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Hyperdrive User Manual

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1. cseeseeessse 15 The RS422 terminating Ink oeccexa e is A 16 This shows the internal circuitry of the Hyperdrive RS422 interface It is important the external connections match this figure sra aa dou au E sad Rn 16 Suggested connections to drive the 4 wire RS422 interface with a 2 wire RS485 uud MEL E LUN MEL E I LIEU MM 17 The simplified Hyperdrive input circuit 55 1 33 rna etant on nae a pn e von 18 Using an external power source for input power sssesseeeen mmm 19 Using the internal 5 volt supply to power an input sensor eeeeeeeeee 19 Typical wiring for an electronic switching sensor ceesseee nmn 20 The quadrature output waveforms from a two switch rotary mechanical encoder 20 Quadrature encoder connected to the Hyperdrive to provide both event and Tn O 21 Typical Hyperdrive output CIFCHIE auspicia 22 Connection for using an LED to indicate program events sese 22 Typical power relay or contactor drive circuit eesseeesseeeene nnn 23 Device Manager window with the Ports entry expanded eseseeeeee 25 The Hyperdrive power up DAN eite caos uisi xk dvds ccu n E SEI paXXE AKA Add Sd d b ie 32 The Kremford supplied TeraTerm file download macro esee 44 Selecting the Load Macro file transfer OPtion cccccccceeceeseeeseeeeeesaeeseeeasenanes 45 A program as displayed in Notepad re
2. Bipolar Stepper Motor Figure 3 Bipolar stepper motor connections Once connected and operating should the direction the motor turns be opposite to that specified by a Dir command simply swap either the two B wires or the two A wires The Hyperdrive is a bipolar motor driver but other types of stepper motors can be configured to run as bipolar A unipolar stepper with six leads can be simply connected as bipolar by leaving the field centre tap wires disconnected However this will give a field coil inductance of four times that of a single coil a definite problem if the motor is required to run at any speed and develop its rated torque The correct connection for a six lead unipolar motor is to leave the two opposite field coils unconnected as shown in Figure 4 Connecting a Unipolar Motor with an internal centre tap for Rated Power Figure 4 Correct connection for a Unipolar motor that will develop rated torque at speed Kremford Pty Ltd Hyperdrive KFO86B User Manual 14 An eight lead stepper motor can have the two sets of field coils connected in parallel as long as the two coil pairs polarity match Often the latter is indicated by the eight leads just using four basic colours but matching coils use different lead markings such as red and red black stripes This connection configuration is shown in Figure 5 An 8 lead Stepper with field coil polarity matched and connected in parallel Figure 5 An 8 l
3. Back I Agree Cancel Next choose an installation location The default is usually satisfactory Click Next Kremford Pty Ltd Hyperdrive KFO86B User Manual 88 Notepad v5 6 7 Setup Choose Install Location Choose the folder in which to install Notepad v5 6 7 Setup will install Notepad v5 6 7 in the following Folder To install in a different Folder click Browse and select another folder Click Next to continue Destination Folder Browse Space required 8 9MB Space available 24 568 lt Back Next gt Cancel The next dialog asks you to check which options you would like installed with the Notepad editor The suggestion is to select the default Notepad v5 6 7 Setup Choose Components Choose which features of Notepad v5 6 7 you want to install Check the components you want to install and uncheck the components you don t want to install Click Install to start the installation Select the type of install o Or select the optional Don t use APPDATA comport you wish to Context Menu Entry v Auto completion Files j v Plugins y v Themes As default html viewe Auto Updater Description Space required 8 9MB Install Cancel Completing the Notepad v5 6 7 Setup Wizard Notepad v5 6 7 has been installed on your computer Click Finish to close this wizard v Run Notepad v5 6 7 Configur
4. If the motor is still running the prompt will be the character If the motor has stopped it will be the usual gt character Thus a controller can probe for the motor running state of a particular Hyperdrive by checking the returned prompt character in response to the NetOpen command In the following STEP mode example the motor on Hyperdrive number 5 is still busy during the first two probes but has stopped by the time the third probe is made gt NetOpen 5 NetClose 5 gt NetOpen 5 NetClose 5 gt NetOpen 5 gt The controlling PLC could use repeating sequences of NetOpen NetClose commands to probe several Hyperdrives for when their associated profile has concluded Note that if the particular Hyperdrive remains selected the usual gt character is sent when the motor eventually stops In the following example Hyperdrive number 3 has previously begun a profile and after some other processing the controller returns to wait for that profile to conclude The y prompt is sent in response to the switch via the NetOpen command and some time later the gt prompt will signal the profile s end gt NetOpen 3 gt Speed Mode The same mechanism can be used when the Hyperdrive is in SPEED mode For the situation where the motor must now be stopped and the controller not move on until it is sure the motor has come to rest use NetOpen commands while monitoring the prompt character In this example
5. KREMFORD Pty Ltd Manual 1009 1 HYPERDRIVE 3 An Integrated PLC Based Programmable Stepper Motor Controller Model KF086B User and Programming Manual Firmware Release 1 14 0 July 28 2014 This manual is Copyright 2014 by Kremford Pty Ltd You may reproduce this manual in whole or in part for your personal use provided that this copyright notice is included You may distribute copies of this complete manual in electronic format provided that they are unaltered from the version posted by Kremford Pty Ltd on our official website www kremford com au You may incorporate portions of this document in other literature for your own personal use provided that you include the notice Portions of this document are Copyright O 2014 by Kremford Pty Ltd You may not alter the contents of this document or charge a fee for reproducing or distributing it Kremford Pty Ltd Hyperdrive KF086B User Manual Table of Contents General Informaliohi 12522224222 SRRRERRRUARRARRRRERRIERS AA RRAGRRRRERF ERR ER RAM SRRRREEKNUAMEK MS RRRMSRRERE ER iiA 6 Important User InFOFmisblOl eixeu22 uad vex A AR dup 6 Standard WORSE nidad dei ISP RIP au 6 Installation Prec auti ns A Er E noes Dru D AA 6 About This Manual ziii iib avaa uad ida dark RR WA RR AR OR FRU LARA M REOR PER NO R R OCA U E AR R RCR RUD A Kb PR R 7 PCS rise 7 DG SCHIDUION circa in 8 POACUNGS MUERTE EN 8 Programmed Control MT T c 8
6. This file does not have a valid digital signature that verifies its publisher You should only run software from publishers you trust How can decide what software to run The TeraTerm installation program will start running and display the We come dialog shown in Figure 29 Click on the Next button 18 Setup Tera Term Welcome to the Tera Term Setup En Wizard This will install Tera Term 4 64 on your computer It is recommended that you close all other applications before continuing Click Next to continue or Cancel to exit Setup Figure 29 TeraTerm Welcome screen The License Agreement dialog shown in Figure 30 is displayed If you agree with the terms then select that button and click on the Next button 16 Setup Tera Term License Agreement Please read the following important information before continuing Please read the following License Agreement You must accept the terms of this agreement before continuing with the installation License of Tera Term Copyright c T Teranishi Copyright c TeraTerm Project All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 9 accept the agreement O do not accept the agreement Back Nest Cancel
7. lc IE ELE Ip 6mA R2 _ 12 0 7 0 2 6 1800 ohms Kremford Pty Ltd Hyperdrive KFO86B User Manual 23 Terminal Control The RS422 serial interface built into the Hyperdrive provides the means to control and program the attached motor The interface operates in simplex mode the Hyperdrive does not echo characters it receives at a selectable rate of either 9600 or 57600 baud and can be connected to a computer through an USB RS422 or USB RS485 adapter It can be connected directly to a PLC that provides an RS422 4 wire simplex serial interface or RS485 2 wire simplex interface Once connected to a computer on power up the Hyperdrive terminal program will send the message Kremford Hyperdrive3 Revision x x x Ready Note the character This is called the command prompt and indicates the Hyperdrive is ready for a new command and in particular has finished any previous command When the Hyperdrive is being controlled by a computer or a PLC the occurrence of this character can be used to indicate the operation s implied in a previous command are complete and that a new command can be transmitted In computer terms it is the ACK response to the command Data Rate Almost any terminal program will suffice for interactive use However if the option of downloading programs to the Hyperdrive is used or if the Hyperdrive is being driven by a PLC or other computer the chosen terminal program or controlling program wi
8. the motor is started by an ON level for input IN2 and must stop when the input IN1 goes OFF However in the stopped position IN1 is already OFF as that was required to stop the motor In the program below the ContWhen instruction halts the program until the IN2 input turns ON When the MonSkip instruction examines its input it finds the current input is already OFF the state that should cause the jump However it will ignore this until the input transitions to ON and only then will it begin monitoring for the transition to OFF 130 Loop 140 ContWhen 2 ON 150 MonSkip 1 OFF 210 160 Step 170 WaitFor 180 goto 260 210 decelNow 220 Delay 10 Kremford Pty Ltd Hyperdrive KFO86B User Manual 64 230 ELoop See some examples of the similar Monitor instruction NetClose HC Close a Networked Hyperdrive Program NO Interactive YES Parameter REQUIRED Closes this unit to network access All subsequent instructions on the network will be ignored see Connecting Hyperdrives in a Network NetOpen HO Open a Networked Hyperdrive Program NO Interactive YES Parameter REQUIRED If this unit is in address mode ie has received an address via the SetAddr instruction this instruction activates the unit to respond to subsequent instructions on the network Every instruction will be acted upon until a NetClose command is received see Connecting Hyperdrives in a Network If the unit is in address mode without this in
9. Figure 30 TeraTerm License Acceptance dialog The next dialog shown in Figure 31 indicates the default location where TeraTerm is stored The default is reasonable but can be changed to suit your equipment Click on the Next button Kremford Pty Ltd Hyperdrive KFO86B User Manual 83 16 Setup Tera Term Select Destination Location Where should Tera Term be installed O Setup will install Tera Term into the following folder To continue click Next If you would like to select a different folder click Browse Browse At least 5 5 MB of free disk space is required lt Back Next gt Cancel Figure 31 TeraTerm installation location The next dialog lists a considerable number of optional programs and capabilities which TeraTerm can use You can explore these options if necessary by accessing the TeraTerm web based Help page at http ttssh2 sourceforge jp manual End However only the basic terminal program is required for use with the Hyperdrive Kremford recommends un ticking all the options as shown in Figure 32 Click the Next button to proceed ie Setup Tera Term Select Components Which components should be installed Select the components you want to install clear the components you do not want to install Click Next when you are ready to continue Custom installation TTSSH CygTerm LogMeTT amp TTLEdit TeraT erm Menu C TTProsy Collector 1
10. File Figure 27 Hyper3Update ready to execute a firmware update Prepare for the next step The sequence is to click the Hyper3Update Start button and then power up the Hyperdrive Once you press the Start button Hyper3Update will try to contact the Hyperdrive for about 30 seconds before quitting so you have plenty of time to power up the Hyperdrive Within a few seconds of applying power you should see Hyper3Update connect to the Hyperdrive and start the update This will take a little while and the progress will look similar to Figure 28 Hyperdrive3 Update Progress Do not change any setting or remove power during the update Connected Figure 28 The Hyper3Update program showing an update in progress When the update completes dismiss the Hyper3Update application restart your communications program TeraTerm and power cycle the Hyperdrive You should see the usual startup text but now the firmware version number should match that of the update file The Hyperdrive is now ready to use Note you may need to now change the baud rate setting of your communication software if you had previously set the communications baud rate to other than the as shipped 9600 baud The update program performs several checks during the update to ensure the programming is proceeding successfully However glitches can occur and if so when the Hyperdrive powers up again your will see the message CRC Error In this case simply repeat the
11. GRND Motor field A2 Motor field A1 OII AR WIN e A 2652500 0052200 amp e 6 60 O Figure 1 Connector blocks with nomenclature Note there is no reverse polarity protection built into the Hyperdrive Check and double check the power supply polarity as shown in Figure 1 before connection Kremford Pty Ltd Hyperdrive KFO86B User Manual 11 Input Output Connector Two seven 7 position screw terminal blocks provide for input and output control Signal ground IN 1 IN 1 IN 2 IN 2 IN 3 IN 3 5 Volts IN 4 IN 4 OUT 1 OUT 1 OUT 2 OUT 2 HG iH alojojo x aojua aju n e pa N pa CJ Pp D All input and output terminals are optically isolated for installations where the possibility of ground loops or interference are hazards Where isolation is not such a worry the signal ground SGND and positive five volt 5V terminals provide a power source for some common input devices including simple switches The SGND terminal is only indirectly connected to the power supply ground Original Hyperdrive Compatibility All previous Hyperdrive programs are compatible with the Hyperdrive3 language except for the output instruction Originally terminal IO 4 was the single output port In addition the original output port was ground referenced with an L indicating the output would be at a low or near ground potentia
12. switch to programming A program to demonstrate the program loop functionality and hou to change direction 188 Loop 2 118 SetRPH 58 128 Accel 588 138 Dir cw 148 Step 3288 158 WaitFor 168 Delay 588 178 SetRPM 188 Now change direction Dir ccv Step 1688 288 uaitFor 218 Delay 588 228 ELoop 238 End 188 198 execute the loop twice set max speed at 58 rpm set accel decel time to 588 mSecs rotate clockvise for 3288 steps vait until finished pause for 588 mSecs set max speed at 188 rpm rotate anticlockwise for 1688 steps wait until finished pause for 288 mSecs end of loop end of program Figure 23 A program as displayed in Notepad ready for download to the Hyperdrive Kremford Pty Ltd Hyperdrive KFO86B User Manual 45 Comments are any text preceded by a semi colon Hyperdrive will ignore any characters from a semi colon until the end of the line The advantage of comments is the program itself is self documenting and the comments can be a considerable help when returning to a program at a later time Changes are made in the editor and saved and the Hyperdrive macro described above used to send it to the Hyperdrive Program Errors during a Download Syntax errors that occur in a program line when entered either interactively or via a download will produce a descriptive error message and the line will be ignored In an interactive mode you would obser
13. 500 mSecs 120 WaitFor wait till it gets there 130 Accel 1200 now use 1200 RPM Sec 2 140 SetRPM 489 go to destination speed takes 362 mSecs 150 Delay 5000 run for 5 secs 160 SetRPM 0 decel to stop takes 408 mSecs Kremford Pty Ltd Hyperdrive KFO86B User Manual 60 Monitor IM Arm a subsequent jump Program YES Interactive NO Parameter REQUIRED The Monitor input instruction has a number of parameters that define which input terminal pair INx the instruction applies to whether the terminal going from OFF to ON or vice versa initiates the action and the address to jump to when this particular event occurs The syntax is Monitor terminal pair transition destination line number The terminal pair parameter can have the values 1 through 4 and selects the corresponding IN1 thru IN4 input screw connector The transition can be either ON or H or OFF or L with ON or H standing for a transition from OFF to ON and OFF or L for a transition from ON to OFF In this case ON is a voltage greater the 4 volts between the input terminals As elsewhere the case does not matter The destination line number must be a valid program line number The line number is the program address to jump to when the particular test is true Unlike the Jumplf instruction the Monitor instruction arms the Hyperdrive to continuously watch the specified input terminals for the specified transition If the input sta
14. ERR EMEN 44 Program Errors during a Download eite DeL d P dade FEX d hein ivaweteses died 46 A Programming EnviFonMent sour il id IN cine otal sed nen EP deeds 46 Instruction DOSCIIPLIONS iiucasnassusssassRERRRRRSRRESSERSPRRSRRRRERARERRERRRRGRRERERXNRERERERSRARRRERSSSRSS 48 hr Pp 48 AMI ESA e T 48 i 4 4622 eer 49 a 50 A A Wh TTD NUNC EMI A 50 CrAddr MET c OE 51 ContWhen Ii a t dM Ud qi EV EUN adi MV Oud UMEN VERREM VIE dba DN ME Mni IE 51 DcyMode DM cri ada 52 Debounce OB cucuta PUPPI 52 DECEINOW DC ueucs sede i adeo piod Saudi x ku bd Saad P4 iR bdxdulte d va eae vba E dd RU LOIR rad DERE 53 DAEA AE D c VA A 9 53 Dir DR asada ri oda DU VA REO fra SE EA E ai 54 A A NE 54 Ena EN usa PT 55 ESC uu oa 55 EME a A AA o 55 GO GOJ 56 SO TONG sania saver ses A A AS 56 Halt Halt coria iii 57 Jumpin QN io IAN EA 57 LYSE LS ai A AAA AAA AA 58 LOS LID as dE AAA A AAA 59 Mojo TL o A a nn A E E 59 MOUSE AAA A 60 Monitor IM cionado o aida vias 61 MonSKkip TA ci ii EP 64 Kremford Pty Ltd Hyperdrive KF086B User Manual NECIOS HG Pee AAA 65 Miss sa Aij s MP A is 6
15. Hyperdrive number 7 has been running at 230 RPM and must now be stopped The controller simply loops on the NetOpen command until the correct response is received before proceeding gt NetOpen 7 SetRPM 0 NetOpen 7 Kremford Pty Ltd Hyperdrive KFO86B User Manual 77 NetOpen 7 NetOpen 7 gt If more than one Hyperdrive has been addressed by having received their respective NetOpen commands i e several units are open then subsequent instructions will be received and actioned by all the units so addressed While this may sometimes be very useful be aware that all units so addressed will respond with their normal prompt character sequence and due to slight time differences the controller will almost certainly receive corrupted prompt characters The single character control codes Esc Ctrl C and Ctrl X will affect ALL Hyperdrives in a networked set They cannot be addressed to a particular Hyperdrive Sending a Ctrl C character will therefore decelerate all Hyperdrives at their programmed rate Sending an Esc character will halt all Hyperdrives immediately Sending a Ctrl X will clear any Run from non volatile storage setting in all connected Hyperdrives Loading a Program in Addressed Mode After the NetOpen command a program can be downloaded in the normal way using the Macro command in TeraTerm or some other programmed method that waits for the gt prompt character after each
16. a multi drop RS422 or RS485 network that consists of several Hyperdrives you must first set its address Thereafter commands must be bracketed by NetOpen NetClose commands to address that unit see Connecting Hyperdrives in a Network A move once started can be stopped immediately by sending an Escape character ASCII ESC Baud Sets the serial baud 9600 or 57600 Sets the communications baud rate Power rate must be cycled before it becomes effective SetAddr Set the Hyperdrive O lt number lt 10 This command sets the address for this network address particular Hyperdrive The command must be given BEFORE the unit is connected into a multi drop network NetOpen Open command access SetAddr number Opens this addressed unit for exclusive to this unit command access NetClose Close command access SetAddr number Closes this addressed unit for any further to this unit commands ClrAddr Clear the ntwork SetAddr number Clears the unit address Unit subsequently address responds to all commands Programming Instructions The Mode column below includes a Y for those programming instructions that can also be given as interactive commands Some of these instructions have parameters The input output instructions have fairly complex parameters and these are explained in detail in Instruction Descriptions The figure 2 is actually 2 1 which is 2 147 483 647 In interactive mode all the motor setup ins
