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1. 46 4120130828 UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller Figure 9 2 Conversion from five 7bits message data to a 32bits data Tia Tea sa eo so oa geq Heug 11991 EZ ve Ge 92 92 62 oe eta o at Jaye 2 eouenbes 44 xx bod feas ear ease Aap eat 7 Xx Xx xeH panao Page 47 M4120130828EN UI Robot Technology Co Ltd UIM24102 04 08 9 3 Instruction Description This section describes the detail of the instructions mentioned in this document In the alphabetic order 1 Check desired motor status Format Description Check desired motor status ACK AA 00 ASB CUR VO V1 V2 P0 P1 P2 P3 P4 FF Comment ASB gt gt Received data 0 CUR gt gt Received data 1 V0 P4 gt gt Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 fullstep 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp 0 V2 is the converted value for desired speed 16 bits Figure 9 1 PO P4 is the converted value for desired displacement 32 bits Figure 9 2 Page 48 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 2 ACRn Format Description ACK Com
2. Screw Terminal Rectangular Plug Socket UI Robot Technology Co Ltd M4120130828EN Page 3 UIM24102 04 08 UIM24102 04 08 RS232 Instruction Control Miniature Integrated Stepper Motor Contrller Miniature Integral Design Embedded DSP Microprocessor Miniature size 42 3mm 42 3mm 16 5mm Firmware DSP 64bits calculating precision Fit onto motors seamlessly Absolute position record feedback reset by instruction or sensor Die cast aluminum enclosure improving heat dissipation and durability Quadrature encoder based closed loop control Motor Driving Characteristics Advanced motion control linear and non Wide supply voltage range 12 40VDC linear acceleration and deceleration S Output current 2 4 8A instruction SHINE SORS adjustable 2 sensor input ports Fullto 16th micro step resolution 8 programmable real time event based Dual full H bridge with PWM constant Change notifications current control 13 programmable actions triggered by 6 sensor events Accurate micro stepping and current control Simple instructions Network Communication Intelligent control intuitive fault RS232 three wire serial communication tolerating Max baud rate 57600 bps GENERAL DESCRIPTION UIM24102 UIM24104 UIM24108 are miniature stepper motor controllers with RS232 interface UIM241 controllers can be mounted
3. ReceivePOS 1000 Reach Position 1000 2000 lt Receive STPO Receive OFF 1000 0 T Time Operation or Control Desired Current Position Error Desired Motor Motor Event Mode Position Position Speed Direction Speed Power up VT stored poled 0 position position Stored Stored position position ORG VT 0 0 POS PT 0 2000 SPD PT 0 2000 Position reached PT 0 POS 4000 Position reached PT SPD PT POS PT Position reached PT PT mode off OFF VT ENA VT BPW N bh bb Ore hh Position Velocity Tracking PVT Position Velocity Tracking PVT mode is an extended mode of Position Tracking PT mode In this mode user can enter both desired position and desired speed UIM241XX controller will instruct motor to run at the desired speed until it reaches the desired position and then stop User can enter successively or discontinuously both desired speed and desired position Shifting between the three modes is displayed in the following chart UI Robot Technology Co Ltd M4120130828EN Page 25 UIM24102 04 08 Figure6 3 Shifting between Motion Control Modes Instruction OFF H bridge disabled logic circuit working can accept buffer and operate instructions Instruction ENA Instruction STP 0 position or displacement successively or Approach the desired discontinuously Speed approach the
4. D4 FF B2 gt gt The message ID of MDEn FG gt gt Equal to the DM bit of the MCFG Hj DM Denote the input mode value period FG 1 unit ms FG 0 unit pps s DO D4 gt gt Received data 0 4 D0 D4 is the converted value for the value of the deceleration rate 32 bits Figure 9 2 Page 66 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 20 MDE Check Current Deceleration Rate Format MDE Description Check current deceleration rate ACK AA 00 B2 FG 00 D1 D2 03 D4 FF Comment Refer to ACK comment of MDEn UI Robot Technology Co Ltd M4120130828EN Page 67 UIM24102 04 08 21 MDL Check Controller Model Format MDL Description Check the Model installed optional modules and firmware version of current controller ACK CC 00 DE 18 02 CUR asb VO V1 V2 FF Note denotes one byte the data is hexadecimal Comment DE Message ID of instruction MDL CUR The Max phase current e g 20 means 2 0 A asb gt gt The installed optional modules and sensor ports 0 V2 gt gt Received data 0 2 VO V2 is the converted value for the firmware version 12 bits Figure 9 1 Structure of asb is as follow Bit 7 6 5 4 3 2 1 0 Defination Int QE Closed loop Adv Motion No of sensor port For example if bit 4 is 1 the Advanced Motion Control module is instal
5. S2IE S2 Status Change RTCN 0 Disable sensor port 2 S2 status change RTCN 1 Enable S2 status change RTCN S1IE S1 Status Change RTCN 0 Disable sensor port 1 S1 status change RTCN 1 Enable S1 status change RTCN 5 5 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page ICFn Set initial configuration register 59 ICF Check initial configuration register 60 MCFn Set master configuration register 63 MCF Check master configuration register 64 Page 22 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 6 0BASIC CONTROL INSTRUCTIONS UIM241 controllers support abundant motion control instructions The instructions of Ulm241 are valid for both basic motion control without acceleration deceleration or S curve displacement control and advanced motion control if the module is installed and enabled User can select either basic or advanced motion control by configuring the Master Configuration Registration MCFG In this Chapter introduction to UIM241XX motion control modes is provided 6 4 General Introduction of Motion Control Modes There are three motion control modes for UIM241XX controller Velocity Tracking VT Position Tracking PT and Position Velocity Tracking PVT Velocity Tracking VT In the
6. but it must be integral multiple of 100 ACK AA Reserved BD FF Comment Reserved gt gt Factory use BD gt gt Message ID of instruction BDR Note 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 UI Robot Technology Co Ltd M4120130828EN Page 51 UIM24102 04 08 5 BLC Format Description ACK Comment Backlash compensation BLCn Set value of backlash compensation in reciprocating motion n 0 1 65535 Unsigned integer Units pps open loop AA 00 DE BO B1 B2 FF DE gt gt Message ID of instruction BLCn BO B2 gt gt Received data 0 2 BO B2 is the converted value for the value of backlash compensation 16 bits Figure 9 1 Page 52 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 6 BLC Check backlash compensation Format BLC Description Check the value of backlash compensation in reciprocating motion ACK AA 00 DE BO B1 B2 FF Comment Refer to ACK comment of instruction BLCn UI Robot Technology Co Ltd M4120130828EN Page 53 UIM24102 04 08 7 CURn Motor Current Adjusting Format CURn Description Set the output phase current to n n 0 1 80 unsigned integer 0 80 represent 0 8 0 amps ACK AA 00 ASB CUR VO V1 V2 P0 P1 P2 P3 P4 FF Comment
7. gt gt Only for close loop n 2 gt gt Motion triggered by rising edge of S1 1 23 gt gt Motion triggered by falling edge of S1 4 gt gt Motion triggered by rising edge of S2 125 gt gt Motion triggered by falling edge of S2 ACK AA 00 D1 FF Comment D1 Message ID of instruction STO Note Require controller Firmware version being 1232 or higher This instruction will affect real time performance It takes around 15 ms for the instruction to be executed It is recommended that sending this instruction when the motor is idle and wait 20ms before sending other instructions Before set parameters disable the controller first Default setting for STOO 300 300 0 0 0 0 it can be configurated by instruction Parameters for each edge can be different Not all parameters are needed the non value parameter will be assigned as the value of parameters for STOO Example Disable the controller OFF Set 1st group of parameters SPDu STPn MDEn MMSn MMDn Banding it to rising edge of S1 STO2 Set 4th group of parameters SPDn STPn MACn MDEn MMSn MMDn Banding it to falling edge of S2 STO5 Page 86 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 40 STPn Displacement Control Format STPn Description the desired incremental displacement i e the displacement relative to current position n 2 000 000 000 1 0 1
8. 241 Node ID is always 00 Message ID The property of the current message For example CC 00 AO FF where AO denotes that there is a low level on sensor 1 For details please refer to following sections Data Has a 7bits data structure High is in front and low is in the back In figure 9 1 and 9 2 examples are shown on how to convert a set of 7bits data into 16bit data and 32bit data Obviously one 16bit data takes three 7bit data to represent and one 32bit data takes five 7bit data Terminator The end of a feedback message UIM motion controller utilizes FF or FE as the terminator If terminator is FF it means there is no follow up message if terminator is FE it means there has follow up messages Note there are two types of feedback that has NO message ID ACK message and Motor Status feedback controller s response to FBK instruction Other messages could have NO data such as some real time change notification messages Figure 9 1 Conversion from three 7bits message data to a 16bits data Data received Hex XX XX 1 Byte 2 3 Byte XX XX FF Receive sequence earlier gt later i 716 5 4 3 2 1 0 eve oT To 7 6 5 4 3 2 1 0 e espesor pos oso 7 86 5 4 3 2 1 0 0 Tes Tes TosTes es or Jon 14 13 12 11 1 0 9 8 7 6 5 4 3 2 1 0 1601 Binary Dat 8 os s oe es c6
9. 3 4 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page Set the RS232 communication baud rate of 54 ii UIM241XX controller to n MDL Check the Model installed optional modules and 55 firmware version Page 18 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 4 0REAL TIME CHANGE NOTIFICATION UIM241 controllers support Real time Change Notification RTCN Similar to interrupter of CPU a RTCN is generated and sent when a user predefined event happens The length of a RTCN is 4 bytes The time from the occurrence of the event to the sending of the RTCN is less than 1 millisecond The time is decided by baud rate The transfer time is about 0 8ms 0 0008s when the baud rate is 57600 Then it takes only 1 5ms from an event happening to a RTCN being received 4 1 RTCN Structure The structure of an RTCN message is shown below CC Controller ID Message ID FF The RTCN system is able to response to the following events Table4 1 Real time change notification events No Event Message ID Description 1 falling edge of S1 AO Voltage on S1 High gt gt gt Low 2 rising edge of S1 A1 Voltage on S1 Low gt gt gt High 3 falling edge of S2 A2 Voltage on S2 High Low 4 rising edge of S
10. 7 6 5 4 3 2 1 0 Defination AH 11 0 Reserved Bit 15 12 Unimplemented read as 0 Bit 11 0 AH lt 11 0 gt Upper limit of analog threshold ATCONL structure is as follows UI Robot Technology Co Ltd M4120130828EN Page 41 UIM24102 04 08 Bit 15 14 8 12 11 10 9 8 7 6 5 4 3 2 1 0 Defination Reserved AL lt 11 0 gt 7 15 12 Unimplemented read as 0 7 11 0 AL lt 11 0 gt Lower limit of analog threshold Note ATCONH ATCONL input range is 0 4095 with 0 corresponding to OV and 4095 corresponding to 5V 4095 is the maximum of a 12bits data Page 42 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 8 8 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page SCFn Set sensor control configuration register n 78 SCF Check sensor control configuration register 79 SFB Check sensor status 80 STGn Set digital input sampling mode 83 STG Check digital input sampling mode 84 STO Store motion control parameters 85 STOn Bind motion control parameters to sensor edge 86 8 9 Example of S12CON Configuration When configuring S12CON user needs to first fill every bit of the S12CON according to the information provided in previous sections and then affixes the suffix code 000
