. . . . . . . . . . . .

. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
.Unidrive
. . . .Servo . . &
. . . . .
.Unimotor
. . . . . . . . . . .
.product
. . . data . . . . . . . .
. . . . . . . . . . . .
.The .performance matched AC Servo
. all .applications
solution for . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
2
 . . . . . . . . . .
. . . . . . . . . .
. . . . . . . . . .
. . . . . . . . . .

Chapter 1 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)

Chapter 2 servo motor

Motor Overview 26

Motor Technical Specification 27

Motor Installation 32

Accessories 34

Chapter 3 servo drive & motor

combinations
Torque Speed Curves & Tables 42

Servo Sizing Software 48

Chapter 4 motion intelligence

Options 50

Typical Applications 54

3
 drive overview

Unidrive Servo

Model size 4
& Unimotor
The complete multi purpose
Servo package with
high flexibility
& functionality
Power Range 380-480V
Size 1 - 0.75 to 4kW
Model size 3

Size 2 - 5.5 to 11kW

Size 3 - 15 to 37kW
Size 4 - 45 to 110kW
Size 5 - >110kW
Model size 2

Line regeneration capability

Motion Intelligence
Model size 1

UD70 - Applications module

UD78 - High performance servo
UD50 - Extended I/O
UD51 - 2nd Encoder
Unisoft - Programming software
SYPT - Systems programming tool
115 190 CTSS - Servo sizing software tool

Connectivity
95
UD73 - Profibus DP
142 UD74 - Interbus S
UD77 - DeviceNet

Unimotor UD75 - CT Net

75
UD76 - Modbust +
Brushless AC Servo motors to 70Nm UD71 - RS232/485
On request : HMI - Operator Interfaces
- Brushless >70NM-1850Nm
- Asynchronous >70NM-2500Nm Feedback
Standard - Encoder
Motor accessories: - cables, fan
cowlings, brakes, planetary geared UD53 - Resolver
motors UD52 - Sin/cos encoder

4
drive overview

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
Unidrive (Pulse Width Modulation) output. The ASIC output
The Unidrive is an advanced AC drive for use with controls the IGBT (Insulated Gate Bipolar Transistor)
AC brushless permanent magnet servo motors. The inverter section. All printed circuit boards are
Unidrive’s set up can be easily and quickly changed manufactured using surface mount technology.
from the on-board keypad, a remote keypad, or
through UniSoft, a Windows™ based configuration
Regeneration
The Regeneration mode is used for four-quadrant
software tool.
operation. A Drive can be operated in Regeneration mode
Sizes only when it is connected to other Drive(s) operating in
There are five physical sizes comprising 26 one of the other (motoring) modes.
different models ranging from 1NM to 2500 NM*. The Regeneration mode allows the following:
drive is designed for stand alone as well as ● AC supply to be fed from the Regeneration Drive to
coordinated systems applications. There are hundreds the Drive(s) that are controlling the motor
of configurable functions in 20 logically organised
● Regenerated power to be returned to the AC supply
menus. All functions are factory defaulted to typical
by the Regeneration Drive instead of being dissipated
values to facilitate easy set-up.
in braking resistors

Parameters
Regeneration Module Control Mode ▼
The Unidrive’s most commonly used parameters
are stored in Menu 0. This menu is defaulted with Regenerating Motoring
Unidrive Unidrive
those parameters which are typically accessed, but
the user may map any of the drive’s other
AC Supply
Filter
+
parameters to this menu for easier access. This and AC
DC Bus Motor
Start
approach means easy access for those parameters Circuit —
the user selects.

Flexibility
In addition Unidrive has many other of embedded * For ratings above 65NM please consult your local Drive/Application centre

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.

5
 drive overview

Key Features ●

●
Applications module
High performance module

General Features Ease of Use Features

● Coast & Ramp to Stop modes ● Macros
● 8 Preset speeds & Ramps ● Bright two line LED display
● 3 Skip frequencies ● Cloning module
● S Ramp ● Unisoft
● Motorised potentiometer
● Internal braking transistor as standard
Maintenance Features
● Encoder input as standard ● Clock
● Programmable security code ● Full internal protection & diagnostics
● Bright two line LED display ● Last ten trips stored
● Programmable security code
Advanced Features ● Common control board
● Position control ● Pluggable terminals
● 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
6
introduction to macros

Menu Overview
Introduction Hard speed reference
Encoder set up
The Unidrive’s more than 700 parameters are
Menu 4 Current monitoring
organised so that similar parameters are grouped within
Current limiting in speed control
the same menu. For example, Menu 1 holds the
Current loop gains
parameters associated with the selection of a speed
Torque control
reference. Menu 2 holds parameters associated with
Motor protection
the selection of acceleration and deceleration rates etc.
Menu 5 Motor monitoring
Menu zero Motor ratings
This menu holds parameters that are quick access Autotune
duplicates of the most used advanced parameters. PWM switching frequency
Categories: Menu 6 Drive sequencer
0.0 Configuration Auto-start
0.01 – 0.02 Speed limits AC supply loss
0.03 – 0.06 Ramps Jog time
Speed reference selection Limit switches
Current limit Injection braking
0.07- 0.09 PID gains (closed loop) Synchronise to a spinning motor
0.10 – 0.13 Monitoring Keypad enable
0.14 – 0.17 Jog reference Run-time log
Ramp mode selector Electricity cost
Stop and torque mode selectors Menu 7 Analogue I/O
0.18 – 0.19 S-ramp Temperatures
0.20 – 0.23 Skip bands Menu 8 Digital I/O
0.24 – 0.26 Analogue input modes Menu 9 Programmable logic
0.27 – 0.34 Miscellaneous Motorised potentiometer
0.35 Keypad reference monitoring Binary-sum logic
0.36 – 0.38 Serial communications Menu 10 Status and diagnostic information
Parameter displayed at power up Process generated trips
0.39 – 0.41 Spinning motor UD78 power supply indicator
Autotune Menu 11 Menu 0 assignments
PWM switching frequency Scale factors
0.42 – 0.47 Motor parameters Initial parameters displayed
0.48 Operating mode selection Serial communications
0.49 – 0.50 Status information Drive information
Menu 12 Programmable comparators
Menu 1 Frequency / speed reference selection Menu 13 Position control
Frequency / speed limits Menu 14 PID controller
Skip frequencies / speeds Menu 15 Regeneration
Menu 2 Acceleration and deceleration ramps Menu 16 Small Option Module
Ramp selection, enable selected Menu 17 Large Option Module
Braking mode selection Menu 18 User parameters LOM
S-ramp Menu 19 User LOM
Menu 3 Speed indications Menu 20 UD70 only
Speed loop PID gain
Speed sensing thresholds
Frequency slaving
7
 introduction to macros

Unidrive operation can be simplified by using pre- Menu 0

configured application macros. These macros are held in Parameter
Param. Description
the internal memory of the drive and are user selectable. 0.01 1.07 Minimum Speed
0.02 1.06 Maximum Speed
Macro summary 0.03 2.11 Acceleration time
0.04 2.21 Deceleration time
Macro Function 0.05 1.14 Reference select
0.06 4.07 Current limit
0 Default mode 0.07 3.10 Proportional gain
1 Easy mode 0.08 3.11 Integral gain
0.09 3.12 Derivation gain
2 Motorised potentiometer
0.10 3.02 Speed feedback
3 Preset speeds
4 Torque control
5 PID macro
Macro 2 – Motorised Potentiometer
With this function it is possible to emulate a
6 Axis Limit control
motorised potentiometer within the Unidrive by simply
7 Hoist control/brake release supplying two logic input signals to increase or
8 Digital Lock decrease the “potentiometer”. The output of the
“potentiometer” may be routed to control any of the
When a Macro is not enabled, the drive operates in a default drive’s non-bit parameters such as speed, torque or
configuration (EURO USA) current limit. The function may be configured to reset
upon power cycling or to memorise its value.
Macro 1 – Easy Mode
Easy mode defines the most commonly used
Drive Connections 1
features with only 10 parameters. These parameters 2
3
are numbered 0.01 to 0.10 Analog Ch 1 4
0-10v DC 5
6
7
8
Drive Connections 1
Thermistor
Speed Output 9
10
Load Output
2 11
3
Analog Ch 1 4 21
5 22
0-10v DC 23
6
Analog Ch 2 7 Motorised Pot Up Input 24
4-20mA Input Drive Reset Input 25
8
Motorised Pot Down Up 26
Speed Output 9 Run Forward Input 27
Load Output 10 Run Reverse Input 28
11 An/Mot Pot Select Input 29
External Trip Input 30
31
21
22
23
At Speed Output 24
Drive Reset Input 25
Jog Input 26
Run Forward Input 27
Run Reverse Input 28
x2
Analog 1/2 Select Input 29
External Trip Input 30
Speed
External
31 Run Forward Reset Input
& Current
& Reverse

x1
0-10V DC
Motorised pot
Thermistor Increase &
Decrease

8
introduction to macros

Macro 3 – Preset Speeds Macro 4 – Torque control

By using this macro up to four preset frequencies / When this macro is selected a drive can be operated
speeds can be used. Preset values must be in Speed or Torque control by using terminal 29.
programmed into individual parameters. Frequency / If in Speed control mode, speed is maintained
speed selection is done by activating terminal 29 and independent of load within the limits of the drive. In
putting a binary combination on terminals 24 and 26. 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.
Terminal 24 Terminal 26 Speed
Open Open As set in Pr 0.25
Open Closed As set in Pr 0.26
Torque/Current PI (Current)
Closed Open As set in Pr 0.27
Torque Ref. Post Ramp
Closed Closed As set in Pr 0.28
Ref

Current Feedback (torque component)

Drive Connections 1
2
3
Analog Ch 1 4
0-10v DC 5
6 Drive Connections 1
7 Torque Ref. 2
Thermistor 8
3
Speed Output 9
4
Load Output 10
5
11 Speed Ref. 6
7
21 Thermistor 8
22 Speed Output 9
23 Load Output 10
Preset Select 1 Input 24 11
Drive Reset Input 25
Preset Select 2 Input 26 21
Run Forward Input 27 22
Run Reverse Input 28 23
An/Preset Select Input 29 Drive Speed Output 24
External Trip Input 30
Drive Reset Input 25
31
Min. Speed Output 26
Run Forward Input 27
Run Reverse Input 28
Speed/Torque Select Input 29
External Trip Input 30
31

x2
External
Speed
Run Forward Reset Input
& Reverse
& Current x2
P1 and 1

x1 P1 and 2

P1 and 3
Run Forward
Speed
External
Reset Input
0-10V DC & Current
P1 and 4
& Reverse
2 Inputs
Thermistor for 4
Preset Speeds x1
0% RPM
0-10V DC 100%
(Speed)
2 Outputs
Thermistor for A1 Speed Amps
& At Min.Speed 0% 100% (Torque)

9
 introduction to macros

Macro 5 – PID control Macro 6 – Axis Limit control

This macro configures the drive to control a motor Using this macro enables two digital inputs to be
with reference to PID control signal. In PID control, the re-programmed so providing limit switch lockout for
error resulting from differences between the PID axis position control systems. The drive would normally
feedback and PID reference is passed through a limiter, be run from a +/- 10v reference and controlled forward
a scaling stage and finally the error is added to the / backwards from this. If a limit switch level is reached
frequency / speed signal. the drive will be forced to stop independent of the
speed setting.

