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Control Techniques UD70 User Manual

Large option module and software
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User Guide
UD70
UD70
Large Option Module and
software for Unidrive
Part Number: 0447-0017
Issue Number: 2

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Summary of Contents for Control Techniques UD70

  • Page 1 User Guide UD70 UD70 Large Option Module and software for Unidrive Part Number: 0447-0017 Issue Number: 2...
  • Page 2 All rights reserved. No parts of this User Guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by any information-storage or retrieval system, without permission in writing from the publisher. Copyright © November 1997 Control Techniques Drives Ltd Author: CT SSPD Originators AH, PB...

  • Page 3: Table Of Contents

    Contents Introduction Overview Memory PC requirements Technical data for the UD70 User knowledge Installation Installation procedure Configuring the system Getting Started Introduction Example DPL program Creating a DPL file using the DPL Toolkit DPL Programming Program headers Comments Variables Parameters...
  • Page 4 DPL Toolkit Overview of the DPL Toolkit File management Editing a program Applying styles Compiling and running a program Downloading a program 5-11 Running a program 5-12 Program monitoring and debugging facilities 5-12 Serial Communications Introduction Hardware connections ANSI communications Serial communications modes 6-12 ANSI instructions...
  • Page 5 Using the RS232 port for Drive to Drive communications 8-37 Diagnostics Run-time errors Run-time trip codes Compiler error messages Advanced error-handling Parameters 10-1 10.1 UD70 set-up parameters 10-1 10.2 Virtual parameters 10-4 10.3 RS485 port modes 10-11 10.4 General-purpose parameters 10-12...

  • Page 7: Introduction

    Drive. To maximize this flexibility, a second processor can be used for running application-specific software. This second microprocessor is the UD70 which allows the Drive to be easily adapted to applications by programming software in the UD70...

  • Page 8: Memory

    UD70 connected to a host computer by a serial link Memory The compiled program and the user-created source program are UD70 stored in non-volatile memory on the card. This type of EEPROM UD70 memory allows the programs to be loaded using the serial port.

  • Page 9: Installation

    AC supplies to the Drive must be disconnected at least 15 minutes before any cover is removed or servicing work is performed. Installation procedure Location of the UD70 in the Unidrive Refer to the Unidrive User Guide for instructions on fitting a large option module to the Drive. UD70...

  • Page 10: Configuring The System

    RS232 Port RS232 female D-type connector. Ready-made cables for serial RS232 communications are generally available. The table below gives the minimum required connections between the UD70 and a 9-way and 25-way pin port connector. UD70 9-pin connector 25-pin connector pin no.
  • Page 11 Downloading the system file has no pre-loaded system software. The first task is to program UD70 the system software using the DPL Toolkit. Use the following procedure: Connect the serial communications cable to the UD70 Apply power to the Drive.
  • Page 12 Select the correct path for the required system files. Double-click on the . file specified in the following table: Drive File UD70OS.SYS UD70 UD70 with Interbus S or IBSPROFI.SYS Profibus DP UD70 with ModBus Plus MBPLUS.SYS UD70 with CTNet UD70NET.SYS The Programmer Programmer dialog box appears.
  • Page 13 Click on (green light showing). The system file is now loaded into the UD70 UD70 Installation Issue code: 70nu2...
  • Page 14 UD70 Installation Issue code: 70nu2...

  • Page 15: Getting Started

    Sawtooth, because it applies a repetitive cycle consisting of a linear increase in speed demand followed by an instantaneous reduction to zero, as shown in the following diagram. Repetitve cycle produced by the Sawtooth program UD70 Getting started Issue code: 70nu2...
  • Page 16 Is #1.21 < 1000? Flow diagram of program Sawtooth Program instructions $TITLE Sawtooth $VERSION 1.1.1 $DRIVE Unidrive $AUTHOR MyName $COMPANY MyCo //Note: This is a comment. BACKGROUND Top: #1.21=0 #1.21<1000 DO WHILE #1.21=#1.21+1 LOOP Top: GOTO UD70 Getting started Issue code: 70nu2...

  • Page 17: Part Number

    $DRIVE Unidrive The third line is drive name. This tells the compiler which Drive $DRIVE it is installed in. (Since the DPL Toolkit can be used with the UD70 , this must be stated.) MD29 $AUTHOR MyName $COMPANY MyCo The fourth and fifth lines are used to define the author of the program and the company name.

