UIM24204 / UIM24208
Contents
1. reduce the power consumption and temperature raise UIM242xx controller has the build in function to reduce output current by half 0 5 seconds after the motor stopped User can enable disable this function in real time using the ACR instruction Caution has to be taken before enable this function since current reduction also means holding torque reduction For details about the ACR instruction please refer to UIM25001 converting Controller s User Manual Set Micro Step Resolution Page 9 M24220100425EN UI Robot Technology Co LTD UIM24204 UIM24208 UIM240xx controller can provide complete micro stepping control at full step half step quarter step and sixteenth step resolutions Only during power up the DIP setting is read as the initial value of micro step resolution After that the DIP value has no effect The micro step resolution need be changed through following instruction RL II Full Step nC IM Half Step N ILZ 1 4 Step nM 1 16 Step NM Actuator User can adjust the Micro Step Resolution in real time using the MCS instruction For details about the MCS instruction please refer to UIM25001 converting Controller s User Manual Set Desired Motor Speed Speed is defined as how many steps per second PPS Pulses per Second or Hz User can adjust the motor speed in real time using the SPD instruction For details about the SPD instruction please refer to UIM25001 converting Controller s User Manual Set Desired M2. CAN applications it is important to maintain a direct point to point wiring scheme A single pair of wires should connect each element of the CAN bus and the two ends of the bus should be terminated with 120Q resistors A star configuration should never be used UIM25001 converter has a build in terminal resistor User needs to attach a resistor at the other end of the bus To enable the UIM25001 converter s terminating resistor see the UIM25001 manual Any deviation from the point to point wiring scheme creates a stub The high speed edge of the CAN data on a stub can create reflections back down the bus These reflections can cause data errors by eroding the noise margin of the system Although stubs are unavoidable in a multi node system care should be taken to keep these stubs as small as possible UI Robot Technology Co LTD M24220100425EN Page 6 UIM24204 UIM24208 Characteristics Absolute Maximum Ratings Supply Voltage Store Temperature 40 C 125 C Working Temperature 20 C 85 C Working under environment exceeding maximum value could damage the controller Electrical Characteristics Ambient Temperature 25 C full step half step quarter step and sixteenth step Communication Ambient Temperature 25 C Wiring method 2 wire CANH CANL e Supports 1 Mb s operation e ISO 11898 standard physical layer requirements e Suitable for 12V and 24V systems e Up to 100 nodes can be connected
3. CAN bus drive Environment Requirements Environment lt 80 RH n condensation no frosting Storage Temperature 40 C 125 C Size and Weight ees 0 1 ke Page 7 M24220100425EN UI Robot Technology Co LTD UIM24204 UIM24208 Overview UIM24204 and UIM24208 are miniature stepper motor controllers with CAN2 0B Active bus communication capability They can work in a network as well as standalone Their embedded 16 bit microprocessor supports hardware digital signal processing The CAN2 0B based communication features high speed 1Mega bps long distance max 10 000 m and high noise immunity It is widely used in automobile automated manufacturing transportation management where high reliability is critical The physical wiring of a CAN bus network requires only one pair of wires twisted By linking several controllers together through the CAN bus user can control multiple motors in a real time fashion To communicate with these motor controllers user needs a CAN RS232 converter i e UIM25001 Converting Controller The UIM25001 commands the UIM242xx controllers through CAN bus and communicates with the user devices through RS232 ASCII coded instructions In that manner user can operate these controllers with minor or no knowledge about the stepper motor driving and CAN protocol Instructions are simple intuitive and fault tolerating For example to command a speed 1000 steps sec following instructions are a