Setpoint Output
Source
PID
Source
Drive Connections 1
Torque Ref. 2
3
Main Ref. 4
5
6
Feedback PID Reference 7
PID Feedback 8
Source 9
Speed Output
Load Output 10
11

Drive Connections 1
21
22
Torque Ref. 2 23
3 Drive At Speed Output 24
Main Ref. 4 Drive Reset Input 25
5 26
6 Run Forward Input 27
PID Reference 7 Run Reverse Input 28
PID Feedback 8 PID Enable Input 29
Speed Output 9 External Trip Input 30
Load Output 10 31
11

21
22
23
Drive At Speed Output 24
Drive Reset Input 25
26
x2
Run Forward Input 27
Run Reverse Input 28 External
PID Enable Input 29 Speed
Run Forward Reset Input
External Trip Input 30 & Current
& Reverse
31

x1
0-10V DC
2 Inputs
Thermistor for Forward &
x2 Reverse limits

External
Speed
Run Forward Reset Input
& Current
& Reverse

x1 PID Ref
P
I
0-10V DC D
Input for
PID Ref PID Enable &
PID F/bk At Speed O/P PID F/bk PID
Enable

10
introduction to macros

Macro 7 – Brake control Macro 8 – Digital Lock

This macro essentially allows the control of an The digital lock macro enables a drive to be
external brake. The brake is released when the drive is operated so that it will lock two motor shafts together
running and there is current in the motor. pulse for pulse.

Feed Forward
Reference Counts
Drive Connections 1
2
3 Accumultor
4 +/- Error
Speed Input 5
from PLC 6 Feedback
7 Feedback Counts
Thermistor 8
Speed Output 9
Load Output 10
11
Drive Connections 1
21
22 2
23 3
Brake Release Output 24 4
Drive Reset Input 25 5
26 6
Run Forward Input 27 7
28 Thermistor 8
Run Reverse Input
29 Speed Output 9
30 Load Output 10
External Trip Input
31 11

21
22
23
Drive At Speed Output 24
Drive Reset Input 25
Relative Jog Input 26
x2 Run Forward Input 27
Run Reverse Input 28
29
External Enable Input 30
Speed
Run Forward Reset Input 31
& Current
& Reverse

x1
0-10V DC
Brake Release
Thermistor Output
x2
External
Speed
Run Forward Reset Input
& Current
& Reverse
Take Up Capatan

Thermistor
only Relative Jog M
M
Input

11
 drive technical specifications

AC supply requirements Altitude

380V to 480V ±10%, 3-phase, 48 to 62 Hz Altitude range: 0 to 4000m (13000 ft), subject to the
Maximum supply imbalance: 2% negative phase sequence following conditions:
(equivalent to 3% voltage imbalance between phases) 1000m to 4000m (330 feet to 13000 ft) above sea level:
de-rate the maximum output current from the specified
Line reactors figure by 1% per 100m (330 ft)
When one of the following model sizes...
UNI 1401, UNI 1402, UNI 1403, UNI 1404 Vibration
....is used on an AC supply of 175kVA or larger, it is Maximum vibration:²0.5g as specified in IEC 68–2–61; 1982
recommended that a line reactor of 2% reactance is
included between the AC supply and the Drive. Model Ingress protection
sizes 1405 and larger have an internal dc-bus choke. Gland plate(s) not fitted: IP00
Gland plate(s) fitted; cable glands not fitted: IP10
A line reactor reduces the risk of damage to the Drive Cable-glands fitted; glands fitted: IP40, NEMA 1
resulting from severe disturbances on the supply network.
Accuracy and Resolution
Temperature, humidity and cooling method The following data applies to the Drive only; it does not
Ambient temperature range: include the performance of the source of the control signals.
–10°C to 50°C (14°F to 122°F). Output current de-rating Output-frequency accuracy:² ±0.1%
may apply at high ambient temperatures. Output-frequency resolution: ² ± 0.01 RPM
Cooling method: Natural convection
Maximum humidity: 95% non-condensing at 40°C (104°F) Starts per hour
Storage temperature range: –40°C to 50°C (–40°F to 122°F) By electronic control: unlimited
Maximum storage time: 12 months By interrupting the AC supply:
model sizes 1 and 2: ² 20, model sizes 3 and 4: ² 10

Power and Current ratings

40°C (104°F) Nominal Maximum permissible continuous output current Nominal
ambient rating AC
supply
current
Model @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
12 ✝ Peak current: up to 175% of the rated current for 4 seconds
✝ Factory setting
drive technical specifications

Dissipation
Model Nominal Maximum total power dissipation
Frequencies and
rating speed
@380V @460V 3kHz 4.5kHz 6kHz 9kHz 12kHz PWM switching
UNI 1401 0.75kW 1.0HP 80 W 80 W 90 W 90 W 90 W frequency:
UNI 1402 1.1kW 1.5HP 90 W 90 W 100 W 100 W 110 W
3kHz nominal (selectable
UNI 1403 1.5kW 2.0HP 100 W 110 W 110 W 120 W 130 W
up to 12kHz)
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 Maximum speed
UNI 2401 5.5kW 7.5HP 210 W 230 W 250 W 280 W 310 W
30 000 RPM
UNI 2402 7.5kW 10HP 270 W 290 W 310 W 320 W 310 W Speed regulation: 0.01%
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

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

13
 drive technical specifications

Dynamic Braking Minimum Values

Resistor Connections The calculated minimum ohmic value is limited by

the braking transistor supplied in the Unidrive being
The external braking resistor should be connected used. The following is a list of the minimum values.
to the Unidrive terminals labelled (+) and (-) on the
terminal strip on Unidrive size 1 & 2 or the stud MODEL MINIMUM VALUE
connections on Unidrive size 3 & 4. The resistor must Unidrive Size 1 40 Ohms
be thermally protected in the unlikely event that the Unidrive Size 2 40 Ohms
Unidrive Size 3 10 Ohms
braking transistor fails. This thermal device must either
Unidrive Size 4 5 Ohms
disconnect the input AC power to the Inverter or
disconnect the resistor from the circuit. Please contact Average Power Dissipation
the a Drive Centre for additional application information.
The average power dissipated in the resistor for
Custom Resistor Values intermittent operation is then simply the number of
watts dissipated per stop times the duty cycle (D).
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 Where:
be solved is the torque required knowing the required D= td
stop time. td + toff

T = J x N (Ft - Lb) or T = 2¹ J x N (Nm) In order to use this formula for average power
td x 307 td x 60 dissipation, the brake resistor must be off long enough
for the temperature of the resistor to return to ambient
Where: temperature between braking cycles. Also, the
J = Total Inertia (Lb-Ft 2 or Kgm 2) maximum on time (or decel time) should not exceed
N = Motor Max. Speed (RPM) the peak capabilities of the power resistor. Typically, a
td = Decel Time (Sec.) power resistor has the capability of dissipating 10
T = Torque (Ft-Lb or Nm) times rated wattage for 5 to 10 seconds.

The torque required must be equal or less than 1.5

Peak Power Rating
x motor/drive capability.

The peak power handling ability of the resistor

HP(brake) = T x N or P(kW) = TxN
must meet or exceed the following:
5250 30
2
The ohmic value of the resistor can now be PPK = (Vb) /R
calculated using the following formula:

R= (Vb)2 or R = (Vb)2
HP(brake) x 746 P(kW)

Where:
Vb = Bus voltage level when braking
= 750 VDC

14
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
 connections

Control Inputs and Outputs

TERMINAL I/O TYPE & FUNCTION RATING
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

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

connections

Typical power and default signal connections for speed

control in terminal mode

Status relay
Drive normal Optional
RFI filter
Analog frequency/speed Signal
reference 1 (remote) connector

Connections for
single-ended input
signal Thermal
protection
device
OV common
Connections for
differential input Stop Start/
signal Reset
OV common

Analog
frequency/speed
reference 2 (local) Braking resistor

Power
OV common terminals

SPEED

TORQUE

+24V
Encoder
Encoder
OV common
Analog input 3 connector Incremental
Motor thermistor 15-way signal
D-type connections for
all encoders

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

LOCAL/REMOTE REMOTE
communication
DRIVE ENABLE LOCAL signal
connectiona for
servo-encoders
OV common

17
 LOCAL/ JOG RUN RUN DRIVE AT ZERO
REMOTE SELECT FORWARD REVERSE RESET ENABLE THERMISTOR SPEED TORQUE SPEED
Pre-ramp 30 Post-ramp
speed speed
Reference selection Reference Maximum reference reference
selector speed
Speed reference 1 Motor control
(remote)
Analog input 1
mode selector Minimum
speed
Torque
S-ramp mode Current
S-ramp selector limit
Ramps enable Speed-loop PID gains
Analog input 2
Analog input 2 destination Reference
mode select select selector Speed-loop Stop mode
proportional selector
gain
Speed reference 2 Speed-loop
(local) integral gain Synchronize to
a spinning
motor
Acceleration
Preset references rate
(not used with Menu 0) Menu4
Motor parameters
Deceleration Speed-loop
rate S-ramp derivative
da/dt limit gain No. of poles
Rated voltage
initial Rated speed
parameter Rated current
displayed Ramp mode Rated
Keypad selector
reference frequency
Motor Motor
speed active-current
Precision reference (not Power stage
used with Menu 0)
PWM switching
frequency
Jog
reference
All parameters are shown at their default setting
Menu 0 logic diagram
connections

18
drive installation

Panel Wiring Guidelines for Routine EMC Precautions

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

Drives
Ensure minimum ³100mm ³5mm ³5mm
clearances are (4in) (…in) (…in)
respected.
Back-plate

System controller
Locate as required.