11. Bit13 GEI Enable Disable Guadrature Encoder Interface 0 Disable Quadrature Encoder Interface 1 Enable Quadrature Encoder Interface Bit12 Unimplemented Read as 0 Bit11 QEM Enable Disable Quadrature Encoder based Closed loop Control Module 0 Disable Quadrature Encoder based Closed loop Control Module 1 Enable Quadrature Encoder based Closed loop Control Module Bit10 CM Advanced Motion Control Mode 0 Disable advanced motion control module use basic control mode 1 Enable advanced motion control module Bit9 AM Acceleration Mode 0 Value mode Unit is pps sec or pulse square second 1 Period mode Unit is millisecond Bit8 M Deceleration Mode Value mode Unit is pps sec or pulse square second D 0 1 Period mode Unit is millisecond Bit 6 Unimplemented Read as 0 Bit5 ORGIE Origin Zero Position RTCN 0 Disable the Origin zero position RTCN UI Robot Technology Co Ltd M4120130828EN Page 21 UIM24102 04 08 Bit4 Bit3 2 Bit Bito 1 Enable the Origin zero position RTCN Once the value of pulsing counter or encoder counter is zero a message will be send to user device automatically STPIE Displacement Control STP POS QEC Completion RTCN 0 Disable the displacement control completion RTCN 1 Enable the displacement control completion RTCN Once the displacementinstruction has been executed a message will be send to user device automatically Unimplemented Read as 0
12. NO data such as some real time change notification messages 2 2 Macro Operator and Null Instruction In practice users will combine several instructions together and send them at once Normally the user device will receive an ACK message on every instruction sent these message will cause pressure on CAN bus Especially for those basic motion instructions like SPD DIR MCS which have the same ACK sending a set of ACK is unnecessary For example CUR 20 MCS 16 SPD 5000 ENA The above instruction set will cause 4 ACK messages being transferred on the RS232 bus UI Robot Technology Co Ltd M4120130828EN Page 15 UIM24102 04 08 To facilitate the above situation user can use the following method to send a set of instructions Instruction 1 Instruction 2 Instruction N N lt 10 For example CUR 20 MCS 16 SPD 5000 ENA UIM241XX will only send back 1 ACK on receiving the above message In the above example and i is called Macro Operator Instructions between a pair of macro operators will get no ACK message The semicolon at the end of the instruction set has no letter or number before it That is called Null Instruction The only purpose of a Null Instruction is to tell the UIM242XX to feedback all the inquired parameters of the basic motion control i e Enable disable Current Micro stepping Auto current reduction Direction Speed and Displacement Actually user can simply send the null ins
13. and encoder counter Emergency stop e Off 1 4 Instructions and Interface Instructions for UIM241XX are simple intuitive and fault tolerating UI Robot Technology Co Ltd M4120130828EN Page 13 UIM24102 04 08 For example in order to command a speed of 1000 steps sec the following instructions are all valid SPD 1000 SPD 1000 SPD 1000 SPD1000 or even SPD amp 1000 In case that a wrong instruction is entered the controller will return an ACK of error message Incorrect instructions will not be executed to prevent accidents UIROBOT provides free Microsoft Windows based VB VC demo software and corresponding source code to facilitate the quick start of user device side programming Page 14 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 2 0 INSTRUCTION AND FEEDBACK STRUCTURE Once UIM241 XX receives a message instructions from the user device it will first ACK back repeat the received instruction and then execute the instruction UIM241XX will further send back a message to inform the user device of the completion of the instruction Before a new instruction is received UIM241XX will keep current working status e g running stop etc 21 Instruction Structure An instruction is a message sent from the user device to UIM241 to Comment certain operation Instructions of UIM241 follow the rules listed below INS n or INSx n or INS
14. instruction SFB In order to use the sensor events user may need to further setup the input upper and lower thresholds i e AH AL in figure 8 2 If the sensor module detects the analog input voltage is changing from lower than AH to high than AH an S1 rising edge event will be created meanwhile S1 is assigned a logic value 1 i e S1 1 If the sensor module detects a change on S1 from higher than AL to lower than AL an S1 falling edge event will be created meanwhile S120 Otherwise S1 is kept unchanged Page 38 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 8 3 Digital Input Sampling Mode Digital input of UIM241 has three sampling mode 1 Continuous sampling 2 Intermittent sampling 3 Single sampling Continuous Sampling In continuous sampling mode UIM241 controllers detect level fluctuation at port S1 S2 uninterruptrdly Once a fluctuation happens controllers will call corresponding program execute pre set actions and or send a message to user device If user sets the sampling interval to O by using instruction STG the controllers will work in continuous sampling mode Intermittent Sampling In intermittent sampling mode user needs to set sampling interval T 1 60000ms at first Once a fluctuation is detected at one port UIM241 controllers will not detect the level fluctuation at this port until T 1 ms later When working in this mode it is availabl
15. onto NEMA17 23 34 42 series stepper motor through adapting flanges User device can command these controllers through RS232 protocol using ASCII coded instructions Instructions are simple intuitive and fault tolerating User is not required to have advanced knowledge on stepper motor driving UIM241 can realize open loop and encoder based closed loop control UIM241 s architecture includes communication system basic motion control system absolute position counter quadrature encoder interface and real time event based change notification system Furthermore there are three optional modules can be installed per customer request Advanced Motion Control Module linear non linear acceleration deceleration S curve PT PVT displacement control Encoder based Closed loop Control Module and Sensor Input Control Module Embedded 64 bit calculating precision DSP controller guarantees the real time processing of the motion control and change notifications Entire control process is finished within 1 millisecond Enclosure is made of die cast aluminum to provide a rugged durable protection and improves the heat dissipation Page 4 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller TERMINAL DESCRIPTION Figure0 1 Terminal Description Motor Terminals E Control Termianals Control Terminals Designator Description 1 V Supply voltage 1
16. receive a feedback message of falling edge on port S1 S2 8 10 Example of ATCONH ATCONL Configuration Similar to S12CON configuration user needs to first fill every bit of the ATCONH ATCONL according to the information provided in previous sections and then affixes the suffix code 0011 0010 An example is provided below System Description A reciprocating mobile platform has one linear potentiometer attached to the mobile table Within the stroke range the potentiometer outputs 0 6V 4V Requirements 1 As soon as the sensor output is less than 0 6V the stepper motor starts to run forward until the potentiometer outputs arrives 4V 2 As soon as the sensor output is higher than 4V the stepper motor starts to run backward until the potentiometer outputs reaches 0 6V Realization 1 First stop the motor by sending OFF 2 Set MCFG lt ANE gt 1 MCFG lt CHS gt 0 MCFG lt S1IE gt 1 get MCFG 1000 0000 0000 0001 binary 0x8001 hex 32769 decimal 3 Send instruction MCF x8001 or MCF 32769 4 Itis required Start Run Forwardly on S1 falling edge when analog input lt 0 6V therefore S1FACT lt 3 0 gt 1010 5 Itis required Start and Run Reversely on S1 rising edge when analog input gt 4V therefore S1RACT 3 0 20010 6 Fill the S12CON with above bits get S12CON 0000 0000 0010 1010 binary 7 Add suffix code 0000 for S12CON get SCFG 0000 0000 0010 1010 0000 binary 0x2A0
17. 0 binary An example is provided below System Description A reciprocating mobile platform has one ON OFF stroke limit sensor at each end When the mobile table hit the sensor a OV presents Requirements 1 As soon as one sensor S2 is hit the stepper motor starts to run reversely until the table hits the other sensor S1 2 As soon as S1 is hit the stepper motor starts to run positively until the table hits S2 Realization 1 First stop the motor by sending OFF 2 Weare not interested in the rising edge of S2 so set S2RACT 3 0 0000 3 Itis required Start and Run Reversely on S2 failing edge so set S2FACT 3 0 0010 Same as 2 set S1RACT lt 3 0 gt 0000 It is required Start and Run Forwardly on S1 failing edge so set STFACT 3 0 21010 Fill the S12CON with above bits get S12CON 0000 0010 0000 1010 binary Affix the suffix code 0000 to S12CON get SCFG 0000 0010 0000 1010 0000 binary 20x20A0 hex 8352 decimal 8 Send instruction SCFx 20A0 or SCF 8352 9 Setup desired speed by sending instruction SPD 5000 10 Burn parameters into EEPROM by sending STO 11 Press any one of the limit sensors the mobile platform will work 12 Disconnect the user device and restart the UIM241 controller the system will automatically run UI Robot Technology Co Ltd M4120130828EN Page 43 UIM24102 04 08 13 If enable auto feedback once the motor touches limit switch user device will
18. 2 40VDC 2 GND Supply voltage ground 3 RX To the RX pin on user device 4 TX To the TX pin on user device 5 GND To signal ground on user device 6 AG Analog ground for sensors 7 S1 Sensor input port 1 8 S2 Sensor input port 2 9 RST Reset R232 baud rate to 9600 Motor Terminals Terminal No Description A A Connect to the stepper motor phase A Connect to the stepper motor phase WARNING Incorrect connection of phase winds will permanently damage the controller Resistance between leads of different phases is usually gt 100KQ Resistance between leads of the same phase is usually lt 100Q It can simply measured by a multimeter WARNING Except supply voltage port and motor terminal voltage on port must be kept between 0 3 5 3V Otherwise the controller will be damaged UI Robot Technology Co Ltd M4120130828EN Page 5 UIM24102 04 08 TYPICAL APPLICATION Wiring of UIM241 is simple UIM241xx controllers use 3 wire RS232 interface to communicate with user devices Terminal 3 should be connected to the RX of user device Terminal 4 should be connected to the TX of user device Terminal 5 should be connected to the GND of user device An example is provided in figure 0 2 User can use an existing RS232 cable or a converted cable If the sensor inputs are used make sure the signal are wired to the terminal 7 and or terminal 8 and the signal ground are wired to the terminal 6 Furthermore please
19. 2 000 000 000 signed integer ACK AA 00 B6 PO P1 P2 P3 P4 FF Comment B6 gt gt The message ID of STPn PO P4 gt gt Received data 0 4 PO P4 is the converted value for the desired motor displacement 32 bits Figure 9 2 Note Displacement is essentially defined as counts of the pulse or encoder counter Actual pulse sended to motor is controlled by displacement counter The actual motor displacement is also relative to the micro stepping resolution or encoder resolution If an STPO instruction is received before the former STP instruction is completed UIM241 will execute the current instruction and stop motor The former STP instruction is regarded as being completed Meanwhile system will shift from PT mode to VT mode If an STP instruction is received while the motor is already running the former steps will not be counted in the displacement of current STP instruction Example For a 1 8 stepper motor if STP 200 pulse User sent STP200 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 M4120130828EN Page 87 UIM24102 04 08 41 STP Check Displacement Format STP Description Check current incremental displacement ACK CC 00 B3 PO P1 P2 P3 P4 FF Comment B3 gt gt The message ID of current incremental displacement PO P4 gt gt Received data 0 4 PO P4 is t
20. 2 A3 Voltage on S2 Low gt gt gt High 5 exceed upper limits A1 Analog input user preset upper limit 6 below lower limit Ao Analog input user preset lower limit 7 displacement control complete A8 The desired position is reached 8 zero position A9 Position counter reaches passes zero Note When S is configured as analog A1 denotes event 9 otherwise A1 denotes event 2 When S1 is configured as analog AO denotes event 10 otherwise AO denotes event 1 4 2 Enable Disable RTCN Every RTCN can be enabled or disabled through user instruction Enable disable the RTCN is achieved by the writing to the Master Configuration Register s ORGIE bit MCFG lt 5 gt STPIE bit MCFG lt 4 gt S2IE bit MCFG lt 1 gt and S1IE bit MCFG lt 0 gt Please refer to section 5 4 for details Please note to realize the sensor event control user needs to further configure the sensor control registers S12CON and ATCON Please refer to Chapter 8 0 for details UI Robot Technology Co Ltd M4120130828EN Page 19 UIM24102 04 08 5 0 INITIAL AND HARDWARE FIRMWARE CONFIGURATION UIM241 s hardware and firmware can be configured through user instructions There are 4 configuration registers for UIM241 Initial Configuration Register Master Configuration Register S12CON and Analog Threshold Register In this chapter only the Initial Configuration Register and Mater Configuration Register are described User can find details about the other r
