Control Techniques UD70 User Manual

UD70
Issue code: 70nu2
Diagnostics 9-3
9.3 Compiler error messages
This sections lists all the errors that can be generated when compiling a DPL
program.
ERROR: Argument x must be an integer
The argument has been written as a floating-point number instead of as an
integer.
Example
ANSIWRITE (11, “SP”, 50, 3.1)
Where:
11 = Argument 1
SP = Argument 2
50 = Argument 3
3.1 = Argument 4
Argument 4 must be an integer.
ERROR: Array must be dimensioned
An array must be defined before referencing it by a
DIM statement. This
gives the array its dimension before it is required (see DIM instruction in
Chapter 7 Reference).
ERROR:
CALL can call only in-built functions or user tasks
The
CALL instruction can be used only to call a Standard Application or a
user-defined Task (ie. the CALL instruction cannot call a label). (See the
CALL instruction in Chapter 7 Reference).
ERROR:
DELAY can be used only in the INITIAL and BACKGROUND tasks
By the nature of the
ENCODER and CLOCK Tasks, these Tasks cannot support
the DELAY instruction. A DPL program can be halted only when in the INITIAL
or BACKGROUND Tasks (see DELAY instruction in Chapter 7 Reference).
ERROR:
DIM must have an integer number of elements
The dimension of an array must be defined by an integer.
ERROR: Empty Tasks are not permitted — remove the Task and recompile
A Task has been defined without any instructions inside the braces. Remove
the Task and the braces.
ERROR: Expression is already a float — remove
FLOAT instruction
An expression which is already a floating-point variable, has been given a
FLOAT instruction. Remove the FLOAT instruction.
ERROR: Expression is already an Integer variable — remove
INT instruction
An expression which is already an integer variable has been given an
INT
instruction. Remove the INT instruction.

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.