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UIrobot UIM2842 User Manual

Can2.0b instruction control, miniature integrated stepper motor controller (closed-loop) v1.0
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User Manual
UIM2842
CAN2.0B Instruction Control
Miniature Integrated Stepper Motor Controller
(Closed-loop)
V1.0

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Summary of Contents for UIrobot UIM2842

  • Page 1 User Manual UIM2842 CAN2.0B Instruction Control Miniature Integrated Stepper Motor Controller (Closed-loop) V1.0...
  • Page 2 2. UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection. 3. Attempts to break UIROBOT’s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to unauthorized access to UIROBOT’s IP work, UIROBOT has a right to sue for relief under that Act.
  • Page 3 Miniature Integrated Stepper Motor Controller( Closed-loop UIM2842 CAN2.0Instruction Control Miniature Integrated Stepper Motor Contrller Miniature Integral Design Advanced Motion Control   Absolute position record / feedback, Miniature size 23mm*28.1mm*15mm Power-failure position protection  Fit onto motors seamlessly  Quadrature encoder based closed-loop ...

  • Page 4: General Description

    UIM2842 controller can be mounted onto NEMA11 series stepper motor through adapting flanges. Total thickness of the controller is less than 15mm. With UIM2842 controller, it is simple to construct a control system. Users can control the whole “motor-sensor-third party actuator” system through their own CAN based host by using “SimpleCAN”...

  • Page 5: Terminal Description

    Miniature Integrated Stepper Motor Controller( Closed-loop TERMINAL DESCRIPTION Figure0-1: Connection Terminal - Front UIM2842 CANL CANH Control Treminal Figure0-2: Connection Terminal – Back Encoder terminal Motor Terminal Control Terminal Terminal Designator Description 5V voltage output (80mA) Analog ground for sensors...
  • Page 6 -0.3~5.3V. Otherwise, the controller will be damaged. Attention: If no special instructions, users use UIROBOT controllers must strictly follow the specification that one controller can only drive one motor. Be careful to avoid connecting more than one motor to the controller. The user should be responsible for the loss caused by that error operation, our company will be not responsible for it.

  • Page 7: Typical Application

    UIM2842 controllers can work standalone or within a CAN network. Working standalone means only one UIM2842 controller is linked to the CAN based host (such as UIM2501). When working in a CAN network, up to 100 UIM242 controllers can be linked together.
  • Page 8 Standalone Operation When working standalone, user can use the wiring scheme shown in figure 0-3. Please note that, this wiring scheme should be used for setting the ID of a UIM2842 controller. For long distance transfer, both ends of the CAN bus should be terminated with120Ω...
  • Page 9 CAN bus provides a reliable and simple method of network construction. In figure 0-4, a wiring scheme is presented for such network operation with one RS232/CAN converter connected with multiple UIM2842 controllers. For detailed terminal wiring on each controller, please refer to figure 0-2.
  • Page 10 UIM2842 There is another wiring scheme of network in Figure 0-5. When wiring in this way, the length of stub does not need be shorten than 2CM, it is more flexible: Figure 0-5：Wiring Scheme for Network Operation-2 Control Room RS232...

  • Page 11: Instruction Set Summary

    Miniature Integrated Stepper Motor Controller( Closed-loop INSTRUCTION SET SUMMARY Network Communication Realized by gateway UIM2501/USBC9100/PCIC120, please refer to user manual of gateway for details. Feedback Message Instruction Description Header Set CAN network communication bit rate index BTR; BTR; Check current CAN network bit rate index SET;...
  • Page 12 UIM2842 Motor Configuration Feedback Message Instruction Description Page Header ACR; Set auto-current reduction ratio  ACR; Check auto-current reduction ratio CUR; Set output phase current  ENA; Enable H-bridge circuit Set micro-stepping resolution MCS; OFF; Disable H-bridge circuit Motion Control...

  • Page 13: Characteristics

    Miniature Integrated Stepper Motor Controller( Closed-loop CHARACTERISTICS Absolute Maximum Ratings Specifications 10V - 35VDC Supply Voltage Voltage on S1/S2/S3/P4 with respect to GND -0.3V ~ +5.3V Maximum output current sunk by 20 mA S1/S2/S3/P4 Maximum output current sourced by 20 mA S1/S2/S3/P4 Ambient temperature under bias -20°C ~ +85°C...
  • Page 14 UIM2842 Size and Weight Size 23mm x 28.1mm x 15mm Weight 0.1 kg Page 14 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 15: Table Of Contents