17. a time period in milliseconds debounce starting from when that input first changes period state during which any further state changes are ignored Only if the input still has the same state when the period ends will the input be flagged as in a new state The default debounce setting is zero Clear Clear the none Completely deletes the program in current program working memory Does not change any memory program in non volatile storage Mode Change the speed In STEP mode the motor will execute the speed mode or number of steps given in the Step command step starting when the Step command is given It will attempt to reach the given SetRPM speed if the accel decel profile allows In SPEED mode the SetRPM command will immediately accelerate the motor at the given rate to the given speed RPMCtrl Use an encoder O number 100 An encoder connected to input ports IN3 and to control the IN4 can be used to modify the current motor motor speed speed The parameter is the increment that is added or subtracted from the speed per encoder click Kremford Pty Ltd Hyperdrive KF086B User Manual 31 Getting Started This section will introduce the Hyperdrive commands and programming language that are detailed in Instruction Descriptions It starts with setting up some simple move profiles in the terminal program and concludes with developing programs in an external editor or directly in the Hyperdrive The text assumes y
18. current state of the specified input terminals If the state is TRUE then program flow will immediately jump to the given program address A TRUE state is where for example the instruction specifies ON and the between terminal voltage is already above 4 volts If the state is FALSE at the instant the instruction is executed the program simply moves on to the next instructions in sequence Subsequent changes of the specified terminals is ignored Examples This example demonstrates how the state of an input can change the speed at which the motor executes the next step profile Kremford Pty Ltd Hyperdrive KFO86B User Manual 57 300 310 320 330 340 350 JumpIf 2 0on 330 if IN2 is driven we can go fast SetRPM 20 go slowly goto 340 SetRPM 97 go quickly Step 1287 do the steps WaitFor List the current program Program Interactive Parameter Giving this command will list the current program if any Example NO YES NO gt list 100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 Dir Accel StepMode SetRPM Loop Step Wait Delay ELoop Dir StepMode Loop Step Wait Delay ELoop CW 100 250 1600 500 CCW 800 1000 List LS Note that any comments have been discarded and that loops are automatically indented Kremford Pty Ltd Hyperdrive KFO86B User Manual 58 Load LD Load a stored program Program NO Interactive YES
19. event none In a running program once the motor has started on a move the program will immediately step to the next instruction In most step mode cases the next program event must occur after the motor has completed the move The WaitFor instruction will pause the program flow until the motor completes the move In interactive and step mode the Hyperdrive will not print the gt character until the move is complete and so a controlling computer or PLC need not use this command but can wait for the gt character before sending the next instruction Delay Set a programmed delay O lt delay lt 2 This instruction will halt the program flow for the given number of milliseconds Loop Start a program loop 0 lt count lt 2 or blank When a Loop instruction is encountered the action taken depends on the parameter If the number is zero or blank the program will loop forever through the instructions between the Loop and ELoop If the number is non zero the program will decrement the count each time through the loop until the count reaches zero The program will then move on to the next instruction after the ELoop In both cases the loop can be interrupted by a Ctrl C or ESC keystroke ELoop End a program loop none Defines the end of a program loop where all instructions between the Loop and ELoop instructions will be included in the loop DecelNow Begin a dece
20. is necessary where the motor must rotate a specific number of degrees then step is the way to go It is also the recommended mode when the motor is using external switches to control the motor start and stop because setting the move at a number of steps that just exceed the switch controlled profile provides a safety stop if a switch should fail Dynamic Changes in a Running Program A common requirement when operating in speed mode is to make changes to the running motor s speed This presents no problem when the Hyperdrive is being controlled by a sequence of commands from a PC or PLC controller SetRPM commands are just sent as required to change the speed However the same requirement can occur when the Hyperdrive is executing an internal program the sequence of events for which the Hyperdrive is responsible does not change but a machine wide change could require some small change to the motor s operating speed An example would be a Hyperdrive controlling a label applicator The Hyperdrive program uses the associated label sensors to control the start run stop sequence where the motor speed is related to the overall conveyor system speeds As such the Hyperdrive runs autonomously with its parameters fixed However to allow for example some overall machine controller to change the entire machine operating speed the Hyperdrive program must also be changed to maintain synchronization The technique is to simply send the new instruction w
21. link shown in its normal operating position Remove and replace shorting both pins to enable a firmware upgrade Remove and replace like this when the upgrade is complete Ensure your body is at the same potential as the negative power lead Now lift the shorting link and replace it so the two H1 pins are shorted by the link Start the Hyper3Update program in Windows by clicking on Start All Programs Kremford and then Hyper3Update You should see a screen similar to Figure 26 ES Hyperdrive3 Firmware Update Hyerdrive3 Update File Name upd Figure 26 Initial HyperUpdate screen Click on the He p button to see a summary of this procedure Click the File button and navigate to the folder where you saved the firmware update The filename format is H3Update_x x x upd Here we will assume a dummy update file called H3Update_3 2 0 upd as a demonstration Click the Comms Port down arrow to select the serial port your Hyperdrive serial interface is using If you were using TeraTerm then in that program the port is listed under the Setup menu entry called Seria Port Make sure no other application is using that particular COM port The ready to start Hyper3Update screen should look similar to Figure 27 with the Comms Port box showing your serial port selection Kremford Pty Ltd Hyperdrive KFO86B User Manual 80 ES Hyperdrive3 Firmware Update Hyerdrive3 Update File Name upd C Kremford Updates H3Update_3 2 0 upd
22. pair of the initiating or master Hyperdrive to the nominated pair of input terminals on the slave Hyperdrive IN1 through IN4 At the given step position of the master the OUT1 line will change state which the slave can detect and act upon Note that this is a case where a power source will be required so that the OUT1 transistor turning on will cause the required 7 milliamps or so to flow through the given INx circuit This could be from the 5V source of either Hyperdrive Power PW Set motor torque Program YES Interactive YES Parameter REQUIRED This instruction defines the motor maximum torque by setting a limit to the current that will be delivered Legal values are 1 through 4 These values correspond to 20 50 75 and 100 of the Hyperdrive rated current of 3 5 amperes The current settings are therefore Parameter 3 5 amp Unit The actual peak and average currents will depend on the supply voltage and the resistance and inductance of the particular motor concerned Kremford Pty Ltd Hyperdrive KFO86B User Manual 67 Program PG Start loading a program Program NO Interactive YES Parameter NO This command s primary purpose is as the first line of a program downloaded from a PC or PLC The intent is to clear any existing program and switch the Hyperdrive to program mode However when entering a program by hand there is no real need for this command as text preceded by a line number is automatically assum
23. to the Upgrader folder on the distribution CDROM and run the Setup program This installs the Hyper3Update program on your PC A Firmware Update From time to time you should compare the firmware revision on your Hyperdrive with the latest as published on the Kremford web site The site includes details of what the update contains whether it includes new features or is just a bug fix If you decide to install the update the first step is to download it to a convenient folder on your PC Kremford recommend you create a folder specifically for Hyperdrive updates The following procedure assumes you have downloaded the update and the Hyperdrive is connected to your PC via the standard USB RS422 interface Power up the Hyperdrive and note the current revision number This has three parts the first number is the major release number the second a minor release number and the third a revision number Kremford Hyperdrive3 Revision 1 4 11 Ready 2 gt Power down the Hyperdrive and close the application you were using to communicate with the Hyperdrive TeraTerm Only the Hyper3Update program can be communicating with the Hyperdrive Kremford Pty Ltd Hyperdrive KF086B User Manual 79 Remove the two screws and lift off the Hyperdrive cover With the connectors facing you locate the H1 link on the left hand side of the PCB It should have a shorting link attached to just one of the two pins Figure 25 The H1 firmware upgrade
24. will assume that the motor must rotate 90 for each encoder click We will use a 1 8 motor and a StepMode of 4 so a single step is 0 11259 and a 90 rotation will be Suus A ang eS WE The example program is in the Programs folder on the CDROM but the relevant lines that query the two inputs and initiate the move in the required direction are 140 Loop start an endless loop 150 ContWhen 3 h wait until IN3 goes high A input IN3 has just changed state Assume INA is high 160 Dir CW set first direction option 170 JumpIf 4 h 190 jump if INA is high INA is low set opposite direction 180 dir CCW Now set steps speed etc as required 190 Steps 800 300 ContWhen 3 1 must ensure IN3 is low before cont 400 Eloop Using an Encoder for Speed Control There are applications where small changes in the machine over time or where there are small variations in the speed of associated motors or conveyors etc where the Hyperdrive controlled motor may need some fine speed adjustment Or perhaps an application simply requires a variable speed control where turning a knob to control the speed is all that is necessary The SetRPM instruction can be edited in the program to make fractional RPM changes but often the adjustment must be done in real time with the machine operating The RPMCtrl instruction provides for using an encoder with a knob mounted on the machine control panel that can set the RPM change per click to s
25. workmanship for a period of 1 year Within this warranty period Kremford Pty Ltd shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping charges prepaid within one year from date of invoice and which upon examination proves to be defective in material or workmanship and not caused by accident misuse neglect alteration improper installation or improper testing The provisions of the Standard Warranty are the sole obligations of Kremford Pty Ltd and exclude all other warranties expressed or implied In no event shall Kremford Pty Ltd be liable for incidental or consequential damages or for delay in performance of this warranty Installation Precautions The Hyperdrive maximum input voltage is 32 VDC Extreme care must be taken when connecting this voltage that the power is off while making the connection and that the correct polarity as described on the label is used If the installation also includes connecting mains voltage to the external power supply only a qualified electrician should carry out this work Kremford Pty Ltd Hyperdrive KF086B User Manual 6 About This Manual Audience This manual explains in detail the set up installation and operation of the KF086 Hyperdrive3 programmable and interactive stepper motor controller as manufactured by Kremford Pty Ltd It is written for the engineer responsible for incorporating the Hyperdrive3 into a
26. 5 Qut IO as 65 ue dic a 67 gesichtet AA A M 68 Potens PS ios a iia 68 A A dead nan vlsadenantauaabavendetasnuecananeees 69 Reset RS TL iii pibes 69 PoP MC te WEE Lc 70 pez n m 70 RUNUDP ARJ e 71 Save S Ve A A AA A 71 SetAddr HA surta 9 A A 72 SetRPM MS rc cT 72 UALS GS e 73 SIGBA ST uoce AP MdL ele p MN LIA I MS UE 74 StepMode CSM ERE M 74 SOD SP MEN UT 74 WaitFOr WT o irc 75 Connecting Hyperdrives in a Network ese eese eese enne nne nnne 76 Setting an RS422 RS485 Address ciciszdsubeixersbrs iE ROEERNERRUENEE EQ ERDUEE SUITES TER AENEA GRE 76 Commanding Individual HyperdrivesS ainia iia 76 Checking the Motor State while Networked ccccccccceeseesseesseeseesaeeseeeaeeeaneneneesenanes 77 Step P E 77 Speed MOUSE r sir A eX MI RR dux KESUKAAN ENE MLENFEQUA UA V da bate xS 77 Loading a Program in Addressed MO icecee eet eee aeterne ee eoe aer Iure area Eran n eta e ee eres 78 Firmware UNAS did UR RA RR HERR R 79 Upgrader INStAN AVON urea a aux FERE EVI E TAKCE EY ERE KEAREN RRA AAA 79 A Firmware Update v ooosiiue Qu Es cL Pia osea nuu ZRVcu Mau
27. 86B User Manual 47 Instruction Descriptions This section describes each instruction in detail A brief description of the command function is followed by its mnemonic with the 2 character equivalents from the original Hyperdrive listed in brackets Earlier programs are completely compatible and you can intermix the instruction sets if required The Program entry specifies whether the instruction can be used in a program The interactive entry specifies whether the instruction can be used as a direct command The Parameter entry specifies whether the instruction needs a parameter The required format of the parameter s is described in the text Unless stated otherwise the range of a numeric parameter is 1 through 2 147 483 647 These are followed by further description and possibly one or more examples Accel AD Set acceleration rate Program YES Interactive YES Parameter REQUIRED Sets the acceleration rate in RPM Sec This sets the rate and indirectly how long the motor will take to reach the final speed defined by the SetRPM speed setting command For example an Accel setting of 100 means the motor will increase its speed by 100 RPM every second and so with a speed setting of 500 RPM this means the motor will take 5 seconds to reach that speed An Accel setting of 1000 and an SetRPM setting of 150 means an acceleration event starting from stopped will reach the target speed in 150 0 15 seconds or 150 millis
28. A program is loaded into the Hyperdrive by preceding each program instruction by a line number This puts the Hyperdrive into a special mode where the instruction is not acted upon but stored in line number order in the controller s internal memory As an example type in the following program 2100 SetRPM 100 gt 110 Accel 400 2120 StepMode 4 2130 Step 3200 You can use the computer s BackSpace key if you make a mistake The Hyperdrive examines each line on entry for syntax errors if any occur and will print a corresponding error message However it cannot detect errors such as the wrong sense in Out instructions or wrong destination addresses Confirm you made no mistakes by commanding Hyperdrive to list the program contents using the List command In this case the terminal interaction would look like gt list 100 SetRPM 100 00 110 Accel 400 120 StepMode 4 130 Step 3200 gt You start a program running with the GO command Enter that now As you would expect the motor executes one full rotation You can use the Clear command to completely erase a current program You can replace or change an instruction by simply retyping the line with that line number By spacing program line numbers apart by some convenient increment like 10 as above it is then easy to insert new instructions between the original instructions if you later decide they are necessary Note that as mentioned earlier the maximum speed setting SetRPM is depend
29. Control Multiple Hyperdrives eeseeseeeseeeee nennen nnn nnn nnn nnn n nnne narrar na nn nnn 9 Acceleration Deceleration Profiles cesses eene nen nn 9 Input and Output ODORS cus qae uu FREE nani EEERE ORSINI EUR TNA 9 Hyperdrive Characteristics cintia 10 Absolute Maximum Ratings suicido Y D ERI Eu MEQUE EE aaa 10 Typical Motor Characteristics anna dd iaa 10 Terminal Program Characteristics y si A A A AA 10 Communication Connector siii RR PCR E XR UMAG uda Ec DR EN NXRDE Ra UNDER a 11 Power and Stepper Motor Connector vascos dia iaa dia 11 Input Output CONnMECEOM sitiada 12 Original Hyperdrive Compatibility 522a ern repa ae Enn e Rn hx Ve OxEEX Ia Xa EFE Ska aEE um cuba da xa gag ada 12 Installation Instructions vic A A 13 AA lt nn 13 Motor Connections eer In 13 RS422 Serial CODnnectlOTi icsrnicacaniia ida red A a ia 15 RS485 Serial Connection csssssseesesseeesee nenne nhan nn aas sns ene ene Ene aa nn n 17 Environment ec usse exui ie ux y e REN aa RESET aio 17 Input OULBUE PINS sano xx a RAE E JO XX ERA RE Y E RI NEN RRE 18 Input CONMGCHONS usce onu nR dona Rada doux KEXRE DARE cous aiid KU End do a Ra Fai 18 Using a Quadrature Encoder Lose o suu eo RE ean sant sven aan dp REA SERE NE FA RIA ETEN SANY 20 Using Inputs for Speed CODD zie paie ck adu ias hU Sg DU ir DOUG Mode RR RE Ud 21 Output Connections 21 Terminal Control iusssssssasssass REA aRRRRRRRRRRERR
30. EFA a 24 I II T e 24 Installing the TeraTerm Progr risa 24 Setup TOF the Serial POr NAAA 24 Command X t 26 Interactive State Conimarncds 2 5212 co iirarr teer do separe acRug AS Prae RA PY Saas pXae READS ii 26 Communication COmrpiaritds se acesuue rus o uk SEN nE ERA UNS REAVERNE au RA EE RR RARE TREN 27 Programming Instructors iuseei ode e su oan uS AR XN BER ES 3221 E ERE REN EE NARENERIXUE UNA RI ZAR NE DO EN EE 27 Getting Alai 32 Kremford Pty Ltd Hyperdrive KFO86B User Manual Interactive USE cai 32 RPM Steps Second and Radians Second Conversions cesses nennen 36 Setting the Stopped POW SM x 36 External Motor Conrad 37 Internal Program Control usina ai 37 ill n A mPPe e aA OENE SAE E OEE NEn Eaa Si 37 Changing Program HEIDI socteiada setos 39 Dynamic Changes in a Running PEODFaITI s eoer euis eror uen re na errata ed ied 40 Using a Quadrature Encoder aiii a sein rS A ina ciaa EUIS UE taf 2A 41 Using an Encoder for Speed Control ici iaa 41 Simulating d Step Direction Interface acordas dean ERA AA RARA A RRA 42 Saving the Progr Mica a 42 AUTO Restore and RUM crean aca un ga OI YR UR ADM CR 2L ARCA ER RUDI MIR ER DVD OR DURAM AED REIR ARNT 43 Using am External Text EOI ua Gi ad dira da 44 paisa al ERU eRAKESRNYERERENMN RAE UR TEREVEDAM SERE NE ERRESEN ERAR C E
31. GO command is automatically entered giving an opportunity to abort with a Ctrl C if necessary Note that the program need not actually do anything For example if the Hyperdrive always works in an interactive mode the saved program could just set some standard static settings such as the step speed mode power setting acceleration etc and then conclude Note also that a saved program allows a quick switch from a main program to an adjunct program to change a machine mode For example a Hyperdrive controlling a motor via a number of sensors in a fixed program would normally have the program saved in non volatile storage so it is automatically restored on power up The Hyperdrive would then respond as required when the machine starts Kremford Pty Ltd Hyperdrive KF086B User Manual 43 However perhaps from time to time the normal machine operation is halted and a mechanical setup requires the Hyperdrive motor combination to provide a different functionality during this operation Preceding the downloaded replacement program with a Program or Clear command will clear any existing Hyperdrive program and replace it with the new Once the setup is completed the original saved program can be instantly restored with a Load command Using an External Text Editor The Hyperdrive does not store comments and on entry will ignore any characters in a line after a character Thus if you develop a program using an external text editor on a PC
