Home

User Manual

1. Absolute Position Counter Reset Deceleration until Stop Absolute Position Counter will be reset when the sensor event happens and then deceleration process starts according to motion parameters or advanced motion parameter stored in EEPROM until stop Emergency Stop Set speed to zero immediately when the sensor event happens to force the motor stop Absolute Position Counter Reset Emergency Stop Absolute Position Counter will be reset when the sensor event happens and set speed to zero Backward DIR 0 Relative Displacement Control Control the motor to realize a backward displacement using motion parameters i e SPD STP ACC DEC MSS MDS etc stored in the EEPROM Before making usage of this action user has to first configure the S12CON setup the desired speed SPD the desired displacement STP and if applicable the acceleration rate maximum starting speed etc After that the user has to burn the parameters into the EEPROM using the STORE instruction Forward DIR 1 Relative Displacement Same as above except that the displacement control is forward instead of backward Absolute Position Counter Reset This action resets the absolute position counter to zero and creates a zero position or origin 8 4 Introduction to Sensor Input Control Instructions There are only 4 instructions related to the sensor input control 1 MCFG The ANE bit MCFG lt 15 gt and CHS bit MCFG lt 14 gt of the master configurati
2. When DOUT 1 TTL output is 5V Comment When DOUT 0 TTL output is OV NOTE Using DOUT x will affect S34CON Once DOUT instruction is received UIM242 controller will clear PAL VL and PAEVENT 2 0 Therefore if user wants to re bind the events to the output control user needs to reconfigure S34CON This is to prevent potential confliction between user instruction and events controlled output 10 5 Check TTL Output Level Function To check current TTL output level Variable OxAA controller ID OxC1 P4 OxFF OxC1 is the message ID of DOUT P4 is the logic level of the TTL output P421 means the output is 5V while P4 0 means the output is OV Using DOUT will NOT affect S34CON Comment M42110923EN Page 52 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 10 6 Example of TTL Output Control and S34CON Configuration Writing to the S34CON is realized through instruction SCFG Before writing to the S34CON user needs to first fill every bit of the S34CON according to the information provided in previous sections and then affixes the suffix code 0001 binary An example is provided below System Description A reciprocating mobile platform Requirements 1 When the motion DIR 1 P4 outputs 5V 2 When the motion DIR 0 P4 outputs OV 3 Need RTCN every time P4 changes Realization 1 First stop the motor by sending OFF 2 Set MCFG lt P4IE gt 1 get MCFG 00
3. eem 37 7 11 Maximum Starting Speed Setup Instruction MMSS eene 38 7 12 Maximum Cessation Speed Setup Instruction mMS 38 8 0 SENSOF INDUL COMTEON ted 39 8 1 Rismg and Falling Ge 40 8 2 Analog PUAN ae ai AA id 40 8 3 Sensor Event Action and Binding c cccccceecceseececeeeece cece eeceeeeseeeesseeeesueeesecessueessueeesaeeesaneesseges 40 8 4 Introduction to Sensor Input Control Instruchons cc ecccceecceeeeeeeeeeececeeeecesaeeeeeeeeeseeeesseeessneeees 41 8 5 Sensor Input Control Register S12CON A 42 8 6 Sensor Input Control Register SS4CON co oocccoccccccncconoconcnconoconononconononcnnnnnnnnonnnrnnononrnnnrnrnnnnnnrnnnnanenns 43 8 7 Analog Threshold Control Register ATCON 8 ATCONL ooooccccccoconcnnnconononononnnconononcnnonannnnnnncnnonnnnnnos 44 8 8 Sensor Configuration Instruction GCEO nennen nennen nnne nnne nnn 45 8 9 Check the Value of S12CON S34CON ATCONH and ATCONL sese 45 9 10 EEPROM Store Instruction ts OREA a 45 8 11 Sensor Data Inquiry Instruction GEB 46 8 12 Example of S12CON Configuration ccoooccccoocnncccoconoconcncononononnnconononcnnnrnnnnonnnrnnoroncnnorannnnnnnranonanennss 46 8 13 Example of ATCONH ATCONL Configuration eesssessssesseseeneeennnenn nennen nennen nnne nnns 47 9 0 Encoder and Closed loop Control sccccessseeeceesseescenseeeeensseeseenneeeseenseessonnnees 48 9 1 Enable Disable Encoder and Closed loop Control Module IMC 48 9 2 Close
4. OxAA Controller ID 0xB1 ACF AC4 AC3 AC2 AC1 ACO OxFF OxB1 is the message ID of mACC AC4 ACO represents the value of the acceleration period See figure 2 2 for how to convert to an unsigned 32bit integer ACF the AM bit of the MCFG here always 1 ACF 1 means the input value will be interpreted as period of acceleration with the unit of milliseconds Comment Check the Current Acceleration Rate mACC Function Check current acceleration rate Feedback OxAA Controller ID 0xB1 ACF AC4 AC3 AC2 AC1 ACO OxFF Comment See comments in above two modes M42110923EN Page 36 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 7 10 Deceleration Rate Setup Instruction mDEC Value Mode pre requiring MCFG lt DM gt 0 mDEC x Function Set the deceleration rate to x in value mode Integer x 1 2 65 000 000 OxAA Controller ID OxB2 DCF DC4 DCH DC2 DC1 OxB2 is the Message ID of mDEC DC4 DCO represents the value of the deceleration rate See figure 2 2 for how to convert to an unsigned 32bit integer Comment DCF the DM bit of the MCFG here always 70 DCF 0 means the input value will be interpreted as the deceleration rate with the unit of pps s or pulse square secona mDEC is the abbreviation of motion Deceleration Period Method pre requiring MCFG lt DM gt 1 mDEC x Function Set the deceleration rate to x in
5. as described below Error Message If the received instruction is incorrect UIM242 will issue an error message and the incorrect instruction will not be executed There are two kinds of errors Syntax error and value error Le variable is incorrect The structure of an error message is OxEE Error Code OxFF Where OxEE denotes an error message The error code is list below Basic ACK Message When a valid instruction is received the UIM242 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 value OxAA Controller ID ASM CUR SPD2 SPD1 SPDO STP4 STP3 STP2 STP1 STPO OxFF Where 1 OxAA denotes a basic ACK message 2 ASM Assembled byte structure o5 7 J e 8 J a4 jJ 8 2 J t J 0 N A 0 ENA OFF DR MCS 1 0 full step 15 1 16 step 3 CUR desired phase current structure Phase Current e g 27 2 7 Amp SPD2 SPDO denotes the desired motor speed See figure 2 1 for how to convert to a signed 16bit integer Unit is pulse second PPS or Hz The sign of the value decides motor direction 5 STP4 STPO denotes the desired motor displacement See figure 2 2 for how to convert to a signed 32bit integer Displacement is essentially defin
6. the counter decreases by 1 Therefore the value of the counter is a C t signed 32bits integer with positive representing the final position is of the same orien direction of DIR 1 and vice versa POS position control is open loop control The absolute position counter only resets back to zero in two situations 1 Userissues the instruction ORG described later 2 User pre configured sensor ORG event takes place 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 6 14 Check Current Position POS Function Check current position Feedback OxCC Controller ID OxBO P4 P3 P2 P1 PO OxFF OxBO is the message ID of current position POS P4 PO denotes the desired absolute position See figure 2 2 for how to convert Comment to a signed 32bit integer Position is essentially recorded from counts of the pulse counter Therefore the actual motor position is also relative to the micro stepping resolution UI Robot Technology Co Ltd M42110923EN Page 27 UIM24202 04 08 6 15 Basic Instruction Acknowledgment ACK Upon receiving an instruction the UIM242XX controller will immediately send back an Acknowledgment ACK message For all basic instructions describe before except SPD STP POS and ORG there are only two ACK messages for all of them
7. 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 Figure 7 12 Two modes to Set the of Acceleration Rate 1 Acc Period gt gt Desired Speed Max Start Speed 2 Acc Rate Slope Current Speed 3 mDEC Similar to mACC the deceleration also has two ways to set as listed below a 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 b 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 acceleration 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 mMSS This is the instruction to set the Maximum Starting Speed 5 mMDS This is the instruction to set the Maximum Cessation Speed Since the definitions of Maximum Starting Speed and Maximum Cessation Speed were already discussed in the previous sections here they are omitted
8. 4 is 1 the Advanced Motion Control module is installed V2 VO denote the firmware version Data is in 7 bits format Conversion from three 7bits message data to a 16bits data is illustrated in figure 2 1 3 3 CAN2 0B Bit rate and Global Instructions For details about CAN2 0B bit rate setting and global instructions please see the UIM2501 user manual A Note Incorrect bit rate can result in communication failure or unstable M42110923EN Page 16 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 4 0 Real time Change Notification UIM242XX 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 4 1 RTCN Structure The structure of an RTCN message is shown below OxAA Controller ID Message ID OxFF For UIM242 the Controller ID is preset by user The RTCN system is able to response to the following events Figure 3 1 Real time change notification events No Event Message ID Description XA 2 1 zero position OXA9 Position counter reaches passes zero Note When S1 is configured as analog OxA1 denotes event 9 otherwise OxA1 denotes event 2 When S3 is configured as analog 0xA5 denotes event 9 otherwise OxA5 denotes event 6 Whe
