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The degree of rotation per pulse is the resolution of the stepper motor. In the illustrated example of Fig. 10.3, the rotor turned 90 degrees per pulse, not a very practical motor. A practical stepper motor has a greater resolution (smaller steps), for instance, one that rotates its shaft 1 degree per pulse (or step). This motor requires 360 pulses (or steps) to complete one revolution. When a stepper motor is used for locomotion or positioning in a linear motion table, each step of the motor translates to a precise increment of linear movement. Assume that one revolution of the motor is equal to 1" of linear travel. For a stepper motor that rotates 3.75 degrees per step, the increment of linear movement is approximately 0.01" per step. A stepper motor that rotates 1.0 degrees per step would give approximately 0.0027" per step. The increment of movement is inversely proportional to the degrees per step.

moving its files to the new Magnitude SAN system from XIOtech Corporation in Eden Prairie, MN. Going forward, StorageCentral SRM is going to help the company keep the cost of this very active file server under control as it pays for only the SAN space the company needs. Until recently, about 1,200 employees in the company s southern Minnesota plant stored their home directories on a Gateway file server running Windows NT. The server which maintained 70 GB of data also houses some shared departmental directories and one directory used by the entire plant. The problem was that the window for a full server backup had grown to about 24 hours. Before the company could even think of moving any files to the SAN, management felt that it was necessary to audit the contents of this server. The company did this by running StorageCentral SRM reports that describe the characteristics of files. These characteristics include duplicate reports, files more than 1 year old, files by media type, and usage by share. This information enabled the company to pinpoint pockets of wasted space. It was discovered that most of the employees had been dumping every file they had to their home directories for possible future use.

Fig. 10-18.

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Capacitors in parallel (Fig. 10-18) increase the capacitance: C C1 C2 C3 10-7

IN THIS CHAPTER WE WILL LOOK AT A FEW MOVEMENT AND drive components that may be used in robots. All the components discussed in this chapter either have sample circuits contained in this chapter or are used in robots elsewhere in this book. Here is a list of the components we will work with: air muscles, nitinol wire, stepper motors, geared direct current (DC) motors, servo motors, and solenoids.

The company immediately launched a cleanup campaign, telling everyone that the company would be allocating 150 MB for home directory space and holding everyone to his or her space allocation. The company added that employees would have a month to go through their files and get rid of what they did not need or have extra files burned to CDs. If a home directory exceeded the 150 MB amount, the StorageCentral SRM was used to send the employee a report via an Excel spreadsheet listing his or her files. Making sure employees didn t move their files into the departmental shared folders became a key concern to the company. Once a week the company ran StorageCentral SRM reports to see if the size of the home directories decreased or the size of the shared folders increased. Everyone cooperated. As a result, the help desk phone didn t get many calls, and employees who truly needed more space got it.

Remember as we run through these circuits that when you apply voltage to a capacitor, it charges up while at the same time pushing on the electrons across the dielectric. When that voltage is removed, the capacitor holds the charge. If a circuit is then made between the capacitor s electrodes, the electrons on both sides of the dielectric try to achieve balance and the capacitor discharges. Note that none of these operations are instantaneous. Everything takes time. And this time delay is an important part of how we use the capacitor in electronic circuits. A resistor added to a capacitor slows down the capacitor s reaction. Together they are an RC network. Carefully choosing the values for the resistor and capacitor, you can ne-tune the network so that it responds to the desired frequencies.