  • Page 18: Creating A Dpl File Using The Dpl Toolkit

    Opening the DPL Toolkit In Windows 3.xx Program Manager, or Windows 95 Start menu, click on: The DPL DPL Toolkit Toolkit window appears. At the top of the window are a menu bar and toolbar. UD70 Getting started Issue code: 70nu2...
  • Page 19 The program is ready for compiling into machine code. Important Note programs must be saved as .DPL files. If this is not done, the program cannot be compiled into machine code. Only the saved version of the program is compiled. UD70 Getting started Issue code: 70nu2...
  • Page 20 Compiling the program The DPL Toolkit contains a compiler which converts programs from text format to binary machine code which the can understand. The UD70 compiler converts the . file into a binary file with a extension. .BIN Use the following procedure.
  • Page 21 Connecting to the UD70 It is now necessary to establish communications from the host to the in order to download the compiled file. UD70 Use the following procedure: Click on . The Task Manager opens with the Task Manager toolbar appearing below the standard toolbar.
  • Page 22 Note can hold only one compiled program (ie. .BIN file) UD70 in memory at one time. A program that is downloaded to will over-write an existing program. UD70 Running the program The Sawtooth program rapidly alters the speed reference parameter of the Drive. For safety, ensure the Drive is disabled before running the program.

  • Page 23: Dpl Programming

    1.0.1 1.0.1 $VERSION Minor updates can be shown by increasing the last digit, eg. 1.0.2 1.0.2. Major modifications can be shown by increasing the first digit, eg. 2.0.0 2.0.0. Maximum length: 8 characters UD70 DPL programming Issue code: 70nu2...

  • Page 24: Comments

    Drive. Note If a different Drive is specified, the program may not be compiled, or run-time error 53 will occur when the program is downloaded to the UD70 Author name Syntax $AUTHOR Author name is for use by the programmer.

  • Page 25: Variables

    Variable names are case sensitive (eg. the variable name speed% speed% is not the same as SPEED% SPEED%). Preferred use of variables It is recommended that integer variables are used where possible. Operations on integer variables perform much faster than for floating-point variables. UD70 DPL programming Issue code: 70nu2...
  • Page 26 INITIAL after the variable name. Dynamic arrays are placed in the 8kB of volatile memory in the which limits the maximum size of the array. UD70 DIM myarray%[20] ;Integer array having 20 elements Example DIM array2[30] ;Floating-point array having 30 elements...

  • Page 27: Parameters

    Operators perform mathematical or logical operations on values. The following operators are supported in DPL programming. Note Certain operators work only with integer values or variables. Operators for floating-point and integer variables Plus – Minus Divide Multiply UD70 DPL programming Issue code: 70nu2...
  • Page 28 100 (binary) is converted to 000011 011 (binary). % Remainder This Operator gives the remainder when an integer is divided by another integer. Example 5 % 2 = 1 8 % 3 = 2 UD70 DPL programming Issue code: 70nu2...

  • Page 29: Tasks And Real-Time Programming

    When real-time programming, a task Structure (or philosophy) has to be maintained. programs contain sections called tasks, where a task enables a priority UD70 to be given to a sub-routine. Seven levels of priority are defined by these tasks in the following order: •...
  • Page 30 BACKGROUND Task. Note task does not automatically loop. BACKGROUND Example BACKGROUND{ RAMP: #1.21 = 0 DO WHILE #1.21<1000 #1.21 = #1.21+1 LOOP GOTO RAMP: UD70 DPL programming Issue code: 70nu2...
  • Page 31 CLOCK Task BACKGROUND Task CLOCK Task timing period Examples of the BACKGROUND task giving way to the CLOCK and ENCODER tasks Examples of the BACKGROUND task giving way to the CLOCK and ENCODER tasks UD70 DPL programming Issue code: 70nu2...
  • Page 32 Sawtooth program given in Chapter 3 Getting Started. The name given to the sub-routine is : : . RAMP BACKGROUND{ Loop: CALL RAMP: GOTO Loop: RAMP: { #1.21=0 DO WHILE #1.21<1000 #1.21=#1.21+1 LOOP UD70 4-10 DPL programming Issue code: 70nu2...
  • Page 33 CLOCK The task is executed on a constant timebase; the actual timebase used depends on the value of the set-up parameter on the Drive (see also UD70 set-up parameters in Chapter 10 Parameters), which can range from 5ms to 200ms.
  • Page 34 Unidrive, so SPEED the execution frequency of the task is determined by the switching frequency selected. Drive Switching SPEED task frequency timebase Unidrive 3, 6 or 12 1.38 Unidrive 4.5 or 9 1.84 UD70 4-12 DPL programming Issue code: 70nu2...
  • Page 35 ERROR DPL program. If the DPL Toolkit is connected to the UD70 at the time of the error, the error number will be displayed on the screen. Run-time errors can be caused by a variety of occurrences. For example:...

  • Page 36: Instructions And Functions

    A loop instruction repeats a block of instructions until a specified condition occurs. Example DO WHILE LOOP Procedure 1 Condition False True (No) (Yes) Example of a DO WHILE, LOOP flow diagram Example of a DO WHILE, LOOP flow diagram UD70 4-14 DPL programming Issue code: 70nu2...
  • Page 37 ANSI instructions An ANSI instructions allows a DPL program to communicate via the RS485 port with other Drives and cards using the protocol. Refer to UD70 ANSI Chapter 6 Serial Communications. UD70 DPL programming 4-15 Issue code: 70nu2...