Signal cables
Plan for all signal
cables to be routed at
least 300mm (12in)
distant from any
power cable.
³100mm
(4in)

Location
of optional
terminal
block
Power cables
Alternative
location of
AC supply isolator, fuses or
contactor, and MCBs
fuses or MCBs Locate as
Locate as required. required.

Enclosure

Panel Wiring Guidelines for Compliance with EMC Emission Standards

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
Locate as required.
Drives and
RFI filters
Ensure minimum ³5mm ³5mm
clearances are (…in) ³100mm (…in)
respected. (4in)

System controller
Locate as required. ³5mm
(…in)

Signal cables
Plan for all signal
cables to be routed at
least 300mm (12in)
distant from any power
cable.
150mm
(6in)
RFI filters
Install a separate RFI
filter for each Drive.

Back-plate
Power cables
Alternative location of
Location
fuses or MCBs
AC supply isolator, of optional
Locate as required.
contactor, and terminal
fuses or MCBs block
Locate as required.

Enclosure

19
➀ Consult Drive Centre for Filter details.
 drive installation

Surface Mounting
Model Size 1 2 3 4
Dimension ➀ Panel

Model size 1
A 345 345 345 716 L FA
[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] C
E1 17 H
G
[.63]
E2 65
[2.56]
Panel
Model size 2

E3 143.5
[5.63]
F 368 368 368 743 L F A
[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] C E E
L 335 335 335 700 G
[13.19] [13.19] [13.19] [27.56]
Mounting 6.5 [.16] clearance or
1 4
hole diam. / UNF M6 thread Panel
Model size 3

➀ Dimensions in mm and [inches].

L F A

C
G H E E
C E1 E1
Model size 4

Panel

L F A

G E2 E3 E3 E2

20
drive installation

Panel

Model size 1
Through-panel Mounting L F A Aperture
Model Size 1 2 3 4 B
Dimension ➀
G D C
A 345 345 345 717.5 H
[13.56] [13.56] [13.56] [28.25] J K
E E
B 295 295 287 650
[11.63] [11.63] [11.31] [25.56]
Panel

Model size 2
C 86.5 182 358 482
[3.38] [7.19] [14.13] [19] L F A
D 13 13 Aperture
(0.5) (0.5) B
D1 16 17
[.63] [.63] G D
C
D2 7 7.5
[.25] [.31] E3 E3
D3 3.5
[.13] Panel
Model size 3

E 16.5
[.13] L F A Aperture
E1 131.5 192 B
[5.19] [7.56]
E2 69 130
G
[2.69] [5.13] H
D2 D1 E1 E2E2 C
E3 16.5 65 J K
[.63] [2.56]
F 364 364 364 743 D3 E3 E3
[14.31] [14.31] [14.31] [29.25]
Model size 4

Panel
G 95 190 375 500
[3.75] [7.50] [14.75] [19.69]
H 200 200 260 260 L F A
[7.88] [7.88] [10.25] [10.25] Aperture
J 120 120 120 120
B
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 G D1
hole diam. M6 1/4 UNF thread D2 E2 E2
E1 C
➀ Dimensions in mm and [inches]. D
Model size 5

➁ Plus thickness of gasket.

➂ Minus thickness of gasket
Model Size 5
Dimension ➀
Half size in proportion F A
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]
G J K D
K 144 [5 11/16] H

21
 drive installation

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.
Normal capacitance High capacitance
Shield or armour Shield or armour
Nominal AC 400V 480V separated from the cores close to the cores
supply
voltage
Model Maximum cable length* Cable & Fuse Recommendations
(PWM switching frequency at 3kHz)
FUSES and CABLES
m ft m ft AC Supply Motor Fuse ➀
CATALOGUE
UNI1401 65 210 50 160 Cables Cables Rating
NUMBER
UNI1402 100 330 75 250 mm2 AWG mm2 AWG Amps
UNI1403 130 430 100 330 UNI1401 1.5 16 1.5 16 6
UNI1404 200 660 150 490 UNI1402 2.5 14 2.5 14 10
UNI1405 300 990 250 820 UNI1403 2.5 14 2.5 14 10
UNI2401- 300 990 300 990 UNI1404 2.5 14 2.5 14 10
UNI2403 UNI1405 2.5 14 2.5 14 16
UNI3401- 200 660 120 410 UNI2401 2.5 14 2.5 14 16
UNI3405 UNI2402 4.0 10 4.0 10 35
UNI4401- 200 660 120 410 UNI2403 4.0 10 4.0 10 20
UNI4405 UNI3401 6 8 6 8 40
* Cable lengths in excess of the specified values may be used only when UNI3402 10 6 10 6 50
special techniques are adopted; refer to the supplier of the Drive.
UNI3403 10 6 10 6 60
UNI3404 16 4 16 4 70
The maximum cable length is reduced from that UNI3405 25 4 25 4 80
shown in the table under the following conditions: UNI4401 35 2 35 2 100
UNI4402 35 2 35 2 125
UNI4403 50 2/0 50 2/0 160
● PWM switching frequency exceeding 3kHz in
UNI4404 70 2/0 70 2/0 200
model sizes 3 and 4
UNI4405 95 3/0 95 3/0 250
The maximum cable length is reduced in ➀UNI5401 95 3/0 95 3/0 450
proportion to the increase in PWM switching
➀ Use Fuse class RK1 or similar HRC fuse.
frequency, eg. at 9kHz, the maximum length is
1/3 of that shown.
Weights
● High capacitance cables
Most cables have an insulating jacket between Model size kg lb
the cores and the armour or shield; these cables 1 4 8.8
have a low capacitance and are recommended.
2 8 17
Cables that do not have an insulating jacket
tend to have high capacitance; if a cable of this 3 22 49
type is used, the maximum cable length is half 4 70 154
that quoted in the table. (figure 2-1 shows *5 102 224
shows how to identify the two types.)
*Power Module only

22
drive installation

Enclosure Guidelines Insert the following values:

Ti = 40°C
Heat Dissipation in a Sealed Enclosure Tamb = 30°C
k = 5.5 (typical for painted 2mm (.079in)
If possible, locate heat-generating equipment in the sheet steel)
lower part of the enclosure to encourage internal P = 100 at 3kHz (see pages 18 &19)
convection. Otherwise, use a taller enclosure or install Note:
stirrer fans. It is essential to include any other heat sources in
The enclosure must be of adequate size to maintain the value of P.
sufficient cooling of the drive when it is installed inside a
sealed enclosure. Heat generated by all the equipment The minimum required heat conducting area is
in the enclosure must be taken into account. To then:
calculate the minimum acceptable size of an enclosure,
use the following procedure: e 100
A = = 1.81m2
5.5(40 - 30)
Calculate the minimum required surface area Ae
for the enclosure from:
Estimate two of the enclosure dimensions — the
height (H) and depth (D), for instance. Calculate the
Ae = P
width (W) from:
k(Ti - Tamb)

W= Ae - 2HD
Where:
H+D
Tamb Maximum ambient temperature in °C
Inserting H = D = 0.5m, obtain the minimum
external to the enclosure.
width:
Ae Unobstructed heat-conducting are in
mm2.
k Heat transmission coefficient of the W = 1.81 - (2 x 0.5 x 0.5) = 0.81m
0.5 + 0.5
enclosure material.
Ti Maximum permissible operating
temperature in °C.
P Power in watts dissipated by all heat Heat Dissipation in a Ventilated Enclosure
sources in the enclosure.
If a high ingress protection rating is not required,
Example: the enclosure may be smaller. A ventilating fan can be
To calculate the size of an enclosure for model used to exchange air between the inside and outside
UNI 1403 (1.5kW, 2HP). of the enclosure.

The following conditions are assumed: To calculate the volume of ventilating air, use the
following equation:
The Drive is surface-mounted inside the
enclosure. V= 3.1P
Only the top, front, and two sides of the Ti - Tamb
enclosure are free to dissipate heat.
Where V = Air-flow in m3 per hour.
The enclosure is made from painted 2mm
(.079in) sheet steel.
Example:
Maximum external air temperature: 30°C (86°F). P = 100
Ti = 40°C
Tamb = 30°C

Then:
V= 3.1 x 73 = 31m3 / hr
40 - 30
23
 electro magnetic compatibility (EMC)
& radio frequency interference (RFI)

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.

