User Manual - Integrated Actuators
Contents
1. 2 1 2 2 2 0 RS232 COMMUNICATION UIM2501 controller communicates and exchanges information with user devices through the RS232 serial protocol The RS232 configuration of user device the hand shaking methods and the instruction used to change the baud rate will be introduce in this Chapter along with the method to reset the baud rate to factory default Settings for User Device RS232 Port To communicate with UIM2501 user device needs to have following RS232 port settings 8 bits data 1 stop bit None Parity Hand Shaking If user device knows the baud rate it can start sending instructions without hand shaking Hand shaking is more used as a method to check the existence and firmware version of the controller Hand shaking is considered successful if the user device receives a greeting message starting with a message header of OxAA OxAB OxAC Under following two situations the UIM2501 will issue the greeting message when UIM2501 is powering up and When UIM2501 receives following ASCII instruction ABC semicolon case sensitive and ended with a The greeting message from UIM2501 has the following structure Byte 1 2 3 4 5 6 7 8 9 10 11 12 13 Value OxAA OxAB OxAC 0x19 0x1 0 0 Firmware Version 0 0 OxFF Where 0xAA 0xAB 0xAC denotes the greeting message 0x19 0x1 denotes the UIM2501 controller Firmware2. User Manual UIM2501 CAN2 0B RS232 Control Protocol Converter Myostat Motion Control Inc e www myostat ca 1 905 836 4441 UIM2501 CAN RS232 Control Protocol Converter Please pay attention to the following before using the UIROBOT products e UIROBOT products meet the specification contained in their particular Data Sheet e UIROBOT will only work with the customer who respects the Intellectual Property IP protection e Attempts to break UIROBOT s IP protection feature may be a violation of the local Copyright Acts If such acts lead to unauthorized access to UIROBOT s IP work UIROBOT has a right to sue for relief under that Act Information contained in this publication regarding controller applications and the like is provided only for your convenience and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications UIROBOT MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED WRITTEN OR ORAL STATUTORY OR OTHERWISE RELATED TO THE INFORMATION INCLUDING BUT NOT LIMITED TO ITS CONDITION QUALITY PERFORMANCE MERCHANTABILITY OR FITNESS FOR PURPOSE UIROBOT disclaims all liability arising from this information and its use Use of UIROBOT products in life support and or safety applications is entirely at the buyer s risk and the buyer agrees to defend indemnify and hold harmless UIROBOT from any and all damages claims suits or expenses r
3. means 2 0 Amper ASM denotes the installed optional modules It has the following structure bit 7 6 5 4 3 2 1 0 Comment Ise meaning O Int CEC Closed loop Adv Motion No of Sensor Ports For example if bit 4 is 1 the Advanced Motion Control module is installed V2 VO denote the firmware version Data is in 7 bits format Conversion from three 7bits message data to a 16bits data is illustrated in figure 2 1 UI Robot Technology Co Ltd M501110926EN Page 13 UIM2501 CAN RS232 Control Protocol Converter 3 0 CAN2 0B COMMUNICATION UIM2501 and UIM242XX support and realize following bit rate as shown in table 3 1 In the same time instruction is provided for user to switch between these standard communication bit rates Purpose of changing the bit rates includes obtaining longer bus length and more stable communication User can set the CAN network bit rate through setting the BTR bit rate index The BTR switching instruction is BTR x where x is the BTR index UIM242XX and UIM2501 all have a factory default value of 1 i e 800Kbps 50 m bus length Generally speaking every instruction and or message takes 64 128 bits Table 3 1 CAN Communication Bit Rates BTR Index Bit Rate bps Bus Length m 0 1000K 25 1 800K 50 2 500K 100 3 250K 250 4 125K 500 5 50K 1000 6 20K 2500 T 10K 5000 3 1 Network CAN Bit Rate Set Instruction BTR BTR x Function Set
