{"id":24223,"date":"2024-10-18T17:38:22","date_gmt":"2024-10-18T09:38:22","guid":{"rendered":"https:\/\/www.gian-transmission.com\/control-methods-for-stepper-motors\/"},"modified":"2026-07-09T17:16:35","modified_gmt":"2026-07-09T09:16:35","slug":"control-methods-for-stepper-motors","status":"publish","type":"post","link":"https:\/\/www.gian-transmission.com\/pt-br\/metodos-de-controlo-para-motores-de-passo\/","title":{"rendered":"M\u00e9todos de controlo para motores de passo"},"content":{"rendered":"<p>Os motores de passo s\u00e3o equipamentos de alta precis\u00e3o utilizados em diversas aplica\u00e7\u00f5es em que \u00e9 necess\u00e1rio um controlo exato do movimento. No entanto, \u00e9 fundamental compreender as v\u00e1rias estrat\u00e9gias de controlo para maximizar o desempenho de um motor de passo. A complexidade, o custo e a efic\u00e1cia de cada abordagem variam consoante as necessidades da aplica\u00e7\u00e3o.<img fetchpriority=\"high\" decoding=\"async\" class=\"size-full wp-image-4534 aligncenter\" src=\"https:\/\/www.gian-transmission.com\/wp-content\/uploads\/2024\/08\/Permanent-Magnet-Stepper-Motor-TR019-P01.jpg\" alt=\"Permanent Magnet Stepper Motor TR019-P01\" width=\"600\" height=\"400\" srcset=\"https:\/\/www.gian-transmission.com\/wp-content\/uploads\/2024\/08\/Permanent-Magnet-Stepper-Motor-TR019-P01.jpg 600w, https:\/\/www.gian-transmission.com\/wp-content\/uploads\/2024\/08\/Permanent-Magnet-Stepper-Motor-TR019-P01-300x200.jpg 300w\" sizes=\"(max-width: 600px) 100vw, 600px\" \/><\/p>\n<h2><span class=\"ez-toc-section\" id=\"Tipos_de_motores_de_passo\"><\/span>Tipos de motores de passo<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>\u00c9 necess\u00e1rio compreender os principais tipos de <a href=\"https:\/\/www.gian-transmission.com\/pt-br\/motor-de-passo\/\">motores de passo<\/a> antes de aprofundar as t\u00e9cnicas de controlo, uma vez que as estrat\u00e9gias de controlo diferem consoante o tipo de motor:<\/p>\n<ul>\n<li><strong><a href=\"https:\/\/www.gian-transmission.com\/pt-br\/motor-de-passo-de-iman-permanente\/\">Motor de passo de \u00edman permanente (PM)<\/a>:<\/strong> Utiliza \u00edmanes permanentes no rotor, que s\u00e3o acionados por campos eletromagn\u00e9ticos no estator.<\/li>\n<li><strong>Motor de passo de relut\u00e2ncia vari\u00e1vel (VR):<\/strong> Baseia-se no princ\u00edpio da relut\u00e2ncia vari\u00e1vel, em que o rotor segue o percurso com menor relut\u00e2ncia.<\/li>\n<li><a href=\"https:\/\/www.gian-transmission.com\/pt-br\/motor-de-passo-hibrido\/\"><strong>Motor de passo h\u00edbrido:<\/strong><\/a> Combina caracter\u00edsticas dos motores de passo PM e VR, oferecendo maior precis\u00e3o e melhor desempenho em termos de bin\u00e1rio.<\/li>\n<li><a href=\"https:\/\/www.gian-transmission.com\/pt-br\/motor-de-passo-linear\/\"><strong>Motor de passo linear:<\/strong><\/a> Converte o movimento rotativo em deslocamento linear, sendo frequentemente utilizado em aplica\u00e7\u00f5es de movimento linear.<\/li>\n<\/ul>\n<h2><span class=\"ez-toc-section\" id=\"Metodos_de_controlo_comuns_para_motores_de_passo\"><\/span>M\u00e9todos de controlo comuns para motores de passo<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>S\u00e3o utilizados v\u00e1rios m\u00e9todos de controlo para regular o movimento dos motores de passo. A sele\u00e7\u00e3o do m\u00e9todo de controlo depende de fatores como a precis\u00e3o, a velocidade, o bin\u00e1rio, o consumo de energia e a complexidade da aplica\u00e7\u00e3o.<\/p>\n<h3><span class=\"ez-toc-section\" id=\"Acionamento_por_Ondas_Acionamento_de_Fase_Unica\"><\/span>Acionamento por Ondas (Acionamento de Fase \u00danica)<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>O acionamento por ondas \u00e9 um dos m\u00e9todos de controlo mais simples para motores de passo. Consiste em energizar apenas um enrolamento do estator de cada vez, fazendo com que o rotor se alinhe com o enrolamento ativo. Este m\u00e9todo \u00e9 econ\u00f3mico, requer menos pot\u00eancia e reduz o aquecimento do motor. No entanto, tamb\u00e9m produz menos bin\u00e1rio em compara\u00e7\u00e3o com outros m\u00e9todos, uma vez que h\u00e1 menos enrolamentos ativos em qualquer momento.<\/p>\n<div class=\"wptb-container-legacy\" data-table-id=\"6179\">\n    <table class=\"wptb-preview-table wptb-element-main-table_setting-6179\" style=\"border-spacing: 10px 0px; border-collapse: separate; border-width: 0px; border-style: solid; \" data-reconstraction=\"1\" data-wptb-table-directives=\"eyJpbm5lckJvcmRlcnMiOnsiYWN0aXZlIjoiYWxsIiwiYm9yZGVyV2lkdGgiOiIyIiwiYm9yZGVyUmFkaXVzZXMiOnsiYWxsIjpmYWxzZX19fQ==\" data-wptb-cells-width-auto-count=\"2\" data-wptb-horizontal-scroll-status=\"false\" data-wptb-extra-styles=\"LyogRW50ZXIgeW91ciBjdXN0b20gQ1NTIHJ1bGVzIGhlcmUgKi8=\" data-wptb-first-column-sticky=\"false\" data-wptb-pro-pagination-top-row-header=\"true\" data-wptb-rows-per-page=\"3\" data-wptb-pro-search-top-row-header=\"true\" data-wptb-searchbar-position=\"left\" role=\"table\" data-table-columns=\"2\" data-wptb-table-alignment=\"center\" data-wptb-table-tds-sum-max-width=\"266\" ><tbody data-global-font-color=\"#000000\" data-global-link-color=\"#000000\" data-global-font-size=\"15px\" ><tr  class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"background-color: rgb(39, 193, 