UIM25001
Contents
1. 7 05 4 CUR desired output current structure xxx xxxx is the binary form of the current value Value 0 x x x x x x x Bit 7 6 5 4 3 2 1 0 UI Robot Technology Co LTD M2500120100425EN Page 16 UIM25001 Desired displacement structure Value gt 01010 bit 171615 ojx Desired speed structure SPD binary XXXX XXXX XXXX XXXX It is easy to use bit shifting operations to obtain the STP and SPD value There are detailed examples of above bit operation in the source code of the demo control software Those software and related source code are VC VB based and are free User can go to UI Robot Co website to download the free copy Motor Status Feedback Message Motor s current working status can be obtained by following instruction FBK Once receives the FBK instruction the controller will send back the feedback message comprising following up to date information steps speed direction micro step resolution current enabled offline status and ACR status The feedback Message is 13 bytes long and has the following format 0xCC ID ASM bytes current STP4 STP3 STP2 STP1 STPO SPD2 SPD1 SPDO 0xFF OxCC means the feedback message and values in the message relate to the motor status ID is the identification code of the controller which sends back this message Page 17 M2500120100425EN UI Robot Technology Co LTD UIM25001 ASM assembled By2. Power l Power E Sawer I Motor 1 Motor 2 Motor 100 Note In multi node CAN applications it is important to maintain a direct point to point wiring scheme A single pair of wires should connect each element of the CAN bus and the two ends of the bus should be terminated with 120Q resistors A star configuration should never be used UIM25001 converter has a build in terminal resistor User needs to attach a resistor at the other end of the bus To enable the UIM25001 converter s terminating resistor see the UIM25001 manual Any deviation from the point to point wiring scheme creates a stub The high speed edge of the CAN data on a stub can create reflections back down the bus These reflections can cause data errors by eroding the noise margin of the system Although stubs are unavoidable in a multi node system care should be taken to keep these stubs as small as possible UI Robot Technology Co LTD M2500120100425EN Page 6 UIM25001 Characteristics Absolute Maximum Ratings Supply Voltage 40VDC RS232 interface Voltage for RX to GND 25V Voltage for TX to GND 13 2V Working Temperature 20 C 100 C Working under environment exceeding maximum value could damage the controller Electrical Characteristics Ambient Temperature 25 C Supply Voltage 6V 40VDC Communication Ambient Temperature 25 C Wiring Method DB9 Female Connector RS232 Baud Rate MAX 115
3. step YW 1 1 astep WL I 1 16 step II Actuator Function Syntax ACK Message Comment Set change micro step resolution MCS x Variable Integer x 1 2 4 16 Refer to the General ACK Message section in this document x 1 2 4 16 represents the full step half step quarter step and sixteenth step resolution respectively Page 13 M2500120100425EN UI Robot Technology Co LTD UIM25001 Set Desired Motor Direction Function Set the desired motor direction Syntax DIR x Variable Integerx O 1 or nonzero number ACK Message _ Refer to the General ACK Message section in this document DIR 0 and DIR 1 only denotes two opposite turning direction Actual motor turning direction also depends on the physical wiring Comment situation For example swapping the wiring between A and A or B and B can lead to an opposite turning direction Set Desired Motor Speed Function Set the desired speed Syntax SPD x Variable Integer x 0 1 2 65535 ACK Message Refer to the General ACK Message section in this document Speed is defined as how many steps per second PPS Pulses per C t ee Second or Hz x 0 1 65535 represents 0 1 65535 pulses sec For a 1 8 stepper motor if the SPD 100 then Example if MCS 1 motor speed 1 8 100 180 sec 30 rpm if MCS 16 motor speed 1 8 100 16 11 25 s 1 875rpm Set Desired Relative Displacement Set the desired steps or m
4. 00120100425EN UI Robot Technology Co LTD UIM25001 Object Specific Operations After specified the ID of a UIM242xx controller using ADR instruction user can use following instructions to operate the specified controller Once the specified UIM242xx controller receives an instruction it will return an ACK message If the instruction is incorrect the message will be an error message The incorrect instruction will be discarded without execution Specify the Operation Object by an ID To operate a certain UIM242xx controller user needs to first tell the UIM25001 controller which UIM242xx is going to receive instructions Therefore before sending a motor control related instructions user needs to use the following instruction to specify the UIM242xx controller s ID Function Specify the operation object by its ID Syntax ADR ID Variable IntegerID 5 6 7 125 ACK Message QxAA ID OxDO O 0 O O O O O O O OXFF ADR is the abbreviation of address Once an operation object is Comment specified all object specific instructions will be sent to this specified object the UIM242xx Controller UNTILL another operation object new ID is specified Set Output Current Function Set the value of output current Syntax CUR x Variable Integerx 0 1 80 ACK Message _ Refer to the General ACK Message section in this document CUR instruction is used to set actual output current It is executed in real time Int