4. UIROBOT United Intelligence Robot Technology User Manual UIM24204 UIM24208 Miniature Stepper Motor Controller with CAN Bus UIM24204 UIM24208 UI Robot Technology Co LTD M24220100425EN Page 2 UIM24204 UIM24208 UIM24204 UIM24208 Miniature Stepper Motor Controller with CAN Bus Features Miniature Integral Design gt Miniature size 42 3mm 42 3mm 13 5mm Fit onto motors seamlessly Die cast aluminum enclosure improving heat transfer and durability Embedded DSP Microprocessor Embedded 16 bit high performance digital signal micro processor Simple structured intuitive rich instructions Intelligent fault tolerating user friend interface CAN2 0B Active Communication gt 2 wire interface gt 1 Mega bit sec operation long distance s High noise immunity due to differential bus implementation Motor Drive Characteristics gt Wide supply voltage range 12 40VDC Output current 4A 8A real time adjustable through instruction Automatic current reduction real time set through instruction Full to 16th micro step resolution Dual full H bridge with PWM constant current control 00800 Description UIM24204 and UIM24208 are miniature stepper motor controllers with CAN network capability Through one CAN RS232 converter i e UIM25001 user device can command multiple UIM240xx controllers through RS232 port using ASCII coded instructions with minor or no knowledge about the stepp
5. er motor driving and CAN network Instructions are simple intuitive and fault tolerating UIM242xx controller can be mounted onto 42 57 86 110 series stepper motors seamlessly using corresponding flanges Thickness of the controller is less than 14 millimeter Enclosure 1s made of die cast aluminum providing a rugged durable protection and improves the heat dissipation Page 3 M24220100425EN UI Robot Technology Co LTD UIM24204 UIM24208 Terminal Description To avoid loss of termina screws please always keep tightened Screw Terminals 2 Black GND Supply voltage ground 0 IVDC 13 White CANH CANHigh LevelVoltage O 4 Green CANL CAN Low Level Voltage1 O Motor Wiring Pads Pad A A at the bottom of the controller Connect to stepper motor phase A Pad B B at the bottom of the controller Connect to stepper motor phase B Note To avoid damaging the controller make sure the phase winds are connected correctly Resistance between leads of different phases is usually gt 100KO Resistance between leads of the same phase is usually UI Robot Technology Co LTD M24220100425EN Page 4 UIM24204 UIM24208 Typical Applications Standalone Operation UIM242xx controllers can work in a network as well as standalone When working standalone there is only one RS232 CAN converter linked with one UIM242xx controller In this case use
6. eturn an ACK message of all current desired settings including the most current setting Specifically the following information is included in the ACK message STP SPD DIR MCS CUR ENABLE OFFLINE and ACR For details about the ACK message please refer to UIM25001 converting Controller s User Manual Motor Status Feedback Message Motor s current working status can be obtained by using the FBK instruction Once received the controller will send back the feedback message comprising following up to date information displacement steps speed direction micro step resolution current enabled offline status and ACR status For details about the FBK instruction please refer to UIM25001 converting Controller s User Manual Page 11 M24220100425EN UI Robot Technology Co LTD UIM24204 UIM24208 Dimension Unit mm 042 3 0 1 UI Robot Technology Co LTD M24220100425EN Page 12 UIM24204 UIM24208 Installation of UIM242xx Controller 4 M3x10 a a Cc c 5 Oo O E Es Ey Gk x c L ap O oD Y o0 G oo c LL o LL qe ap o0 c Solder to Controller UI Robot Technology Co LTD Page 13 M24220100425EN
7. ler User device sends ASCII coded instructions through RS232 port to the UIM25001 controller Inside UIM25001 the RS232 based instructions are translated into CAN messages and sent to UIM242xx controllers ACK and or feedback messages are sent back from UIM242xx controller to UIM25001 and then translated into RS232 messages and sent to user device Through this fashion users do not have to understand and deal with CAN bus operations while enjoy the advantages of CAN bus such as high speed long distance interference immunity network and easy wiring For detailed instructions and operations on the communication between user device and UIM25001 please refer to the UIM25001 converter s user manual Use the Motor Control Functions Input Supply Voltage UIM242xx series controllers are featured with a wide range of input supply voltage from 12 to 40VDC In general higher supply voltage improves motor performance under high speed situation but also increases the power loss and temperature Input voltage provided to the motor and also provided to logic circuits for control and communication Set Output Current UIM24204 and UIM24208 are capable of providing 1 5 4A and 3 8A adjustable phase current respectively User can adjust the output current in real time using the CUR instruction For details about the CUR instruction please refer to UIM25001 converting Controller s User Manual Enable Disable Automatic Current Reduction To