32. Mode DM Set decay mode Program YES Interactive YES Parameter REQUIRED Sets the output bridge decay recirculation mode The decay mode sets how the controller manages the recirculating currents in the internal driver circuit during each off cycle period The settings are 1 2 3 and 4 and these settings correspond to decay ratios of 0 25 50 and 100 respectively The default setting is mode 2 and in many applications this will be sufficient For high power and high speed situations try setting 3 or 4 As the decay settings can be adjusted the current discharge pattern can be modified according to motor load and speed By choosing the best mix of decay modes the PWM ripple that appears on the sinusoidal microstepping output can be minimised reducing both audible noise and vibration Example gt dcymode 3 gt Debounce DB Set an input debounce delay Program TES Interactive NO Parameter REQUIRED The Debounce input instruction has a number of parameters that define which input INx pin the instruction applies to and a number between 0 and 50 that specifies the debounce delay time for that input The delay time is expressed in milliseconds The syntax is Debounce terminal pair delay time For the KF086 the pin number can be 1 through 4 The default value is O milliseconds the typical setting for an electronic input device When the device connected to one of these inputs is a mechanical swit
33. ON or H or OFF or L with ON or H meaning a voltage above 4 volts between the INx and INx terminals As elsewhere the case does not matter On encountering a ContWhen instruction the Hyperdrive will select and examine the current state of the specified input pin If the state is TRUE then the program will continue immediately A TRUE state is where for example the instruction specifies on and the between terminal voltage is already above 4 volts If the state is FALSE the program will halt at that instruction entering an internal loop where it continuously checks for the required state becoming true effectively pausing the program at this point Example This example demonstrates the case where the transition comes from an external sensor that signals an event to start the motor If the sensor produces a transition which drives current through the respective input on the event and it was connected to pin IN1 the section of the program concerned with this event would look like 270 ContWhen 1 on wait here until input 1 is on 280 Step 3200 start the motor on a 3200 step profile Kremford Pty Ltd Hyperdrive KFO86B User Manual 51 The program will examine the ContWhen instruction and check if IN1 is ON If not it will pause waiting for this event When IN1 does turn ON or if it was ON already the program will step to the next instruction The Step instruction will immediately start the motor running a 3200 step profile Dcy
34. Parameter NO Giving this command will load a program previously saved to non volatile storage with the Save command back into working memory It will overwrite any existing program It produces an error message if there is no saved program Loop LP Start a program loop Program YES Interactive NO Parameter OPTIONAL This instruction flags the start of a program loop There must be a corresponding end loop instruction ELoop Loops cannot be nested If a parameter is included it will specify the number of times the loop will be repeated If there is no parameter or it is zero the loop will execute forever Almost every program where the motor operations are repetitive will include a loop Example 100 SetRPM 300 300 RPM 110 Loop loop forever 120 Dir cw clockwise 130 Step 3200 one revolution 140 WaitFor So Ne Ne 08 150 Delay 200 200 mSec pause 160 Dir ccw anti clockwise 170 Step 3200 one revolution 180 WaitFor 190 Delay 200 200 mSec pause 200 ELoop 210 End Here the motor will spin backwards and forwards one revolution forever Kremford Pty Ltd Hyperdrive KFO86B User Manual 59 Mode MD Set motor speed control mode Program YES Interactive YES Parameter YES The Hyperdrive has two speed control modes Step Control Mode This is the default mode In this mode the motor will not move until it receives a Step command that specifies the number of steps to move Previous commands such as A
35. RPM Note that some small stepper motors may not have the magnetic integrity required to respond to the Hyperdrive default microstep setting of one sixteenth of a step If the motor moves an unexpected number of steps or with varying angles try moving to step mode 3 or 2 Pressing the Enter key without entering any text will repeat a previous Step command if no other commands have intervened The previously commanded move profile will be repeated Try it now press the Enter key Now we will speed up the acceleration time Enter the following commands Accel 600 Step 3200 Note the much faster acceleration Try the following command sequence SetRPM 90 Accel 2000 Step 3200 If the motor is capable this move accelerates to 90 RPM in around 45 milliseconds A speed of 90 RPM is 90 60 1 5 revolution per second There is a special keystroke you can use if a move profile must be immediately halted Hit the Esc key and the move will be immediately aborted bringing the motor to an abrupt stop This in itself may cause mechanical damage when the motor is mounted in a machine so keep this keystroke for emergency situations So far we have been working at the default microstep setting of 4 or a one sixteenth microstep In many applications this will be the standard setting However the Hyperdrive has step settings of 3 2 and 1 so we will explore these now Enter the commands StepMode 3 Accel 500 Step 3200 Remembe
36. Se 200 ContWhen 1 on clear the jump while ram retracts 210 goto 240 220 halt arrive here if emergency during extend 230 waitfor 240 baktrak 150 250 waitfor 260 delay 2000 270 eloop ensure stopped reverse back slower to start wait till done pause at home Ne Ne Ne Ne Se Kremford Pty Ltd Hyperdrive KFO86B User Manual 49 The first ContWhen instruction will prevent the program from even starting if the IN1 is off If on the Dir sets the ram extend direction The Monitor instruction arms the IN1 line to cause a program jump if the line switches to off during the time the ram is extending The Step instruction starts the ram on its way out with the WaitFor instruction pausing the program during the travel In normal operation there is a 200 mSec pause once fully extended The next instruction is a ContWhen and this clears the previous Monitor and as a bonus ensures the IN1 line is still on The program then skips down to the BakTrak instruction which sets the new speed picks up the completed step count from the previous Step command ie the 320000 reverses the motor and starts the normal retraction phase Now any change on the IN1 line will be ignored during retraction However an on to off transition on the IN1 line while the ram is extending will immediately jump to line 220 causing an immediate halt The following BakTrak instruction causes the ram to immediately start back to its proper parked position Baud S
37. TTxResizeMenu VT Window size can be chanaed from oresetl__ 0 1 MB V Current selection requires at least 5 5 MB of disk space lt Back Next gt Cancel Figure 32 TeraTerm optional accessories and programs The next dialog allows a selection from three possible languages Select a suitable language and click the Next button ie Setup Tera Term Select Language Which language shoud be used Select the language of application s menu and dialog then click Next 9 English O Japanese O German lt Back Nest Cancel The next dialog selects the default shortcut folder Click the Next button Kremford Pty Ltd Hyperdrive KFO86B User Manual 84 i Setup Tera Term Select Start Menu Folder Ly Where should Setup place the program s shortcuts s Setup will create the program s shortcuts in the following Start Menu folder To continue click Next If you would like to select a different folder click Browse Browse C Dont create a Start Menu folder lt Back J _nex gt _ Cancel The next dialog shown in Figure 33 allows you to select how you can access start this program Typically a desktop icon is adequate as shown but select others as required Click the Next button to continue Select Additional Tasks Which additional tasks should be performed Select the additional tasks you would ke Setup to perform while instaling Tera Term then click Next Create Tera Tem shortcu
38. They are configured as high speed quadrature inputs after receiving this command Only power cycling or a Reset command will return these inputs to their normal function Figure 15 shows the typical connection diagram Each click of an encoder or some other quadrature device either clockwise or counter clockwise will respectively increase or decrease the current motor speed If your encoder seems to operate in the opposite sense simply swap the A and B wires The instruction requires a parameter that specifies the required speed change increment in RPM The parameter can be a floating point number and so can provide very fine speed control The parameter is limited to a maximum increment of 100 RPM In SPEED mode each encoder click is the same as giving a SetRPM command Note that if the motor is stopped it will immediately start to rotate at the increment speed For example after giving the commands gt Accel 1000 gt Mode speed RMPCtrl 10 The first increase click on the encoder will start the motor rotating at 10 RPM Subsequent increase clicks will run the motor at 20 30 40 RPM etc You can use a SetRPM command to set an initial running speed Subsequent encoder clicks will modify this speed by the given RPMCtrl parameter with the encoder direction specifying whether the speed increases or decreases You can use RPMCtrl in STEP mode and the increments or decrements made with the encoder will take effect from the st
39. This will exit the program mode decelerate the motor to a stop at the Accel setting and return to the interactive mode If the move itself must be aborted immediately for safety reasons use the Esc keystroke Without changing anything from the previous program enter the following lines 100 Loop 200 Delay 100 210 ELoop Now when you type GO the motor will execute these two movements over and over Use a Ctrl C to stop the program and change the loop variable to five 100 Loop 5 Now start the program again It will execute those two movements a total of five times Changing Program Flow You can change the program flow with the GoTo linenumber instruction and the JumpIf input instruction Go to destinations are specified as the line number of the required destination Here is an example that changes the number of steps based on whether IN1 is either ON or OFF Remember to clear any previous program by first typing Clear 100 SetRPM 100 100 RPM 110 Accel 500 500 RPM Sec 2 120 Loop 130 JumpIf 1 on 160 jump if IN1 is on 140 Step 1600 180 degrees in sm4 150 goto 170 160 Step 3200 360 degrees in sm4 170 WaitFor 180 Delay 1500 1 5 secs delay 190 ELoop Once the loop is entered at line 130 the program examines the state of input 1 If it is off no voltage between terminals IN1 and IN1 program flow continues to the 1600 step instruction which immediately starts the motor on its profile Well before this concludes
40. a relate to points in the set motor profile An action can be N programmed to occur on a particular input being turned P sos Te dz aon on or off an input event The action can be to pause the VI program waiting on that event or branch to some other part of the program on that event The resulting action could initiate a deceleration event stop the motor instantly or take some other action entirely An output can be programmed to turn on or off at any point within the program or after a specified number of steps Two of the inputs may be configured to work with a standard encoder to provide an adjustable speed control The speed control steps may be specified as fractions of an RPM Kremford Pty Ltd Hyperdrive KF086B User Manual 9 Hyperdrive Characteristics Absolute Maximum Ratings Supply voltage 32 volts DC Motor peak current 3 5 amps peak Ambient temperature 10 C to 55 C Typical Motor Characteristics Operating voltage 12 28 volts DC Motor type Bipolar two phase 20 0 7 amp Motor power settings and 50 1 75 amp corresponding maximum peak currents 75 2 625 amp 100 3 5 amp d Microsteps 1 1 is the motor basic step 1527 angle 1 8 3L 331 Decay mode settings 0 none 25 decay 50 decay 100 decay Step angle Set to match motor Acceleration Motor Load inertia dependant Programmable Mmaximum 30 000 RPM Sec Minimu
41. a directory 90 Figure 38 The Kremford userDefineLang xml file copied from the CDROM to the Notepad ADDIIC ALON Cat directory ssrdsn poena vate hne aav vat b aba un adapte warn di a dus ta io x 90 Kremford Pty Ltd Hyperdrive KF086B User Manual 5 General Information Important User Information The products and application data described in this manual are useful in a wide variety of different applications However the user and others responsible for applying these product described herein are responsible for determining their acceptability for each application While every effort has been made to provide accurate information within this manual Kremford Pty Ltd assumes no responsibility for the application or the completeness of the information contained herein UNDER NO CIRCUMSTANCES WILL KREMFORD PTY LTD BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEQUENTIAL DAMAGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN No patent liability is assumed by Kremford Pty Ltd with respect to the use of information circuits equipment or software described in this manual The information contained within this manual is subject to change without notice Standard Warranty Kremford Pty Ltd warrants that all equipment manufactured by it will be free from defects under normal use in materials and
42. ady for download to the Hyperdrive 45 Running both a text editor Notepad and a terminal program TeraTerm in a programming SESSION ixedd consen ri ia pM EE uid 47 The H1 firmware upgrade link shown in its normal operating position Remove and replace shorting both pins to enable a firmware upgrade Remove and replace like this when the upgrade is complete cui O 80 Initial HyperUpdate screen cseesseeseeeseeeee nennen nennen nnne nna nana nnn 80 Hyper3Update ready to execute a firmware update eese 81 The Hyper3Update program showing an update in progress sseesse 81 Tera lent Welcome SEEN viii 83 TeraTerm License Acceptance dialog isse decor caricia tdci coo 83 TeraTerm installation location sacos dosiacoeda rstarriscnpar resis ven erbe laa 84 TeraTerm optional accessories and programs ssssssseee e 84 Figure 32 Kremford Pty Ltd Hyperdrive KF086B User Manual Figure 33 TeraTerm program NIAKSs sess ca aa 85 Figure 34 TeraTerm Serial port setup dialog is osa va aa rac sa xe ra UE n ra a TCR e nexa ea pd 86 Figure 35 Setting TeraTerm for local echo Tode ohio se Ree Ea rina ern Lx nre den EK NR DER 86 Figure 36 Accessing the Notepad Application Data section of Documents and Settings for the Current Ser 2 a utes sedia o XR RUEP SS Qi EZ evan Faltas riw de EAERAME KNIE Al aun 90 Figure 37 Default contents of the Hyperdrive Application Dat
43. am must first be saved before giving the RunUp auto start command which will automatically execute a Load and then a Go command when power is restored Kremford Pty Ltd Hyperdrive KFO86B User Manual 71 SetAddr HA Set Hyperdrive network address Program NO Interactive YES Parameter REQUIRED The parameter can have the value 1 through 9 The instruction assigns that number to this Hyperdrive to work in a network of Hyperdrives where all units share the same RS422 RS485 lines see Connecting Hyperdrives in a Network The number for each Hyperdrive must be unique on the network This command must be given individually to each unit BEFORE it is connected into the network The address is included in the output from a State command The address is automatically saved to non volatile storage and is therefore reset automatically should power be lost Example gt SetAddr 5 gt NetOpen 5 gt Step 1200 gt SetRPM MS Set motor maximum speed Program YES Interactive YES Parameter REQUIRED This instruction sets the steady state speed at which the motor will run It is specified in revolutions per minute RPM In step mode Mode STEP a subsequent Step command is required to start the motor moving Note that the number of steps specified in the Step movement profile overrides all other settings and so a limited number of steps and or a long acceleration time may not allow this speed to be reached When the Hyperdr
44. ange state from low to high and will jump when that occurs to another instruction that checks the state of Channel B the result is that the program now knows both that an encoder click event occurred and the direction the encoder was rotated The program can then execute some action based on that knowledge and return to monitoring Channel A when it is complete A program example is given later that uses this technique to rotate a motor a given number of degrees in the correct direction for every click of the encoder in effect the motor will mimic the encoder rotation First rising edge HIGH LOW Channel A leads HIGH Channel B Direction 9 HIGH LOW Channel A HIGH LOW Channel B leads First rising edge D Direction Figure 14 The quadrature output waveforms from a two switch rotary mechanical encoder Kremford Pty Ltd Hyperdrive KFO86B User Manual 20 The typical wiring diagram for using a quadrature encoder is shown in Figure 15 While the A and B lines could be connected to any combination of the four inputs IN3 and IN4 have a special relationship with encoders see next section so Figure 15 is the recommended encoder connection Hyperdrive A SGND IN1 6 Zp IN1 Standard quadrature rotary encoder IN3 IN3 SVt IN4 IN4 OUT1 L 4 8 Figure 15 Quadrature encoder connected to the Hyperdrive to provide both eve
45. art of the next Step instruction Changes made while the motor is actually executing a Step command are queued but ignored They only take effect the next time the Step instruction is executed RS485 Switch Between RS422 and RS485 Program NO Interactive YES Parameter YES Provides for selection of either RS422 4 wire or RS485 2 wire serial communication By default the Hyperdrive is in RS422 mode when shipped The parameter determines the switch direction To switch from RS422 to RS485 the command is Kremford Pty Ltd Hyperdrive KFO86B User Manual 70 gt RS485 1 To switch from RS485 to RS422 the command is gt RS485 0 Note that in most cases the current setting RS422 or RS485 will need to match the current serial adapter Appendix 3 Changing the Communications Mode describes how a switch is made without using an adapter RunUp AR Set Auto Load and Run Program NO Interactive YES Parameter NO Configures the Hyperdrive to auto load and run a stored program the next time it is powered up The stored program must have been stored in non volatile storage by a previous Save command Example gt save SAVE Saved gt RunUp gt Save Save Save a program Program YES Interactive YES Parameter NO Use this command to write the current program to the Hyperdrive non volatile storage The program will then be available to reload via the Load command after power has been removed A progr
46. ation addresses must exist before the program will run Example 180 Step 1265 190 WaitFor 200 Delay 100 210 goto 270 270 SetRPM 1000 Kremford Pty Ltd Hyperdrive KFO86B User Manual 56 Halt HL Halt immediately Program YES Interactive NO Parameter NO Can be used in a program to have the same effect as the Esc keystroke the motor will stop instantly Example 170 Halt arrive here for emergency stop 180 Out 4 L turn on warning light 190 goto 190 loop forever JumpIf IJ Jump on input event Program YES Interactive NO Parameter REQUIRED The JumplIf input instruction has a number of parameters that define which input INx terminals the instruction applies to whether the input turning on or turning off initiates the action and the address to jump to when this particular event occurs The syntax is JumpIf terminal pair state destination line number The terminal pair parameter can have the values 1 through 4 and selects the corresponding IN1 thru IN4 input screw connectors The state can be either ON or H or OFF or L with ON or H meaning a voltage above 4 volts between the INx and INx terminals As elsewhere the case does not matter The destination line number must be a valid program line number The line number is the program address to jump to when the particular test is true On encountering a JumpIf instruction the Hyperdrive will select and examine the
