Table of Contents
Advertisement
UIM241 Miniature Integrated Stepper Motor Controller(
4.0 REAL-TIME CHANGE NOTIFICATION
UIM241 controllers support Real-time Change Notification (RTCN). Similar to interrupter of
CPU, a RTCN is generated and sent when a user predefined event happens. The length
of a RTCN is 4 bytes. The time from the occurrence of the event to the sending of the
RTCN is less than 1 millisecond. The time is decided by baud rate. The transfer time is
about 0.8ms (0.0008s) when the baud rate is 57600. Then, it takes only 1.5ms from an
event happening to a RTCN being received.
4.1 RTCN Structure
The structure of an RTCN message is shown below:
The RTCN system is able to response to the following events:
Table4-1: Real-time change notification events
No.
Event
1
falling edge of S1
2
rising edge of S1
3
falling edge of S2
4
rising edge of S2
5
exceed upper limits
6
below lower limit
7
displacement control complete
8
zero position
Note:
*
When S1 is configured as analog, A1 denotes event 9, otherwise A1 denotes event 2.
** When S1 is configured as analog, A0 denotes event 10, otherwise A0 denotes event 1.
4.2 Enable/Disable RTCN
Every RTCN can be enabled or disabled through user instruction. Enable/disable the
RTCN is achieved by the writing to the Master Configuration Register's ORGIE bit
(MCFG<5>), STPIE bit (MCFG<4>), S2IE bit (MCFG<1>) and S1IE bit (MCFG<0>).
Please refer to section 5.4 for details.
Please note, to realize the sensor event control, user needs to further configure the sensor
control registers S12CON and ATCON. Please refer to Chapter 8.0 for details.
UI Robot Technology Co. Ltd.
CC [Controller ID] [Message ID] FF
Message ID
A0
A1
A2
A3
A1*
A0**
A8
A9
M4120170509EN
Closed-loop
Description
Voltage on S1: High >>>Low
Voltage on S1: Low >>>High
Voltage on S2: High >>>Low
Voltage on S2: Low >>>High
Analog input > user preset upper limit
Analog input < user preset lower limit
The desired position is reached
Position counter reaches/passes zero
)
Page 21
Advertisement
Table of Contents