9. Setup Instruction MG 24 6 7 Motion Direction Instruction DIR ion a a RH s ERG dues 24 6 8 X Absolute Position Counter Reset Instruction ORG 25 6 9 lt Speed Adjusting Instruction SP WEE 25 6 10 To Check Curent Speed SPD iii tiet e ee eta EE ei eate ee 25 6 11 Bisplacement Control Instruction S TE ien eo ois peace i ebenso uei bed ru se deeg one sex Ebo Pope aveo 26 6 12 To check leede Ee 26 0 13 Position Control InStuction POS EE 27 6 14 Check Current Position POS 27 6 15 Basic Instruction Acknowledgment ACK nnne nnne nnns 28 6 16 Motor Status Feedback Inquiry Instruction FBK ccccceccceceeeeeeeeeeeeseeeeeseeeeeesaeeeeeseeeeesaaeeessaaeees 29 6 17 Motor Status Feedback Message o Stil ds 29 UI Robot Technology Co Ltd M42110923EN Page 9 UIM24202 04 08 7 0 Advanced Motion Control musica EE dee Eege 30 7 1 ie ee e EE 30 7 2 Linear ecelerdllOR E 30 Lo Noninear ee EE 31 7 4 Nonlinear Deceleration A 32 7 5 oscurve Displacement E eut e EE 33 7 6 Direction Control and Position Counter occcoccncccccnccncnccncncnncnnconnnnoncnonnnnonnnnnnnnnnnnnnnonnnnnnnnnnnnnncnnnanoss 34 7 1 Advanced Motion Control Instructions ccccccceccceececeeeeeeececeeeeceecesseeeeseeeeseusesseesseeeseeeeseneeseas 34 7 8 Enable disable Advanced Motion Control Module IMC 35 7 9 Acceleration Rate Setup Instruction mACC nennen nnne nnn nnns 36 7 10 Deceleration Rate Setup Instruction mmfEC
10. Stored Stored position 0 1 0 position 3 ORG VT 0 0 0 0 1 0 4 POS PT 2000 0 2000 0 1 0 5 SPD Em 2000 0 2000 1000 1 1000 6 Position reached PT 2000 2000 0 1000 1 0 7 POS PT 2000 2000 4000 1000 0 1000 8 Position reached PT 2000 2000 0 1000 0 0 9 SPD PT 2000 2000 0 2000 0 0 10 POS PT 1000 2000 3000 2000 1 2000 11 Position reached D 1000 1000 0 1000 1 0 12 PT mode off VT 1000 1000 0 0 1 0 13 OFF VT 0 1000 1000 0 1 0 M42110923EN Page 22 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 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 UIM242XX 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 Figure 6 3 Shifting between Motion Control Modes H bridge disabled logic circu working can accept buffer and operat instructions Instruction OFF VT Mode Instruction STP 0 PT Mode Approach the desired speed o set the desired speed and then set the desired positio Keep running at the desire or displacement successively or discontinuously speed approach the desired speed while making sure th Set the desired speed at 0
11. The unit of Maximum Starting Speed and Maximum Cessation Speed is pps pulse per second 7 8 Enable disable Advanced Motion Control Module MCFG Advanced Motion Control Module can be enabled or disabled by setting the CM bit of MCFG MCFG lt 10 gt Setting the CM bit MCFG lt CM gt 1 will enable the module and clearing the CM bit MCFG lt CM gt 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 Ul Robot Technology Co Ltd M42110923EN Page 35 UIM24202 04 08 7 9 Acceleration Rate Setup Instruction mACC Value Mode pre requiring MCFG lt AM gt 0 mACC x Function Set the acceleration rate to x in value mode Integer x 1 2 65 000 000 OxAA Controller ID 0xB1 ACF AC4 AC3 AC2 AC1 ACO OxFF OxB1 is the message ID of mACC AC4 ACO represents the value of the acceleration rate See figure 2 2 for how to convert to an unsigned 32bit integer Comment ACF the AM bit of the MCFG here always 0 ACF 0 means the input value will be interpreted as the acceleration rate with the unit of pps s or pulse square second mACC is the abbreviation of motion Acceleration Period Mode pre requiring MCFG lt AM gt 1 mACC x Function Set the acceleration period to x in period mode Integer x 1 2 60 000
12. based position control QEC 200000 QEC 3 STP encoder based displacement control STP500 QER 4 set encoder resolution QER 500 9 1 Enable Disable Encoder and Closed loop Control Module MCFG Enable Encoder Interface The Encoder Decoding Module is enabled disabled through configuring the QEl bit of MCFG MCFG lt 13 gt When MCFG lt QEI gt 0 the encoder decoding module is disabled when MCFG lt QEI gt 1 the encoder decoding module is enabled If external encoder is used S1 and S2 ports must be used for channel A and channel B respectively If user chooses UIROBOT internal encoder S1 and S2 ports are available for sensors Please note encoder interface is a standard module which is available as long as Sensor Input Module is installed Enable Closed loop Control Module The Encoder based Closed loop Control Module hereinafter referred to as Closed loop Control Module is enabled by configuring the QEM bit of MCFG MCFG lt 11 gt When MCFG lt QEM gt 0 this module is disabled when MCFG lt QEl gt 1 it is enabled Please note closed loop control module is a must even if user uses external encoders Otherwise UIM242 controller can only read the external encoder data but cannot maintain closed loop motion control with this data However if the internal encoder is installed Closed loop Control Module is automatically included For master configuration register MCFG please refer to Section 5 1 M42110923EN Pag
13. 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 UIM242 controller will make sure that the desired position is achieved when trying to approach the desired speed to the greatest extent As shown in Figure 6 2 UIM242 controller operates in PT mode automatically on receiving position instruction such as POS STP or QEC until an instruction of STP 0 is given STP is a displacement control instruction Logically STP 0 means no displacement It is contradictory to send a displacement instruction of no displacement Therefore UIM242 will take this instruction as a request to shift from PT mode to VT mode UI Robot Technology Co Ltd M42110923EN Page 21 UIM24202 04 08 Figure 6 2 Position Tracking Mode without acceleration deceleration Position 2000 1000 e rid eM 2 a CH oS ou S Eos o 2 S 8 o S oo o0 N oO O ad Te S e Ww A e g2828 9 8 E DO eo 8 a B o 9 8 o Actual DO o o 2 OQ ao o a o o 2 2 2 2 lt lt 2 2 Motor 3 8 8 8 8 8 S 8 g 8 Speed LELE 2 g Pom 2000 l E H m nu edd H 1000 S Ei 0 1000 A A A A A A A No Operation or Control Desired Current Position Erroi Desired Motor Motor Event Mode Position Position Speed Direction Speed 1 Power up VT 0 stored Stored position 0 1 0 position 2 ENA VT 0
14. conditions at the maximum value is not recommended as operation at maximum value for extended period may have negative effect on device reliability Electrical Characteristics Ambient Temperature 25 C 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 Wiring method 2 wire CANH CANL e Supports 1 Mb s operation e ISO 11898 standard physical layer requirements CAN bus drive e Short circuit protection Up to 100 nodes can be connected Differential bus high noise immunity Environment Requirements Working environment Avoid dust oil mist and corrosive gases Working temperature 40 C 85 C Humidity lt 80 RH no condensation no frosting Storage temperature 50 C 150 C Size and Weight Size 42 3mm x 42 3mm x 16 5mm Wight 0 1 kg M42110923EN Page 8 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller CONTENTS General Description a a aa 3 Terminal Descriptio Nieten E 4 TY DICAl APPC AN O E 5 INSTUCHON Set SUMIMAN Miri a e Ee 7 Characters d 8 1 0 BT 11 1 1 See de NEE 11 1 2 Advanced Motion Control Module 12 1 3 Sensor Input Conmoll ee EE 12 1 4 TIL Output Control Module anotada dis 13 1 5 Encoder based Closed loop Control Module enne 13 1 6 Instru
15. controller driver onto the adapting flange 3 Wire the motor leads stepper Motor HERA Adapting Flange CU AS Motor Cords qui 51 6 VIM Controller Driver UN gt IA AA AA Mounting Screws 7 WWE ELCAM s p a via Derganino 17 20158 Milano MF Tel 02 66200990 Fax 02 66200998 Y www elcam it e mail info elcam it ISO 9001 Ul Robot Technology Co Ltd M42110923EN Page 55
16. 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 Ce eel a e e ese 312 9 0 Bit 15 ANE Enable Disable Analog Input O Disable the analog input port S1 is digital 1 Enable the analog input Bit 14 CHS Analog Input Channel 0 Analog input on port S1 1 Analog input on port S3 Bit 13 QEI Enable Disable Quadrature Encoder Interface O Disable Quadrature Encoder Interface 1 Enable Quadrature Encoder Interface Bit 12 Unimplemented Read as 0 Bit 11 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 Bit 10 CM Advanced Motion Control Mode O Disable advanced motion control module use basic control mode 1 Enable advanced motion control module Bit 9 AM Acceleration Mode O Value mode Unit is pps sec or pulse square second 1 Period mode Unit is millisecond Bit 8 DM Deceleration Mode O Value mode Unit is pps sec or pulse square second 1 Period mode Unit is millisecond Bit 7 6 Unimplemented Read as 0 Bit 5 ORGIE Origin Zero Position RTCN O Disable the Origin zero position RTCN 1 Enable the Origin zero position RTCN Bit 4 STPIE Displacement Control STP POS
17. period mode integer x 1 2 60 000 OxAA Controller ID OxB2 DCF DC4 DC3 DC2 DC DCO OxFF OxB2 is the message ID of mDEC DC4 DCO represents the value of the deceleration period See figure 2 2 for how to convert to an unsigned 32bit integer DCF the DM bit of the MCFG here always 71 DCF 1 means the input value will be interpreted as period of deceleration with the unit of milliseconds Comment Check the Current Deceleration Rate mDEC Function Check current deceleration rate OxAA Controller ID 0xB2 DCF DC4 DC3 DC2 DC DCO OxFF Comment See comments in above two modes Ul Robot Technology Co Ltd M42110923EN Page 37 UIM24202 04 08 7 11 Maximum Starting Speed Setup Instruction mMSS Set the Maximum Starting Speed Function Set the Maximum Starting Speed at x Integer x 1 2 65 000 MSO OxFF OxB3 is message ID of mMSS MS2 MSO represents the value of Maximum Starting Speed See figure 2 1 for Comment how to convert to an unsigned 16bit integer mMSS is the abbreviation of motion Maximum Starting Speed Unit pps pulse second Check current Maximum Starting Speed Function Check the Maximum Starting Speed MSO OxFF Comment See comments in above table 7 12 Maximum Cessation Speed Setup Instruction mMDS Set the Maximum Cessation Speed Function Set the Maximum Cessation Speed at x Integer x 1 2 65 000 OxAA Controller ID 0xB3
18. port Note 1 Internally linked to supply voltage ground Motor Terminals Terminal No Designator Description 1 2 A A Connect to the stepper motor phase A 3 4 B B Connect to the stepper motor phase B A 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 M42110923EN Page 4 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller Typical Application UIM242 controllers can work standalone or within a CAN network When working in a CAN network up to 100 UIM242 controllers can be linked together using a minimum of 2 twisted wires Under both scenarios sensor input S1 S2 S3 should be connected to terminal 6 7 8 and signal ground should be connected to terminal 5 TTL output should be connected to terminal 9 and signal ground should be connected to terminal 5 Furthermore please be aware User is responsible for the power supply for sensors Voltage on terminal 6 7 8 9 must be kept between 0 3V and 5 3V or smoke will be produced For TTL output the max sourcing sinking current must be kept in 0 20mA f using an external encoder channel A should be connected to S1 channel B to S2 GND to AG Standalone Operation When working standalone user can use the wiring scheme shown in figure 0 2 Please not