  • Page 38: Optimizing Programs

    = 1 ELSEIF #1.21 > 200 THEN range% = 2 ENDIF This becomes: temp% = #1.21 IF temp% > 100 THEN range% = 1 ELSEIF temp% > 200 THEN range% = 2 ENDIF UD70 4-16 DPL programming Issue code: 70nu2...
  • Page 39 Since the real- SPEED, CLOCK, ENCODER time tasks are on a fixed timebase, the processing must be completed in this time. The task does not have this restriction. BACKGROUND UD70 DPL programming 4-17 Issue code: 70nu2...

  • Page 40: Parameter Pointers

    All occurrences of the name are replaced by the value when the program is compiled. Note Comments are not allowed at the end of a line. $DEFINE UD70 4-18 DPL programming Issue code: 70nu2...
  • Page 41 (#3.02 and #1.21) and to a value (500). $define MAX_SPEED 500 $define SPEED #3.02 $define SPEED_DEMAND #1.21 BACKGROUND{ top: IF SPEED < MAX_SPEED THEN SPEED_DEMAND = SPEED_DEMAND + 1 ENDIF GOTO top: UD70 DPL programming 4-19 Issue code: 70nu2...
  • Page 42 UD70 4-20 DPL programming Issue code: 70nu2...

  • Page 43: Dpl Toolkit

    Overview of the DPL Toolkit The DPL Toolkit enables the user of the to amend, write and download UD70 programs to the . The Toolkit consists of a set of compilation tools UD70 and a comprehensive editor and debugger.

  • Page 44: File Management

    Load into a new Window In the File File menu, select Open... Open..., or click on Load into the existing window replacing the current contents In the File File menu, select Load... Load..., or click on UD70 DPL toolkit Issue code: 70nu2...
  • Page 45 The options are as follows: Add to favourite This adds the open file to the Favourite Favourite menu. Add to Cue Cards This adds the open file to the Cue Cue cards cards under the Help Help menu. UD70 DPL toolkit Issue code: 70nu2...
  • Page 46 When View View last last file file is selected, File Viewer appears with the last-saved file loaded. This file is not necessarily the file that is displayed on the screen. UD70 DPL toolkit Issue code: 70nu2...
  • Page 47 Save the sub-routine as a file. See Chapter 4 DPL Programming. Place the cursor in the open program where the text is to be inserted. Open the Edit menu Edit menu and select Insert File Insert File in the drop-down menu. UD70 DPL toolkit Issue code: 70nu2...

  • Page 48: Editing A Program

    Find/Replace to find and replace characters and words. The Find Finding and Select Find/Replace replacing dialog box appears. text Use this option in the same way as the Find/Replace option in Windows word processors. UD70 DPL toolkit Issue code: 70nu2...
  • Page 49 Next BookMark button is clicked on again, the cursor highlights the next BookMark. BookMarks are highlighted in the order they were placed. Open the Edit Edit menu, and select Clear Clear All All BookMarks BookMarks. Clearing BookMarks UD70 DPL toolkit Issue code: 70nu2...

  • Page 50: Applying Styles

    Using this method of indents, you can easily pick out discrepancies in the programming by ensuring that an statement ends with an ENDIF statement and that a statement ends with a statement (see LOOP Chapter 7 Reference). UD70 DPL toolkit Issue code: 70nu2...

  • Page 51: Compiling And Running A Program

    Compile), or to compile and download the program automatically, click on: The Compile... Compile... dialog box appears. Normally the options can be left as they are shown. In this case, to continue the compilation process click on: UD70 DPL toolkit Issue code: 70nu2...
  • Page 52 The debugging tools will not highlight problems due to logic. If a program has been compiled and downloaded to but it appears not to be running, it is likely to be a UD70 logic problem. UD70 5-10...

  • Page 53: Downloading A Program

    A program can be downloaded only when it is free from errors. errors. Once the program file is downloaded to the , the DPL program is ready to be run. UD70 To download the file, click on (Down-load Down-load) in the Task Manager toolbar.

  • Page 54: Running A Program

    Use either of the following methods to clear the single-stepping function: stepping • Hold down the Ctrl Ctrl key and click on the appropriate Task Manager button. • Open the Run Run menu and select the appropriate Run Task Run Task option. UD70 5-12 DPL toolkit Issue code: 70nu2...
  • Page 55 The Watch Watch window enables the programmer to check the logic of the program while it is running in the by reading and writing parameters UD70 and variables. To display the Watch Watch window, click on in the Task Manager toolbar.
  • Page 56 Watch window, as follows: monitoring a variable or a parameter Display method Button Value only Value with uni-polar bar graph Value with bi-polar bar graph Value with bi-polar line graph Value with individual bits displayed UD70 5-14 DPL toolkit Issue code: 70nu2...
  • Page 57 SHIFT keys after typing the name. ENTER Note If any changes are made to the program, it has to be re-saved, compiled and downloaded to the UD70 UD70 DPL toolkit 5-15 Issue code: 70nu2...
  • Page 58 Watch window are covered in the on-line help facility. settings Press F1 at any time to display the on-line help. Uploading the DPL source file from the UD70 to the host PC source file can be uploaded to the host when the original .DPL program file is not available or if the program that is running is not exactly known.
  • Page 59 System information System information gives the user information about the program in the , such as the program name, date of compiling, version number of the UD70 operating system, etc. UD70 To view this information, click on (System information System information). The...
  • Page 60 • The output of the DPL instruction (see PRINT instruction in PRINT Chapter 7, Reference). These functions are enabled and disabled using the Action menu. To open the Log window, click on (Log window). The Log window appears: UD70 5-18 DPL toolkit Issue code: 70nu2...

