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UIrobot UIM0808 User Manual

Digital i/o controller with can interface
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User Manual
UIM0808/UIM1616
Digital I/O Controller with
CAN Interface

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Summary of Contents for UIrobot UIM0808

  • Page 1 User Manual UIM0808/UIM1616 Digital I/O Controller with CAN Interface...
  • Page 2 • UIROBOT is willing to work with the customer who is concerned about intellectual property protection; • Any attempt to destroy the code protection function of UIROBOT products may be regarded as a violation of intellectual property protection laws and regulations. If this behavior leads to the acquisition of software or other results protected by intellectual property rights without UIROBOT's authorization, UIROBOT has the right to file a lawsuit to stop this behavior in accordance with the Act.
  • Page 3 CAN devices. UIM0808/UIM1616 embeds a high-performance DSP processing system with simple instruction set and high fault tolerance. UIROBOT provides complete SDK, dll, lib, so, and sample codes based on C++, C#, etc., for Linux, Windows 32 bit and 64 bit.

  • Page 4: Table Of Contents

    UIM0808/1616 Contents Safety ................................... 5 Maintenance ................................ 5 Hardware ................................6 Instruction Set Summary ............................. 9 Quick Start ................................ 10 Specifications ..............................13 Introduction ............................14 Isolated CAN Driver ........................... 14 Isolated Input ............................. 14 Isolated Intelligent Output ........................14 Real-time Notification .........................

  • Page 5: Safety

    UIM0808/1616 Digital I/O Controller Safety To prevent personal injury and property damage, please be sure to pay attention to the following before use: Precautions Consequences of neglect Do not use it in humid, corrosive, flammable gas environments Fire or malfunction...

  • Page 6: Hardware

    UIM0808/1616 Hardware Figure 0-1: UIM1616 wiring diagram  V+: +12-36 VDC  V- : 0 V  Max. Current of each output: 1 Amp  Max. Current of all output ports: 5 Amp  Max. Current of Auxiliary 5V: 100 mA...
  • Page 7 UIM0808/1616 Digital I/O Controller Figure 0-2: UIM0808 wiring diagram  V+: +12-36 VDC  V- : 0 V  Max. Current of each output: 1 Amp  Max. Current of all output ports: 5 Amp Max. Current of Auxiliary 5V: 100 mA ...
  • Page 8 UIM0808/1616 Figure 0-3: Schematic diagram of input interface circuit  Using switches, relays or sensors with NPN output  Make sure the current through the opt-coupler is at least 2 mA Power Supply: 12-36 VDC Power Supply: 12-36 VDC 4.99K 4.99K...

  • Page 9: Instruction Set Summary

    UIM0808/1616 Digital I/O Controller Instruction Set Summary The following table lists the instructions supported by UIM0808/UIM1616: Control Mnemonic Function Object Chapter Word Protocol 0x01 Set / Get Protocol Parameters PP[i] 0x07 Information Enable Set / Get IE[i] 0x0B Model Information...

  • Page 10: Quick Start

    UIM0808/1616 Quick Start The following explains how to quickly set up and run a system composed of a UIM1616 and a UIM2513 Gateway. 1）Wiring the system as shown below. Double check the wiring before turn on the power. Figure 0-5: Wiring Diagram...
  • Page 11 UIM0808/1616 Digital I/O Controller 3）Click to select the UIM2513 Gateway. Figure 0-7: Gateway selection 1.Select Gateway 2. Select Protocol Parameters 4）Select the UIM1616 device that needs to be operated in the device list on the left. Figure 0-8: Gateway information...
  • Page 12 UIM0808/1616 Operate the UIM1616 by click colored buttons. Figure 0-9: Input and output control interface System Network Tree UIM1616 Info. Input Control Panel Output Control Panel Communication Log External encoder Control Panel Page 12 UIROBOT...

  • Page 13: Specifications

     Meets ISO-11898 standard physical layer requirements.  CAN Driver 1500V Isolated  Differential bus  Other Dimensions 78 x 68 x 12 mm (UIM0808) / 120 x 68 x 12 mm (UIM1616) weight 0.2Kg / 0.25Kg UIROBOT Page 13...

  • Page 14: Introduction

    UIM0808/UIM1616 supports 8/16 digital inputs respectively. 1.3 Isolated Intelligent Output UIM0808/UIM1616 supports 8/16 isolated outputs respectively. Each output port can sink 500 mA current and is 1500V isolated. Furthermore, each port is over-temperature, overcurrent, overvoltage (active clamp) and ESD protected.