19. that POS is for open loop control while QEC is for closed loop control When closed loop control module is enabled MCFG lt QEM gt 1 QEC instruction can be used however a POS instruction can only leads to an error ACK except when it is used for status inquiry On the other hand in open loop control POS instruction can be used while QEC instruction can only be used for status inquiry provided that an encoder is included in the system whose QER is correctly configured and the Encoder Decoding Module is enabled i e MCFG lt QEl gt 1 9 3 Check Current Encoder Position QEC Function to check current encoder position Feedback OxCC Controller ID OxB1 Q4 Q3 Q2 Q1 QO OxFF OxB1 is the message ID of current encoder position QEC Comment Q4 QO represents the desired quadrature encoder position See figure 2 2 for how to convert to a signed 32bit integer Ul Robot Technology Co Ltd M42110923EN Page 49 UIM24202 04 08 9 4 Quadrature Encoder Resolution Setting Instruction QER Function to set the quadrature encoder resolution at x Integer x 0 1 65000 OxAA Controller ID OxC2 R2 R1 RO OxFF OxC2 is the message ID of QER R2 RO represents encoder resolution See figure 2 1 for how to convert to an Comment unsigned 16bit integer QER is the abbreviation for Quadrature Encoder Resolution A WARNING Incorrect QER value can result in unpredictable closed loop control operations 9 5 Check Quadratu
20. 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 UIM242 can perform motion controls without the user device There are 8 sensor events that can be configured for S1 S2and S3 as listed below Table 8 1 Sensor Events S3 Rising Edge S3 Voltage Level Change Low gt gt gt High 4 5 S3 Falling Edge S3 Voltage Level Change High gt gt gt Low 6 7 Exceeding the Upper Limit Analog input voltage is higher than user defined upper limit 8 Exceeding the Lower Limit Analog input voltage is lower than user defined lower limit There are 9 actions that can be furthermore bound to sensor events 1 Start and run backward DIR 0 at desired speed and acceleration rate Start and run forward DIR 1 at desired speed and acceleration rate Decelerate at the desired rate until stop Reset position counter decelerate at the desired rate until stop Emergency stop Reset position counter Emergency stop Execute backward displacement control DIR 0 using user preset motion parameters Execute forward displacement control DIR 1 using user preset motion parameters A c SE e SS Je Reset position counter Ul Robot Technology Co Ltd M42110923EN Page 39 UIM24202 04 08 8 1 Rising and Falling Edge When port Sx x71 2 is configured for digital input if the sensor module det
21. will be created meanwhile S1 0 Otherwise S1 is kept unchanged 8 3 Sensor Event Action and Binding A sensor event is defined as the sensor voltage change matches a user defined condition Binding means assigning a sensor action to a sensor event UIM242XXs support 6 sensor events as listed in section 8 0 There are 9 actions that can be bound to those 6 sensor events The binding between M42110923EN Page 40 Ul Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller events and actions are realized through the configuration of the Sensor Control Register S12CON These 9 actions are described below 1 Start and Run Backward DIR 0 Run Backwards means starting and continuously running the motor backward using motion parameters i e SPD ACC DEC MSS MDS etc stored in the EEPROM Motion direction is defined by the S12CON Before making usage of this action user has to first configure the S12CON setup the desired speed SPD and if applicable the acceleration rate maximum starting speed etc After that user has to burn the SPD and S12CON into the EEPROM using the STORE instruction Start and Run Forward DIR 1 Same as above except that the direction is opposite forward instead of backward Deceleration until Stop Decelerating the motor speed until stop according to the motion parameters i e mDEC mMDS stored in the EEPROM To use this action the advanced motion control must be enabled
22. 00 0000 0000 1000 binary 0x0008 hex 8 decimal 3 Send instruction MCFG 8 4 Set PAEVENT lt 2 0 gt 010 link to direction event 5 Set P4LVL 1 so when DIR 1 P4 will output 5V 6 Fill the S34CON with above bits get S34CON 0000 1010 0000 0000 binary T Affix the suffix code 0001 to S34CON get SCFG 0000 1010 0000 0000 0001 binary 0x0A001 hex 40961 decimal 8 Send instruction SCFG 0xA001 or SCFG 40961 9 Send instruction ENA 10 Run the motor There are numerous ways to run the motor The easiest way is using SPDzx During the motion please watch the output level change each time the motor change direction and pay attention to the RTCN on the PC screen Ul Robot Technology Co Ltd M42110923EN Page 53 UIM24202 04 08 APPENDIX A Dimensions P IC Dv AOA gy i E mm Ul E ETE l id Hr 6 7 Unit mm M42110923EN Page 54 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller APPENDIX B Installation NEMA 17 Stepper Installation without adapting flange 1 Screw mount UIM controller driver onto the motor 2 Wire the motor leads stepper Motor a WEIL Motor Conds V Wulf Drnverulh Controller UMM JUR xh RE de es 3 0 ie Mounting Screws SEXES l NEMA 23 and Larger Stepper Installation with adapting flange 1 Screw mount the adapting flange onto the motor 2 Screw mount UIM
23. 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 Ox01EB2 hex 7858 decimal 14 Send instruction SCFG 0x1EB2 or SCFG 7858 15 Set desired speed by sending instruction SPD 5000 16 Burn parameters into EEPROM by sending STORE 17 Initiate the motion by sending ENABLE 18 The system starts to work continuously 19 Disconnect the user device and restart the UIM242 controller the system will automatically run UI Robot Technology Co Ltd M42110923EN Page 47 UIM24202 04 08 9 0 Encoder and Closed loop Control Quadrature Encoder also known as Incremental Encoder or Optical Encoder is used for tracking the angular position and velocity of rotary motion It can be applied for closed loop control of various motors A typical quadrature encoder consists of a slotted wheel for motor shaft and a transmitter detection module for detection of the slot on the wheel Usually there are 3 channels channels A B and Z INDEX Information from the three channels can be read and decoded to provide motion status of shaft including position and velocity The relationship between channel A QEA and channel B QEB is as simple as which phase leads When phase A leads B then the shaft is rotating in the clockwise direction When phase B leads A then the shaft is rotating in the counter clockwise direc
24. FACT Bit 15 12 S2RACT 3 0 S2 Rising edge Action S2RACT binary Action RTCN or Not 0000 N A No RTCN Ignore MCFG lt S2IE gt IA 0001 N Depends on MCFG lt S2IE gt 0010 Start and Run Reversely Depends on MCFG lt S2IE gt 1010 Start and Run Forwardly Depends on MCFG lt S2IE gt 0011 Decelerate until Stop Depends on MCFG lt S2IE gt Reset position and encoder counter 1011 Decelerate until Stop Depends on MCFG lt S2IE gt 0100 Emergency Stop Depends on MCFG lt S2IE gt Reset position and encoder counter Emergency Stop Depends on MCFG lt S2IE gt Depends on MCFG lt S2IE gt Depends on MCFG lt S2IE gt Depends on MCFG lt S2IE gt Reverse Displacement Control Forward Displacement Control Reset position and encoder counter Bit11 8 S2FACT 3 0 S2 Falling edge Action S2FACT binary Action RTCN or Not 0000 N A No RTCN Ignore MCFG lt S2IE gt 0010 Start and Run Reversely Depends on MCFG lt S2IE gt Depends on MCFG lt S2IE gt Depends on MCFG lt S2IE gt 1010 Start and Run Forwardly 0011 Decelerate until Stop Reset position and encoder counter 1011 Decelerate until Stop Depends on MCFG lt S2IE gt 0100 Emergency Stop Depends on MCFG lt S2IE gt 1100 Reset position and encoder counter Depends on MCFG lt S2IE gt Emergency Stop 0101 Reverse Displacement Control Depends on MCFG lt S2IE gt 1101 Forward Displacement Control Depends on MCFG lt S2IE gt 0110 Reset position and enc
25. G Function Check the value of the Master Configuration Register OxAA Controller ID OxBO CFG2 CFG1 CFGO OxFF OxBO is the Message ID of MCFG Comment CFG2 CFGO denotes the master configuration register value See figure 2 1 for how to convert to a 16bit integer Ul Robot Technology Co Ltd M42110923EN Page 19 UIM24202 04 08 6 0 Basic Control Instructions UIM242XX controllers support the following basic control instructions Instruction Function Example Set desired speed PPS pulse per second 7 SPD SPD65000 SPD 65000 Check present speed Set desired incremental displacement 8 STP STP 30000 Check present incremental displacement 9 FBK Inquiry present motor working status FBK 10 ORG Reset the position encoder counter ORG Set desired position 11 POS p POS 20000000 Check present position The above instructions 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 UIM242XX motion control modes is first provided followed by detailed description of above instructions M42110923EN Page 20 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 6 1 General Introduction of Motion Control Mo
26. MD2 MD1 MDO OxFF OxB4 is the message ID for mMDS MD2 MDO represents the value of Maximum Cessation Speed See figure 2 1 Coltimani for how to convert to an unsigned 16bit integer mMDS is the abbreviation of motion Maximum Deceleration Speed mMCS is not used to avoid confusing with the micro stepping instruction MCS Unit pps pulse secona Check current Maximum Cessation Speed Function Check the Maximum Cessation Speed OxAA Controller ID OxB3 MD2 MD1 MDO OxFF See comments in above table M42110923EN Page 38 Ul Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 8 0 Sensor Input Control UIM242XX Motion Controller has an optional sold separately Sensor Control Module which supports two sensor input ports S1 and S2 Both sensor input ports accept digital TTL input from OV 5V Furthermore port S1 can be configured for either digital input or analog input Besides digital input condition circuit UIM242XX has a 12 bits ADC analog digital converter and a 5V reference voltage If the input voltage is O 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