15); border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"0\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-1\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\"  style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-up\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M104 224H24c-13.255 0-24 10.745-24 24v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V248c0-13.255-10.745-24-24-24zM64 472c-13.255 0-24-10.745-24-24s10.745-24 24-24 24 10.745 24 24-10.745 24-24 24zM384 81.452c0 42.416-25.97 66.208-33.277 94.548h101.723c33.397 0 59.397 27.746 59.553 58.098.084 17.938-7.546 37.249-19.439 49.197l-.11.11c9.836 23.337 8.237 56.037-9.308 79.469 8.681 25.895-.069 57.704-16.382 74.757 4.298 17.598 2.244 32.575-6.148 44.632C440.202 511.587 389.616 512 346.839 512l-2.845-.001c-48.287-.017-87.806-17.598-119.56-31.725-15.957-7.099-36.821-15.887-52.651-16.178-6.54-.12-11.783-5.457-11.783-11.998v-213.77c0-3.2 1.282-6.271 3.558-8.521 39.614-39.144 56.648-80.587 89.117-113.111 14.804-14.832 20.188-37.236 25.393-58.902C282.515 39.293 291.817 0 312 0c24 0 72 8 72 81.452z\"\/><\/svg><br \/><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Pros<\/p><\/div><\/div><\/div><\/td><td class=\"wptb-cell \" style=\"background-color: rgb(255, 0, 0); border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"0\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-2\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\"  style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-down\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M0 56v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V56c0-13.255-10.745-24-24-24H24C10.745 32 0 42.745 0 56zm40 200c0-13.255 10.745-24 24-24s24 10.745 24 24-10.745 24-24 24-24-10.745-24-24zm272 256c-20.183 0-29.485-39.293-33.931-57.795-5.206-21.666-10.589-44.07-25.393-58.902-32.469-32.524-49.503-73.967-89.117-113.111a11.98 11.98 0 0 1-3.558-8.521V59.901c0-6.541 5.243-11.878 11.783-11.998 15.831-.29 36.694-9.079 52.651-16.178C256.189 17.598 295.709.017 343.995 0h2.844c42.777 0 93.363.413 113.774 29.737 8.392 12.057 10.446 27.034 6.148 44.632 16.312 17.053 25.063 48.863 16.382 74.757 17.544 23.432 19.143 56.132 9.308 79.469l.11.11c11.893 11.949 19.523 31.259 19.439 49.197-.156 30.352-26.157 58.098-59.553 58.098H350.723C358.03 364.34 384 388.132 384 430.548 384 504 336 512 312 512z\"\/><\/svg><br \/><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Cons<\/p><\/div><\/div><\/div><\/td><\/tr><tr  class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"1\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-1\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Simple implementation<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Low power consumption<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Reduced motor heating<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"1\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-2\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Lower torque output<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Less efficiency for high-precision applications<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><\/tr><\/tbody><\/table>\n<\/div>\n\n<h3><span class=\"ez-toc-section\" id=\"Acionamento_de_Passo_Completo_Acionamento_de_Duas_Fases_Ativas\"><\/span>Acionamento de Passo Completo (Acionamento de Duas Fases Ativas)<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>O acionamento por passo completo melhora o m\u00e9todo de acionamento por onda, energizando dois enrolamentos do estator simultaneamente. Isto resulta num bin\u00e1rio de sa\u00edda mais elevado em compara\u00e7\u00e3o com o acionamento por onda, uma vez que o motor beneficia dos campos magn\u00e9ticos combinados de dois enrolamentos. O motor move-se em passos completos, o que significa que a sua resolu\u00e7\u00e3o \u00e9 inferior em compara\u00e7\u00e3o com o micro-passo, mas \u00e9 adequado para muitas aplica\u00e7\u00f5es gerais que n\u00e3o requerem um posicionamento ultra-preciso.<\/p>\n<div class=\"wptb-container-legacy\" data-table-id=\"6180\">\n    <table class=\"wptb-preview-table wptb-element-main-table_setting-6180\" style=\"border-spacing: 10px 0px; border-collapse: separate; border-width: 0px; border-style: solid; \" data-reconstraction=\"1\" data-wptb-table-directives=\"eyJpbm5lckJvcmRlcnMiOnsiYWN0aXZlIjoiYWxsIiwiYm9yZGVyV2lkdGgiOiIyIiwiYm9yZGVyUmFkaXVzZXMiOnsiYWxsIjpmYWxzZX19fQ==\" data-wptb-cells-width-auto-count=\"2\" data-wptb-horizontal-scroll-status=\"false\" data-wptb-extra-styles=\"LyogRW50ZXIgeW91ciBjdXN0b20gQ1NTIHJ1bGVzIGhlcmUgKi8=\" data-wptb-first-column-sticky=\"false\" data-wptb-pro-pagination-top-row-header=\"true\" data-wptb-rows-per-page=\"3\" data-wptb-pro-search-top-row-header=\"true\" data-wptb-searchbar-position=\"left\" role=\"table\" data-table-columns=\"2\" data-wptb-table-alignment=\"center\" data-wptb-table-tds-sum-max-width=\"266\"><tbody data-global-font-color=\"#000000\" data-global-link-color=\"#000000\" data-global-font-size=\"15px\"><tr class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"background-color: rgb(39, 193, 15); border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"0\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-1\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\" style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-up\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M104 