    TTL Output Control Module ......................20 Encoder-based Closed-loop Control Module ................20 Instructions and Interface ......................20 Instruction and Feedback Structure ..................21 UIM2842 Message Communication Mode ................... 21 Instruction Structure ........................22 Macro Operator and Null Instruction .................... 22 Instruction List ..........................23 CAN2.0 Communication ......................
  • Page 16 UIM2842 Sensor Event, Action and Binding ....................46 Introduction to Sensor Input Control Instructions ................47 Sensor Input Control Register S12CON ..................48 Sensor Input Control Register S34CON ..................48 Analog Threshold Control Register ATCONH & ATCONL............. 50 Instruction List ..........................50 8.10...
  • Page 17 Miniature Integrated Stepper Motor Controller( Closed-loop SCFη / SCFxη Set Sensor Configuration ..................94 SCF Check the value of Sensor Configuration ................96 SFB Check Sensor Data ......................97 SPDη Speed Adjusting........................ 98 SPD Check Current Speed ......................99 SQTη Set Tolerance of Blocked Alarm ..................100 STGxη...

  • Page 18: Overview

    Once set, the value is stored in EEPROM. UIM2842 controller also has the function of high speed current compensation to offset the effect of Back Electromotive Force (BEMF) of motor at high speed and therefore to facilitate motor’s high-speed performance.

  • Page 19: Advanced Motion Control Module

    Absolute Position Counter / Quadrature Encoder Interface UIM2842 has a hardware pulse counter. The counter can be reset either by user instruction or automatically by the configurable sensor input event. Under most conditions, through the advanced motion control, this counter can provide the absolute position of the motor with enough accuracy.

  • Page 20: Ttl Output Control Module

    • 1.4 TTL Output Control Module UIM2842’s TTL Output Control Module supports 1 channel of TTL voltage level output. The output port P4 is capable of providing +/-20mA sourcing or sinking current. In practice, please keep the current consumption as low as possible to avoid overheating the controller.

  • Page 21: Instruction And Feedback Structure

    INSTRUCTION AND FEEDBACK STRUCTURE Once UIM2842 receives a message (instructions) from the user device, it will first ACK back (repeat) the received instruction, and then execute the instruction. UIM2842 will further send back a message to inform the user device of the completion of the instruction.

  • Page 22: Instruction Structure

    UIM2842 2.2 Instruction Structure An instruction is a message sent from the user device to UIM2842 to Comment certain operation. Instructions of UIM2842 follow the rules listed below: INS η; or INSx η; or INS; Instruction symbol INS comprises three letters with no space between them, and is not case sensitive.

  • Page 23: Instruction List

    The semicolon at the end of the instruction set has no letter or number before it. That is called Null Instruction. The only purpose of a Null Instruction is to tell the UIM2842 to feedback all the inquired parameters of the basic motion control. (i.e. Enable/disable, Current, Micro-stepping, Auto current reduction, Direction, Speed, and Displacement) Actually, user can simply send the null instruction“;”...

  • Page 24: Can2.0 Communication

    For detailed process and instructions for Controller ID assignment, please see the UIM2501 user manual. Please Note: If there are two or more UIM2842 controllers with the same ID in a network, the network may not work properly. efore assign an ID to a UIM2842 controller, please make sure the UIM2501 controller and the UIM2842 controller are connected together using the standalone operation scheme.

  • Page 25: Real-Time Change Notification

    REAL-TIME CHANGE NOTIFICATION UIM2842 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.

  • Page 26: Enable/Disable Rtcn

    UIM2842 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>), P4IE bit (MCFG<3>), S3IE bit (MCFG<2>), S2IE bit (MCFG<1>) and S1IE bit (MCFG<0>).

  • Page 27: Initial And Hardware/Firmware Configuration

    Closed-loop INITIAL AND HARDWARE/FIRMWARE CONFIGURATION UIM2842’s hardware and firmware can be configured through user instructions. There are 5 configuration registers for UIM2842: Initial Configuration Register, Master Configuration Register, S12CON, S34CON and Analog Threshold Register. In this chapter, only the Initial Configuration Register and Mater Configuration Register are described.

  • Page 28: Auto-Enable

    Clockwise (CW) 5.2 Auto-enable Once ICFG.ENA is set to 1, UIM2842 will auto enable the H-Bridge of motor after the power is on for T ms, the interval time (T) can be set through instruction. For details of the instruction, please refer to Chapter 11.0.

  • Page 29: Instruction List

    Miniature Integrated Stepper Motor Controller( Closed-loop 1 = Period mode. Unit is millisecond. Bit8 Deceleration Mode Value mode. Unit is pps/sec, or pulse/ (square second) Period mode. Unit is millisecond. Bit7 Unimplemented. Read as 0. Bit6 STLIE Locked-rotor Detection Variation Notification 0 = Disable locked-rotor detection variation notification (only for closed-loop) 1 = Enable locked-rotor detection variation notification.