27. QEC Completion RTCN O Disable the displacement control completion RTCN 1 Enable the displacement control completion RTCN M42110923EN Page 18 Ul Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller Bit 3 P4IE P4 Status Change RTCN O Disable P4 status change RTCN 1 Enable P4 status change RTCN Bit 2 S3IE S3 Status Change RTCN O Disable S3 status change RTCN 1 Enable S3 status change RTCN Bit 1 S2IE S2 Status Change RTCN O Disable sensor port 2 S2 status change RTCN 1 Enable S2 status change RTCN Bit 0 S1IE S1 Status Change RTCN O Disable sensor port 1 S1 status change RTCN 1 Enable S1 status change RTCN 5 2 Master Configuration Register Instruction MCFG MCFG X Function Setup Master Configuration Register Integer x 0 1 65535 or Hexadecimal x 0x0000 OXFFFF OxBO is the Message ID of MCFG CFG2 CFGO denotes the master configuration register value See figure 2 1 for how to convert to a 16bit integer Comment If x using decimal first fill each bit of the master configuration register with O or 1 and then convert them to a decimal based number If x using hexadecimal the number must start with Ox User Send MCFG 34611 or MCFG 0x8733 ACK Message OxAA 0x00 OxBO 0x02 OxOE 0x33 OxFF Interpretation Convert 0x2 OxE 0x33 to 16bit integer we get 0x8733 That is 34611 decimal 5 3 Check Master Configuration Register MCF
28. SPDO OxFF OxCC denotes feedback of current status OxB2 is the message ID of current speed SPD Comment SPD2 SPDO denotes the current motor speed See figure 2 1 for how to convert to a signed 16bit integer Unit is pulse second PPS or Hz The sign of the value denotes motor direction Ul Robot Technology Co Ltd M42110923EN Page 25 UIM24202 04 08 6 11 Displacement Control Instruction STP Comment STP X Set the desired incremental displacement steps or micro steps if MCS 1 Integer x 2 000 000 000 1 0 1 2 000 000 000 OxAA Controller ID OxB6 STP4 STP3 STP2 STP1 STPO OxFF OxB6 is the message ID of STP STP4 STPO denotes the desired motor displacement See figure 2 2 for how to convert to a signed 32bit integer Displacement is essentially defined as counts of the pulse or encoder counter Therefore the actual motor displacement is also relative to the micro stepping resolution or encoder resolution If an STP 0 instruction is received before the former STP instruction is completed UIM242 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 For a 1 8 stepper motor if STP 2200 User sent STP 200 If MCS 1 mo
29. UIROBOT United Intelligence Robot Technology User Manual UIM242XX Series CAN2 0B Instruction Control Miniature Integrated Stepper Motor Controller UIM24202 04 08 Please pay attention to the following before using the UIROBOT products e UIROBOT products meet the specification contained in their particular Data Sheet e UIROBOT will only work with the customer who respects the Intellectual Property IP protection 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 from
30. ations that will cause unpredictable results 11 5 Note the equal symbol is optional User can use other characters except and Y 4 Only the first three letters of an instruction are used by the UIM242XX Therefore the following two instructions are the same ENABLE and ENA 2 2 Macro Operator and Null Instruction In practice users will combine several instructions together and send them at once For example CUR 20 MCS 16 DIR 1 SPD 5000 ENA Normally the user device will receive an ACK message on every instruction sent Thus the above instruction set will cause 5 ACK messages being transferred on the RS232 bus Especially for those basic motion instructions like SPD DIR MCS which have the same ACK sending a set of ACK is unnecessary 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 DIR 1 SPD 5000 ENABLE UIM242XX will only send back 1 ACK on receiving the above message In the above example and Y 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 Enabl
31. before sending other instructions UI Robot Technology Co Ltd M42110923EN Page 45 UIM24202 04 08 8 11 Sensor Data Inquiry Instruction SFBK Function Check sensor readings and status OxCC Controller ID OxC1 Di D2 D3 AN1 ANO OxFF OxC1 is the message ID of SFBK D1 D2 and D3 represent the logic level of S1 S2 and S3 respectively 0 1 AN1 ANO is the converted value for analog input 12 bits Comment See figure 2 1 for how to convert above bytes to an unsigned 16bit integer AN1 and ANO are 0 if no analog input port is configured This instruction can be used for sensor data inquiry at any time and under any condition 8 12 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 0000 binary Then user can use the instruction SCFG to realize the configuration An example is provided below Example 8 11 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 Otherwise a 5V presents Requirements 1 As soon as one sensor S2 is hit the stepper motor starts to run reversely DIR 0 until the table hits the other sensor S1 2 As soon as S1 is hit the stepper motor starts to run positively DIR 1 until the table hits the S2 3 Keep the reciprocating motion with
32. cations with serious signal interference and yet requiring high reliability such as automobile industry automated manufacturing and traffic control The whole CAN bus network is based on a twisted wire pair Similar to the network of home appliances multiple UIM242 controllers are connected to the twisted pair in parallel just like multiple pulps connected to the two wire power cord CAN bus network boosts many advantages one of them is controllers never compete for bus transference A UIM2501 CAN R232 converter is used to connect UIM242 controller s to user device through serial port Meanwhile ASCII coded instructions from user device are converted and transfers in CAN protocol in high speed to long distance reliably to control stepper motor s motion parameters such as direction speed steps micro steps current enable and disable the H bridge For network operation each controller should be set a unique ID and up to 100 UIM242 controllers can be controlled through this UIM2501 converter UIM242 s enclosure is made of die cast aluminum to provide a rugged durable protection and improves the heat dissipation 1 1 Basic Control System UIM242 controllers basic control system comprises communication system basic motion control system absolute position counter quadrature encoder interface and real time event based change notification system Communication System Through one CAN RS232 converter the UIM2501 user device can command mu
33. cilitate the quick start of user device side programming Ul Robot Technology Co Ltd M42110923EN Page 13 UIM24202 04 08 2 1 2 0 Instruction and Feedback Structure Once UlM242XX receives a message instructions from the user device it will first ACK back repeat the received instruction and then execute the instruction If the real time change notification RTCN is enabled UIM242XX will further send back a message to inform the user device of the completion of the instruction Before a new instruction is received UIM242XX will keep current working status e g running stop etc Instruction Structure An instruction is a message sent from the user device to UIM242XX to command certain operation Instructions of UIM242XX follow the rules listed below DI 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 as follows Instruction Symbol Value or Instruction Symbol Where Instruction Symbol comprises letters with no space between them and is not case sensitive Value comprises set of numbers with no other characters between them Some instructions have no Value such as SPD STP etc oly Terminator is the semicolon Instruction without terminator will cause the UlM242XX to wait until oly the presence of the In most situ
34. ctions and Wee le 13 2 0 Instruction and Feedback Structure eeeeeeeee e ceeeee eee nnmnnn 14 2 1 IEN telen Ee Le E 14 2 2 Macro Operator and Null Instruction ooocccccocccncnocnnncnocnnonncnnnnnnnnnonononononrnnononrnnonnnnnnonnrnnnnnanaros 14 2 3 Feedback Message Structure nennen nennen nennen nnnn nnne annees anres sn nnns 15 3 0 CAN2 0 COMMUNIGAUON miii A 16 3 1 Controller De et D tec 16 3 2 Check Controller Model MDLE EE 16 3 3 CAN2 OB Bit rate and Global InstructiONS cccoonccccoocnncononnnononcnnnnonononnnrnnononcnnonnronnonaronononnnnnnss 16 4 0 Real time Change Notification cccccccsssseescesseeescesseeeseesseeseeenseeseoenseesseenneesees 17 4 1 Kate Ce ie dE 17 4 2 Enable Bisable RE EE 17 5 0 Hardware Firmware Configuration sscccsssseeessssseeeseesseeesesseeseeeseeeseenseessonees 18 5 1 Master Configuration Register nennen enne enne nnne nnns nnn nnne nnns 18 5 2 Master Configuration Register Instruction MCEOG nnn 19 5 3 Check Master Configuration Register 19 6 0 Basic Control Instructions aiii iii 20 6 1 General Introduction of Motion Control Modes nennen 21 6 2 H Bridge Enable Instruction ENA ier eet t A et edem dece meses dur oen eue d 23 6 3 H Bridge Disable Instruction OFF 23 6 4 Motor Current Adjusting Instruction CUR nennen nennen nnn 24 6 5 Automatic Current Reduction Instruction ACHT 24 6 6 Micro Stepping
35. d loop Position Control Instruction OECH enn 49 9 3 Check Current Encoder PF OSIMOM EE 49 9 4 Quadrature Encoder Resolution Setting Instruction QER cccccnccnccccnnncnnncconoonnnnnnnncnnnnanoncnnnncnos 50 9 5 Check Quadrature Encoder Resolution nennen nennen nnns 50 9 6 Duality of STP Instruction ssesssssssssssssesseeeennenenn nennen nnne nennen nnne nnne nnn nne 50 9 7 SPD nstricor D DS le re EE 50 9 8 Restrictions on POS INSTrUC ION cocooccccoccnccccnnconnnonnnnonocnnononononnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonannninonnnss 50 10 0 TTEOQUTPUT CONTRO E 51 10 1 Introduction to TTL Output Control Instructions ccc eecccceececeeeeeeeeeeaeeeeseeceseecesseeeesaeeeseeeesaaees 51 10 2 TTE Output Control Register S94 NEE 51 10 3 Output Control Configuration Instruction SCENE 52 104 TITLOmputlastucuion DOUT ata 52 10 5 Check TTL Output Level 52 10 6 Example of TTL Output Control and S34CON Configuration ccocccccccncconcnccncncnonnnnnncnnconnncnncnnnns 53 APPENDIX A DIMENSION E 54 APPENDIX B JN TAN d ON siini a 55 M42110923EN Page 10 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 1 0 Overview UIM242XX are miniature integrated stepper motor controllers with CAN2 0B Active bus communication capability UIM242 has a size of 42 3mm 42 3mm 16 5mm and is designed to mount onto NEMA17 23 34 42 stepper motors seamlessly UIM24202 can provide 0 7 2A outpu