8. ll valid SPD 1000 or SPD 1000 or SPD 1000 or SPD1000 or SPD amp 1000 If in any case a wrong instruction is received the controller will return and error messages Incorrect instructions will be discarded without execution to prevent accidents UI Robot Co provides free Microsoft Windows XP based VB VC demo software and corresponding source code to facilitate the quick start of user device side programming UIM24204 and UIM24208 are capable of providing 1 5 4A and 3 8A adjustable output current Output current can be adjusted through instruction in a real time fashion Once set the value is stored in the onboard non volatile memory The controller also has high speed current compensation to facilitate the motor s high speed performance This series of controller takes 12 40VDC power supply UIM24204 and UIM24208 are designed to mount onto 42 57 86 110 series stepper motors seamlessly through corresponding flanges The thickness of these controllers is less than 14 millimeter The enclosure is made of die cast aluminum which provides a rugged durable protection and improves the heat dissipation Packing includes 4 screws and thermal compound UI Robot Technology Co LTD M24220100425EN Page 8 UIM24204 UIM24208 Communication with UIM242xx In order to operate the UIM242xx controller a CAN RS232 Converting Controller UIM25001 is required between the user device and the UIM242xx control
9. otor Direction User can adjust the motor running direction in real time using the DIR instruction For details about the DIR instruction please refer to UIM25001 converting Controller s User Manual Set Desired Relative Displacement User can set the desired steps or micro steps if MCS 1 beyond current motor position in real time using the STP instruction Once the motor hits the commanded relative displacement it will stop For details about the STP instruction please refer to UIM25001 converting Controller s User Manual Enable the Motor Driver User can enable the stepper motor driver 1 e H bridge driving circuit in real time using the ENABLE instruction For details about the ENABLE instruction please refer to UIM25001 converting Controller s User Manual Disable the Motor Driver User can disable the stepper motor driver i e H bridge driving circuit in real time using the OFFLINE instruction Once an OFFLINE instruction is executed the motor has no power supply the power consumption is cut to minimum the logic circuit is still working User needs to use the ENABLE instruction to turn the motor driver back to working For details about the OFFLINE instruction please refer to UIM25001 UI Robot Technology Co LTD M24220100425EN Page 10 UIM24204 UIM24208 converting Controller s User Manual General ACK acknowledgement Message After receiving an instruction the controller will immediately r
10. r can use wiring scheme as shown below Stepper Motor ial 12 40V DC Supply DC Supply 0 J oo DC DC ie a UIM242xx 1 CANH Stepper Controller VIM25001 4 1 rT OOO _ lt Controller Z Twist Wire Pair m DB9 Port 120 ohm RS232 Cable Oo Note For long distance transfer the two ends of the bus should be terminated with120Q terminating resistors UIM25001 converter has a build in terminating resistor User only needs to attach a resistor at the other end of the bus To enable the UIM25001 converter s terminating resistor see the UIM25001 manual To achieve the best communication performance CANH and CANL should use a twisted pair Page 5 M24220100425EN UI Robot Technology Co LTD UIM24204 UIM24208 Network Operation Multiple UIM242xx controllers can be wired together to form a reliable local network Following figure provides a typical network wiring solution Detailed terminal wiring on each controller can be found in previous standalone Operation solution UIM25001 Controller RS232 CANH 120 Ohm 1 m T l CANL LIL l Z Z Z Z Z Z 4 lt 4 lt 4 lt O O 12 40 UIM242xx 12 40 UIM242xx 12 40 T UIM242xx VDC f Controller 1 VDC Controller 2 VDC eontrollen100 Motor 1 Motor 2 Motor 100 Note In multi node
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