24
electro magnetic compatibility (EMC)
& radio frequency interference (RFI)

RFI Filter Ratings

Type Part number Max. Power Ingress Max. ambient Case
continuous dissipation at protection temperature at temperature rise
current rated current rated current at rated current
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)

Main Ratings Overall Dimensions

* Above 40°C (104°F), the current rating is
Filter type Dimension
reduced by 1.6A/°C (0.88A/°F) H W D

AC Supply Ratings A 396mm 50mm 113mm

Voltage (phase-to-phase and phase-to-ground): 15 9/16 in 1 15/16 in 4 7/16 in
480V +10%
B 396mm 75mm 113mm
AC supply frequency: 48 to 62 Hz 15 9/16 in 2 15/16 in 4 7/16 in

C 330mm 190 mm 145mm

Ground Leakage Current 13 in 7 1/2 in 5 11/16 in
The ground-leakage current, phase-to-phase and
phase-to-ground, when the AC supply is 400V at D 330mm 190mm 145mm
50Hz is as follows: 13 in 7 1/2 in 5 11/16 in

CONDITION A B C to G E 440mm 200mm 145mm

Balanced 5.6mA 7.4mA 55mA 17 5/16 in 7 7/8 in 5 11/16 in
One phase disconnected 41mA 57.9mA 350mA
F 490mm 200mm 145mm
For other AC supply voltages and currents, scale 19 1/4 in 7 7/8 in 5 11/16 in
the value of leakage current proportionally.
G 380mm 495mm 250mm
14 5/16 in 19 1/2 in 9 13/16 in
Discharge Resistors
A and B: 330 KΩ internally between phases, with
the star point connected by a 1M resistor to ground. Weights
C to G: 10 MΩ internally between each phase FILTER TYPE kg lb
and ground. A 2 5
B 2.7 6
Maximum Current Overload C 7.4 16
150% of rated current for 60 seconds. D 8 18
E 12.3 27
F 16 35
G 35 77

25
 motor overview

Introducing Unimotor Standard Features

Unimotor is a new range of brushless AC servo • Unique 'finned' design - high thermal dissipation
motors from Control Techniques. They are three phase, • Encoder for high precision feedback integral
6 or 8 pole, permanent magnet motors exhibiting a commutation
sinusoidal back EMF characteristic. The motors supply
• PTC thermistors for thermal monitoring and overload
high torque with either low or high rotor inertia and
protection
minimal cogging torque.
• Low inertia is standard for fast acceleration
The unique ‘finned’ motor housing is a high- • IEC mounting flange
strength aluminium alloy casting, that improves heat • Plain shaft is standard (non keyed)
dissipation by conduction, radiation and convection.
• IP65 standard (when connected) - sealed against
The single-piece integral construction permits accurate
water spray and dust
bearing to housing alignment and maintains air gap
concentricity. This arrangement optimises torque • Low cogging torque & THD
output and reduces cogging torque. The compact (Total Harmonic Distortion)
design gives increased torsional stiffness. Laminations • Rotor assembly balanced to ISO 1940 grade 6
and coils are optimised both for high efficiency and to • High standard of mechanical design and precision
provide low harmonic distortion in the airgap flux. manufacture - for improved performance and quality
Combined with the high energy magnets, and a choice
• Winding insulation is to Class H
of rotor inertia, these features provide superb dynamic
performance to suit all requirements. • Bearing system designed for prolonged motor life
• Modular construction
The integral housing and front flange design • UL approval under application
increases thermal dissipation and improves sealing
• CE marked
(IP65 standard, when mounted and connected).

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

26
motor technical specification

Specification
Physical Environmental
Insulation Class Class H, BS EN 60034-1. Ingress Protection Motor fitted with mating
Dimensional Accuracy IEC 72-1, Class N (normal connector and cable:
class), Class R (precision IP65.
class) is optional. Speed up to 3000RPM:
IP65.
Degree of Balance Rotor balanced to ISO 1940
Speed above 3000RPM:
(BS 6861) G 6.3 (half key
IP54.
convention to ISO 8821).
Operating Temperature Specified performance at
Temperature Monitoring PTC thermistor, 170˚C
40˚C ambient.
switch temperature.
Storage Temperature -20˚C to 70˚C.
Bearing System Preloaded ball bearings.
Insulation Class H (180˚C)
Electrical Connections Connector or terminal box
for power and brake; Temperature Rise 125˚C over ambient of
connector for feedback 40˚C Max.
devices and thermistor. 100˚C over ambient of
40˚C Typical.
Flange Mounting IEC 72-1 as standard/
NEMA MG-7 optional. Relative Humidity 90% Non condensing
Output Shaft Plain shaft as standard.
Output key is optional
(to IEC 72-1).

Ordering Information
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.

ORDER REFERENCE EXAMPLE

95 UM B 30 0 C B C A B

Frame Rated Speed (Standard): Output Shaft Key: Inertia:

Size: 30 - 3000 rpm B - Standard without Key A - Standard
75 20 - 2000 rpm A - With Key B - High
95 40 - 4000 rpm ***
115
142 Connection Type: Flange Mounting
Brake: C - Connection A - IEC, B - NEMA
190
0 - Non fitted H - Hybrid
1 - Brake fitted 24V dc T - Terminal*
Motor Type:
UM - Unimotor * Available with resolver
SL - Speed Loop Feedback Device: feedback only.
Control C - Incremental Encoder ** Available for SL Motors
D - CT Coder + SL Electronics** only.
G - Sin/Cos Encoder SCM60 (multi-turn) *** Other speeds are available
H - Sin/Cos Encoder SCS60 (single turn) on special request
Stator Length:
A - Resolver 55RSS116
A, B, C, D, E 27
 servo motor technical specification

∆T 100˚C, 40˚ Ambient with

Encoder Feedback

Motor Frame Size 75 95

All Versions (rpm) A B C D A B C D E
Continuous Stall (Nm) 1.2 2.1 2.8 3.6 2.3 3.9 5.5 6.9 8.4
Peak (Nm) 3.5 6.2 8.4 10.8 6.8 11.7 16.4 20.7 25.1
High (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8
Standard (kgcm2) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8
Weight(kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5
Thermal Time Constant (sec) 1315 1431 1500 1587 1422 1618 1800 1997 2178
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13

Rated Speed: 2000(rpm) Kt (Nm/Arms): 2.4 Ke (Vrms/krpm): 147.0

Rated Torque (Nm) 1.1 1.9 2.6 3.4 2.1 3.7 5.1 6.5 7.8
Continuous Stall Current (Arms) 0.49 0.86 1.16 1.50 0.95 1.63 2.28 2.88 3.49
Rated Power (kW) 0.23 0.40 0.55 0.71 0.44 0.77 1.06 1.37 1.64
R (ph-ph) (Ohms) 172.55 56.14 28.80 19.88 52.00 16.50 8.79 5.81 4.25
L (ph-ph) (mH) 243.1 106.4 67.9 49.3 138.9 64.9 41.2 29.6 23.2

Rated Speed: 3000(rpm) Kt (Nm/Arms): 1.6 Ke (Vrms/krpm): 98.0

Rated Torque (Nm) 1.1 1.9 2.5 3.3 2.1 3.6 5.0 6.3 7.6
Continuous Stall Current (Arms) 0.73 1.29 1.74 2.25 1.42 2.45 3.41 4.32 5.23
Rated Power (kW) 0.34 0.60 0.80 1.03 0.66 1.13 1.56 1.99 2.40
R (ph-ph) (Ohms) 73.44 23.42 13.88 8.67 24.92 7.51 4.12 2.75 1.92
L (ph-ph) (mH) 109.2 47.7 31.5 22.8 63.5 28.5 18.3 13.2 10.3

Rated Speed: 4000(rpm) Kt (Nm/Arms): 1.2 Ke (Vrms/krpm): 73.5

Rated Torque (Nm) 1.0 1.8 2.2 2.7 1.8 2.8 3.7 4.5 5.3
Continuous Stall Current (Arms) 0.98 1.73 2.33 3.00 1.88 3.23 4.50 5.70 6.90
Rated Power (kW) 0.42 0.76 0.91 1.14 0.77 1.16 1.54 1.89 2.24
R (ph-ph) (Ohms) 43.66 14.17 7.70 4.60 13.80 4.40 2.40 1.70 1.20
L (ph-ph) (mH) 61.7 27.2 18.1 12.7 35.9 16.1 10.1 7.6 5.8

Note: 1kgcm2 = 1x10-4 kgm2

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

28
servo motor technical specification

115 142 190

A B C D E A B C D E A B C D
4.1 6.7 9.5 12.0 14.1 6.3 10.8 15.3 19.8 23.4 21.8 41.1 58.7 73.2
12.2 20.0 28.4 35.9 42.4 18.9 32.4 45.9 59.4 70.2 66.4 123.3 176.1 219.6
9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 140.5 187.5 234.5
3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144.0 191.0
6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 26.0 26.0 33.0 40.0 48.0
1436 1614 1792 1980 2158 2093 2316 2548 2700 3003 3220 3645 3960 4500
0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99

3.7 6.0 8.6 10.8 12.8 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4 54.7
1.69 2.78 3.94 4.99 5.89 2.63 4.50 6.38 8.25 9.75 9.10 17.20 24.50 30.50
0.77 1.26 1.79 2.26 2.68 1.23 2.15 3.05 3.85 4.47 4.19 7.73 10.56 11.46
27.80 8.55 4.55 2.96 2.17 13.40 4.00 2.10 1.35 0.98 1.90 0.67 0.39 0.24
94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 18.8 8.60 5.90 4.10

3.3 5.5 7.7 9.7 11.4 5.4 9.0 12.2 15.8 18.0 19.2 33.0 35.0 36.8
2.53 4.16 5.91 7.48 8.83 3.94 6.75 9.56 12.38 14.63 13.60 25.70 36.70 45.80
1.05 1.72 2.43 3.05 3.59 1.70 2.83 3.82 4.95 5.65 6.03 10.37 10.99 11.56
12.55 3.86 2.02 1.34 1.10 6.00 1.82 0.94 0.59 0.44 0.89 0.32 0.20 0.13
43.1 18.6 11.4 8.6 7.4 31.0 13.3 8.3 6.1 4.8 9.24 4.28 3.29 2.48

2.8 4.4 6.0 7.0 7.7 3.6 7.0 8.9 10.7 12.2
3.38 5.55 7.88 9.98 11.78 5.25 9.00 12.75 16.50 19.50
1.17 1.85 2.53 2.94 3.24 1.51 2.94 3.73 4.49 5.09
6.91 2.14 1.16 0.73 0.57 3.35 1.00 0.53 0.35 0.24
23.5 10.2 6.6 4.7 3.9 17.6 7.5 4.7 3.6 2.7

29
 servo motor technical specification

∆T 125˚C, 40˚ Ambient with

Resolver Feedback only

Motor Frame Size 75 95

All versions (rpm) A B C D A B C D E

Continuous Stall Torque (Nm) 1.3 2.3 3.1 4.0 2.6 4.4 6.1 7.8 9.4
Peak Torque (Nm) 3.9 6.9 9.3 12.0 7.8 13.2 18.3 23.4 28.2
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8
Standard Inertia (kgcm2) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5
Thermal Time Constant (sec) 1315 1431 1500 1587 1422 1618 1800 1997 2178
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13