5. 200 bps To UIM24xx Controller Active CAN 2 0B CAN wiring Method 2 Wire CANH CANL e Supports 1 Mb s operation e ISO 11898 standard physical layer requirements e Suitable for 12V and 24V systems e Up to 100 nodes can be connected Environment Requirements Environment lt 80 RH n condensation no frosting Size and Weight Page 7 M2500120100425EN UI Robot Technology Co LTD UIM25001 Overview The UIM25001 CAN RS232 converting controller is to be used in conjunction with UIM242xx stepper motor controller to provide a RS232 interface on the user side and a CAN bus interface on the motor side factory side UIM25001 Controller s main functions can be summarized as below 1 Receive instructions in RS232 form from user device and convert the instructions into more concise and efficient CAN instructions to send to downstream UIM242xx controllers 2 Convert CAN messages from UIM242xx controllers and send back to the user devices in RS232 form 3 Coordinates UIM242xx controllers in the network 4 Store user batch instructions in the EEPROM and control the subordinating UIM242xx controller to work together in the absence of user device intervention This feature is available in the enhanced version By using the UIM25001 controller users can be benefited from the advantages of CAN base control network without dealing with the complicated CAN protocol All CAN bus issues are taken care of by the UIM25001 co
6. 5001 If verl 0x1 and ver0 0x0 then the firmware version is 1 0 2 When the controller receives following ASCII message ABC case sensitive and ended with a semicolon If the user device receives a message starting with OxAA OxAB OxAC the connection between user device and the controller could be considered established Change Baud Rate through Instruction For users want to use other baud rates please first use 9600 baud rate to establish the connection between UIM25001 controller and user device then use the following instruction to change the baud rate The new baud rate will be stored in the onboard non volatile memory Function Set the RS232 communication baud rate Syntax BDR x Variable Integer x 1200 115200 ACK Message OxAA don t care OxBD 0 0 0 0 0 0 0 0 0 0xFF New baud rate will be stored in the controller s non volatile memory Comment New baud rate will take effect after the controller is rebooted Please be aware that not all user devices support the 115200 baud rate Page 9 M2500120100425EN UI Robot Technology Co LTD UIM25001 Note All instructions are NOT case sensitive All instructions need a semicolon at the end The UIM25001 controller will not process any instruction until a semicolon is received Instruction length including end semicolon cannot exceed 20 characters Reset the Baud Rate to Factory Default 9600 In case that the user forgets the baud rate and cannot est
7. FLINE instruction is executed the motor has no power supply the power consumption is cut to minimum the logic circuit is still working User needs to use the ENABLE instruction to turn the motor driver back to working Page 15 M2500120100425EN UI Robot Technology Co LTD UIM25001 General ACK acknowledgement Message After receiving an instruction the controller will immediately return an ACK message of all desired settings including the most current setting Specifically the following information is included in the ACK message STP SPD DIR MCS CUR ENABLE OFFLINE and ACR Error ACK Message OxEE Error Code 0 0 0 0 0 0 0 0 0 OxXFF OxEE denotes an error message When the received instruction 1s incorrect the UIM25001 controller will issue the above message There are two kinds of errors Syntax error and value error the variable range is incorrect The corresponding error code is list below Normal ACK Messages When a valid instruction is received the UIM25001 controller will send back a normal ACK message The normal ACK message is 13 bytes long and has a structure shown below 0xAA ID ASM byte CUR STP4 STP3 STP2 STP1 STPO SPD2 SPD1 SPDO OxFF OxAA denotes a normal ACK message ID is the identification code of the controller which sends back this ACK message ASM assembled byte structure N A Enable 1 MCs 1 Value Offline 0 DR 0 full step 15 1 16 step 7 6 KENE Bt