4. CAN network bit rate index x Variable Integer x 0 1 7 ACK OxAA BTR OxBC OxFF OxBC is the Message ID of instruction BTR BTR is the desired bit rate index After fulfills the BTR x instruction the UIM2501 will automatically perform global registration process i e process gREG instruction and return following message Details can be found in the following section of gREG instruction Comment 3 2 CAN Bit Rate Check BTR Function Check current CAN network bit rate index Variable N A ACK OxAA BTR OxBC OxFF OxBC is the Message ID of instruction BTR BTR is the current bit rate index Unlike BTR x instruction There is no global registration process after BTR instruction Comment M501110926EN Page 14 UI Robot Technology Co Ltd UIM2501 4 0 SINGLE AND NETWORK OPERATION UIM2501 supports CAN networking One UIM2501 can communicate with and control single or several UIM242 controller s Before operation every UIM242 controller needs to be assigned a unique identification number i e ID or address Two or more UIM242 controllers with an identical ID in the network may cause the network malfunctioning The process of ID assignment is described in following section 4 1 Controller ID Assignment Instruction SETADR All new UIM242xx controllers have been assigned a factory default ID of 5 User can change the ID using SETADR instructi
5. Version denotes the firmware version Data is in 7 bits format Conversion from three 7bits message data to a 16bits integer is illustrated in figure 2 1 Figure 2 1 Conversion from three 7bits message data to a 16bits data Obit Binary Date Wee cn pen x x x x x x x eC state rJe s a s 2 10 DR 3rd Byte 2 bits is 7 bits 2nd Byte 1st Byte Note For above Firmware Version Byte 8 Byte 9 Byte10 is the 1st Byte 2nd Byte 3rd Byte shown in figure 2 1 respectively UI Robot Technology Co Ltd M501110926EN Page 11 UIM2501 CAN RS232 Control Protocol Converter 2 3 Baud Rate Set Instruction BDR Any out of box UIM2501 controller has a factory default baud rate 9600 User can use the 9600 baud rate to connect to a new UIM2501 controller To change to a different baud rate user can use the instruction BDR as described below On receiving the BDR instruction the new baud rate will be stored in the EEPROM and will take effect after the controller is restarted BDR x Function Set RS232 BaudRrate Variable Integer x 9600 115200 ACK OxAA Reserved OxBD OxFF OxBD is the Message ID of instruction BDR Reserved is for factory use The new baud rate will be stored in the controller s non volatile memory EEPROM New baud rate will take effect after the controller is restarted Comment 2 4 Reset Baud Rate to Factory Default 9600 In case that user for
6. and no need to deal with the complicated CAN protocol no worry about the communication distance and noise immunity One UIM2501 controller can network with up to 100 UIM242XX controllers Interfacing the UIM2501 is simple intuitive and fault tolerating Users are not required to have stepper motor driving or CAN protocol knowledge UIM2501 supports 1Mbps CAN communication speed After optimization all UIM242 instructions take less than 0 1 ms normally 0 05 ms to transfer on the bus On the user side UIM2501 supports 115200 bps RS232 baud rate UI Robot provides free Microsoft Windows XP bases VB VC demo software and their source code to facilitate the quick start of user device side programming Instruction and Feedback Structure As a protocol converter UIM2501supports all instructions and conform to all instruction and feedback structures of UIM242XX and UID820 Therefore this information is omitted in this manual User can refer to the UIM242 and UID820 User Manuals for details Motor and I O Control Functions and Instructions Motor control specific functions instructions and operations are directly performed by the UIM242 controllers Digital I O functions are performed by UID820 As a CAN RS232 converter UIM2501 accepts all the instructions described in the UIM242 and UID820 User Manuals User can refer to the UIM242 and UID820 User Manuals for detailed information M501110926EN Page 10 UI Robot Technology Co Ltd UIM2501