  • Page 30: Basic Control Instructions

    Position Tracking (PT) In the Position Tracking (PT) mode, UIM2842 controller will keep motor running at a speed close to the set value until it reaches the desired steps. After setting the desired speed, user can enter desired positions or incremental displacement continuously or discontinuously.
  • Page 31 Miniature Integrated Stepper Motor Controller( Closed-loop As shown in Figure 6-2, UIM2842 controller operates in PT mode automatically on receiving position instruction such as POS, STP until an instruction of “STP=0;” is given. （STP is a displacement control instruction. Logically “STP 0;” means no displacement. It is contradictory to send a displacement instruction of no displacement.

  • Page 32: Basic Instruction Acknowledgment (Ack)

    In this mode, user can enter both desired position and desired speed. UIM2842 controller will instruct motor to run at the desired speed until it reaches the desired position and then stop. User can enter, successively or discontinuously, both desired speed and desired position.

  • Page 33: Motor Status Feedback Message

    Miniature Integrated Stepper Motor Controller( Closed-loop When a valid instruction is received, the UIM2842 will send back a basic ACK message. The basic ACK message contains all desired settings. Specifically, following information is included in the ACK message: STP, SPD, DIR, MCS, CUR, ENABLE/OFFLINE, and ACR.

  • Page 34: Instruction List

    UIM2842 For more details on above conversion, please refer to the source code of the provided demo software. These software and related source code are VC++/VB based and free. 6.4 Instruction List The following table shows the instructions mentioned in this chapter, the detail of those instructions is descriped at the end of the document.

  • Page 35: Advanced Motion Control

    Current Speeed Desired Speed T（Time） 7.3 Nonlinear Acceleration To minimize the response time and to avoid resonance point, user can use UIM2842’s non- linear acceleration function. Experiments show that through non-linear acceleration, UI Robot Technology Co. Ltd. M4220170607EN Page 35...

  • Page 36: Nonlinear Deceleration

    Maximum Starting Speed Desired Speed Current Speed T（Time） If the current speed is higher than the Max Starting Speed, the UIM2842 will use the linear Acceleration Control Algorithm to control the speed. Figure7-5: Nonlinear Acceleration Control (case 3) Speed Uniform acceleration...
  • Page 37 Miniature Integrated Stepper Motor Controller( Closed-loop If the desired speed is higher than a certain user preset value (i.e. the Maximum Cessation Speed), UIM2842 will use the Uniform Deceleration Control algorithm. Figure7-6: Nonlinear Deceleration Control (case 1) Speed Current Speed...

  • Page 38: S-Curve Displacement Control

    Start Position T（Time） In the control process, UIM2842’s advance motion control module will continuously calculate the deceleration happening point (time) and then perform the deceleration to guarantee that when desired displacement is reached, the speed is right zero. The entire calculation time is around 20 micro-seconds with 64bit accuracy.

  • Page 39: Direction Control And Position Counter

    UIM2842 has two types of position counters: absolute position counter and displacement counter. Absolute position counter is used for recording the absolute position of motor. The actual angular displacement is also relative to micro stepping.

  • Page 40: Advanced Motion Control Instructions

    The influence caused by backlash is considerable in a reciprocating motion. UIM2842 controllers provide the function of backlash compensation to reduce the influence on mechanical transmission accuracy. To compensate backlash, user needs to set a reference backlash first, then once there is a backlash, user can compensate it by sending instruction BLC.

  • Page 41: Enable/Disable Advanced Motion Control Module (Mcfg)

    Miniature Integrated Stepper Motor Controller( Closed-loop Max starting speed and max cessation speed has been described in front section. The unit of MMS and MMD are pps. In addition, notice that, if you want to store the value of set acceleration, deceleration, maximum start speed and maximum instantaneous stopping speed in the EEPROM, you need to send an instruction STO0;...

  • Page 42: Sensor Input Control

    (0-5V). Port S1 and S3 can be configured for either digital input or analog input. Besides digital input condition circuit, UIM2842 has a 12 bits ADC (analog/digital converter) and a 5V reference voltage. If the input voltage is 0~5V, the feedback value will be 0~4095.
  • Page 43 10mA Photoelectric Isolation Module Note: You can choice the photoelectric isolation module of UIROBOT company or you can also configurate by yourself. Besides measuring the voltage input and providing the reads to the user device when inquired, the sensor control module is able to carry out a certain control action when a sensor event happens.
  • Page 44 UIM2842 There are 8 sensor events that can be configured, as listed below: Table8-1: Sensor Events Sensor Events Description S1 Falling Edge S1 Voltage Level Change, High >>>Low S1 Rising Edge S1 Voltage Level Change, Low >>>High S2 Falling Edge S2 Voltage Level Change, High >>>Low...

