Control Techniques UNI 2403 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 2403 Specifications

General

Input Voltage	200-240V AC
Output Current	3A
Horsepower	0.5 HP
Input Frequency	50/60 Hz
Protection Features	Overvoltage, Undervoltage

Summary

Drive Overview

Key Features

Introduction to Macros

Macro 1 – Easy Mode

Defines commonly used features with 10 parameters, numbered 0.01 to 0.10.

Macro 2 - Motorised Potentiometer

Emulates a motorised potentiometer using two logic input signals to control drive parameters.

Macro 3 – Preset Speeds

Uses up to four preset frequencies/speeds selected by binary combination on terminals.

Macro 4 – Torque control

Operates in Speed or Torque control using terminal 29, maintaining speed or torque as defined.

Macro 5 - PID control

Configures drive to control motor with PID control signal, passing error through limiter/scaling.

Macro 6 - Axis Limit control

Uses two digital inputs for limit switch lockout in axis position control systems.

Macro 7 - Brake control

Allows control of an external brake, releasing it when the drive is running and has current.

Macro 8 – Digital Lock

Enables drive to lock two motor shafts together pulse for pulse.

Drive Technical Specifications

AC Supply Requirements

Temperature, Humidity and Cooling Method

Altitude

Dynamic Braking

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

Protection

Lists various protection features like undervoltage, overvoltage, overcurrent, and thermal trips.

Connections

Control Inputs and Outputs

Typical Power and Default Signal Connections

Drive Installation

Panel Wiring Guidelines

Provides guidelines for panel wiring for EMC precautions and emission standards compliance.

Surface Mounting

Details dimensions and mounting clearances for surface mounting different model sizes.

Through-panel Mounting

Provides dimensions and mounting details for through-panel installation of various frame sizes.

Motor Cable

Enclosure Guidelines

Covers heat dissipation in sealed and ventilated enclosures, with calculation examples.

Motor Overview

Introducing Unimotor

Motor Technical Specification

Details physical, environmental, and electrical specifications, including ordering information.

Servo Motor Performance Data

Provides detailed performance data (torque, current, power) for various motor frame sizes.

Motor Installation - Frame Sizes 75-142

Motor Installation - Frame Size 190

Torque Speed Curves & Tables

Unimotor Torque Speed Curves

Unimotor/Unidrive Combination Data

Servo Sizing Software

CTSS Software Overview

Motion Profile and Lead Screw Setup