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 connected by CAN bus to an IOC. For CAN Buy communication, the CANopen protocol is used.

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.

There is an emulation of a number of UniDrive devices that all run uniserv called unisim. With this you can run the undulator control program idcp on your Linux PC without any additional hardware.

The following pages describe the uniserv and unisim 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
• The unisim application
  • Download the application
  • Configure and build
  • Set up of your environment variables
  • Configure the virtual CAN Bus
  • Start the application