  • Page 15: Instruction Set And Sdk

    Meanwhile, UIROBOT also provides system solutions and control programing services. 1.6 Connect to User Controller There are 4 ways to connect the UIM0808/UIM1616 to the user controller, as shown in Figure 1-2: 1） Directly through CAN Bus if the user controller has a CAN port;...

  • Page 16: Protocol

    Instruction is the commanding message sent from the user computer to the UIM0808/UIM1616. Before receiving an instruction, UIM0808/UIM1616 will not act. ACK is a feedback sent from UIM0808/UIM1616, after receiving an instruction. For setup instruction, the ACK message is typically a repeat of the instruction; for query instruction, the ACK message provides the queried data.

  • Page 17: Mnemonic

    UIM0808/1616 Digital I/O Controller 2.2 Mnemonic For user convenience, UIM products provide a set of mnemonics used to represent various instruction codes. For example: Mnemonic Function 0x37 Get I/O port level / Set output The relation between mnemonic expressions and instructions is shown below: Figure 2-2: Mnemonic Expression &...

  • Page 18: Error Report

    UIM0808/1616 2.3 Error Report When UIM0808/UIM1616 receives a wrong instruction, it will not execute the instruction, instead, it will reply an error message. Meanwhile, users can use ER[i] to get the latest error and the previous 7 historical errors. The format of an error message is listed below:...

  • Page 19: Real-Time Notification

    Figure 2-5: Real-Time Notification Format Real Time Notification … The real-time notification message format for UIM0808/UIM1616 is listed below. The message examples are all assumed to be messages produced by site 7 (ID=7). “--” means no need to care, generally filled in as 0).
  • Page 20 UIM0808/1616 Type Notification message example Remark ID CW DL d0 d1 d2 d3 d4 d5 d6 d7 0x17 Status Input 12 falling edge detection 07 5A 01 17 -- -- -- -- -- -- -- 0x18 Status Input 12 rising edge detection...

  • Page 21: Direct Can Communication

    UIM0808/1616 Digital I/O Controller 2.5 Direct CAN communication When directly communicating with UIM devices via CAN Bus, the CAN controller on user side needs to be configured as follows: 1） TQ number, use one of the following options: 1 Mbps use 8 TQ;...

  • Page 22: Rs232 / Usb / Ethernet Gateway

    UIM0808/1616 2.6 RS232 / USB / Ethernet Gateway Gateway such as UIM2513, UIM2523, UIM2533 Messages send / receive are all UIMessage format. Figure 2-6: UIMessage format (requires CRC) Instruction/ACK Aux. Byte ID CW … UI Message: Start of Message. If need CRC, using 0xAA, else using 0xAD instead, Auxiliary byte, don’t care,...

  • Page 23: Digital I/O

    The DI instruction is used to get the input / output levels. After receiving the DI command, UIM0808/UIM1616 will reply 4 bytes of data. Each bit of each byte represents the level of a port, as shown in Figure 3-1.

  • Page 24: Digital Input Trigger

    3.3 Digital input trigger There are 2 digital input triggering methods: Continuous Trigger UIM0808/UIM1616 continuously samples the voltage on each input port. If a change occurs, UIM0808/1616 will send a Real-Time Notification, and relevant preset actions are performed. method To use this , set TG[i] = 0.

  • Page 25: Instruction Set

    UIM0808/1616 Digital I/O Controller Instruction Set This chapter provides details of instructions supported by UIM 0808/1616. Note: Unless otherwise specified, all message bytes are in hex format; Examples assume that the UIM 0808/1616 address is 7 (ID=7) ; Abbreviation definitions as below: INST –...

  • Page 26: Pp[I] Protocol Parameter

    UIM0808/1616 4.1 PP[i] Protocol Parameter Protocol Parameter Disable ACK 0x01 Request ACK 0x81 DATA Sub-Index(i) unsigned 8 bit Data unsigned 8 bit Get Protocol Parameters PP[i] INST data length Data d0 (=i) ACK data length Data d0 (=i), d1 Set Protocol Parameters...

  • Page 27: Ie[I] Information Enable

    UIM0808/1616 Digital I/O Controller 4.2 IE[i] Information Enable System Settings Disable ACK 0x07 Request ACK 0x87 DATA Sub-Index(i) unsigned 8 bit Data unsigned 8 bit Get Information Enable Configuration IE[i] INST data length Data d0 (=i) ACK data length Data...

  • Page 28: Ml Model

    Get the model, function module and firmware version Description INST data length Data d0, d1, d2, d3, d4, d5, d6, d7 ACK data length Data INST UIM0808/UIM1616’s model information is list below: Example d5:d4 d7:d6 Firmware UIM1616 0x10 0x10 0x00...