224H24c-13.255 0-24 10.745-24 24v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V248c0-13.255-10.745-24-24-24zM64 472c-13.255 0-24-10.745-24-24s10.745-24 24-24 24 10.745 24 24-10.745 24-24 24zM384 81.452c0 42.416-25.97 66.208-33.277 94.548h101.723c33.397 0 59.397 27.746 59.553 58.098.084 17.938-7.546 37.249-19.439 49.197l-.11.11c9.836 23.337 8.237 56.037-9.308 79.469 8.681 25.895-.069 57.704-16.382 74.757 4.298 17.598 2.244 32.575-6.148 44.632C440.202 511.587 389.616 512 346.839 512l-2.845-.001c-48.287-.017-87.806-17.598-119.56-31.725-15.957-7.099-36.821-15.887-52.651-16.178-6.54-.12-11.783-5.457-11.783-11.998v-213.77c0-3.2 1.282-6.271 3.558-8.521 39.614-39.144 56.648-80.587 89.117-113.111 14.804-14.832 20.188-37.236 25.393-58.902C282.515 39.293 291.817 0 312 0c24 0 72 8 72 81.452z\"><\/path><\/svg><br><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Pros<\/p><\/div><\/div><\/div><\/td><td class=\"wptb-cell \" style=\"background-color: rgb(255, 0, 0); border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"0\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-2\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\" style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-down\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M0 56v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V56c0-13.255-10.745-24-24-24H24C10.745 32 0 42.745 0 56zm40 200c0-13.255 10.745-24 24-24s24 10.745 24 24-10.745 24-24 24-24-10.745-24-24zm272 256c-20.183 0-29.485-39.293-33.931-57.795-5.206-21.666-10.589-44.07-25.393-58.902-32.469-32.524-49.503-73.967-89.117-113.111a11.98 11.98 0 0 1-3.558-8.521V59.901c0-6.541 5.243-11.878 11.783-11.998 15.831-.29 36.694-9.079 52.651-16.178C256.189 17.598 295.709.017 343.995 0h2.844c42.777 0 93.363.413 113.774 29.737 8.392 12.057 10.446 27.034 6.148 44.632 16.312 17.053 25.063 48.863 16.382 74.757 17.544 23.432 19.143 56.132 9.308 79.469l.11.11c11.893 11.949 19.523 31.259 19.439 49.197-.156 30.352-26.157 58.098-59.553 58.098H350.723C358.03 364.34 384 388.132 384 430.548 384 504 336 512 312 512z\"><\/path><\/svg><br><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Cons<\/p><\/div><\/div><\/div><\/td><\/tr><tr class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"1\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-1\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Higher torque output<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Simple implementation<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Good for low-to-medium precision applications<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"1\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-2\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Lower resolution compared to microstepping<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Increased power consumption<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><\/tr><\/tbody><\/table>\n\n<\/div>\n\n<h3><span class=\"ez-toc-section\" id=\"Acionamento_de_Meio_Passo\"><\/span>Acionamento de Meio Passo<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>Um e dois enrolamentos s\u00e3o alimentados alternadamente utilizando a t\u00e9cnica de acionamento de meio passo. Isto proporciona um equil\u00edbrio entre o bin\u00e1rio do acionamento de passo completo e a resolu\u00e7\u00e3o do micropasso. O motor move-se em meios passos, duplicando efetivamente a resolu\u00e7\u00e3o em compara\u00e7\u00e3o com o acionamento por passos completos. Este m\u00e9todo de controlo alcan\u00e7a um equil\u00edbrio entre a suavidade do movimento e o bin\u00e1rio produzido.<\/p>\n<div class=\"wptb-container-legacy\" data-table-id=\"6181\">\n    <table class=\"wptb-preview-table wptb-element-main-table_setting-6181\" style=\"border-spacing: 10px 0px; border-collapse: separate; border-width: 0px; border-style: solid; \" data-reconstraction=\"1\" data-wptb-table-directives=\"eyJpbm5lckJvcmRlcnMiOnsiYWN0aXZlIjoiYWxsIiwiYm9yZGVyV2lkdGgiOiIyIiwiYm9yZGVyUmFkaXVzZXMiOnsiYWxsIjpmYWxzZX19fQ==\" data-wptb-cells-width-auto-count=\"2\" data-wptb-horizontal-scroll-status=\"false\" data-wptb-extra-styles=\"LyogRW50ZXIgeW91ciBjdXN0b20gQ1NTIHJ1bGVzIGhlcmUgKi8=\" data-wptb-first-column-sticky=\"false\" data-wptb-pro-pagination-top-row-header=\"true\" data-wptb-rows-per-page=\"3\" data-wptb-pro-search-top-row-header=\"true\" data-wptb-searchbar-position=\"left\" role=\"table\" data-table-columns=\"2\" data-wptb-table-alignment=\"center\" data-wptb-table-tds-sum-max-width=\"266\"><tbody data-global-font-color=\"#000000\" data-global-link-color=\"#000000\" data-global-font-size=\"15px\"><tr class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"background-color: rgb(39, 193, 15); border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"0\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-1\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\" style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-up\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M104 224H24c-13.255 0-24 10.745-24 24v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V248c0-13.255-10.745-24-24-24zM64 472c-13.255 0-24-10.745-24-24s10.745-24 24-24 24 10.745 24 24-10.745 24-24 24zM384 81.452c0 42.416-25.97 66.208-33.277 94.548h101.723c33.397 0 59.397 27.746 59.553 