  • Page 45: Rising And Falling Edge

    Miniature Integrated Stepper Motor Controller( Closed-loop 8.1 Rising and Falling Edge When port S1 and S2 is configured for digital input, if the sensor module detects a voltage change on S1(S2) from 0V to 5V, an Sx rising-edge event will be created, meanwhile S1(S2) is assigned a logic value 1 (i.e.

  • Page 46: Digital Input Sampling Mode

    8.4 Sensor Event, Action and Binding UIM2842 support 8 sensor events as listed in section 8.0. There are 14 actions that can be bound to those 8 sensor events. Binding means assigning a sensor action to a sensor event.

  • Page 47: Introduction To Sensor Input Control Instructions

    Miniature Integrated Stepper Motor Controller( Closed-loop • Decelerate at preset deceleration until stop (code: 3) • Emergency stop (code: 4) • Reset position and encoder counter (code: 6) • Reset position and encoder counter + Reverse displacement control follow the preset motion parameters (speed, displacement, acceleration) (code: 7) •...

  • Page 48: Sensor Input Control Register S12Con

    UIM2842 8.6 Sensor Input Control Register S12CON S12CON（Sensor 1/2 Control）defines the binding relationship between S1 and S2 sensor events and actions, as well as the activation of corresponding RTCNs. It is a 16bits register inside the controller, and can be configured using the instruction SCF. When writing to it user needs to affix a 4bits suffix-code to point to this register.
  • Page 49 Miniature Integrated Stepper Motor Controller( Closed-loop Bit 15-12 Blocked alarm Action code after blocked is as follow: ACT (binary) Action RTCN or Not No RTCN (Ignore MCFG<S2IE>) 0000 Depends on MCFG<S2IE> 0001 Depends on MCFG<S2IE> 0010 Depends on MCFG<S2IE> 0011 Emergency Stop Depends on MCFG<S2IE>...

  • Page 50: Analog Threshold Control Register Atconh & Atconl

    UIM2842 8.8 Analog Threshold Control Register ATCONH & ATCONL ATCONH（Analog Threshold Control High）and ATCONL define the upper and lower limit of the analog threshold. Both registers are 16bits registers in the controller memory space, configured through SCF instructions. However, when configuring, user needs to affix a 4bits suffix-code to point to a specific register.

  • Page 51: Example Of Atconh, Atconl Configuration

    Miniature Integrated Stepper Motor Controller( Closed-loop As soon as one sensor S2 is hit, the stepper motor starts to run reversely until the table hits the other sensor S1. As soon as S1 is hit, the stepper motor starts to run positively, until the table hits S2. Realization: First stop the motor by sending: OFF;...
  • Page 52 UIM2842 It is required Start and Run Reversely on S1 rising edge (when analog input >4V), therefore, S1RACT<3:0> =0010 Fill the S12CON with above bits, get: S12CON = 0000 0000 0010 1010 (binary) Add suffix-code 0000 (for S12CON), get: SCFG = 0000 0000 0010 1010 0000 (binary)= 0x2A0 (hex)= 672 (decimal) Send instruction: SCF x2A0;...

  • Page 53: Encoder And Closed-Loop Control

    S1/S2 supports 0-5V TTL input. The input range for S1 and S2 ports of UIM2842 controller is -0.3V ~ 5.3V. Any input beyond this range can result in permanent damage. Also, for this case, encoder power supply is to be provided by user.

  • Page 54: Instruction List

    MCFG<QEM>=0, this module is disabled; when MCFG<QEI>=1, it is enabled. Please note, closed-loop control module is a must even if user uses external encoders. Otherwise, UIM2842 controller can only read the external encoder data, but cannot maintain closed-loop motion control with this data. However, if the internal encoder is installed, Closed-loop Control Module is automatically included.

  • Page 55: Ttl Output Control

    Closed-loop 10.0 TTL OUTPUT CONTROL UIM2842 controller has an optional TTL Output Control Module (sold separately) that supports 1 channel of TTL level output. This output port (P4) is capable of providing 20mA sourcing or sinking current. In practice, please keep the current as low as possible to prevent overheating the controller.

  • Page 56: Output Control Configuration Instruction（Scf

    UIM2842 Action code after blocked is as follow: ACT (binary) Action RTCN or Not No RTCN (Ignore MCFG<S2IE>) 0000 Depends on MCFG<S2IE> 0001 Depends on MCFG<S2IE> 0010 Depends on MCFG<S2IE> 0011 Emergency Stop Depends on MCFG<S2IE> 0100 Depends on MCFG<S2IE>...

  • Page 57: Example Of Ttl Output Control And S34Con Configuration

    Miniature Integrated Stepper Motor Controller( Closed-loop 10.5 Example of TTL Output Control and S34CON Configuration Writing to the S34CON is realized through instruction SCFG. Before writing to the S34CON, user needs to first fill every bit of the S34CON according to the information provided in previous sections, and then affixes the suffix code 0001 (binary).

