Control Techniques UNI 1404, UNI 1402, UNI 1401, UNI 2401, UNI 1405 Product Data

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Unidrive Servo &
Unimotor
product data

The performance matched AC Servo
solution for all applications

2

servo drive

Drive Overview 4
Introduction to Macros 7
Drive Technical Specification 12
Connections 16
Drive Installation 19
Electro Magnetic Compatibility (EMC) & Radio 24

Frequency Interference (RFI)

servo motor

Motor Overview 26
Motor Technical Specification 27
Motor Installation 32
Accessories 34

servo drive & motor
combinations

Torque Speed Curves & Tables 42
Servo Sizing Software 48

motion intelligence

Options 50
Typical Applications 54

3

Chapter 1

Chapter 2

Chapter 3

Chapter 4

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drive overview

Connectivity

UD73 - Profibus DP
UD74 - Interbus S
UD77 - DeviceNet
UD75 - CT Net
UD76 - Modbust +
UD71 - RS232/485
HMI - Operator Interfaces

Feedback

Standard - Encoder
UD53 - Resolver
UD52 - Sin/cos encoder

Unimotor

Brushless AC Servo motors to 70Nm
On request:

- Brushless >70NM-1850Nm

- Asynchronous >70NM-2500Nm

Motor accessories: - cables, fan
cowlings, brakes, planetary geared
motors

Unidrive Servo
& Unimotor

The complete multi purpose
Servo package with
high flexibility
& functionality

Model size 3

Model size 2

Model size 1

Model size 4

Motion Intelligence

UD70 - Applications module
UD78 - High performance servo
UD50 - Extended I/O
UD51 - 2nd Encoder
Unisoft - Programming software
SYPT - Systems programming tool
CTSS - Servo sizing software tool

Power Range 380-480V

Size 1 - 0.75 to 4kW
Size 2 - 5.5 to 11kW
Size 3 - 15 to 37kW
Size 4 - 45 to 110kW
Size 5 - >110kW
Line regeneration capability

4

75

95

115

142

190

Unidrive

The Unidrive is an advanced AC drive for use with
AC brushless permanent magnet servo motors. The
Unidrive’s set up can be easily and quickly changed
from the on-board keypad, a remote keypad, or
through UniSoft, a Windows™based configuration
software tool.

Sizes

There are five physical sizes comprising 26
different models ranging from 1NM to 2500 NM*. The
drive is designed for stand alone as well as
coordinated systems applications. There are hundreds
of configurable functions in 20 logically organised
menus. All functions are factory defaulted to typical
values to facilitate easy set-up.

Parameters

The Unidrive’s most commonly used parameters
are stored in Menu 0. This menu is defaulted with
those parameters which are typically accessed, but
the user may map any of the drive’s other
parameters to this menu for easier access. This
approach means easy access for those parameters
the user selects.

Flexibility

In addition Unidrive has many other of embedded
configurable functions which are easily adapted for
virtually any application. Some of these configurable
functions include items such as assignable I/O,
autotune, encoder feedback, frequency and direction
pulse signal input and output, axis limit control, ratio
control, electronic holding brake, S-ramps, position
control and many others.

Technology

Many of these important product features would not
be possible without the use of advanced technology in
the Unidrive. The drive employs advanced
microprocessor technology which controls all drive
functions including input to the inverter ASIC
(Application Specific Integrated Circuit) which
synthesises an adjustable carrier frequency PWM
(Pulse Width Modulation) output. The ASIC output
controls the IGBT (Insulated Gate Bipolar Transistor)
inverter section. All printed circuit boards are
manufactured using surface mount technology.

Regeneration

The Regeneration mode is used for four-quadrant
operation. A Drive can be operated in Regeneration mode
only when it is connected to other Drive(s) operating in
one of the other (motoring) modes.

Regeneration mode allows the following:

●

AC supply to be fed from the Regeneration Drive to

the Drive(s) that are controlling the motor

● Regenerated power to be returned to the AC supply
by the Regeneration Drive instead of being dissipated
in braking resistors

Regeneration Module Control Mode

▼

drive overview

* For ratings above 65NM please consult your local Drive/Application centre

5

Regenerating

Unidrive

AC Supply

Filter

and

Start

Circuit

+

DC Bus

—

Motoring

Unidrive

AC
Motor

Key Features

General Features

●

Coast & Ramp to Stop modes

●

8 Preset speeds & Ramps

●

3 Skip frequencies

●

S Ramp

●

Motorised potentiometer

●

Internal braking transistor as standard

●

Encoder input as standard

●

Programmable security code

●

Bright two line LED display

Advanced Features

●

Position control

●

Digital lock

●

Mains dip ride through

●

Frequency slaving

●

Catch a spinning motor

●

Programmable logic functions

●

Orientation

Performance Features

●

336µs speed loop sample time

●

176µs current loop sample time

●

16 bit speed loop

●

12 bit current loop

●

Dynamic injection/braking

●

Fast current loop with PI control

Flexibility Features

●

Speed reference selector

●

Full I/O programmability

●

Unisoft

●

Well structured menu system

●

Encoder I/P

●

Programmable logic functions

●

Configurable menu zero

●

Programmable thresholds

●

Resolver feedback

●

Sin/cos feedback

●

High speed communications

●

Applications module

●

High performance module

Ease of Use Features

●

Macros

●

Bright two line LED display

●

Cloning module

●

Unisoft

Maintenance Features

●

Clock

●

Full internal protection & diagnostics

●

Last ten trips stored

●

Programmable security code

●

Common control board

●

Pluggable terminals

drive overview

6

introduction to macros

7

Introduction

The Unidrive’s more than 700 parameters are
organised so that similar parameters are grouped within
the same menu. For example, Menu 1 holds the
parameters associated with the selection of a speed
reference. Menu 2 holds parameters associated with
the selection of acceleration and deceleration rates etc.

Menu zero

This menu holds parameters that are quick access

duplicates of the most used advanced parameters.

Categories:

0.0 Configuration

0.01 – 0.02 Speed limits

0.03 – 0.06 Ramps

Speed reference selection
Current limit

0.07- 0.09 PID gains (closed loop)

0.10 – 0.13 Monitoring

0.14 – 0.17 Jog reference

Ramp mode selector
Stop and torque mode selectors

0.18 – 0.19 S-ramp

0.20 – 0.23 Skip bands

0.24 – 0.26 Analogue input modes

0.27 – 0.34 Miscellaneous

0.35 Keypad reference monitoring

0.36 – 0.38 Serial communications

Parameter displayed at power up

0.39 – 0.41 Spinning motor

Autotune
PWM switching frequency

0.42 – 0.47 Motor parameters

0.48 Operating mode selection

0.49 – 0.50 Status information

Menu 1 Frequency / speed reference selection

Frequency / speed limits
Skip frequencies / speeds

Menu 2 Acceleration and deceleration ramps

Ramp selection, enable selected
Braking mode selection
S-ramp

Menu 3 Speed indications

Speed loop PID gain
Speed sensing thresholds
Frequency slaving

Hard speed reference
Encoder set up

Menu 4 Current monitoring

Current limiting in speed control
Current loop gains
Torque control
Motor protection

Menu 5 Motor monitoring

Motor ratings
Autotune
PWM switching frequency

Menu 6 Drive sequencer

Auto-start
AC supply loss
Jog time
Limit switches
Injection braking
Synchronise to a spinning motor
Keypad enable
Run-time log
Electricity cost

Menu 7 Analogue I/O

Temperatures

Menu 8 Digital I/O
Menu 9 Programmable logic

Motorised potentiometer
Binary-sum logic

Menu 10 Status and diagnostic information

Process generated trips
UD78 power supply indicator

Menu 11 Menu 0 assignments

Scale factors
Initial parameters displayed
Serial communications
Drive information

Menu 12 Programmable comparators
Menu 13 Position control
Menu 14 PID controller
Menu 15 Regeneration
Menu 16 Small Option Module
Menu 17 Large Option Module
Menu 18 User parameters LOM
Menu 19 User LOM
Menu 20 UD70 only

Menu Overview

8

introduction to macros

Unidrive operation can be simplified by using pre­configured application macros. These macros are held in
the internal memory of the drive and are user selectable.

Macro summary

Macro 1 – Easy Mode

Easy mode defines the most commonly used
features with only 10 parameters. These parameters
are numbered 0.01 to 0.10

Macro Function

0 Default mode
1 Easy mode
2 Motorised potentiometer
3 Preset speeds
4 Torque control
5 PID macro
6 Axis Limit control
7 Hoist control/brake release
8 Digital Lock

0.01 1.07 Minimum Speed

0.02 1.06 Maximum Speed

0.03 2.11 Acceleration time

0.04 2.21 Deceleration time

0.05 1.14 Reference select

0.06 4.07 Current limit

0.07 3.10 Proportional gain

0.08 3.11 Integral gain

0.09 3.12 Derivation gain

0.10 3.02 Speed feedback

Macro 2 – Motorised Potentiometer

With this function it is possible to emulate a
motorised potentiometer within the Unidrive by simply
supplying two logic input signals to increase or
decrease the “potentiometer”. The output of the
“potentiometer” may be routed to control any of the
drive’s non-bit parameters such as speed, torque or
current limit. The function may be configured to reset
upon power cycling or to memorise its value.

Menu 0
Parameter

Param. Description

When a Macro is not enabled, the drive operates in a default
configuration (EURO USA)

Drive Connections

Analog Ch 1
0-10v DC

Analog Ch 2
4-20mA Input

Speed Output
Load Output

At Speed Output

Drive Reset Input

Jog Input
Run Forward Input
Run Reverse Input

Analog 1/2 Select Input

External Trip Input

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

Drive Connections

Analog Ch 1
0-10v DC

Thermistor
Speed Output
Load Output

Motorised Pot Up Input

Drive Reset Input

Motorised Pot Down Up

Run Forward Input
Run Reverse Input

An/Mot Pot Select Input

External Trip Input

Run Forward
& Reverse

Speed

& Current

x 2

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

External

Reset Input

x 1

0-10V DC
Thermistor

Motorised pot

Increase &

Decrease

introduction to macros

Terminal 24 Terminal 26 Speed

Open Open As set in Pr 0.25
Open Closed As set in Pr 0.26
Closed Open As set in Pr 0.27
Closed Closed As set in Pr 0.28

Macro 3 – Preset Speeds

By using this macro up to four preset frequencies /
speeds can be used. Preset values must be
programmed into individual parameters. Frequency /
speed selection is done by activating terminal 29 and
putting a binary combination on terminals 24 and 26.

Macro 4 – Torque control

When this macro is selected a drive can be operated
in Speed or Torque control by using terminal 29.
If in Speed control mode, speed is maintained
independent of load within the limits of the drive. In
Torque control mode the drive will attempt to reach the
speed set point but only with the torque available as
defined by the torque reference signal.

Torque/Current

PI (Current)

Current Feedback (torque component)

Torque Ref. Post Ramp

Ref

9

Drive Connections

Analog Ch 1
0-10v DC

Thermistor
Speed Output
Load Output

Preset Select 1 Input

Drive Reset Input

Preset Select 2 Input

Run Forward Input
Run Reverse Input

An/Preset Select Input

External Trip Input

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

Drive Connections

Torque Ref.

Speed Ref.

Thermistor
Speed Output
Load Output

Drive Speed Output

Drive Reset Input

Min. Speed Output

Run Forward Input
Run Reverse Input

Speed/Torque Select Input

External Trip Input

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

x 2

Run Forward
& Reverse

Speed

& Current

x 1

0-10V DC

Thermistor

2 Inputs

for 4

Preset Speeds

External

Reset Input

P1 and 1
P1 and 2
P1 and 3
P1 and 4

Run Forward
& Reverse

0-10V DC
Thermistor

x 1

x 2

Speed

& Current

2 Outputs

for A1 Speed

& At Min.Speed

External

Reset Input

0%

100%

0%

100%

RPM
(Speed)

Amps
(Torque)

10

introduction to macros

Macro 6 – Axis Limit control

Using this macro enables two digital inputs to be
re-programmed so providing limit switch lockout for
axis position control systems. The drive would normally
be run from a +/- 10v reference and controlled forward
/ backwards from this. If a limit switch level is reached
the drive will be forced to stop independent of the
speed setting.

Macro 5 – PID control

This macro configures the drive to control a motor
with reference to PID control signal. In PID control, the
error resulting from differences between the PID
feedback and PID reference is passed through a limiter,
a scaling stage and finally the error is added to the
frequency / speed signal.