58.098.084 17.938-7.546 37.249-19.439 49.197l-.11.11c9.836 23.337 8.237 56.037-9.308 79.469 8.681 25.895-.069 57.704-16.382 74.757 4.298 17.598 2.244 32.575-6.148 44.632C440.202 511.587 389.616 512 346.839 512l-2.845-.001c-48.287-.017-87.806-17.598-119.56-31.725-15.957-7.099-36.821-15.887-52.651-16.178-6.54-.12-11.783-5.457-11.783-11.998v-213.77c0-3.2 1.282-6.271 3.558-8.521 39.614-39.144 56.648-80.587 89.117-113.111 14.804-14.832 20.188-37.236 25.393-58.902C282.515 39.293 291.817 0 312 0c24 0 72 8 72 81.452z\"><\/path><\/svg><br><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Pros<\/p><\/div><\/div><\/div><\/td><td class=\"wptb-cell \" style=\"background-color: rgb(255, 0, 0); border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"0\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-2\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\" style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-down\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M0 56v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V56c0-13.255-10.745-24-24-24H24C10.745 32 0 42.745 0 56zm40 200c0-13.255 10.745-24 24-24s24 10.745 24 24-10.745 24-24 24-24-10.745-24-24zm272 256c-20.183 0-29.485-39.293-33.931-57.795-5.206-21.666-10.589-44.07-25.393-58.902-32.469-32.524-49.503-73.967-89.117-113.111a11.98 11.98 0 0 1-3.558-8.521V59.901c0-6.541 5.243-11.878 11.783-11.998 15.831-.29 36.694-9.079 52.651-16.178C256.189 17.598 295.709.017 343.995 0h2.844c42.777 0 93.363.413 113.774 29.737 8.392 12.057 10.446 27.034 6.148 44.632 16.312 17.053 25.063 48.863 16.382 74.757 17.544 23.432 19.143 56.132 9.308 79.469l.11.11c11.893 11.949 19.523 31.259 19.439 49.197-.156 30.352-26.157 58.098-59.553 58.098H350.723C358.03 364.34 384 388.132 384 430.548 384 504 336 512 312 512z\"><\/path><\/svg><br><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Cons<\/p><\/div><\/div><\/div><\/td><\/tr><tr class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"1\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-1\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Increased resolution (twice that of full step)<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Moderate torque output<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Reduced resonance effects compared to full-step drive<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"1\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-2\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Slightly more complex to implement than full-step drive<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Slightly lower torque when single winding is energized<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><\/tr><\/tbody><\/table>\n\n<\/div>\n\n<h3><span class=\"ez-toc-section\" id=\"Micropasso\"><\/span>Micropasso<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>O micropasso \u00e9 o m\u00e9todo de controlo mais avan\u00e7ado e amplamente utilizado para motores de passo, especialmente em aplica\u00e7\u00f5es que exigem alta precis\u00e3o e funcionamento suave. No micropasso, ambos os enrolamentos s\u00e3o energizados, mas a corrente que passa por cada enrolamento varia de forma sinusoidal, permitindo que o motor se mova em incrementos mais pequenos (micropassos). O micropasso pode aumentar a resolu\u00e7\u00e3o do motor em centenas ou mesmo milhares de vezes, em compara\u00e7\u00e3o com o funcionamento em passo completo.<\/p>\n<p>O micropasso proporciona o movimento mais suave e minimiza a resson\u00e2ncia, que \u00e9 comum nos motores de passo. No entanto, o bin\u00e1rio real em cada micropasso diminui, tornando-o menos adequado para aplica\u00e7\u00f5es de alto bin\u00e1rio, a menos que o motor seja sobredimensionado.<\/p>\n<div class=\"wptb-container-legacy\" data-table-id=\"6182\">\n    <table class=\"wptb-preview-table wptb-element-main-table_setting-6182\" style=\"border-spacing: 10px 0px; border-collapse: separate; border-width: 0px; border-style: solid; \" data-reconstraction=\"1\" data-wptb-table-directives=\"eyJpbm5lckJvcmRlcnMiOnsiYWN0aXZlIjoiYWxsIiwiYm9yZGVyV2lkdGgiOiIyIiwiYm9yZGVyUmFkaXVzZXMiOnsiYWxsIjpmYWxzZX19fQ==\" data-wptb-cells-width-auto-count=\"2\" data-wptb-horizontal-scroll-status=\"false\" data-wptb-extra-styles=\"LyogRW50ZXIgeW91ciBjdXN0b20gQ1NTIHJ1bGVzIGhlcmUgKi8=\" data-wptb-first-column-sticky=\"false\" data-wptb-pro-pagination-top-row-header=\"true\" data-wptb-rows-per-page=\"3\" data-wptb-pro-search-top-row-header=\"true\" data-wptb-searchbar-position=\"left\" role=\"table\" data-table-columns=\"2\" data-wptb-table-alignment=\"center\" data-wptb-table-tds-sum-max-width=\"266\"><tbody data-global-font-color=\"#000000\" data-global-link-color=\"#000000\" data-global-font-size=\"15px\"><tr class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"background-color: rgb(39, 193, 15); border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"0\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-1\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\" style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-up\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M104 224H24c-13.255 0-24 10.745-24 24v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V248c0-13.255-10.745-24-24-24zM64 472c-13.255 0-24-10.745-24-24s10.745-24 24-24 24 10.745 24 24-10.745 24-24 24zM384 81.452c0 42.416-25.97 