Rated Speed: 2000(rpm) Kt (Nm/Arms): 2.4 Ke (Vrms/krpm): 147.0

Rated Torque (Nm) 1.2 2.1 2.9 3.7 2.3 4.1 5.6 7.2 8.7
Continuous Stall Current (Arms) 0.54 0.96 1.29 1.67 1.08 1.83 2.54 3.25 3.92
Rated Power (kW) 0.25 0.44 0.61 0.77 0.48 0.86 1.17 1.51 1.82
R (ph-ph) (Ohms) 172.55 56.14 28.80 19.88 52.00 16.50 8.79 5.81 4.25
L (ph-ph) (mH) 243.1 106.4 67.9 49.3 138.9 64.9 41.2 29.6 23.2

Rated Speed 3000 (rpm) Kt (Nm/Arms): 1.6 Ke (Vrms/krpm): 98.0

Rated Torque (Nm) 1.2 2.1 2.8 3.6 2.3 4.0 5.5 7.0 8.5
Continuous Stall Current (Arms) 0.81 1.44 1.94 2.50 1.63 2.75 3.81 4.88 5.88
Rated Power (kW) 0.38 0.66 0.88 1.13 0.72 1.26 1.73 2.20 2.67
R (ph-ph) (Ohms) 73.44 23.42 13.88 8.67 24.92 7.51 4.12 2.75 1.92
L (ph-ph) (mH) 109.20 47.70 31.50 22.80 63.50 28.50 18.30 13.20 10.30

Rated Speed 4000 (rpm) Kt (Nm/Arms): 1.2 Ke (Vrms/krpm): 73.5

Rated Torque (Nm) 1.1 2.0 2.4 3.0 2.0 3.1 4.1 5.0 5.9
Continuous Stall Current (Arms) 1.08 1.92 2.58 3.33 2.17 3.67 5.08 6.50 7.83
Rated Power (kW) 0.46 0.84 1.01 1.26 0.84 1.30 1.72 2.09 2.47
R (ph-ph) (Ohms) 43.66 14.17 7.70 4.60 13.80 4.40 2.40 1.70 1.20
L (ph-ph) (mH) 61.70 27.20 18.10 12.70 35.90 16.10 10.10 7.60 5.80
Note: 1kgcm2 = 1x10-4 kgm2
Note 2: All performance data is subject to a tolerance of ±10%

Shaded areas indicate preferred types.

30
servo motor technical specification

115 142 190

A B C D E A B C D E A B C D
4.6 7.6 10.8 13.7 16.2 7.3 12.5 17.7 22.9 27.0 23.2 43.2 62.8 78.0
13.8 22.8 32.4 41.1 48.6 21.9 37.5 53.1 68.7 81.0 69.6 129.6 188.4 234.0
9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 187.5 234.5
3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144.0 191.0
6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
1436 1614 1792 1980 2158 2093 2316 2548 2700 3003 3220 3645 3960 4500
0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.34 0.60 0.80 1.10

4.3 7.0 9.9 12.5 14.8 6.8 12.0 17.0 21.4 24.9 20.8 38.1 53.0 60.0
1.92 3.17 4.50 5.71 6.75 3.04 5.21 7.38 9.54 11.25 9.67 18.00 26.20 32.50
0.90 1.47 2.07 2.62 3.10 1.42 2.51 3.56 4.48 5.21 4.36 7.98 11.10 12.56
27.80 8.55 4.55 2.96 2.17 13.40 4.00 2.10 1.35 0.98 1.90 0.67 0.39 0.24
94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 18.80 8.60 5.90 4.10

3.8 6.3 8.9 11.2 13.2 6.3 10.5 14.2 18.4 21.0 20.1 36.2 38.3 4.2
2.88 4.75 6.75 8.56 10.13 4.56 7.81 11.06 14.31 16.88 14.5 27.0 39.3 48.8
1.19 1.98 2.80 3.52 4.15 1.98 3.30 4.46 5.78 6.60 6.31 11.37 12.03 12.63
12.55 3.86 2.02 1.34 1.10 6.00 1.82 0.94 0.59 0.44 0.89 0.32 0.20 0.13
43.10 18.60 11.40 8.60 7.40 31.00 13.30 8.30 6.10 4.80 9.24 4.28 3.29 2.48

3.2 5.1 7.0 8.1 8.9 4.2 8.2 10.4 12.5 14.2
3.83 6.33 9.00 11.42 13.50 6.08 10.42 14.75 19.08 22.50
1.34 2.14 2.93 3.39 3.73 1.76 3.43 4.36 5.24 5.95
6.91 2.14 1.16 0.73 0.57 3.35 1.00 0.53 0.35 0.24
23.50 10.20 6.60 4.70 3.90 17.60 7.50 4.70 3.60 2.70

31
 motor installation

Outline Drawings - Frame Sizes 75 - 142

Shaft Key Detail C (REF) N A (MAX)

(Option A) F B(MAX)
SIGNAL
POWER CONNECTOR CONNECTOR
D
T R

S UNIMOTOR UM

C (REF) DANGER
High Voltage
CAUTION
This machine runs hot
K
UNIMOTOR UM
M L
DO NOT USE
COVER FOR LIFTING
(MAX)

4 HOLES DIA. 'H' G (REF)

EQUI-SPACED ON A
'J' P.C.D.

E P 75.0

Dimensions - Frame Sizes 75 - 142

FRAME SIZE 75 95 115 142
Dimension / Length suffix A B C D A B C D E A B C D E A B C D E
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
G1 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
G1 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 Width 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

32
motor installation

Outline Drawings - Frame Size 190

N A (MAX)
Shaft Key Detail C (REF)
B (MAX)
(Option A) DIRECTION
OF ROTATION F
FOR UVW=
CLOCKWISE T R
T R

S
S UNIMOTO K
C
L

N 1 HOLE
DRILL 34.0
DEEP &
TAP M12 x
1.75 - 6H
4 HOLES x 28 DEEP
G1 (REF) G (REF)
DIA ‘H’
EQUI-SPACED
ON ‘J’ P.C.D.
D

V
E 75.0

V
P

Dimensions - Frame Size 190

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
G1 Terminal Box to Front Flange (Unbraked) 69 123 177 231
G1 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 Width 10.0

33
 accessories

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

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.

Accessories also available from your local

Control Techniques Drive Centre

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.

For further information on planetary gearmotors and fan

cowlings please contact your local Drive Centre

34
accessories

Cable Assemblies Applications

• For general applications choose PVC type. This has
Characteristics - Power and Signal Cables
good all round performance.
Cables are an important part of a servo system
• Use PUR for high dynamic applications where cable
installation. Not only must the noise immunity and
is frequently in motion.
integrity of the cabling and connectors be correct, but
• Use PUR for machine tools where the cable is
SAFETY and EMC regulations must be complied with
sprayed with coolant fluid.
to ensure successful, reliable and fail-safe operation.
• 2.5 mm2 conductors are applicable to all motors in
One of the most frequent problems experienced by
the range to 142 frame size.
motion systems engineers is incorrect wiring
• 4.0mm2 conductors are applicable to 190 frame sizes.
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 1mm2 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

35
 accessories

PUR Power Cables

Specification - Shielded Power Cable Options 2.5mm2

Cable Description (2.5mm2) PUR (2.5mm2) PUR
Shielded Power, Shielded Power,
without Brake with Brake
Cable Type PSBA-- PBBA--
Power Conductors 4 x 2.5mm2 4 x 2.5mm2
Brake Supply Wires - 1 x (2x1) mm2
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/s2 7 m/s2
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/mm2 20 N/mm2
(max, dynamic)
Pulling Strength 50 N/mm2 50 N/mm2
(max, fixed)
Weight 160 kg/km 160 kg/km

36
accessories

Specification - Shielded Power Cable Options 4.0 mm2

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 4.0mm2 4 x 4.0mm2
Brake Supply Wires - 1 x (2x1) mm2
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/s2 7 m/s2
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/mm2 20 N/mm2
(max, dynamic)
Pulling Strength 50 N/mm2 50 N/mm2
(max, fixed)
Weight 230 kg/km 230 kg/km

37
 accessories

Outline Drawing - Power Cable With Brake Power Cable Connections - with Brake

Pin Conductor Function

Drive End 1 ‘1’ Phase U
Drive End
Termination Identity Label 2 ‘2’ Phase V
Termination 3 Y/G Earth
115.0 ±10 4 ‘3’ Phase W
5 ‘5’ Brake
Brake 6 ‘6’ Brake
CONNECTOR BODY Screen
Earth 5 1
Power U
6
Power V
Power W 4 2
Screen (3)
Cable length: min.= 3.0 metres / max.= 100 metres
130.0 ±10 Tolerance: -0.0 / +50mm
Connector Connector
Assembly Face
(Motor End)

Power Cable Connections - without Brake

Outline Drawing - Power Cable Without Brake
Pin Conductor Function
1 ‘1’ Phase U
Drive End Drive End
2 ‘2’ Phase V
Termination Termination Identity Label
3 Y/G Earth
4 ‘3’ Phase W
115.0 ±10 5 - -
6 - -
CONNECTOR BODY Screen
Earth 5 1
Power U
6
Power V
Power W 4 2
Screen (3)
Cable length: min.= 3.0 metres / max.= 100 metres
130.0 ±10 Tolerance: -0.0 / +50mm
Connector Connector
Assembly Face
(Motor End)

Ordering Information - Power Cables PB B B B 095

Use the information on the following chart to create an
order code. The top line is an example of an order code. Insulator: Cable Length (metres):
B - PUR Min - 003 (3 metres)
Max - 100 (100 metres)

Cable Type: Connector Types:

PS - Power (Standard) A - Ferrule ends at Drive, Inter-
PB - Power (With brake) connectron at Motor (not 190)
B - Ferrule ends at Drive,
Conductor Size: unfinished cut end at Motor
A - 4x 2.5mm2 conductor C - Ferrule ends at Drive and
(75A - 190A) Motor for hybrid or terminal box
B - 4x 4.0mm2 conductor X - Cable only
(190B - 190D)
38
accessories

Signal Cable
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 1.0mm2)
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 mm2)
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 0.34mm2)
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/s2
Bending Life 5 million cycles
Operating Temperature -10˚C to +80˚C
Storage Temperature -30˚C to +80˚C
Pulling Strength 20 N/mm2
(max. dynamic)
Pulling Strength 35 N/mm2
(max. fixed)
Weight 200 kg/km