Setpoint

Source

PID

Output

Source

Feedback

Source

Drive Connections

Torque Ref.

Main Ref.

PID Reference
PID Feedback
Speed Output
Load Output

Drive At Speed Output

Drive Reset Input

Run Forward Input
Run Reverse Input

PID Enable Input

External Trip Input

x 2

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

Drive Connections

Torque Ref.

Main Ref.

PID Reference
PID Feedback
Speed Output
Load Output

Drive At Speed Output

Drive Reset Input

Run Forward Input
Run Reverse Input

PID Enable Input

External Trip Input

Run Forward
& Reverse

x 1

0-10V DC
Thermistor

Speed

& Current

2 Inputs
for Forward &
Reverse limits

x 2

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

External

Reset Input

Run Forward
& Reverse

0-10V DC

PID Ref
PID F/bk

x 1

Speed

& Current

Input for
PID Enable &
At Speed O/P

PID Ref

External

Reset Input

P
I
D

PID F/bk

PID
Enable

introduction to macros

Macro 8 – Digital Lock

The digital lock macro enables a drive to be
operated so that it will lock two motor shafts together
pulse for pulse.

Macro 7 – Brake control

This macro essentially allows the control of an
external brake. The brake is released when the drive is
running and there is current in the motor.

11

Drive Connections

Speed Input
from PLC

Thermistor
Speed Output
Load Output

Brake Release Output

Drive Reset Input

Run Forward Input
Run Reverse Input

External Trip Input

Run Forward
& Reverse

Speed

& Current

x 2

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

External

Reset Input

Reference Counts

Accumultor

Feedback Counts

Drive Connections

Thermistor
Speed Output
Load Output

Drive At Speed Output

Drive Reset Input

Relative Jog Input
Run Forward Input
Run Reverse Input

Enable Input

+/- Error

1
2
3
4
5
6
7
8

9
10
11

21
22
23
24
25
26
27
28
29
30
31

Feed Forward

Feedback

x 1

0-10V DC
Thermistor

Brake Release

Output

Run Forward
& Reverse

Thermistor

only

Speed

& Current

Relative Jog

Input

x 2

External

Reset Input

Take Up

M

Capatan

M

12

AC supply requirements

380V to 480V ±10%, 3-phase, 48 to 62 Hz
Maximum supply imbalance: 2% negative phase sequence
(equivalent to 3% voltage imbalance between phases)

Line reactors

When one of the following model sizes...
UNI 1401, UNI 1402, UNI 1403, UNI 1404

....is used on an AC supply of 175kVA or larger, it is

recommended that a line reactor of 2% reactance is
included between the AC supply and the Drive. Model
sizes 1405 and larger have an internal dc-bus choke.

A line reactor reduces the risk of damage to the Drive
resulting from severe disturbances on the supply network.

Temperature, humidity and cooling method

Ambient temperature range:
–10°C to 50°C (14°F to 122°F). Output current de-rating
may apply at high ambient temperatures.
Cooling method: Natural convection
Maximum humidity: 95% non-condensing at 40°C (104°F)
Storage temperature range: –40°C to 50°C (–40°F to 122°F)
Maximum storage time: 12 months

Altitude

Altitude range: 0 to 4000m (13000 ft), subject to the
following conditions:
1000m to 4000m (330 feet to 13000 ft) above sea level:
de-rate the maximum output current from the specified
figure by 1% per 100m (330 ft)

Vibration

Maximum vibration:²0.5g as specified in IEC 68–2–61; 1982

Ingress protection

Gland plate(s) not fitted: IP00
Gland plate(s) fitted; cable glands not fitted: IP10
Cable-glands fitted; glands fitted: IP40, NEMA 1

Accuracy and Resolution

The following data applies to the Drive only; it does not
include the performance of the source of the control signals.
Output-frequency accuracy:² ±0.1%
Output-frequency resolution: ² ± 0.01

RPM

Starts per hour

By electronic control: unlimited
By interrupting the AC supply:
model sizes 1 and 2: ² 20, model sizes 3 and 4: ² 10

Nominal Maximum permissible continuous output current Nominal

rating AC

supply

current

@380V @460V 3kHz ✝ 4.5kHz 6kHz 9kHz 12kHz

UNI 1401 0.75 kW 1.0 HP 2.1 A 2.1 A 2.1 A 2.1 A 2.1 A 3.1 A
UNI 1402 1.1 kW 1.5 HP 2.8 A 2.8 A 2.8 A 2.8 A 2.8 A 3.2 A
UNI 1403 1.5 kW 2.0 HP 3.8 A 3.8 A 3.8 A 3.8 A 3.8 A 5.5 A
UNI 1404 2.2 kW 3.0 HP 5.6 A 5.6 A 5.6 A 5.6 A 4.5 A 8.4 A
UNI 1405 4.0 kW 5.0 HP 9.5 A 9.5 A 8.5 A 7.0 A 5.5 A 9.5 A
UNI 2401 5.5 kW 7.5 HP 12.0 A 12.0 A 12.0 A 12.0 A 11.7 A 13.7 A
UNI 2402 7.5 kW 10.0 HP 16.0 A 16.0 A 16.0 A 14.2 A 11.7 A 16.3 A
UNI 2403 11.0 kW 15.0 HP 25.0 A 21.7 A 18.2 A 14.2 A 11.7 A 24.3 A
UNI 3401 15.0 kW 25.0 HP 34.0 A 34.0 A 34.0 A 28.0 A 23.0 A 34.0 A
UNI 3402 18.5 kW 30.0 HP 40.0 A 40.0 A 37.0 A 28.0 A 23.0 A 39.0 A
UNI 3403 22.0 kW 30.0 HP 46.0 A 46.0 A 40.0 A 32.0 A 26.6 A 46.0 A
UNI 3404 30.0 kW 40.0 HP 60.0 A 47.0 A 40.0 A 32.0 A 26.7 A 59.0 A
UNI 3405 37.0 kW 50.0 HP 70.0 A 56.0 A 46.0 A 35.0 A 28.0 A 74.0 A
UNI 4401 45.0 kW 75.0 HP 96.0 A 96.0 A 88.0 A 70.0 A 96.0 A
UNI 4402 55.0 kW 100.0 HP 124.0 A 104.0 A 88.0 A 70.0 A 120.0 A
UNI 4403 75.0 kW 125.0 HP 156.0 A 124.0 A 105.0 A 80.0 A 151.0 A
UNI 4404 90.0 kW 150.0 HP 180.0 A 175.0 A 145.0 A 110.0 A 173.0 A
UNI 4405 110.0 kW 150.0 HP 202.0 A 175.0 A 145.0A 110.0 A 190.0 A
UNI 5401 160.0 kW 200.0 HP 300.0 A 240.0 A

Power and Current ratings

40°C (104°F)

ambient

Model

drive technical specifications

✝ Peak current: up to 175% of the rated current for 4 seconds
✝ Factory setting

13

drive technical specifications

Frequencies and
speed

PWM switching

frequency:
3kHz nominal (selectable

up to 12kHz)
Maximum speed

30 000 RPM
Speed regulation: 0.01%

Model Nominal Maximum total power dissipation

rating

@380V @460V 3kHz 4.5kHz 6kHz 9kHz 12kHz

UNI 1401 0.75kW 1.0HP 80 W 80 W 90 W 90 W 90 W
UNI 1402 1.1kW 1.5HP 90 W 90 W 100 W 100 W 110 W
UNI 1403 1.5kW 2.0HP 100 W 110 W 110 W 120 W 130 W
UNI 1404 2.2kW 3.0HP 130 W 130 W 140 W 150 W 150 W
UNI 1405 4.0kW 5.0HP 180 W 190 W 190 W 190 W 170 W
UNI 2401 5.5kW 7.5HP 210 W 230 W 250 W 280 W 310 W
UNI 2402 7.5kW 10HP 270 W 290 W 310 W 320 W 310 W
UNI 2403 11.0kW 15HP 400 W 380 W 360 W 330 W 310 W
UNI 3401 15.0kW 25HP 570 W 620 W 670 W 660 W 630 W
UNI 3402 18.5kW 30HP 660 W 720 W 730 W 660 W 630 W
UNI 3403 22.0kW 30HP 730 W 800 W 770 W 730 W 700 W
UNI 3404 30.0kW 40HP 950 W 830 W 790 W 740 W 710 W
UNI 3405 37.0kW 50HP 1090 W 990 W 920 W 850 W 800 W
UNI 4401 45kW 75HP 1460 W 1610 W 1630 W 1530 W
UNI 4402 55kW 100HP 1910 W 1780 W 1670 W 1560 W
UNI 4403 75kW 125HP 2370 W 2130 W 2030 W 1860 W
UNI 4404 90kW 150HP 2640 W 2890 W 2700 W 2470 W
UNI 4405 110kW 150HP 2970 W 2910 W 2720 W 2490 W
UNI 5401 160kW 200HP 5000 W

Dissipation

50°C (122°F) Maximum permissible

ambient continuous output current
Model 3kHz 4.5kHz 6kHz 9kHz 12kHz

UNI 1401 2.1 A 2.1 A 2.1 A 2.1 A 2.1 A
UNI 1402 2.8 A 2.8 A 2.8 A 2.8 A 2.8 A
UNI 1403 3.8 A 3.8 A 3.8 A 3.8 A 3.3 A
UNI 1404 5.6 A 5.6 A 5.1 A 4.0 A 3.3 A
UNI 1405 6.9 A 5.9 A 5.1 A 4.0 A 3.3 A
UNI 2401 12.0 A 12.0 A 12.0 A 11.6 A 9.7 A
UNI 2402 16.0 A 16.0 A 14.7 A 11.6 A 9.7 A
UNI 2403 20.0 A 17.3 A 14.7 A 11.6 A 9.7 A
UNI 3401 34.0 A 34.0 A 28.0 A 21.0 A 17.9 A
UNI 3402 40.0 A 34.0 A 28.0 A 21.0 A 17.9 A
UNI 3403 44.0 A 36.0 A 31.0 A 24.0 A 20.6 A
UNI 3404 44.0 A 36.0 A 31.0 A 24.0 A 20.9 A
UNI 3405 50.0 A 41.0 A 34.0 A 26.0 A 23.0 A
UNI 4401 95.0 A 85.0 A 75.0 A 60.0 A
UNI 4402 105.0 A 85.0 A 75.0 A 60.0 A
UNI 4403 135.0 A 105.0 A 85.0 A 65.0 A
UNI 4404 180.0 A 150.0 A 125.0 A 95.0 A
UNI 4405 190.0 A 150.0 A 125.0 A 95.0 A

14

Dynamic Braking

Resistor Connections

The external braking resistor should be connected
to the Unidrive terminals labelled (+) and (-) on the
terminal strip on Unidrive size 1 & 2 or the stud
connections on Unidrive size 3 & 4. The resistor must
be thermally protected in the unlikely event that the
braking transistor fails. This thermal device must either
disconnect the input AC power to the Inverter or
disconnect the resistor from the circuit. Please contact
the a Drive Centre for additional application information.

Custom Resistor Values

The resistor ohmic value is based on the torque
required to stop the motor (and connected load) in the
time dictated by the application. The first equation to
be solved is the torque required knowing the required
stop time.

T = J x N

(Ft - Lb) or

T = 2¹ J x N

(Nm)

t

d x 307 td x 60

Where:

J= Total Inertia (Lb-Ft

2

or Kgm2)

N = Motor Max. Speed (RPM)
t

d = Decel Time (Sec.)

T = Torque (Ft-Lb or Nm)

The torque required must be equal or less than 1.5
x motor/drive capability.

HP

(brake) = T x N

or

P(kW) = T x N

5250 30

The ohmic value of the resistor can now be

calculated using the following formula:

R = (V

b)

2

or

R = (Vb)

2

HP(brake) x 746 P(kW)

Where:

V

b = Bus voltage level when braking

= 750 VDC

Minimum Values

The calculated minimum ohmic value is limited by
the braking transistor supplied in the Unidrive being
used. The following is a list of the minimum values.

Average Power Dissipation

The average power dissipated in the resistor for
intermittent operation is then simply the number of
watts dissipated per stop times the duty cycle (D).