  • Page 29: Sn Serial Number

    UIM0808/1616 Digital I/O Controller 4.4 SN Serial Number System Settings Disable ACK Request ACK 0x8C DATA Multi types Get the serial number of the device Description INST data length Data d0, d1, d2, d3, d4, d5, d6, d7 ACK data length...

  • Page 30: Er[I] Error Report

    UIM0808/1616 4.5 ER[i] Error Report System Settings Disable ACK 0x0F Request ACK 0x8F DATA Sub-Index(i) unsigned 8 bit Data unsigned 8 bit Get Error Report ER[i] INST data length Data d0 (=i) , d3, d4, d5 ACK data length Data...

  • Page 31: Qe[I] Quadrature Encoder

    (Encoder counting period = 1000 ms). After power up, the encoder must be configured to enable the encoder  function. For UIM0808/1616, only QE[0] (encoder counting period) a configuration  Note item. After the encoder counting period is set, the encoder incremental counter will accumulate the counts in this period, and the user can use the PR command to query.

  • Page 32: Sy[I] System Operation

    UIM0808/1616 4.7 SY[i] System Operation System Settings Disable ACK 0x7E Request ACK DATA Sub-Index(i) unsigned 8 bit Data SY[i] System Operation d0 (=i) INST data length Data No ACK Description Description Reboot the system Restore factory defaults INST Example Sub-Index d0 = 1 (Reboot the device).

  • Page 33: Sp Encoder Speed

    UIM0808/1616 Digital I/O Controller 4.8 SP Encoder Speed Auxiliary Encoder Disable ACK none Request ACK 0x9E DATA none Get The Current Encoder Speed Description INST data length Data d0, d1, d2, d3 ACK data length Data INST Example Data [d3:d2:d1:d0] = 0xFFFFFC18 (Encoder speed = -1000 count/s).

  • Page 34: Pr Get Encoder Periodical Count

    UIM0808/1616 4.9 PR Get Encoder Periodical Count Auxiliary Encoder Disable ACK none Request ACK 0x9F DATA none Get The Encoder Cycle Count Increment Description INST data length Data d0, d1, d2, d3 ACK data length Data INST Example Data [d3:d2:d1:d0] = 0x000003e8 (Current periodical count = +1000).

  • Page 35: Pa Get Encoder Count

    UIM0808/1616 Digital I/O Controller Auxiliary Encoder 4.10 PA Get Encoder Count Disable ACK Request ACK 0xA0 DATA signed 32 bit Get Encoder Counts Description INST data length Data d0, d1, d2, d3 ACK data length Data INST Example Data [d3:d2:d1:d0] = 0x000003e8 (Current encoder count = +1000).

  • Page 36: Og Clear Encoder Counter

    UIM0808/1616 4.11 OG Clear Encoder Counter Auxiliary Encoder Disable ACK 0x21 Request ACK 0xA1 DATA Clear Encoder Count Description INST data length Data ACK data length Data INST Example Clear Note Set the current position as the origin and clear the position counter to zero.

  • Page 37: Tg[I] Input Trigger

    UIM0808/1616 Digital I/O Controller Input / Output 4.12 TG[i] Trigger Mode Disable ACK 0x35 Request ACK 0xB5 DATA Sub-Index(i) unsigned 8 bit Data unsigned 8 bit Get The Input Trigger Mode TG[i] INST data length Data d0 (=i) ACK data length...

  • Page 38: Di Digital Input / Output

    UIM0808/1616 4.13 DI Digital Input / Output Input / Output Disable ACK 0x37 Request ACK 0xB7 DATA Sub-Index(i) Data unsigned 8 bit Get Digital Input and Output INST data length Data ACK data length Data d0, d1, d2, d3 Description...

  • Page 39: Rt Real-Time Notification

    UIM0808/1616 Digital I/O Controller 4.14 RT Real-Time Notification Real-time Notification 0x5A DATA unsigned 8 bit Description Refer to "2.4 Real-time Notification" for details. Example Message Data d0 = 2 (IN1 Rising edge is detected). UIROBOT Page 39...

  • Page 40: Appendix-1 Dimensions

    UIM0808/1616 Appendix-1 Dimensions UIM0808 I/O controller overall dimensions (unit: mm) UIM1616 I/O controller overall dimensions ( unit: mm) Page 40 UIROBOT...

  • Page 41: Appendix-2 Rtu Crc16 Source Code

    UIM0808/1616 Digital I/O Controller Appendix-2 RTU CRC16 Source Code UIMessage uses CRC-16 (Modbus) algorithm. For details, please refer to Online CRC-8 CRC-16 CRC-32 Calculator (crccalc.com) . The source code used in the calculation is listed below. // CRC low byte table...

This manual is also suitable for:

Uim1616