Control Techniques UNI 1404 User Manual

$VERSION V1.0
$DRIVE UNIDRIVE
$define PITCH% #18.11
$define CIRCUMFERENCE% #18.12
$define CUT_DIST% #18.13
$define MOTOR_ENC_COUNTS% 16384
$define LINE_ENC_COUNTS% #18.14
$define LINE_CIRCUMFERENCE% #18.15
$define GEAR_RATIO% #18.16
$define RE_CALC% #18.31
INITIAL{
; Generate Mod_Sin Array (scaled)
;assign memory space for cam table arrays
DIM sin_array[100]
DIM line%[101]
DIM knife%[101]
;reset program variables
tmr1%=0
sum1=0
sum2=0
index%=0
ang=3.141592654/50
;Create an array with 100 points describing a modified sin
wave
DO
s=sin(ang*index%)
sum1=sum1+s
sin_array[index%]=s1
sum2=sum2+s1
index%=index%+1
LOOP WHILE index%<100
index%=0
;scale the mod_sin array so the total distance moved under
the curve is 1.
Do
sin_array[index%]=sin_array[index%]/s2
index%=index%+1
LOOP WHILE index%<100
;initialise the cam table
result%=CAMINIT(line%,knife%,101,0,0)
;control registers
_Q32%=0
;Reset Control Registers
_Q20%=0
;unidrive set-up parameters
#01.10=1
;Enable Bipolar speed ref.
#01.14=3
;Select Preset Speed reference.
#01.15=1
;Select Preset Speed #1.
#2.02=0
;Disable Speed Ramps
;position loop set-up parameters
_Q20%.1=1
;Enable Q4 as the PID loop reference
_Q20%.6=1
;Enable automatic writing of #91.02
#91.01=3
;Enable the use of #91.2 fast write to Preset
Speed #1.
#91.05=1500
;Set the maximum resolution speed in rpm of
#91.02
}
BACKGROUND{
top:
;calculate adjustments required for the rotary knife to cut in
the required place
line_scale%=LINE_ENC_COUNTS%/LINE_CIRCUMFERENCE
%
knife_scale%=MOTOR_ENC_COUNTS%*GEAR_RATIO%/CIR
CUMFERENCE%
catch_up_length%=(CIRCUMFERENCE%-PITCH%-
CUT_DIST%)*knife_scale%
pitch_increment_line%=(PITCH%-
CUT_DIST%)*line_scale%/100
pitch_increment_knife%=(PITCH%-
CUT_DIST%)*knife_scale%/100
;calculate the Cam table points to describe the required
motion
IF RE_CALC%=1 THEN
index%=0
Do
line%[index%]=pitch_increment_line%
knife%[index%]=INT(sin_array[index%]*catch_up_length%) +
pitch_increment_knife%
index%=index%+1
LOOP WHILE index%<100
line%[100]=CUT_DIST%
knife%[100]=CUT_DIST%
RE_CALC%=0
ENDIF
;Set the speed of the virtual axis for test purposes
v_master%=#18.20
goto top: // main background loop
}
SPEED{
;Increment the c/ required for the virtual master speed.
_Q1%=_Q1%+v_master%
}
options
Rotary Knife
(Example of DPL Code)
52

Control Techniques UNI 1404 Specifications

General

Brand	Control Techniques
Model	UNI 1404
Category	DC Drives
Language	English

Summary

servo drive

Drive Overview

Introduces the Unidrive Servo & Unimotor package, highlighting its multi-purpose capabilities and flexibility.

servo motor

Motor Overview

Introduces the Unimotor range of brushless AC servo motors, detailing their unique features and construction.

servo drive & motor combinations

Torque Speed Curves & Tables

Presents performance data for motor-drive combinations, focusing on torque and speed characteristics.

motion intelligence

Options

Details available options and modules that enhance the functionality and intelligence of the drive system.

drive technical specifications

AC Supply Requirements

Details the required AC supply voltage, frequency, and imbalance limits for the drive.

Environmental Conditions

Covers altitude, vibration, ingress protection, and ambient temperature/humidity specifications.

Dissipation and Frequency/Speed

Details power dissipation across frequencies and specifies maximum speed and speed regulation.

Dynamic Braking and Resistor Selection

Covers dynamic braking resistor connections, custom values, minimums, power dissipation, and peak rating.

Protection Features

Lists and describes various protection trips and features for the drive, including overvoltage, overcurrent, and thermal protection.

connections

Control Inputs and Outputs

Details the terminal assignments, functions, and ratings for the drive's control inputs and outputs.

drive installation

Panel Wiring Guidelines for Routine EMC Precautions

Panel Wiring Guidelines for Compliance with EMC Emission Standards

Surface Mounting

Through-panel Mounting

Motor Cable and Cable/Fuse Recommendations

Discusses motor cable capacitance effects and provides recommendations for cable types, lengths, and fuses.

Enclosure Guidelines

motor overview

Introducing Unimotor

Introduces the Unimotor range, highlighting its design, construction, and key performance features.

Standard Features

Optional Features

motor technical specification

Specification Details

Covers physical, environmental, flange mounting, and output shaft specifications for the Unimotor.

Ordering Information

Explains how to create an order code for a Unimotor using the provided reference example and options.

accessories

Cable Assemblies and Connectors

Planetary Gearmotors and Fan Cowlings

Cable Assembly Characteristics

Discusses the importance of cables, features of Control Techniques' ready-made cables, and their applications.

Shielded Power Cable Specifications (2.5mm²)

Shielded Power Cable Specifications (4.0mm²)

Power Cable Drawings and Ordering

Shielded Signal Cable Specifications

Signal Cable Drawings and Ordering

Connector Accessories

servo sizing software

CTSS Overview

Introduces CTSS software for servo sizing, detailing its capabilities in parameter identification, calculation, and motor selection.

Workbench and Toolbox Functionality

options

UD70 Applications Module

Describes the UD70 module, its features, benefits, and ease of use for developing application-specific programs.

UD70 Features and Specifications

Details the features of the UD70 module, including task-based architecture, communication ports, and technical specifications.

Rotary Knife DPL Code Example

Drive Communications Modules

Feedback Devices