66.208-33.277 94.548h101.723c33.397 0 59.397 27.746 59.553 58.098.084 17.938-7.546 37.249-19.439 49.197l-.11.11c9.836 23.337 8.237 56.037-9.308 79.469 8.681 25.895-.069 57.704-16.382 74.757 4.298 17.598 2.244 32.575-6.148 44.632C440.202 511.587 389.616 512 346.839 512l-2.845-.001c-48.287-.017-87.806-17.598-119.56-31.725-15.957-7.099-36.821-15.887-52.651-16.178-6.54-.12-11.783-5.457-11.783-11.998v-213.77c0-3.2 1.282-6.271 3.558-8.521 39.614-39.144 56.648-80.587 89.117-113.111 14.804-14.832 20.188-37.236 25.393-58.902C282.515 39.293 291.817 0 312 0c24 0 72 8 72 81.452z\"><\/path><\/svg><br><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Pros<\/p><\/div><\/div><\/div><\/td><td class=\"wptb-cell \" style=\"background-color: rgb(255, 0, 0); border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"0\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-2\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\" style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-down\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M0 56v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V56c0-13.255-10.745-24-24-24H24C10.745 32 0 42.745 0 56zm40 200c0-13.255 10.745-24 24-24s24 10.745 24 24-10.745 24-24 24-24-10.745-24-24zm272 256c-20.183 0-29.485-39.293-33.931-57.795-5.206-21.666-10.589-44.07-25.393-58.902-32.469-32.524-49.503-73.967-89.117-113.111a11.98 11.98 0 0 1-3.558-8.521V59.901c0-6.541 5.243-11.878 11.783-11.998 15.831-.29 36.694-9.079 52.651-16.178C256.189 17.598 295.709.017 343.995 0h2.844c42.777 0 93.363.413 113.774 29.737 8.392 12.057 10.446 27.034 6.148 44.632 16.312 17.053 25.063 48.863 16.382 74.757 17.544 23.432 19.143 56.132 9.308 79.469l.11.11c11.893 11.949 19.523 31.259 19.439 49.197-.156 30.352-26.157 58.098-59.553 58.098H350.723C358.03 364.34 384 388.132 384 430.548 384 504 336 512 312 512z\"><\/path><\/svg><br><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(255, 255, 255); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\">Cons<\/p><\/div><\/div><\/div><\/td><\/tr><tr class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"1\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-1\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Very high resolution<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Smooth motion, ideal for precision applications<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Minimizes vibration and resonance<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"1\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\"><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-2\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Reduced torque per microstep<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"><\/path><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Requires more complex and costly control electronics<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><\/tr><\/tbody><\/table>\n\n<\/div>\n\n<h3><span class=\"ez-toc-section\" id=\"Controlo_de_Circuito_Fechado_Servocontrolo\"><\/span>Controlo de Circuito Fechado (Servocontrolo)<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>Os motores de passo com controlo de circuito fechado utilizam o feedback de um sensor externo \u2014 geralmente um codificador \u2014 para acompanhar a localiza\u00e7\u00e3o real do motor e modificar a entrada, de modo a corrigir quaisquer imprecis\u00f5es. Este m\u00e9todo converte a natureza de circuito aberto dos motores de passo num sistema de circuito fechado, transformando efetivamente o motor de passo num tipo de servomotor.<\/p>\n<p>O controlo em circuito fechado melhora a precis\u00e3o, reduz as perdas de passo e permite uma melhor gest\u00e3o do bin\u00e1rio. \u00c9 particularmente \u00fatil em aplica\u00e7\u00f5es em que o motor est\u00e1 sujeito a cargas vari\u00e1veis e em que a manuten\u00e7\u00e3o de um posicionamento preciso \u00e9 fundamental. Embora o controlo em circuito fechado melhore o desempenho, os sensores e mecanismos de feedback adicionais necess\u00e1rios resultam num aumento da complexidade e dos custos do sistema.<\/p>\n<div class=\"wptb-container-legacy\" data-table-id=\"6183\">\n    <table class=\"wptb-preview-table wptb-element-main-table_setting-6183\" style=\"border-spacing: 3px 3px; border-collapse: separate !important; min-width: 100%; border-width: 0px; border-style: solid; \" data-border-spacing-columns=\"3\" data-border-spacing-rows=\"3\" data-reconstraction=\"1\" data-wptb-table-directives=\"eyJpbm5lckJvcmRlcnMiOnsiYWN0aXZlIjoiYWxsIiwiYm9yZGVyV2lkdGgiOiIyIiwiYm9yZGVyUmFkaXVzZXMiOnsiYWxsIjpmYWxzZX19fQ==\" data-wptb-cells-width-auto-count=\"2\" data-wptb-horizontal-scroll-status=\"false\" data-wptb-extra-styles=\"LyogRW50ZXIgeW91ciBjdXN0b20gQ1NTIHJ1bGVzIGhlcmUgKi8=\" data-wptb-first-column-sticky=\"false\" data-wptb-pro-pagination-top-row-header=\"true\" data-wptb-rows-per-page=\"3\" data-wptb-pro-search-top-row-header=\"true\" data-wptb-searchbar-position=\"left\" role=\"table\" data-table-columns=\"2\" data-wptb-table-alignment=\"center\" data-wptb-table-tds-sum-max-width=\"266\" ><tbody data-global-font-color=\"#000000\" data-global-link-color=\"#000000\" data-global-font-size=\"15px\" ><tr  class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"background-color: rgb(39, 193, 