47. attached to just one of the two pins The procedure requires first powering up the Hyperdrive and within 10 seconds slipping the shorting link over both H1 pins You might like to practise getting the link in place a few times before actually applying power When you are confident move on to the next step Power up the Hyperdrive Within a few seconds short the H1 link Shortly after the heatbeat LED should switch on and stay on When the LED turns off the protocol switch has been made Power down the Hyperdrive Remove the shorting link and replace it on just one of the H1 pins for storage 10 Connect the new interface and power up the Hyperdrive It will start in the opposite mode to what it was before this procedure 11 You can repeat this procedure any number of times Each time the communication protocol will alternate between RS422 and RS485 Notes The internal program starts a background task that runs for 10 seconds every time power is applied During that delay the H1 link is examined every second When it finds it shorted it will turn on the LED After the delay concludes the H1 link is examined again and if still shorted the current protocol mode is swapped If the LED was on it will be turned off Kremford Pty Ltd Hyperdrive KF086B User Manual 91
48. blem except where the unit runs continuously at Power setting 4 and in this case there should be adequate ventilation provided If possible mount the unit on a metal frame Ensure the heatsink fins are not enclosed The best mounting is on a vertical metal surface with the heatsink on the top side The Hyperdrive will shut itself down automatically should the controller internal chip temperature approach its maximum operating temperature rating typically 150 C Note that this will not protect the unit from a rapid temperature rise associated with abnormal operation Kremford Pty Ltd Hyperdrive KF086B User Manual 17 If you use Power setting 4 with StepMode setting 1 and a low speed ensure the speed chosen does not include the motor s self resonant speed obtainable from the manufacturer s speed torque curve If temperature rise may be a problem monitor the heatsink temperature You should choose parameters that limit this temperature to 65 C maximum The unit is not insect or vermin proof This should be kept in mind during installation Input Output Pins There are six optically isolated inputs and outputs that can be controlled by a running program For the KF086B 6 version of the Hyperdrive these are configured as four inputs and two outputs The four input terminals are marked as IN1 IN2 IN3 and IN4 The two output terminals are marked OUT1 and OUT2 see Figure 1 Each input terminal connects to the input of a constant curr
49. ccel SetRPM StepMode etc will govern how the given number of steps is executed and its acceleration rate final speed etc gt Mode step Use this mode when the motor has a well defined profile or mechanical relationship with the item it is driving An example here would be where the motor directly drives a screw jack and there are a known number of steps required for its travel When the Hyperdrive receives a Step command the motor starts rotating to fulfil the given profile In interactive mode the Hyperdrive will accept no further commands until the given number of steps have been completed In program mode use the WaitFor command to pause the program until the step profile concludes or the Delay command to pause the program Speed Control Mode Use this mode where the motor typically runs continuously gt Mode speed The motor will begin to move on receipt of a SetRPM command It will accelerate based on the Accel specified rate using the current Power StepMode etc settings until it reaches the given speed It will then continue to run at this new speed until some other speed control is given The transition between the old and new speeds is linear Commands allowed between SetRPM commands are Accel Delay DecelNow and the Out commands It is thus easy to create specific speed profiles where this is required Here is a program fragment 100 Accel 110 Specify slow accelerate to pre speed 110 SetRPM 55 go to pre speed takes
50. ch the possibility exists that when it transitions from on to off or vice versa the switch contacts will bounce causing not just one clean transition but several It is possible the Hyperdrive would detect these multiple transitions and depending on the program misinterpret what has occurred So whenever the input device is a mechanical switch you should ensure this delay is set and valid for that particular switch In most cases a value around 8 mSec Kremford Pty Ltd Hyperdrive KFO86B User Manual 52 should be sufficient but the only way to be sure is an analysis of the switch line with an oscilloscope Conversely if the input device is an electronic device then its output during a transition is likely to be a single clean transition Most optical and magnetic sensors are of this type and the default setting of O mSecs is correct for these sensors The setting will be the minimum delay time Due to synchronization with the internal clock the delay can be up to 1 millisecond longer For example a set debounce delay of 5 milliseconds could be up to 6 milliseconds long DecelNow DC Force Immediate deceleration Program YES Interactive NO Parameter NO When encountered in a running program this instruction will force an immediate deceleration until stopped at the current Accel deceleration rate The program pauses until the motor has stopped Delay DL Set delay in milliseconds Program YES Interactive NO Param
51. d 120 ohm RS422 RS485 receiver terminating resistor Figure 7 shows the terminating link on the Hyperdrive printed circuit board The link is marked RX and consists of two pins and a shorting link Hyperdrives are shipped with this link connected as shown in the figure If the Hyperdrive is part of a multi drop RS422 RS485 network the link should be removed from all units except the one at the opposite end of the network from the driving computer Figure 7 The RS422 terminating link The TX and TX names refer to the Hyperdrive RS422 transmitter while the RX and RX names refer to its receiver The diagram in Figure 8 shows the internal connections It is important to note that the connection names on the label are from the Hyperdrive s point of view Figure 8 This shows the internal circuitry of the Hyperdrive RS422 interface It is important to ensure the external connections match this figure You must confirm whether the external network cabling is labelled from either the network driver or master s point of view or else from the point of view of the various devices slaves on the network Where the labelling is from the network driver s point of view then the network TX TX connections must go to the Hyperdrive RX RX connectors and the network RX RX wires to the Hyperdrive TX TX connectors Kremford Pty Ltd Hyperdrive KFO86B User Manual 16 RS485 Serial Connection The Hyperdrive is shipped with the
52. d acd an 79 Messages uuuuuuuuuuuuuuuuuRRRRR RR RRRRGRRRRERRRRRRRRSRRRRSRZSRERERSREZRERRSEREERERSRSSERERERSSRRSRERRRRRSS 82 Appendix 1 Installing the TeraTerm Terminal Program eere 83 Appendix 2 Installing the Notepad Program eere nennen 88 Configure Notepad for the Hyperdrive Programming Language sssesese 89 Appendix 3 Changing the Communications Mode eere nnn 91 A RM 91 NOMS iio aiii 91 Kremford Pty Ltd Hyperdrive KFO86B User Manual Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 to ensure Figure 9 interface Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 direction input Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 PC based Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Table of Figures Connector blocks with nomenclature ws usque tr i eo bna ae koe au REENEN REA E EY EXE EENEREE 11 Power Supply CONNSCUONS xessaxxaxxeskkadddanikidus ad daga EXE dE ARE FC RAS 13 Bipolar stepper motor ConnectionS sms 14 Correct connection for a Unipolar motor that will develop rated torque at speed 14 An 8 lead stepper motor connected for bipolar USe ssssssssrrrrrrrnrssrrnnrrrrrrsns 15 RS422 connector and cable supplied with the Hyperdrive
53. d back to the power supply during the deceleration event The power supply must be rated to both withstand and absorb this energy B1 B2 DC power supply with a current and o VSt voltage rating that matches the bipolar VS motor being used A2 Al Figure 2 Power supply connections The DC power supply is connected to the screw terminals marked VS and VS see Figure 2 The VS can connect to a grounded wire but it is not connected to the Hyperdrive frame The PCB mounting between the RS422 and power motor connectors can be used to ground the Hyperdrive frame if required The voltage range is typically from 12 to 24 volts Ensure the positive wire goes to the VS terminal The controller has no internal reverse polarity protection Connecting a reverse polarity supply will almost certainly damage the Hyperdrive Motor Connections The Hyperdrive can control bipolar two phase motors The motor will therefore have four leads Connect the motor using the following table and Figure 3 Kremford Pty Ltd Hyperdrive KFO86B User Manual 13 A2 Field 2 wire 2 Use a multimeter or the manufacturer s documentation to select the two lead pairs associated with each field Keep these leads as short as possible Ensure the cable used is rated for at least 10 Amps to minimise voltage drop If possible use 4 wire shielded cable with the shield connected to a frame ground at the Hyperdrive end NOT the SGND terminal
54. deceleration profiles are both the same The acceleration profile is linear up to about 99 of the set speed and then smoothly transitions to the set speed in both step and speed modes SetRPM Set the maximum speed in RPM See Typical Motor Characteristics The speed setting for a particular step mode cannot exceed the maximums listed in the Motor Characteristics table In step mode whether the motor will reach this speed depends on the number of steps and the acceleration rate Where the given speed cannot be reached in time the acceleration rate will smoothly transition to a deceleration so the move always contains exactly the given steps Power Set the power mode 1thru4 The Hyperdrive has four power or torque settings In effect they are current limit settings referenced to the maximum current of 3 5 Amps 1 20 0 7 amps 2 50 1 75 amps 3 75 2 625 amps 4 100 3 5 amps These are peak current limit values and the average current will depend on the motor coil resistance supply voltage and speed Kremford Pty Ltd Hyperdrive KFO86B User Manual 28 StepMode Set the step mode 1 thru 4 The four settings will divide the motor s basic step angle by these values 1 1 DE 2 3z 8 4 16 For example a 1 8 motor on setting 3 will have a step angle of 0 225 or 1600 steps per revolution Note that setting a particular step mode may limit the maximum speed Spe
55. design as well as the engineer or technician responsible for its actual installation In this manual the name Hyperdrive should be read as Hyperdrive3 Kremford Pty Ltd Hyperdrive KF086B User Manual 7 Description The Hyperdrive is a programmable stepper motor controller It combines in the one device a Programmable Logic Controller PLC and a Stepper Motor Controller SMC The built in PLC provides a set of program commands and instructions a user can use to define and program the parameters of a particular motor movement profile Four inputs can be used to monitor events occurring during a profile and alter the profile as required Two outputs can be used to affect external events based on the profile A motor move profile may consist 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 or the profile can be a continuous set of speed settings with various accelerations between settings Features e Programmable microstepping digital stepping motor controller e Operates from 12 volts to 32 VDC e Drives bipolar stepper motors up to 3 5 amperes peak e Acceleration Deceleration specified in RPM Sec e Programmable speed expressed in RPM e Movement is specified as either a number of steps or a specific speed e Includes an RS422 serial interface for interactive and programming control e Four power or torque settings e Fou
56. e Notepad for the Hyperdrive Programming Language Notepad can be used quite satisfactorily as it is installed However Kremford have included on the CDROM a Notepad Language File that enables syntax highlighting for Hyperdrive programs where commands and text are highlighted in colour Follow these steps to install this file Click on Start gt Run In the Open text box type SAPPDATA Notepad as shown in Figure 36 and click the OK button Kremford Pty Ltd Hyperdrive KFO86B User Manual 89 Type the name of a program Folder document or Internet resource and Windows will open it For you APPDATA Notepad Cancel Browse Figure 36 Accessing the Notepad Application Data section of Documents and Settings for the Current User This will display the contents of the Notepad Application Data section of the Documents and Settings directory for the current user and depending on your version of Windows should look similar to Figure 37 amp C Documents and Settings Ron WORK pplication DataWotepad File Edit View Favorites Tools Help a 3 J Peh odes m ME Foker sync Address E C Documents and SettingslRon WORK Application DatalNotepadH i y Go Name Type Date Modified File and Folder Tasks 1 plugins File Folder 27 02 2010 3 03 PM T Compare ini Configuration Settings 27 02 2010 3 04 PM 2 config xml XML Document 27 02 2010 3 04 PM contextMenu xml XML Document 14 09 2009 11 58 AM 2 se
57. e controller shows two Hyperdrives that were previously assigned the addresses 3 and 5 and are now connected into a network It shows the two motors being setup and then commanded to run at their respective operating speeds Note how each set of commands are bracketed by their respective NetOpen NetClose command pairs Prepare both motors NetOpen 3 select motor A Mode SPEED speed mode Accel 600 accel rate StepMode 2 step mode 2 NetClose 3 deselect NetOpen 5 select motor B Mode SPEED speed mode Accel 1500 accel rate StepMode 4 NetClose 5 deselect Now start both motors NetOpen 3 Select motor A SetRPM 320 start it running NetClose 3 NetOpen 5 select motor B SetRPM 60 start it running NetClose 5 Kremford Pty Ltd Hyperdrive KFO86B User Manual 76 Checking the Motor State while Networked Step Mode The Step command works somewhat differently when in network mode The gt prompt character normally sent when the motor concludes the requested number of steps is now only sent if that Hyperdrive is selected So to observe the end of a Step move that particular unit must have been selected with a NetOpen command To provide for the situation where several Hyperdrives are executing move profiles at the same time and the computer or PLC controlling the network needs to know the state of its current profile the response to a NetOpen command differs depending on whether the motor is running or not
58. e is in speed mode but only when the speed is less than 10 rpm This prevents accidental reversals at high speeds which could be very dangerous ELoop EL End of program loop Program YES Interactive NO Parameter NO Marks the end of a program loop Example gt loop gt eloop Kremford Pty Ltd Hyperdrive KFO86B User Manual 54 End EN End of program Program YES Interactive NO Parameter NO Marks the end of the program Not strictly necessary except when programs will be downloaded under computer control or without supervision see Program Errors during a Download When a running program gets to this instruction the Hyperdrive will automatically return to the Interactive mode ESC The ESC escape command Program NO Interactive YES Parameter NO The Hyperdrive will immediately stop sending step pulses if it receives an escape character ESC during the execution of a Step profile in STEP mode and at any time the motor is rotating in SPEED mode The power setting Power will remain at its run setting for several milliseconds after the last step pulse before reverting to the stop power setting StopPwr Note When the step pulses stop whether the motor immediately decelerates to a stop will depend entirely on the inertia of the motor and its load and to some extent on the power setting The Hyperdrive has no way of recording any possible motor overrun steps Note As a safety measure the m
59. e speed case See the Mode command Kremford Pty Ltd Hyperdrive KFO86B User Manual 75 Connecting Hyperdrives in a Network Up to nine Hyperdrives may be connected in a common serial network either 4 wire RS422 or 2 wire RS485 Each Hyperdrive is individually given an address and connected into the network From then on all commands for a particular Hyperdrive must be specifically addressed to that device Setting an RS422 RS485 Address Before connecting a Hyperdrive into a networked multi unit RS422 RS485 system you must set each controller s individual address This is a number between 1 and 9 and is used by the controlling PC or PLC to select a particular Hyperdrive Connect the unit to the PC as for individual use Program and test the system as per normal with that unit connected to a unique driver Use the SetAddr command to assign the unit s address once everything is satisfactory It can then be connected into the network Once addressed you can see the address listed in the State command output Once connected instructions for each Hyperdrive in the network must be bracketed by the NetOpen NetClose commands to open then close access to that unit Unless the NetOpen command is received any and all instructions will be ignored After receiving its respective NetOpen command that Hyperdrive will respond to instructions as normal Commanding Individual Hyperdrives The following example command sequence from a machin
60. ead stepper motor connected for bipolar use Kremford Pty Ltd can offer advice with connecting stepper motors with unusual lead configurations to the Hyperdrive RS422 Serial Connection An RS422 serial connection provides a programming and control connection to a PC or PLC The communication cable can be up to 300 metres long Standard computer io Category 5 cable is satisfactory in most cases Some installations may require a flexible or shielded cable or n both RC If necessary several Hyperdrive controllers may be RX connected to the one controlling computer see Connecting Hyper drives in a Networ k R8422 Connections The Hyperdrive label names the five pins in the communications connector Shown here are the terminal connections for the 4 wire RS422 system The connection can be from a computer to one Hyperdrive or to several Hyperdrives in a multi drop network The COM green wire is typically a ground shield Packaged with each Hyperdrive is a matching plug and 500mm lead for the RS422 socket see Figure 6 This can be used to terminate a standard 4 wire USB RS422 adapter Figure 6 RS422 connector and cable supplied with the Hyperdrive Kremford Pty Ltd Hyperdrive KFO86B User Manual 15 Warning Do not connect the RS422 COM screw terminal to the SGND screw terminal This could give rise to the possibility of ground loops Each Hyperdrive includes the standar
61. ebounce delay to provide adequate debounce times for external switches This can be zero for electronic inputs and up to 50 mSecs for worn mechanical switches This sets the time from when the Hyperdrive first senses a level change until it acts upon that change Only if the input is in the same state at the end of the debounce delay as it was at the start will the input state be considered TRUE The circuit shown in Figure 11 is recommended for situations where the sensor is a simple mechanical switch such as a limit or positioning switch with an external power supply The external switch or sensor Hyperdrive GH A DC power supply with e low ripple and capable of supplying at least 10 mA O over the allowable Hyperdrive input voltage range of 5 to 24 volts a Input cables should be shielded with the shield connected to frame preferrably at the sensor end only or at the Hyperdrive end only if not Figure 11 Using an external power source for input power In simple situations the Hyperdrive internal 5 volt power supply can be used as the switch power source A typical circuit is shown in Figure 12 Here the switch is shown in the SGND IN1 line with the power coming from the link between the 5V and IN1 terminals The opposite configuration would also be suitable i e the switch in the positive line Just make sure the configuration cannot connect the 5V terminal to the SGND terminal under any circumstances Hype
62. econds 1000 Parameter range is 30 to 30000 RPM Sec The accel and decel rates are always the same in STEP mode but can be different in SPEED mode because this instruction can be given while the motor is running Example gt SetRPM 80 set speed to 80 RPM gt Accel 200 400 mSecs to reach that speed gt Angle SA Set motor step angle Program YES Interactive YES Parameter REQUIRED This command informs the Hyperdrive of the basic step angle of the connected motor The value is in thousandths of a degree and the default is 1800 or 1 8 Note that not setting this value for motors with other basic step angles will result in acceleration times being incorrect Kremford Pty Ltd Hyperdrive KFO86B User Manual 48 BakTrak BT Backtrack steps from here Program YES Interactive NO Parameter REQUIRED Use this instruction to backtrack to or return to a known step position The parameter is the required speed It is a no operation if the motor is turning It reads the current step count reverses the motor direction and using the same profile description apart from the speed drives the motor until the step count goes back to zero All things being equal this should be the position where the profile began Examples There are many mechanical situations where the stepper motor must first drive one way for a specified number of steps and then drive in the other direction for the same number of steps to ret
