Control Techniques Unidrive Servo Series Product Data page 51

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UD70 Applications Module
Features
Task-based architecture allows easy implementation
of real-time control operations and fixed timebase
calculations. SPEED and ENCODER tasks are
synchronised to the drive's internal control loops.
Seven separate programmable tasks, listed from highest
to lowest priority:
INITIAL Runs once, immediately after UD70 is reset.
EVENT Triggered by digital input or the
counter/timer unit.
SPEED Synchronised to internal drive speed loop,
runs every 1.38ms or 1.84ms.
ENCODER Synchronised to internal drive encoder loop,
runs every 5.52 or 7.36 ms.
CLOCK Runs every fixed timebase period, selectable
from 5ms to 100ms.
BACKGROUND
Runs when no other tasks are scheduled.
ERROR Runs when an error occurs, allowing a
controlled stop if the error is non-fatal.
RS485 port - fully configurable. Supports the
following modes:
ANSI protocol as a slave or a master controller,
in 2-wire or 4-wire mode, at data rates from
300 bits/sec to 38400 bits/sec.
MODBUS protocol (ASCII and RTU modes) as a
slave only, at data rates from 300 bits/sec to
19200 bits/sec.
Remote I/O Box high speed protocol. (38400 bits/sec)
Single character read/write access to the RS485 port
buffers. This allows other protocols to be
implemented using a DPL program.
External I/O Box can be connected to the RS485
port. Special high speed I/O Box protocol (38400
bits/sec) can be used to read inputs and update
outputs, synchronous with the ENCODER or CLOCK
tasks. For multiple I/O Box connections, ANSI mode
is supported at reduced data rates of 4800 bits/sec
or 9600 bits/sec.
RS232 port for programming and debugging
programs using the DPL Toolkit. Connection only
requires a simple one-to-one ribbon cable to connect
from a 9-pin PC serial port to the RS232 port.
High speed read/write access (345 µs or 460 µs) to
speed and torque reference within the drive.
Internal single axis position controller included, which
can be synchronised to the SPEED or ENCODER
tasks. Absolute positions are stored as 32 bit signed
integers. Full marker pulse and freeze pulse support
is also implemented. Position control, speed control,
digital lock and cam profiling are all supported.
A 16 bit Counter/Timer unit can be clocked internally
(500kHz or 4MHz) or externally (1MHz max.) This
provides methods for measuring short time intervals,
counting external events, or generating regular fast
interrupts using the EVENT task.
Two high speed TTL digital inputs and one digital
output. An input can be used to trigger the EVENT
task and perform certain functions when external
events occur.
400 internal signed 32 bit registers available for use
with DPL program, of which 200 are non-volatile.
Menu 20 on the Unidrive (50 signed 16 bit
parameters) is also non-volatile.
Specifications
Intel 960 32 bit RISC processor
96K of user program FLASH memory
8K of user RAM
16MHz clock
RS232 programming port
RS485 networking por
Ambient Temperature: -5ºC to +40ºC
Storage Temperature: -40ºC to +50ºC
Weight: 134g
Maximum Altitude: 4000m
Humidity: +5% to 95% at 40ºC,
non-condensing
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