Hyperdrive

HYPERDRIVE

A Programmable Stepper Motor Controller

Programmable, microstepping digital stepping motor controller.
Operates from 12 volts to 24 volts DC.
Drives bipolar stepper motors up to 2.5 amps.
Acceleration and Deceleration specified in milliseconds.
Maximum RPM can be programmed.
Movement is specified as a number of steps.
Includes an RS485 serial interface for control.
Four power or torque settings.
Four microstepping settings: 1, 2, 8, 16.
Four decay mode settings.
Fully programmable using a simple programming language.
The stored program can be saved in non-volatile storage.
The stored program can be automatically loaded and executed at power up from non-volatile storage.

Introduction

The Hyperdrive is a programmable stepper motor controller. It provides a set of instructions a user can use to define the parameters of a particular motor movement profile.

A motor move profile consists of an acceleration phase, a constant speed phase, and a deceleration phase, where the entire motor move profile is constrained to take a specified number of steps. Three input lines and one output line allow external events to control programmed actions.

Motor Connections

The Hyperdrive controls bipolar two phase motors with four leads. Connect the motor using the following table.

	Terminal	Motor
	MW-A1	Field 1 wire 1
	MW-A2	Field 1 wire 2
	MW-B1	Field 2 wire 1
	MW-B2	Field 2 wire 2

RS485 Serial Connection

The 4-wire RS485 serial interface allows several Hyperdrive controllers to be connected to the one controlling computer. The communication cable can be up to 300 metres long. A 4-wire system provides maximum protection against electrical interference.

Hyperdrive Characteristics

Absolute Maximum Ratings
Supply voltage	32 volts DC
Motor Current	2.5 amps
Ambient Temperature	-20 to 65 degrees C

Motor Characteristics

Operating voltage

12 - 28 volts DC

Motor type

Bipolar two phase

Motor power settings and corresponding Maximum currents

20%	0.5 amps
50%	1.25 amps
75%	1.875 amps
100%	2.5 amps

Motor step modes
(1:1 is the motor basic step angle)

1:1
1:2
1:8
1:16

Decay mode settings

0% (none)
25% decay
50% decay
100% decay

Step angle

Set to match motor. Default is 1.8 degrees

Acceleration

Motor and load inertia dependant. Programmable maximum is 20 mSecs to set speed.

Maximum speed at given Step mode setting
1 microstep/step
2 microsteps/step
8 microsteps/step
16 microsteps/step

2000 rpm
1300 rpm
400 rpm
200 rpm

Program Commands

Program commands consist of two letters and a possible set of parameters. Most commands can be part of a stored program (shown with a * in the P column).

Command	P	Function	Parameter	Discussion
AD	*	Set acceleration	number	Sets accel time in mSecs
AR		Set auto-startup		Auto loads and runs a stored program at power up.
DC	*	Begin decel		On an input transition, begins a decel phase immediately.
DL	*	Set delay	number	Sets and begins a programmed delay.
DM	*	Set decay mode	number	Sets the output bridge decay recirculation mode.
DR	*	Set direction	cw/ccw	Sets motor direction
EL	*	End of a program loop
EN		End of program		Switches Hyperdrive to interactive mode.
GO		Starts a stored program
GS		Prints motor states
HA		Sets RS485 address	number	Range is 1 thru 9
II	*	Set input parameters	various	Defines the functionality of the three input lines.
IO	*	Set output parameters	various	Defines the functionality of the output line.
LD		Load program		Loads a program stored in non-volatile memory.
LP	*	Start a loop	number	Start a loop to repeatedly execute all program commands between this LP and the next EL the number of times set by the parameter.
LS		List current program
MS	*	Set motor maximum speed	number	Number is RPM
PG		Start entering a program		Switches Hyperdrive to programming mode.
PW	*	Set motor power (torque)	number	Range is 1 thru 4
SA	*	Sets motor basic step angle	number	Angle is in thousanths of degrees.
SM	*	Set the step mode	number	Sets 1, 2, 8, or 16 microsteps.
SP	*	Sets motor stopped power	number	Same as PW
ST	*	Set the number of steps	number	Sets the number of steps in the move profile.
SV		Save program to non-volatile storage		Becomes available to the LD command.
WT	*	Starts a Wait event		Program pauses until the motor stops.

Download a copy of the user manual here.

Moxa USB/RS485 Drivers

The Moxa USB/RS485 interface drivers are available here for Windows XP and Vista, both 32- and 64-bit. Download the driver installation program for your system and install it before connecting the Moxa itself. When the driver installation is completed, plug the Moxa into a USB port. Windows should verify the driver is ready to use.

The Hyperdrive uses 4-wire RS485, so ensure you setup the driver configuration as RS-485-4W as shown on page 2-16 of the UPort 1100 Series User Manual. This configuration applies to that particular USB port, so if you may use different USB ports, plug the Moxa into each port and setup this configuration for each port.

Download the UPort User Manual here.
Download the UPort Quick Installation Guide here.
Download the UPort Window x86 Driver Installation program here.
Download the UPort Window x64 Driver Installation program here.

Download the TeraTerm 4.64 Installer here.

Download the Notepad++ Installer here.
Download the Notepad++ Hyperdrive Programming Language configuration file here. Save it as userDefineLang.xml in a convenient place and follow the instructions on Page 41 of the user manual to install it into Notepad++.