  • Page 58: Instruction

    11.1 Instruction Structure An instruction is a message sent from the user device to motion controller to command certain operatio. Instructions of UIM2842 follow the rules listed below: Length of an instruction (including the ending semicolon “;”) should be within 20 characters Coded with standard 7 bits ASCII code (1-127).
  • Page 59 Miniature Integrated Stepper Motor Controller( Closed-loop Header The start of a feedback message There are 3 kinds of headers:  AA represents the ACK message, which is a repeat of the received instruction.  CC represents the status feedback, which is a description of current working status. ...
  • Page 60 UIM2842 Figure12-2: Conversion from five 7bits message data to a 32bits data Page 60 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 61: Instruction Description

    Miniature Integrated Stepper Motor Controller( Closed-loop 11.3 Instruction Description This section describes the detail of the instructions mentioned in this document. (in the alphabetic order) ; Check desired motor status Format: ; Check desired motor status Description: AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF ACK: [ASB] >>...

  • Page 62: Acrη Set Auto-Current Reduction Ratio

    UIM2842 ACRη Set auto-current reduction ratio ACR; Format: set auto-current reduction ratio  Description:  = 0,1,…,99.  = 0, disable auto-current reduction. Standby-CUR = working current.  = 1, in standeby mode, current reduces to 50%. Standby-CUR = working current / 2.

  • Page 63: Acr Check Auto-Current Reduction Ratio

    Miniature Integrated Stepper Motor Controller( Closed-loop Check auto-current reduction ratio Format: ACR; Check auto-current reduction ratio Description: AA [Controller ID] BA [A0] FF ACK: Refer to ACK comment of instruction ACR; Comment: Require controller hardware version being 1232 or higher. Note: UI Robot Technology Co.

  • Page 64: Blcη Backlash Compensation

    UIM2842 BLCη Backlash compensation BLCη; Format: Set value of backlash compensation in reciprocating motion Description: η = 0,1,…,65535 (Unsigned integer) Units: pps (open-loop) AA [Controller ID] DE [B0] [B1] [B2] FF ACK: >> Message ID of instruction BLCη; Comment: [B0] ~ [B2] >>...

  • Page 65: Blc Check Backlash Compensation

    Miniature Integrated Stepper Motor Controller( Closed-loop Check backlash compensation BLC; Format: Check the value of backlash compensation in reciprocating motion Description: AA [Controller ID] DE [B0] [B1] [B2] FF ACK: Refer to ACK comment of instruction BLC; Comment: UI Robot Technology Co. Ltd. M4220170607EN Page 65...

  • Page 66: Curη Motor Current Adjusting

    UIM2842 CURη Motor Current Adjusting Format: CUR; Set the output phase current to . Description:  = 0,1,…,80 (unsigned integer) 0…80 represent 0…8.0 amps. AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF ACK: [ASB] >>...

  • Page 67: Douη Set Ttl Output

    Miniature Integrated Stepper Motor Controller( Closed-loop DOUη Set TTL Output DOUη; Format: Set TTL output level Description: η = 0, 1。 AA [Controller ID] C1 [P4] FF ACK: >> The message ID of DOUη; Comment: >> The logic level of the TTL output P4 = 1 means the output is 5V P4 = 0 means the output is 0V Using DOUη;...

  • Page 68: Dou Check Ttl Output Level

    UIM2842 Check TTL Output Level Format: DOU; Check current TTL output level Description: AA [Controller ID] C1 [P4] FF ACK: Refer to ACK comment of DOUη; COMMENT: Using DOU; will NOT affect S34CON. Note: Page 68 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 69: Ena H-Bridge Enable

    Miniature Integrated Stepper Motor Controller( Closed-loop H-Bridge Enable Format: ENA; Enable the stepper motor driver (i.e. H-bridge driving circuit). Description: AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF ACK: [ASB] >> Received data 0 Comment: [CUR] >>...

  • Page 70: Enaη Set Enable Time

    UIM2842 ENAη Set enable time Format: ENA; Set auto-enable time register ENAtimer. Description: Controller auto-enable the H-bridge circuit afer power is on for  ms.  = 1,2,…,60000; AA [Controller ID] A0 [E0] [E1] [E2] FF ACK: >> Message ID of instruction ENA;...

  • Page 71: Enaxffff Check Enable Time

    Miniature Integrated Stepper Motor Controller( Closed-loop ENAxFFFF Check enable time Format: ENAxFFFF; Check auto-enable time Description: AA [Controller ID] A0 [E0] [E1] [E2] FF ACK: Refer to ACK comment of instruction ENA;. Comment: This instruction checks ENAtimer only, can not enable controller. Note: Require controller hardware version being 1232 or higher.