8. UIROBOT United Intelligence Robot Technology User Manual UIM25001 CAN RS232 Converting Controller for UIM242xx Controller UIM25001 UI Robot Technology Co LTD M2500120100425EN Page 2 UIM25001 UIM25001 CAN RS232 Converting Controller for UIM242xx Controller Features Embedded DSP Microprocessor Embedded 16 bit high performance digital signal micro processor Simple structured intuitive rich instructions Intelligent fault tolerating user friend interface CAN2 0B Active Communication gt 2 wire interface w 1 Mega bit sec operation long distance s High noise immunity due to differential bus implementation RS232 Communication gt RS232 three wire serial communication gt Max baud rate 112500 bps Automatic Baud Rate Detection Wide supply voltage gt Wide supply voltage range 6 40VDC Description The UIM25001 CAN RS232 converting controller is used in conjunction with UIM242xx stepper motor controller to provide a RS232 interface on the user side and a CAN bus interface on the motor side factory side By using the UIM25001 controller users can be benefited from the advantages of CAN base control network without dealing with the complicated CAN protocol User only needs to communicate with the UIM25001 controller using the simple intuitive and ASCII coded RS232 instructions All CAN bus issues are taken care of by the UIM25001 converting controller Both the UIM25001 contro
9. ablish the connection following process can reset the baud rate to the factory default of 9600 iY 2 Reboot the controller In 10 seconds toggle the DIP1 DIP switch 1 for two rounds During toggling the LED on the controller will flash If exceed 10 seconds please restart from the first step If step 2 is successful the LED will turn off for one second and re lit That indicates the baud rate has been changed to 9600 and ready to use Automatic Baud Rate Detection In cases the user device cannot use above two solutions the controller can also automatically detect user device s baud rate To enable the auto baud rate detection function please follow the process described below l PA Reboot the controller In 10 seconds toggle the DIP1 DIP switch 1 for two rounds During toggling the LED on the controller will flash If exceed 10 seconds please restart from the first step If step 2 15 successful the LED will turn off for one second and then re lit That indicates the auto baud rate detection function is provoked and the controller is waiting for the signals from the user device Send an ASCII code U 1 e 0x55 capital letter no punctuation at the end from the user device to the UIM25001 controller In around 0 05 seconds the controller will be able to calculate the baud rate used to send that letter U store the detected baud rate in the onboard non volatile memory and sent back the greeting messa
10. controllers that receives this instruction Global Relative Displacement Function Syntax ACK Message Comment Global Enable Function Syntax ACK Message Comment Set the desired Relative Displacement to all UIM242xx controllers gSTP x Variable Integerx O 1 2147483647 0xAA QTY OxAD 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of UIM242xx controllers that receives this instruction Enable the stepper motor drivers of all UIM242xx Controller gENABLE Variable N A OxAA QTY 0xAD 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of UIM242xx controllers that receives this instruction User can first set the desired parameters to every UIM242xx Controller one by one and then issue this instruction to enable all the motors motion UI Robot Technology Co LTD M2500120100425EN Page 20 UIM25001 Global Disable Function Syntax ACK Message Comment Dimension Unit mm Disable the stepper motor drivers of all UIM242xx Controller gOFFLINE Variable N A 0xAA QTY OxAD 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of UIM242xx controllers that receives this instruction User can shutdown all motors using this instruction especially in emergency Page 21 M2500120100425EN UI Robot Technology Co LTD
11. eger 0 80 represent 0 8 0 amps Once received the current Comment value is stored in the controller s EEPROM If the received current value is not one of the above integers an Error ACK will be sent to the user device through RS232 Incorrect instructions will be discarded without execution UI Robot Technology Co LTD M2500120100425EN Page 12 UIM25001 Automatic Current Reduction Function Syntax ACK Message Comment Enable disable ACR automatic current reduction function ACR x Variable Integerx 0 1 or nonzero number Refer to the General ACK Message section in this document To reduce the power consumption and temperature raise UIM242xx controller has the build in function to reduce output current by half 0 5 seconds after the motor stopped Caution has to be taken before enable this function since current reduction also means holding torque reduction If ACR 1 the function is enabled vice versa ACR will be automatically set to 0 after the CUR instruction is received to avoid potential confliction Set Micro Step Resolution UIM240xx controller can provide complete micro stepping control at full step half step quarter step and sixteenth step resolutions Only during power up the DIP setting is read as the initial value of micro step resolution After that the DIP value has no effect The micro step resolution need be changed through following instruction NCZ cuistep NMZ Hatt
