UIrobot UIM2842 User Manual page 49

Miniature Integrated Stepper Motor Controller(
Bit 15-12 Blocked alarm
Action code after blocked is as follow:
ACT (binary)
0000
0001
0010
0011
0100
0101
0110
1000
1001
1010
1011
1100
1101
1110
1111
Note: * The version of controller firmware is required 1302.
Bit 11-8 P4LVLP4EVENT <2:0> P4 TTL Output Control
Please refer to chapter 9.0 for details.
Bit 7-4 S3RACT<3:0> S3 Rising-edge Action
Bit 3-0 S3FACT<3:0> S3 Falling-edge Action
The action code caused by S3 level edge (the same as the S1/S2):
ACT Code (binary)
0000
0001
0010
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1101
1110
1111
Note: * The version of controller firmware is required 1302.
UI Robot Technology Co. Ltd.
Action
N/A
N/A
N/A
N/A
Emergency Stop
N/A
N/A
Execute preset interrupt program*
Direction-change displacement control
N/A
N/A
Reset position + Emergency Stop
N/A
Change direction and run
OFF
Action
N/A
N/A
Start and Run Reversely
Decelerate until Stop
Emergency Stop
Reverse Displacement Control
Reset position
Reset position + Dispalcement Control
Execute preset interrupt program*
Direction-change displacement control
Start and Run Forwardly
Reset position + Decelerate until Stop
Reset position + Emergency Stop
Forward Displacement Control
Change direction and run
OFF
M4220170607EN
Closed-loop
RTCN or Not
No RTCN (Ignore MCFG<S2IE>)
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
Depends on MCFG<S2IE>
RTCN or Not
No RTCN (Ignore MCFG<S2IE><S1IE>)
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
)
Page 49