7. IM242xx Controller UNTILL another operation object new ID is specified After the specifying the Controller ID user can use UIM242 instructions to control the specified controller Those instructions are provided in the UIM242 user manual UI Robot Technology Co Ltd M501110926EN Page 15 UIM2501 CAN RS232 Control Protocol Converter 4 3 Global Control Besides the object specific operation UIM2501 can also send commands to all subsidiary UIM242XX controllers This process is called broadcasting or global control instruction Global Instruction Format 11 33 Global control instructions have the same format as shown below a leading g followed by the normal one to one operation instruction gXXX Where g denotes the global control instruction XXX is the object specific operation instructions e g ACR ENA OFF etc Global Instruction ACK Message Except the instruction gREG BTR all global instructions have the same ACK message as shown below OxAA QTY OxAD OxFF Where QTY is the quantity of all UIM242xx controllers that are operable 0xAD is the Message ID of all global instructions Detailed global instructions are described in following sections 4 4 Global Register Instruction gREG gREG Function Record the quantity of all subsidiary UIM242 controllers and their IDs Variable N A Feedback OxCC QTY OxDO A1 A2 A3 A4 AS AG AZ A8 OxFF QTY is the quantity of UIM242
8. Size and Weight Size 66 4mm x 38mm x 18mm L W H M501110926EN Page 8 UI Robot Technology Co Ltd UIM2501 TABLE OF CONTENTS Wl 3 General DESCFIPUO EE 3 Terminal Eeer 4 DIR SW EE 4 TYDICAl APDUCaANO EE 5 INStHUCTION SEL Summa acli 7 Ee LOUIS Ee 8 1 0 OVETVICW rsi EE 10 1 1 Instruction and Feedback Structure i 10 1 2 Motor Control Functions and Instructions 10 2 0 RS232 Communications allaccia 11 2 1 Settings forUser Device RS232Port oliena 11 2 2 ESE RO Re REA 11 2 3 Baud Rate Set instruction BDR ica LL a lai 12 2 4 Reset Baud Rate to Factory Default 9600 eee reeeeeree err er rara eenda 12 2 0 UIM2501 Version Check Instruction ML 12 2 6 UIM242 Model and Version Check Instruction MII 13 3 0 CANZ VB Re e Nee tee EE 14 3 1 Network CAN Bit Rate Set Instruction BIR 14 OZ CANBERIE EE 14 4 0 Single and Neiwork Operatioh iaun ai 15 4 1 Controller ID Assignment Instruction GETADR e reeereren rrenan rrenaerenna 15 4 2 Object Specify Instruction ADR MEN 15 4 3 GEDARE OTO E 16 4 4 Global Register Instruction GREG EE 16 4 5 Global Motor Enable Instruction OENARI E 16 4 6 Global Motor Disable Instruction GOFFLINE 17 4 7 Global Motor Current Setup Instruction OCUR e eerereeeeeeea aerea ar erenanana 17 4 8 Global Auto Current Reduction Instruction GACR erre eeeereerereeaaerenana 17 4 9 Glo
9. Standalone Operation 6 40V DC Supply CANH E A eso ST_DOOOEETTI E Converter CANL Twist Wire Pair LJ DB9 Port RS232 Cable UIM242XX oO Controller UI Robot Technology Co Ltd M501110926EN Page 5 UIM2501 CAN RS232 Control Protocol Converter Network Operation Multiple UIM242 and UID820 controllers can be wired together to form a reliable CAN control network Following figure provides a typical network wiring solution Figure 0 4 Wiring Scheme for Network Operation Control Room Motor 2 Please be aware that pair of wires should connect each element of the CAN bus and the two ends of the bus should be f In multi node CAN applications it is important to maintain a direct point to point wiring scheme A single terminated with 1200 resistors A star configuration should never be used UIM2501 converter has a build in terminal resistor To enable the UIM2501 converter s terminating resistor please toggle the DIP8 to ON position User only needs to attach a resistor at the UIM242 end of the bus gt In addition 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 sm
10. all as possible gt M501110926EN Page 6 UI Robot Technology Co Ltd INSTRUCTION SET SUMMARY UIM2501 Instruction Description Geer ge EE MDL X Check the Model Modules Firmware of node x OxCC OxDE MDL Check the Firmware Version of UIM2501 OxCC OxDE BDR X Set RS232 baud rate OxAA OxBD BIT R X Set CAN network communication bit rate index x OxAA OxBC BTR Check current CAN network bit rate index OxAA OxBC SETADR X Assign an ID x to a UIM242XX controller OxAA OxDD ADR X Specify the operation object by node ID x OxAA OxDO gREG Record the quantity of all subsidiary nodes and IDs OxCC OxDO gENA Enable the H Bridges of all nodes OxAA OxAD gOFF Disable the H Bridge of all nodes OxAA OxAD gCUR X Set motor phase current for all nodes OxAA OxAD gACR X Enable disable the ACR function of all nodes OxAA OxAD gMCS X Set micro stepping resolution for all nodes OxAA OxAD gDIR X Set desired motion direction for all nodes OxAA OxAD gORG Set Original Point of all nodes OxCC OxAD gSPD X Set motor speed for all nodes OxAA OxAD gSTP X Setup relative position control for all nodes OxAA OxAD gPOS X Setup absolute position control for all nodes OxAA OxAD gQEC X Setup encoder based position control for all nodes OxAA OxAD gDOUT X Set the TTL level output of P4 ports of all nodes OxAA OxAD UI Robot Technology Co Ltd M501110926EN Page 7 UIM2501 CAN RS232 Control Proto
