UIrobot UIM2842 User Manual page 9

Miniature Integrated Stepper Motor Controller(
Network Operation
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.
Note：
•
All nodes are connected onto a twist wire pair.
•
Star connection scheme must be avoided.
•
Each stub must not exceed 2cm (The shorter, the better).
•
Both ends of the bus should be terminated with120Ω terminating resistors. Shielded
120 ohm CAN bus cable is recommended if the transfer distance is over 50 meters.
•
In practice only one terminating resistor is need at the other end of CAN bus since
UIM2501 already has a built-in terminating resistor. To activate this built-in terminating
resistor, see UIM2501 user manual.
Figure 0-4：Wiring Scheme for Network Operation
6-40
VDC
Stub < 2cm
12-28
VDC
Warning: Hot plugging is forbidden.
Warning: All controllers, gateways and subscriber equipments must be common-
grounded.
UI Robot Technology Co. Ltd.
RS232
UIM2501
Converter
12-28
UIM2842
VDC
Controller
Motor# 1
M4220170607EN
12-28
UIM2842
VDC
Controller
Motor# 2
)
Closed-loop
Control Room
Factory
120
UIM2842
Controller
Motor# 100
Page 9