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Miniature Integrated Stepper Motor Controller(
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.
Before a new instruction is received, UIM2842 will keep current working status (e.g.
running, stop, etc.)
2.1 UIM2842 Message Communication Mode
Host computer realizes motion control through message. Furthermore, host obtain
controller status and controller update feedback information to host also through message.
Therefore, user must know the structure of the message first.
Message of UIM has two forms listing below:
1.
String based on RS232 (Figure 2-1), and
2.
CAN message based on UI simpleCAN (Figure 2-2).
If there is no special version, all messages are based on RS232 in this manual.
For details of CAN message, please refer to UI simple CAN programming manual, or
contact with technical support of UIrobot.
Host sends string message to UI gateway (such as UIM2501) through RS232 serial port,
then the gateway converst the message into CAN message based on SimpleCAN, and
sends it to specified UIM2842 controller. Similarly, feedback message sent by UIM2842 is
based on SimpleCAN, the gateway converts it to string based on RS232, and sends it to
host.
Figure 2-1: Hardware scheme for communication based on RS232 string
Figure2-2: Hardware scheme for communication based on CAN message
UI Robot Technology Co. Ltd.
INSTRUCTION AND FEEDBACK
2.0
RS232
Gateway (UIM2501)
Host
USBC9100
USB
PCIC120
PCI
Host
Gateway
M4220170607EN
CAN
CAN
CAN
CAN
CAN
Closed-loop
STRUCTURE
Work node
Work node
Work node
Work node
Work node
Work node
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