The UniDrive Motor control system

The UniDrive motor control devices are used with all newer insertion devices.

One UniDrive device controls a single axle, all are connection via a CAN bus line with the IOC. They use the CANopen protocol to communicate.

The UniDrive is programmable. The program can be inspected online with the “Sypt” application, all parameters of a device can be inspected and modified with the “CtSoft” application.

The program that runs for undulator control on these devices is called “uniserv”.

The following pages describe the uniserv in more detail:

• The uniserv application
  • Finding the source code that is in use at an insertion device
  • Rebuilding the source directory for an installed version
  • Get and install uniserv
  • Install the DPL files on the UniDrive devices
• The uniserv CAN bus interface specification
  • uniserv CAN Bus Protocol
• Initialization of PDO objects on a UniDrive device
  • Setting the mode
  • The PDO and SYNC COB initialization
• Table download protocol specification (MT protocol)
  • Special constants
  • Special functions
  • The table of values
  • Sender
  • Receiver