21. 200 decimal 00C8 hexadecimal So DO C8 D1 00 hexadecimal 3 Then send instruction STGx C8 00 00 UI Robot Technology Co Ltd M4120130828EN Page 83 UIM24102 04 08 37 STG Check Digital Input Sampling Mode Format STG Description Check digital input sampling mode of S1 S2 ACK AA 00 C9 SO S1 S2 S3 84 S5 FF Comment Refer to ACK comment of instruction STGxn Page 84 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 38 STO EEPROM Store Format Description ACK Comment Note STO Banding motion parameters to motions Triggered by sensor edge or controllered by instruction Motion parameters include 1 Acceleration 2 Deceleration 3 Max starting speed 4 Max cessation speed For sensor there also has 5 Speed 6 Displacement AA 00 D1 FF D1 gt gt The message ID of STO This instruction will affect real time performance It takes around 20 ms for the instruction to be executed It is recommended that sending this instruction when the motor is idle and wait 20ms before sending other instructions UI Robot Technology Co Ltd M4120130828EN Page 85 UIM24102 04 08 39 STOn Parameter Banding Format STOn Description Banding motion parameters to motions Triggered by sensor edge or controllered by instruction q 0 1 5 n 0 gt gt Montion controlled by instrcution n 1
22. 24102 04 08 1 0 OVERVIEW UIM241 miniature integrated stepper motor controllers communicate with user device using RS232 protocol The user device controls UIM241 through ASCII coded instructions Communication baud rate can be changed through instruction UIM241 has a size of 42 3mm 42 3mm 16 5mm and is designed to mount onto NEMA17 23 34 42 stepper motors seamlessly UIM24102 can provide 0 7 2A output current UIM24104 can provide 1 5 4A output current UIM24108 can provide 3 8A output current Current value is adjustable within the range through instructions Once set the value is stored in EEPROM UIM241XX controller also has the function of high speed current compensation to offset the effect of Back Electromotive Force BEMF of motor at high speed and therefore to facilitate motor s high speed performance UIM241XX series of controllers work with 12 40VDC power supply UIM241XX can perform open loop control The control system comprises communication System basic motion control system absolute position counter and real time event based change notification system There are also two optional modules to be added on customer request Advanced Motion Module linear non linear acceleration deceleration S curve PV PVT displacement control and Sensor Input control Module The embedded 64 bit calculation precision DSP controller guarantees the real time processing of the motion control and change notifications similar to the interrupters o
23. 30828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 5 2 Auto enable Once ICFG ENA is set to 1 UIM241 will auto enable the H Bridge of motor after the power is on for T ms the interval time T can be set through instruction For details of the instruction please refer to Chapter 9 5 3 User Program User can program on UIM241 Once ICFG PROG is set to 1 UIM241 will execute user program after the power is on For details please refer to UIM Programming Manual UIM241 still can execute user instructions when user program is running 5 4 Master Configuration Register Master Configuration Register is used to enable disable the hardware firmware functions Once configured it will be effective immediately and its value will be burned into the on board EEPROM The burning process will not affect any real time process Master Configuration Register is a 16bits register with the following structure MCFG bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 value ANE CHS GE X CM AM DM X X brcir stpie X X S2IE StIE Bit15 ANE Enable Disable Analog Input 0 Disable the analog input all sensor are set to digital input 1 Enable the analog input Port S1 can be set to analog input Bit14 CHS Analog Input Channel 0 Analog input on port S1 1 Analog input on port S3 only for UIM242 Note This bit is always 0 for UIM241 means only S1 can be configured as Analog Input
24. 41XX receives following ASCII message ABC A message started with AA AB AC at the user device implies a successful hand shake A greeting Message from UIM241 XX has the following structure Bye 1 2 3 4 5 6 7 8 9 10 11 12 13 Value AC 18 01 CUR Module Firmware Version 00 00 FF Where AA AB AC denotes the greeting message 18 01 denotes the UIM241 controller CUR denotes the maximum motor current the controller can provide Module denotes the optional control modules the controller installed Firmware 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 9 1 3 3 Reset Baud Rate to Factory Default 9600 In case of forgotten the baud rate and cannot establish the connection please take the following steps to reset the baud rate to factory default of 9600 UI Robot Technology Co Ltd M4120130828EN Page 17 UIM24102 04 08 1 Reboot the controller 2 n 10 seconds short the terminal 9 figure 0 1 to analog ground terminal 6 for 2 times with intervals around 1 second 3 Each time the LED on the controller will flash If exceed 10 seconds please restart from step 1 4 If 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 5 Use BDR instruction to change the baud rate to desired value
25. ASB gt gt Received data 0 CUR gt gt Received data 1 VO P4 gt gt Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF MCS 1 0 full step 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp 0 V2 is the converted value for desired speed 16 bits Figure 9 1 PO P4 is the converted value for desired displacement 32 bits Figure 9 2 Note Value of this instruction will be stored in 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 being executed Page 54 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 8 ENA H Bridge Enable Format ENA Description Enable the stepper motor driver i e H bridge driving circuit ACK AA 00 ASB CUR VO V1 V2 P0 P1 P2 P3 P4 FF Comment ASB gt gt Received data 0 CUR gt gt Received data 1 V0 P4 gt gt Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 fullstep 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp V0 V2 is the converted value for desired speed 16 bits Figure 9 1 PO P4 is the convert
26. Action RTCN or Not 0000 N A No RTCN Ignore MCFG lt S2IE gt lt S1IE gt 0001 N A Depends on MCFG S2IE S1IE 0010 Start and Run Reversely Depends on MCFG lt S2IE gt lt S1IE gt 0011 Decelerate until Stop Depends on MCFG S2IE S1IE 0100 Emergency Stop Depends on MCFG S2IE S1IE 0101 Reverse Displacement Control Depends on MCFG S2IE S1IE 0110 Reset position Depends on MCFG S2IE S1IE 0111 Reset position Dispalcement Control Depends on MCFG S2IE S1IE 1001 Direction change displacement control Depends on MCFG S2IE S1IE 1010 Start and Run Forwardly Depends on MCFG S2IE S1IE 1011 Reset position Decelerate until Stop Depends on MCFG lt S2IE gt lt S1IE gt 1100 Reset position Emergency Stop Depends on MCFG S2IE S1IE 1101 Forward Displacement Control Depends on MCFG S2IE S1IE 1110 Change direction and run Depends on MCFG lt S2IE gt lt S1IE gt 1111 OFF Depends on MCFG S2IE S1IE 8 7 Analog Threshold Control Register ATCONH amp ATCONL ATCONH Analog Threshold Control High and ATCONL define the upper and lower limit of the analog threshold Both registers are 16bits registers in the controller memory space configured through SCF instructions However when configuring user needs to affix a 4bits suffix code to point to a specific register The suffix code for ATCONL is 0010 binary the suffix code for ATCONH is 0011 binary ATCONH structure is as follows Bt 15 14 13 12 11 10 9 8
27. Cn Page 62 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 16 MCFn MCFxn Master Configuration Register Instruction Format MCFn or MCFxn Description Setup Master Configuration Register 1 2 Byte Defination If n is decimal Use format MCFn Where n 0 1 65535 16 bits unsigned integer If is hexadecimal Use format MCFxn Where n has 2 bytes and the structure is as follow 0 1 DO D1 Where D1 DO compose a hexadecimal 16bit data D1 is high DO is low For example Master Configuration 0x1234 Then send instruction MCFx 34 12 Each Byte must have an even number of digits or letters ACK AA 00 BO C1 C2 FF Comment BO gt gt The Message ID of MCFn CO C2 gt gt Received data 0 2 CO C2 is the converted value for the value of master configuration register 16 bits Figure 9 1 Note If n using decimal first convert the 16 bits binary number to a decimal based number Example Instruction MCF34611 or MCFx8733 ACK AA 05 BO 02 OE 33 FF Comment Convert 02 OE 33 to 16 bits 2Bytes data get 0x8733 84611 decimal Here assume Controller ID 5 UI Robot Technology Co Ltd M4120130828EN Page 63 UIM24102 04 08 17 MCF Check Master Configuration Register Format MCF Description Check the value of the Master Configuration Register ACK AA 00 BO CO C1 C2 FF Comment Refer t
28. InSIrUCtiONS 4 hinaan ana an aan am An aa 23 6 1 General Introduction of Motion Control Modes ooo Wo oom Wana 23 6 2 Basic Instruction Acknowledgment 26 6 3 Motor Status Feedback Message oooooooo WoWo W WWW WWW WWW Wanna 27 6 4 28 7 0 Advanced Motion Control nana aa mana 29 7 1 Linear Acceleratlotri ec ORDRE ERR AREE AIRE EET RA ANE Re RERUM aan makna 29 7 2 Linear Deceleration ienten Etude ie HERE e ra 29 7 3 Nonlinear Acceleration 5 1 1 c Lee a a eve da e Len eee eid ea 29 7 4 2 2 Na ee eO eati ite EMI Ee na 31 7 5 S curve Displacement Control iss ure rn nba man eka nas oe dents iR E ce Grp eg e belie cep ra aka 32 7 6 Direction Control and Position Counter oooo oom 33 7 7 Backlash GompenSatiOh 7 5 Senada ngan nan ino RH ena nana 34 7 8 Advanced Motion Control Instructions 34 7 9 Enable disable Advanced Motion Control Module MCFG oo Wo Wanna 35 7 10 Instruction istic nin euet ee edat gn ere beds 35 8 0 Sensor Input COMMON EL 37 8 1 Rising and Falling Edge inant iie pret rare eee Dre ee 38 8 2 Analog Input and Thresholds ooooooooooWoWoW WWW 38 8 3 Didital Input Sampling nina 39 8 4 Sensor Event Action and Binding c ccccssecceeeeneeeeeenceeeese
29. Instruction symbol INS comprises three letters with no space between them and is not case sensitive If there is an x INSx then it means the value is hexadecimal Value comprises set of numbers Some instructions have no value such as SPD STP etc Each instruction must end with semicolon Instruction without semicolon will cause unpredictable results Feedback Message is the message sent to user device from UIM241 controller The maximum length of feedback messages is 13 bytes Feedback messages from UIM241 follow the structure below Header Controller ID Message ID Data Terminator There are 3 kinds of headers AA CC and EE Controller ID the identification number of current controller in a network also known as Node ID For UIM241 it is always 00 Message ID denotes the property of the current message Data has a 7bits data structure High is in front and low is in the back The 7bits data can be translated into 16bits data through the shifting operation One 16bit data takes three 7bits data to represent Terminator denotes the end of a feedback message UIM241 controller utilizes FF or FE as the terminator If terminator is FF it means there is no follow up message If terminator is FE it means there has follow up messages Note there are two types of feedback that has NO message ID ACK message and Motor Status feedback controller s response to FBK instruction Other messages could have
30. UWIROBOT United Intelligence Robot Technology User Manual UIM241XX Series RS232 Instruction Control Miniature Integrated Stepper Motor Controller UIM24102 04 08 Please pay attention to the following before using the UIROBOT products 1 UIROBOT products meet the specification contained in their particular Data Sheet 2 UIROBOT will only work with the customer who respects the Intellectual Property IP protection 3 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 resulting fr