Where:

D = t

d

td + toff

In order to use this formula for average power
dissipation, the brake resistor must be off long enough
for the temperature of the resistor to return to ambient
temperature between braking cycles. Also, the
maximum on time (or decel time) should not exceed
the peak capabilities of the power resistor. Typically, a
power resistor has the capability of dissipating 10
times rated wattage for 5 to 10 seconds.

Peak Power Rating

The peak power handling ability of the resistor
must meet or exceed the following:

PPK = (Vb)2/R

Unidrive Size 1 40 Ohms
Unidrive Size 2 40 Ohms
Unidrive Size 3 10 Ohms
Unidrive Size 4 5 Ohms

MODEL MINIMUM VALUE

drive technical specifications

Protection

DC Bus Undervoltage Trip 350 VDC
DC Bus Overvoltage Trip 830 VDC
MOV Voltage Transient Protection 160 Joules, 1400 Volts Clamping
(Line to Line & Line to Ground)
Drive Overload Trip Current overload value is exceeded.

Programmable to allow up to 175% of Drive Current for one minute.
Instantaneous Overcurrent Trip 215% of Drive rated current
Phase Loss Trip DC bus ripple threshold exceeded
Overtemperature Trip Drive heatsink temperature exceeds 95°C
Short Circuit Trip Protects against output phase fault
Ground Fault Trip Protects against output phase to ground fault
Motor Thermal Trip Electronically protects the motor from overheating due to

Loading conditions

15

drive technical specifications

Status Relay 1 Normally open contacts

1 Dry contact output pole 1/2 5A, 240 VAC resistive

Drive OK (default)

2 Status Relay 1

Dry contact output pole 2/2

3 Circuit Common

0 VDC Analogue reference

4 +10 VDC ± 1% Voltage tolerance

User supply for external analogue signal device 10 mA output current (current limit protected)

5 Analogue Input 1 (non-inverting input) Bipolar ±10 VDC

Programmable Differential Analogue Input 100k½ input impedance
Analogue Speed Reference 1 (default) 12-bit plus sign resolution, ² 2mS sampling period OL

6 Analogue Input 1 (inverting input) <45 Oµs C.L.

Programmable Differential Analogue Input

7 Analogue Input 2 Programmable: ±10 VDC (default), 4-20mA,

Programmable Single-ended Analogue Input 20-4mA, 0-20mA inputs,
Analogue Speed Reference 2 (default) 100k½ input impedance

10-bit plus sign resolution
² 2mS sampling period

8 Motor Thermistor Input

Programmable Single-ended Analogue Input

9 Analogue Output 1 Programmable: ±10 VDC @ 10mA (max) (default)

Programmable Single-ended Analogue Output 4-20mA, or 0-20mA

Output Frequency (open loop default) 1k½ minimum load resistance
Speed Feedback (closed loop default) 10-bit plus sign resolution, 8mS update period

Short circuit protected

10 Analogue Output 2

Programmable Single-ended Analogue Output
Torque Output (default)

11 Circuit Common

0 VDC Analogue reference

21 OV Common
22 +24 VDC Voltage Tolerance: ±10%

User Supply Nominal Output: 200 mA

Overload Output: 240 mA with current foldback
protection

23 Circuit Common

0 VDC Digital reference

24 Programmable Logic I/O F1 Output Mode:

Output: At speed (open loop) User-defined: Negative or positive logic
At zero speed (closed loop) Negative logic (default)

Push-pull output, 0 - +24 VDC
100mA max output, 120mA overload current

Input Mode:

User-defined: Positive logic (V > +15 VDC)
or negative logic (V < +5 VDC) (default)
Voltage range: 0 - +24 VDC

3.2 mA max load at +24 VDC

25 Programmable Logic I/O F2

Input: Drive reset (default)

26 Programmable Logic I/O F3

Input: Jog (default)

27 Programmable Logic Input F4 User-defined: Positive logic (V > +15 VDC)

Latched Run Forward (default) or negative logic (V < +5 VDC) (default)

Voltage range:

0 - +24VDC, 3.2 mA max load @ +24 VDC

28 Programmable Logic Input F5

Latched Run Reverse (default)

29 Programmable Logic Input F6

Local (default)/Remote

30 Logic Input: Drive Enable (closed loop)

External Trip (open loop)

31 Circuit Common

0 VDC digital reference

Control Inputs and Outputs

TERMINAL I/O TYPE & FUNCTION RATING

NOTE: There are no terminals numbered 12, 13...., 20 on the Unidrive

connections

16

connections

17

Typical power and default signal connections for speed
control in terminal mode

Status relay
Drive normal

Connections for

single-ended input

signal

Connections for

differential input

signal

Signal
connector

Power

terminals

Analog frequency/speed
reference 1 (remote)

Analog
frequency/speed
reference 2 (local)

SPEED

TORQUE

Analog input 3
Motor thermistor

RESET
JOG SELECT

RUN FORWARD
RUN REVERSE

LOCAL/REMOTE

DRIVE ENABLE

REMOTE

OV common

OV common

OV common

OV common

OV common

Optional
RFI filter

Thermal
protection
device

Stop

Braking resistor

Encoder

Incremental
signal
connections for
all encoders

communication
signal
connectiona for
servo-encoders

Encoder

connector

15-way

D-type

Start/
Reset

+24V

LOCAL

connections

AT ZERO

SPEED

Reference

selector

Menu 0 logic diagram

Speed-loop PID gains

Power stage

Motor control

Jog

reference

Keypad

reference

Reference

selector

Precision reference (not

used with Menu 0)

Preset references

(not used with Menu 0)

Speed reference 1

(remote)

Analog input 1

mode selector

All parameters are shown at their default setting

Minimum

speed

Maximum

speed

initial

parameter

displayed

Speed-loop

proportional

gain

Speed-loop

integral gain

Speed-loop

derivative

gain

Current

limit

Stop mode

selector

Torque

mode

selector

Synchronize to

a spinning

motor

No. of poles

Rated voltage

Rated speed

Rated current

Rated

frequency

PWM switching

frequency

Menu4

S-ramp

S-ramp

enable

Speed reference 2

(local)

Analog input 2

destination

select

Analog input 2

mode select

Acceleration

rate

Deceleration

rate

Ramp mode

selector

S-ramp

da/dt limit

Post-ramp

speed

reference

Motor parameters

THERMISTOR SPEED

TORQUE

Reference selection

Ramps

LOCAL/

REMOTE

JOG

SELECT

RUN

FORWARD

RUN

REVERSE

RESET

DRIVE

ENABLE

Motor

active-current

Motor

speed

Pre-ramp

speed

reference

30

18

drive installation

➀ Consult Drive Centre for Filter details.

Panel Wiring Guidelines for Routine EMC Precautions

Panel Wiring Guidelines for Compliance with EMC Emission Standards

19

Optional braking resistors as required for the Drives
External: Mount on top surface of enclosure.
Internal: Mount in top part of enclosure.

Drives
Ensure minimum
clearances are
respected.

System controller
Locate as required.

Signal cables
Plan for all signal
cables to be routed at
least 300mm (12in)
distant from any
power cable.

Power cables

AC supply isolator,
contactor, and
fuses or MCBs
Locate as required.

³100mm
(4in)

³5mm

(…in)

Location of overload
protection device

³100mm
(4in)

Location
of optional
terminal
block

Alternative
location of
fuses or
MCBs
Locate as
required.

³5mm

(…in)

Back-plate

Enclosure

Optional braking resistors as required for the Drives
External: Mount on top surface of enclosure.
Internal: Mount in top part of enclosure.

Location of overload
protection device

Alternative location
of fuses or MCBs

Drives and
RFI filters
Ensure minimum
clearances are
respected.

System controller
Locate as required.

Signal cables
Plan for all signal
cables to be routed at
least 300mm (12in)
distant from any power
cable.

RFI filters
Install a separate RFI
filter for each Drive.

Power cables

AC supply isolator,
contactor, and
fuses or MCBs
Locate as required.

Locate as required.

³5mm

(…in)

³100mm
(4in)

³5mm

Alternative location of
fuses or MCBs
Locate as required.

(…in)

150mm
(6in)

Back-plate

Location
of optional
terminal
block

Enclosure

³5mm

(…in)

Model size 1

Model size 2

Model size 3

Model size 4

Panel

Panel

LFA

H

C

G

LFA

C

G

E

E

Panel

LF

A

C
G

E

E

H

C

E1

E1

Panel

E3

E2

L

FA

G

E2

E3

A 345 345 345 716

[13.56] [13.56] [13.56] [28.19]

C 47.5 95 187.5 250

[1.88] [3.75] [7.38] [9.81]

E 16.5 16.5

[.63] [.63]

E1 17

[.63]

E2 65

[2.56]

E3 143.5

[5.63]

F 368 368 368 743

[14.25] [14.25] [14.25] [29.25]

G 95 190 375 500

[3.75] [7.50] [14.75] [19.69]

H 200 200 260 260

[7.88] [7.88] [10.25] [10.25]

L 335 335 335 700

[13.19] [13.19] [13.19] [27.56]

Mounting 6.5 [.16]clearance or

hole diam.

1

/

4

UNF M6 thread

Model Size 1 2 3 4

Dimension

➀

Surface Mounting

➀ Dimensions in mm and [inches].

drive installation

20

drive installation

21

A 345 345 345 717.5

[13.56] [13.56] [13.56] [28.25]

B 295 295 287 650

[11.63] [11.63] [11.31] [25.56]

C 86.5 182 358 482

[3.38] [7.19] [14.13] [19]

D1313

(0.5) (0.5)

D1 16 17

[.63] [ .63]

D2 7 7.5

[.25] [.31]

D3 3.5

[.13]

E 16.5

[.13]

E1 131.5 192

[5.19] [7.56]

E2 69 130

[2.69] [5.13]

E3 16.5 65

[.63] [2.56]

F 364 364 364 743

[14.31] [14.31] [14.31] [29.25]

G 95 190 375 500

[3.75] [7.50] [14.75] [19.69]

H 200 200 260 260

[7.88] [7.88] [10.25] [10.25]

J 120 120 120 120

➁

[7.88] [7.88] [10.25] [10.25]

K 80 80 140 140

➂

[3.13] [3.13] [5.50] [5.50]

L

335 335 335 700

[13.19] [13.19] [13.19] [27.56]

Mounting 6.5 [.16]clearance or
hole diam. M6

1

/

4

UNF thread

Model Size 1 2 3 4

Dimension

➀

Through-panel Mounting

Model size 2

Model size 3

Model size 4

Panel

Panel

LFA

H

G

LF A

G

Panel

LF

A

G

E2

E2

H

E3

E3

Panel

E2

L

FA

G

E1

E2

Aperture

B

D

C

J

K

E

E

Aperture

B

D

C

E1

C

Aperture

B

D1

D2

J

K

E3

E3

D3

Aperture

B

D1

D2

C

Model size 1

F

A

D

D

Half size in proportion

Model size 5

K

J

H

G

➀ Dimensions in mm and [inches].
➁ Plus thickness of gasket.
➂ Minus thickness of gasket

Model Size 5

Dimension

➀

A 1319

[51

15

/16

]

D 35.5

[1

7

/16

]

F 1248

[49

1

/8

]

G 315

[12

3

/8

]

H 484

[19]

J 340

[13

1

/16

]

K 144

[5

11

/16

]

drive installation

22

Model size kg lb

1 4 8.8
2817
32249
4 70 154
5 102 224

Weights

*Power Module only

*

Motor cable

Since capacitance in the motor cable causes loading
on the output of the Drive, ensure the cable length
does not exceed the values given in Table 2-3.

The maximum cable length is reduced from that
shown in the table under the following conditions:

● PWM switching frequency exceeding 3kHz in

model sizes 3 and 4

The maximum cable length is reduced in
proportion to the increase in PWM switching
frequency, eg. at 9kHz, the maximum length is

1/

3

of that shown.

● High capacitance cables

Most cables have an insulating jacket between
the cores and the armour or shield; these cables
have a low capacitance and are recommended.
Cables that do not have an insulating jacket
tend to have high capacitance; if a cable of this
type is used, the maximum cable length is half
that quoted in the table. (figure 2-1 shows
shows how to identify the two types.)

UNI1401 65 210 50 160
UNI1402 100 330 75 250
UNI1403 130 430 100 330
UNI1404 200 660 150 490
UNI1405 300 990 250 820
UNI2401- 300 990 300 990
UNI2403
UNI3401- 200 660 120 410
UNI3405
UNI4401- 200 660 120 410
UNI4405

mftmft

Model

Nominal AC

supply

voltage

400V

480V

Maximum cable length*
(PWM switching frequency at 3kHz)

* Cable lengths in excess of the specified values may be used only when
special techniques are adopted; refer to the supplier of the Drive.

