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UIM2842
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.
5.3 User Program
User can program on UIM2842. Once ICFG.PROG is set to 1, UIM2842 will execute user
program after the power is on. For details, please refer to "UIM Programming Manual".
UIM2842 still can execute user instructions when user program is running.
5.4 Master Configuration Register
Master Configuration Register is used to enable/disable the hardware/firmware
functions.Once configured, it will be effective immediately and its value will be burned into
the on-board EEPROM. The burning process will not affect any real-time process.Master
Configuration Register is a 16bits register with the following structure:
MCFG
bit
15
14
13
value ANE
CHS
QEI
Bit15
ANE
0 = Disable the analog input, all sensor are set to digital input
1 = Enable the analog input
Bit14
CHS
0 = Analog input on port S1
1 = Analog input on port S3
Bit13
QEI
0 = Disable Quadrature Encoder Interface
1 = Enable Quadrature Encoder Interface
Bit12
Unimplemented. Read as 0.
Bit11
QEM
Module
0 = Disable Quadrature Encoder-based Closed-loop Control Module
1 = Enable Quadrature Encoder-based Closed-loop Control Module
Bit10
CM
0 = Disable advanced motion control module, use basic control mode
1 = Enable advanced motion control module
Bit9
AM
0 = Value mode. Unit is pps/sec, or pulse/ (square second)
Page 28
Clockwise (CW)
12
11
10
9
X
QEM
CM
AM
Enable / Disable Analog Input
Analog Input Channel
Enable/Disable Quadrature Encoder Interface
Enable/Disable Quadrature Encoder-based Closed-loop Control
Advanced Motion Control Mode
Acceleration Mode
M4220170607EN
8
7
6
5
DM
X
STLIE ORGIE STPIE P4IE
UI Robot Technology Co. Ltd.
4
3
2
1
S3IE
S2IE
0
S1IE
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