  • Page 61: Serial Communications

    Up to 15 devices can be connected if four-wire mode is used. When line repeaters are used, up to 81 Control Techniques devices can be operated. In this case the devices are organized in up to nine groups of nine.

  • Page 62: Hardware Connections

    0VD * 0VD * * Terminals 4, 5, 8 and 9 form the digital I/O connections of the UD70. Since they form no part of the serial communications connections they must not be connected to any serial communications lines, or to the serial communications 0V (pin 1).
  • Page 63 Excessive signal loss will occur if termination resistors are connected to units other than the last one. Connections for 4-wire mode Connections for 4-wire mode Connections for 2-wire mode Connections for 2-wire mode UD70 Serial communications Issue code: 70nu2...

  • Page 64: Ansi Communications

    The standard built-in protocol which defines the message structure used to read and write parameters on the x3.28-2.5-A4. This section UD70 ANSI explains this protocol. The user may also create his own protocol by writing it in a DPL program,...
  • Page 65 Character Meaning ASCII code Keyed as... (decimal) Reset Ctrl D Instructs the UD70 to prepare for a new message. Also indicates parameter does not exist. Enquiry Ctrl E Used when interrogating. Start of text Ctrl B Used to start a command.
  • Page 66 ANSI address so that only the target unit will respond. The address UD70 comprises two parts: • The Group Address which is the first digit. • The Unit Address which is the second digit.
  • Page 67 X (for hex.) — hex. is typically used to access I/O Box data. Block checksum (BCC) In order to ensure that the messages from or to the do not become UD70 corrupted during transmission, all write messages and data responses are terminated by the block checksum character ( ). See Calculating the block checksum (BCC) later in this section.
  • Page 68 UD70 understood: Control Parameter Data Control Where: Menu number M1 M2 Parameter number P1 P2 Data D1...Dn First character: + or Space for positive values – for negative values X X for hex. values...
  • Page 69 + or Space for positive values – – for negative values X X for hex. values Block checksum The data field can be of a variable length with the maximum length being dependent on the parameter being edited. UD70 Serial communications Issue code: 70nu2...
  • Page 70 UD70 Control Code Meaning Acknowledge — Message has been understood and implemented. Message invalid, data is too long or out of range, parameter is invalid, parameter is read-only, or the BCC is incorrect.
  • Page 71 FOR n% = 7 to LEN(mess$)‘start at the character after ‘chr$(2). bcc% = bcc% XOR ASC(MID$(mess$, n%, 1)) NEXT IF bcc% < 32 THEN bcc% = bcc% + 32 mess$ = mess$ + CHR$(bcc%) PRINT mess$ , the functions automatically calculate ANSIREAD ANSIWRITE UD70 Serial communications 6-11 Issue code: 70nu2...

  • Page 72: Serial Communications Modes

    Drive. The slave unit can be an MD29, a Unidrive standard communications option module, a Mentor II Drive, a CDE Drive or another UD70. Mode 3 Slave mode In this mode, data is received from the serial port and is scaled by the value of the scaling set-up parameter before being placed in the destination parameter.
  • Page 73 1 start bit, 9 data bits, NO parity, 1 stop bit, 11 bits total Mode 10 I/O Box mode This mode allows a single I/O Box to be connected directly to the UD70 using the EIA RS485 port. If multiple I/O Boxes are required, they must be set up in standard ANSI mode.
  • Page 74 ±16000 #xx.xx Any parameter Serial link Any parameter UD70 operating in Mode 2 UD70 operating in Mode 3 Functions of Modes 2 and 3 Functions of Modes 2 and 3 Using Modes 6, 7, 8 and 9 In Modes 6, 7 or 8, it is possible to use the...

  • Page 75: Ansi Instructions

    Parameter #17.07 is used to program the baud rate. Using modes 13 and 14 The Modbus protocol is only supported as a slave. Modes 13 and 14 do not allow the UD70 to act as a Modbus Master. The baud rate is selected using parameter #17.07. ANSI instructions...

  • Page 76: Example Ansi Instructions

    // if the clock task is set at 5ms, the timeout will be 250ms CLOCK { timeout% = timeout% + 1 // increment timeout variable Note Refer to the help file in the DPL Toolkit for further examples of the ANSI commands. UD70 6-16 Serial communications Issue code: 70nu2...