63. ed setting to those defined in the Motor Characteristics table for that step mode DcyMode Set the decay mode 1thru4 The decay mode sets how the controller manages the recirculating currents in the internal driver circuit during each off cycle period The settings are 1 2 3 and 4 and these settings correspond to decay ratios of 0 25 50 and 100 respectively The default setting is mode 2 and in many applications this will be sufficient Dir Set the motor direction CW Or CCW This sets the motor rotation direction case is ignored cw is the same as CW CW clockwise CCW counter clockwise MonSkip Arm a jump Various Arms an eventual jump based on input state changes State must change from current state before monitoring begins Monitor Arm a jump Various Arms an eventual jump based on input levels The jump is not taken until the given state occurs ContWhen Continue based on input pin state Various Selects whether a program will pause or not at this instruction based on the input pin s current level Jumplf Jump based on input pin state Various Selects whether the program will jump or not based on the pin s current level Out Setup the parameters of the output pin Various Selects the output function the pin will perform Kremford Pty Ltd Hyperdrive KFO86B User Manual 29 WaitFor Sets a wait
64. ed to be a program line In this entry mode both the Program and Clear commands can be used to clear any existing program There are limitations on the rate at which characters can arrive Too quickly and some characters may be lost The recommended technique requires that the sending device use a protocol where it sends a line and then waits for the Hyperdrive to echo the gt character Packages such as TeraTerm can use a macro that implements this protocol and an example macro file called Hyperdrive3 tt1 is included in the TeraTerm folder of the distribution CDROM Where this protocol cannot be implemented inserting a delay of about 30 mSecs between each line will allow sufficient time for the Hyperdrive to process each line and echo any syntax error messages All comments are discarded the Hyperdrive does not store comments PSteps PS Print elapsed steps Program NO Interactive YES Parameter NO This interactive command is only available in STEP mode It will print the number of steps since the last Step command For example gt SetRPM 50 gt Step 3200 gt PSteps 2763 gt The command is typically used following an emergency situation where an ESC command has been used to immediately stop the motor and the motor must subsequently be reset to the Step command start position It can also be given during the step transition Note an ESC command will automatically reset the motor speed setting SetRPM to z
65. ent on the step mode setting StepMode In a program Hyperdrive will always ensure that the speed Kremford Pty Ltd Hyperdrive KFO86B User Manual 37 cannot exceed the maximum speed for the current step mode A program sequence such as 190 StepMode 4 200 SetRPM 1900 will produce an error message because the speed is too high for that step mode Even if you are controlling the Hyperdrive from an external computer the ability to down load small programs that execute particular motor profiles can be very useful where the controlling PLC may not always be able to respond quickly enough to events within a complex move sequence For many applications the program will need to be repeated over and over while ever the Hyperdrive is powered If you study the input output instructions I O you will see that the program can be controlled by external events using these capabilities For now we will try some simple repetitive sequences When under program control the WaitFor command will pause the program execution until the previous motor move has completed when in the STEP speed mode and the Delay command will delay program execution for the given number of milliseconds You could use the Delay command instead of a WaitFor command where the delay time is chosen to include the motor move time but variations in motor load etc mean the WaitFor is always a better solution An example application of both commands is the situation where the moto
66. ent source This provides a constant drive to the opto isolator throughout the allowed input voltage range Increasing the voltage between the IN and IN terminals above 5 volts will produce a HIGH input see the later programming definitions The 5V terminal referenced to the SGND terminal can be used to power external sensors where applicable The maximum current draw should not exceed 50 milliamps Input Connections A simplified drawing of the internal circuit for each of the four input pins is shown in Figure 10 An input is turned ON by connecting an INx input to a positive voltage between 5 and 24 volts and the INx input to the voltage source negative return The programming language sometimes calls this a HIGH or an ENABLED or a TRUE input An external mechanical or electronic switch could make this connection The input is turned OFF by disconnecting power from the input The programming language sometimes calls this a LOW or a DISABLED or a FALSE input The switch can be in either the positive INx or negative INx lead The Hyperdrive input presents to the external source a constant current load of about 7 milliamps throughout the allowable input voltage range of O to 24 volts SGND IN1 IN1 IN2 Constant Current Source Opto isolator Figure 10 The simplified Hyperdrive input circuit Kremford Pty Ltd Hyperdrive KF086B User Manual 18 The programming language includes an instruction for setting a d
67. ents C Shared Documents S My Computer My Network Places Figure 38 The Kremford userDefineLang xml file copied from the CDROM to the Notepad Application data directory Close both windows The next time you load a Hyperdrive SPL file into Notepad the syntax colouring option will be enabled You can confirm the language file was loaded by clicking on the Language menu and verifying the Hyperdrive entry exists Kremford Pty Ltd Hyperdrive KFO86B User Manual 90 Appendix 3 Changing the Communications Mode If the Hyperdrive is in its default RS422 mode and you plug in an RS485 interface connected as per Figure 9 the terminal program will begin to continuously print an error message This is because everything the Hyperdrive transmits will be fed back in as input and nothing will look like valid commands In this situation you will not be able to give the required RS485 1 command to make the switch to the required communication mode To cover this situation there is a boot up procedure that uses the internal H1 link to indicate to the program that a protocol switch is required Re Boot Procedure The procedure requires lifting off the cover and working with the H1 shorting link 1 2 Ie pe A g om Power down the Hyperdrive Remove the two screws and lift off the Hyperdrive cover With the connectors facing you locate the H1 link on the left hand side of the PCB see Figure 25 It should have a shorting link
68. ero Kremford Pty Ltd Hyperdrive KFO86B User Manual 68 Note When the step pulses stop whether the motor immediately decelerates to a stop will depend entirely on the inertia of the motor and its load and to some extent on the power setting The Hyperdrive has no way of recording any possible motor overrun steps A typical command sequence for this situation could be gt Dir cw run clockwise gt SetRPM 120 at 120 RPM gt Step 7800 for 7800 steps gt ESC an ESC occurs at step 3215 gt PSteps print the elapsed steps 3215 gt Dir ccw go back to start gt SetRPM 120 also at 120 RPM gt Step 3215 for the same number of steps gt Note that depending on any motor load induced overrun the reverse sequence may require some additional steps Renum RN Renumber a program Program NO Interactive YES Parameter NO Renumbers the current program starting from line number 100 with a line number spacing of 10 Reset RS Reset all parameters to power up settings Program NO Interactive YES Parameter NO The command resets all internal settings to their power up values See the Interactive Use section for a listing Note that it will also turn off an RPMCtrl setting Kremford Pty Ltd Hyperdrive KFO86B User Manual 69 RPMCtrl SC Real Time Motor Speed Control Program YES Interactive YES Parameter YES This instruction modifies the way the inputs IN3x and IN4x respond
69. et the RS422 Communications Baud Rate Program NO Interactive YES Parameter YES Hyperdrives are shipped with the communication baud rate set at 9600 You can use this command to select from the two inbuilt baud rates of 9600 and 57600 gt Baud 57600 Clear CL Clear the Program memory Program NO Interactive YES Parameter NO Giving this command immediately clears the program memory A subsequent List command will give the error message List No Program It does not clear the non volatile memory Kremford Pty Ltd Hyperdrive KFO86B User Manual 50 ClrAddr HX Clear an addressed Hyperdrive Program NO Interactive YES Parameter REQUIRED Clears an address mode The address must match the original SetAddr command Also clears the address saved in non volatile storage Example gt ClrAddr 5 ContWhen IC Continue on an input event Program YES Interactive NO Parameter REQUIRED The ContWhen input instruction has a number of parameters that define which input pin pair INx the instruction applies to and whether the terminals going from driven ON to undriven OFF or vice verca initiates the action The action is to pause the program for a FALSE test or continue if TRUE The syntax is ContWhen terminal pair state The terminal pair parameter can have the values 1 through 4 and selects the corresponding IN1 thru IN4 input screw terminals The state can be either
70. eter REQUIRED When encountered in a running program this instruction will pause the program for the given number of milliseconds Example There are many situations where a delay is required within a program An obvious situation is where a motor must travel in one direction and subsequently reverse where a small delay allows the machine to stabilise at its stopped position 150 SetRPM 100 set speed at 100 RPM 160 Dir cw clockwise 170 Step 182400 for 57 revolutions 180 WaitFor wait until done 190 Delay 500 wait 500 mSecs before reversing 200 Dir ccw anti clockwise 210 Step 32000 for 10 revolutions Kremford Pty Ltd Hyperdrive KFO86B User Manual 53 Another possibility is where the motor must stop for a fixed period to allow some other process to complete 72 Dir cw 73 Step 450100 move to extended 74 WaitFor 75 Delay 5000 allow 5 second pressing time 76 Dir ccw 77 Step 450100 return 78 WaitFor Dir DR Set direction Program YES Interactive YES Parameter REQUIRED Sets the motor direction using the words cw or ccw The direction the motor will actually go will depend on the relative connections for the two motor windings If giving this command produces motor rotation in the opposite direction simply transpose the wires from one of the field windings Example Dir CCW gt You can insert a Dir command to change the motor direction while it is running when the Hyperdriv
71. gram Note that it is not the Monitor instruction itself that changes what happens it just begins an internal monitor that continuously checks for the TRUE event It is this internal monitor that then jumps out of that program segment on the programmed event into another where further action can be taken not necessarily a motor action Note the ContWhen instructions that clear the monitoring for the other input when a monitored jump occurs The reason for this is that otherwise the other monitor will still be active and could cause inappropriate behaviour later in the program Always be sure all monitors have been cleared when exiting a program segment where they were in use Kremford Pty Ltd Hyperdrive KFO86B User Manual 62 Why a Background Monitor must be Cleared Here is an example of a possible subtle effect when using a background monitor In this case the instruction is used in a loop that includes a specific delay but the effect can occur in other situations 100 Loop 0 Start a continuous loop 110 Monitor 1 0N 190 monitor pin 1 to stop 120 Step 12000 start motor profile 130 WaitFor 190 DecelNow stop motor 200 Delay 500 half second delay 210 ELoop repeat the loop The first time through if the IN1 input is OFF the monitor is armed and the motor started on its 12 000 steps The program will then pause at the WaitFor instruction If the IN1 input comes ON during this wait the program will immediate
72. ith the modified speed setting when the change is required The Hyperdrive will stitch the new line into its running program as it is received and the change will be made when next that line is executed The line must include the line number of course and there should be no comments The line can only replace an existing line and the instruction type must match only the parameter can change The instructions that can be dynamically changed this way in a running program are limited to Step Accel SetRPM and Delay Note that the ability to change the acceleration rate while the motor is running allows different accel and decel rates Kremford Pty Ltd Hyperdrive KFO86B User Manual 40 Using a Quadrature Encoder In the section Input and Output Options there was a section on the connections for a quadrature encoder Here we give two examples that use an encoder first for position control and second for dynamic speed control Many applications require a motor to be a slave to some sort of positioning control An example might be a requirement for the incremental control of some sort of positioning motor where a click of the encoder knob either clockwise or anti clockwise means the motor rotates a corresponding number of degrees in the matching direction Figure 15 shows the typical encoder wiring diagram where IN3 and IN4 are connected to the A and B encoder outputs and the Hyperdrive 5V and SGND provide the power In this example we
73. ive is in speed mode Mode SPEED this command immediately starts the motor running Once up to speed at the given acceleration rate Accel the motor will run continuously Kremford Pty Ltd Hyperdrive KFO86B User Manual 72 List motor parameters Program NO Interactive YES Parameter NO State GS Giving this command will list the current motor settings and some system settings that can be very helpful keeping track of the Hyperdrive state during program development Example gt State Speed Steps Accel Rate Direction Pwr mode Step mode Decay mode Debounce Speed mode Address Stop Pwr RPM Cntrl Prog Lines gt SetRPM 45 gt Accel 300 gt State Speed Steps Accel Rate Direction Pwr mode Step mode Decay mode Debounce Speed mode Address Stop Pwr RPM Cntrl Prog Lines 100 00 12000 100 RPM Sec 2 CW 1 4 2 120 220 320 420 Step 1 No 0 45 12000 300 RPM Sec 2 CW 1 4 2 1 0 2 0 3 0 4 0 Step 1 No 0 Kremford Pty Ltd Hyperdrive KFO86B User Manual 73 Step ST Set number of steps Program YES Interactive YES Parameter REQUIRED If the Hyperdrive is in step mode Mode STEP in both programming and interactive modes this instruction will cause the motor to immediately move the given number of steps using the currently defined set of acceleration stepping power and decay modes The stepping mode StepMode will affect the number
74. l The instruction syntax was IO 4 either L or H gt where L was ON and H was OFF There are now two output ports and they are named OUT1 and OUT2 However the Hyperdrive3 outputs are optically isolated see Figure 16 and a more realistic nomenclature is on or off Therefore all original programs with output instructions like IO 4 x will need to be altered to the new syntax of Out 1 ON or OFF or Out 2 ON or OFF Kremford Pty Ltd Hyperdrive KF086B User Manual 12 Installation Instructions Power Supply The absolute maximum supply voltage is listed in Absolute Maximum Ratings The stepper motor is not enabled until the supply voltage reaches 10 volts and is automatically disabled if the supply voltage falls below 9 volts The typical range for a Hyperdrive supply voltage is from 12 to 24 volts The voltage source must be capable of supplying at least the peak currents as specified by the Power command A typical value is about 150 of the Power setting For example a Power setting of 4 sets a peak current of 3 5 amps so the recommend power supply rating would be 5 amps Whether the current will reach that value depends on the supply voltage the motor winding resistance and inductance the motor load and the motor speed Note that if you are using a big motor working at high power and the operation profile includes rapid deceleration events from high to low speeds the excess motor energy is transferre
75. l motors will show this effect try going to higher step modes like StepMode 2 StepMode 3 or StepMode 4 Note how the effects vanish at the smaller microstepping angles If you must use step mode 1 because you need the highest possible peak torque and or RPM try setting a high acceleration rate This will move the motor quickly through the unstable speed range You should always try to use the microstepping modes rather than StepMode 1 but keep in mind the approximate speed limits for the various stepping modes as listed in Typical Motor Characteristics These are actual limits and mark speeds from where the actual speed attained would begin to lag behind the entered value While exploring the various commands and their effects you can use the State command to display a summary of the current settings A display listing where this command is given immediately after power is applied would look like Speed 5 00 Steps 0 Accel Rate 200 RPM Sec 2 Direction CW Pwr mode 1 Step mode 4 Decay mode 1 Debounce 1 0 2 0 3 0 4 0 Speed mode Step Address Stop Pwr 1 RPM Cntrl no Prog Lines 0 Use this command at any time to review previous settings Note that speed can be set in fractions of RPM Kremford Pty Ltd Hyperdrive KFO86B User Manual 35 When you give a maximum speed SetRPM command the Hyperdrive will first look at the current step mode StepMode setting If the new speed setting exceeds that listed in
76. leration phase immediately none This instruction can be used to stop the motor via its previously programmed deceleration setting Useful to stop the motor in a programmed way in speed mode or when the required motor movement does not have a specific number of steps and some external event is used to stop the motor Program flow will not continue until the motor has stopped Halt Halt the motor instantly none This instruction can be used to stop the motor drive instantly It should only be used to manage an emergency situation as while the motor electrical stepping stops immediately any load inertia will require external dissipation StopPwr Set the stopped motor power 1 thru 4 Rarely is the power setting required by the motor when stationary the same as when operating Typically the stopped power is just a fraction of what is required during movement Use this instruction to set the holding power By default the setting is 1 or 20 power Kremford Pty Ltd Hyperdrive KF086B User Manual 30 End Mark the end of none Enter as the last instruction in a program It a program switches the terminal program from Program enter a program mode back to Interactive mode GoTo Jumps to the A valid line The program flow will immediately jump to the given program number instruction at the jump address line Debounce Set an input pin 0 thru 50 Allows setting
77. line is sent see Downloading Programs However be aware that inadvertently sending a program to a network of Hyperdrives where none have received a NetOpen command means the first line will be sent and ignored by all but if the sending program then waits for the prompt it will wait forever Also if some sending program is waiting like this a NetOpen command to any Hyperdrive will suddenly allow the sender to continue possibly sending a truncated program to probably the wrong Hyperdrive Kremford Pty Ltd Hyperdrive KF086B User Manual 78 Firmware Update The Hyperdrive SPL language is always under review with new instructions being developed to suit customer needs The Hyperdrive includes the ability to field upgrade its firmware to later versions These are published from time to time on the Kremford web site or available for specialist applications The distribution CDROM that comes with the Hyperdrive includes a program called Hyper3Update to manage firmware upgrades in the field Do not confuse the HyperUpdate program supplied with the original KF083 Hyperdrives with the Hyper3Update program provided with later KF086 Hyperdrives The procedure is simple and uses the standard RS422 serial interface currently used for Hyperdrive programming and control Performing an update will erase any saved program from non volatile storage All other settings remain the same Upgrader Installation Navigate