  • Page 72: Fbk Motor Status Feedback Inquiry

    UIM2842 Motor Status Feedback Inquiry Format: FBK; Check the current motor status Description: AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF ACK: [ASB] >> Received data 0 Comment: [CUR] >> Received data 1 [V0] ~ [P4] >>...

  • Page 73: Icfxη Initial Configuration Register Instruction

    Miniature Integrated Stepper Motor Controller( Closed-loop ICFxη Initial Configuration Register Instruction ICFx; Format: Configure the initial configuration register (InitCFG) Description: Parameter  has two bytes, structure is as follow: Byte Defination Where, [D1 D0] compose a hexadecimal 16bit data. D1 is high, D0 is low. Example: Initial Configuration = 0x1234;...

  • Page 74: Icf Check Initial Configuration Register

    UIM2842 Check Initial Configuration Register Format: ICF; Check initial configuration register Description: AA [Controller ID] DA [C0] [C1] [C2] FF ACK: Refer to ACK comment of ICFx; Comment: Require controller hardware version being 1232 or higher. Note: Page 74 M4220170607EN...

  • Page 75: Macη Set Acceleration Rate

    Miniature Integrated Stepper Motor Controller( Closed-loop MACη Set Acceleration Rate Format: MAC; Set the acceleration rate to . Description:  = 1、2 … 65,000,000; (Pre-requiring MCFG<AM> = 0, value mode)  = 1、2 … 60,000; (Pre-requiring MCFG<AM> = 1, period mode) AA [Controller ID] B1 [FG] [A0] [A1] [A2] [A3] [A4] FF ACK: >>...

  • Page 76: Mac Check Current Acceleration Rate

    UIM2842 Check Current Acceleration Rate Format: MAC; Check current acceleration rate Description: AA [Controller ID] B1 [FG] [A0] [A1] [A2] [A3] [A4] FF ACK: Refer to ACK comment of MAC;. Comment: Page 76 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 77: Mcfη / Mcfxη Master Configuration Register Instruction

    Miniature Integrated Stepper Motor Controller( Closed-loop MCFη / MCFxη Master Configuration Register Instruction Format: MCF; or MCFx; Setup Master Configuration Register Description: 1） If  is decimal, Use format: MCF; Where,  = 0,1,…65535 (16 bits unsigned integer) 2） If  is hexadecimal, Use format MCFx;...

  • Page 78: Mcf Check Master Configuration Register

    UIM2842 Check Master Configuration Register MCF; Format: Check the value of the Master Configuration Register Description: AA [Controller ID] B0 [C0] [C1] [C2] FF ACK: Refer to ACK comment of MCF; Comment: Page 78 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 79: Mcsη Setup Micro Stepping

    Miniature Integrated Stepper Motor Controller( Closed-loop MCSη Setup Micro Stepping MCS; Format: Set micro-stepping resolution. Description:  = 1,2,4,8,16 (unsigned integer);  = 1, 2, 4, 8, 16 represents the full, half, quarter, eighth and sixteenth step resolution, respectively. AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF ACK: [ASB] >>...

  • Page 80: Mdeη Set Deceleration Rate

    UIM2842 MDEη Set Deceleration Rate Format: MDE; Set the deceleration rate to . Description:  = 1、2 … 65,000,000;(Pre-requiring MCFG<DM> = 0, value mode)  = 1、2 … 60,000; (Pre-requiring MCFG<DM> = 1, period mode) AA [Controller ID] B2 [FG] [D0] [D1] [D2] [D3] [D4] FF ACK: >>...

  • Page 81: Mde Check Current Deceleration Rate

    Miniature Integrated Stepper Motor Controller( Closed-loop Check Current Deceleration Rate Format: MDE; Check current deceleration rate Description: AA [Controller ID] B2 [FG] [D0] [D1] [D2] [D3] [D4] FF ACK: Refer to ACK comment of MDE;. Comment: UI Robot Technology Co. Ltd. M4220170607EN Page 81...

  • Page 82: Mdlη Check Controller Model

    UIM2842 MDLη Check Controller Model MDLη; Format: Check the Model, installed optional modules and firmware version of the Description: UIM242 controller of ID =η. η = 5, 6 … 125. CC [Controller ID] DE 18 02 [CUR] [asb] [V0] [V1] [V2] FF ACK: Note: [ ] denotes one byte, the data is hexadecimal.

  • Page 83: Mmdη Set Maximum Cessation Speed

    Miniature Integrated Stepper Motor Controller( Closed-loop MMDη Set Maximum Cessation Speed MMD; Format: Set the maximum cessation speed at . Description:  = 1、2 … 65,000,000; (unsigned integer) AA [Controller ID] B4 [M0] [M1] [M2] FF ACK: >> The message ID of MMD; COMMENT: [M0] ~ [M2] >>...