12. ge The controller is ready to use UI Robot Technology Co LTD M2500120100425EN Page 10 UIM25001 Assign Identification Code to a UIM242xx Controller Before operation every UIM242xx controller needs to be assigned a unique identification code ID or address In a network one UIM25001 links to multiple UM242xx controllers Without the ID the UIM25001 controller will not know to which UIM242xx controller the instruction should be sent Before leave the factory all UIM242xx controllers have been assigned a default ID of 5 User can change the ID using SETADR instruction Before assign an ID to a UIM242xx controller please connect the UIM25001 controller and the UIM242xx controller using the standalone operation solution That is only one UIM242xx should be connected to the UIM25001 controller Motor is not needed at this time After rebooting both controllers user can use the following instruction to assign an ID to the UIM242xx controller Function Assign identification code address to a UIM242xx controller Syntax SETADR ID Variable IntegerID 5 6 7 125 ACK Message OQxAA ID OxDD 0 0 0 0 0 0 0 0 0 0xFF ID assignment has to be performed one controller followed by another In other word every time there can only be one UIM242xx Comment controller linked to the UIM25001 controller to get the ID assigned Once an ID is assigned the ID will be stored in the UIM242xx controller s non volatile memory Page 11 M25
13. icro steps if MCS 1 beyond current position Syntax STP x Variable Integer x 0 1 2147483647 Function ACK Message Refer to the General ACK Message section in this document 2147483647 is the maximum value of a signed 32 bit number If an instruction of STP 0 is received before the previous STP instruction is fulfilled the motor will stop rotating i e SPD is reset Comment to 0 and previous STP instruction is considered fulfilled If the STP instruction is received when the motor is running the steps the motor will run before stopping is counted when the STP instruction is executed For a 1 8 stepper motor if STP 200 then Example if MCS 1 motor rotation angle 1 8 200 360 if MCS 16 motor rotation angle 1 8 200 16 22 5 UI Robot Technology Co LTD M2500120100425EN Page 14 UIM25001 Enable the Motor Driver Function Syntax ACK Message Comment Enable the stepper motor driver i e H bridge driving circuit ENABLE Variable N A Refer to the General ACK Message section in this document ENABLE instruction turns on the dual H bridge motor driving circuit Disable the Motor Driver Function Syntax ACK Message Comment Disable the stepper motor driver i e H bridge driving circuit OFFLINE Variable N A Refer to the General ACK Message section in this document OFFLINE instruction turns off the dual H bridge motor driving circuit Once an OF
14. ister Once this instruction is executed by the UIM25001 Controller the total number of all subsidiary UIM242xx controllers and their ID are recorded in the UIM25001 controller The returned QTY server one indicator of the health of the network In addition if user specifies an invalid ID the UIM25001 controller can notify the error by comparing to the valid ID list Global Auto Current Reduce ACR Function Syntax ACK Message Comment Enable disable the ACR function of all subsidiary UIM242xx Controllers gACR x Variable Integerx 0 1 or nonzero number 0xAA QTY 0xAD 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of UIM242xx controllers that receives this instruction gACR 1 enables the ACR function vice versa If user issues a CUR instruction on a certain controller the ACR function on that controller will be automatically disabled Page 19 M2500120100425EN UI Robot Technology Co LTD UIM25001 Global Speed Function Syntax ACK Message Comment Global Direction Function Syntax ACK Message Comment Set the desired speed to all UIM242xx controllers gSPD x Variable Integerx 0O 1 65535 0xAA QTY OxAD 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of UIM242xx controllers that receives this instruction Set the desired direction to all UIM242xx controllers gDIR x Variable Integerx 0 1 or nonzero number OxAA QTY OxAD 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of UIM242xx