39
 accessories

Outline Drawing - Signal Incremental Cable

Drive End Termination Thermistor Wire

15 Pin D Type Connector Connections
Identity Label
165.0 ±10 Connector Interconnection
Assembly Viewed from
Viewed from
rear Rear
5 4 3 2 1
55 55 585 575 55 11 1
10 9 6 10 12 2
15 14 13 12 11 9 16 17 13 3
15 14
8 4
7 6 5

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

Tolerance: -0.0 / +50mm

‘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 (0.34mm2) Channel B 3 - Not Used
4 Blue (0.34mm2) 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 (1.0mm2) +5 Volts dc 13 Red/Blue Band Channel A Inverse
14 Blue (1.0mm2) 0 Volts 14 Red (0.34mm2) Channel B
15 - Not Used 15 Blue (0.34mm2) Channel B Inverse
- White Thermistor 16 Red (1.0mm2) +5 Volts dc
- Brown Thermistor Rtn 17 Blue (1.0mm2) 0 Volts
BODY Thermistor screen & overall screen BODY To overall screen

Ordering Information - Signal Cables SI B A A 095

Use the information given on the following chart to
create an order code for signal cables. The top line is Cable Type: Cable Length (metres):
a typical example. SI - Signal for Incremental Encoder Min - 003 (3 metres)
SR - Signal for Resolver Feedback Max - 100 (100 metres)

Insulator:
Connector Type:
A - PVC
A - 15 Pin D type at Drive, 17 pin at Motor
B - PUR
B - Unfinished cut end at Drive, 17 pin at
Motor
Special Options C - Ferrule ends at Drive (for Small Options
A - Standard Module), 12 pin at Motor for Resolver
A - 90˚ elbow X - Cable only
40
accessories

UNIMOTOR Brushless Servo Motors

Connector Accessories

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

41
 torque speed curves & tables

75UMA300 Unimotor 75UMD300 Unimotor

4.5 12 UNI1403 UNI1404
UNI1401
11
4.0
10
3.5
9

3.0 8
Intermittent Torque
Torque (Nm)

7
Torque (Nm)

2.5
Intermittent Torque 6
380 V 480 V 380 V 480 V
2.0 5

1.5 4

3
1.0
Continuous Torque 2 Continuous Torque

0.5 1

0 0
4000 5000 0 1000 2000 3000 4000 5000
0 1000 2000 3000
Speed (rpm) Speed (rpm)

75UMB300 Unimotor 95UMA300 Unimotor

8 8 UNI 1402
UNI 1401

UNI 1402 UNI 1401

7 7

6 6

5 5
Torque (Nm)

Torque (Nm)

Intermittent Torque

4 Intermittent Torque 4
380 V 480 V 380 V 480 V

3 3

2 2

Continuous Torque Continuous Torque

1 1

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm) Speed (rpm)

75UMC300 Unimotor 95UMB300 Unimotor

10 13 UNI1403 UNI1404

UNI1402 UNI1403 12
9
11
8
10
7 9

6 8 Intermittent Torque
Torque (Nm)
Torque (Nm)

7
5 Intermittent Torque
380 V 480 V 6 380 V 480 V
4 5

3 4

3
2
Continuous Torque
Continuous Torque 2
1
1

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm) Speed (rpm)
42
torque speed curves & tables

95UMC300 Unimotor p
115UMA300 Unimotor
15
20
UNI1404 UNI1405 UNI 1404
UNI 1403

15
10

Intermittent Torque
Torque (Nm)
Torque (Nm)

Intermittent Torque

10 380 V 480 V
380 V 480 V

Continuous Torque
Continuous Torque

0
0 4000 5000
4000 5000 0 1000 2000 3000
0 1000 2000 3000
Speed (rpm) Speed (rpm)

95UMD300 Unimotor 115UMB300 Unimotor

25 25
UNI 1404 UNI 1405
UNI 1404 UNI 1405

20 20

15
Torque (Nm)

15
Torque (Nm)

Intermittent Torque Intermittent Torque

380 V 480 V 380 V 480 V
10 10

5 5
Continuous Torque Continuous Torque

0 0
0 1000 2000 3000 4000 5000 4000 5000
0 1000 2000 3000
Speed (rpm) Speed (rpm)

95UME300 Unimotor 115UMC300 Unimotor

UNI 1405 UNI 2401
30 30
UNI 1404 UNI 1405

25 25

20 20
Intermittent Torque
Torque (Nm)

Intermittent Torque
Torque (Nm)

380 V 480 V
15 15 380 V 480 V

10 10

5 5 Continuous Torque
Continuous Torque

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm)
Speed (rpm) 43
 torque speed curves & tables

115UMD300 Unimotor 142UMB300 Unimotor

UNI2401 UNI2402
40 35
UNI2401 UNI2402

35 30

30
25

25 Intermittent Torque
Torque (Nm)
Torque (Nm)

Intermittent Torque 20

20 380 V 480 V
15 380 V 480 V
15

10
10

Continuous Torque
Continuous Torque 5
5

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm) Speed (rpm)

115UME300 Unimotor 142UMC300 Unimotor

45 UNI2401 UNI2402 50 UNI2402 UNI2403

40 45

40
35

35
30
Intermittent Torque 30 Intermittent Torque
Torque (Nm)

Torque (Nm)

35
25
20 380 V 480 V 380 V 480 V
20

15
15

10
10
Continuous Torque Continuous Torque
5 5

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm) Speed (rpm)

142UMA300 Unimotor p
142UMD300 Unimotor
UNI1404 UNI1405 70
20 UNI2403 UNI3401
65

60

55
15
50

45
Intermittent Torque Intermittent Torque
Torque (Nm)
Torque (Nm)

40

10 35
380 V 480 V 380 V
30 UNI2403 UNI3401 480 V
25

20
5
15
Continuous Torque Continuous Torque
10

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
44 Speed (rpm) Speed (rpm)
torque speed curves & tables

142UME300 Unimotor 190UMC300 Unimotor

80 UNI2403 UNI3401 200 UNI 3405 UNI 4401

70

60 150

50
Intermittent Torque
Torque (Nm)

Torque (Nm)

Intermittent Torque
40 UNI2403 UNI3401 100 380 V 480 V

380 V 480 V UNI 3405 UNI 4401

30

20 50

Continuous Torque
10 Continuous Torque

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm) Speed (rpm)

190UMA300 Unimotor 190UMD300 Unimotor

UNI2403 UNI3401
70 250 UNI 3405 UNI 4401

60
200

50

150
Torque (Nm)
Torque (Nm)

40 Intermittent Torque
Intermittent Torque
380 V 480 V 380 V 480 V

30 UNI3401 UNI 3405 UNI 4401

UNI2403 100

20

50
Continuous Torque
10 Continuous Torque

0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (rpm) Speed (rpm)

190UMB300 Unimotor
150
UNI 3402 UNI 3403

100

Intermittent Torque
Torque (Nm)

380 V 480 V

50

Continuous Torque

0
0 1000 2000 3000 4000 5000
Speed (rpm) 45
 torque speed curves & tables

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)

Unimotor Model 75UMA300 75UMB300 75UMC300 75UMD300

Cont.Stall Torque (Nm) 1.2 2.1 2.8 3.6

Rated Speed (rpm) 3000 3000 3000 3000
Torque Constant (Nm/Arms) 1.6 1.6 1.6 1.6
Cont. Stall Current (Arms) 0.8 1.4 1.9 2.5
Rotor inertia (Kgcm2) 0.6 1.0 1.5 1.9
Unidrive Model (12kHz) UNI1401 N/A UNI1401 UNI1402 UNI1402 UNI1403 UNI1403 UNI1404
Cont. Current Preset (#0.46)A 0.8 N/A 1.4 1.4 1.9 1.9 2.5 2.5
Peak Current Preset (#0.06)% 300 N/A 264 300 258 300 268 300
Motor-Drive Combination (Nm)
Stall Torque (Nm) 1.2 N/A 2.1 2.1 2.8 2.8 3.6 3.6
Peak Torque (Nm) 3.5 N/A 5.5 6.2 7.3 8.4 10.0 10.8

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

Unimotor Model 95UMA300 95UMB300 95UMC300 95UMD300 95UME300

Cont.Stall Torque (Nm) 2.3 3.9 5.5 6.9 8.4

Rated Speed (rpm) 3000 3000 3000 3000 3000
Torque Constant (Nm/Arms) 1.6 1.6 1.6 1.6 1.6
Cont. Stall Current (Arms) 1.55 2.6 3.67 4.6 5.6
Rotor inertia (Kgcm2) 1.4 2.5 3.6 4.7 5.8
Unidrive Model (12kHz) UNI1401 UNI1402 UNI1403 UNI1404 UNI1404 UNI1405 UNI1404 UNI1405 UNI1404 UNI1405
Cont. Current Preset (#0.46)A 1.55 1.55 2.6 2.6 3.67 3.67 4.6 4.6 5.6 5.6
Peak Current Preset (#0.06)% 239 300 258 300 270 300 215 300 177 300
Motor-Drive Combination (Nm)
Stall Torque (Nm) 2.3 2.3 3.9 3.9 5.5 5.5 6.9 6.9 5.6 5.6
Peak Torque (Nm) 5.55 6.8 10.0 11.7 14.8 16.5 14.8 20.7 14.8 25.1

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

Unimotor Model 115UMA300 115UMB300 115UMC300 115UMD300 115UME300

Cont.Stall Torque (Nm) 4.1 6.7 9.5 12.0 14.1

Rated Speed (rpm) 3000 3000 3000 3000 3000

Torque Constant (Nm/Arms) 1.6 1.6 1.6 1.6 1.6

Cont. Stall Current (Arms) 2.74 4.47 6.34 8.0 9.4

Rotor inertia (Kgcm2) 3.2 5.5 7.8 10.0 12.3
Unidrive Model (12kHz) UNI1403 UNI1404 UNI1404 UNI1405 UNI1405 UNI2401 UNI2401 UNI2402 UNI2401 UNI2402
Cont. Current Preset (#0.46)A 2.74 2.74 4.47 4.47 6.34 6.34 8.0 8.0 9.4 9.4
Peak Current Preset (#0.06)% 245 300 221 300 265 300 265 300 226 300
Motor-Drive Combination (Nm)
Stall Torque (Nm) 4.1 4.1 6.7 6.7 9.5 9.5 12.0 12.0 14.1 14.1
Peak Torque (Nm) 10.0 12.3 14.8 20.1 25.2 28.5 31.8 36.0 31.8 42.3