15); border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"0\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-1\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\"  style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-up\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M104 224H24c-13.255 0-24 10.745-24 24v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V248c0-13.255-10.745-24-24-24zM64 472c-13.255 0-24-10.745-24-24s10.745-24 24-24 24 10.745 24 24-10.745 24-24 24zM384 81.452c0 42.416-25.97 66.208-33.277 94.548h101.723c33.397 0 59.397 27.746 59.553 58.098.084 17.938-7.546 37.249-19.439 49.197l-.11.11c9.836 23.337 8.237 56.037-9.308 79.469 8.681 25.895-.069 57.704-16.382 74.757 4.298 17.598 2.244 32.575-6.148 44.632C440.202 511.587 389.616 512 346.839 512l-2.845-.001c-48.287-.017-87.806-17.598-119.56-31.725-15.957-7.099-36.821-15.887-52.651-16.178-6.54-.12-11.783-5.457-11.783-11.998v-213.77c0-3.2 1.282-6.271 3.558-8.521 39.614-39.144 56.648-80.587 89.117-113.111 14.804-14.832 20.188-37.236 25.393-58.902C282.515 39.293 291.817 0 312 0c24 0 72 8 72 81.452z\"\/><\/svg><br \/><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(0, 0, 0); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\"><span style=\"color: #ffffff\">Pro\ufeffs<\/span><\/p><\/div><\/div><\/div><\/td><td class=\"wptb-cell \" style=\"background-color: rgb(255, 0, 0); border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"0\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-text_icon_element-container wptb-ph-element mce-content-body wptb-element-text_icon_element-2\" data-wptb-text-icon-space-between=\"6\" data-wptb-text-icon-alignment=\"left\" data-wptb-text-icon-icon-location=\"left\"  style=\"font-size: 25px; padding: 0px; margin: 0px; \"><div class=\"wptb-element-text-icon-wrapper\"><div id=\"wptbTextIconIconWrapper\" class=\"wptb-text-icon-icon-wrapper\" data-wptb-text-icon-icon-src=\"thumbs-down\" style=\"color: rgb(255, 255, 255); width: 25px; height: 25px;\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M0 56v240c0 13.255 10.745 24 24 24h80c13.255 0 24-10.745 24-24V56c0-13.255-10.745-24-24-24H24C10.745 32 0 42.745 0 56zm40 200c0-13.255 10.745-24 24-24s24 10.745 24 24-10.745 24-24 24-24-10.745-24-24zm272 256c-20.183 0-29.485-39.293-33.931-57.795-5.206-21.666-10.589-44.07-25.393-58.902-32.469-32.524-49.503-73.967-89.117-113.111a11.98 11.98 0 0 1-3.558-8.521V59.901c0-6.541 5.243-11.878 11.783-11.998 15.831-.29 36.694-9.079 52.651-16.178C256.189 17.598 295.709.017 343.995 0h2.844c42.777 0 93.363.413 113.774 29.737 8.392 12.057 10.446 27.034 6.148 44.632 16.312 17.053 25.063 48.863 16.382 74.757 17.544 23.432 19.143 56.132 9.308 79.469l.11.11c11.893 11.949 19.523 31.259 19.439 49.197-.156 30.352-26.157 58.098-59.553 58.098H350.723C358.03 364.34 384 388.132 384 430.548 384 504 336 512 312 512z\"\/><\/svg><br \/><\/div><div id=\"wptbTextIconMainTextWrapper\" style=\"color: rgb(0, 0, 0); margin-left: 6; margin-right: 0; \"><p id=\"wptbTextIconMainText\"><span style=\"color: #ffffff\">Con\ufeffs<\/span><\/p><\/div><\/div><\/div><\/td><\/tr><tr  class=\"wptb-row \" style=\"\"><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(39, 193, 15); border-style: solid; \" data-y-index=\"1\" data-x-index=\"0\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-1\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Increased accuracy and reliability<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Avoid missed steps<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"check\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(0, 153, 71);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 512 512\"><path d=\"M173.898 439.404l-166.4-166.4c-9.997-9.997-9.997-26.206 0-36.204l36.203-36.204c9.997-9.998 26.207-9.998 36.204 0L192 312.69 432.095 72.596c9.997-9.997 26.207-9.997 36.204 0l36.203 36.204c9.997 9.997 9.997 26.206 0 36.204l-294.4 294.401c-9.998 9.997-26.207 9.997-36.204-.001z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Improved torque control under varying loads<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><td class=\"wptb-cell \" style=\"border-width: 2px; border-color: rgb(255, 0, 0); border-style: solid; \" data-y-index=\"1\" data-x-index=\"1\" data-wptb-css-td-auto-width=\"true\" data-wptb-cell-vertical-alignment=\"center\" ><div class=\"wptb-styled_list-container wptb-ph-element wptb-element-styled_list-2\" style=\"padding: 0px; margin: 0px; \"><ul><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">More complex and more expensive system<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><li class=\"wptb-in-element\" style=\"margin-bottom: 10px;\"><div class=\"wptb-styled-list-li-inner-wrap\" data-wptb-styled-list-alignment=\"left\"><div class=\"wptb-styled-list-icon\" data-wptb-styled-list-icon-src=\"times\" style=\"width: 20px; height: 20px; flex: 0 0 20px; fill: rgb(255, 0, 0);\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 352 512\"><path d=\"M242.72 256l100.07-100.07c12.28-12.28 12.28-32.19 0-44.48l-22.24-22.24c-12.28-12.28-32.19-12.28-44.48 0L176 189.28 75.93 89.21c-12.28-12.28-32.19-12.28-44.48 0L9.21 111.45c-12.28 12.28-12.28 32.19 0 44.48L109.28 256 9.21 356.07c-12.28 12.28-12.28 32.19 0 44.48l22.24 22.24c12.28 12.28 32.2 12.28 44.48 0L176 322.72l100.07 100.07c12.28 12.28 32.2 12.28 44.48 0l22.24-22.24c12.28-12.28 12.28-32.19 0-44.48L242.72 256z\"\/><\/svg><\/div><div