36. decides motor direction 5 STP4 STPO denotes the current motor displacement See figure 2 2 for how to convert to a signed 32bit integer Displacement is essentially defined as counts from the pulse counter or encoder Therefore the actual angular displacement is relative to micro stepping resolution or encoder resolution 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 Ul Robot Technology Co Ltd M42110923EN Page 29 UIM24202 04 08 7 1 7 2 7 0 Advanced Motion Control UIM242XX 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 5 additional instructions Once the advanced motion control module is enabled all basic control instructions are automatically turned into advanced control instructions Instruction Function Example 1 MCFG Enable disable the advanced motion control module MCFG1792 2 MACC Set the acceleration rate MACC 200 MMSS Set the Maximum Starting Speed MMS1600 MMDS Set the Maximum Cessation Speed MMDS1000 It takes less than 1 millisecond for the specified parameter to take effect after the i
37. des There are three motion control modes for UIM242XX controller Velocity Tracking VT Position Tracking PT and Position Velocity Tracking PVT Velocity Tracking VT In the Velocity Tracking VT mode UIM242XX controller controls the motor speed to track desired speed Figure 6 1 Velocity Tracking Instruction SPD 1000 received at this point Current Speed Advanced motion control linear non linear acceleration Basic motion control speed rises without cceleration process Instruction SPD 1000 received at this point Basic motion control speed falls without deceleration process Current Speed Advanced motion control linear non linear deceleration 1000 Please note that Sign of the value of SPD instruction instructs the motion direction For example both the instruction SPD 1000 and SPD 1000 make motor run forward at 1000pps Meanwhile the instruction SPD 1000 can cause motor to run backward at 1000pps The DIR instruction is obsoleted However if a DIR instruction occurs after an SPD instruction it will still affect motor direction 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 6 0 Advanced Motion Control Position Tracking PT In the Position Tracking PT mode UIM242 controller will keep motor running at a speed
38. e 48 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 9 2 Closed loop Position Control Instruction QEC Cr Integer x 2 000 000 000 1 0 1 2 000 000 000 OxB8 is the message ID of desired encoder position QEC Q4 Q0 represents the desired quadrature encoder position See figure 2 2 for how to convert to a signed 32bit integer Actual motor position is also relative to the encoder resolution The encoder counter records encoder pulses When the direction is positive DIR 1 the counter increases when the direction is negative DIR 0 the counter decreases Therefore the value of the counter is a signed 32bits integer with positive representing the final position is of the same direction of DIR 1 and vice versa Encoder counter can only be reset cleared under following situations Comment 1 Commanded by user instruction ORG 2 User preset sensor ORG event happens Please also be aware 1 Power Failure Protection Should a Power Failure situation happen the value of the encoder counter will be pushed into EEPROM and restored when reboot next time However passive movement after power off cannot be recorded For every slot the encoder counter records 4 pulses E g when QEC 500 the encoder counter records 500 4 2000 pulses each turn QEC is the abbreviation for Quadrature Encoder Counter QEC instruction is basically of the same use as POS The difference is
39. e disable Current Micro stepping Auto current reduction Direction Speed and Displacement Actually user can simply send the null instruction 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 M42110923EN Page 14 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 2 3 Feedback Message Structure Feedback Message is the message sent to user device from UIM controller The maximum length of feedback messages is 13 bytes Feedback messages from UIM242 through UIM2501 follow the structure below Header Controller ID Message ID Data Terminator Header denotes the start of a feedback message There are 3 kinds of headers 1 OxAA represents the ACK message which is a repeat of the received instruction 2 OxCC represents the status feedback which is a description of current working status 3 OXxEE represents the error message Controller ID is the identification number of current controller in a CAN network Message ID denotes the property of the current message For example OxCC 0x05 OxAO OxFF where OxAO denotes that the current message means a falling edge happened at sensor S1 port Data has a 7bits data structure In figure 2 1and figure 2 2 examples are shown on how to convert a set of 7bits data into 16bit data and 32 bits data Obviously 16bit data takes three 7bi
40. e sign of the speed Comment The actual motor direction also depends on the wiring between motor and controller M42110923EN Page 24 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 6 8 Absolute Position Counter Reset Instruction ORG Function Reset the position encoder counter create an origin point Feedback OxCC Controller ID OxBO 0x00 0x00 0x00 0x00 0x00 OxFF OxCC indicates that a feedback message is received Comment OxBO is the message ID of ORG 6 9 Speed Adjusting Instruction SPD Function Set the desired speed to x Integerx 65535 1 0 1 65535 OxAA indicates confirm of instruction ACK OxB5 is the message ID for desired speed SPD SPD2 SPDO denotes the desired motor speed See figure 2 1 for how to convert to a signed 16bit integer Unit is pulse second PPS or Hz The sign of Comment UNO the value decides motor direction 4 3 If no or specified before x it is taken as Once H bridge is enabled motor starts running on receiving the instruction SPD x x40 until another instruction SPD 0 is given For a 1 8 stepper motor if the SPD 100 User sent SPD 100 If MCS 1 motor speed 1 8 100 180 sec 30 rpm If MCS 16 motor speed 1 8 100 16 11 25 s 1 875rpm 6 10 To Check Current Speed SPD Function Check current speed Feedback OxCC Controller ID OxB2 SPD2 SPD1
41. e that this wiring scheme should be used for setting the ID of a UIM242 controller For long distance transfer both ends of the CAN bus should be terminated with1200 terminating resistors AS UIM2501 converter has a build in terminating resistor user only needs to attach a resistor at the other end of the bus Please refer to the UIM2501 user manual for how to enable the UIM2501 converter s terminating resistor CANH and CANL should use a twisted wire pair Figure 0 2 Wiring Scheme for Standalone Operation UIM2501 Converter Pair RS232 Cable UI Robot Technology Co Ltd Stepper Motor Hil Sensor 1 ES S ensor UIM242XX Controller M42110923EN Page 5 UIM24202 04 08 Network Operation UIM242 controllers can work in a CAN network In figure 0 3 a wiring scheme is presented for such network operation with one RS232 CAN converter connected with multiple UIM242XX controllers For detailed terminal wiring on each controller please refer to figure 0 2 In network operation all nodes are connected onto a twist wire pair as displayed in figure 0 3 Star connection scheme must be avoided Meanwhile the stub must not exceed 2cm each The shorter the better Both ends of the bus should be terminated with120O terminating resistors Shielded 120 ohm CAN bus cable is recommended if the transfer distance is over 100 meters In practice only one terminating resistor is need at the other end of CAN bus
42. ects a voltage change on Sx from OV to 5V an Sx rising edge event will be created meanwhile Sx is assigned a logic value 1 i e Sx 1 If the sensor module detects a change on Sx from 5V to OV an Sx falling edge event will be created meanwhile Sx 0 Figure 8 1 Rising and Falling Edge of a Digital Sensor Input Voltage on port Sx Sx Logic Value Falling Bad Voltage on port Sx 8 2 Analog Input and Thresholds Figure 8 2 Analog Input and Thresholds Voltage on Sensor Port Here S1 is still 1 OV S1 Logic Value Here S1 is still O Falling S1 value ci Rising Edge 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 e make MCFG lt CHS gt 0 Once configured the analog voltage on port S1 can be obtained by instruction sFBK In order to use the sensor events user may need to further setup the input upper and lower thresholds 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
43. ed as counts from the pulse counter or encoder Therefore the actual angular displacement is relative to micro stepping resolution or encoder resolution M42110923EN Page 28 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 6 16 Motor Status Feedback Inquiry Instruction FBK If user wants to check the current motor status following instruction should be used Please note that motor status and desired settings could be different ehhh the current motor status Feedback See the o section Comment FBK is the abbreviation for Feedback 6 17 Motor Status Feedback Message Variable 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 poe 1 2 jJaja s e r e E wo a 2 iw Where 1 0xCC denotes a Motor Status Feedback Message i e the present value of motor status 2 ASM assembled byte structure ow 7 e s 4 ee 2z 1 o TES ol losa e odas 3 CUR current phase current structure Phase Current e g 27 2 7 Amp 4 SPD2 SPDO denotes the current motor speed See figure 2 1 for how to convert to a signed 16bit integer Unit is pulse second PPS or Hz The sign of the value
44. er decreases 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 Advanced Motion Control Instructions Once the advanced motion control module is enabled all basic control instructions are automatically turned into advanced control instructions This transition is transparent to the user Furthermore there are 5 additional instructions added as listed below 1 MCFG This is the instruction to enable or disable the advanced motion control module User can clear the CM bit of Master Configuration Register MCFG lt CM gt 0 to disable the module or set the CM bit MCFG lt CM gt 1 to enable the module 2 mACC This is the instruction set the acceleration rate There are two ways to set the acceleration rate a Value mode M42110923EN Page 34 Ul Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 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 b Period mode If the AM bit of Master Configuration Register is set to one MCFG lt AM gt 1