78. ll need an option for testing that the Hyperdrive command prompt character gt has been received after each line is transmitted This is because there is no hardware handshake control for the communications interface After each command line is received the Hyperdrive firmware examines the line for syntax errors and for any errors will print a short diagnostic message If the terminal program continues to send new lines without pausing for the gt prompt this message will likely be corrupted Where your terminal program does not support this feature inserting a delay of about 30 mSecs after each line will ensure that syntax errors discovered during the download will have time to send a corresponding error message Installing the TeraTerm Program Included on the accompanying CDROM is a copy of the public domain TeraTerm terminal emulation program TeraTerm is a free software terminal emulation program that will run on most versions of Microsoft Windows The complete installation procedure is detailed in Appendix 1 Installing the TeraTerm Terminal Program Tera Term Setup for the Serial Port To setup the communication link with the Hyperdrive you will need to know the name of the communication COM port you have connected to the Hyperdrive This will typically be a USB to RS422 or USB to RS485 adapter that when plugged into the computer will Kremford Pty Ltd Hyperdrive KFO86B User Manual 24 appear as a serial
79. lly pauses the file transmission until the Hyperdrive prints either the command prompt character gt indicating the line passed syntax checking or indicating the Hyperdrive sent an error message of some sort Kremford Pty Ltd Hyperdrive KF086B User Manual 44 error message Note This means the string must not appear anywhere in your program as it mimics the first three characters of an Subsequent code ensures that if an error does occur the download will stop after the line in error with the error message displayed and the program downloaded so far will be cleared ensuring a program with errors cannot be accidently executed You initiate a Hyperdrive file download from the TeraTerm Control gt Macro menu option BE 7 COM10 9600baud Tera Term VT File Edit Setup Mex Window Help Reset terminal Reset remote title Send break Reset port Broadcast command Open TEK r Figure 22 Selecting the Load Macro file transfer option Clicking on Control gt Macro navigating to where the Hyperdrive macro is stored and selecting it will bring up a dialog allowing selection of the appropriate SPL program Note that this program selection dialog is sometimes displayed with background priority meaning it can be beneath any other windows displayed on the desktop In your text editor of choice select and load the program Reverse sp1 Here is what it will look like in Notepad program
80. loop count parameter Load Load the currently stored program Returns to active the last program saved to non volatile storage by the Save command Erases any current program RunUp Set auto program startup The program saved in non volatile memory with the Save command will be automatically loaded and started when the Hyperdrive is powered up NOTE Use Ctrl X to clear this state ASCII CAN 0x18 Renum Renumber a program Program lines are preceded by line numbers This command will renumber the program starting with line number 100 and stepping up by 10 for each line Exit Stop a running program Like the CtrlC keystroke Used in a networked system to exit a running program in a particular Hyperdrive PSteps Print elapsed steps In STEP mode this command will print the number of steps since the last Step command RS485 RS485 and RS422 switch Provides for switching between RS485 and RS422 serial communication modes Kremford Pty Ltd Hyperdrive KF086B User Manual 26 Communication Commands In these tables the phrase 0 lt number lt limit such as 0 lt number lt 10 means a valid entry is a number greater than 0 and less then 10 so valid numbers are 1 through 9 The two character instructions of the original Hyperdrive are included in the Instruction Descriptions section You can inter mix the new and old commands if required To use the Hyperdrive in
81. ly jump to line number 190 and the DecelNow instruction will decelerate the motor to a stop The program then starts the 500 mSec delay The effect occurs if the IN1 input remains ON longer than the motor stop time plus the delay time Now the next run through the loop the Monitor instruction will find the input already ON and as mentioned earlier monitoring is only enabled if the current state is FALSE The Step instruction will start the motor running and it will run for its programmed 12 000 steps with nothing that happens on the IN1 line able to affect the program You can guard against this sort of program lock by pausing the program with a ContWhen instruction until the previous state has re established itself 100 Loop 110 Monitor 1 0N 190 monitor for pin 1 turning on 120 Step 12000 130 Wait 190 DecelNow stop the motor 200 Delay 500 half second delay 202 ContWhen 1 OFF ensure pin 1 has turned off again 210 ELoop In this example if the input is still ON at the end of the delay the program will pause until it switches OFF again preventing the loop from being re entered until the input line has the correct sense You could observe this using the output pin OUT1 Kremford Pty Ltd Hyperdrive KFO86B User Manual 63 MonSkip IA Arm a Subsequent Jump skip current Program YES Interactive NO Parameter REQUIRED The MonSkip input instruction monitor but skip current has a number of parameters that define
82. m 30 RPM Sec Control input voltages Minimum 5 volts maximum 24 volts Control maximum output current 30 mA Control maximum output voltage 60 volts Maximum internal program steps 100 Setting Max Speed 1 9000 Maximum speeds at the four microstep 2 6000 settings motor dependant 8 3000 16 1500 Terminal Program Characteristics Baud rate Selectable 9600 or 57600 Data bits 8 Stop bits 1 Parity None Kremford Pty Ltd Hyperdrive KF086B User Manual 10 Communication Connector The communication connector is a 5 pin JST B5B ZR top entry shrouded header The matching ZHR 5 connector with a pre built 500mm flat cable is supplied The connection is specified for 4 wire differential RS422 serial control plus ground These connections are named from the point of view of the Hyperdrive Pin Colour Function 1 brown RXD 2 red RXD 3 orange TXD 4 yellow TXD 5 green Ground Thus when connecting an RS422 sender that was similarly marked from its point of view the sender s TX lines would be connected to the Hyperdrive RX lines and the sender s RX lines to the Hyperdrive s TX lines Power and Stepper Motor Connector A six 6 position screw terminal block provides for the four motor field wires and the power supply Motor field B1 Motor field B2 Motor power positive 12 to 24V Motor power negative
83. m should show a Hyperdrive power up banner similar to Figure 20 The gt character means the Hyperdrive is ready for a command Figure 20 The Hyperdrive power up banner Kremford Pty Ltd Hyperdrive KFO86B User Manual 32 If this does not appear check the Setup Serial port settings are as per the Setup for the Serial Port section Now try and turn the shaft by hand This should be considerably more difficult and shows the Hyperdrive has energised the motor with its stopped power setting The Hyperdrive starts up with the following default settings Maximum RPM 5 Move steps 0 Accel Decel rate 200 RPM Sec Direction clockwise Power mode 1 Step mode 4 Decay mode 2 Debounce All 4 inputs O Speed mode Step Address blank Stopped power 1 RPM control off The default torque setting is the lowest setting but this should be more than adequate for an unmounted motor at lower speeds You can increase the power Power and modify the decay mode DcyMode settings if the motor stalls as the speed is increased In the TeraTerm window type the following command SetRPM 604 The a symbol represents the Enter key Every command must be terminated by this key and its use will be assumed in the following examples Remember that to the Hyperdrive SetRPM and setrpm are identical case does not matter You can use the computer s BackSpace key if you make a mistake The Se
84. mmand Program near full The number of steps in a program is approaching the limit The current program limit is 100 lines Program Full Forced The program has reached the number of lines limit The program has been End terminated with a forced End instruction and programming mode aborted Syntax error The instruction or command has an unexpected and consequently illegal structure or syntax Too fast for Step Mode An RPM setting was entered that was outside the limits defined in the Motor Characteristics table for this step mode The program was successfully saved to permanent storage Illegal address here Destination addresses are not allowed in Interactive Mode Only in program mode This instruction type is only allowed in Program Mode Label missing The End instruction was entered but one or more destination labels are still undefined Pony in program mode Kremford Pty Ltd Hyperdrive KFO86B User Manual 82 Appendix 1 Installing the TeraTerm Terminal Program To install this program navigate to the CDROM and double click on the file called teraterm 4 64 exe Windows will bring up its usual Open File Security Warning Click on Run Open File Security Warning The publisher could not be verified Are you sure you want to run this software Name teraterm 4 64 exe Publisher Unknown Publisher Type Application From TeraTerm Teraterm4 64 Run Cancel Always ask before opening this file
85. nal and a positive supply should have a reverse biased snubber diode across the load Note that the only protection provided is the normally reverse biased diode across the collector emitter There is no protection for over current This allows for the most versatile user configurations but requires careful attention to the design of the attached circuitry Conservative design would limit the maximum voltage of the output circuit to 50 volts and current to 30 mA OUT1 OUT2 OUT2 Ea Figure 16 Typical Hyperdrive output circuit Often when designing a new installation it is handy to be able to monitor the state of external switches or the state of the Hyperdrive program When only an indication is required use an LED Light Emitting Diode and resistor combination as shown in Figure 17 This uses OUT2 to control the LED The command Out 2 ON For a current through the LED of about 3 mA a resistor value of 1000 ohms will be satisfactory The LED and or the resistor or both could be in either the or leads AE SGND Z IN1 A H Light is EA Emitting A i IN2 Diode S LED IN3 L4 sv Resistor IN4 a OUT1 OUT2 OUT2 Figure 17 Connection for using an LED to indicate program events Kremford Pty Ltd Hyperdrive KFO86B User Manual 22 A solid state relay could be used with the Hyperdrive providing the switching voltage The collector current maximum should be abo
86. nd The Port entry will naturally need to match the connection specific for this computer Figure 34 shows a typical TeraTerm serial port setup dialog Note this example shows the Transmit Delay settings Both these entries can be zero if you use the macro method for program downloading as described in Downloading Programs or you use a PLC program that can wait for the gt ready response from the Hyperdrive Tera Term Serial port setup Port Baud rate Data Parity Stop Flow control Transmit delay 0 msecj char 0 msecfline Figure 34 TeraTerm Serial port setup dialog The Hyperdrive does not echo the characters you type so to see what you are typing you must set TeraTerm to locally echo each keystroke Click on the Setup menu entry and drag the cursor to the Terminal entry This dialog is shown in Figure 35 Ensure the Local echo box is ticked as shown Tera Term Terminal setup Terminal size 54 x 23 Y Term size win size F Auto window resize Help Terminal ID vr100 V Local echo Answerback Auto switch VTX TEK Kanji receive Kanji transmit 1 urr e UTF 8 Kanji in ise 7bitkatakana fbitkatakana Kanji out B v locale american CodePage 65001 Figure 35 Setting TeraTerm for local echo mode Kremford Pty Ltd Hyperdrive KFO86B User Manual 86 You can leave most other TeraTerm options at their default settings alth
87. nt and direction input Using Inputs for Speed Control The RPMCtrl see RPMCtrl SC command modifies the way the inputs IN3x and IN4x respond This does not affect the operation of the other two inputs which remain as described earlier After receiving this command these two inputs are configured as high speed quadrature inputs Each click of the encoder clockwise or counter clockwise will respectively increase or decrease the current motor speed The RPMCtrl instruction requires a parameter that specifies a speed change increment in RPM This parameter can be a floating point number and so can provide for very fine speed control The common terminal can be either the positive or negative voltage source The recommended Figure 15 circuit shows using the internal Hyperdrive 5V power supply with the common terminal connected to the machine ground terminal If the distance to the encoder is much further than about 100 mm the wiring should be shielded with the shield connected to the SGND as shown Output Connections Figure 16 shows the Hyperdrive output circuit The two output sources are PC357N4TJOOF opto isolaters At the OUTx terminals this consists of an NPN transistor rated at 80Vcemax Kremford Pty Ltd Hyperdrive KFO86B User Manual 21 and 50mA Icmax A 1 amp 60V schottky diode is connected between the collector and emitter of the transistor for protection Any inductive load such as a relay connected between the OUTx termi
88. of a program is being executed This could be used just as an indication i e turn an indicator light on or used to control some external process for which the motor is a controlling force i e start another motor open a valve close a relay etc 100 Angle 3600 110 Accel 200 120 SetRPM 90 130 StepMode 2 set for a 3 6 degree step motor accel decel rate 200 RPM Sec 2 max RPM is 90 step mode 2 makes it a 1 8 degree motor ld E 180 Loop start never ending loop set OUT2 on a 90 revolution profile wait until finished set OUT2 off again 210 Out 2 0N 220 Step 18000 230 WaitFor 240 Out 2 OFF Ne Ne Ne Se In this example a 3 6 motor has been setup to accelerate at 200 RPM Sec to a maximum speed of 90 RPM using step mode 2 The latter gives a step angle of 3 6 2 or 1 8 degrees Within the loop the first Out instruction switches the OUT2 output transistor on and this could be used to start an external event that must run while the motor also runs perhaps it energises a solenoid for example The following Step instruction rotates the motor through 32400 degrees or 90 rotations 1 8 x 18000 360 The WaitFor instruction pauses the program until the motor completes the profile Immediately the motor stops the second Out instruction switches the OUT2 transistor off again it would de energise the solenoid The next example is not directly associated with the motor at all It simply at some point in the program
89. of degrees a step will take If the Hyperdrive is in speed mode Mode SPEED this instruction is ignored StepMode SM Set the step mode Program YES Interactive YES Parameter REQUIRED This command selects from the four possible step modes available in the Hyperdrive The available settings are shown in the table The step angle values shown here assume a 1 8 motor Microsteps per Step Step Angle EA AAA A gt StepMode 3 StopPwr SP Set motor stopped power Program YES Interactive YES Parameter REQUIRED Rarely is the power setting required by the motor when stationary the same as when operating Typically the stopped power is just a fraction of what is required during movement Use this instruction to set the stopped holding power The parameter value has the same range as the Power command 1 through 4 By default the setting is 1 Kremford Pty Ltd Hyperdrive KFO86B User Manual 74 WaitFor WT Wait for motor to stop Program YES Interactive NO Parameter NO When the program executes a Step command in step mode and a SetRPM command in speed mode it starts the motor and continues to the next instruction However in most step cases and some speed cases the program should pause at that point until the profile completes before continuing This instruction does just that only proceeding to action the next instruction when the motor comes to a stop in the step case and attains the given speed in th
90. ome suitable value The wiring diagram is the same as Figure 15 Kremford Pty Ltd Hyperdrive KFO86B User Manual 41 The programming is simple just include the RPMCtrl instruction in the setup section of the program choosing an increment value suitable for the particular machine To keep accelerations within bounds the maximum increment is 100 RPM However the minimum change can be as small as 0 01 RPM A program that provides for speed control using the encoder is 100 Accel 1000 set the required accel decel rate 110 Mode speed change to speed mode 120 RPMCtrl 10 Speed increments are 10 RPM steps After running this program the motor speed is now under the control of the encoder The first click clockwise will start the motor rotating at 10 RPM There is a sample program in the Programs folder of the CDROM that further demonstrates this instruction Simulating a Step Direction Interface You can implement a standard Step Direction interface in the Hyperdrive with a simple program Essentially the step input is connected to one of the inputs and the direction to another The program then uses ContWhen instructions to initiate a motor move each time the step pulse changes state When it does the motor is commanded to make a single step Setup the required power step mode etc here Now setup for the step direction interface 200 SetRPM 1000 set some fairly high speed and accel 210 Accel 5000 220 Loop 220 Con
91. ontroller and the motor Exercise the machine though its various sequences where the static torque on the motor is at a maximum In particular examine the first and last few steps of an accel decel movement to ensure there is no cogging where the machine inertia means steps are sometimes missed This can sometimes be prevented by lengthening the acceleration time If acceleration times are critical and the cogging consistent it can sometimes be ignored Kremford Pty Ltd Hyperdrive KFO86B User Manual 36 External Motor Control If you are using a PC or PLC to interactively drive the Hyperdrive you may never need to use its ability to store and run an internal program In this case the PLC transmits the control instructions much as we have been doing so far with the PLC program monitoring for the gt character that indicates a previous command has been completed How this is done depends on the particular PLC used and so cannot be dealt with here but that simple transaction of sending a command and only transmitting the next when the Hyperdrive responds is very simple and reliable Internal Program Control Writing a Program The interactive mode we have been using to date is helpful while developing the requirements of a controller machine interface or where controlling the motor from a PC or PLC is the intended operating mode However many applications can be simply controlled by a program residing in the Hyperdrive memory
92. ord Pty Ltd Hyperdrive KFO86B User Manual 8 Control Multiple Hyperdrives The RS422 interface allows up to nine Hyperdrives to be connected together with each assigned a unique address and responding to commands addressed to that particular unit only Thus a single PLC can control several motors Acceleration Deceleration Profiles This figure shows a typical profile for a 1 89 step motor being driven at 16 microsteps per step 0 11259 moving 3200 steps one revolution with a maximum speed of 60 RPM and with acceleration and deceleration times of 300 SI milliseconds x A Depending on the specified number of steps and acceleration the programmed constant speed phase may 2 not be attainable in that number of steps in which case the acceleration phase smoothly moves from the MH THOU disco acceleration to the deceleration phase id STEPS Example Profile 80 RPM The next figure shows the same motor settings but with the number of steps set to 1500 Considering the accel decel settings along with this constraint means that the motor is unable to reach the maximum set speed of 60 RPM but moves smoothly from acceleration to deceleration El Input and Output Options There are four input lines and two output lines that may or A X a Example Profile T RPM gt be configured under program control to either control the motor profile in the case of inputs or provide outputs that