11. bal Micro Stepping Resolution Setup Instruction OMC 17 4 10 Global Direction Instruction QDIR es se eereee ae rere nan ee ee t t t t e ee e 17 4 11 Global Speed Setup Instruction Ob 17 4 12 Global Relative Position Control Instruction 0oGIb renan rreaa 18 4 13 Global absolute Position Control Instruction ob 18 4 14 Global Encoder Based Position Control Instruction GQEC eee 18 4 15 Global Origin Point Setup Instruction ORG 18 4 16 Global TTL Level Output Instruction GDOUT 18 ADPENAbca Dimensions aaa 19 UI Robot Technology Co Ltd M501110926EN Page 9 UIM2501 CAN RS232 Control Protocol Converter 1 1 1 2 1 0 OVERVIEW UIM2501 RS232 CAN Converting Controller is used in conjunction with UIM242 stepper motor controller to provide a RS232 interface on the user side and a CAN bus interface on the motor controller side UIM2501 Controller s functions can be summarized as 1 Receives RS232 based instructions from user device converts the instructions into more concise and efficient CAN based instructions and sends instructions to UIM242 controllers 2 Converts CAN messages from UIM242 controllers into RS232 messages and send back to the user devices 3 Coordinates and controls UIM242 controllers in the network With the UIM2501 user will be benefited from the advantages of the CAN network and the simplicity of RS232 protocol
12. col Converter CHARACTERISTICS Absolute Maximum Ratings SUD DIY VON AGC EE 6V to 40V Voltage on RX with respect to GND 25V to 25V Voltage on TX with respect to OND i 13 2V to 13 2V Ambient temperature under bas 20 C to 85 C Storage temperature a issued lariana 50 C to 150 C TNOTICE Stresses above those listed under Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this specification is not implied Exposure to maximum rating conditions for extended periods may affect device reliability Electrical Characteristics Ambient Temperature 25 C Supply Power Voltage 6V 40VDC Current Consumption Max 100mA Communication Ambient Temperature 25 C To User Device RS232 RS232 Wiring Method DB9 Female Connector RS232 Baud Rate MAX 115200 bps To UIM242 Controller Active CAN 2 0B CAN wiring Method 2 Wire CANH CANL Supports 1 Mb s operation CAN bus e ISO 11898 standard physical layer requirements Suitable for 12V and 24V systems Up to 100 nodes can be connected Environment Requirements Working environment Avoid dust oil mist and corrosive gases Working temperature 40 C 85 C Humidity lt 80 RH no condensation no frosting Storage temperature 50 C 150 C
13. er based position control for all nodes UIM242s Variable Integer x 2 000 000 000 1 0 1 2 000 000 000 ACK OxAA QTY OxAD OxFF 4 15 Global Origin Point Setup Instruction JORG gORG x Function Clear absolute position counters including encoder of all nodes UIM242s Variable N A ACK OxAA QTY OxAD OxFF 4 16 Global TTL Level Output Instruction gDOUT gDOUT x Function Set the TTL level output of P4 ports of all nodes UIM242s Variable Integer x 0 1 ACK OxAA QTY OxAD OxFF M501110926EN Page 18 UI Robot Technology Co Ltd UIM2501 APPENDIX A DIMENSIONS MNT 2 M3 Depth m C O Units mm UI Robot Technology Co Ltd M501110926EN Page 19