45. er than a certain user preset value i e the Maximum Cessation Speed UIM242XX will use the Uniform Deceleration Control algorithm Figure 7 6 Nonlinear Deceleration Control case 1 Current Speed Uniform Deceleration Desired Speed 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 Figure 7 7 Nonlinear Deceleration Control case 2 Current Speed Uniform deceleration d Step Deceleration Maximum Cessation Speed Desired Speed If the desired speed is lower than the Max Cessation Speed and current motor speed is lower than Max Cessation Speed then the speed will be adjusted to the desired speed through step deceleration Figure 7 8 Nonlinear Deceleration Control case 3 Step Deceleration Maximum Cessation Speed Current Speed Desired Speed Note Setting the Maximum Starting Speed or the Maximum Cessation Speed to O zero will force the controller use Linear Acceleration Deceleration Control Algorithm M42110923EN Page 32 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 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 traject
46. ergency Stop 0101 Reverse Displacement Control Depends on MCFG lt S3IE gt 1101 Forward Displacement Control Depends on MCFG lt S3IE gt 0110 Reset position and encoder counter Depends on MCFG lt S3IE gt 1100 Depends on MCFG lt S3IE gt Ul Robot Technology Co Ltd M42110923EN Page 43 UIM24202 04 08 Bit 3 0 S3FACT lt 3 0 gt S3Falling edge Action S3FACT binary Action RTCN or Not 0000 N A No RTCN Ignore MCFG lt S3IE gt A 0001 N Depends on MCFG lt S3IE gt 0010 Start and Run Reversely Depends on MCFG lt S3IE gt 1010 Start and Run Forwardly Depends on MCFG lt S3IE gt 0011 Decelerate until Stop Depends on MCFG lt S3IE gt Reset position and encoder counter Decelerate until Stop 0100 Emergency Stop Depends on MCFG lt S3IE gt Reset position and encoder counter Emergency Stop 0101 Reverse Displacement Control Depends on MCFG lt S3IE gt 1011 Depends on MCFG lt S3IE gt 1100 Depends on MCFG lt S3IE gt 1101 Forward Displacement Control Depends on MCFG lt S3IE gt 0110 Reset position and encoder counter Depends on MCFG lt S3IE gt 8 7 Analog Threshold Control Register ATCON 8 ATCONL AN ATCONH and ATCONL define the upper and lower limit of the analog threshold Both registers are 16bits registers in the controller memory space configured through SCFG instructions However when configuring user needs to affix a 4bits suffix code to point to a specific register The suffix code fo
47. h as high speed long distance interference immunity network and easy wiring For detailed instructions and operations on the communication between user device and UIM2501 please refer to the UIM2501 user manual 3 1 Controller ID Assignment In order to communicate properly every UIM242XX controller needs to have a unique identification code ID or address even in standalone operation Figure 0 2 Every UIM242xx controller has a factory default ID of 5 User can change the ID through instruction For detailed process and instructions for Controller ID assignment please see the UIM2501 user manual Please Note If there are two or more UIM242 controllers with the same ID in a network the network may not work properly If two or more UIM242 controllers are connected to a UIM2501 during ID assignment operation the process will fail A 3 2 Check Controller Model MDL MDL x Check the Model installed optional modules and firmware version of the UIM242 Function controller of ID x Variable Integer x 5 6 125 Feedback OxCC Controller ID OxDE 0x18 0x2 CUR ASM V2 V1VO OxFF OxDE is the Message ID of instruction MDL CUR denotes the Max phase current e g 20 means 2 0 A ASM denotes the installed optional modules It has the following structure bit 7 6 9 4 3 2 1 0 onu AAA MF CN CM CM CRM M DUE Meaning 0 Int QE Closed loop Adv Motion No of Sensor Ports For example if bit
48. iniature size 42 3mm 42 3mm 16 5mm Fit onto motors seamlessly Die cast aluminum enclosure heat dissipation and durability improving Motor Driving Characteristics Wide supply voltage range 12 40VDC Output current 2 4 8A instruction adjustable Full to 16th micro step resolution Dual full H bridge with PWM constant current control Accurate micro stepping and current control CAN2 0B Active Communication 2 wire interface Max 1M bps operation long distance Max 100 nodes Differential bus high noise immunity General Description Embedded DSP Microprocessor Hardware DSP 64bits calculating precision Quadrature encoder based closed loop control Advanced motion control linear and non linear acceleration and deceleration S curve PT PVT displacement control Power failure position protection 3 sensor input ports 1 analog input 12bit 1 TTL output 12 real time event based change notifications 9 programmable actions triggered by 8 sensor events Simple instructions intuitive and fault tolerating UI Robot Technology Co Ltd UIM24002 UIM24204 UIM24208 are miniature stepper motor controllers with CAN network interface Through a CAN RS232 converter UIM2501 user device can operate a network of up to 100 UIM242 controllers through RS232 ASCII coded instructions Instructions are simple intuitive and fault tolerating User is not required to have knowledge on stepper mot
49. ltiple UIM242 controllers through RS232 using ASCII coded instructions The UIM2501 translates the instructions from RS232 to CAN2 0B and sends the instructions to the target controller according to the controller ID that has been specified by user device The CAN bit rate can be changed through instruction Basic Motion Control 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 Open loop position control is possible using UIM242 controller When desired position is reached there could be automatically generated message feedback to the user device given the corresponding configuration through user instruction UI Robot Technology Co Ltd M42110923EN Page 11 UIM24202 04 08 Absolute Position Counter Quadrature Encoder Interface UIM242 has a hardware pulse counter Output of the counter is signed 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 config
50. ly that supports 1 channel of TTL level output This output port P4 is capable of providing 20mA sourcing or sinking current In practice please keep the current as low as possible to prevent overheating the controller The output voltage level can be controlled by 1 User instruction or 2 One of the following events a Run Stop status The output voltage level is determined by if the speed is zero or not b Direction change The output voltage level is determined by if the current motor direction is forward or reverse C Origin point hit The output voltage level is determined by if current position is zero point or just crosses over the zero point 10 1 Introduction to TTL Output Control Instructions There are 3 instructions related to the TTL output control 1 MCFG The PAIE bit MCFG lt 3 gt of the master configuration register enables disables the P4 real time change notification RTCN For details please refer to section 5 1 2 SCFG The instruction SCFG is used to configure the register S34CON 3 DOUT This instruction is used to directly control the TTL output voltage level as well as check current voltage level 10 2 TTL Output Control Register S34CON For TTL output control the upper byte of S34CON defines the binding between a certain event and the output voltage level S34CON is a 16 bit register inside the controller and can be configured using the instruction SCFG When writing to it user needs to affi
51. m 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 DIR 1 until the potentiometer outputs arrives 4V 2 As soon as the sensor output is higher than 4V the stepper motor starts to run backward DIR 0 until the potentiometer outputs reaches 0 6V 3 Keep the reciprocating motion without the user control device Realization 1 First stop the motor by sending OFF 2 Set MCFG lt ANE gt 1 MCFG lt CHS gt 0 get MCFG 1000 0000 0000 0001 binary 0x8001 hex 32769 decimal Send instruction MCFG 0x8001 or MCFG 32769 It is required Start and Run Forwardly on S1 falling edge when analog input lt 0 6V therefore S1FACT lt 3 0 gt 1010 5 It is required Start and Run Reversely on S1 rising edge when analog input gt 4V therefore S1RACT lt 3 0 gt 0010 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 0x002A0 hex 672 decimal 8 Send instruction SCFG 0x2A0 or SCFG 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 OxOCCC3 hex 52419 decimal 11 Send instruction SCFG 0xCCC3 or SCFG 52419 12
52. n S1 is configured as analog OxAO denotes event 9 otherwise OxAO denotes event 1 When S3 is configured as analog OxA4 denotes event 9 otherwise 0xA4 denotes event 5 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 PAIE bit MCFG lt 3 gt S3IE bit MCFG lt 2 gt S2IE bit MCFG 12 and S1IE bit MCFG lt 0 gt Please refer to section 4 1 for details Please note to realize the sensor event control user needs to further configure the sensor control registers S34CON and S12CON Please refer to Chapter 8 0 for details UI Robot Technology Co Ltd M42110923EN Page 17 UIM24202 04 08 9 1 5 0 Hardware Firmware Configuration UIM242 s hardware and firmware can be configured through user instructions This can be achieved through writing the corresponding configuration registers There are 6 configuration registers for UlM242 Master Configuration Register Sensor Input Control Register TTL Output Control Register and 2 Analog Threshold Registers In this chapter only the Mater Configuration Register is described User can find details about the other 5 registers in their corresponding chapters Master Configuration Register Master Configuration Register is used to enable disable the hardware firmware functions Once configured it will be