  • Page 77: Reference

    Drive INITIAL parameters. task boots-up the DPL program and runs only when the INITIAL UD70 reset or at the moment power is applied to the Drive. task is special in that all other tasks are guaranteed not to be INITIAL running when it is being run.
  • Page 78 Unidrive. SPEED This causes the execution frequency of the task to be determined by the PWM switching frequency. Drive Switching SPEED task frequency timebase Unidrive 3, 6 or 12 1.38 Unidrive 4.5 or 9 1.84 UD70 Reference Issue code: 70nu2...
  • Page 79 Refer to Timer/Counter Unit in Chapter 8 Features for further information. ERROR task task is executed when a run-time error occurs in a DPL program. ERROR Refer to section Advanced error-handling in Chapter 9 Diagnostics for further information. UD70 Reference Issue code: 70nu2...
  • Page 80 NOTES Example NOTES{ You can put your documentation here. CONST section section is used to define constant arrays data and is not a Task. CONST See Variables in Chapter 4 DPL Programming. UD70 Reference Issue code: 70nu2...

  • Page 81: Instructions And Functions

    (eg. transmission already in progress). Note instruction does not wait for a response from ANSIREAD the remote Drive. Example result% = ANSIREAD(12,”0122”) \\ read #1.22 from drive 12 See also Example ANSI commands in Chapter 6 Serial Communications. UD70 Reference Issue code: 70nu2...
  • Page 82 This instruction does not wait for a response from the remote Drive. Example result% = ANSIWRITE(13,”0211”, 150, 1) \\ set #2.11 to 15.0 on remote drive 13 See also Example ANSI commands in Chapter 6 Serial Communications. UD70 Reference Issue code: 70nu2...
  • Page 83 If a step change of 0 to 1000 is applied to parameter #1.21, the output of the averager will be as follows (assuming a 5ms clock timebase). Example CLOCK{ input% = #1.21 #1.22 = AVERAGE (input%, 4) See also instruction. FILTER UD70 Reference Issue code: 70nu2...
  • Page 84 The least significant byte represents the first of the three digits. The maximum value which can be converted is 999. Leading zeroes are sent. Example a% = BIN2BCD(123) data% = BCD2SEG(a%) #83.46 = seg data% ;output 5200646 (0x4F5B06 = 321) UD70 Reference Issue code: 70nu2...
  • Page 85 This function always returns a floating-point variable. instruction and instruction. Example value = COS (3.1416) CRC16 Syntax CRC% = CRC16 (character%, CRC%) This function is used to calculate a 16-bit (cycle redundancy check, commonly used in serial communications protocols). UD70 Reference Issue code: 70nu2...
  • Page 86 CLOCK{ myarray%[index%] = #3.02 //get speed feedback index% = index + 1 //increment index counter IF index% = 100 THEN index% = 0 ENDIF See also Arrays under Variables in Chapter 4 DPL Programming. UD70 7-10 Reference Issue code: 70nu2...
  • Page 87 This is a flow-control instruction which provides a quick method of terminating the current task. Example CLOCK{ IF #18.22 = 1 THEN EXIT (If the value of #18.22 is 1, exit from the rest of the task.) CLOCK UD70 Reference 7-11 Issue code: 70nu2...
  • Page 88 If a step change of 0 to 1000 is applied to parameter #1.21, the output of the filter will be as shown in the following diagram. Typically, the output reaches the final value after five time-constants. This function must always be used in the or speed tasks. CLOCK, ENCODER UD70 7-12 Reference Issue code: 70nu2...
  • Page 89 – – 1 1 . The data format of the port is fixed as follows: RS232 19200 baud, 8 data bits, No parity, 1 start bit, 1 stop bit. See also instruction. PUTKEY UD70 Reference 7-13 Issue code: 70nu2...
  • Page 90 ELSEIF conditional expression 3 THEN... Instructions if true, goto ENDIF ELSE Instruction ENDIF Syntax 4 IF conditional expression THEN Instruction The conditional instructions perform an THEN ELSE ELSEIF ENDIF operation until the specified condition is met. UD70 7-14 Reference Issue code: 70nu2...
  • Page 91 Greater than or equal to <= Less than or equal to <> Not equal to Note instruction for Syntax 1 to Syntax 3 must always end with at the end of the set of conditional instructions. ENDIF UD70 Reference 7-15 Issue code: 70nu2...
  • Page 92 //by 2 Result = 7 Note If the integer value of the float expression exceeds 31 bits (214783647), the UD70 will trip on Error 50: Maths Error. LIMIT Syntax 1 result% = LIMIT (expression%, limit_value_expression % ) result = LIMIT (expression, limit_value_expression) This mathematical function limits the value returned to the Drive parameters.
  • Page 93 = 12 b% = MIN(a%, 100) The value returned in b% b% is 12 because a% a% is less than 100. If a% a% is 105, the value returned in b% b% would be 100. UD70 Reference 7-17 Issue code: 70nu2...
  • Page 94 PRINT PC RS232 . All items in the expression listing must be separated by commas. UD70 Strings are enclosed in double quotes (“ ”). A tab character ( 09) is automatically printed between each character ASCII separated by a comma.
  • Page 95 Syntax REINIT Set up parameters are read by the only at the moment power is UD70 applied to the Drive or the is reset. If changes are made to the set-up UD70 parameters by a DPL program, the instruction can be used to force REINIT to re-read them so that changes can take effect.
  • Page 96 Example result = TAN (3.1416) TIME Syntax result% = TIME instruction returns the number of elapsed milliseconds since TIME power was applied or the was last reset. UD70 Example t% = TIME UD70 7-20 Reference Issue code: 70nu2...
  • Page 97 WDOG INITIAL BACKGROUND Tasks. The operating system automatically updates the individual UD70 watchdogs of the real-time tasks. See the on-line Help for an example. Notes If any of these tasks are single-stepped a watchdog trip will occur.
  • Page 98 UD70 7-22 Reference Issue code: 70nu2...

