Aerotech UNIDEX 100/U100i single axis motion controller

Software, Programming, and Multitasking

The UT100 software package includes tools such as com_100.exe, HOST_100.exe, TUNE100.exe, BOOT-100.exe, MCOM_100.exe, etc. Com_100.exe provides menu based terminal simulation, which can be edited, run, MDI executed, view status, transfer files, and archive to Flash ROM. HOST_100.exe is used for HOST mode, supports C language source code, and can embed custom operation interfaces. TUNE_100.exe is used for automatic tuning of PID loops. The controller supports five types of files: PGM, DEF, MAC, LST, and CAM. PGM is the main program, which includes BEGIN and END; DEF defines variable names; MAC is a macro module; LST is a compilation list; CAM stores spline position data. Programming commands include D、V、T、A、GO、HM、ABSL、INCR、IF、ELSE、ELSEIF、ENDIF、WHL、ENDWHL、GOSUB、SUB、ENDSUB、GOTO、LB、PM、GM、GC、ADC、DAC、DD、CAM、GEAR、MDX、SRQ  Wait.

The controller has real-time multitasking capability, with Task 0 responsible for communication and backend, and Task 1 and Task 2 executing programs. The minimum time slot is 0.1 ms, and the entire loop is 12.8 ms. Task 1 and Task 2 can run simultaneously, but should avoid executing motion commands or sharing variables simultaneously. The interrupt function allows external events to trigger Task 2 programs or latch positions to REG: 113. Exception handling is configured through masks, including reverse mask, latch mask, disable mask, SRQ mask, auxiliary mask, freeze mask, Task 1/2 mask, and positive/negative direction mask. The error status register REG: 302 contains encoder feedback errors, drive faults, soft/hard limits, position error traps, speed traps, current limit timeouts, etc. REG: 307 displays the active mask, REG: 308 is used for resetting the latch, and REG: 309 is used for user-defined software traps.

Parameters, registers, and variables

Parameters are divided into four categories: communication, motion, drive, and system. Communication parameters PRM: 001-041 configuration for RS-232 and IEEE-488, including baud rate, address, trigger SRQ、 Start the program, etc. Motion parameter PRM: 100-163 configuration includes user unit ratio, filtering, default distance/velocity/acceleration, S-curve, zeroing, software limit, external interrupt, feedback type, scaling trajectory, spline, etc. Drive parameter PRM: 200-241 configuration includes step current, micro step resolution, verification, damping, servo current limitation, PID gain, speed feedforward, trap threshold, automatic tuning, gear mode, shaft calibration, and brushless commutation. System parameter PRM: Configure PV waiting status, task background time, update rate, fault mask, buffer partitioning, and reset delay from 300 to 334.

Register is divided into four categories: communication, motion, driver, and system. The communication register REG: 001-046 includes bit input, bit output, port status, timer, encoder counter control, IEEE-488 status, etc. The motion register REG: 102-113 includes encoder 1/2 position, R/D position, ENC position, speed, and external interrupt latch position. The drive register REG: 200-213 includes position reset, position command, position feedback, current command, speed feedback, position error, and axis calibration compensation. System registers REG: 301-309 include motion status, error status, axis status, system status, active/reset/overwrite mask. Variables include BV: 1-1000 integers, LV: 1-200 long integers, FV: 1-1000 floating-point, PV: 512-61439 port variables, SV: 1-19 strings. BV can be used to index other variables, such as FV: BV: 10.

Engineering process for replacing discontinued modules

When replacing discontinued UNIDEX 100/U100i or other brands of single axis controllers, it is recommended to follow the following sequence:

Record the original module parameters: model, motor type, peak/continuous current, bus voltage, control power supply, feedback type, communication interface, I/O quantity, tabs, jumper settings, fuse rating, size, and heat dissipation.

Match motor: Confirm stepper, DC brushed or AC brushless; Confirm winding, current Hall、 Encoder resolution, rotation or Inductosyn. The U100 factory configuration is fixed as one type of motor and cannot be mixed when replacing.

Confirm power supply: U100 supports 100/115/230 VAC, transformer and AC input jumper need to be checked; U100i requires an external amplifier power supply. Check the F1 motor fuse, F2 AC line fuse, F3 5V fuse, and F4 shutt fuse.

Confirm communication and expansion: RS-232-C is the default, RS-422-A requires factory configuration; IEEE-488 requires setting PRM: 019=2 and address parameters. The expansion bus device requires a unique base address to be set.

Confirm feedback and limit: main encoder, auxiliary encoder Hall、 Limit switch and zero return switch. Check the speed/position feedback sources selected for PRM: 138 and PRM: 139. If using R/D, check PRM: 137, PRM: 310, and the wiring of the rotary transformer.

Configure jumper: JP8 current/speed command, JP13/JP18/JP19 current output, JP16/JP17 motor type, JP34 firmware boot. JP 2 must be installed correctly, otherwise the system will malfunction.