93. otor speed setting SetRPM is reset to zero when an ESC character is received Exit EX Exit a running program Program NO Interactive YES Parameter NO In a networked system there may be several units running individual programs You cannot use the Cntrl C character to stop the program in a particular Hyperdrive in this case as it will be received and actioned by all units stopping the running programs in all units Once a networked Hyperdrive has been addressed with the NetOpen command giving this command will stop the program in that Hyperdrive only Kremford Pty Ltd Hyperdrive KFO86B User Manual 55 Go GO Start a program running Program NO Interactive YES Parameter NO Begins executing the current program from the first instruction The program will run until it encounters an End instruction or the end of the program You can stop the program at any time by sending a Ctrl C keystroke If the motor is running it will decelerate to stopped at the currently set deceleration rate Accel You can also stop the program at any time by sending an Esc keystroke If the motor is running it will stop instantly depending on the load inertia GoTo GT Go to a line number Program YES Interactive NO Parameter REQUIRED Unconditionally changes the current program flow to continue at the instruction at the specified line number Use the GoTo instruction to alter the normal program flow All GoTo destin
94. ou have correctly installed and are using the TeraTerm communications program supplied on the Hyperdrive CDROM Appendix 1 Installing the TeraTerm Terminal Program Hyperdrives are shipped with the data rate set to 9600 baud 8 data bits and no stop bits The default protocol is 4 wire RS422 See Appendix 3 Changing the Communications Mode if you only have an 2 wire RS485 adapter Interactive Use This section is an introduction to using the Hyperdrive interactively For safety reasons Kremford suggests you familiarise yourself with the Hyperdrive commands and instructions using a stepper motor unmounted in any machine With a suitable stepper motor connected as per the Motor Connections section the Hyperdrive connected to but NOT powered up as per the Power Supply section and the RS422 interface connected to a PC start the TeraTerm program on the PC In the following we will assume a 1 8 per step motor is being used Before doing anything else try to turn the stepper motor shaft by hand This is the unpowered magnetic holding torque In most cases the shaft should be fairly easily turned by hand although you should feel the rotor toggle over the basic magnetic steps Remember the feel of this torque Start the terminal program here assumed to be TeraTerm and turn on the power Ensure the current drawn by the Hyperdrive is less than about 150 milliamps After a delay of a few seconds the terminal progra
95. ough it is often worthwhile to change the window aspect ratio to better suit the Hyperdrive programming environment You might try changing the Terminal size to 40 x 60 The setup can be saved on the computer so that whenever TeraTerm is started this set of parameters are automatically loaded Click on the Setup menu entry and drag the cursor down to the Save Setup entry Click on this select the default TERATERM INI file and click on the Save button Now whenever TeraTerm is started it will be setup for an interface with the Hyperdrive controller In the same directory on the CDROM is the Hyperdrive file download macro file called Hyperdrive3 ttl see Downloading Programs Copy this to the same directory you will use for your own Hyperdrive programs Kremford Pty Ltd Hyperdrive KF086B User Manual 87 Appendix 2 Installing the Notepad Program To install this program navigate to the CDROM and double click on the file called npp 5 6 7 Installer exe Windows will bring up its usual Open File Security Warning Click on Run Open File Security Warning The publisher could not be verified Are you sure you want to run this software Name npp 5 6 7 Installer exe Publisher Unknown Publisher Type Application From NotePad Always ask before opening this file publisher You should only run software from publishers you trust Y This file does not have a valid digital signature that verifies its H
96. ow can decide what software to run The Notepad installation program will next ask for your preferred language the drop down list and click OK Installer Language Me Please select a language ETE y The install wizard will start Click Next to continue Notepad v5 6 7 Setup AT welcome to the Notepad v5 6 7 Notepad Setup Wizard This wizard will quide you through the installation of Notepad v5 6 7 It is recommended that you close all other applications before starting Setup This will make it possible to update relevant system files without having to reboot your computer Click Next to continue Select from Next will be displayed the license agreement Click 7 Agree if you are happy with the license Notepad v5 6 7 Setup License Agreement Please review the license terms before installing Notepad Notepad v5 6 7 ES Press Page Down to see the rest of the agreement GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 59 Temple Place Suite 330 Boston M 02111 1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom toshareand v Tf you accept the terms of the agreement click I Agree to continue You must accept the agreement to install Notepad v5 6 7
97. port You can see the port number Windows assigns by first clicking on Start Control Panel and then double clicking on the System icon In the System Properties dialog click on the Hardware tab and then click the Device Manager button This will bring up the Device Manager window that will be similar to Figure 19 Click on the Ports entry to see the list of the serial ports on this computer The figure shows an IMS USB to RS422 converter connected and that it was assigned COM port number four COM4 Now you know the port number you can dismiss this series of windows Device Manager File Action View Help E amp Em m Computer See Disk drives amp E Display adapters 2 DVD CD ROM drives Floppy disk controllers A Floppy disk drives IDE ATA ATAPI controllers Sg IEEE 1394 Bus host controllers 3 Imaging devices E Jungo 2 Keyboards 7 Mice and other pointing devices 3 Monitors 3 Network adapters NI VISA USB Devices Ports COM amp LPT R Communications Port COM1 E Communications Port COM2 ay ECP Printer Port LPT1 A IMS USB to R5422 Converter Cable COM4 Processors 6 SCSI and RAID controllers gt CGE d mE Figure 19 Device Manager window with the Ports entry expanded See the Getting Started section for examples of using the Hyperdrive command and programming language defined in the Instruction Descriptions section Kremford Pty Ltd Hyperd
98. programming procedure described above and you should see the standard hello message Should the error persist please contact Kremford Kremford Pty Ltd Hyperdrive KFO86B User Manual 81 Messages There are a number of messages that can be printed in response to command entry The response will be obvious where the commands are being entered by hand However careful testing will be required where an external computer is using the interactive mode to control the Hyperdrive to ensure all instructions commands are valid Aborted Either a Ctrl C or ESC keystroke character was entered and the current program was aborted Bad H or L A character other than H or L was entered where only these were expected Bad Out pin For an Inx instruction a channel number outside the range 1 to 4 was entered or a number other than 1 or 2 was entered for an Outx instruction Bad action A character other than C S or A was entered as the action for an Inx instruction Command is illegal The given command is unknown Embedded loops Every Loop command must be followed by an ELoop command A loop cannot be embedded within another loop No loop entry An ELoop command has occurred without a previous Loop command The given command is only applicable within a program Parameter is illegal The parameter entered for a command was either not in the correct form included letters when numbers were expected or vice versa or were outside the legal range for that co
99. r microstepping settings 1 2 8 16 e Four decay mode settings e Fully programmable using a simple programming language SPL e The current program may be saved in non volatile storage e A stored program may be automatically loaded from non volatile storage and executed at power up Programmed Control The Hyperdrive is controlled over an RS422 differential serial interface using a set of instructions and parameters that define the movement profile such as the speed the number of steps and the acceleration It may also be used to change the various modes the controller is capable of Control can be from a terminal program on a PC such as Telnet TeraTerm etc connected to the Hyperdrive via a USB RS422 or USB RS485 interface or directly from an external user written control program in either a PC or PLC via the RS422 link A particular set of motor instructions a program can be entered edited and executed entirely from within the Hyperdrive Alternately the program can be prepared in an external editor and downloaded to the Hyperdrive as required The program can be dynamic i e lost when power is removed or stored in on board non volatile memory In the latter case the Hyperdrive can also be programmed to automatically start the stored program on power up This means that once a program has been written and qualified for a particular application the Hyperdrive will run that program every time the machine is powered up Kremf
100. r must first rotate a number of degrees clockwise and then rotate some other number of degrees counter clockwise Anything but the lightest load will require at least a few milliseconds after each move completes for the machine inertia to come to rest so we will initiate a move use the WaitFor command to wait until the motor stops and then use the Delay command to insert a small delay before starting the next move Type in the following program 110 Accel 2000 120 SetRPM 100 130 Dir cw 140 Step 3200 150 WaitFor 160 Delay 500 170 Dir ccw 180 Step 1600 190 WaitFor Type GO and the motor will rotate in one direction pause for half a second and then rotate in the other direction Use the Loop instruction to continuously repeat a particular sequence The instructions to be repeated are enclosed between the Loop and ELoop instructions The loop is repeated for the number of times specified by the Loop parameter the loop variable If this value is zero or non existent the loop will repeat forever The operation is the same for the case where the parameter value is non zero but now the loop will be repeated only the number of times defined by the parameter Kremford Pty Ltd Hyperdrive KF086B User Manual 38 There may be several loops in a program but no loop can contain another loop You can interrupt a running program by entering a Ctrl C keystroke This is where you hold down the Ctrl key and then press the C key
101. r we are assuming a 1 8 motor so the StepMode 3 command sets a step angle of 1 8 angle a 0 225 degrees So our 3200 steps now rotates the motor through 0 225 x 3200 720 or two complete revolutions Without changing anything else enter the commands Kremford Pty Ltd Hyperdrive KF086B User Manual 34 StepMode 2 Step 3200 Now the step angle is 0 99 and 3200 steps is 2880 or eight revolutions Now enter the commands StepMode 1 SetRPM 100 Step 200 The step angle is now the basic motor step angle and for a 1 8 motor that is 200 steps for one revolution While on this setting we can explore some characteristics of stepper motors that are well worth knowing when developing step profiles The effects you see will depend entirely on the physical aspects of the motor you are using and to a lesser extent the mechanical dynamics of the intended machine loading on the motor But what we will try to find is the RPM range where the motor s magnetic resonance will prevent it making accurate steps First enter a speed of 10 RPM and an acceleration rate of 100 and then slowly increase the top speed using SetRPM commands and step commands of say 400 Even better if you have the torque speed curve for your motor try setting speeds around which the curve shows any torque dips A typical indication is a sudden jerky movement of the motor rotor as it reaches or transitions this unstable speed Once you have found these speeds and not al
102. ranteed 100 000 writes to non volatile storage i e you can give 100 000 Save commands Exceeding this limit is unlikely in a manual situation but be careful if you use this command in a computer driven application For example a Save instruction executed every minute during a 12 hour shift 5 days a week would wear out the non volatile memory in about 28 weeks Auto Restore and Run In many cases a Hyperdrive will be installed on a machine where the machine function is always the same and thus the program it runs will always be the same Or perhaps the machine must be programmable but for many days or weeks it must run the same program whenever it is powered up In these cases once the program is finalised write it to storage as described above but then type the additional RunUp command This sets up a special sequence so that when power is restored the Hyperdrive automatically executes a Load and Go command sequence You can monitor this sequence if a terminal program is connected to the Hyperdrive at power up as it automatically lists the program prior to starting it running An example of what you would see is Kremford Hyperdrive3 Revision x x x Ready Run immediate gt 100 SetRPM 150 120 Accel 500 130 Loop 0 140 Dir CW 150 Step 3200 160 WaitFor 170 Delay 500 180 Dir CCW 190 Step 1600 200 WaitFor 210 Delay 200 220 ELoop gt GO There is a delay of five seconds after the program is listed before the
103. rdrive External switch or sensor Figure 12 Using the internal 5 volt supply to power an input sensor In cases such as this the recommended wiring cable is a shielded multi stranded twisted pair with the shield connected to frame only at the Hyperdrive end This gives the best protection against interference from external electro magnetic fields from adjacent motors solenoids etc Kremford Pty Ltd Hyperdrive KFO86B User Manual 19 Many modern sensors have their own power supply and include an electronic switch to indicate their state Figure 13 shows the typical wiring diagram for this type of sensor Any shield should be connected only at the Hyperdrive SGND terminal NPN Sensor Hyperdrive SGND IN1 IN1 IN2 mE Figure 13 Typical wiring for an electronic switching sensor Using a Quadrature Encoder A rotary quadrature encoder has one common pin and two output pins typically labelled A and B Mechanical versions have two switches inside operated by the encoder shaft that switch in quadrature to each other with an indent mechanism that typically provides twelve or so positions per rotation Figure 14 shows the normal output from this type of encoder The Hyperdrive has a number of instructions that provide for monitoring an input state and changing the program flow when a change occurs Considering Figure 14 again if a program is continuously waiting for Channel A to ch
104. rive KFO86B User Manual 25 Commands The Hyperdrive provides a set of commands and instructions to supervise and drive the attached stepper motor through a movement profile The commands fall into two groups those associated with motor movement and those dealing with managing the movement group Interactive State Commands The interactive state commands can only be issued in interactive mode State Print the current state of the controller settings Listed are maximum speed setting in RPM number of steps per step profile acceleration time in RPM Sec direction CW or CCW power setting step mode setting decay mode setting the four input debounce settings speed control mode unit address stopped power setting RPM control mode number of program lines Save Save the current program if any to non volatile storage Once a program is entered it can be executed immediately However unless it is saved it will be lost when power is removed Program Clear an existing program Typically entered before entering new instructions The Hyperdrive switches to programming mode List List the current program List the current program or list the program entered so far Go Start the current program The program will start running executing each instruction in line number order It will run to the end and halt unless it encounters a loop instruction in which case it will loop based on the
105. s as required Kremford Pty Ltd Hyperdrive KFO86B User Manual 46 118 128 138 140 158 168 178 oO Oy o Q ON A pops ONBO Now 188 198 200 218 Ne RP Re o 2000300 program A program to demonstrate the program loop functionality and hou to change direction 188 Loop 2 SetRPM 58 Accel 588 Dir cw Step 3208 WaitFor Delay 588 SetRPM 188 change direction Dir ccw Step 1688 WaitFor Delay 588 228 ELoop 238 End switch to programming execute the loop tvice set max speed at 58 rpm set accel decel time to 588 mSecs rotate clockvise for 3288 steps wait until finished pause for 588 mSecs set max speed at 188 rpm rotate anticlockvise for 1688 steps wait until finished pause for 288 mSecs end of loop end of program me Edt Sep eos Window Help 3 switch to programming ogram fi program to demonstrate the program loop functionality and how to change direction change direction Dir ccu Step 16808 MaitFor Delay 588 execute the loop twice set max speed at 58 rpm set accel decel time to 588 mSecs rotate clockwise for 3288 steps wait until finished pause for 588 mSecs set max speed at 188 rpm rotate anticlockwise for 1688 steps wait until finished pause for 288 mSecs end of loop end of program Figure 24 Running both a text editor Notepad and a terminal program TeraTerm in a PC based programming session Kremford Pty Ltd Hyperdrive KF0
106. serial interface configured as an RS422 4 wire configuration However it can be reconfigured as an RS485 2 wire configuration if required although Kremford makes no guarantee that the proposed connection described here will work with all RS485 drivers GRND CH USB USB to RS485 Adapter Hyperdrive Figure 9 Suggested connections to drive the 4 wire RS422 interface with a 2 wire RS485 interface The RS485 command can be used to switch between these two serial modes The command gt RS485 1 will switch from RS422 to an RS485 interface while the command gt RS485 0 will switch from RS485 to RS422 After giving this command the Hyperdrive will be in the new communications mode Switch it off reconnect with the new interface device and turn it on again It will start up in the new mode Note that this assumes you are currently communicating with the Hyperdrive in the from mode to be able to give these commands If the Hyperdrive is in its default RS422 mode and you only have an RS485 interface or vice versa you will need to use the reboot method to make the switch The necessary procedure to make this switch from RS422 to RS485 or from RS485 to RS422 is described in Appendix 3 Changing the Communications Mode Environment The Hyperdrive is rated for industrial usage as stated in Absolute Maximum Ratings It should be mounted in a dust and moisture free area Temperature rise should not be a pro
107. ssion xml XML Document 27 02 2010 3 04 PM S shortcuts xml XML Document 27 02 2010 3 04 PM E stylers xml XML Document 21 02 2010 9 45 PM EJ Make a new folder Publish this Folder to the Web EZ Share this Folder Other Places O Application Data E My Documents Shared Documents S My Computer My Network Places Details Figure 37 Default contents of the Hyperdrive Application Data directory Start an Explorer window and navigate to the Hyperdrive CDROM Select and drag and drop the file called userDefineLang xml from the CDROM to the Notepad Application Data directory The contents should now look like Figure 38 amp C Documents and Settings Ron WORK pplication Data Notepad DER Fie Edt View Favorites Tools Help a 3 5S Peah redes uu Folder syne Address E C Documents and Settings Ron WORK Application DatalNotepad E Type Date Modified File and Folder Tasks C File Folder 27 02 2010 3 03 PM Configuration Settings 27 02 2010 3 23 PM XML Document 27 02 2010 3 23 PM S contextMenu xml XML Document 14 09 2009 11 58 AM PY Copy this file session xml XML Document 27 02 2010 3 23 PM Publish this file to the 2 shortcuts xml XML Document 27 02 2010 3 23 PM Web 2 stylers xml XML Document 21 02 2010 9 45 PM E Rename this file d Move this file G E mail this file luserDefineLang xml XML Document 27 02 2010 7 29 AM X Delete this file Other Places O Application Data E My Docum