  • Page 99: Features

    • Timer/counter unit • Digital I/O ports • Non-volatile memory storage PLC parameters The UD70 contains a special range of variables known as parameters. These parameters are identified by a leading underscore ( and the letter P, Q, R and S followed by a number, as follows:...

  • Page 100: Introduction

    Introduction An advanced position controller and profile generator is built into the operating system of the UD70. The function blocks are designed to provide position control and profile generation from one of the following: • position reference. • speed reference.

  • Page 101: Encoder Lines

    All position, speed and acceleration parameters within the position controller use the units of “Encoder lines”. The diagram below shows how to determine the number of encoder lines for a particular encoder. 1 encoder pulse Encoder lines Relationship between encoder lines and pulses UD70 Features Issue code: 70nu2...

  • Page 102: Position

    (See Q13%). NOTE: the units for Unidrive ramps have no effect on these calculations, as the internal ramps should be disabled. All profile ramps are generated and controlled by the position controller itself. UD70 Features Issue code: 70nu2...

  • Page 103: Enabling The Position Controller

    Q15% = 204800 maximum digital lock speed. This provides 300rpm headroom to recover position lost during acceleration. Q12% = 307200 rate of acceleration. Q13% = Q12% set acceleration and deceleration rates to the same value. UD70 Features Issue code: 70nu2...

  • Page 104: Default And Reset Values

    A POSITION LOOP RESET POSITION LOOP RESET is caused by setting the position loop reset bit Q32%.17) to 1. This does not affect the operation of the UD70 DPL tasks, but does restart the position controller. In the parameter descriptions, the RESET field indicates what value is assigned to a parameter by a hard reset (H), a soft reset (S) and a position loop reset (P).

  • Page 105: Parameter Descriptions

    ( Q12% and Q13%), ramp type (linear or S-ramp), and maximum speed (_Q14%). When running in speed mode ( Q32%.3 = 1), Q2% is updated with the calculated stopping position. UD70 Features Issue code: 70nu2...
  • Page 106 Q6% defines the amount of integral gain for the PID loop. For a constant error of 1 count, and a gain of 1000, the output of the I term will reach 1 after 1 second. UD70 Features Issue code: 70nu2...
  • Page 107 Reset H = CAL S = CAL P = CAL Q10% shows the following error between the profiled position reference Q9%)and the feedback position ( Q8% or Q1%). The value calculated is in encoder lines. UD70 Features Issue code: 70nu2...
  • Page 108 The S-ramp will take the same period of time as the equivalent linear ramp, resulting in a higher (√2 * linear acceleration) peak acceleration. UD70 8-10 Features Issue code: 70nu2...
  • Page 109 S = N/A P = N/A Q20%.3 is set to 1, Q17% will store the absolute position of the feedback encoder marker pulse. Q20%.3 will be reset to zero once the value has been latched. UD70 Features 8-11 Issue code: 70nu2...
  • Page 110 Set to 1 to enable the automatically convert Q0% to rpm and write to the fast access speed reference #91.02. Selects the source for the position loop feedback. Q20%.7 feedback encoder auxiliary (reference) encoder UD70 8-12 Features Issue code: 70nu2...
  • Page 111 Default Reset H = CAL S = CAL P = CAL Q24% shows the speed of the auxiliary (or reference) encoder. This value is calculated directly from the encoder lines and is not filtered. UD70 Features 8-13 Issue code: 70nu2...
  • Page 112 S = 0 P = 0 Q27% defines the slave speed offset. The offset can be applied during other speed and position profiles, and is added to Q4% to provide the final loop position reference, Q9%. UD70 8-14 Features Issue code: 70nu2...
  • Page 113 Selects the cam table output as the position reference. The cam function can only be used if the cam table has been correctly initialised. This parameter used in conjunction with Q32%.2 and Q32%.3. Q32%.2 and Q32%.3. select the cam table position reference. UD70 Features 8-15 Issue code: 70nu2...
  • Page 114 (See Q13%). Q12% is not used when S- ramps are selected. NOTE: S-ramps are not available when accelerating up to line speed under digital lock control. linear ramps. S-ramps. UD70 8-16 Features Issue code: 70nu2...
  • Page 115 Q9% are forced to the current feedback position Q8%), causing an instantaneous stop with no ramps. NOTE: This function will only work when running in position control, and the feedback source is Q8%. no action. limit switch active. UD70 Features 8-17 Issue code: 70nu2...
  • Page 116 S = N/A P = N/A Q37% defines the maximum value for the position or following error Q10%) error allowed for the PID loop. If the maximum following error is exceeded, Q31%.1 is set. UD70 8-18 Features Issue code: 70nu2...
  • Page 117 Q32%.2 from 1 to 0), Q40% is written to the main position reference Q2%. The axis will therefore return to the position given by Q40%. The automatic write can be disabled by setting Q32%.29 = 1. UD70 Features 8-19 Issue code: 70nu2...