14. esulting from such use No licenses are conveyed implicitly or otherwise under any UIROBOT intellectual property rights Trade Mark Layout design Patent The UIROBOT name and logo are registered trademarks of UIROBOT Ltd in the P R China and other countries UIROBOT s UIM24XXX series Step Motor Controllers UIM25XX series CAN RS232 Converter and their layout designs are patent protected UIM2501 Ordering Information In order to serve you quicker and better please provide the product number in following format UIM2501 PART NUMBERING SYSTEM TT Category Series UIM 2501 Motor CAN 232 Control T Screw Terminal Control Converter Connector P Plug Socket Note If not selected default control connector is T screw terminal the code box can be deleted Examples UIM2501P UIM2501 M501110926EN Page 2 UI Robot Technology Co Ltd UIM2501 UIM2501 CAN RS232 Control Protocol Converter For UIM242 Stepper Controller and UID820 CAN Digital I O Controller FEATURES Embedded DSP Microprocessor Embedded high performance DSP Simple intuitive rich instructions intelligent fault tolerating user friend interface MS Windows based VB VC demo software and corresponding source code provided RS232 Communication RS232 three wire serial communication CAN2 0B Active Communication 2 wire interface Support 1M bps long distance Differential data bus high noise imm
15. gets the UIM2501 baud rate and cannot establish the connection following process can reset the baud rate to the factory default of 9600 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 The BDR instruction can be used to change the baud rate from 9600 now 2 5 UIM2501 Version Check Instruction MDL MDL Function Check the firmware version of UIM2501 Variable N A Feedback OxCC Reserved OxDE 0x19 0x1 0x0 0x0 V2 V1 VO OxFF OxDE is the Message ID of instruction MDL V2 VO denote the firmware version Data is in 7 bits format Conversion from three 7bits message data to a 16bits data is illustrated in figure 2 1 Reserved is for factory use Comment M501110926EN Page 12 UI Robot Technology Co Ltd UIM2501 2 6 UIM242 Model and Version Check Instruction MDL MDL x Check the Model installed modules and firmware version of the UIM242 Function i E controller with ID x Variable Integer x 5 6 125 Feedback OxCC Controller ID OxDE 0x18 0x2 CUR ASM V2 V1 VO OxFF OxDE is the Message ID of instruction MDL CUR denotes the max phase current e g 20
16. n gACR gACR x Function Enable disable the ACR function of all nodes UIM242s Variable Integer x 0 1 ACK OxAA QTY OxAD OxFF 4 9 Global Micro Stepping Resolution Setup Instruction gMCS gMCS x Function Set micro stepping resolution for all nodes UIM242s Variable Integer x 1 2 4 8 16 ACK OxAA QTY OxAD OxFF 4 10 Global Direction Instruction gDIR gDIR x Function Set desired motion direction for all nodes UIM242s Obsoleted Variable Integer x 0 1 ACK OxAA QTY OxAD OxFF 4 11 Global Speed Setup Instruction gSPD Function Set motor speed for all nodes UIM242s Integer x 65000 1 0 1 65000 OxAA QTY OxAD OxFF UI Robot Technology Co Ltd M501110926EN Page 17 UIM2501 CAN RS232 Control Protocol Converter 4 12 Global Relative Position Control Instruction gSTP gSTP x Function Setup relative position control for all nodes UIM242s Variable Integer x 2 000 000 000 1 0 1 2 000 000 000 ACK OxAA QTY OxAD OxFF 4 13 Global absolute Position Control Instruction gPOS gPOS x Function Setup absolute position control for all nodes UIM242s Variable Integer x 2 000 000 000 1 0 1 2 000 000 000 ACK OxAA QTY OxAD OxFF 4 14 Global Encoder Based Position Control Instruction gQEC gQEC x Function Setup closed loop encod
17. on Before assign an ID to a UIM242XX controller please make sure the UIM2501 controller and the UIM242XX controller are connected together using the standalone operation scheme Figure 0 3 After powering up user can use the following instruction to assign an ID to the UIM242XX controller SETADR x or SET x Function Assign an ID x to a UIM242XX controller Variable Integer x 5 6 7 125 ACK OxAA Controller ID 0xDD OxFF OxDD is the Message ID of SETADR SETADR is the abbreviation of Set Address Every time there can be only one UIM242XX controller linked to the UIM2501 controller to get the ID assigned Once an ID is assigned the ID will be stored in the UIM242XX controller s non volatile memory Comment 4 2 Object Specify Instruction ADR To operate a specific UIM242xx controller user needs to first notify the UIM2501 controller which UIM242 controller is suppose to receive instructions Therefore before sending motor control instructions user needs to use the following instruction to specify the UIM242xx controller s ID ADR x Function Specify the operation object by node ID x Variable Integer x 5 6 7 125 ACK OxAA Controller ID 0xDO OxFF OxDO is the Message ID of ADR ADR is the abbreviation of address C t Lui D B sch l l SCHEER Once an operation object is specified all object specific instructions will be sent to this specified object the U