Normal capacitance

Shield or armour
separated from the cores

High capacitance

Shield or armour
close to the cores

UNI1401 1.5 16 1.5 16 6
UNI1402 2.5 14 2.5 14 10
UNI1403 2.5 14 2.5 14 10
UNI1404 2.5 14 2.5 14 10
UNI1405 2.5 14 2.5 14 16
UNI2401 2.5 14 2.5 14 16
UNI2402 4.0 10 4.0 10 35
UNI2403 4.0 10 4.0 10 20
UNI3401 6 8 6 8 40
UNI3402 10 6 10 6 50
UNI3403 10 6 10 6 60
UNI3404 16 4 16 4 70
UNI3405 25 4 25 4 80
UNI4401 35 2 35 2 100
UNI4402 35 2 35 2 125
UNI4403 50 2/0 50 2/0 160
UNI4404 70 2/0 70 2/0 200
UNI4405 95 3/0 95 3/0 250
UNI5401 95 3/0 95 3/0 450

FUSES and CABLES

CATALOGUE

AC Supply Motor Fuse ➀

NUMBER

Cables Cables Rating

mm2 AWG mm2 AWG Amps

➀ Use Fuse class RK1 or similar HRC fuse.

➀

Cable & Fuse Recommendations

Enclosure Guidelines

Heat Dissipation in a Sealed Enclosure

If possible, locate heat-generating equipment in the
lower part of the enclosure to encourage internal
convection. Otherwise, use a taller enclosure or install
stirrer fans.

The enclosure must be of adequate size to maintain
sufficient cooling of the drive when it is installed inside a
sealed enclosure. Heat generated by all the equipment
in the enclosure must be taken into account. To
calculate the minimum acceptable size of an enclosure,
use the following procedure:

Calculate the minimum required surface area Ae

for the enclosure from:

P

Ae=

k(Ti - Tamb)

Where:
Tamb Maximum ambient temperature in °C

external to the enclosure.

Ae Unobstructed heat-conducting are in

mm2.

k Heat transmission coefficient of the

enclosure material.

Ti Maximum permissible operating

temperature in °C.

P Power in watts dissipated by all heat

sources in the enclosure.

Example:

To calculate the size of an enclosure for model

UNI 1403 (1.5kW, 2HP).

The following conditions are assumed:
The Drive is surface-mounted inside the

enclosure.
Only the top, front, and two sides of the

enclosure are free to dissipate heat.
The enclosure is made from painted 2mm

(.079in) sheet steel.
Maximum external air temperature: 30°C (86°F).

Insert the following values:

Ti = 40°C
Tamb = 30°C
k = 5.5 (typical for painted 2mm (.079in)

sheet steel)

P = 100 at 3kHz (see pages 18 &19)

Note:

It is essential to include any other heat sources in

the value of P.

The minimum required heat conducting area is

then:

100

Ae=

5.5(40 - 30)

= 1.81m

2

Estimate two of the enclosure dimensions — the
height (H) and depth (D), for instance. Calculate the
width (W) from:

Ae - 2HD

W =

H + D

Inserting H = D = 0.5m, obtain the minimum

width:

1.81 - (2 x 0.5 x 0.5)

W =

0.5 + 0.5

= 0.81m

Heat Dissipation in a Ventilated Enclosure

If a high ingress protection rating is not required,
the enclosure may be smaller. A ventilating fan can be
used to exchange air between the inside and outside
of the enclosure.

To calculate the volume of ventilating air, use the
following equation:

3.1P

V =

Ti - Tamb

Where V = Air-flow in m3per hour.

Example:

P = 100
Ti = 40°C
Tamb = 30°C

Then:

3.1 x 73

V =

40 - 30

= 31m3/ hr

drive installation

23

Electromagnetic compatibility (EMC)
conducted emission

This is a summary of the EMC performance of the
Drive. For full details, refer to the Unidrive EMC Data
Sheet which can be obtained from a Drive Centre or
distributor listed on the back cover.

Immunity

Compliance with immunity standards does not
depend on installation details. The Drive meets
EN50082–2 (generic immunity standard for the
industrial environment) and the following specifications
from the IEC1000–4 group (derived from IEC801):

Part 2, Electrostatic discharge: Level 3
Part 3, Radio frequency field: Level 3
Part 4, Transient burst: Level 4 at the control

terminals

Part 4 Transient burst:

Level 4 at the control terminals
Level 3 at the power terminals

Part 5, Surge (at the AC supply terminals):

Level 4 line-to-ground
Level 3 line-to-line (as specified by
EN50082–2 informative annex)

Part 6, Conducted radio frequency:

Level 3

Emission

Compliance with emission standards depends on
rigorous adherence to the installation guidelines,
including the use of the specified RFI filter in the AC
supply circuit. Compliance also depends on the PWM
switching frequency used in the output stage of the
Drive, and the length of the motor cable. For full
details, refer to the Unidrive EMC Data Sheet which
can be obtained from a Drive Centre or distributor
listed at the end of this Product Data Guide.

electro magnetic compatibility (EMC)
& radio frequency interference (RFI)

24

electro magnetic compatibility (EMC)
& radio frequency interference (RFI)

25

Main Ratings

* Above 40°C (104°F), the current rating is
reduced by 1.6A/

°C (0.88A/°F)

AC Supply Ratings

Voltage (phase-to-phase and phase-to-ground):
480V +10%

AC supply frequency: 48 to 62 Hz

Ground Leakage Current

The ground-leakage current, phase-to-phase and
phase-to-ground, when the AC supply is 400V at
50Hz is as follows:

For other AC supply voltages and currents, scale
the value of leakage current proportionally.

Discharge Resistors

A and B: 330 KΩ internally between phases, with
the star point connected by a 1M resistor to ground.

C to G: 10 MΩ internally between each phase
and ground.

Maximum Current Overload

150% of rated current for 60 seconds.

Overall Dimensions

Balanced 5.6mA 7.4mA 55mA
One phase disconnected 41mA 57.9mA 350mA

CONDITION A B C toG

A25
B 2.7 6
C 7.4 16
D818
E 12.3 27
F1635

G3577

FILTER TYPE kg lb

Filter type Dimension

HWD

A 396mm 50mm 113mm

15

9

/16 in 1 15/16 in 4 7/16 in

B 396mm 75mm 113mm

15

9

/16 in 2 15/16 in 4 7/16 in

C 330mm 190 mm 145mm

13 in 7

1

/2 in 5 11/16 in

D 330mm 190mm 145mm

13 in 7

1

/2 in 5 11/16 in

E 440mm 200mm 145mm

17

5

/16 in 7 7/8 in 5 11/16 in

F 490mm 200mm 145mm

19

1

/4 in 7 7/8 in 5 11/16 in

G 380mm 495mm 250mm

14

5

/16 in 19 1/2 in 9 13/16 in

Weights

RFI Filter Ratings

A 4200-0010 10A 25W IP20 50°C (122°F) <30°C (86°F)
B 4200-0027 27A 40W IP20 50°C (122°F) <40°C (104°F)
C 4200-1051 50A 60W IP00 50°C (122°F) <40°C (104°F)
D 4200-1071 75A 100W IP00 50°C (122°F) <40°C (104°F)
E 4200-1111 110A 120W IP00 50°C (122°F) <40°C (104°F)
F 4200-1171 170A 150W IP00 40°C (104°F) <55°C (131°F)
G 4200-1302 300A 300W IP00 50°C (122°F) <40°C (104°F)

Type Part number

Max.

continuous

current

Power
dissipation at
rated current

Ingress

protection

Max. ambient

temperature at

rated current

Case

temperature rise

at rated current

26

Introducing Unimotor

Unimotor is a new range of brushless AC servo
motors from Control Techniques. They are three phase,
6 or 8 pole, permanent magnet motors exhibiting a
sinusoidal back EMF characteristic. The motors supply
high torque with either low or high rotor inertia and
minimal cogging torque.

The unique ‘finned’ motor housing is a high­strength aluminium alloy casting, that improves heat
dissipation by conduction, radiation and convection.
The single-piece integral construction permits accurate
bearing to housing alignment and maintains air gap
concentricity. This arrangement optimises torque
output and reduces cogging torque. The compact
design gives increased torsional stiffness. Laminations
and coils are optimised both for high efficiency and to
provide low harmonic distortion in the airgap flux.
Combined with the high energy magnets, and a choice
of rotor inertia, these features provide superb dynamic
performance to suit all requirements.

The integral housing and front flange design
increases thermal dissipation and improves sealing
(IP65 standard, when mounted and connected).

Standard Features

• Unique 'finned' design - high thermal dissipation

• Encoder for high precision feedback integral
commutation

• PTC thermistors for thermal monitoring and overload
protection

• Low inertia is standard for fast acceleration

• IEC mounting flange

• Plain shaft is standard (non keyed)

• IP65 standard (when connected) - sealed against
water spray and dust

• Low cogging torque & THD
(Total Harmonic Distortion)

• Rotor assembly balanced to ISO 1940 grade 6

• High standard of mechanical design and precision
manufacture - for improved performance and quality

• W inding insulation is to Class H

• Bearing system designed for prolonged motor life

• Modular construction

• UL approval under application

• CE marked

Optional Features

• Absolute encoder - 4096 multi-turns

• Resolver feedback for high temperature applications

• Sine/Cosine encoder for high resolution ­consult factory for availability

• High inertia option

• NEMA mounting flange

• Output key to shaft

• ‘Tropicalised’ motor option, - electrical components
are sealed against humid conditions

• Optional dimensional accuracy to DIN 42955 Class R

• Gearbox options

• Stainless steel shaft option

• Brake

• Fan Cowlings

motor overview

27

B95

Specification

Physical

Insulation Class Class H, BS EN 60034-1.
Dimensional Accuracy IEC 72-1, Class N (normal

class), Class R (precision
class) is optional.

Degree of Balance Rotor balanced to ISO 1940

(BS 6861) G 6.3 (half key
convention to ISO 8821).

Temperature Monitoring PTC thermistor, 170˚C

switch temperature.

Bearing System Preloaded ball bearings.
Electrical Connections Connector or terminal box

for power and brake;

connector for feedback

devices and thermistor.

Flange Mounting IEC 72-1 as standard/

NEMA MG-7 optional.

Output Shaft Plain shaft as standard.

Output key is optional

(to IEC 72-1).

Environmental

Ingress Protection Motor fitted with mating

connector and cable:
IP65.
Speed up to 3000RPM:
IP65.
Speed above 3000RPM:
IP54.

Operating Temperature Specified performance at

40˚C ambient.

Storage Temperature -20˚C to 70˚C.
Insulation Class H (180˚C)
Temperature Rise 125˚C over ambient of

40˚C Max.

100˚C over ambient of

40˚C Typical.

Relative Humidity 90% Non condensing

Use the information given in the illustration below to
create an order code for a Unimotor. The details in the blue
band are an example of an order reference.

Ordering Information

Frame
Size:

75
95
115
142
190

Rated Speed (Standard):

30 - 3000 rpm
20 - 2000 rpm
40 - 4000 rpm ***

Stator Length:

A, B, C, D, E

Brake:

0 - Non fitted
1 - Brake fitted 24V dc

Connection Type:

C - Connection
H - Hybrid
T - Terminal*

Output Shaft Key:

B - Standard without Key
A - With Key

Inertia:

A - Standard
B - High

Feedback Device:

C - Incremental Encoder
D - CT Coder + SL Electronics**
G - Sin/Cos Encoder SCM60 (multi-turn)
H - Sin/Cos Encoder SCS60 (single turn)
A - Resolver 55RSS116

Flange Mounting

A - IEC, B - NEMA

Motor Type:

UM - Unimotor
SL - Speed Loop
Control

* Available with resolver

feedback only.

** Available for SL Motors

only.

