Ttl Output Control Module; Encoder-Based Closed-Loop Control Module; Instructions And Interface - UIrobot UIM2842 User Manual

UIM2842
•
Forword displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Reverse displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Direction-change displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Decelerate at preset deceleration until stop
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Emergency stop
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Reset position and encoder counter
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Reset position and encoder counter + Displacement control follow the preset motion
parameters (speed, displacement, acceleration)
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Reset position and encoder counter + Decelerate at preset deceleration until stop
•
Reset position and encoder counter + Emergency stop
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Execute preset interrupt program (controller firmware version requires 1302)
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Off

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.
Port P4 also can output setting level when detects events list below (pre-configuration):
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Run/Stop status. The output voltage level is determined by if the speed is zero or not.
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Direction change. The output voltage level is determined by if the current motor
direction is forward or reverse.
•
Origin point hit. The output voltage level is determined by if current position is zero
point or just crosses over the zero point.

1.5 Encoder-based Closed-loop Control Module

With the encoder-based closed-loop control module, UIM2842 controller can perform self
closed-loop motion control. Without this module, UIM2842 can still interface with a
quadrature encoder and provide reading to user device, but the self closed-loop is not
available.

1.6 Instructions and Interface

Instructions for UIM2842 are simple, intuitive and fault-tolerating.
For example, in order to command a speed of 1000 steps/sec, the following instructions
are all valid: "SPD = 1000;", "SPD: 1000;", "SPD 1000;", "SPD1000;" or even "SPD %?&%*
1000;".
In case that a wrong instruction is entered, the controller will return an ACK of error
message. Incorrect instructions will not be executed to prevent accidents.
UIROBOT provides free Microsoft Windows based VB / VC demo software and
corresponding source code to facilitate the quick start of user device side programming.
Page 20 M4220170607EN UI Robot Technology Co. Ltd.