31. Velocity Tracking VT mode UIM241XX controller controls the motor speed to track desired speed Figure6 1 Velocity Tracking Instruction SPD 1000 received at this point Basic motion control speed rises without Current Speed acceleration process Advanced motion control linear non linear acceleration T Time Instruction SPD 1000 received at this point Basic motion control speed falls without deceleration process Current Speed Advanced motion control linear non linear 1000 deceleration T Time Please note that Sign of the value of SPD instruction instructs the motion direction For example both the instruction SPD 1000 SPD 1000 make motor run forward at 1000pps Meanwhile the instruction SPD 1000 can cause motor to run backward at 1000pps If Advanced Motion Control Module is installed speed control can be achieved through linear or non linear acceleration deceleration For details please refer to Chapter 7 0 Advanced Motion Control If Advanced Motion Control Module is not installed once a SPD instruction is received motor speed will be set to desired speed Position Tracking PT In the Position Tracking PT mode UIM241 controller will keep motor running at a speed close to the set value until it reaches the desired steps After setting the desired speed user can enter desired positions or incremental displacement continuously or discontinuously UIM241 con
32. acement control follow the preset motion parameters speed displacement acceleration code 9 Decelerate at preset deceleration until stop code 3 Emergency stop code 4 Reset position and encoder counter code 6 UI Robot Technology Co Ltd M4120130828EN Page 39 UIM24102 04 08 8 5 Reset position and encoder counter Reverse displacement control follow the preset motion parameters speed displacement acceleration code 7 Reset position and encoder counter Decelerate at preset deceleration until stop code 11 Reset position and encoder counter Emergency stop code 12 Off code 15 Introduction to Sensor Input Control Instructions There are only 5 instructions related to the sensor input control i MCF Master Configuration Register The ANE bit MCFG lt 15 gt CHS bit MCFG lt 14 gt of the master configuration register define the digital analog input of the sensor port The S1IE bit MCFG lt 0 gt and S2IE bit MCFG lt 1 gt enable disable the sensor real time change notification RTCN See section 5 4 for details SCF Sensor Configuration Register SCF is used to configure following sensor input control registers S12CON ATCONH 1 ATCONL STG Sensor Trigger Configuration STG is used to configure sensor trigger mode UIM241 has three trigger modes Single Trigger Continouns Trigger and N ms Intermittent Trigger STO Sensor Parameter Store into EEPROM STO is use
33. alue niao ACR ENA OFF DIR Mes 1 CO full step 15 116 step 3 CUR current phase current structure Bit 7 6 5 4 3 2 1 0 value N A 0 Phase Current e g 27 2 7 Amp 4 SPD2 SPDO denotes the current motor speed See figure 9 1 for how to convert to a signed 16bit integer 5 STP4 STPO denotes the current motor displacement See figure 9 2 for how to convert to a signed 32bit integer For more details on above conversion please refer to the source code of the provided demo software These software and related source code are VC VB based and free UI Robot Technology Co Ltd M4120130828EN Page 27 UIM24102 04 08 6 4 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page ACRn Set auto current attenuation ratio n 49 ACR Check auto current attenuation ratio 50 CURn Set output phase current 54 ENA Enable H bridge circuit 55 ENAn Set enable time boot after n ms enable 56 ENAxFFFF Check enable time 57 FBK Check current motor status 58 MCSn Set micro stepping resolution 65 OFF Disable H bridge circuit 73 ORG Set zero origin position 74 ORGn Reset the position to a given value 75 POSn Set desired position n open loop control 76 POS Check current position 77 SPDn Set the desired speed n 81 SPD Check
34. aximum starting speed ACK AA 00 B3 MO M1 M2 FF Comment Refer to ACK comment of MMSn Page 72 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 26 OFF H Bridge Disable Format OFF Description Disable the stepper motor driver i e H bridge driving circuit ACK AA 00 ASB CUR VO V1 V2 PO P1 P2 P3 P4 FF Comment ASB gt gt Received data 0 CUR gt gt Received data 1 V0 P4 gt gt Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 fullstep 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp 0 V2 is the converted value for desired speed 16 bits Figure 9 1 PO P4 is the converted value for desired displacement 32 bits Figure 9 2 Note Turns off the dual H bridge motor driving circuit Once controller is OFF most devices of controller including MOSFET are turn off the motor is free and the logical circuit can work UI Robot Technology Co Ltd M4120130828EN Page 73 UIM24102 04 08 27 ORG Reset Position Counter Format ORG Description Reset the position encoder counter to zero 0 is equivalent to instruction ORG 0 ACK AA 00 B7 PO P1 P2 P3 P4 FF Comment Please refer to 29 POS Page 74 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniatu
35. be aware e User is responsible for the power supply for sensors e Voltage on terminal 7 and 8 must be kept between 0 3V and 5 3V e f using an external encoder channel A should be connected to S1 channel B to S2 GND to AG Figure 0 2 Typical Application Stepper motor 12 40VDC UIM241XX Controller as an Terminal 9 is for resetting Baud Rate details in chapter 3 4 an N 2 to terminal 3 PIN3 to UIM terminal 4 PIN5 to GND UIM terminal 5 Page 6 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller INSTRUCTION SET SUMMARY Network Communication Model General Check Feedback Message Instruction Description Header ID Page BDRn Set RS232 communication baud rate AA BD 51 Check Feedback Message Instruction Description Heador ID Page MDL Check the model of controller CC DE 68 Function Configuration m Feedback Message Instruction Description Header ID Page ENAn Set enable time boot time after ms enable AA AO 56 ENAxFFFF Check enable time AA AO 57 ICFn Set initial configuration register AA DA 59 ICF Check initial configuration register AA DA 60 MCFn Set master configuration register AA BO 63 MCF Check master configuration register AA BO 64 SCEn Set sensor
36. cceleration or in other words the time used for motor to decelerate to the desired speed from current speed The range of the input value is 1 60 000 milliseconds i e 0 001 60 seconds 4 Set maximum starting speed MMS 5 Set maximum cessation speed MMD 6 Set backlash compensation value BLC Max starting speed and max cessation speed has been described in front section The unit of MMS and MMD are pps Figure7 12 Two modes to Set the of Acceleration Rate 1 Acc Period e a Desired Speed Max Start Speed 2 Acc Rate Slope Current Speed T GD 7 9 Enable disable Advanced Motion Control Module MCFG Advanced Motion Control Module can be enabled or disabled by setting the CM bit of MCFG MCFG 10 Setting the CM bit MCFG lt CM gt 1 will enable the module and clearing the CM bit MCFG CM 0 will disable the advanced motion control module For details of setting please refer to Section 5 1 Master Configuration Register Meanwhile the AM and DM bit of MCFG also defines the input methods of acceleration deceleration 7 10 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page BLCn Set backlash compensation value n 52 BLC Check backlash compensation value 53 MACn Set acceleration rate n 61 MAC Check acceleration rate 62 MDEn Set deceleration
37. celeration until stop Reset position and encoder counter Emergency stop Off UI Robot Technology Co Ltd M4120130828EN Page 37 UIM24102 04 08 8 1 Rising and Falling Edge When port S1 and S2 is configured for digital input if the sensor module detects a voltage change on S1 S2 from 0V to 5V an Sx rising edge event will be created meanwhile S1 S2 is assigned a logic value 1 i e S121 If the sensor module detects a change on S1 S2 from 5V to OV an S1 S2 falling edge event will be created meanwhile 51 52 0 Figure8 1 Rising and Falling Edge of a Digital Sensor Input Voltage on Port S1 S2 51 S2 Logic Value Falling Lm Edge Voltage on port S1 S2 T Time 8 2 Analog Input and Thresholds Figure8 2 Analog Input and Thresholds Voltage on Sensor Port Though voltage on sensor port is lower than Thd H S1 is still 1 S1 logic value T Time S1 Logic Value Though voltage on sensor port is higher than Thd_L S1is still 0 Falling Edge Rising Rising Edge Edge T Time Sensor input port S1 can be configured for analog input by instruction To do that user needs to first enable the analog input function by set the ANE bit of the master configuration register i e MCFG lt ANE gt 1 Then user needs to select the analog input port by clear the CHS bit of the master configuration register i e make MCFG lt CHS gt 0 Once configured the analog voltage on port S1 can be obtained by
38. control configuration register n AA CO 78 SCF Check sensor control configuration register AA CO 79 Feedback Message Instruction Description Header ID Page Check desired motor status AA 48 FBK Check current motor status CC 58 Check sensor status CC C1 80 Motor Configuration Feedback Message Instruction Description Header ID Page ACRn Set auto current reduction ratio AA 49 ACR Check auto current reduction ratio AA BA 50 CUR Set output phase current n AA 54 ENA Enable H bridge circuit AA 55 MCSn Set micro stepping resolution AA 65 OFF Disable H bridge circuit AA 73 UI Robot Technology Co Ltd M4120130828EN Page 7 UIM24102 04 08 Motion Control Instruction Description prea all Page BLCn Set backlash compensation value n AA DE 52 BLC Check backlash compensation value AA DE 53 MACn Set acceleration rate n AA B1 61 MAC Check acceleration rate AA B1 62 MDEn Set deceleration rate n AA B2 66 MDE Check deceleration rate AA B2 67 MMDn Set maximum cessation speed n AA B4 69 MMD Check maximum cessation speed AA B4 70 MMSn Set maximum starting speed n AA B3 71 MMS Check maximum starting speed AA B3 72 ORG Set zero origin position AA B7 74 ORGn Reset the position to a given value n AA B7 75 POSn Set desired position n open loop control AA B7 76 POS Check cur
39. culation When displacement is in place there will be a RTCN Instruction configurable Advanced motion control module can be disabled enabled through user instruction 1 3 Sensor Input Control Module UIM241 s Sensor Input Control Module supports 2 channels of sensor input They can accept TTL level input of 0 5V There is 1 channel can be configured as analog input Precision 12bit Sample frequency 50K mean of 16 calculation Update frequency 1000Hz User can configure the desired automatic action triggered by sensor status change There are 13 actions listed below that can be triggered by sensor event Start and run forwardly at preset speed and acceleration Start and run reversely at preset speed and acceleration Change direction and run at preset speed and acceleration Forword displacement control follow the preset motion parameters speed displacement acceleration Reverse displacement control follow the preset motion parameters speed displacement acceleration Direction change displacement control follow the preset motion parameters speed displacement acceleration e Decelerate at preset deceleration until stop Emergency stop Reset position and encoder counter Reset position and encoder counter Reverse displacement control follow the preset motion parameters speed displacement acceleration e Reset position and encoder counter Decelerate at preset deceleration until stop Reset position
40. current speed 82 STPn Set desired incremental displacement n 87 STP Check current incremental displacement 88 Page 28 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 7 0ADVANCED MOTION CONTROL UIM241XX has an optional Advanced Motion Control Module sold separately to perform linear non linear acceleration deceleration and S curve displacement and position control User can specify corresponding motion control parameters through instructions Instructions for the advanced motion control includes all the basic motion instructions and 6 additional instructions Values of these instructions will be stored in the EEPROM the burning process will not affect any real time process Once the parameters are set the controller will perform the advanced motion control automatically At any time user can use instructions e g FBK POS SPD etc to get the current status of the motor In this chapter the Advanced Motion Control processes are introduced 7 1 Linear Acceleration Linear acceleration is defined as acceleration at constant rate The relationship between the speed and time is shown in figure 7 1 After the acceleration rate and desired speed is set MAC and SPD UIM241 controller will perform the acceleration process automatically Figure7 1 Linear Acceleration Control Acceleration Rate Desired Speed Current Speed T Time 7 2 Linear Deceleration Linear d