*** Other speeds are available

on special request

UM

ORDER REFERENCE EXAMPLE

B300 C B C A

motor technical specification

28

∆T 100˚C, 40˚ Ambient with
Encoder Feedback

75

95

Motor Frame Size

ABCDAB CDE

1.2 2.1 2.8 3.6 2.3 3.9 5.5 6.9 8.4

3.5 6.2 8.4 10.8 6.8 11.7 16.4 20.7 25.1

1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8

0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8

3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5

1315 1431 1500 1587 1422 1618 1800 1997 2178

0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13

All Versions (rpm)

Continuous Stall (Nm)
Peak (Nm)
High (kgcm2)
Standard (kgcm2)
Weight(kg)
Thermal Time Constant (sec)
Maximum Cogging (Nm)

Rated Speed: 2000(rpm)

Rated Torque (Nm)
Continuous Stall Current (Arms)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)

Rated Speed: 3000(rpm)

Rated Torque (Nm)
Continuous Stall Current (Arms)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)

Rated Speed: 4000(rpm)

Rated Torque (Nm)
Continuous Stall Current (Arms)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)

1.1 1.9 2.6 3.4 2.1 3.7 5.1 6.5 7.8

0.49 0.86 1.16 1.50 0.95 1.63 2.28 2.88 3.49

0.23 0.40 0.55 0.71 0.44 0.77 1.06 1.37 1.64

172.55 56.14 28.80 19.88 52.00 16.50 8.79 5.81 4.25

243.1 106.4 67.9 49.3 138.9 64.9 41.2 29.6 23.2

Kt (Nm/A

rms

): 2.4 Ke (V

rms

/krpm): 147.0

Kt (Nm/A

rms

): 1.6

Ke (V

rms

/krpm): 98.0

1.1 1.9 2.5 3.3 2.1 3.6 5.0 6.3 7.6

0.73 1.29 1.74 2.25 1.42 2.45 3.41 4.32 5.23

0.34 0.60 0.80 1.03 0.66 1.13 1.56 1.99 2.40

73.44 23.42 13.88 8.67 24.92 7.51 4.12 2.75 1.92

109.2 47.7 31.5 22.8 63.5 28.5 18.3 13.2 10.3

Kt (Nm/A

rms

): 1.2 Ke (V

rms

/krpm): 73.5

1.0 1.8 2.2 2.7 1.8 2.8 3.7 4.5 5.3

0.98 1.73 2.33 3.00 1.88 3.23 4.50 5.70 6.90

0.42 0.76 0.91 1.14 0.77 1.16 1.54 1.89 2.24

43.66 14.17 7.70 4.60 13.80 4.40 2.40 1.70 1.20

61.7 27.2 18.1 12.7 35.9 16.1 10.1 7.6 5.8

Note: 1kgcm

2

= 1x10

-4

kgm

2

Note 2: All performance data is subject to a tolerance of ±10%

servo motor technical specification

29

115 142

190

ABCDEABCD

4.1 6.7 9.5 12.0 14.1 6.3 10.8 15.3 19.8

12.2 20.0 28.4 35.9 42.4 18.9 32.4 45.9 59.4

9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7

3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8

6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8

1436 1614 1792 1980 2158 2093 2316 2548 2700

0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30

EABCD

23.4 21.8 41.1 58.7 73.2

70.2 66.4 123.3 176.1 219.6

47.0 93.5 140.5 187.5 234.5

33.1 50.0 97.0 144.0 191.0

26.0 26.0 33.0 40.0 48.0

3003 3220 3645 3960 4500

0.35 0.30 0.54 0.72 0.99

21.3 20.0 36.9 50.4 54.7

9.75 9.10 17.20 24.50 30.50

4.47 4.19 7.73 10.56 11.46

0.98 1.90 0.67 0.39 0.24

10.7 18.8 8.60 5.90 4.10

18.0 19.2 33.0 35.0 36.8

14.63 13.60 25.70 36.70 45.80

5.65 6.03 10.37 10.99 11.56

0.44 0.89 0.32 0.20 0.13

4.8 9.24 4.28 3.29 2.48

12.2

19.50

5.09

0.24

2.7

3.7 6.0 8.6 10.8 12.8 5.9 10.3 14.6 18.4

1.69 2.78 3.94 4.99 5.89 2.63 4.50 6.38 8.25

0.77 1.26 1.79 2.26 2.68 1.23 2.15 3.05 3.85

27.80 8.55 4.55 2.96 2.17 13.40 4.00 2.10 1.35

94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6

3.3 5.5 7.7 9.7 11.4 5.4 9.0 12.2 15.8

2.53 4.16 5.91 7.48 8.83 3.94 6.75 9.56 12.38

1.05 1.72 2.43 3.05 3.59 1.70 2.83 3.82 4.95

12.55 3.86 2.02 1.34 1.10 6.00 1.82 0.94 0.59

43.1 18.6 11.4 8.6 7.4 31.0 13.3 8.3 6.1

2.8 4.4 6.0 7.0 7.7 3.6 7.0 8.9 10.7

3.38 5.55 7.88 9.98 11.78 5.25 9.00 12.75 16.50

1.17 1.85 2.53 2.94 3.24 1.51 2.94 3.73 4.49

6.91 2.14 1.16 0.73 0.57 3.35 1.00 0.53 0.35

23.5 10.2 6.6 4.7 3.9 17.6 7.5 4.7 3.6

servo motor technical specification

30

Motor Frame Size

All versions (rpm)
Continuous Stall Torque (Nm)
Peak Torque (Nm)
High Inertia (kgcm2)
Standard Inertia (kgcm2)
Weight (kg)
Thermal Time Constant (sec)
Maximum Cogging (Nm)

Rated Speed: 2000(rpm)
Rated Torque (Nm)
Continuous Stall Current (Arms)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)

Rated Speed 3000 (rpm)
Rated Torque (Nm)
Continuous Stall Current (Arms)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)

Rated Speed 4000 (rpm)
Rated Torque (Nm)
Continuous Stall Current (Arms)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)

ABCD ABCDE

1.3 2.3 3.1 4.0 2.6 4.4 6.1 7.8 9.4

3.9 6.9 9.3 12.0 7.8 13.2 18.3 23.4 28.2

1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8

0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8

3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5

1315 1431 1500 1587 1422 1618 1800 1997 2178

0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13

1.2 2.1 2.9 3.7 2.3 4.1 5.6 7.2 8.7

0.54 0.96 1.29 1.67 1.08 1.83 2.54 3.25 3.92

0.25 0.44 0.61 0.77 0.48 0.86 1.17 1.51 1.82

172.55 56.14 28.80 19.88 52.00 16.50 8.79 5.81 4.25

243.1 106.4 67.9 49.3 138.9 64.9 41.2 29.6 23.2

1.2 2.1 2.8 3.6 2.3 4.0 5.5 7.0 8.5

0.81 1.44 1.94 2.50 1.63 2.75 3.81 4.88 5.88

0.38 0.66 0.88 1.13 0.72 1.26 1.73 2.20 2.67

73.44 23.42 13.88 8.67 24.92 7.51 4.12 2.75 1.92

109.20 47.70 31.50 22.80 63.50 28.50 18.30 13.20 10.30

1.1 2.0 2.4 3.0 2.0 3.1 4.1 5.0 5.9

1.08 1.92 2.58 3.33 2.17 3.67 5.08 6.50 7.83

0.46 0.84 1.01 1.26 0.84 1.30 1.72 2.09 2.47

43.66 14.17 7.70 4.60 13.80 4.40 2.40 1.70 1.20

61.70 27.20 18.10 12.70 35.90 16.10 10.10 7.60 5.80

75 95

Kt (Nm/A

rms

): 2.4 Ke (V

rms

/krpm): 147.0

Kt (Nm/A

rms

): 1.6 Ke (V

rms

/krpm): 98.0

Kt (Nm/A

rms

): 1.2 Ke (V

rms

/krpm): 73.5

∆T 125˚C, 40˚ Ambient with
Resolver Feedback only

Note: 1kgcm2 = 1x10

-4

kgm

2

Shaded areas indicate preferred types.

Note 2: All performance data is subject to a tolerance of ±10%

servo motor technical specification

31

AB CD E AB C D

4.6 7.6 10.8 13.7 16.2 7.3 12.5 17.7 22.9

13.8 22.8 32.4 41.1 48.6 21.9 37.5 53.1 68.7

9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7

3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8

6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8

1436 1614 1792 1980 2158 2093 2316 2548 2700

0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30

4.3 7.0 9.9 12.5 14.8 6.8 12.0 17.0 21.4

1.92 3.17 4.50 5.71 6.75 3.04 5.21 7.38 9.54

0.90 1.47 2.07 2.62 3.10 1.42 2.51 3.56 4.48

27.80 8.55 4.55 2.96 2.17 13.40 4.00 2.10 1.35

94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6

3.8 6.3 8.9 11.2 13.2 6.3 10.5 14.2 18.4

2.88 4.75 6.75 8.56 10.13 4.56 7.81 11.06 14.31

1.19 1.98 2.80 3.52 4.15 1.98 3.30 4.46 5.78

12.55 3.86 2.02 1.34 1.10 6.00 1.82 0.94 0.59

43.10 18.60 11.40 8.60 7.40 31.00 13.30 8.30 6.10

3.2 5.1 7.0 8.1 8.9 4.2 8.2 10.4 12.5

3.83 6.33 9.00 11.42 13.50 6.08 10.42 14.75 19.08

1.34 2.14 2.93 3.39 3.73 1.76 3.43 4.36 5.24

6.91 2.14 1.16 0.73 0.57 3.35 1.00 0.53 0.35

23.50 10.20 6.60 4.70 3.90 17.60 7.50 4.70 3.60

EABCD

27.0 23.2 43.2 62.8 78.0

81.0 69.6 129.6 188.4 234.0

47.0 93.5 141 187.5 234.5

33.1 50.0 97.0 144.0 191.0

20.5 26.0 33.0 40.0 48.0

3003 3220 3645 3960 4500

0.35 0.34 0.60 0.80 1.10

24.9 20.8 38.1 53.0 60.0

11.25 9.67 18.00 26.20 32.50

5.21 4.36 7.98 11.10 12.56

0.98 1.90 0.67 0.39 0.24

10.7 18.80 8.60 5.90 4.10

21.0 20.1 36.2 38.3 4.2

16.88 14.5 27.0 39.3 48.8

6.60 6.31 11.37 12.03 12.63

0.44 0.89 0.32 0.20 0.13

4.80 9.24 4.28 3.29 2.48

14.2

22.50

5.95

0.24

2.70

115 142 190

servo motor technical specification

32

Outline Drawings - Frame Sizes 75 - 142

Dimensions - Frame Sizes 75 - 142

FRAME SIZE 75 95 115 142

Dimension / Length suffix

A Length Overall (Unbraked) 211 241 271 301 222 252 282 312 342 242 272 302 332 362 225 255 285 315 345
A Length Overall (Braked) 241 271 301 331 252 282 312 342 372 272 302 332 362 392 285 315 345 375 405
B Body Length (Unbraked) 146 176 206 236 157 187 217 247 277 177 207 237 267 297 160 190 220 250 280
B Body Length (Braked) 176 206 236 266 187 217 247 277 307 207 237 267 297 327 220 250 280 310 340
C Flange Square 75.0 95.0 115.0 142.0
D Flange Thickness 7.0 9.0 11.0 12.3
E Register Diameter 60.0 (J6) 80.0 (J6) 95.0 (J6) 130.0 (J6)
F Register Length 2.4 2.9 2.9 3.4
G Power to Connect C/L 61.0 62.5 66.0 80.0
G

1

Front Flange to power C/L

(Unbraked)

116 146 176 203 125 155 185 215 245 141 171 201 231 261 111 141 171 201 231

G

1

Front Flange to power C/L

(Braked)

146 176 206 236 155 185 215 245 275 171 201 231 261 291 171 201 231 261 291
H Fixing Holes Diameter 5.8 (H14) 7.0 (H14) 10.0 (H14) 12.0 (H14)
J Fixing Hole p.c.d. 75.0 100.0 115.0 165.0
K Overall Height 126.0 146.0 166.0 193.0
L Signal Connector Height (UM) 107.0 117.0 127.0 140.0
M Signal Connector Height (SL) 88.0 98.0 108.0 121.0
N Shaft Length (front) 23.0 30.0 30.0 30.0 30.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0
P Shaft Diameter (front) 11.0 14.0 14.0 14.0 14.0 19.0 19.0 19.0 19.0 19.0 19.0 19.0 24.0 24.0 24.0 24.0 24.0 24.0 24.0

Shaft Key Dimensions (option A)

R Key Length 14.0 22.0 22.0 22.0 22.0 32.0 32.0 32.0 32.0 32.0 32.0 32.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0
S Key Height 12.4 15.9 15.9 15.9 15.9 21.4 21.4 21.4 21.4 21.4 21.4 21.4 26.9 26.9 26.9 26.9 26.9 26.9 26.9
T Key to Shaft End 3.5 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0
V Key W idth 4.0 5.0 5.0 5.0 5.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 8.0 8.0 8.0 8.0 8.0 8.0 8.0

UNIMOTOR UM

TR

S

N

V

ABCDAB CD EABCDEA B CDE

Shaft Key Detail
(Option A)

(MAX)

(MAX)

(MAX)

(REF)

(REF)

(REF)

motor installation

C

B

A

SIGNAL
CONNECTOR

N

F

POWER CONNECTOR

D

DANGER CAUTION

This machine runs hot

C

UNIMOTOR UM

High Voltage

DO NOT USE

COVER FOR LIFTING

P

4 HOLES DIA. 'H'
EQUI-SPACED ON A

G

'J' P.C.D.