46
torque speed curves & tables

UNIMOTOR/UNIDRIVE COMBINATION (12 kHz SWITCHING FREQUENCY ONLY)

Unimotor Model 142UMA300 142UMB300 142UMC300 142UMD300 142UME300

Cont.Stall Torque (Nm) 6.3 10.8 15.3 19.8 23.4

Rated Speed (rpm) 3000 3000 3000 3000 3000

Torque Constant (Nm/Arms) 1.6 1.6 1.6 1.6 1.6

Cont. Stall Current (Arms) 4.2 7.2 10.2 13.2 15.6
Rotor inertia (Kgcm2) 7.8 14.1 20.5 26.8 33.1
Unidrive Model (12kHz) UNI1404 UNI1405 UNI2401 UNI2402 UNI2402 UNI2403 UNI2403 UNI3401 UNI2403 UNI3401
Cont. Current Preset (#0.46)A 4.2 4.2 7.2 7.2 10.2 10.2 11.7 13.2 11.7 15.6
Peak Current Preset (#0.06)% 236 300 295 300 277 300 338 300 377 300
Motor-Drive Combination (Nm)
Stall Torque (Nm) 6.3 6.3 10.8 10.8 15.3 15.3 17.5 19.8 17.5 23.4
Peak Torque (Nm) 14.8 18.9 31.8 32.4 42.3 45.9 59.4 59.4 66.1 70.2

UNIMOTOR/UNIDRIVE COMBINATION (9 kHz SWITCHING FREQUENCY ONLY)

Unimotor Model 190UMA300 190UMB300 190UMC300 190UMD300

Cont.Stall Torque (Nm) 21.8 41.1 58.7 73.2

Rated Speed (rpm) 3000 3000 3000 3000

Torque Constant (Nm/Arms) 1.6 1.6 1.6 1.6

Cont. Stall Current (Arms) 14.5 27.4 39.1 48.8
Rotor inertia (Kgcm2) 44.8 81.6 118.4 155.1
Unidrive Model (12kHz) UNI2403 UNI3401 UNI3402 UNI3403 UNI3405 UNI4401 UNI3405 UNI4401
Cont. Current Preset (#0.46)A 14.2 14.5 27.4 27.4 35 39.1 35 48.8
Peak Current Preset (#0.06)% 306 300 255 300 335 300 349 300
Motor-Drive Combination (Nm)
Stall Torque (Nm) 21.3 21.8 41.1 41.1 52.5 58.7 52.5 73.2
Peak Torque (Nm) 63.9 63.9 120.0 123.3 176.1 176.1 183 219.6

47
 servo sizing software

CTSS (CT Sizing Software) is a new servo-sizing The components can be dragged from the toolbox into
package developed to aid System Design Engineers in Workbench as required. Each has its own properties
identifying the essential input parameters to correctly sheet, which describes the component, its
size a servo application. From a system definition and characteristics and illustrates typical applications. The
motion requirement, CTSS performs all calculations Component Library provides the option of storage and
required to produce torque and distance profiles and retrieval of customised components.
gives motor choice optimised on the basis of cost,
length or diameter. The software will specify the The Results Window displays the motor performance
appropriate Unimotor, Unidrive and braking resistor profile and suggests the best motor for the application,
power, and will generate a parameter list for download according to parameters set. Results of the motion
into Unidrive via UniSoft. 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
A Windows based program, CTSS allows the engineer ranging from lead to wood.
to create his application in the Workbench window. A major advantage of CTSS is that it allows engineers
Components are dragged and dropped from the to save system designs as files (with a CTS extension).
Toolbox onto the Workbench and are be linked The user may create a Template design file that is used
together using a graphical interface. Component as the basis of future designs. The Design Wizard
names and properties can be specified and then saved automates the task of creating a simple application by
as standard or especially components as required. performing component placement and connection
based upon selection in the Wizard pages. The
The Toolbox contains tabbed pages of application software also allows the creation and storage of notes
components. Nine main components are provided in about an application in the Design File.
the ‘Standard’ Toolbox page: Gearbox, Lead Screw,
Belt & Pulley, Rack & Pinion, Conveyor, Cylinder Drive CTSS contains details of the full range of Unimotors
Feed Roll, Coupling and Miscellaneous Inertia. CTSS and Unidrives and can be configured in different
allows the user to create any number of Toolbox pages languages. To install you will required either Win95 with
so that he can group together similar components or 12Mb RAM or NT4 with 16Mb RAM.
frequently used combinations.
48
servo sizing software

49
 options

UD70 Applications Module

● 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
50
options

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

51
 options

Rotary Knife #01.14=3

;Select Preset Speed reference.
(Example of DPL Code) #01.15=1
;Select Preset Speed #1.
#2.02=0
$VERSION V1.0
;Disable Speed Ramps
$DRIVE UNIDRIVE
;position loop set-up parameters
$define PITCH% #18.11
_Q20%.1=1
$define CIRCUMFERENCE% #18.12
;Enable Q4 as the PID loop reference
$define CUT_DIST% #18.13
_Q20%.6=1
$define MOTOR_ENC_COUNTS% 16384
;Enable automatic writing of #91.02
$define LINE_ENC_COUNTS% #18.14
#91.01=3
$define LINE_CIRCUMFERENCE% #18.15
;Enable the use of #91.2 fast write to Preset
$define GEAR_RATIO% #18.16
Speed #1.
$define RE_CALC% #18.31
#91.05=1500
;Set the maximum resolution speed in rpm of
INITIAL{
#91.02
; Generate Mod_Sin Array (scaled)
}
;assign memory space for cam table arrays
BACKGROUND{
DIM sin_array[100]
top:
DIM line%[101]
;calculate adjustments required for the rotary knife to cut in
DIM knife%[101]
the required place
line_scale%=LINE_ENC_COUNTS%/LINE_CIRCUMFERENCE
;reset program variables
%
tmr1%=0
knife_scale%=MOTOR_ENC_COUNTS%*GEAR_RATIO%/CIR
sum1=0
CUMFERENCE%
sum2=0
catch_up_length%=(CIRCUMFERENCE%-PITCH%-
index%=0
CUT_DIST%)*knife_scale%
ang=3.141592654/50
pitch_increment_line%=(PITCH%-
CUT_DIST%)*line_scale%/100
;Create an array with 100 points describing a modified sin
pitch_increment_knife%=(PITCH%-
wave
CUT_DIST%)*knife_scale%/100
DO
s=sin(ang*index%)
;calculate the Cam table points to describe the required
sum1=sum1+s
motion
sin_array[index%]=s1
IF RE_CALC%=1 THEN
sum2=sum2+s1
index%=0
index%=index%+1
Do
LOOP WHILE index%<100
line%[index%]=pitch_increment_line%
index%=0
knife%[index%]=INT(sin_array[index%]*catch_up_length%) +
;scale the mod_sin array so the total distance moved under
pitch_increment_knife%
the curve is 1.
index%=index%+1
Do
LOOP WHILE index%<100
sin_array[index%]=sin_array[index%]/s2
line%[100]=CUT_DIST%
index%=index%+1
knife%[100]=CUT_DIST%
LOOP WHILE index%<100
RE_CALC%=0
ENDIF
;initialise the cam table
result%=CAMINIT(line%,knife%,101,0,0)
;Set the speed of the virtual axis for test purposes
v_master%=#18.20
;control registers
_Q32%=0
goto top: // main background loop
;Reset Control Registers
}
_Q20%=0
SPEED{
;unidrive set-up parameters
;Increment the c/ required for the virtual master speed.
#01.10=1
_Q1%=_Q1%+v_master%
;Enable Bipolar speed ref.
}
52
options

Drive Communications Feedback Device

UD71 Serial Communications Module UD50 Extended I/O
● RS232 communications for easy commissioning and ● Low cost external control

drive programming ● 2 N/0 relays

● RS485 communications for industrial process control ● 3 Digital inputs

● 3 Digital I/0

Distributed Applications ● 2 Analogue inputs

● UD70 Modbus Module (19.2 Kbps) ● 1 Analogue output

● UD73 Profibus DP Module (1.5 Mbps) UD51 Second Encoder

● UD74 Interbus S Module (0.5 Mbps) ● Master/Slave capability for multiple drive control

● UD76 Modbus+ Module (1 Mbps) (Digital Lock)

● UD77 DeviceNet (0.5 Mbps) ● Quadrature or frequency and direction reference
● UD75 CTNet Module (5 Mbps) ● Freeze input
● Peer to peer communications ● Simulated encoder output
● Distributed control UD52 Sin/Cos Encoder
● Simplifies high performance ● High precision positioning

industrial applications ● 500,000 ppr

● Single or multi-turn

Easy Applications ● Absolute position tracked

● Freeze input
UD78 High Performance Servo Module
UD53 Resolver Feedback
● >16 bit analogue input for precise position control
● Easy expansion of drive for use in rugged and
● Accurate tracking of small input signal changes with
demanding environments
<150µV deadband
● Simulated encoder output
● 24V back-up tracks encoder position when
mains loss is experienced
● RS485 communications
Drive Set Up
UD55 Cloning Module
● Easy set-up of multiple drives

● Simplifies the transfer of parameters between Drives

● Stores 8 full parameter sets

53
 typical applications

Pick and Place Gantry Control

Unidrives
Objective: Utilise standard products with easy Unimotor Unimotor
programming for point-to-point position control
Solution: Unidrive with MC204 controller
Operation: MC204 moves all three axes from 3-D position MC Series
to 3-D position co-ordinates quickly and
accutately. 3
2 1
9 flow
Results: Easy system set up with rapid and accurate 4
10
5
positioning. 6 7
scale

High Speed Label Printing Unimotor

Objective: Higher throughout, decreased changeover
time, better accuracy than mechanical system
Fo Unidrive UD70
Solution: Unidrive with UD70 digital lock llow Digital look
Ax er
Ma is
Operation: The UD70 performs a complex cam type st Unidrive UD70
Ax er
is Digital look
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. Flo
w
Results: Increased accuracy because placement Encoder

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. Encoder
Results: Precise speed regulation and the exact amount
of material is wound onto the take up roll. Unimotor

Unidrive
with UD70 CTIU
Operator Interface

54
typical applications

Constant Controller Maintains Constant Gap

Unidrive
Objective: Provide desired “Tail to Head” spacing.
with UD70 Regardless of product length.
Product
Measuring Solution: Unidrive with UD70 applications module.
Photoeye
Operation: Photocells trigger the PCM-19 to monitor
Sync Encoder
Unimotor encoder input for product position, length and
height. The UD70 preforms all the
calculations required to deliver the product

Feed Control
to the merge conveyor at the user defined
Separation Measuring Merge Conveyer
Conveyor Conveyor Conveyor parameters.
Results: Easy configuration and control of product
tail to head or head to head spacing onto a
merge conveyor.