41. d for storing parameters such as S12CON ATCONH ATCONL SPD and STP into EEPROM so that Sensor Input Control Module can perform the control when user device is absent SFB Sensor Status Feedback At any time and under any scenario using the instruction SFB can always read back the logic value of S1 and S2 as well as the analog measurement given MCFG lt ANE gt 1 MCFG CHS 0 Page 40 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 8 6 Sensor Input Control Register S12CON S12CON Sensor 1 2 Control defines the binding relationship between S1 and S2 sensor events and actions as well as the activation of corresponding RTCNs It is a 16bits register inside the controller and can be configured using the instruction SCF When writing to it user needs to affix a 4bits suffix code to point to this register For details of SCF please refer to chapter 11 The suffix code for S12CON is 0000 binary S12CON structure is as follows Bit 15 14 13 12 11 10 9 8 7 6 4 3 2 1 0 Defination S2RACT S2FACT S1RACT S1FACT Bit 15 12 S2RACT 3 0 52 Rising edge Action Bit 11 8 S2FACT 3 0 52 Falling edge Action Bit 7 4 S1RACT lt 3 0 gt S1 Rising edge Action Bit 3 0 S1FACT lt 3 0 gt S1 Falling edge Action The binding relationship between S1 and S2 sensor events and actions is as follow ACT Code binary
42. dback Inquiry FBK Check the current motor status AA 00 ASB CUR VO V1 V2 PO P1 P2 P4 FF ASB gt gt Received data 0 CUR gt gt Received data 1 V0 P4 gt gt Received data 2 9 Structure of ASB is as follow 7 6 5 4 3 2 1 0 Defination N A 0 ACR ENA DIR MCS 1 0 full step 15 1 16 step Bit Defination N A 0 Phase Current e g 27 2 7 Amp Note Structure of CUR is as follow 7 6 5 4 3 2 1 0 VO V2 is the converted value for the current motor speed 16 bits Figure 9 1 P4 is the converted value for the current motor displacement 32 bits Figure 9 2 User can get current motor status by using this instruction at any time Please note current status is different from desired status Page 58 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 12 ICFxn Format Description Byte Initial Configuration Register Instruction ICFxn Configure the initial configuration register InitCFG Parameter n has two bytes structure is as follow 0 1 ACK Comment Note Where D1 DO compose a hexadecimal 16bit data D1 is high DO is low Example Initial Configuration 0x1234 Then send instruction ICFx 34 12 AA 00 DA CO C1 C2 FF DA gt gt Message ID of instruction ICFxn CO C2 gt gt Received data 0 2 CO C2 is t
43. desired speed while making sure Keep running at the the desired position is achieved desired speed e keep running at the desired speed Set the desired speed at 0 instruction STPn stop after reaching the desired position to stop Instruction POSn SPDn POSn Instruction STPn SPDn STPn Instruction POSn set the desired speed and position displacement successively or discontinuously approach the desired speed while making sure the desired position is achieved keep running at the desired speed stop after reaching the desired position 6 2 Basic Instruction Acknowledgment ACK Upon receiving an instruction the UIM241XX controller will immediately send back an Acknowledgment ACK message There are only two ACK messages for all of them as described below Error Message If the received instruction is incorrect UIM241 will issue an error message and the incorrect instruction will not be executed EE Error Code FF Where EE denotes an error message The error code is list below Error Code 65 66 Meaning Syntax Error Value Error Basic ACK Message When a valid instruction is received the UIM241 will send back a basic ACK message The basic ACK message contains all desired settings Specifically following information is included in the ACK message STP SPD DIR MCS CUR ENABLE OFFLINE and ACR The basic ACK message is 13bytes long and has a structure as shown below Byt
44. e 1 2 3 4 5 6 7 8 9 10 11 12 13 Value AA 00 ASB CUR SPD2 SPD1 SPDO STP4 STP3 STP2 STP1 FF Where Page 26 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 1 AAdenotes a basic ACK message is a kind of reply to instructions received 2 ASM Assembled byte structure Bit 7 6 5 4 3 2 1 0 value N A 0 ACR ENA OFF DIR Mcs 1 O full step 15 1 16 step 3 CUR desired phase current structure Bit 7 6 5 4 3 2 1 0 value N A 0 Phase Current e g 27 2 7 Amp 4 SPD2 SPDO denotes the desired motor speed See figure 9 1 for how to convert to a signed 16bit integer 5 STP4 STPO denotes the desired motor displacement See figure 9 2 for how to convert to a signed 32bit integer 6 3 Motor Status Feedback Message Upon receiving the FBK instruction the controller will send back the feedback message comprising the following up to date motor status incremental displacement speed direction micro stepping resolution and phase current enabled offline status and ACR status The feedback Message is 13 bytes long in the following format Byte 1 2 3 4 5 6 7 8 9 10 11 12 13 Value CC 0 ASB CUR SPD2 SPD1 SPDO STP4 STP3 STP2 STP1 STPO FF Where 1 CC a Motor Status Feedback Message i e the present value of motor status 2 ASB assembled byte structure Bit 7 6 5 4 3 2 1 0 v
45. e CM bit MCFG lt CM gt 1 to enable the module 2 Set acceleration MAC There are two ways to set the acceleration rate Figure7 12 Value mode If the AM bit of the Master Configuration Register is clear to zero MCFG lt AM gt 0 then the value of the instruction will be interpreted as the value of the acceleration rate The range of the input value is 1 65 000 000 and unit is pulse sec sec or pulse square second Period mode If the AM bit of Master Configuration Register is set to one MCFG lt AM gt 1 then the value of the instruction will be interpreted as the period of the acceleration or in other words the time used for motor to accelerate to the desired speed from current speed The range of the input value is 1 60 000 milliseconds i e 0 001 60 seconds 3 Set deceleration MDE Similar to mACC the deceleration also has two ways to set as listed below Page 34 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller Value mode If the DM bit of the Master Configuration Register is clear to zero MCFG lt DM gt 0 then the value of the instruction will be interpreted as the value of the deceleration rate The range of the input value is 1 65 000 000 and unit is pulse sec sec or pulse square second Period mode If the DM bit of Master Configuration Register is set to one MCFG lt DM gt 1 then the value of the instruction will be interpreted as the period of the a
46. e for prevention and treatment of disturb and shake eliminating of digital input If user sets the sampling interval to T 1 60000 by using instruction STG the controllers will work in intermittent sampling mode and sampling interval is T Single Sampling In single sampling mode once a fluctuation is detected at one port UIM241 controllers will not detect the level fluctuation at this port until user configures the corresponding control bit of S12CON again If user sets the sampling interval to T gt 60000 by using instruction STG the controllers will work in single sampling mode 8 4 Sensor Event Action and Binding UIM241XXs support 6 sensor events as listed in section 8 0 There are 13 actions that can be bound to those 6 sensor events Binding means assigning a sensor action to a sensor event The binding between events and actions are realized through the configuration of the Sensor Control Register S12CON An action code is needed when configuring sensor registers Start and run forwardly at preset speed and acceleration code 10 Start and run reversely at preset speed and acceleration code 2 Change direction and run at preset speed and acceleration code 14 e Forword displacement control follow the preset motion parameters speed displacement acceleration code 13 Reverse displacement control follow the preset motion parameters speed displacement acceleration code 5 Direction change displ
47. eceleration is defined as deceleration at constant rate The relationship between the speed and time is shown in figure 7 2 After the deceleration rate and desired speed is set MDE and SPD UIM241 controller will perform the deceleration process automatically Figure7 2 Linear Deceleration Control Speed Current Speeed Uniform Deceleration Desired Speed T Time 7 3 Nonlinear Acceleration To minimize the response time and to avoid resonance point user can use UIM241XX s non linear acceleration function Experiments show that through non linear acceleration UI Robot Technology Co Ltd M4120130828EN Page 29 UIM24102 04 08 UIM241XX can make NEMA17 23 4000RPM quad step in 0 25 seconds UIM241XX controller has the following non linear acceleration functions If the desired speed is higher than a certain value i e the Maximum Starting Speed defined by instruction and current motor speed is lower than the Max Starting Speed then the motor speed will first step up to the Max Starting Speed and then linearly accelerated according to the acceleration rate Figure7 3 Nonlinear Acceleration Control case 1 Uniform acceleration Desired Speed Speed Step acceleration Maximum Starting Speed Current Speed T Time If the desired speed is less than the Max Starting Speed then the motor speed will step up to the desired speed immediately Figure7 4 Nonlinear Acceleration Control case 2 Step Accel
48. ed value for desired displacement 32 bits Figure 9 2 Note Only after the H bridge enabled can the controller drive the motor UI Robot Technology Co Ltd M4120130828EN Page 55 UIM24102 04 08 9 ENAn Setenable time Format ENAn Description Set auto enable time register ENAtimer Controller auto enable the H bridge circuit afer power is on for ms n 1 2 60000 ACK AA 00 AO EO E1 E2 FF Comment AO gt gt Message ID of instruction ENAn EO E2 gt gt Received data 0 2 E0 E2 is the converted value for auto ENA time 16 bits Figure 9 1 units ms Note This instruction sets ENAtimer only can not enable controller In order to enable controller after pre set time user needs to configure initial configuration register by using instruction ICF after ENAtimer is set Require controller Firmware version being 1232 or higher Page 56 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 10 ENAxFFFF Check enable time Format ENAxFFFF Description Check auto enable time ACK AA 00 AO EO E1 E2 FF Comment Refer to ACK comment of instruction ENAn Note This instruction checks ENAtimer only can not enable controller Require controller Firmware version being 1232 or higher UI Robot Technology Co Ltd M4120130828EN Page 57 UIM24102 04 08 11 FBK Format Descriptio ACK Comment n Bit Motor Status Fee
49. egisters in their corresponding chapters 5 1 Initial Configuration Register Firmware version 1232 or higher Initial configuration register is used to decide the initial status of the controllers after power on Once configured its value will be burned into the on board EEPROM and the controller will auto reboot Initial configuration register is a 16bits register with following structure ICFG Bit 15 14 13 12 11 10 9 8 6 5 4 3 2 1 0 vu X x x x x x x x x x x Toer pos cew ena Bit15 4 Unimplemented Read as 0 Bit3 Elock Lock when emergency events happen 0 2 After the sensor is emergency stop or power off the controller is unlock and can execute instructions 1 After the sensor is emergency stop or power off the controller is lock and receives no instruction It needs to reboot the controller to unlock it Bit2 Execute user program after power on Future function Bit1 CCW Adjust rotation direction Figure 5 1 0 Set CW is positive when turn CW displacement counter accumulate otherwise displacement counter decrease 1 Set anti CW is positive when turn anti CW displacement counter accumulate otherwise displacement counter decrease Bito ENA Auto enable after powr on 0 Disable the function Auto enable after power on 1 Enable the function auto enable the controller after the pre set time when power is on Figure 5 1 Rotation Direction Clockwise CW Page 20 M41201