  • Page 118: Logic Diagrams

    Logic Diagrams Slave Main Position Reference l i a f i l UD70 8-20 Features Issue code: 70nu2...
  • Page 119 Slave Position Offset UD70 Features 8-21 Issue code: 70nu2...
  • Page 120 Digital Lock Control UD70 8-22 Features Issue code: 70nu2...
  • Page 121 Feedback Source and PID Loop UD70 Features 8-23 Issue code: 70nu2...
  • Page 122 Encoder Inputs and Marker Pulses UD70 8-24 Features Issue code: 70nu2...

  • Page 123: Digital Lock

    ( Q11%). If this condition is not met, the axis may never achieve absolute position lock. Speed _Q15% Slave speed Time _Q31%.12 The effect of rigid digital lock on slave motor speed UD70 Features 8-25 Issue code: 70nu2...
  • Page 124 Q32%.2 is set to 1, Q32%.14 is reset to 0. If rigid lock is selected ( Q32%.27=), the slave axis will catch up with the position lost relative to master from the point when the marker pulse occurred. UD70 8-26 Features Issue code: 70nu2...

  • Page 125: Cam Function

    The following sections detail how to construct a cam table, using the example cam profile below. The velocity profile required to produce the position profile is also shown below Slave Position (*1000 lines) Master Position (*1000) Slave Velocity (*1000 lines/sec) Master Position (*1000) UD70 Features 8-27 Issue code: 70nu2...
  • Page 126 For the example cam profile below, the array names will be “master%” and “slave%”. The cam profile can be split into 6 separate sections, so 6 array elements will be used to re-create the profile. UD70 8-28 Features Issue code: 70nu2...
  • Page 127 Q32%.4 reset to 0) before the CAMINIT function can be called again. Any combination of arrays can be used, provided they have previously been defined, and both arrays contain at least the stated number of cam points. UD70 Features 8-29 Issue code: 70nu2...

  • Page 128: Reference Switching

    Q32%.27 = 0), the slave axis will accelerate to the maximum digital lock speed ( Q15%) until position is recovered. The speed will then reduce to the master line speed, multiplied by the ratio set in Q11%. UD70 8-30 Features Issue code: 70nu2...
  • Page 129 Q32%.8 is always reset to zero. When starting the digital lock using the auxiliary marker pulse, Q32%.2 is set to 1 and Q32%.14 is reset to 0 when the marker pulse input is detected. UD70 Features 8-31 Issue code: 70nu2...

  • Page 130: Timer/Counter Unit

    Logic diagram for the timer/counter A hardware timer/counter built into the has the following features: UD70 • Count rate selectable between 500kHz and 4MHz. • The count direction can be selected. • The counter can be gated by an external signal source.
  • Page 131 1 = 4MHz clock Direction control 0 =Counter counts up (u/d = 1) 1 for DIGIN1 controls the count direction If DIGIN1 = 0, the timer counts up If DIGIN1 = 1, the timer counts down UD70 Features 8-33 Issue code: 70nu2...
  • Page 132 Mode 4 (100): Gated mode The internal clock source (4MHz or 500KHz) clocks the counter; the count input is gated by the DIGIN0 input (active low). The TI event flag is set when the counter wraps-around. UD70 8-34 Features Issue code: 70nu2...
  • Page 133 Use this parameter to read the latched timer/counter value when Mode 2 is selected. Do not read #85.03. timer value (#85.03) For an example of using the timer/counter unit, refer to the Timer Timer Unit Unit topic in the DPL Toolkit on-line Help. UD70 Features 8-35 Issue code: 70nu2...

  • Page 134: Digital I/O Ports

    8.13 Digital I/O ports has two digital inputs and one digital output as standard. These UD70 inputs and output are logic (ie. 5V logic), and are made available on the 9-way port connector, as follows: RS485 Description RS485 isolated 0V...

  • Page 135: Non-Volatile Memory Storage

    8.14 Non-volatile memory storage has a feature which allows it to store the P and Q regions of the UD70 register-set into the non-volatile memory of the . This can be UD70 initiated by setting parameter #17.19 at 1. This parameter immediately returns to zero once it has been set. Also, the is reset when the parameter is set.
  • Page 136 1: RS232 • Disable Toolkit communications set-up parameter • Drive-to-Drive communications set-up parameter See UD70 set-up parameters in Chapter 10 Parameters Data-exchange parameters The data to be transmitted must be placed in the special internal parameters R98% and R99%.