15. ller and the UIM242xx controller support network One UIM25001 controller can command up to 100 UIM242xx controllers Interfacing the UIM25001 is simple intuitive and fault tolerating Users are not required to have stepper motor driving or CAN protocol knowledge Page 3 M2500120100425EN UI Robot Technology Co LTD UIM25001 Terminal Description 20920 To avoid loss of terminal screws please always keep screws tightened Screw Terminals VDC 2 Black_ GND Supply voltage ground 3 White CANH CAN High Level Voltage I O 4 Green CANL CAN Low Level Voltage 1 0 DIP switch functions UIM25001 controller has an 8 bit DIP switch which serves multiple functions During power up D1 D7 are read as the controller s ID address After that is done D1 and D2 can be used achieve some RS232 special features refer to the using the RS232 communication section Put D8 on the ON position will enable the built in terminating resistor Unless necessary please maintain the DIP positions as shown in following Figure UI Robot Technology Co LTD M2500120100425EN Page 4 UIM25001 Typical Applications Standalone Operation UIM242xx controllers can work in a network as well as standa
16. lone When working standalone there is only one RS232 CAN converter linked with one UIM242xx controller In this case user can use wiring scheme as shown below Stepper Motor Ul 40V sc 12 40V be Sue AD AES UIM242xx LA 1 CANH CANH Stepper Controller UIM25001 T XXX Gy I Controller T CANL CANL m J Twist Wire Pair DB9 Port N 120 ohm RS232 Cable Oo i Note For long distance transfer the two ends of the bus should be terminated with120Q terminating resistors UIM25001 converter has a build in terminating resistor User only needs to attach a resistor at the other end of the bus To enable the UIM25001 converter s terminating resistor see the UIM25001 manual To achieve the best communication performance CANH and CANL should use a twisted pair Page 5 M2500120100425EN UI Robot Technology Co LTD UIM25001 Network Operation Multiple UIM242xx controllers can be wired together to form a reliable local network Following figure provides a typical network wiring solution Detailed terminal wiring on each controller can be found in previous standalone Operation solution UIM25001 Controller RS232 CANH 120 Ohm hee ha 6 mi I B T CANL T i z 2 lt lt 4 4 lt lt O O Oo O O O 12 40 g UIM242xx 12 40 7 UIM242xx 12 40 E UIM242xx VDC Controller 1 VDC Controller 1 VDC Controller 1
17. nverting controller User only needs to communicate with the UIM25001 controller using the simple intuitive and ASCII coded RS232 instructions For example in order to implement speed 1000 steps sec The following instructions are all valid SPD 1000 or SPD 1000 or SPD 1000 or SPD1000 or SPD amp 1000 If in any case a wrong instruction is received the controller will return and error messages Incorrect instructions will not be discarded without execution to prevent accidents UI Robot Co provides free Microsoft Windows XP bases VB VC demo software and their source code to facilitate the quick start of user device side programming UIM25001 converting controller can work on a wide range voltage of 6 40VDC UI Robot Technology Co LTD M2500120100425EN Page 8 UIM25001 Connect to UIM25001 through RS232 Handshaking UIM25001 CAN RS232 Converting Controllers communicate with user devices using the RS232 serial protocol The factory default baud rate is 9600 User can use the 9600 baud rate to connect to a newly bought UIM25001 controller There are two situations under which the UIM25001 will send a Greeting Message to the user device 1 When the controller 1s powered up it will send the following 13 bytes greeting message to the user device 0xAA 0xAB 0xAC 0x19 0 0 0 0 0 0 ver1 ver0 OxFF where OxAA OxAB OxAC is the greeting message header 0x19 i e 25 indicate the UIM2
18. te structure N A Enable 1 MCS 1 DIR Value Read 0 ACR Offline 0 0 full step 15 1 16 step Bit 7 6 5 4 3 2 1 0 Current output current structure xxx xxxx is the binary form of the output current Value 0 x x x x x x x Bit 71 6 5 4 3 2 1 0 Displacement structure Speed structure SPD binary XXXX XXXX XXXX XXXX 2 bits Value olololololo x bit 7 615 4131211 STP2 It is very easy to use bit shifting operations to obtain the STP and SPD value There are detailed examples of above bit operation in the source code of the demo control software Those software and related source code are VC VB based and are free User can go to UI Robot Co website to download the free copy UI Robot Technology Co LTD M2500120100425EN Page 18 UIM25001 Global Operation Besides the Object specific operation UIM25001 controller can also send commands to all subsidiary UIM242xx controllers In some case user may need to send instructions to all UIM242xx controllers such as emergency stop UIM25001 controller accepts a set of global instructions as described below Global Registration Function Record the total number of all subsidiary UIM242xx controllers and their ID Syntax gREG Variable N A ACK Message Comment 0xAA QTY 0xD1 0 0 0 0 0 0 0 0 0 0xFF QTY is the quantity of all UIM242xx controllers that are operable gREGis the abbreviation of Global Reg
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