  • Page 84: Mmd Check Current Maximum Cessation Speed

    UIM2842 Check current Maximum Cessation Speed Format: MMD; Check the maximum cessation speed Description: AA [Controller ID] B4 [M0] [M1] [M2] FF ACK: Refer to ACK comment of MMD;. Comment: Page 84 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 85: Mmsη Set Maximum Starting Speed

    Miniature Integrated Stepper Motor Controller( Closed-loop MMSη Set Maximum Starting Speed Format: MMS; Set the maximum starting speed at . Description:  = 1、2 … 65,000,000; (unsigned integer) AA [Controller ID] B3 [M0] [M1] [M2] FF ACK: >> The message ID of MMS; Comment: [M0] ~ [M2] >>...

  • Page 86: Mms Check Current Maximum Starting Speed

    UIM2842 Check current Maximum Starting Speed Format: MMS; Check the maximum starting speed Description: AA [Controller ID] B3 [M0] [M1] [M2] FF ACK: Refer to ACK comment of MMS; Comment: Page 86 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 87: Off H- Bridge Disable

    Miniature Integrated Stepper Motor Controller( Closed-loop H- Bridge Disable OFF; Format: Disable the stepper motor driver (i.e. H-bridge driving circuit). Description: AA [Controller ID] [ASB] [CUR] [V0] [V1] [V2] [P0] [P1] [P2] [P3] [P4] FF ACK: [ASB] >> Received data 0 Comment: [CUR] >>...

  • Page 88: Org Reset Position Counter

    UIM2842 Reset Position Counter Format: ORG; Reset the position/encoder counter to zero (0), is equivalent to instruction Description: ORG=0; AA [Controller ID] B7 [P0] [P1] [P2] [P3] [P4] FF ACK: Please refer to “31. POS;”. Comment: Page 88 M4220170607EN UI Robot Technology Co. Ltd.

  • Page 89: Orgη Reset Position Counter

    Miniature Integrated Stepper Motor Controller( Closed-loop ORGη Reset Position Counter Format: ORG; Reset the position/encoder counter to a given value . Description:  = - 2147483647 ~ + 2147483647 (signed integer)  = 0, reset the position/encoder counter to zero (0) ...

  • Page 90: Qecη Set Desired Quadrature Encoder's Position

    UIM2842 QECη Set desired quadrature encoder’s position QECη; Format: Set desired encoder position to η Description: η = - 2,000,000,000…-1, 0, 1 … + 2,000,000,000。 AA [Controller ID] B8 [Q0] [Q1] [Q2] [Q3] [Q4] FF ACK: >> Message ID of desired encoder position;...

  • Page 91: Qec Check Current Encoder Positon

    Miniature Integrated Stepper Motor Controller( Closed-loop Check Current Encoder Positon Format: QEC; Check current encoder position Description: CC [Controller ID] B1 [Q0] [Q1] [Q2] [Q3] [Q4] FF ACK: >> Message ID of current encoder position; Comment: [Q0] ~ [Q4] >> Received data 0 ~ 4 [Q0] ~ [Q4] is the converted value for current encoder position.

  • Page 92: Qerη Set Quadrature Encoder Resolution

    UIM2842 QERη Set Quadrature Encoder Resolution Format: QERη; Set the quadrature encoder resolution at η Description: η = 0, 1 … 65000。 AA [Controller ID] C2 [R0] [R1] [R2] FF ACK: >> Message ID of QER; Comment: [R0] ~ [R2] >>...

  • Page 93: Qer Check Quadrature Encoder Resolution

    Miniature Integrated Stepper Motor Controller( Closed-loop Check Quadrature Encoder Resolution Format: QER; check current quadrature encoder resolution Description: AA [Controller ID] C2 [R0] [R1] [R2] FF ACK: Refer to ACK comment of instruction QERη; Comment: UI Robot Technology Co. Ltd. M4220170607EN Page 93...

  • Page 94: Scfη / Scfxη Set Sensor Configuration

    UIM2842 SCFη / SCFxη Set Sensor Configuration Format: SCF; or SCFx; Configure S12CON、S34CON、ATCONH and ATCONL. Description: 1） When  is decimal: Instruction type is SCF; Where,  = 0,1 … 1048575 (24 bits unsigned integer) Refer to Chapter 8. 2） When  is hexadecimal: Instruction is SCFx;...
  • Page 95 Miniature Integrated Stepper Motor Controller( Closed-loop The suffix-code for S34CON is 01 (hexadecimal) The suffix-code for ATCONH is 02 (hexadecimal) The suffix-code for ATCONL is 03 (hexadecimal) UI Robot Technology Co. Ltd. M4220170607EN Page 95...