Unimotor
Auger Filler for Dry Material
CTIU Objective: Eliminate problems with clutch-brakes.
Operator interface Solution: Unidrive and UD70 count position control.
Operation: Unidrive indexes exact revolutions for specific
Unimotor
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.

MC Series
Unidrive
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.
tor Results: Fast and accurate positioning of all axis.
imo
Un

Y X

Un
im X Y
oto
r
Z

Unimotor

55
 typical applications

Flying Cut Off - Inline Unidrive

with UD70
CTIU
Objective: Provide an easy method for an operator to Operator Interface Unimotor
SCS-X Motion
enter product cut lengths Encoder
Solution: Unidrive with UD70 motion profiler and CTIU Motion

operator interface.
Operation: When the correct product length passes, the
cut bar is accelerated to match the speed of Velocity
(+) Output 21on Output 22on

the product. When speed is matched, an Index 2

10,000 inches
Output s off Wait for 40 more
inches to pass

output is activated sending the cutter head Index 1

2,000 inches
Index 3
2,000 inches
Index 4
return to 0 position

down. The operator is able to set the length (-) Motion Program
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. Unidrive
Solution: Unidrive with UD70 natural profiler. with
UD70
Operation: the UD70 monitors the encoder position and Unimotor

product registration sensor to insure that the

product is cut in the correct position. The Encoder
Registration
UD70 has the capability to learn the exact new Sensor
Rotary
length of the product even if the operator Knife
enters a length close to the correct length. Any
changes to the drive parameters can be made Flow
on the fly.
Results: Synchronised system provides fast and
accurate cut lengths exactly placed on
registration marks.

Positioning with a Unidrive Load and Upload

Drill Tap

Leadscrew Pitch: 2 TPI Area

Objective: Increase accuracy and performance and Unidrive
Repaetability: +/-0003 Workpiece
minimize cost. inches

Solution: Unidrive with UD70 positioner Speed: 1750 IPM

eg Profibus,
Devicenet
Operation: Proximity switches are placed at the desired Unimotor

drill position. The Unidrive is configured to stop

at an exact and consistant deceleration rate.
SELECTED ACCEL & DECEL

Results: Fast and accurate positioning of workpiece PROGRAMMED

SPEED
RAMPS

with system cost minimized.

STOP CONTACT STOP CONTACT

OPENS CLOSES
PROGRAMMED MOTOR
STOP POSITION

56
 . . . . . . . . . . . .
. . . . . . . . . . . .
. . . . . . . . . . . .
driving the world...

Control Techniques
Drive & Application Centres • Drive & Application Centres
AUSTRALIA
Melbourne Application Centre
• Distributors

A.C.N. 003 815 281 RUSSIA

Tel: 61 973 8177 Moscow Application Centre
Fax: 61 9729 3200 Madras Drive Centre Tel: 7 095 232-9472
After Hours: 61 2 9963 5271 Tel: 91 44 Fax: 7 095 956-4862
4961123/4961130/4961083 After Hours: 91 44496 1083
Sydney Drive Centre Fax: 91 44 4961602 UNITED KINGDOM
A.C.N. 003 815 281 SINGAPORE Telford Drive Centre
Tel: 61 2 9838 7222 FRANCE New Delhi Application Centre Singapore Drive Centre Tel: 44 1952 213700
Fax: 61 2 9838 7764 Leroy Somer Tel: 91 11 576 4782 Tel: 65 271 6377 Fax: 44 1952 213701
After Hours: 61 2 9963 5271 Angouleme Drive Centre Fax: 91 11 576 4782 Fax: 65 272 1302 After Hours: 44 1952 213700
Tel: 33 5 4564 5454 After Hours: 91 44 4984868
AUSTRIA Fax: 33 5 4564 5400 SPAIN Leeds Drive Centre
Linz Drive Centre INDONESIA Barcelona Drive Centre Tel: 44 113 2423400
Tel: 43 7229 789480 GERMANY Jakarta Drive Centre Tel: 34 93 680 1661 Fax: 44 113 2423892
Fax: 43 7229 7894810 Bonn Drive Centre Tel: 62 21 4525146 Fax: 34 93 680 0903 After Hours: 44 113 2423400
After Hours: 43 7215 3502 Tel: 49 2242 8770 Fax: 62 21 4525142 /34 93 680 0763
Fax: 49 2242 877277 After Hours: 62 81 687 0443 /34 93 680 2823 Luton Drive Centre
BELGIUM After Hours: 49 1714 964777 After Hours: 34 610 554540 Tel: 44 1582 567700
Brussels Drive Centre Surabaya Application Centre Fax: 44 1582 567703
Tel: 32 2725 2721 Chemnitz Drive Centre Tel: 62 31 5682775/5623565 Bilbao Application Centre After Hours: 44 1582 567700
Fax: 32 2725 4940 Tel: 49 3722 52030 Fax: 62 31 5622402 Tel: 34 94 620 3646
Fax: 49 3722 520330 After Hours: 62 81 687 0443 Fax: 34 94 681 1406 Warrington Application Centre
CANADA After Hours: 49 1714 964777 Tel: 44 1925 413537
Toronto Drive Centre IRELAND Valencia Drive Centre Fax: 44 1925 242808
Tel: 1 905 475 4699 Darmstadt Drive Centre Dublin Drive Centre Tel: 34 96 154 2900 After Hours: 44 113 242 3400
Fax: 1 905 475 4694 Tel: 49 6251 17700 Tel: 353 45 433044 Fax: 34 96 153 2906
Fax: 49 6251 177098 Fax: 353 45 433622 USA
CHINA After Hours: 49 1714 964777 SWEDEN Charlotte Application Centre
Shanghai Drive Centre ITALY Stockholm Application Centre Tel: 1 704 393 3366
Tel: 86 21 64085747 Stuttgart Drive Centre Milan Drive Centre Tel: 46 8 554 24100 Fax: 1 704 393 0900
Fax: 86 21 64083282 Tel: 49 7156 95560 Tel: 39 02575 751 Fax: 46 8 554 24120 After Hours: 1716 692 2442
Fax: 49 7156 955698 Fax: 39 02575 12858
CZECH REPUBLIC After Hours: 49 1714 964777 After Hours: 39 02575 751 SWITZERLAND Chicago Drive Centre
Brno Drive Centre Lausanne Application Centre Tel: 1 630 893 5249
Tel: 420 541 192111 HOLLAND Vicenza Drive Centre Tel: 41 21 634 0408 Fax: 1 630 893 4156
Fax: 420 541 192115 Rotterdam Drive Centre Tel: 39 0444 396200 Fax: 41 21 635 8596
After Hours: 420 603 841983 Tel: 31 1844 20555 Fax: 39 0444 341317 After Hours: 41 79 357 8683 Cleveland Drive Centre
Fax: 31 1844 20721 Tel: 1 440 717 0123
DENMARK After Hours: 31 1844 20555 KOREA Zurich Drive Centre Fax: 1 440 717 0133
Århus Application Centre Seoul Application Centre Tel: 41 56 201 4242
Tel: 45 8625 5755 HONG KONG Tel: 82 2 3445 6183/6184/6185 Fax: 41 56 201 4243 Minneapolis Application Centre
Fax: 45 8625 1755 Hong Kong Application Centre Fax: 82 2 3445 6181 After Hours: 41 79 357 8683 Tel: 612 474 1116
After Hours: 45 4369 6100 Tel: 852 2979 5271 After Hours: 82 23 445 6183 Fax: 612 474 8711
Fax: 852 2979 5220 /82 11 732 9676 TAIWAN
Copenhagen Drive Centre Taipei Application Centre Dallas Application Centre
Tel: 45 4369 6100 HUNGARY MALAYSIA Tel: 886 22325 9555 Tel: 1 972 783 1831
Fax: 45 4369 6101 Budapest Drive Centre Kuala Lumpur Drive Centre Fax: 886 22705 9131 Fax: 1 972 783 9978
After Hours: 45 4369 5100 Tel: 361 431 1160 Tel: 60 3734 9776 After Hours: 1800 759 0664
Fax: 361 260 5483 Fax: 60 3733 9592 THAILAND
FINLAND After Hours: 60 12 333 8355 Bangkok Drive Centre Providence Drive Centre
Helsinki Drive Centre INDIA Tel: 66 2580 7644 Tel: 1 401 333 3331
Tel: 358 985 2661 Bombay Application Centre NORWAY Fax: 66 2591 4559 Fax: 1 401 333 6330
Fax: 358 985 26823 Tel: 91 20 751201/751202/750930 Oslo Application Centre A/Hours Sales: 66 1443 4095-7 After Hours: 1401 333 0080
After Hours: 358 500 423271 Fax: 91 20 750105 Tel: 47 32 235100 A/Hours Service: 66 1443 4098
After Hours: 91 44 4984868 Fax: 47 32 235101 VIETNAM
After Hours: 47 92 22 3292 TURKEY Ho Chi Minh Application Centre
Calcutta Application Centre Istanbul Drive Centre Tel: 84 8 842 5157
Tel: 91 33 357 5302/357 5306 REPUBLIC OF SOUTH AFRICA Tel: 90 216 4182420 /84 8 849 1980
Fax: 91 33 357 3435 Johannesburg Drive Centre Fax: 90 216 4182423 Fax: 84 8 8425157
After Hours: 91 44496 1083 Tel: 27 11 462 1740 After Hours: 90 216 418 2420
Fax: 27 11 462 1941
After Hours: 27 11 462 1740

© 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