  • Page 137: Diagnostics

    Run-time errors A run-time error is an error which occurs in a specific operation of the UD70 It could happen as a result of an error in the DPL program (such as trying to write to a parameter that doesn't exist, or trying to divide a value by zero), or in an automatic operation such as loss of communications with an I/O Box.

  • Page 138: Run-Time Trip Codes

    Trips when #17.14 = 1 Prc2 Watchdog trip (see WDOG command, chapter 7) Trips when #17.18 = 1 (* Trip 55 occurs only when an I/O Box is connected and operating, and Mode 3 or 4 serial communications fail.) UD70 Diagnostics Issue code: 70nu2...

  • Page 139: Compiler Error Messages

    An expression which is already a floating-point variable, has been given a instruction. Remove the instruction. FLOAT FLOAT ERROR: Expression is already an Integer variable — remove instruction An expression which is already an integer variable has been given an instruction. Remove the instruction. UD70 Diagnostics Issue code: 70nu2...
  • Page 140 Possible loss of accuracy in assignment This warning indicates that a floating-point number has been assigned to an integer parameter. For example: #1.14 = 3.142 As #1.14 can be set only with integer variables #1.14 now = 3.0 UD70 Diagnostics Issue code: 70nu2...

  • Page 141: Advanced Error-Handling

    All Tasks are stopped. The Drive is tripped (if the trip is enabled). See the Trip enable parameters in UD70 setup parameters in Chapter 10 Parameters. The number of the error is placed in parameter #88.01 of the UD70 task is executed.
  • Page 142 UD70 Diagnostics Issue code: 70nu2...

  • Page 143: Parameters

    Parameters 10.1 UD70 set-up parameters The set-up parameters take effect only after the has been reset. This UD70 occurs when any of the following actions is performed: supply is applied to the Drive instruction in a program is executed REINIT...
  • Page 144 When set at 1, #17.13 enables a DPL program to be automatically started when the UD70 is reset or AC power is applied. When #17.13 is set at 0, a command must be issued from the UD70 Toolkit software before the DPL program will start.
  • Page 145 1, a run-time error will occur when a value written to a parameter is outside the limits. When it is set at 0, the UD70 automatically places a limit on the value writte, and no error wil occur.

  • Page 146: Virtual Parameters

    Virtual parameters Virtual parameters are special parameter which are not part of the standard parameter-set of the Drive. Virtual parameters exist only in the UD70 are used for the following: • Accessing values not present as standard Drive parameters (eg. encoder counters) •...
  • Page 147 Set b10 at 1 for b1 to control #6.30 Set b9 at 0 for b0 to have no effect on #6.15 Set b9 at 1 for b0 to control #6.15 #18.32 #18.31 #1.46 #1.45 Trip #6.32 #6.31 #6.30 #6.15 UD70 Parameters 10-5 Issue code: 70nu2...
  • Page 148 Status word Parameter Not used #10.15 #10.14 #10.13 #10.12 #10.11 #10.10 #10.09 #10.08 #10.07 #10.06 #10.05 #10.04 #10.03 #10.02 #10.01 UD70 10-6 Parameters Issue code: 70nu2...
  • Page 149 Full-scale speed Use #91.05 only when the Drive is used in closed loop in order to set the full-scale speed. This allows maximum use of the 16-bit resolution of #91.02 Speed setpoint. Units: 1 UD70 Parameters 10-7 Issue code: 70nu2...
  • Page 150 345 µs 460 µs 1.38 ms 1.84 ms Menus 70 to 73 These menus refer to the PLC register-set, as follows: #70.xx #71.xx #72.xx #73.xx Where x is a value from 0 to 99. UD70 10-8 Parameters Issue code: 70nu2...
  • Page 151 Connections to the digital inputs and outputs should be kept Warning as short as possible (0.5 metre (20 in) maximum recommended). External buffering is required if longer cable lengths are used, or interfacing is needed to different logic levels. UD70 Parameters 10-9 Issue code: 70nu2...
  • Page 152 Menu 88 Status parameters Parameter Function #88.01 READ Run-time error code. Only valid in ERROR task. WRITE Writing a value of 1070 resets the UD70. See Advanced error-handling in Chapter 9 Diagnostics. Menu 80 I/O Box parameters Parameter Menu 80...

  • Page 153: Rs485 Port Modes

    Standard 4-wire RS485, ANSI protocol. Master mode. A binary protocol is used to continually transfer the value of the parameter defined in #17.08 to another UD70, MD29 or Drive. The data is scaled ±16000. Slave mode. The UD70 receives data, applies a scaling and places the final value in the parameter specified by #17.08.

  • Page 154: General-Purpose Parameters

    Parameters stored in the UD70. Note The Menu-20 parameters are stored in the non-volatile memory in the UD70, not in the Drive. To store these parameters, set #17.19 at 1. Parameters will be stored at power-down also when #17.20 is set at 1.

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