18. p DIP1 and DIP2 are assigned to other RS232 related features refer to the RS232 communication section DIP8 is used to enable the built in terminating resistor Unless necessary please maintain the DIP positions as shown in following Figure Figure 0 2 Terminal Description Actuator Terminating Resistor Enable M501110926EN Page 4 UI Robot Technology Co Ltd UIM2501 TYPICAL APPLICATION UIM2501 converter can work with one UIM242 or UID820 controller or a set of UIM242 and UID820 controllers in a CAN network Typical applications are described below Single Slave Operation If only one UIM242 or UID820 is used following wiring scheme figure 0 3 can be applied For the wiring scheme of UID820 digital IO controller please refer to the UID820 user manual Please note that this wiring scheme is mandatory when assigning a controller ID to a UIM242 controller motor is not required Details are provided in Section 4 1 Please note Both ends of the CAN bus should be terminated with1200 terminating resistors As UIM2501 converter has a build in terminating resistor To enable the terminating resistor simply toggle the DIP8 to the ON position On the UIM242 controller side user needs to attach a resistor to the end of the bus as shown in figure 0 3 Furthermore CANH and CANL should be a twisted wire pair Stepper Motor Si Caen P DC Supply Figure 0 3 Wiring Scheme for
19. unity Wide Supply Voltage Wide supply voltage range from 6 40VDC GENERAL DESCRIPTION The UIM2501 RS232 CAN 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 With the UIM2501 user will be benefited from the advantages of the CAN network and the simplicity of RS232 protocol and no need to deal with the complicated CAN protocol no worry about the communication distance and noise immunity One UIM2501 controller can network with up to 100 UIM242XX controllers Interfacing the UIM2501 is simple intuitive and fault tolerating Users are not required to have stepper motor driving or CAN protocol knowledge UIM2501 is compact in size The enclosure is made of die cast aluminum to provide a rugged durable protection and improves the heat dissipation UI Robot Technology Co Ltd M501110926EN Page 3 UIM2501 CAN RS232 Control Protocol Converter TERMINAL DESCRIPTION Figure 0 1 Terminal Description 5 al CG 5 C EA L To avoid loss of terminal screws please always DIP Switch l keep screws tightened Description of Screw Terminals RS232 Connector DB 9 Female Pin connector DIP SWITCH UIM2501 controller has an 8 bit DIP switch which serves multiple functions When powering up DIP1 DIP7 are read as the UIM2501 controller s ID address After powering u
20. xx controllers found OxDO is the Message ID of gREG Notice 0xDO also is the Message ID of ADR However ACK message of ADR is started with OxAA while the feedback message of gREG is started with OxCC A1 A8 are the first 8 IDs found An 0 means not found Once this instruction is executed by the UIM2501 Controller the total number of all subsidiary UIM242xx controllers and their ID are recorded in the UIM2501 controller The returned QTY servers as an indicator of the health of the network Comment 4 5 Global Motor Enable Instruction gENABLE gENABLE or gENA Function Enable the H Bridges of all nodes UIM242s Variable N A ACK OxAA QTY OxAD OxFF User can first set the motion parameters to every UIM242xx Controller one by Comment Sege one and then issue this instruction to enable all motors motion M501110926EN Page 16 UI Robot Technology Co Ltd UIM2501 4 6 Global Motor Disable Instruction gOFFLINE gOFFLINE or gOFF Function Disable the H Bridge of all nodes UIM242s Variable N A ACK OxAA QTY OxAD OxFF Comment User can shutdown all motors using this instruction especially in an emergency 4 7 Global Motor Current Setup Instruction gCUR gCUR x Function Set motor phase current for all nodes UIM242s Variable Integer x 0 1 80 ACK OxAA QTY OxAD OxFF 4 8 Global Auto Current Reduction Instructio
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