E

P

M

L

75.0

K

33

Outline Drawings - Frame Size 190

Dimensions - Frame Size 190

UNIMOTO

TR

S

N

V

Shaft Key Detail
(Option A)

FRAME SIZE 190

Dimension / Length suffix A B C D

A Length Overall (Unbraked) 273 327 381 435
A Length Overall (Braked) 327 381 435 489
B Body Length (Unbraked) 210 264 318 372
B Body Length (Braked) 264 318 372 425
C Flange Square 190.0
D Flange Thickness 14.5
E Register Diameter 180.0 (J6)
F Register Length 4.0
G Terminal Box to Power Connect C/L 173.0
G

1

Terminal Box to Front Flange (Unbraked) 69 123 177 231

G

1

Terminal Box to Front Flange (Braked) 123 177 231 285
H Fixing Holes Diameter 14.5 (H14)
J Fixing Hole p.c.d. 215.0
K Overall Height 256.0
L Signal Connector Height 161.1
N Shaft Length (front) 58.0
P Shaft Diameter (front) 32.0

Shaft Output Key Dimensions (option A)

R Shaft Key Length 49.0
S Shaft Key Height 35.0
T Shaft Key to Shaft End 3.1
V Shaft Key W idth 10.0

G1 (REF)

G (REF)

N

R

T

K

L

C (REF)

DIRECTION
OF ROTATION
FOR UVW=
CLOCKWISE

4 HOLES
DIA ‘H’
EQUI-SPACED
ON ‘J’ P.C.D.

C

S

A (MAX)

B (MAX)

E

D

75.0

P

V

1 HOLE
DRILL 34.0
DEEP &
TAP M12 x

1.75 - 6H
x 28 DEEP

F

motor installation

34

Accessories

Control Techniques offers a number of products, which add
power, flexibility and value to the Unimotor range:

For further information on planetary gearmotors and fan
cowlings please contact your local Drive Centre

Cable Assemblies and
Connectors

Control Techniques’ cable assemblies
simplify motor connection and reduce
installation time. Made to order in lengths
up to 100 metres, they have a PUR sheath
for high resistance to oil, grease and
solvents and have an excellent dynamic
performance. CSA and UL approved.

Planetary Gearmotors

Gearmotors deliver greater torque
output whilst maintaining high standards
of precision and reliability. They may be
mounted in any orientation and are
available with single or double stage
gearbox options.

Fan Cowlings

Fan cowlings force cool air through
the fins on the Unimotor housing to
increase torque output by up to 70%.
Available to fit all motor frame sizes, the
units may be retrofitted and maximise
power density in tight spaces.

accessories

Accessories also available from your local
Control Techniques Drive Centre

35

Cable Assemblies

Characteristics - Power and Signal Cables

Cables are an important part of a servo system
installation. Not only must the noise immunity and
integrity of the cabling and connectors be correct, but
SAFETY and EMC regulations must be complied with
to ensure successful, reliable and fail-safe operation.
One of the most frequent problems experienced by
motion systems engineers is incorrect wiring
connections of the motor to the drive.

Control Techniques’ ready-made cables mean
system installers can avoid the intricate, time
consuming assembly normally associated with
connecting servo systems. Installation and set-up
time are greatly reduced - there is no fiddling with wire
connections and crimp tools, and no fault finding. The
cables are made to order in lengths from 3m to 100m
and are available for all standard Unimotor options.

Features

• UL and CSA approved

• Power and signal cables available

• No need for crimp and insertion / removal tools

• Production build gives quality and price benefits

• Compatible with Unimotor and Unidrive

• Optimum noise immunity

• Oil resistant PVC signal cable for industrial

environments and some dynamic applications

• PUR power cable for oil resistance and long life

dynamic applications

• Brake wires are separately shielded within power cable

• Thermistor wire pair is separately shielded in signal cable

• Encoder power pair each 1mm

2

conductors in

signal cable for low volt drop

• Braided screen for greater flexibility and wear

• Power cables with or without brake

• Shielded brake supply wires

• Cable assembly type identification label

Applications

• For general applications choose PVC type. This has
good all round performance.

• Use PUR for high dynamic applications where cable
is frequently in motion.

• Use PUR for machine tools where the cable is
sprayed with coolant fluid.

• 2.5 mm

2

conductors are applicable to all motors in

the range to 142 frame size.

• 4.0mm

2

conductors are applicable to 190 frame sizes.

accessories

36

Cable Description (2.5mm2) PUR (2.5mm2) PUR

Shielded Power, Shielded Power,
without Brake with Brake

Cable Type PSBA-- PBBA-­Power Conductors 4 x 2.5mm

2

4 x 2.5mm

2

Brake Supply Wires

-

1 x (2x1) mm

2

Conductor Type Copper stranded to DIN VDE 0295

Class 6, IEC 228 Class 6, CEI 20-29

Class 6; 147 x 0.15mm;13 AWG
Insulation Material PET - complies: VDE 0250 part 1 tab 4
Core Identification Black, printed white: U, VV, WWW, GY

Brake Signal Pair

Brake Conductors - Copper stranded 19 x 0.25mm
Brake Insulation - PET - complies: VDE 0250 part 1 tab 4
Brake Pair Shield - Tinned copper spiralled covering ³90%
Brake Core Identification - Black and white
Taping - Soft tape
Shield Tinned copper braid Tinned copper braid

covering ³85% covering ³85%
Shield Diameter 10.5mm 10.5mm
Outer Jacket Polyurethane complies: Polyurethane complies:

VDE 025-818 black VDE 025-818 black
Outer Jacket Diameter 12.8 mm± 4% 12.8 mm ± 4%
Voltage (power) 600 V / 1000 V 600 V / 1000 V
Voltage (brake pair) - 250 V
Dielectric Strength 3000 V 3000 V
(power)
Dielectric Strength - 1000V
(brake pair)
Insulation Resistance >10 MOhm/km >10 MOhm/km
(power)
Capacitance 110 pf/m 110 pf/m
(phase - phase)
Capacitance 190 pf/m 190 pf/m
(phase - screen)
Bending Radius (min) 10 x diameter, dynamic

laying (150 mm)
Speed (max) 180 m/min 180 m/min
Acceleration (max) 7 m/s

2

7 m/s

2

Bending Life (min) 5 million cycles 5 million cycles
Operating Temperature -10˚C to + 80˚C -10˚C to + 80˚C
Storage Temperature -30˚C to + 80˚C -30˚C to + 80˚C
Pulling Strength 20 N/mm

2

20 N/mm

2

(max, dynamic)
Pulling Strength 50 N/mm

2

50 N/mm

2

(max, fixed)
Weight 160 kg/km 160 kg/km

Specification - Shielded Power Cable Options 2.5mm

2

accessories

PUR Power Cables

37

Cable Description (4.0 mm2) PUR (4.0 mm2) PUR

Shielded Power, without Brake Shielded Power, with Brake

Cable Type PSBB-- PBBB-­Power Conductors 4 x 4.0mm

2

4 x 4.0mm

2

Brake Supply Wires - 1 x (2x1) mm

2

Conductor Type Copper stranded to DIN VDE

0295 Class 6, IEC 228 Class 6, CEI
20-29 Class 6; 245 x 0.15mm; 11 AWG

Insulation Material PET - complies: VDE 0250 part 1 tab 4

NFC & CEI

Core Identification Black, printed white: U, VV, WWW, G/Y

Brake Signal Pair

Brake Conductors - Copper stranded 19 x 0.25mm
Brake Insulation - PET
Brake Pair Shield - Tinned copper spiralled covering ³ 90%
Brake Core Identification - Black and white
Taping - Soft tape
Shield Tinned copper braid covering ³85% Tinned copper braid covering ³85%
Shield Diameter 11.3 mm
Outer Jacket Polyurethane complies: VDE 025 - 818, black
Outer Jacket Diameter 14.4 mm± 4%
Voltage (power) 600 V / 1000 V
Voltage (brake pair) - 250 V
Dielectric Strength 3000 V 3000 V
(power)
Dielectric Strength - 1000 V
(brake pair)
Insulation Resistance >10 MOhm/km >10 MOhm/km
(power)
Capacitance 120 pf/m 120 pf/m
(phase - phase)
Capacitance 200 pf/m
(phase - screen)
Bending Radius (min) 10 x diameter, dynamic laying (150 mm)
Speed (max) 180 m/min 180 m/min
Acceleration (max) 7 m/s

2

7 m/s

2

Bending Life (min) 5 million cycles 5 million cycles
Operating Temperature -10˚C to + 80˚C -10˚C to + 80˚C
Storage Temperature -30˚C to + 80˚C -30˚C to + 80˚C
Pulling Strength

20 N/mm

2

20 N/mm

2

(max, dynamic)
Pulling Strength

50 N/mm

2

50 N/mm

2

(max, fixed)
Weight 230 kg/km 230 kg/km

Specification - Shielded Power Cable Options 4.0 mm

2

accessories

38

Outline Drawing - Power Cable With Brake

Drive End

Termination

(Motor End)

(Motor End)

Drive End

Termination

Pin Conductor Function

1 ‘1’ Phase U
2 ‘2’ Phase V
3 Y/G Earth
4 ‘3’ Phase W
5- ­6- ­CONNECTOR BODY Scree n

Pin Conductor Function

1 ‘1’ Phase U
2 ‘2’ Phase V
3 Y/G Earth
4 ‘3’ Phase W
5 ‘5’ Brake
6 ‘6’ Brake
CONNECTOR BODY Screen

Power Cable Connections - with Brake

Power Cable Connections - without Brake

PB B B B 095

Cable Type:

PS - Power (Standard)
PB - Power (With brake)

Conductor Size:

A - 4x 2.5mm2 conductor
(75A - 190A)
B - 4x 4.0mm2 conductor
(190B - 190D)

Insulator:

B - PUR

Cable Length (metres):

Min - 003 (3 metres)
Max - 100 (100 metres)

Connector Types:

A - Ferrule ends at Drive, Inter-

connectron at Motor (not 190)

B - Ferrule ends at Drive,

unfinished cut end at Motor

C - Ferrule ends at Drive and

Motor for hybrid or terminal box

X - Cable only

Ordering Information - Power Cables

Use the information on the following chart to create an
order code. The top line is an example of an order code.

accessories

Outline Drawing - Power Cable Without Brake

115.0 ±10

Brake

Earth
Power U
Power V
Power W

Screen

130.0 ±10

Drive End

Termination

Identity Label

Cable length: min.= 3.0 metres / max.= 100 metres

Tolerance: -0.0 / +50mm

115.0 ±10

Earth

Power U

Power V

Power W

Screen

130.0 ±10

Drive End

Termination

Identity Label

Cable length: min.= 3.0 metres / max.= 100 metres

Tolerance: -0.0 / +50mm

Connector

Assembly

Connector

Assembly

5

4

(3)

Connector

Face

5

4

(3)

Connector

Face

1

6

2

1

6

2

39

accessories

Specification - Shielded Signal Cable
Incremental, PVC or PUR

Cable Description PVC/PUR Shielded Signal - Incremental

Cable Type SIAA-­Encoder Supply
Conductors 1 x (2 x 1.0mm

2

)

Conductor Type Tinned copper stranded to DIN VDE 0295

Class 5, IEC 228 Class 5
Insulation Material Polypropylene 1.75 mm dia. ± 0.1mm
Core Identification Red, Blue

