flange side of the motor
encapsulated
3 phase
NEMA 14
NEMA 17
8 lead wire
new release Lead Wire Configuration
2 phase
Option 1: Bi-Polar Series Option 2: Bi-Polar Parallel Option 3: Uni-Polar Series
NEMA 8
BLK A
YEL A D BLU D BLU D BLU
new release ORG C BRN BRN M BRN
2 phase WHT WHT WHT
NEMA 14
GRN C
B RED B RED B RED
RED B
WHT B C GRN C GRN C GRN
new release
ORG ORG ORG
BRN D YEL YEL O YEL
2 phase
BLU D A BLK A BLK A BLK
NEMA 16

2 phase
Sequence Model
NEMA 10
25.0 mm Bi-Polar full step Uni-Polar full step
(1.00 inch)
step A B C D step A B C D O M
CCW CCW
2 phase 1 1
NEMA 11 2 2
28.0 mm
3 3
(1.10 inch)
4 CW 4
CW
2 phase
NEMA 14 CW(clockwise) & CCW(counter clockwise) rotation
when seen from the flange side of the motor
35.0 mm
(1.38 inch)

2 phase
NEMA 16
39.0 mm • 3 PHASE
(1.53 inch)
Lead Wire Configuration Sequence Model
RED step A B C
2 phase 1
NEMA 17 1 CCW
42.0 mm
(1.65 inch) 2
A
3
C B 4
2 phase
NEMA 23 5
7 3
56.0 mm GRN WHT CW 6
(2.22 inch)
CW & CCW rotation
when seen from the
2 phase flange side of the motor
NEMA 24
60.0 mm
(2.36 inch)

2 phase
NEMA 34
86.0 mm
(3.39 inch)

3 phase
NEMA 24
60.0 mm
(2.36 inch)

3 phase
NEMA 34
86.0 mm
(3.39 inch)

how
to
select

64