53. ncoder counter M42110923EN Page 12 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 1 4 1 5 1 6 TTL Output Control Module UIM242 s TTL Output Control Module supports 1 channel of TTL voltage level output The output port P4 is capable of providing 20mA sourcing or sinking current In practice please keep the current consumption as low as possible to avoid overheating the controller The output level can be controlled by 1 User instruction 2 One of the following events a run stop status b direction change and c origin point hit Encoder based Closed loop Control Module With the encoder based closed loop control module UIM242 controller can perform self closed loop motion control Without this module UIM242 can still interface with a quadrature encoder and provide reading to user device but the self closed loop is not available Instructions and Interface Instructions for UIM242XX are simple intuitive and fault tolerating 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 fa
54. nstruction is received Values of above instructions will be stored in the EEPROM 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 first introduced followed by introduction to above 5 instructions 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 UIM242 controller will perform the acceleration process automatically Figure 7 1 Linear Acceleration Control Acceleration Rate Desired Speed Current Speed Linear Deceleration Linear deceleration 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 UIM242 controller will perform the deceleration process automatically Figure 7 2 Linear Deceleration Control Speed Current Speed Uniform Deceleration Desired Speed M42110923EN Page 30 Ul Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 7 3 Nonlinear Acceleration To minimize the response time and to avoid resonance point user can use UlM242XX s non linear acceleration function Experiments show that through non linea
55. oder counter Depends on MCFG lt S2IE gt Bit 7 4 S1RACT lt 3 0 gt S1 Rising edge Action S1RACT binary Action RTCN or Not 0000 N A No RTCN Ignore MCFG lt S1IE gt 0001 N A Depends on MCFG lt S1IE gt 0010 1010 0011 1011 0100 1100 0101 M42110923EN Page 42 Start and Run Reversely Start and Run Forwardly Decelerate until Stop Reset position and encoder counter Decelerate until Stop Emergency Stop Reset position and encoder counter Emergency Stop Reverse Displacement Control Depends on MCFG lt S1IE gt Depends on MCFG lt S1IE gt Depends on MCFG lt S1IE gt Depends on MCFG lt S1IE gt Depends on MCFG lt S1IE gt Depends on MCFG lt S1IE gt Depends on MCFG lt S1IE gt UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller Forward Displacement Control Depends on MCFG S1IE Reset position and encoder counter Depends on MCFG lt S1IE gt Bit 3 0 S1FACT lt 3 0 gt S1 Falling edge Action S1FACT binary Action RTCN or Not 0000 N No RTCN Ignore MCFG lt S1IE gt IA 0001 N A Depends on MCFG lt S1IE gt 0010 Start and Run Reversely Depends on MCFG lt S1IE gt Start and Run Forwardly Depends on MCFG S1IE Decelerate until Stop Depends on MCFG lt S1IE gt Reset position and encoder counter Decelerate until Stop Emergency Stop Depends on MCFG lt S1IE gt Reset position and encoder counter Emergency Stop Depends on MCFG S1IE Depends
56. on MCFG S1IE Reverse Displacement Control Depends on MCFG S1IE Forward Displacement Control Depends on MCFG S1IE Reset position and encoder counter Depends on MCFG lt S1IE gt 8 6 Sensor Input Control Register S34CON S34CON Sensor3 Port4 Control defines the binding relationship between S3 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 SCFG When writing to it user needs to affix a 4bits suffix code to point to this register For details of SCFG please refer to chapter 8 8 In addition S34CON is also used to configure the TTL output port and the events that drive the output level In this chapter only the S3 related configuration is described S34CON Structure L ww wiw EEE EAR EES ERED Bit 15 12 Unimplemented Read as 0 Bit 11 8 PA4LVL PAEVENT 2 0 P4 TTL Output Control Please refer to section 10 2 for details Bit 7 4 S3RACT lt 3 0 gt S3 Rising edge Action S3RACT binary Action RTCN or Not 0000 N A No RTCN Ignore MCFG lt S3IE gt 0010 Start and Run Reversely Depends on MCFG lt S3IE gt 1010 Start and Run Forwardly Depends on MCFG lt S3IE gt 0011 Decelerate until Stop Depends on MCFG lt S3IE gt Reset position and encoder counter Decelerate until Stop 0100 Emergency Stop Depends on MCFG lt S3IE gt 1011 Depends on MCFG lt S3IE gt Reset position and encoder counter Em
57. on 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 1 for details SCFG Sensor Configuration Register SCFG is used to configure following sensor input control registers S12CON and Analog threshold control register ATCONH and ATCONL STORE Sensor Parameter Store into EEPROM STORE is used 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 sFBK Sensor Status Feedback At any time and under any scenario using the instruction SFBK can always read back the logic value of S1 and S2 as well as the analog measurement given MCFG lt ANE gt 1 MCFG lt CHS gt 0 UI Robot Technology Co Ltd M42110923EN Page 41 UIM24202 04 08 8 5 Sensor Input Control Register S12CON S12CON Sensor 1 2 Control defines the binding relationship between S1 and S3 sensor events and actions as well as the activation of corresponding RTCNSs It is a 16bits register inside the controller and can be configured using the instruction SCFG When writing to it user needs to affix a 4bits suffix code to point to this register For details of SCFG please refer to Section 8 7 The suffix code for S12CON is 0000 binary S12CON structure is as follows AAA espe pere S2RACT S2FACT S1RACT S1
58. or driving and CAN network UIM242 s architecture includes communication system basic motion control system 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 UIM242 controllers can be mounted onto NEMA17 23 34 42 series stepper motor through adapting flanges Total thickness of the controller is less than 16 5mm Enclosure is made of die cast aluminum to provide a rugged durable protection and improves the heat dissipation M42110923EN Page 3 UIM24202 04 08 Terminal Description Figure 0 1 Terminal Description To avoid loss of screws please always keep screws tightened Motor Terminals Control Terminals Terminal No Designator Description 1 V Supply voltage 12 40VDC GND Supply voltage ground CANH CAN signal dominant high CANL CAN signal dominant low AG Analog ground for sensors S Sensor input port 1 1 S2 Sensor input port 2 3 S Sensor input port 3 AJOJN 1 al co P4 TTL signal output
59. ory 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 Fi ure 7 9 S curve Relative Displacement Control case 1 Desired Speed Uniform Acceleration F i Deceleration T Time Angular Displacement Stop Position Start Position In the control process UIM242XX 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 50 micro 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 Figure 7 10 S curve Relative Displacement Control case 2 Desired Speed Uniform Acceleration NA Uniform Deceleration 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 the
60. out the user control device Realization 1 First stop the motor by sending OFF We are not interested in the rising edge so set S2RACT 3 0 0000 It is required Start and Run Reversely on S2 failing edge so set S2FACT 3 0 20010 Same as 1 set STRACT 3 0 0000 It is required Start and Run Forwardly on S1 failing edge so set S1FACT lt 3 0 gt 1010 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 0x020A0 hex 8352 decimal 8 Send instruction SCFG 0x20A0 or SCFG 8352 9 Setup desired speed by sending instruction SPD 5000 10 Burn parameters into EEPROM by sending STORE pu er OF E 11 Press any one of the limit sensors the mobile platform will work 12 If user enables the RTCNs the user device will get feedback every time the S1 or S2 is hit 13 Disconnect the user device and restart the UIM242 controller the system will automatically run M42110923EN Page 46 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 8 13 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 Example 8 12 System Description A reciprocating mobile platfor
61. r ATCONL is 0010 binary The suffix code for ATCONH is 0011 binary ATCONH structure is as follows Jalea te jefa je riea rje 12 1 value Reserved AH lt 11 0 gt Bit 15 12 Unimplemented read as 0 Bit 11 O AH lt 11 0 gt Upper limit of analog threshold ATCONL structure is as follows E DwpwpwpPeiw wisTerpvyrerererwyaispe value Reserved AL lt 11 0 gt Bit 15 12 Unimplemented read as 0 Bit 11 0 AL lt 11 0 gt Lower limit of analog threshold Note ATCONH ATCONL input range is O 4095 with O corresponding to OV and 4095 corresponding to 5V 4095 is the maximum of a 12bits data M42110923EN Page 44 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 8 8 Sensor Configuration Instruction SCFG SCFG x Function Configure the S12CON S34CON ATCONH and ATCONL Variable Variable Integer x 0 1 1048575 or hexadecimal x 0x00000 OxFFFFF OxAA Controller ID OxCO S4 S3 S2 S1 SO AL1 ALO AH1 AHO OxFF OxCO is the message ID of SCFG S4 SO represent the value of S34CON S12CON See figure 2 2 for how to convert an unsigned 32bit integer The higher 16 bits of the 32bit integer represent S34CON and the lower 16 bits represent S12CON AL1 ALO represent the value of the lower limit of analog input AH1 AHO represent the value of the upper limit of the analog input See figure 2 1 for how to convert above bytes to unsigned 16bit integer
62. r acceleration UIM242XX can make NEMA17 23 4000RPM quad step in 0 25 seconds UIM242XX 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 as shown in figure 7 3 Figure 7 3 Nonlinear Acceleration Control case 1 Uniform acceleration Desired Speed Step acceleration Maximum Starting Speed Current Speed If the desired speed is less than the Max Starting Speed then the motor speed will step up to the desired speed immediately as shown in figure 7 4 Figure 7 4 Nonlinear Acceleration Control case 2 Step Acceleration Maximum Starting Speed Desired Speed Current Speed If the current speed is higher than the Max Starting Speed the UIM242 will use the linear Acceleration Control Algorithm to control the speed Figure 7 5 Nonlinear Acceleration Control case 3 Uniform acceleration N Desired Speed Current Speed Maximum Starting Speed UI Robot Technology Co Ltd M42110923EN Page 31 UIM24202 04 08 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 high