50. ely Example Set S12CON as 0x1234 Then send instruction SCFx 34 12 00 00 is suffix Each Byte must have an even number of digits or letters ACK AA 00 CO S0 S1 S2 ALO AL1 AHO AH1 FF Comment CO gt gt The message ID of SCFn SO S2 gt gt Received data 0 2 ALO AL1 gt gt Received data 3 4 AHO AH1 gt gt Received data 5 6 SO S2 is the converted value for S12CON 16 bits Figure 9 1 ALO AL1 is the converted value for lower limit of analog threshold ATCONL 12 bits Figure 9 1 AHO AH1 is the converted value for upper limit of analog threshold ATCONH 12 bits Figure 9 1 Note The suffix code for S12CON is 00 hexadecimal The suffix code for ATCONH is 02 hexadecimal The suffix code for ATCONL is 03 hexadecimal Page 78 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 32 SCF Check the value of Sensor Configuration Format SCF Description Check the current value of S12CON ATCONH and ATCONL ACK AA 00 CO S0 S1 S2 ALO AL1 AHO AH1 FF Comment Refer to ACK comment of SCFn UI Robot Technology Co Ltd M4120130828EN Page 79 UIM24102 04 08 33 SFB Check Sensor Data Format SFB Description Check sensor readings and status ACK CC 00 C1 D1 D2 ANO AN1 FF Comment C1 The message ID of SFB D1 D2 gt gt Received data 1 2 ANO AN1 gt gt Recei
51. eration Maximum Starting Speed Desired Speed Current Speed T Time If the current speed is higher than the Max Starting Speed the UIM241 will use the linear Acceleration Control Algorithm to control the speed Figure7 5 Nonlinear Acceleration Control case 3 Uniform acceleration Desired Speed Current Speed Maximum Starting Speed T Time Page 30 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 7 4 Nonlinear Deceleration Similar to the nonlinear acceleration control there are three cases and corresponding control algorithms as listed below If the desired speed is higher than a certain user preset value i e the Maximum Cessation Speed UIM241 XX will use the Uniform Deceleration Control algorithm Figure7 6 Nonlinear Deceleration Control case 1 Current Speed Uniform Deceleration Desired Speed Maximum Cessation Speed T Time If desired speed is lower than the Max Cessation Speed and current motor speed is higher than the Max Cessation Speed the Uniform Deceleration Control will be first applied and followed by a step deceleration to the desired speed Figure7 7 Nonlinear Deceleration Control case 2 Current Speed Uniform deceleration a Step Deceleration Maximum Cessation Speed Desired Speed T Time If the desired speed is lower than the Max Cessation Speed and current motor speed is lower than Max Cessatio
52. f CPU Entire control process is finished within 1 millisecond 1 1 Basic Control System UIM241 controller s basic control system comprises communication system basic motion control system absolute position counter and real time event based change notification system Communication System UIM241 controller communicates with user device using RS232 protocol User device controls the UIM241 controller through ASCII coded instructions Communication baud rate can be changed through instruction Basic Motion Control UIM241 has a build in basic motion control system User device can control the following basic motion parameters through instructions in real time direction speed angular displacement phase current micro stepping and enable disable the H bridge etc Speed input range is 65 000 pulses sec and displacement input range is 2 000 000 000 pulses Absolute Position Counter UIM241 has a hardware pulse counter The counter can be reset either by user instruction or automatically by the configurable sensor input event Under most conditions through the advanced motion control this counter can provide the absolute position of the motor with enough accuracy When the counter reaches zero position there could be automatically generated message feedback to the user device given the corresponding configuration through user instruction Furthermore with the encoder based closed loop control module the UIM241 can perfo
53. he converted value for the current incremental displacement 32 bits Figure 9 2 Page 88 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller APPENDIX A DIMENSIONS 55 ON Tr 6 7 Units mm UI Robot Technology Co Ltd M4120130828EN Page 89 UIM24102 04 08 APPENDIX INSTALLATION INSTRUCTION NEMA 17 do not need flange 1 Fix the UIM controller on motor with screw 2 or 4 2 Connect the motor pin to motor terminal of UIM controller Stepper Motor bi t Motor Cords Z uns DriverUIM Controller UIMIS MS 325 08 i Mounting Screws RE 4 NEMA 23 34 42 need flange 1 Fixflange on motor 2 Fixthe UIM controller on flange with screw 3 Connect the motor pin to motor terminal of UIM controller Stepper Motor ER Adapting Flange pA UIM Controller Driver UIM 15 1 28 Sash a s Mounting Screws Wy HORE E 90 M4120130828EN UI Robot Technology Co Lid
54. he converted value for the value of initial configuration register 16 bits Figure 9 1 Require controller Firmware version being 1232 or higher UI Robot Technology Co Ltd M4120130828EN Page 59 UIM24102 04 08 13 ICF Check Initial Configuration Register Format ICF Description Check initial configuration register ACK AA 00 DA CO C1 C2 FF Comment Refer to ACK comment of ICFxn Note Require controller Firmware version being 1232 or higher Page 60 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 14 MACn Set Acceleration Rate Format Description ACK Comment MACn Set the acceleration rate to n 1 2 65 000 000 Pre reguiring MCFG lt AM gt 0 value mode n 1 2 60 000 Pre reguiring MCFG lt AM gt 1 period mode AA 00 B1 FG A0 A1 A2 A3 A4 FF B1 gt gt The message ID of MACn FG gt gt Equal to the AM bit of the MCFG Denote the input mode value period FG 1 unit ms FG 0 unit pps s A0 A4 gt gt Received data 0 4 A0 A4 is the converted value for the value of the acceleration rate 32 bits Figure 9 2 UI Robot Technology Co Ltd M4120130828EN Page 61 UIM24102 04 08 15 MAC Check Current Acceleration Rate Format MAC Description Check current acceleration rate ACK AA 00 B1 FG A1 A2 A3 A4 FF Comment Refer to ACK comment of MA
55. hex 672 decimal 8 Sendinstruction SCF x2A0 or SCF 672 9 Calculate the upper limit 4V 5V 4095 3276 0000 1100 1100 1100 binary 10 Add suffix code 0011 for ATCONH get SCFG 0000 1100 1100 1100 0011 binary OxCCC3 hex 52419 decimal 11 Send instruction SCF xCCC3 or SCF 52419 12 Calculate the lower limit 0 6V 5V 4095 491 value is rounded 0000 0001 1110 1011 binary 13 Add suffix code 0010 for ATCONL get SCFG 0000 0001 1110 1011 0010 binary Ox1EB2 hex 7858 decimal 14 Send instruction SCF x1EB2 or SCF 7858 15 Set desired speed by sending instruction SPD 5000 16 Burn parameters into EEPROM by sending STO 17 Send instruction ENA 18 The system starts to work continuously 19 Disconnect the user device and restart the UIM241 controller the system will automatically run Page 44 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 9 0 INSTRUCTION This chapter describes the detail of the instructions mentioned in this document 9 1 Instruction Structure An instruction is a message sent from the user device to motion controller to command certain operatio Instructions of UIM241 follow the rules listed below 1 Length of an instruction including the ending semicolon should be within 20 characters 2 Coded with standard 7 bits ASCII code 1 127 Expended ASCII code is NOT accepted 3 Instruction structure i
56. iode ated c dia debes rix are ka hoes 12 1 2 Advanced Motion Control Module oocoWo o Woman 13 1 3 Sensor Inp t Control Module i pte e loce dee dete pile an uan 13 1 4 Instr ctions andilnterface rt rette aah nan cp naa aman ani 13 2 0 Instruction and Feedback Structure oooooooomo oom nana 15 21 Instr ction Str ctute ee er Der dre adita UAE 15 2 2 Macro Operator and Null INStruCtiOn oooo ooW oo Wo WWW nennen enne 15 3 0 RS232 COMMUNICATION REEL ana aa 17 3 1 User Device RS232 Port Configuration 17 3 2 Hand Shaking tp pee npe ae 17 3 3 Reset Baud Rate to Factory Default 9600 oooooco o oo Woo eene enne nnne nnns 17 3 4 ec ELE 18 4 0 Real time Change 19 4 1 Ezine Em 19 4 2 Enable Disable RTGN irit e acte echec the ek aa aa eda CERE 19 5 0 initial and HARDware Firmware Configuration oooo oom nana 20 5 1 Initial Configuration Register Firmware version 1232 or higher ooooWoWoWoW oo WWW WWW 20 5 2 Auto enable c tien emet te SEE REEL ERE DB REED san 21 5 3 User Program San endende de 21 5 4 Master Configuration Register oooooWoWo oWo Woman anna 21 5 5 Instruction List ener e e EM RIS EM Ne eA 22 6 0 Basic Control
57. led Page 68 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 22 MMDn Set Maximum Cessation Speed Format MMDn Description Set the maximum cessation speed at n 1 2 65 000 000 unsigned integer ACK AA 00 B4 MO M1 M2 FF COMMENT B4 gt gt The message ID of MMDn MO M2 gt gt Received data 0 2 MO M2 is the converted value for the value of maximum cessation speed 16 bits Figure 9 1 Unit pps pulse second UI Robot Technology Co Ltd M4120130828EN Page 69 UIM24102 04 08 23 MMD Check current Maximum Cessation Speed Format MMD Description Check the maximum cessation speed ACK AA 00 B4 MO M1 M2 FF Comment Refer to ACK comment of MMDn Page 70 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 24 MMSn Set Maximum Starting Speed Format MMSn Description Set the maximum starting speed at n 1 2 65 000 000 unsigned integer ACK AA 00 B3 MO M1 M2 FF Comment B3 gt gt The message ID of MMSn MO M2 gt gt Received data 0 2 MO M2 is the converted value for the value of maximum starting speed 16 bits Figure 9 1 Unit pps pluse second UI Robot Technology Co Ltd M4120130828EN Page 71 UIM24102 04 08 25 MMS Check current Maximum Starting Speed Format MMS Description Check the m
58. ment Note Set auto current reduction ratio ACRn set auto current reduction ratio neo 1 499 n 0 disable auto current reduction Standby CUR working current n 1 in standeby mode current reduces to 50 Standby CUR working current 2 n 2 3 7 99 in standeby mode current reduces to 2 3 9995 Standby CUR working current 100 n 0 orn 1 ACK is the same as ACK of 6 ENA n 2 3 99 ACK is as follow AA 00 BA A0 FF BA gt gt Message ID of instruction ACRn A0 gt gt Received data 0 A02 ACR is short for Automatic Current Reduce When ACR is enabled the current will be reduced after motor stop which means a decrease of holding torque Value of this instruction will be stored in EEPROM n 22 3 99 require controller Firmware version being 1232 or higher UI Robot Technology Co Ltd M4120130828EN Page 49 UIM24102 04 08 3 ACR Check auto current reduction ratio Format ACR Description Check auto current reduction ratio ACK AA 00 BA A0 FF Comment Refer to ACK comment of instruction ACRn Note Require controller Firmware version being 1232 or higher Page 50 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 4 BDR Set RS232 Baud Rate Format BDRn Description 5 RS232 Baud Rate n 9600 19200 38400 56000 100000 115200 250000 Other value of baud rate is also available
59. n Speed then the speed will be adjusted to the desired speed through step deceleration Figure7 8 Nonlinear Deceleration Control case 3 tep Deceleration Maximum Cessation Speed Current Speed FH Desired Speed T Time UI Robot Technology Co Ltd M4120130828EN Page 31 UIM24102 04 08 Note Setting the Maximum Starting Speed or the Maximum Cessation Speed to 0 zero will force the controller use Linear Acceleration Deceleration Control Algorithm 7 5 S curve Displacement Control S curve displacement control essentially is the displacement control under the linear acceleration and deceleration speed control The name is originated from the shape of the motion trajectory The original S curve displacement control is the acceleration coast deceleration speed control In the entire trajectory there is no knee point which makes the motion very smooth without impact or vibration The control process is shown in figure 7 9 Figure7 9 S curve Relative Displacement Control case 1 Desired Speed Uniform Acceleration 1 ye Deceleration T Time Angular Displacement Stop Position Start Position T Time In the control process UIM241XX s advance motion control module will continuously calculate the deceleration happening point time and then perform the deceleration to guarantee that when desired displacement is reached the speed is right zero The entire calculation time is around 20 mic