class=\"wptb-styled-list-item-content\" style=\"position: relative\"><p data-styled_list-marker=\"\" style=\"font-size: 20px; line-height: 20px; color: rgb(0, 0, 0); margin-left: 5px; \">Requires additional sensors and electronics<\/p><\/div><div class=\"wptb-m-tooltip\" style=\"\"><\/div><\/div><div class=\"wptb-clear-both\"><\/div><\/li><\/ul><\/div><\/td><\/tr><\/tbody><\/table>\n<\/div>\n\n<h2><span class=\"ez-toc-section\" id=\"Tecnicas_de_controlo_por_impulsos_para_motores_de_passo\"><\/span>T\u00e9cnicas de controlo por impulsos para motores de passo<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>Os motores de passo s\u00e3o normalmente acionados por impulsos, sendo que o n\u00famero de impulsos determina o movimento e a velocidade do motor. Seguem-se as principais t\u00e9cnicas de controlo por impulsos utilizadas para controlar motores de passo:<\/p>\n<h3><span class=\"ez-toc-section\" id=\"Modulacao_por_Largura_de_Pulso_PWM\"><\/span>Modula\u00e7\u00e3o por Largura de Pulso (PWM)<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>O motor de passo \u00e9 acionado por impulsos cuja largura \u00e9 modulada atrav\u00e9s do controlo PWM. \u00c9 utilizado para controlar a tens\u00e3o e a corrente fornecidas aos enrolamentos do motor, o que ajuda a gerir o bin\u00e1rio e a velocidade. O PWM \u00e9 frequentemente utilizado em micropassos para proporcionar um movimento suave e um controlo preciso do motor de passo.<\/p>\n<h3><span class=\"ez-toc-section\" id=\"Controlo_de_direcao_de_impulsos\"><\/span>Controlo de dire\u00e7\u00e3o de impulsos<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>No controlo de dire\u00e7\u00e3o de impulsos, uma entrada especifica o n\u00famero de impulsos a enviar ao motor de passo, o que controla quantos passos o motor d\u00e1, enquanto outra entrada determina a dire\u00e7\u00e3o de rota\u00e7\u00e3o (no sentido hor\u00e1rio ou anti-hor\u00e1rio). Este m\u00e9todo \u00e9 amplamente utilizado em m\u00e1quinas CNC e sistemas rob\u00f3ticos para um controlo preciso da posi\u00e7\u00e3o.<\/p>\n<h2><span class=\"ez-toc-section\" id=\"Conclusao\"><\/span>Conclus\u00e3o<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>O motor de passo \u00e9 um dispositivo vers\u00e1til com uma variedade de m\u00e9todos de controlo adequados a diversas aplica\u00e7\u00f5es. Ao selecionar cuidadosamente o m\u00e9todo de controlo adequado, \u00e9 poss\u00edvel otimizar o desempenho do motor de passo. O <a href=\"https:\/\/www.gian-transmission.com\/pt-br\/motor-de-passo\/\">fabricante de motores de passo<\/a> pode produzir com precis\u00e3o para satisfazer as suas necessidades espec\u00edficas.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Os motores de passo s\u00e3o equipamentos de alta precis\u00e3o utilizados em diversas aplica\u00e7\u00f5es em que \u00e9 necess\u00e1rio um controlo exato do movimento. No entanto, \u00e9 fundamental compreender as v\u00e1rias estrat\u00e9gias de controlo para maximizar o desempenho de um motor de passo. A complexidade, o custo e a efic\u00e1cia de cada abordagem variam consoante as necessidades da aplica\u00e7\u00e3o. Tipos de motores de passo \u00c9 necess\u00e1rio compreender os principais tipos de motores de passo antes de aprofundar as t\u00e9cnicas de controlo, uma vez que as estrat\u00e9gias de controlo diferem consoante o tipo de motor: Motor de passo de \u00edman permanente (PM): Utiliza \u00edmanes permanentes no rotor, que s\u00e3o acionados por campos eletromagn\u00e9ticos no estator. Motor de passo de relut\u00e2ncia vari\u00e1vel (VR): Baseia-se no princ\u00edpio da relut\u00e2ncia vari\u00e1vel, em que o rotor segue o percurso com menor relut\u00e2ncia. Motor de passo h\u00edbrido: Combina caracter\u00edsticas dos motores de passo PM e VR, oferecendo maior precis\u00e3o e melhor desempenho em termos de bin\u00e1rio. Motor de passo linear: Converte o movimento rotativo em deslocamento linear, sendo frequentemente utilizado em aplica\u00e7\u00f5es de movimento linear. M\u00e9todos de controlo comuns para motores de passo S\u00e3o utilizados v\u00e1rios m\u00e9todos de controlo para regular o movimento dos motores de passo. A sele\u00e7\u00e3o do m\u00e9todo de controlo depende de fatores como a precis\u00e3o, a velocidade, o bin\u00e1rio, o consumo de energia e a complexidade da aplica\u00e7\u00e3o. Acionamento por Ondas (Acionamento de Fase \u00danica) O acionamento por ondas \u00e9 um dos m\u00e9todos de controlo mais simples para motores de passo. Consiste em energizar apenas um enrolamento do estator de cada vez, fazendo com que o rotor se alinhe com o enrolamento ativo. Este m\u00e9todo \u00e9 econ\u00f3mico, requer menos pot\u00eancia e reduz o aquecimento do motor. No entanto, tamb\u00e9m produz menos bin\u00e1rio em compara\u00e7\u00e3o com outros m\u00e9todos, uma vez que h\u00e1 menos enrolamentos ativos em qualquer momento. Acionamento de Passo Completo (Acionamento de Duas Fases Ativas) O acionamento por passo completo melhora o m\u00e9todo de acionamento por onda, energizando dois enrolamentos do estator simultaneamente. Isto resulta num bin\u00e1rio de sa\u00edda mais elevado em compara\u00e7\u00e3o com o acionamento por onda, uma vez que o motor beneficia dos campos magn\u00e9ticos combinados de dois enrolamentos. O motor move-se em passos completos, o