Excitation position is changed in accordance with an external clock. The state of a full bridge circuit including four transistors connected to a coil of a stepping motor, is controlled in accordance with the excitation position. At the time of transition from the excitation position at which coil current that flows in the coil is nonzero to the excitation position at which the coil current is zero, a switch is made to (i) the inverse state where the on or off state of each of the four transistors before the transition is inverted, and then a switch is made to (ii) the off state where all the four transistors are off.

The present disclosure provides a motor driving device. The motor driving device includes a generating unit, an adjusting unit, a converting unit and a comparing unit. The generating unit is configured to generate a sensing current corresponding to a motor current that flows through a motor coil. The adjusting unit is configured to give the sensing current a gain corresponding to a limit value of the motor current. The converting unit is configured to perform an I/V conversion on the sensing current with the gain. The comparing unit is configured to compare a reference voltage and an output voltage from the converting unit.

The present disclosure provides a motor driving device. The motor driving device includes a generating unit, an adjusting unit, a converting unit and a comparing unit. The generating unit is configured to generate a sensing current corresponding to a motor current that flows through a motor coil. The adjusting unit is configured to give the sensing current a gain corresponding to a limit value of the motor current. The converting unit is configured to perform an I/V conversion on the sensing current with the gain. The comparing unit is configured to compare a reference voltage and an output voltage from the converting unit.

A gripping device monitored based on CEMF and a method for controlling the same includes: using a controller to instruct a drive unit to rotate a stepper motor; using the controller to compare the control instruction with a control parameter matrix stored in an access unit; obtaining a CEMF threshold by checking the position of the actual CEMF in the control parameter matrix; using the controller to monitor the actual CEMF; and using the controller to compare the actual CEMF with the threshold, maintaining driving of the stepper motor when the actual CEMF is larger than the threshold, and stopping the stepper motor to maintain the gripping status, when the actual CEMF is smaller than or equal to the threshold. The operation parameters are measured in advance when the stepper motor runs well, which ensures that the objected is stably gripped before abnormality occurs, thus stabilizing the gripping motion.

A gripping device monitored based on CEMF and a method for controlling the same includes: using a controller to instruct a drive unit to rotate a stepper motor; using the controller to compare the control instruction with a control parameter matrix stored in an access unit; obtaining a CEMF threshold by checking the position of the actual CEMF in the control parameter matrix; using the controller to monitor the actual CEMF; and using the controller to compare the actual CEMF with the threshold, maintaining driving of the stepper motor when the actual CEMF is larger than the threshold, and stopping the stepper motor to maintain the gripping status, when the actual CEMF is smaller than or equal to the threshold. The operation parameters are measured in advance when the stepper motor runs well, which ensures that the objected is stably gripped before abnormality occurs, thus stabilizing the gripping motion.

The present disclosure relates to systems and methods for controlling a stepping motor. A method may include determining a driving voltage based on a function, wherein the function includes a predetermined electric current and operating parameters of the stepping motor; and driving the stepping motor to work based on the driving voltage via an H-bridge.

The present disclosure relates to systems and methods for controlling a stepping motor. A method may include determining a driving voltage based on a function, wherein the function includes a predetermined electric current and operating parameters of the stepping motor; and driving the stepping motor to work based on the driving voltage via an H-bridge.

The invention relates to an apparatus comprising an electromechanical device, a control unit, a main control unit and a motion detector, wherein said control unit is configured to control said electromechanical device. The invention also relates to a method for operating an apparatus with a main control unit, a control unit and an electromechanical device. The technical problem of providing an apparatus with an electromechanical device, the reliability of which is improved, is solved by an apparatus wherein the main control unit is configured to provide information to the control unit. The motion detector and the main control unit are configured such that information about the movement of the electromechanical device is provided by the motion detector at least to the main control unit. The technical problem is also solved by a method for operating an apparatus, in particular an apparatus or medical device according to the invention.

The invention relates to an apparatus comprising an electromechanical device, a control unit, a main control unit and a motion detector, wherein said control unit is configured to control said electromechanical device. The invention also relates to a method for operating an apparatus with a main control unit, a control unit and an electromechanical device. The technical problem of providing an apparatus with an electromechanical device, the reliability of which is improved, is solved by an apparatus wherein the main control unit is configured to provide information to the control unit. The motion detector and the main control unit are configured such that information about the movement of the electromechanical device is provided by the motion detector at least to the main control unit. The technical problem is also solved by a method for operating an apparatus, in particular an apparatus or medical device according to the invention.

A timepiece movement includes a stepping motor having a rotor for rotating an indicating hand, and a control unit for rotating the rotor by using a main drive pulse and an auxiliary drive pulse. When the indicating hand is rotated using a detection drive pulse based on the main drive pulse, the control unit determines a reference position of the indicating hand by detecting a rotation state of the rotor.