108. struction it will ignore all instructions If the unit has not been assigned an address this instruction is ignored Out IO Setup output parameters Program YES Interactive NO Parameter REQUIRED The Out output instruction has two parameters that define which output OUTx terminal pair the instruction applies to and whether the state should switch ON or OFF There is an optional third parameter which defines a step count that changes the transition event defined by the action from happening immediately to happening sometime in the future after count number of steps has occurred Out terminal pair action lt count gt The terminal pair for the KFO86B Hyperdrive can have the values 1 and 2 and selects the OUT1 or OUT2 screw connector pairs Kremford Pty Ltd Hyperdrive KFO86B User Manual 65 The action can be either ON to turn the output on turns on the output transistor or OFF to set the output off turns off the output transistor On encountering an Out instruction during normal program flow the output transistor for the specified output is driven to the required state and program flow continues see Figure 16 When the optional third parameter occurs the count is recorded at this point in the program and will be counted down during subsequent motor steps Only when this count reaches zero will the action occur Examples Typically the Out instruction is used to indicate a particular segment
109. switches the OUT1 output transistor off for 650 milliseconds 172 Out 1 off 174 Delay 650 176 Out 1 on When an Out instruction includes the optional third count parameter the action will not occur until a subsequent Step instruction has stepped the motor through that many steps This can be used to initiate some external event at some physical position related to the motor s output system 300 Out 1 ON 3200 set output off after 3200 steps 400 Step 6400 Start a 6400 step profile 500 WaitFor Kremford Pty Ltd Hyperdrive KFO86B User Manual 66 For this example the OUT1 output will turn off half way through the motor movement of 6400 steps at the 3200 step mark Note that it implies a fixed mechanical relationship between the motor and whatever it is driving For instance if the drive includes belts that could slip etc then there would be no guaranteed fixed relationship between a specific number of counts and a particular position An example might be turning on an indicator after a screw jack has moved past a specific position Another might be initiating a saw or guillotine at a certain feed table position An interesting option is to synchronise two Hyperdrives so one is waiting in its program for an input transition that is given by the other as it passes a given position At that point the second Hyperdrive begins its sequence synchronised exactly with the first This is implemented by connecting wires from the OUT1 terminal
110. t to Desktop C Create Tera Term shortcut to Quick Launch O Associate tt file to ttpmacro exe C Associate telnet protocol lo ltermpro exe Cum Figure 33 TeraTerm program links The next dialog screen lists a summary of the installation sequence Click the Insta button to do the software installation 18 Setup Tera Term Ready to Install Setup is now ready to begin instaling Tera Term on your computer Click Install to continue with the installation or click Back if you want to review or change any settings Destination location CAProgram FilesMeraterm Setup type Custom installation Selecled components Tera Term amp Macro When the installation is complete the final dialog is displayed Click on the Finish button Completing the Tera Term Setup Wizard Setup has finished instaling Tera Tem on your computer The application may be launched by selecting the installed icons Click Finish to ext Setup 7 Launch Tera Term Once installed double click on the TeraTerm icon Bo start the terminal program Click the Setup menu entry Drag the cursor down to the Seria port entry and click on that This will display the Serial port setup dialog shown in Figure 34 The settings as shown match the Hyperdrive as shipped These are Kremford Pty Ltd Hyperdrive KFO86B User Manual 85 Baud rate 9600 ww e ey Wwe Note that Hyperdrives can be reconfigured for 57600 baud with the SetBaud comma
111. tRPM command above sets the maximum speed the motor can reach as 60 RPM As mentioned elsewhere whether it will reach this speed depends on the relationship between the accel decel times and the number of steps where below a certain number of steps per move the RPM setting will be unreachable in that many steps with that accel decel rate Now ensure the motor is clear and in the same way as above enter the command Step 3200 Once again terminated by the Enter key The motor will rotate one full revolution if it is a 1 8 motor starting as soon as the Enter key is pressed Note that the terminal does not print the character until the motor has stopped indicating the command has completed The command specifies the motor must execute a move profile of 3200 steps using the default acceleration rate of 200 RPM Sec The latter means the motor will accelerate at a rate of 200 RPM every second so in one second it will be rotating at 200 RPM after two seconds it will be rotating at 400 RPM and so on For a given rate and speed the time is easily calculated from Kremford Pty Ltd Hyperdrive KF086B User Manual 33 Time seconds p Rate For our example here the time for the motor to reach our setting of 60 RPM will be 0 3 d 200 9 3 seconds With a 300 mSec accel time and a 300 mSec decel time they are always the same the time the total move takes must be at least 600 mSecs for the motor to reach the set speed of 60
112. tWhen 1 ON jump when input 1 goes high 240 Step 1 make a step 250 ContWhen 1 OFF now must wait for input to go low 260 Eloop loop forever The program must wait for the input to return to the pre step state before once again waiting on the next step pulse rising edge A programmed single step like this takes about 70 uSec and a realistic step interval is about 110 uSecs As an example this gives a top speed of around 690 RPM in step mode 3 which could be quite useful for some applications Note however that the step interval is now under the control of the program system and not the hardware timers so there will always be some time jitter between steps To include a Direction capability include within the loop an input test that jumps around two Dir instructions as shown earlier This assumes some external system is ensuring the direction input cannot change unless the motor has stopped It is quite a suitable solution for most applications although not capable of very high speeds Saving the Program Unless you save it any program you enter into the Hyperdrive working memory will be lost when the power is removed However you can save a program to the Hyperdrive s non volatile memory and restore it using the Save and Load commands Type Save and the program is written to storage When power is restored type Load to restore the program to working storage Kremford Pty Ltd Hyperdrive KFO86B User Manual 42 You are gua
113. te is TRUE when the instruction is executed then the instruction is ignored and program flow simply continues If the input state is FALSE however program flow will still continue but should that pin state become TRUE at some later time the jump will occur The instruction is typically used to arm a subsequent jump when an event such as a limit switch being reached or perhaps an emergency switch being closed occurs Examples This example shows a program segment where the motor runs until it is stopped by one or the other of the switches connected to inputs 1 and 2 100 Mode speed 110 Power 3 120 StepMode 2 130 Accel 600 140 Monitor 2 on 170 150 SetRPM 300 160 ContWhen 1 on 170 decelNow power setting 3 step mode 2 500 mSecs accel time go to 170 when Out 2 becomes driven start motor run until Out 1 becomes driven decelerate to a stop Ne Ne Ne Ne Ne Ne Se In this case the motor will start up via the SetRPM instruction and continue to run forever until either IN1 or IN2 becomes ON The ContWhen instruction pauses the program waiting for IN1to become ON However the Monitor instruction is continuously monitoring the IN2 input while the motor runs The program jump will occur the instant that line changes to the ON state Kremford Pty Ltd Hyperdrive KFO86B User Manual 61 In this next example the sensor is sensing a mechanical stop so if the event occurs there is no time for the normal deceleration phase and the mo
114. the GoTo instruction will jump to line number 170 and remain there until the move concludes However if input 1 is on a voltage of 5 volts or above between terminals IN1 and IN1 the program will jump to line number 160 and execute the 3200 steps When the motor comes to a halt there is a 1500 mSecs delay The program then loops back and once again examines the IN1 input state to decide how many steps to make Note that for backward compatibility with earlier Hyperdrives the letter h or H can be used for ON and the letter I or L can be used for OFF Earlier Hyperdrives used ground referenced inputs and so an on input was a high voltage Kremford Pty Ltd Hyperdrive KF086B User Manual 39 This program ran in step mode What would it look like in speed mode In speed mode we cannot specify and exact number of steps but we can specify speed as well as time Here is almost the same program in speed mode gt Mode speed 100 Accel 2000 2000 RPM Sec 2 110 Loop 120 JumpIf 1 ON 150 jump if IN1 is on 130 SetRPM 60 start spinning at 60 rpm 140 goto 160 150 SetRPM 120 start spinning at 120 rpm 160 Delay 2000 spin for 2 secs 170 decelNow decelerate to stop 180 Delay 1500 1 5 sec delay 190 ELoop Spinning at 60 RPM for 2 seconds the motor should rotate for about 2 revolutions Whether you use SPEED or STEP mode really depends on your application If an exact positioning profile
115. the Motor Characteristics table for the current step mode setting you will get a Too fast for Step Mode error Also changing to a larger microstep StepMode may not be allowed until a SetRPM command lowers the speed RPM Steps Second and Radians Second Conversions While it is usually easier to specify motor speed in RPM letting the Hyperdrive do the conversion to steps sec it is sometimes handy to convert between these measures of motor speed The two basic conversions are 6 Microsteps RPM St i hb Motor step angle Motor step angle Steps sec pu Pang ps 6 Microsteps For example if you have a 1 8 motor running with a microstep setting of 16 Hyperdrive step mode of 4 and a speed of 600 RPM the equivalent steps sec are 6 16 600 Steps sec ae 9 32 000 Another handy conversion is between radians sec and RPM where the former is often used to define rotational velocity 30 radians sec RPM T RPM mx di radians sec 30 Converting acceleration from the Hyperdrive s RPM sec to Steps sec produces some rather large numbers For example the Hyperdrive maximum acceleration rate of 30 000 RPM sec for the same case as above becomes 1 600 000 Steps sec Setting the Stopped Power In most cases setting the stopped power will need to wait until the motor is mounted in its machine You should aim to use the lowest power setting to minimise power dissipation and consequent heating of both the Hyperdrive c
116. tor must halt immediately A sample program segment using an OFF to ON transition on pin IN2 could look like 160 SetRPM 80 Start the motor running 170 Monitor 2 0N 240 jump if pin 2 is or changes to on r 240 Halt pin 2 came on halt immediately An example combination of the two events above would be the situation where there is a normal transition to an ON stop event perhaps a mass sensor or similar and an override limit switch with a transition to OFF should the mass switch fail The set of instructions would look like 200 SetRPM 150 start the motor profile 210 Monitor 1 0N 280 pin 1 monitors for normal stop 220 Monitor 2 0FF 310 pin 2 monitors for emergency stop 280 DecelNow normal stop 290 ContWhen 2 ON clear other monitor 310 Halt emergency stop 320 ContWhen 1 OFF clear other monitor In this case the mass sensor is on pin IN1 and its output comes ON to switch The limit switch is on pin IN2 and it goes from ON to OFF to switch The SetRPM instruction starts the motor running in the previously set speed mode with the previously programmed profile Either the mass sensor or the limit switch can stop the motor where a mass sensor event will jump the program to the DecelNow instruction which will bring the motor to its normal deceleration stop but a limit switch event will jump the program to the Halt instruction which halts the motor immediately What happens after the two stop instructions is up to the pro
117. tructions when given as interactive commands just store their parameters in the controller However the set steps instruction Step in step mode and the set speed instruction SetRPM in speed mode will cause the motor to immediately execute a move profile using all preceding motor related instructions Angle Y Set the motor number The default value is 1800 or 1 8 Note that basic step angle the controller sends motor commands as in thousandths microsteps and the angle the motor of a degree subsequently rotates depends on the motor s inherent step angle Kremford Pty Ltd Hyperdrive KF086B User Manual 27 Step Set the number of steps in the current move O lt number lt 2 or blank In both programming and interactive modes when in step mode this instruction will cause the motor to immediately move that many steps using the currently defined set of acceleration stepping power and decay modes If no parameter is given the motor will make 2 147 483 647 steps The stepping mode StepMode will affect the number of degrees a step will take Baktrak Reverse direction for the current number of steps speed Usually used in emergency situations where the motor must be reversed back to a known position in response to an input level change typically from an emergency stop button The parameter sets the speed Accel Set the acceleration rate in RPM Sec 30 thru 30000 The acceleration and
118. urn to the start position There would typically be a Monitor instruction supervising the drive out operation so that an emergency switch on an INx line will immediately halt the motor Often the motor will be required to return to its start position after halting Where the start position is not controlled by some sort of electrical switch but relies only on the number of steps jumping from where the motor stopped after some emergency via the Halt instruction to the normal reversing code will use the step count from the Step instruction which will be in excess of the now foreshortened number of steps required to return to the original start position The motor will proceed past the normal parked position possibly stalling on a mechanical stop By picking up the current accumulated step count the BakTrak instruction starts the motor in the reverse direction with all its existing parameters accel rate step mode etc You could use it in a program that extends and retract a ram and includes an emergency switch on the IN1 like this 100 debounce 1 20 110 angle 2 120 loop 130 setrpm 230 140 contwhen 1 on 150 dir cw 160 Monitor 1 off 220 170 step 320000 180 waitfor 190 delay 200 set IN1 debounce delay 0 9 degree steps start infinite loop 230 rpm emergency switch must be on cw extends the ram jump if line 1 switches off extend for this many steps wait till done pause extended for 200 mSecs M Ne Ne Ne Ne Ne Ne Ne Ne
119. ut 30 milliamps This current will be sufficient to drive a small relay However a load that requires much higher current than this could pull the output transistor out of saturation due to the fixed internal drive and so will require amplification to drive a load such as a large relay or contactor When driving a large relay Figure 18 shows an example circuit driven by the Hyperdrive OUT2 output terminal OUT1 External t OUT2 ower su P pply OUT2 Output relay Figure 18 Typical power relay or contactor drive circuit The relay will close when the output is turned on by the Out 2 L instruction The circuit uses an external PNP transistor to provide the necessary current amplification Resistor R1 will have a typical value of 10 000 ohms Resistor R2 will depend on the external control power supply voltage the relay DC resistance and the large signal gain of the transistor Q1 As an example we will take a standard 12 volt relay with a coil resistance of 220 ohms a DC supply of 12 volts and a 2N3906 as a typical PNP transistor The coil current will be I coil 220 55 mA The 2N3906 has a DC current gain hre of 60 at 50 mA Using the typical 15 of this value to ensure the transistor saturates under all conditions the base drive current required is 55 55 15 0f60 9 This is well within the nominal maximum Hyperdrive output current of 50 mA mentioned earlier The value for R2 is then given by _ V VggQ1 VO 104
120. ve the error report and correct the mistake However in a situation where a controlling program running in a PC or a PLC is downloading programs without supervision lines that contain an error will still be flagged as errors but now will be missing from the program Note that the error may just be a garbled transmission error and not in the original program A subsequent Go command would attempt to run the program with these lines missing with potentially dangerous results A Programming Environment The recommended method is to open both the text editor and the terminal program at the same time as shown in Figure 24 Here the user has been editing the program in Notepad It has been saved and the user then switches to the TeraTerm window The download macro has been selected as per Figure 22 and the just saved program selected in the user s saved programs folder TeraTerm has responded by downloading the program into the Hyperdrive over the RS422 RS485 interface The Hyperdrive shows any comments while the download proceeds as shown here but when the user subsequently lists the downloaded program the comments are gone They are stripped off before being stored as they would otherwise take up memory This is common practise where production programs require comments for recording or qualification purposes A program can be edited in Notepad and downloaded and tested in TeraTerm repeating these steps as required until the functionality i
121. which input pin pair INx the instruction applies to whether the terminal state going from OFF to ON or vice versa initiates the action and the address to jump to when this particular event occurs The syntax is MonSkip terminal pair gt lt transition gt destination line number The terminal pair parameter can have the values 1 through 4 and selects the corresponding pair of IN1 thru IN4 input screw terminals The transition can be either ON or H or OFF or L with ON or H meaning a voltage above 4 volts between the INx and INx terminals As elsewhere the case does not matter The destination line number must be a valid program line number The line number is the program address to jump to when the particular test is true Unlike the Monitor instruction the MonSkip instruction ignores the current input state and arms the Hyperdrive to continuously watch the specified input pin for the specified transition only after it has changed from its current state Its purpose is for cases where the current input state must be the state that eventually causes the jump The MonSkip instruction assumes that at some time in the future this input will first change from its current state to the opposite state and when or if it returns to the current state the jump will occur The instruction is typically used to prepare a jump to a stop event when there is only one switch involved Example Consider a motor feeding labels
122. you can include comments and cut and paste and insert and delete as required It can be saved to a PC folder like any other text document and a library of programs built up over time When you are satisfied you can download it to the Hyperdrive via the RS422 RS485 interface You can use any plain text editor however the public domain editor Notepad is included on the accompanying CDROM and has a language add on specifically for the Hyperdrive including syntax highlighting i e Hyperdrive instructions are colour coded Appendix 2 Installing the Notepad Program shows how to install this editor and configure it for Hyperdrive programs Downloading Programs Included on the CDROM is a selection of sample programs in the folder called Programs Hyperdrive programs have the default filename extension SPL Always use the Kremford supplied TeraTerm macro for downloading programs to the Hyperdrive The Programs folder of the Hyperdrive CDROM contains this macro called Hyperdrive3 ttl Hyperdrive3 ttl 1 2 filenamebox Enter the SPL filename 3 fileopen fhandle inputstr 8 h do 5 filereadln fhandle line 6 if result break 7 sendin line 8 wait gt xx 9 if result 2 goto error 16 loop 11 goto end 12 error 13 timeout 1 14 wait tags 15 sendin Clear 16 end Figure 21 The Kremford supplied TeraTerm file download macro The text of the macro is shown in Figure 21 The macro line wait gt norma

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