que significa que a sua resolu\u00e7\u00e3o \u00e9 inferior em compara\u00e7\u00e3o com o micro-passo, mas \u00e9 adequado para muitas aplica\u00e7\u00f5es gerais que n\u00e3o requerem um posicionamento ultra-preciso. Acionamento de Meio Passo Um e dois enrolamentos s\u00e3o alimentados alternadamente utilizando a t\u00e9cnica de acionamento de meio passo. Isto proporciona um equil\u00edbrio entre o bin\u00e1rio do acionamento de passo completo e a resolu\u00e7\u00e3o do micropasso. O motor move-se em meios passos, duplicando efetivamente a resolu\u00e7\u00e3o em compara\u00e7\u00e3o com o acionamento por passos completos. Este m\u00e9todo de controlo alcan\u00e7a um equil\u00edbrio entre a suavidade do movimento e o bin\u00e1rio produzido. Micropasso O micropasso \u00e9 o m\u00e9todo de controlo mais avan\u00e7ado e amplamente utilizado para motores de passo, especialmente em aplica\u00e7\u00f5es que exigem alta precis\u00e3o e funcionamento suave. No micropasso, ambos os enrolamentos s\u00e3o energizados, mas a corrente que passa por cada enrolamento varia de forma sinusoidal, permitindo que o motor se mova em incrementos mais pequenos (micropassos). O micropasso pode aumentar a resolu\u00e7\u00e3o do motor em centenas ou mesmo milhares de vezes, em compara\u00e7\u00e3o com o funcionamento em passo completo. O micropasso proporciona o movimento mais suave e minimiza a resson\u00e2ncia, que \u00e9 comum nos motores de passo. No entanto, o bin\u00e1rio real em cada micropasso diminui, tornando-o menos adequado para aplica\u00e7\u00f5es de alto bin\u00e1rio, a menos que o motor seja sobredimensionado. Controlo de Circuito Fechado (Servocontrolo) Os motores de passo com controlo de circuito fechado utilizam o feedback de um sensor externo \u2014 geralmente um codificador \u2014 para acompanhar a localiza\u00e7\u00e3o real do motor e modificar a entrada, de modo a corrigir quaisquer imprecis\u00f5es. Este m\u00e9todo converte a natureza de circuito aberto dos motores de passo num sistema de circuito fechado, transformando efetivamente o motor de passo num tipo de servomotor. O controlo em circuito fechado melhora a precis\u00e3o, reduz as perdas de passo e permite uma melhor gest\u00e3o do bin\u00e1rio. \u00c9 particularmente \u00fatil em aplica\u00e7\u00f5es em que o motor est\u00e1 sujeito a cargas vari\u00e1veis e em que a manuten\u00e7\u00e3o de um posicionamento preciso \u00e9 fundamental. Embora o controlo em circuito fechado melhore o desempenho, os sensores e mecanismos de feedback adicionais necess\u00e1rios resultam num aumento da complexidade e dos custos do sistema. T\u00e9cnicas de controlo por impulsos para motores de passo Os motores de passo s\u00e3o normalmente acionados por impulsos, sendo que o n\u00famero de impulsos determina o movimento e a velocidade do motor. Seguem-se as principais t\u00e9cnicas de controlo por impulsos utilizadas para controlar motores de passo: Modula\u00e7\u00e3o por Largura de Pulso (PWM) O motor de passo \u00e9 acionado por impulsos cuja largura \u00e9 modulada atrav\u00e9s do controlo PWM. \u00c9 utilizado para controlar a tens\u00e3o e a corrente fornecidas aos enrolamentos do motor, o que ajuda a gerir o bin\u00e1rio e a velocidade. O PWM \u00e9 frequentemente utilizado em micropassos para proporcionar um movimento suave e um controlo preciso do motor de passo. Controlo de dire\u00e7\u00e3o de impulsos No controlo de dire\u00e7\u00e3o de impulsos, uma entrada especifica o n\u00famero de impulsos a enviar ao motor de passo, o que controla quantos passos o motor d\u00e1, enquanto outra entrada determina a dire\u00e7\u00e3o de rota\u00e7\u00e3o (no sentido hor\u00e1rio ou anti-hor\u00e1rio). Este m\u00e9todo \u00e9 amplamente utilizado em m\u00e1quinas CNC e sistemas rob\u00f3ticos para um controlo preciso da posi\u00e7\u00e3o. Conclus\u00e3o O motor de passo \u00e9 um dispositivo vers\u00e1til com uma variedade de m\u00e9todos de controlo adequados a diversas aplica\u00e7\u00f5es. Ao selecionar cuidadosamente o m\u00e9todo de controlo adequado, \u00e9 poss\u00edvel otimizar o desempenho do motor de passo. O fabricante de motores de passo pode produzir com precis\u00e3o para satisfazer as suas necessidades espec\u00edficas.<\/p>\n","protected":false},"author":1,"featured_media":6184,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"default","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[271],"tags":[],"class_list":["post-24223","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-nao-categorizado"],"_links":{"self":[{"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/posts\/24223","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/comments?post=24223"}],"version-history":[{"count":2,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/posts\/24223\/revisions"}],"predecessor-version":[{"id":24234,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/posts\/24223\/revisions\/24234"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/media\/6184"}],"wp:attachment":[{"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/media?parent=24223"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/categories?post=24223"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.gian-transmission.com\/pt-br\/wp-json\/wp\/v2\/tags?post=24223"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}