.. index::
   single: unidrive

=================================
The UniDrive Motor control system
=================================

The
`UniDrive <https://acim.nidec.com/drives/control-techniques/products/ac-drives/unidrive-m>`_ motor control devices are used with all newer insertion devices.

One UniDrive device controls a single axle, all are connected by 
`CAN bus <http://en.wikipedia.org/wiki/CAN_bus>`_ to an
`IOC <https://docs.epics-controls.org/en/latest/guides/EPICS_Intro.html?highlight=IOC#ioc-software-components>`_. For CAN Buy communication, the
`CANopen <http://en.wikipedia.org/wiki/CANopen>`_ protocol is used.

The
`UniDrive <https://acim.nidec.com/drives/control-techniques/products/ac-drives/unidrive-m>`_ 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
:doc:`uniserv <uniserv>`.

There is an simulation of a number of
`UniDrive <https://acim.nidec.com/drives/control-techniques/products/ac-drives/unidrive-m>`_
devices that all run
:doc:`uniserv <uniserv>` called
:doc:`unisim <unisim>`. With this you can run the undulator control program
:doc:`idcp <idcp>`
on your Linux PC without any additional hardware.

The following pages describe the uniserv and unisim in more detail:

.. toctree::
   :maxdepth: 2

   uniserv
   uniserv_can
   uniserv_can_init
   unisim