60. neeeseeneeeesceeeeesneeesceaeeeescneeeeseeeeessseeeeessnseeeess 39 8 5 Introduction to Sensor Input Control Instructions nennen nennen nene 40 Page 10 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 8 6 8 7 8 8 8 9 8 10 9 0 9 1 9 2 9 3 9 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 Sensor Input Control Register S12CON oooooWco W Wo W Wo Woman 41 Analog Threshold Control Register ATCONH amp ATCONL oo om mm mann 41 Latte ah EN ea ian Naa anang 43 Example of S12CON Configuration orooWoWo r Wo Walah 43 Example of ATCONH ATCONL Configuration ooooWoo WooW WWW ankle 44 Lin gio t A E EE EE EEATT TA TTT 45 Instruction Structure sco ance E Pattee oe dete nm eee 45 Feedback Message Str etUre 5 2 2 ANTA Randa est rec e uu a ende 45 Instruction Descriptions cote BEN hs Sette ue Ex e NN dai be NAN dee e Cu tee ra n 48 Check desired motor status ccccccesesseesesesesseesececeeseececececeeseseececseeceeeeeeeeseeeseeeeeeeseeeseeseeeeeeeeeeseeeeeeeeeess 48 ACRn Set auto current reduction ratio rennen nennen nennen 49 ACR Check auto current reduction ratio esesssesssesesseeseeeneennen nennen nnne nenne nnne nnne nnns 50 BDRij SetRS232 Ba
61. o ACK comment of MCFn Page 64 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 18 MCSn Setup Micro Stepping Format MCSn Description Set micro stepping resolution n 1 2 4 8 16 unsigned integer n 1 2 4 8 16 represents the full half quarter eighth and sixteenth step resolution respectively ACK AA 00 ASB CUR VO V1 V2 PO P1 P2 P3 P4 FF Comment ASB gt gt Received data 0 CUR gt gt Received data 1 V0 P4 gt gt Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 acr emaro om ENA OFF DIR MCS 1 0 full step 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp 0 V2 is the converted value for desired speed 16 bits Figure 9 1 PO P4 is the converted value for desired displacement 32 bits Figure 9 2 Note Real time update micro stepping MCS is short forMicrostepping Once received the MCS value will be stored in the controller s EEPROM UI Robot Technology Co Ltd M4120130828EN Page 65 UIM24102 04 08 19 MDEn Format Description ACK Comment Set Deceleration Rate MDEn Set the deceleration rate to n 9n 1 2 65 000 000 Pre requiring MCFG lt DM gt 0 value mode n 1 2 60 000 Pre reguiring MCFG lt DM gt 1 period mode AA 00 B2 FG DO D1 D2 D3
62. om 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 UIM241XX Ordering Information In order to serve you quicker and better please provide the product number in following format UIM241XX PART NUMBERING SYSTEM E IE External Internal Encoder Closed Loop Motor RS232 Optional M Advanced Motion Control Control Control Category Series S Sendor Control Control Connector Peak Current 022 2 04 4A 08 8 T Screw Terminal P Plug Socket Maximum Supply Voltage L 35V C 40V H 50V Note 1 Peak current is decided by max supply voltage See in Table 0 1 2 Default control connector is T screw terminal if not selected Table 0 1 Correspondence between Max Supply Voltage and Peak Current L 35V C 40V H 50V Current 2A V v 4A x V 8 yt Custom made please contact with salesmans before purchase Examples UIM241L02P UIM241C04T MS UIM241C08P IE Page 2 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller Examples of Control Connector options
63. on Speed oooooo Wo Wo W oo WWW om WWW nennen nennen 70 MMSn Set Maximum Starting Speed i oooooocooooooo W oo naek 71 MMS Check current Maximum Starting Sp ed ooooooWo WoWo W Wo WWW WWW manakala 72 OEF H Bridge Disable dansa reed naa AE cad dece 73 ORG Reset Position COUrlter s dn ep aa en es 74 ORGA Reset Position Counters ea tU nee 75 POSA Positiori Gorltrol i int aee e o Et PP le ere M Oe diis 76 POS Check Current Position asa Gr eie LC E ree de asa 77 SCFn SCFxn Set Sensor Configuration eese nennen nnne nennen 78 SCF Check the value of Sensor Configuration ssssssssessseseeeeeeeeneee nennen 79 SFBGheck Sensor Data 5i ii hte o edm ea s 80 SPDn Speed Adjusting cee ome Rete Mev f e rettet Te b iot bees 81 SPD Check Current Speed ee te e UR ERN RE 82 STGxn Set Digital Input Sampling Mode esee eene mre nnne enne 83 STG Check Digital Input Sampling Mode o or ooWoW Woman 84 STO EEPROM St re wetan erroe de RED ee WIE ERE Ee eL etn dE Re Ere ae a EU eade e E E el diel se een 85 STOn Parameter Bandirng nana tende cgi erint ier dla dee zug eie aa Sea 86 STI Pin Displacement Control ul daan ia REL De iE Rue p teet Reed a ec 87 STPCheck Displacemrert s accorto reo ita tete nee eonim ede ie oe oio ot uet cds 88 UI Robot Technology Co Ltd M4120130828EN Page 11 UIM
64. ot recommended as operation at maximum value for extended period may have negative effect on device reliability Electrical Characteristics Ambient Temperature 25 Supply Power Voltage 12V 40VDC Motor Output Current Max 2A 4A 8A per phase instruction adjustable Driving Mode PWM constant current Stepping Resolution full step half step 1 4 1 8 and 1 16 step Communication Ambient Temperature 25 C Protocol RS232 Wiring method 3 wire TX RX GND Max 57600 bps instruction adjustable Firmware reset to Baud Rate 9600 Environment Requirements Cooling Free air Working environment Avoid dust oil mist and corrosive gases Working temperature 40 C 85 Humidity lt 80 RH no condensation no frosting Vibration 3G Max Storage temperature 50 C 150 C Size and Weight Size 42 3mm x 42 3mm x 16 5mm Weight 0 1 kg UI Robot Technology Co Ltd M4120130828EN Page 9 UIM24102 04 08 CONTENTS General Description t 4 Lone LL 5 Typical Applicat ON 6 Instruction Set SUMIMALY Moo aan 7 Character R neS 9 1 0 OVERVICW ep R 12 1 1 Basic Gontrol Systerm s
65. rate n 66 MDE Check deceleration rate 67 UI Robot Technology Co Ltd M4120130828EN Page 35 UIM24102 04 08 MMDn Set maximum cessation speed n 69 MMD Check maximum cessation speed 70 MMSn Set maximum starting speed n 71 MMS Check maximum starting speed 72 Page 36 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller 8 0SENSOR INPUT CONTROL UIM241XX Motion Controller has an optional sold separately Sensor Control Module which supports two sensor input ports S1 S2 Port S2 can be configured for digital input 0 5V Port S1 can be configured for either digital input or analog input Besides digital input condition circuit UIM241XX has a 12 bits ADC analog digital converter and a 5V reference voltage If the input voltage is 0 5V the feedback value will be 0 4095 The ADC sample rate is 50K Hz The analog feedback value is a mathematic average of 16 samples and the update rate is 1000 Hz Regardless of whether it s digital or analog the input voltage cannot exceed 0 3V 5 3V otherwise permanent damage can be done Besides measuring the voltage input and providing the reads to the user device when inquired the sensor control module is able to carry out a certain control action when a sensor event happens Actions and sensor events can be defined by instructions With the Sensor Control Module UIM241 can perform motion controls without
66. re Integrated Stepper Motor Controller 28 ORGn Reset Position Counter Format ORGn Description Reset the position encoder counter to a given value n n 2147483647 2147483647 signed integer 0 reset the position encoder counter to zero 0 n 0 reset the position encoder counter to a given value n ACK AA 00 B7 PO P1 P2 P3 P4 FF Comment Please refer to 29 POS UI Robot Technology Co Ltd M4120130828EN Page 75 UIM24102 04 08 29 POSn Position Control Format POSn Description Set desired position for open loop control n 2147483647 2147483647 signed integer ACK AA 00 B7 PO P1 P2 P3 P4 FF Comment B7 gt gt The message ID of desired position PO P4 gt gt Received data 0 4 P4 is the converted value for the desired absolute position 32 bits Figure10 2 Note Position is essentially recorded from counts of the pulse counter The position counter records the total pulses sent to motor When the direction is positive the counter increases by 1 when the direction is negative the counter decreases by 1 When ICFG CW 0 consider clockwise as forword direction when ICFG CW 1 consider anticlockwise as forword direction The absolute position counter only resets back to zero in two situations User issues the instruction ORG User pre configured sensor ORG event takes place User needs pay attention to the two notes list belo
67. rent position CC BO 77 SPDn Set the desired speed n AA B5 81 SPD Check current speed CC B2 82 STO Store motion control parameters AA D1 85 STOn Bind motion control parameters to sensor edge AA D1 86 STPn Set desired incremental displacement n AA B6 87 STP Check current incremental displacement CC B3 88 Control Em F k M Instruction Description ies dr d Page STGn Set digital input sampling mode AA C9 83 STG Check digital input sampling mode AA C9 84 Page 8 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller CHARACTERISTICS Absolute Maximum Ratings S pply voltage ihre cde bai Badal e ied dt ra 10V to 40V Voltage on 51 52 with respect to GND oooooooocoWo W Wo Wo WoWo WoWoW WWW WoWoWW 0 3V to 5 3V Maximum output current sunk by S1 S2 oooooco ro WoWo Wo Wo Wo WWW WWW mala 20 mA Maximum output current sourced by S1 S2 ooooooooWoooW oo WWW WWW WWW makna 20 mA Voltage on RX with respect to GND oooooocoWoWoW Wo Wanna 25V to 25V Voltage on TX with respect to GND oooooooWo Wo Woo WWW WWW Wana 13 2V to 13 2V Ambient temperature under biaS oooooooo oom emen 20 C to 85 C Storage temperature neten 1 eei ice e ente Bihaan meet e eee e 50 C to 150 C NOTE Working under environment exceeding the above maximum value could result in permanent damage to controller Working under conditions at the maximum value is n
68. rm self closed loop control Page 12 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller Real time Change Notification RTCN Similar to CPU s interrupters UIM241XX can automatically generate certain messages after predefined events and sends them to the user device The time is less than 1 millisecond from the occurring of the event to the message being sent Message transfer time depends on the baud rate of the RS232 setup The transfer time will be less than 1 millisecond if the baud rate is set to 57600 UIM241XX s RTCN system supports 8 events displacement control done absolution position reset sensor 1 2 rising edge and falling edge analog input beyond upper threshold analog input lower than lower threshold etc All RTCNs can be enabled or disabled by instructions 1 2 Advanced Motion Control Module With advanced motion control module installed UIM241 XX controller can maintain linear and non linear acceleration deceleration S curve displacement control PT PVT control auto direction control etc There are two ways to define acceleration deceleration rate 1 Value Mode Input range 1 65 000 000 PPS Sec pulse sec2 2 Period Mode Input range 1 60 000 milliseconds time to fulfill the acceleration or deceleration The input range of the displacement control is 2 billion pulses steps In advanced motion control mode the actual direction is decided by module cal
69. ro seconds with 64bit accuracy In practice when the desired displacement is small and the desired speed is high deceleration starts before the desired speed is achieved to ensure that the speed decelerate to right zero when desired displacement is completed The process is shown in figure 7 10 Page 32 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller Figure7 10 S curve Relative Displacement Control case 2 Desired Speed Uniform Uniform Acceleration Ya a Deceleration T Time All the acceleration deceleration methods may be applied in the S curve displacement control including linear acceleration deceleration and non linear acceleration deceleration which is not described in the above figures though Please note that for the non linear acceleration deceleration as there are knee points in its trajectory is not suitable for applications requiring motion smoothness In this case user can set the maximum start speed and maximum cessation speed at zero to disable non linear acceleration deceleration This process is shown is figure 7 11 Figure7 11 S curve Displacement Control Uniform Accelaration Desired Speed Uniform Deceleration Max Start Speed Max Cessation Speed Angular Displacement Stop Position Trajectory Start Position T Time 7 6 Direction Control and Position Counter When the user enables the advanced motion cont