  • Page 96: Scf Check The Value Of Sensor Configuration

    UIM2842 Check the value of Sensor Configuration Format: SCF; Check the current value of S12CON\S34CON\ATCONH and ATCONL Description: AA [Controller ID] C0 [S0] [S1] [S2] [S3] [S4] [AL0] [AL1] [AH0] [AH1] FF ACK: Refer to ACK comment of SCF; Comment:...

  • Page 97: Sfb Check Sensor Data

    Miniature Integrated Stepper Motor Controller( Closed-loop Check Sensor Data Format: SFB; Check sensor readings and status Description: CC [Controller ID] C1 [D1] [D2] [D3] [AN0] [AN1] FF ACK: >> The message ID of SFB; COMMENT: [D1] ~ [D3] >> Received data 1 ~ 3 [AN0] ~ [AN1] >>...

  • Page 98: Spdη Speed Adjusting

    UIM2842 SPDη Speed Adjusting SPD; Format: Set the desired speed to . Description:  = - 65535…-1, 0, 1 … + 65535; (signed integer) AA [Controller ID] B5 [V0] [V1] [V2] FF ACK: >> The message ID for desired speed...

  • Page 99: Spd Check Current Speed

    Miniature Integrated Stepper Motor Controller( Closed-loop Check Current Speed SPD; Format: Check current speed Description: CC [Controller ID] B2 [V0] [V1] [V2] FF ACK: >> The message ID of current speed Comment: [V0] ~ [V2] >> Received data 0 ~ 2 [V0] ~ [V2] is the converted value for the value of desired speed.

  • Page 100: Sqtη Set Tolerance Of Blocked Alarm

    UIM2842 SQTη Set Tolerance of Blocked Alarm SQTη; Format: Set tolerance of blocked alarm. Description: Alarm when deciation of reading between encoder and pulse counter is larger than η. η= 0, 1 … + 65535。 AA [Controller ID] B8 [Q0] [Q1] [Q2] [Q3] [Q4] FF ACK: >>...

  • Page 101: Stgxη Set Digital Input Sampling Mode

    Miniature Integrated Stepper Motor Controller( Closed-loop STGxη Set Digital Input Sampling Mode STGx; Format: Set sampling mode of digital input: continnous, intermittent and single Description: sampling. Structure of : Byte Defination Where, [D1 D0] compose a hexadecimal 16bit data, D1 is high, D0 is low. IDX = 00,01,02 (hexadecimal) denotes configurating sensor 1,2,3;...

  • Page 102: Stg Check Digital Input Sampling Mode

    UIM2842 Check Digital Input Sampling Mode STG; Format: Check digital input sampling mode of S1, S2, 和 S3 Description: AA [Controller ID] C9 [S0] [S1] [S2] [S3] [S4] [S5] [S6] [S7] [S8] FF ACK: Refer to ACK comment of instruction STGx;...

  • Page 103: Stoη Parameter Banding

    Miniature Integrated Stepper Motor Controller( Closed-loop STOη Parameter Banding STO; Format: Banding motion parameters to motions (Triggered by sensor edge or Description: controllered by instruction)  = 0,1,…,7  = 0, >> Montion controlled by instrcution  = 1, >> Only for close-loop ...
  • Page 104 UIM2842 Set 1st group of parameters: SPD; STP; MAC; MDE; MMS; MMD; Banding it to rising edge of S1: STO2; …… Set 6th group of parameters: SPD; STP; MAC; MDE; MMS; MMD; Banding it to falling edge of S3: STO7;...

  • Page 105: Stpη Displacement Control

    Miniature Integrated Stepper Motor Controller( Closed-loop STPη Displacement Control STP; Format: Set the desired incremental displacement, i.e. the displacement relative Description: to current position  = - 2147483647 ~ + 2147483647 (signed integer) AA [Controller ID] B6 [P0] [P1] [P2] [P3] [P4] FF ACK: >>...

  • Page 106: Stp Check Displacement

    UIM2842 Check Displacement STP; Format: Check current incremental displacement. Description: CC [Controller ID] B3 [P0] [P1] [P2] [P3] [P4] FF ACK: >> The message ID of current incremental displacement Comment: [P0] ~ [P4] >> Received data 0 ~ 4 [P0] ~ [P4] is the converted value for the current incremental...

  • Page 107: Appendix A Dimensions

    Miniature Integrated Stepper Motor Controller( Closed-loop APPENDIX A DIMENSIONS Seal Sleeve NEMA 28 Stepper Motor Encoder Closed-loop Motion Controller Unit: mm UI Robot Technology Co. Ltd. M4220170607EN Page 107...

  • Page 108: Appendix Binstallation Instruction

    UIM2842 APPENDIX B INSTALLATION INSTRUCTION Back Mounting NEMA 28 Motor Encoder 2842 Controller Side Mounting 2842 Controller NEMA 28 Motor Encoder 28L-type Flange Page 108 M4220170607EN UI Robot Technology Co. Ltd.

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