Control Techniques UD70 User Manual

UD70
Issue code: 70nu2
8-28 Features
Defining the cam table
Before the cam function can be used, an appropriate table must be
initialised. This is best done at the start of the program in the INITIAL task.
setup% = CAMINIT(master%, slave%, tablesize%,
reserved1%, reserved2%)
where:
setup% = 0 initialisation was not successful.
= 1 initialisation successful.
master% = name of the master array.
slave% = name of the slave array.
tablesize% = number of defined cam points. Note that each
array can contain more defined positions, but
both arrays must be at least this size to
initialise correctly.
reserved1% = 0 this argument is reserved for future use,
and must be set to 0.
reserved2% = 0 this argument is reserved for future use,
and must be set to 0.
The master% and slave% arrays can be of different types, and both can be
variable or constant arrays. The maximum number of elements in a single
array is 500. Constant arrays are defined when the program is compiled, and
cannot subsequently be changed unless the program is re-compiled. DPL
programs are stored in the 96K of program memory, so the only limitation is
that the compiled program size does not exceed 96K.
Dynamic arrays use the 8K of RAM, so the total number of array elements is
far smaller. The advantage of a dynamic array is that values can be changed
by the DPL program while the cam function is in use. If array elements are
modified, changes should be complete before
_Q34% gets to within 3
elements.
For the example cam profile below, the array names will be “master%” and
“slave%”. The cam profile can be split into 6 separate sections, so 6 array
elements will be used to re-create the profile.

Control Techniques UD70 Specifications

General

Brand	Control Techniques
Model	UD70
Category	Control Unit
Language	English

Summary

Safety Information

General Information

Introduction to UD70 and DPL Toolkit

UD70 Overview and DPL Toolkit Basics

Explains the UD70 as a microcomputer for Unidrive flexibility and the DPL Toolkit for software development.

UD70 Memory and PC Requirements

Details UD70 memory storage and minimum PC specifications for DPL Toolkit.

Technical Data and User Knowledge

Lists UD70 technical specifications and assumes basic Windows knowledge for users.

Installation and Configuration

Installation Procedure

Instructions for physically fitting the UD70 module into the Unidrive.

System Configuration and DPL Toolkit Setup

Details host PC connections (RS232) and installing the DPL Toolkit.

DPL Toolkit Operations

DPL Toolkit Overview and File Management

Introduces the DPL Toolkit's capabilities and file handling procedures.

Editing Programs and Applying Styles

Covers editing code, using styles, and auto-indent features within the DPL Toolkit.

Compiling and Running Programs

Details the process of compiling DPL programs and executing them on the UD70.

Serial Communications

Serial Communications Introduction

Explains serial communication links using RS485 for UD70 systems.

Hardware Connections and ANSI Protocol

Details RS485 hardware connections, ANSI communications fundamentals, and frames.

Serial Modes and ANSI Instructions

Outlines various RS485 modes and available ANSI instructions for communication.

Reference Guide

UD70 Tasks and Programming Structures

Explains different task types (INITIAL, BACKGROUND, CLOCK) and their roles in UD70 programming.

DPL Instructions and Functions Reference

Details various DPL programming instructions and mathematical/signal-processing functions.

UD70 Features

PLC Parameters and Feature Introduction

Introduces PLC parameters and the UD70's advanced position control and profile generation capabilities.

Encoder Lines, Position, and Controller Setup

Explains encoder line units, position calculation, and enabling the position controller.

Default Values and Parameter Descriptions

Details default reset values and provides descriptions for various UD70 parameters.

Logic Diagrams and Digital Lock Control

Illustrates logic diagrams for position control and explains digital lock functions.

Cam Function and Reference Switching

Describes the cam function for slave axis control and switching between control modes.

Timer/Counter Unit and Digital I/O Ports

Details the UD70's timer/counter unit and digital I/O port functionality.

Memory Storage and RS232 Communications

Covers non-volatile memory storage and using the RS232 port for Drive-to-Drive communication.

Diagnostics and Error Handling

Run-time Errors and Trip Codes

Explains run-time errors, their causes, and provides a list of trip codes with their actions.

Compiler Errors and Advanced Error Handling

Lists compiler error messages and details advanced error handling using the ERROR Task.

UD70 Parameters

Set-up Parameters and RS485 Modes

Details UD70 set-up parameters and the various RS485 port modes available.

Virtual Parameters and Control Words

Explains virtual parameters and the function of control and status words.

General-Purpose Parameters and I/O Box Configuration

Lists general-purpose parameters and details I/O box configuration through menus.