70. rol module the actual motor direction is controlled by the module This is because if the user input commands a motion direction different from the current motion direction the desired direction cannot be executed immediately UIM241 has two types of position counters absolute position counter and displacement counter UI Robot Technology Co Ltd M4120130828EN Page 33 UIM24102 04 08 Absolute position counter is for recording the absolute position of motor The actual angular displacement is also relative to micro stepping The value recorded in absolute position counter will be stored automatically on Power Failure situation and can only be cleared on user instruction or preset sensor event The counter will increase or decrease according to ICFG CWW and the actual direction of motor Absolute position counter value can be read through POS instruction Displacement counter is mainly used for displacement control The former information is cleared when it receives a new displacement instruction It can also be used to record the displacement since last time it was cleared 7 7 Backlash Compensation Backlash is a ubiquitous matter for mechanical system e g screw nut transmission or gear rack transmission For example there is a gap between screw and nut once the rotation direction is change in certain angle though the screw is turing the nut will not drive the table moving until the gap is eliminate this gap is known as backla
71. s as follow INS n or INSx N Or INS Where INS Instruction Comprises three letters with no space between them and is not case sensitive Symbol If there is an x INSx then it means the value is hexadecimal Please note if r is hexadecimal then the data must have an even number of digits such as 00 01 OA A data has an odd number of digits will cause erroes for example 001 10A are illegal input n Value Comprises set of numbers with no other characters between them Some instruction have no value such as SPD STP etc Terminator Each instruction must end with semicolon Note Instruction without terminator will cause unpredictable results 9 2 Feedback Message Structure Feedback Message is the message sent to user device from motion controller The length of feedback message is not regular maximum length is 13 bytes Structure of feedback message from UIM241XX is as follow Header Controller ID Message ID Data Terminator Header The start of a feedback message There are 3 kinds of headers UI Robot Technology Co Ltd M4120130828EN Page 45 UIM24102 04 08 represents the ACK message which is a repeat of the received instruction represents the status feedback which is a description of current working status represents the error message Controller ID The identification number of current controller in a network also known as Node ID For UIM
72. sh which is reflected in the rotation angle of screw Quantitatively if the screw rotates clockwise to drive the nut moving 5mm forward then rotates anticlockwise for the same cycles the nut will moving backword 4 99mm the difference between the two value is the backlash Because of backlash once reverse motion starts the accumulative error will increase until the backlash is compensate then the accumulative error tends to be steady The influence caused by backlash is considerable in a reciprocating motion UIM241 controllers provide the function of backlash compensation to reduce the influence on mechanical transmission accuracy To compensate backlash user needs to set a reference backlash first then once there is a backlash user can compensate it by sending instruction BLC Since this instruction compensate backlash automatically when motion direction changes and the direction before can not get automatically then it will be thought as no backlash exsiting at the initial moment Therefore user must ensure that there is no backlash before sending instruction BLC The units of backlash compensation value is pulse the range is 0 65536 recommended value lt 5000 the default value is 0 7 8 Advanced Motion Control Instructions There are 6 additional instructions added as listed below 1 Enable disable MCFG MCF User can clear the CM bit of Master Configuration Register MCFG lt CM gt 0 to disable the module or set th
73. t gt The message ID of current speed V0 V2 gt gt Received data 0 2 VO V2 is the converted value for the value of desired speed 16 bits Figure 9 1 Unit Pluse Second PPS or Hz The sign of speed decides direction If no or specified before x itis taken as Page 82 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 36 STGxn Set Digital Input Sampling Mode Format STGxn Description Set sampling mode of digital input continnous intermittent and single sampling Structure of Byte 0 1 2 Where D1 DO compose a hexadecimal 16bit data D1 is high DO is low IDX 00 01 hexadecimal denotes configurating sensor 1 2 01 DO 0000 0001 0002 EA60 denotes that the sensor will not be triggered until 0 1 2 60000ms after last sampling This can eliminate the shake of sensor signal D1 DO gt EA60 denotes signle sampling once triggered the S12CON must be configurated again ACK AA 00 C9 S0 S1 S2 S3 84 S5 FF Comment C9 gt gt Message ID of instruction STGxn SO S5 gt gt Received data 0 5 SO S2 is the converted value for sampling mode of sensor 1 16 bits Figure 9 1 S3 S5 is the converted value for sampling mode of sensor 2 16 bits Example Requirements 1 Sensor 1 2 Intermittent mode interval is 200ms Then 1 IDX 00 hexadecimal 2 D1 DO
74. the user device There are 6 sensor events that can be configured as listed below Table8 1 Sensor Events No Sensor Events Description 1 1 Falling Edge S1 Voltage Level Change High gt gt gt Low 2 S1 Rising Edge S1 Voltage Level Change Low gt gt gt High 3 S2 Falling Edge S2 Voltage Level Change High gt gt gt Low 4 S2 Rising Edge S2 Voltage Level Change Low gt gt gt High 5 Exceeding the Upper Limit Analog input voltage is higher than user defined upper limit 6 Exceeding the Lower Limit Analog input voltage is lower than user defined lower limit There are 13 actions that can be furthermore bound to sensor events Start and run forwardly at preset speed and acceleration Start and run reversely at preset speed and acceleration Change direction and run at preset speed and acceleration e Forword displacement control follow the preset motion parameters speed displacement acceleration Reverse displacement control follow the preset motion parameters speed displacement acceleration Direction change displacement control follow the preset motion parameters speed displacement acceleration Decelerate at preset deceleration until stop Emergency stop Reset position and encoder counter Reset position and encoder counter Reverse displacement control follow the preset motion parameters speed displacement acceleration e Reset position and encoder counter Decelerate at preset de
75. troller will make sure that the desired position is achieved when trying to approach the desired speed to the greatest extent UI Robot Technology Co Ltd M4120130828EN Page 23 UIM24102 04 08 As shown in Figure 6 2 UIM241 controller operates in PT mode automatically on receiving position instruction such as POS STP until an instruction of STP 0 is given CSTP is a displacement control instruction Logically STP 0 means no displacement It is contradictory to send a displacement instruction of no displacement Therefore UIM241 will take this instruction as a request to shift from PT mode to VT mode In PT mode the actual speed direction and desired displacement are related to deviation of actual displacement When sign of desired speed and displacement deviation is different the actual direction is decided by displacement deviation while actual speed is set to absolute value of desired speed Once deviation of desired and actual displacement is too small and the acceleration is also too small then it may cause the following situation the motor has already reached the desired position but it still has not reached the desired speed Page 24 M4120130828EN UI Robot Technology Co Lid UIM241XX Miniature Integrated Stepper Motor Controller Figure6 2 Position Tracking Mode without acceleration deceleration Position T Time Actual Motor Speed Reach Position 2000 ReceiveSPD 2000
76. truction alone to check the status of the above parameters If there is no null instruction after the in the above example there will be no ACK message at all Page 16 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 3 0 RS232 COMMUNICATION UIM241xx controllers communicate and exchange information with user devices throughRS232 serial protocol The RS232 configuration of user device the hand shaking methods and the instruction used to change the baud rate will be introduced in this Chapter along with the method to reset the baud rate to factory default 3 1 User Device RS232 Port Configuration To communicate with UIM241XX user device needs to have following RS232 port settings e 8 bits data e 1 stop bit e None Parity 3 2 Hand Shaking Any out of box UIM241 controller has a factory default baud rate 9600 User can use the 9600 baud rate to connect to a new UIM241 controller If the baud rate has been changed 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 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 Under following two situations the UIM241XX will issue a greeting message 1 When UIM241XX is powered up 2 When UIM2
77. ud R le cii eh ehem ot hau i he ae 51 BLCr Backlash compensation denada na eoi er co E aa ani 52 Gheck backlash compensation angan na ea Kena 53 CURN Motor Current AdjUstilnig 55 nt hama asam Mb D DERI a HEURE ERES 54 ENA H Bridge Eriable 2 3 EHE e ERR ERE ede 55 ENAn Set enable time iced o p altere sea mua maa ade ae 56 ENAXFEFF Gheck enabletime svi i ien ef t re c nde eos 57 FBK Motor Status Feedback Inquiry ssesesssseseeseeeseeenee enne nennen nennen enters 58 ICFxn Initial Configuration Register Instruction ooooWooWoWoWoW Wen 59 ICF Check Initial Configuration Register oooooWoWoW Wo WooW nennen nnne 60 MACn Set Acceleration Rate oooooooWoo Wo WoWoWoWWooWoW om Woman 61 MAC Check Current Acceleration Rate ooooo WoWo o W Wo o WWo W WWW Wanna 62 MCFn MCFxn Master Configuration Register Instruction 63 MCF Check Master Configuration Register oooooooW oo WWW WoW WWW WWW maan 64 MCS Setup Micro Stepping ndak iint kac aan pakan maan aga 65 MDEn Set Deceleration Rate 40 oa meter Bni 66 MDE Check Current Deceleration Rate oooooWoo oo oom o Wo Wo WWW mann 67 MDL Check Gontroller Model 1 t age an t e dee nana 68 MMDn Set Maximum Cessation Speed oooooo Wo Wo WoooWom WWW mann 69 MMD Check current Maximum Cessati
78. ved data 3 4 D1 D2 represent the logic level of S1 S2 respectively 0 1 ANO AN1 is the converted value for analog input 12 bits Figure 9 1 AN1 and ANO are 0 if no analog input port is configured Note This instruction can be used for sensor data inquiry at any time and under any condition Page 80 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 34 SPDn Speed Adjusting Format SPDn Description Set the desired speed to n n 65535 1 0 1 65535 signed integer ACK AA 00 B5 VO V1 V2 FF Comment B5 The message ID for desired speed 0 V2 gt gt Received data 0 2 VO V2 is the converted value for the value of desired speed 16 bits Figure 9 1 Unit Pluse Second PPS or Hz The sign of speed decides direction If no or specified before itis taken as Note Once H bridge is enabled motor starts running on receiving the instruction SPDn 7220 until another instruction SPDO is given Example For a 1 8 stepper motor if the SPD 2100 User sent SPD100 If MCS 1 motor speed 1 8 100 180 sec 30 rpm If MCS 16 motr speed 1 8 100 16 11 25 sec 1 875 rpm UI Robot Technology Co Ltd M4120130828EN Page 81 UIM24102 04 08 35 SPD Check Current Speed Format SPD Description Check current speed ACK CC 00 B2 VO V1 V2 FF Comment B2 g
79. w Power Failure Protection Should a Power Failure situation happen the value of the pulse counter will be pushed into EEPROM and restored when reboot next time However passive movement after power off cannot be recorded The actual motor position is also relative to the micro stepping resolution Page 76 M4120130828EN UI Robot Technology Co Ltd UIM241XX Miniature Integrated Stepper Motor Controller 30 POS Check Current Position Format POS Description Check the value of current Firmware absolute pulse counter i e current absolute position of the motor ACK CC 00 BO PO P1 P2 P3 P4 FF Comment BO The message ID of current position PO P4 gt gt Received data 0 4 PO P4 is the converted value for the desired absolute position 32 bits Figure 9 2 This position is relative to origin zero position of couter UI Robot Technology Co Ltd M4120130828EN Page 77 UIM24102 04 08 31 SCFn SCFxn Set Sensor Configuration Format SCFn or SCFxn Description Configure 12CON ATCONH and ATCONL 1 When n is decimal Instruction type is SCFn Where n 0 1 1048575 24 bits unsigned integer 2 When n is hexadecimal Instruction is SCFxn Where 1 has 3 bytes the structure is as follow Byte 0 1 2 Defination D1 IDX Where D1 D0 compose a hexadecimal 16bit data D1 is high DO is low IDX 0 1 2 3 denotes configuration of S12CON ATCONH and ATCONL separat

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