Control Techniques UD70 User Manual

UD70
Issue code: 70nu2
Reference 7-19
Note
Do not over-use the PRINT instruction. It is better to use the
Watch window in the Toolkit in order to monitor
variables.
The
PRINT instruction works in both normal-terminal and
dumb-terminal modes. In normal-terminal mode, the
DPL Toolkit must be used to monitor the print output.
The settings of the RS485 port are fixed at 19200 baud, 8
data bits, 1 stop bit, no parity.
PUTCHAR
Syntax result% = PUTCHAR (character%)
This is a
RS485 port function that writes a character to the RS485
communications port.
If the character could not be written (eg. if the
RS485 port buffer is full), the
function returns 0 0, otherwise it returns 11.
PUTKEY
Syntax result% = PUTKEY (character%)
This is a
RS232 port function that writes a character to the RS232
communications port when operating in dumb-terminal mode only. If the
function fails, it returns 00, otherwise it returns 11.
Example r% = PUTKEY(65) // output 'A' to RS232 port
See also
PRINT instruction.
REINIT
Syntax REINIT
Set up parameters are read by the
UD70 only at the moment AC power is
applied to the Drive or the UD70 is reset. If changes are made to the set-up
parameters by a DPL program, the REINIT instruction can be used to force
the UD70 to re-read them so that changes can take effect.
This instruction will not cause a reset. The program execution continues
from the next instruction as normal.
Example
#17.11 = 25 //Change CLOCK task timebase to 25ms
reinit //reinitializes the UD70to make change take effect
NOTE
REINIT does not read #17.12, POSITION LOOP ENABLE. To
enable or disable the position loop while the Drive is
running, use _Q20%.31 (see Chapter 8).

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.