Screened Thermistor
Wires

Thermistor Wires Tinned Copper stranded, 1 x (2 x 0.34 mm

2

)
Thermistor Insulation Polypropylene 1.25 mm dia. ± 0.1mm
Thermistor Screen Aluminium foil covering ³ 100%

Encoder Signal Wires

Signal Wires Tinned copper stranded, 6 x (2 x 0.34mm

2

)
Insulation Material Polypropylene 1.25 mm dia. ± 0.1mm
Core Identification To DIN 47100 (pairs numbered 2 - 7)
Shield Tinned copper braid covering ³85%
Shield Diameter 8.5mm (nominal)
Outer Jacket black
Outer Jacket Diameter 10.9 ±4%
Voltage 30 V RMS
Dielectric Strength 1500 V
Insulation Resistance ³5000 MOhm/km
Capacitance
(phase - phase)
Supply Conductors 80 pf/m
Thermistor Wires 100 pf/m
Signal Wires 70 pf/m
Capacitance
(phase - screen)
Supply Conductors 150 pf/m
Thermistor Wires 180 pf/m
Signal Wires 125 pf/m
Bending Radius (min) 10 x diameter
Speed (max) 120m/min
Acceleration (max) 4 m/s

2

Bending Life 5 million cycles
Operating Temperature -10˚C to +80˚C
Storage Temperature -30˚C to +80˚C
Pulling Strength 20 N/mm

2

(max. dynamic)
Pulling Strength 35 N/mm

2

(max. fixed)
Weight 200 kg/km

Signal Cable

Outline Drawing - Signal Incremental Cable

‘D’ Type Connector 17 pin Interconnectron Connector

Pin Colour Function Pin Colour Function

1 Grey/Pink Band Channel A 1 White Thermistor
2 Red/Blue Band Channel A Inverse 2 Brown Thermistor Rtn
3 Red (0.34mm

2

) Channel B 3 - Not Used

4 Blue (0.34mm

2

) Channel B Inverse 4 Green S1
5 White/Green Band Index 5 Yellow S1 Inverse
6 Brown/Green Band Index Inverse 6 Grey S2
7 Green S1 7 Pink S2 Inverse
8 Yellow S1 Inverse 8 Black S3
9 Grey S2 9 Purple S3 Inverse
10 Pink S2 Inverse 10 Grey/Pink Band Channel A
11 Black S3 11 White/Green Band Index
12 Purple S3 Inverse 12 Brown/Green Band Index Inverse
13 Red (1.0mm

2

) +5 Volts dc 13 Red/Blue Band Channel A Inverse

14 Blue (1.0mm

2

) 0 Volts 14 Red (0.34mm2) Channel B

15 - Not Used 15 Blue (0.34mm

2

) Channel B Inverse

- White Thermistor 16 Red (1.0mm

2

) +5 Volts dc

- Brown Thermistor Rtn 17 Blue (1.0mm

2

) 0 Volts

BODY Thermistor screen & overall screen BODY To overall screen

Thermistor Wire
Connections

5

5

5

5

5

5

5

5

5

5

5

4

3

2

1

10

1112

13

1415

9

8

7

6

Viewed from

rear

accessories

40

Ordering Information - Signal Cables

Use the information given on the following chart to
create an order code for signal cables. The top line is
a typical example.

Connector Type:

A - 15 Pin D type at Drive, 17 pin at Motor
B - Unfinished cut end at Drive, 17 pin at

Motor

C - Ferrule ends at Drive (for Small Options

Module), 12 pin at Motor for Resolver

X - Cable only

Special Options

A - Standard
A - 90˚ elbow

Insulator:

A - PVC
B - PUR

SI B A A 095

Cable Type:

SI - Signal for Incremental Encoder
SR - Signal for Resolver Feedback

Cable Length (metres):

Min - 003 (3 metres)
Max - 100 (100 metres)

Drive End Termination

15 Pin D Type Connector

165.0 ±10

Identity Label

Connector

Assembly

Interconnection

Viewed from

Rear

1

11

10

12

16

13

9

17

15

14

8

7

6

Cable length: min.= 3.0 metres / max.= 100 metres

Tolerance: -0.0 / +50mm

2

3

4

5

accessories

41

Control Techniques offers a range of connector
accessories to suit the power and signal connection
requirements of Unimotor UM and SL. Connector
assembly kits, which include the power, signal connectors
and their crimp sockets may be ordered, alternatively,
individual connector assemblies may be ordered.

Power and Signal Connector Packs

Description Pack Content Use For Order Ref.

17 Way Plug Pack 1 x 17 way signal plug Power & signal connection IM/0012/KI

17 x crimp sockets to UM Motors with
1 x 6 way power plug incremental encoder
6 x crimp sockets feedback

5 Way Plug Pack 1 x 5 way solder plug Power & signal connection IM/0024/KI

1 x 6 way power plug to SL Motors with CT Coder
6 x crimp sockets and SL electronics

12 Way Plug Pack 1 x 12 way signal plug Power & signal connection IM/0011/KI

12 x crimp sockets to UM Motors with
1 x 6 way power plug resolver feedback
6 x crimp sockets

Individual Connector Packs

Description Pack Content Use For Order Ref.

6 Way Power 1 x 6 way power plug Power Connection to IM/0021/KI
Plug 6 x crimp sockets UM & SL Motors

17 Way Signal 1 x 17 way signal plug Signal connection to IM/0022/KI
Plug 17 x crimp sockets UM Motors with

incremental encoder
feedback

12 Way Signal 1 x 12 way signal plug Signal connection to IM/0023/KI
Plug 12 x crimp sockets UM Motors with

resolver feedback

5 Way Signal 1 x 5 way solder plug SL Motors with 7580029
Plug CT Coder and SL

electronics

UNIMOTOR Brushless Servo Motors

Connector Accessories

42

75UMA300 Unimotor

1.0

0.5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

1.5

2.0

2.5

UNI1401

3.0

4.0

4.5

3.5

75UMB300 Unimotor

2

1

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI 1401

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

3

4

5

UNI 1402

6

7

8

75UMC300 Unimotor

4

3

2

1

0

Torque (Nm)

380 V

480 V

UNI1402

UNI1403

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

5

6

7

8

9

10

75UMD300 Unimotor

4

3

2
1

0

Torque (Nm)

380 V

480 V

UNI1403

UNI1404

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

5

6

7

8

9

10

11

12

95UMA300 Unimotor

2

1

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI 1402

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

3

4

5

UNI 1401

6

7

8

95UMB300 Unimotor

4

3
2
1

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI1403

UNI1404

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

5

6

7

8

9

10

11

12

13

torque speed curves & tables

43

95UMC300 Unimotor

5

0

Torque (Nm)

380 V

480 V

p

Intermittent Torque

UNI1405

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

15

UNI1404

10

20

95UME300 Unimotor

5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI 1405

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

10

15

UNI 1404

20

25

30

115UMA300 Unimotor

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI 1404

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

5

10

UNI 1403

15

115UMB300 Unimotor

20

15

10

5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

UNI 1404

UNI 1405

25

95UMD300 Unimotor

20

15

10

5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

UNI 1404

UNI 1405

25

115UMC300 Unimotor

5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI 2401

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

10

15

UNI 1405

20

25

30

torque speed curves & tables

142UMB300 Unimotor

20

15

10

5

0

Torque (Nm)

380 V

480 V

UNI2401

UNI2402

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

25

30

35

142UMC300 Unimotor

20

15

10

5

0

Torque (Nm)

380 V

480 V

UNI2402

UNI2403

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

25

30

35

40

45

50

142UMD300 Unimotor

20
15

10

5
0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI2403

UNI3401

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

25

30

35

40

45

50

UNI2403

UNI3401

55

60

65

70

115UMD300 Unimotor

10

5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI2402

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

15

20

25

UNI2401

30

35

40

115UME300 Unimotor

10

5

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI2402

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

15

20

35

UNI2401

30

35

40

45

142UMA300 Unimotor

20

15

10

5

0

Torque (Nm)

Intermittent Torque

380 V

480 V

UNI1404

UNI1405

p

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

torque speed curves & tables

44

142UME300 Unimotor

20

10

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI2403

UNI3401

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

30

40

50

UNI2403

UNI3401

60

70

80

190UMA300 Unimotor

40

30

20

10

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI2403

UNI3401

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

50

60

70

UNI2403

UNI3401

190UMB300 Unimotor

0

Torque (Nm)

380 V

480 V

Intermittent Torque

UNI 3403

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

50

100

UNI 3402

150

190UMC300 Unimotor

200

150

100

50

0

Torque (Nm)

Intermittent Torque

380 V

480 V

UNI 3405

UNI 4401

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

UNI 3405

UNI 4401

190UMD300 Unimotor

200

150

100

50

0

Torque (Nm)

380 V

480 V

Intermittent Torque

Continuous Torque

0

1000

2000 3000

4000 5000

Speed (rpm)

UNI 3405

UNI 4401

UNI 3405

UNI 4401

250

torque speed curves & tables

45

46

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

75UMA300 75UMB300 75UMC300 75UMD300

1.2 2.1 2.8 3.6

3000 3000 3000 3000

1.6 1.6 1.6 1.6

0.8 1.4 1.9 2.5

0.6 1.0 1.5 1.9

UNI1401 N/A UNI1401 UNI1402 UNI1402 UNI1403 UNI1403 UNI1404

0.8 N/A 1.4 1.4 1.9 1.9 2.5 2.5

300 N/A 264 300 258 300 268 300

1.2 N/A 2.1 2.1 2.8 2.8 3.6 3.6

3.5 N/A 5.5 6.2 7.3 8.4 10.0 10.8

Unimotor Model

Cont.Stall Torque (Nm)
Rated Speed (rpm)
Torque Constant (Nm/A

rms

)

Cont. Stall Current (A

rms

)

Rotor inertia (Kgcm

2

)

Unidrive Model (12kHz)

Cont. Current Preset (#0.46)A
Peak Current Preset (#0.06)%

Motor-Drive Combination (Nm)

Stall Torque (Nm)
Peak Torque (Nm)

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

95UMA300 95UMB300 95UMC300 95UMD300 95UME300

2.3 3.9 5.5 6.9 8.4

3000 3000 3000 3000 3000

1.6 1.6 1.6 1.6 1.6

1.55 2.6 3.67 4.6 5.6

1.4 2.5 3.6 4.7 5.8

UNI1401 UNI1402 UNI1403 UNI1404 UNI1404 UNI1405 UNI1404 UNI1405 UNI1404 UNI1405

1.55 1.55 2.6 2.6 3.67 3.67 4.6 4.6 5.6 5.6
239 300 258 300 270 300 215 300 177 300

2.3 2.3 3.9 3.9 5.5 5.5 6.9 6.9 5.6 5.6

5.55 6.8 10.0 11.7 14.8 16.5 14.8 20.7 14.8 25.1

Unimotor Model

Cont.Stall Torque (Nm)
Rated Speed (rpm)
Torque Constant (Nm/A

rms

)

Cont. Stall Current (A

rms

)

Rotor inertia (Kgcm

2

)

Unidrive Model (12kHz)

Cont. Current Preset (#0.46)A
Peak Current Preset (#0.06)%

Motor-Drive Combination (Nm)

Stall Torque (Nm)
Peak Torque (Nm)

UNIMOTOR Brushless Servo Motors

The time for which the stated overloads can be acheived will vary with the drive/motor combination used. Please consult technical
manual for further details.

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

115UMA300 115UMB300 115UMC300 115UMD300 115UME300

4.1 6.7 9.5 12.0 14.1

3000 3000 3000 3000 3000

1.6 1.6 1.6 1.6 1.6

2.74 4.47 6.34 8.0 9.4

3.2 5.5 7.8 10.0 12.3

UNI1403 UNI1404 UNI1404 UNI1405 UNI1405 UNI2401 UNI2401 UNI2402 UNI2401 UNI2402

2.74 2.74 4.47 4.47 6.34 6.34 8.0 8.0 9.4 9.4
245 300 221 300 265 300 265 300 226 300

4.1 4.1 6.7 6.7 9.5 9.5 12.0 12.0 14.1 14.1

10.0 12.3 14.8 20.1 25.2 28.5 31.8 36.0 31.8 42.3

Unimotor Model

Cont.Stall Torque (Nm)
Rated Speed (rpm)
Torque Constant (Nm/A

rms

)

Cont. Stall Current (A

rms

)

Rotor inertia (Kgcm

2

)

Unidrive Model (12kHz)

Cont. Current Preset (#0.46)A
Peak Current Preset (#0.06)%

Motor-Drive Combination (Nm)

Stall Torque (Nm)
Peak Torque (Nm)

torque speed curves & tables

47

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

142UMA300 142UMB300 142UMC300 142UMD300 142UME300

6.3 10.8 15.3 19.8 23.4

3000 3000 3000 3000 3000

1.6 1.6 1.6 1.6 1.6

4.2 7.2 10.2 13.2 15.6

7.8 14.1 20.5 26.8 33.1

UNI1404 UNI1405 UNI2401 UNI2402 UNI2402 UNI2403 UNI2403 UNI3401 UNI2403 UNI3401

4.2 4.2 7.2 7.2 10.2 10.2 11.7 13.2 11.7 15.6

236 300 295 300 277 300 338 300 377 300

6.3 6.3 10.8 10.8 15.3 15.3 17.5 19.8 17.5 23.4

14.8 18.9 31.8 32.4 42.3 45.9 59.4 59.4 66.1 70.2

Unimotor Model

Cont.Stall Torque (Nm)
Rated Speed (rpm)
Torque Constant (Nm/A

rms

)

Cont. Stall Current (A

rms

)

Rotor inertia (Kgcm

2

)

Unidrive Model (12kHz)

Cont. Current Preset (#0.46)A
Peak Current Preset (#0.06)%

Motor-Drive Combination (Nm)

Stall Torque (Nm)
Peak Torque (Nm)

UNIMOTOR/UNIDRIVE COMBINATION (9 kHz SWITCHING FREQUENCY ONLY)

190UMA300 190UMB300 190UMC300 190UMD300

21.8 41.1 58.7 73.2

3000 3000 3000 3000

1.6 1.6 1.6 1.6

14.5 27.4 39.1 48.8

44.8 81.6 118.4 155.1

UNI2403 UNI3401 UNI3402 UNI3403 UNI3405 UNI4401 UNI3405 UNI4401

14.2 14.5 27.4 27.4 35 39.1 35 48.8
306 300 255 300 335 300 349 300

21.3 21.8 41.1 41.1 52.5 58.7 52.5 73.2

63.9 63.9 120.0 123.3 176.1 176.1 183 219.6

Unimotor Model

Cont.Stall Torque (Nm)
Rated Speed (rpm)
Torque Constant (Nm/A

rms

)

Cont. Stall Current (A

rms

)

Rotor inertia (Kgcm

2

)

Unidrive Model (12kHz)

Cont. Current Preset (#0.46)A
Peak Current Preset (#0.06)%

Motor-Drive Combination (Nm)

Stall Torque (Nm)
Peak Torque (Nm)

torque speed curves & tables

servo sizing software

48

CTSS (CT Sizing Software) is a new servo-sizing
package developed to aid System Design Engineers in
identifying the essential input parameters to correctly
size a servo application. From a system definition and
motion requirement, CTSS performs all calculations
required to produce torque and distance profiles and
gives motor choice optimised on the basis of cost,
length or diameter. The software will specify the
appropriate Unimotor, Unidrive and braking resistor
power, and will generate a parameter list for download
into Unidrive via UniSoft.

A Windows based program, CTSS allows the engineer
to create his application in the Workbench window.
Components are dragged and dropped from the
Toolbox onto the Workbench and are be linked
together using a graphical interface. Component
names and properties can be specified and then saved
as standard or especially components as required.

The Toolbox contains tabbed pages of application
components. Nine main components are provided in
the ‘Standard’ Toolbox page: Gearbox, Lead Screw,
Belt & Pulley, Rack & Pinion, Conveyor, Cylinder Drive
Feed Roll, Coupling and Miscellaneous Inertia. CTSS
allows the user to create any number of Toolbox pages
so that he can group together similar components or
frequently used combinations.

The components can be dragged from the toolbox into
Workbench as required. Each has its own properties
sheet, which describes the component, its
characteristics and illustrates typical applications. The
Component Library provides the option of storage and
retrieval of customised components.

The Results Window displays the motor performance
profile and suggests the best motor for the application,
according to parameters set. Results of the motion
profile may be changed dynamically simply by
dragging and dropping a data point on either the

velocity or distance traces.
Alternatively, the user may simply
modify input parameters directly
of the components in the
application. This window
conforms to a data-centric model
and always displays data relevant
to the userís operations.

CTSS has a Conversion
Tool to assist in changing
between units during data
entry in the Component

Property Pages.
Additionally, the Inertia Tool is
used extensively when specifying
component inertia values. It can
calculate inertia for various forms

ranging from lead to wood.
A major advantage of CTSS is that it allows engineers
to save system designs as files (with a CTS extension).
The user may create a Template design file that is used
as the basis of future designs. The Design Wizard
automates the task of creating a simple application by
performing component placement and connection
based upon selection in the Wizard pages. The
software also allows the creation and storage of notes
about an application in the Design File.

CTSS contains details of the full range of Unimotors
and Unidrives and can be configured in different
languages. To install you will required either Win95 with
12Mb RAM or NT4 with 16Mb RAM.

servo sizing software

49

50

● Easy to use, plug in, drives

application module

● Low cost facility to develop

application specific programs

● Advanced microprocessor

technology providing the flexibility to
develop complex applications

● Windows™ based Drive

Programming Language ‘toolkit’

● Bi-directional communications with

full access to drive parameters

● Real-time calculations for complex

time critical applications

● Embedded position controller

● Modbus included as standard

options

UD70 Applications Module

51

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

options

$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

Drive Communications

UD71 Serial Communications Module

● RS232 communications for easy commissioning and

drive programming

● RS485 communications for industrial process control

Distributed Applications

● UD70 Modbus Module (19.2 Kbps)

● UD73 Profibus DP Module (1.5 Mbps)

● UD74 Interbus S Module (0.5 Mbps)

● UD76 Modbus+ Module (1 Mbps)

● UD77 DeviceNet (0.5 Mbps)

● UD75 CTNet Module (5 Mbps)

● Peer to peer communications

● Distributed control

● Simplifies high performance

industrial applications

Easy Applications

UD78 High Performance Servo Module

● >16 bit analogue input for precise position control

● Accurate tracking of small input signal changes with

<150µV deadband

● 24V back-up tracks encoder position when

mains loss is experienced

● RS485 communications

Feedback Device

UD50 Extended I/O

● Low cost external control

● 2 N/0 relays

● 3 Digital inputs

● 3 Digital I/0

● 2 Analogue inputs

● 1 Analogue output

UD51 Second Encoder

● Master/Slave capability for multiple drive control

(Digital Lock)

● Quadrature or frequency and direction reference

● Freeze input

● Simulated encoder output

UD52 Sin/Cos Encoder

● High precision positioning

● 500,000 ppr

● Single or multi-turn

● Absolute position tracked

● Freeze input

UD53 Resolver Feedback

● Easy expansion of drive for use in rugged and

demanding environments

● Simulated encoder output

Drive Set Up

UD55 Cloning Module

● Easy set-up of multiple drives

● Simplifies the transfer of parameters between Drives

● Stores 8 full parameter sets

options

53

Pick and Place Gantry Control

Objective: Utilise standard products with easy

programming for point-to-point position control
Solution: Unidrive with MC204 controller
Operation: MC204 moves all three axes from 3-D position

to 3-D position co-ordinates quickly and

accutately.
Results: Easy system set up with rapid and accurate

positioning.

High Speed Label Printing

Objective: Higher throughout, decreased changeover

time, better accuracy than mechanical system
Solution: Unidrive with UD70 digital lock
Operation:The UD70 performs a complex cam type

profile to insure placing arm and product are

always at the same speed.

UD70 compensates for small product to

product registration shifts by using a product

sensor on the master axis.
Results: Increased accuracy because placement

follows product regardless of conveyor speed.

Constant Web Speed Unwind Control
with Tension Input

Objective: Precise and constant web speed and position

control.
Solution: Unidrive with UD70 winder control.
Operation: UD70 controls the web speed and position

based on encoder signal input. As the

diameter of the take up roll increases, the

Unidrive slows the speed of the Unimotor.
Results: Precise speed regulation and the exact amount

of material is wound onto the take up roll.

typical applications

MC Series

Unidrives

Unimotor

Unimotor

Unimotor

scale

flow

6

7

5

4

3

21

9

10

Encoder

Unidrive UD70
Digital look

Unidrive UD70
Digital look

Follower

Axis

Master
Axis

Flow

Unidrive

with UD70

CTIU

Operator Interface

Unimotor

Encoder

54

Constant Controller Maintains Constant Gap

Objective: Provide desired “Tail to Head” spacing.

Regardless of product length.
Solution: Unidrive with UD70 applications module.
Operation: Photocells trigger the PCM-19 to monitor

encoder input for product position, length and

height. The UD70 preforms all the

calculations required to deliver the product
to the merge conveyor at the user defined
parameters.

Results: Easy configuration and control of product

tail to head or head to head spacing onto a
merge conveyor.

Auger Filler for Dry Material

Objective: Eliminate problems with clutch-brakes.
Solution: Unidrive and UD70 count position control.
Operation:Unidrive indexes exact revolutions for specific

volume. Operator only needs to enter user
units into CTIU operator interface.

Results: Increased accuracy eliminates overfilling to

meet minimum weight requirements.
Waste is eliminated.

XYZ Axes Application

Objective: Increase accuracy and performance of multi-

axis systems.
Solution: MC204 and Unidrive
Operation:Unidrive read analog signals from multi-axis

controller to determine position and speed.
Results: Fast and accurate positioning of all axis.

typical applications

Unidrive

with UD70

Product

Measuring

Photoeye

Separation

Conveyor

Measuring

Conveyor

Feed Control

Conveyor

Merge Conveyer

Sync Encoder

Unimotor

Unimotor

Unimotor

CTIU

Operator interface

Unimotor

Unimotor

Unimotor

Unidrive

MC Series

Z

Z

X

X

Y

Y

55

Flying Cut Off - Inline

Objective: Provide an easy method for an operator to

enter product cut lengths

Solution: Unidrive with UD70 motion profiler and CTIU

operator interface.

Operation:When the correct product length passes, the

cut bar is accelerated to match the speed of
the product. When speed is matched, an
output is activated sending the cutter head
down. The operator is able to set the length
using the CTIU operator interface.

Results: Easy data entry with fast and accurate cut cycles.

Rotary Cut Off

Objective: Cut material to user specified length and

maintain cut on the registration marks.
Solution: Unidrive with UD70 natural profiler.
Operation: the UD70 monitors the encoder position and

product registration sensor to insure that the

product is cut in the correct position. The

UD70 has the capability to learn the exact new

length of the product even if the operator

enters a length close to the correct length. Any

changes to the drive parameters can be made

on the fly.
Results: Synchronised system provides fast and

accurate cut lengths exactly placed on

registration marks.

Positioning with a Unidrive

Objective: Increase accuracy and performance and

minimize cost.
Solution: Unidrive with UD70 positioner
Operation:Proximity switches are placed at the desired

drill position. The Unidrive is configured to stop

at an exact and consistant deceleration rate.
Results: Fast and accurate positioning of workpiece

with system cost minimized.

Output 21on

Output 22on

Output s off

Index 1

2,000 inches

Index 3

2,000 inches

Index 4

return to 0 position

Velocity
(+)

Index 2

10,000 inches

(-)

Wait for 40 more
inches to pass

Motion Program

CTIU

Operator Interface

SCS-X

Encoder

Unidrive

with UD70

Unimotor

Motion

Motion

typical applications

56

Unidrive

with

UD70

Registration

Sensor

Unimotor

Encoder

Rotary

Knife

Flow

Leadscrew Pitch: 2 TPI

Repaetability: +/-0003
inches

Speed: 1750 IPM

SELECTED
PROGRAMMED
SPEED

STOP CONTACT
OPENS

ACCEL & DECEL
RAMPS

STOP CONTACT
CLOSES

PROGRAMMED MOTOR
STOP POSITION

Load and Upload

Area

Workpiece

Drill

Tap

Unidrive

Unimotor

eg Profibus,
Devicenet

driving the world...

© Control Techniques 1999. The information contained in this brochure is for guidance only and does not form part of any contract. The accuracy cannot be guaranteed as Control Techniques have an

ongoing process of development and reserve the right to change the specification of their products without notice.

0175-0306 03/99

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