63. rate OxAA OxB2 MMSS x Set maximum starting speed OxAA OxB3 MMSS Check maximum starting speed OxAA OxB3 MMDS X Set maximum cessation speed OxAA OxB4 MMDS Check maximum cessation speed OxAA OxB4 SCFG xX Set sensor control configuration register OxAA OxCO SCFG Check sensor control configuration register OxAA OxCO SFBK Check sensor status OxCC 0xC1 STORE Store motion control parameters OxAA OxD1 QER XY Set quadrature encoder s resolution OxAA OxC2 QER Check quadrature encoder s resolution OxAA OxC2 QEC X Set desired quadrature encoder s position OxAA OxB8 QEC Check current quadrature encoder s position OxCC OxB1 DOUT X Set output TTL level OxAA 0xC1 DOUT Check current output TTL level OxAA OxC1 BTR X Set CAN bus bit rate OxAA OxBC BTR Check CAN bus bit rate OxAA OxBC Ul Robot Technology Co Ltd M42110923EN Page 7 UIM24202 04 08 Characteristics Absolute Maximum Ratings Supply vola ge o eee lei dee IN PEN 10V to 40V Voltage on S1 S2 S3 P4 with respect to GND ooccocccccccccccccccnccoccnnconcnnconcnncnncnnonnnonononononos 0 3V to 5 3V Maximum output current sunk by S1 S2 S3 P4 essssssssssssessesesene nennen nnne nnne nnne 20 mA Maximum output current sourced by S1 S2 S3 P4 eene nnns 20 mA Ambient temperature under bas 20 C to 85 C Storage Tempel E 50 C to 150 C NOTE Working under environment exceeding the above maximum value could result in permanent damage to controller Working under
64. re Encoder Resolution 9 6 9 7 9 8 Function to check current quadrature encoder resolution OxAA Controller ID OxC2 R2 R1 RO OxFF OxC2 is the message ID for QER Comment R2 RO represents encoder resolution See figure 2 1 for how to convert to an unsigned 16bit integer Duality of STP Instruction When closed loop control module is enabled MCFG lt QEM gt 1 STP x defines encoder based relative position instead of relative pulse On the contrary when this module is disabled STP x defines relative pulse SPD Instruction Definition Whether closed loop control module is enabled or not SPD x defines pulses sent to motor per second Restrictions on POS Instruction In the closed loop control mode an instruction of POS x will generate an error ACK but the instruction POS can be used to check the current pulses accumulated since the origin point was set increases for positive running decrease for reverse running Similarly in open loop control mode an instruction of QEC x will generate an error ACK but the instruction QEC can be used to check the quadrature encoder pulses accumulated since the origin point was set increases for positive running decrease for reverse running M42110923EN Page 50 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 10 0 TTL OUTPUT CONTROL UIM242 controller has an optional TTL Output Control Module sold separate
65. re 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 UI Robot Technology Co Ltd M42110923EN Page 33 UIM24202 04 08 7 6 faf Figure 7 11 S curve Displacement Control Uniform Acceleration Desired Speed Uniform Deceleration Max Start Be Max Cessation Speed Angular Displacement Stop Position Trajectory Start Position Direction Control and Position Counter When the user enables the advanced motion control 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 The motor must first be decelerated to zero speed before turned to the desired direction UIM242 has two types of position counters absolute position counter and displacement counter 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 When DIR 1 the counter pulse increases and when DIR 0 the count
66. s Advanced Motion Control Module With advanced motion control module installed UIM242XX 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 Advanced motion control module can be disabled enabled through user instruction Sensor Input Control Module UIM242 s Sensor Input Control Module supports 3 channels of sensor input Input types are configured through instruction There is 1 channel can be configured as analog input The on board ADC converter has 12bit accuracy and 50K Hz sampling rate Analog input is averaged over 16 samples User can configure the desired automatic action triggered by sensor status change There are 9 actions listed below that can be triggered by 8 sensor events 1 Start and Run Reversely DIR 0 Start and Run Forwardly DIR 1 Decelerate until Stop Reset position and encoder counter Decelerate until Stop Emergency Stop Reset position and encoder counter Emergency Stop Reverse DIR 0 displacement control Forward DIR 1 displacement control Spr OE cae epa ER en QU nO Reset position and e
67. s S34CON S12CON ATCONH and ATCONL are 16bits registers in the controller But when configuring them using SCFG user has to affix a 4bits suffix code to specify the register to be written The suffix code for S12CON is 0000 The suffix code for S34CON is 0001 binary The suffix code for ATCONL is 0010 binary The suffix code for ATCONH is 0011 binary Comment binary 8 9 Check the Value of S12CON S34CON ATCONH and ATCONL SCFG E E To check the current value of S12CON S34CON ATCONH and ATCONL le OxAA Controller ID OxCO S4 S38 S2 S1 SO AL1 ALO AH1 AH See comments in above table 8 10 EEPROM Store Instruction STORE STORE instruction is used to burn the values of Sensor Control Configuration Analog Thresholds desired speed and desired displacement into the EEPROM so that the Sensor Input Module automatically participates in system control when user device is absent STORE instruction will affect the system s real time performance STORE Burn MCFG sensor CFG motion control parameters into EEPROM Variable OxAA Controller ID OXD1 OxFF OxD1 is the Message ID of STORE STORE is used to burn MCFG sensor configuration speed displacement acceleration deceleration rate etc into EEPROM Comment STORE 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
68. since UIM2501 already has a built in terminating resistor To activate this built in terminating resistor see UIM2501 user manual Figure 0 3 Wiring Scheme for Network Operation Control Room UIM2501 Converter MEM 12 407 UIM242xx UIM242xx T UIM242xx Controller Controller Controller Motor 1 Motor 2 M42110923EN Page 6 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller Instruction Set Summary Instruction Description Feedback Header Message ID MDL X Check the model of controller with ID of x OxCC OxDE MCFG X Set master configuration register OxAA OxBO MCFG Check master configuration register OxAA OxBO ENA Enable H bridge circuit OxAA OFF Disable H bridge circuit OxAA CUR X Set output phase current OxAA ACR X Enable disable automatic current reduction OxAA MCS X Set micro stepping resolution OxAA DIR X Set motor direction obsoleted OxAA ORG Set zero origin position OxCC OxBO SPD X Set the desired speed OxAA OxB5 SPD Check current speed OxCC OxB2 STP X Set desired incremental displacement OxAA OxB6 STP Check current incremental displacement OxCC OxB3 POS X Set desired position OxAA OxB7 POS Check current position OxCC OxBO FBK Check current motor status OxCC MACC XY Set acceleration rate OxAA OxB 1 MACC Check acceleration rate OxAA OxB 1 MDEC X Set deceleration rate OxAA OxB2 MDEC Check deceleration
69. 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 UIM242XX Ordering Information In order to serve you quicker and better please provide the product number in following format UIM242XX PART NUMBERING SYSTEM E External Encoder Closed Loop P IE Internal Encoder Closed Loop Optional S 2 Sensor Ports SP 3 Sensor Ports 1 TTL output Category Series Optional M Advanced Motion Control Control T Screw Terminal UIM 242 Motor CAN2 0B Connector P Plug Socket Control Control Phase Current 02 2A 04 4A 08 8A Note If not selected the code box can be deleted Default control connector is T screw terminal if not selected Examples UIM24204P UIM24202T M UIM24208 M S E UIM24204 S Examples of Control Connector options SSS Ss gt SE i A C rM SZ sch i lt A ND E AU nm is ech d E D vi i Screw Terminal Rectangular Plug Socket M42110923EN Page 2 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller UIM24202 04 08 CAN2 OB Instruction Control Miniature Integrated Stepper Motor Controller Miniature Integral Design M
70. t current UIM24204 can provide 1 5 4A output current UIM24208 can provide 3 8A output current Current value is adjustable within the range through instructions Once set the value is stored in EEPROM UlM242XX 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 UIM242XX series of controllers work with 12 40VDC power supply UIM242XX can perform open loop control or encoder based closed loop motion control The control system comprises communication system basic motion control system absolute position counter quadrature encoder interface and real time event based change notification system There are also four optional modules to be added on customer request Advanced Motion Control Module linear non linear acceleration deceleration S curve PV PVT displacement control Encoder based Closed loop Control Module and Sensor Input control Module and TTL Output 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 of CPU Entire control process is finished within 1 millisecond UIM242 controller applies CAN2 0B communication protocol which due to its high speed 1 million bit rate long distance 10km transference and high noise immunity is widely used in appli
71. t desired position is achieved stop D keep running at the desired speed stop after reaching the desired position Instruction STP x Instruction POS x 1 SPD x POS x Instruction STP x Ba SPD x STP x Instruction POS x InstructionQEC x E BE SPD x QEC x Instruction QEC x PVT Mode set the desired speed and position or displacemen successively or discontinuously approach the desired speed while making sure th desired position is achieved keep running at the desired speed stop after reaching the desired position 6 2 H Bridge Enable Instruction ENA Funcion Enel tne stepper moter er Haag arving crey Refer to the following Basic Instruction ACK for details 6 3 H Bridge Disable Instruction OFF Function Disable the stepper motor driver i e H bridge driving circuit Refer to the Basic Instruction ACK for details OFF instruction turns off the dual H bridge motor driving circuit Once an OFF instruction is executed the motor will have 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 Comment UI Robot Technology Co Ltd M42110923EN Page 23 UIM24202 04 08 6 4 Motor Current Adjusting Instruction CUR CUR X Function Set the output phase current to x Integerx 0 1 80 ACK Refer to the Basic Instruction ACK for details In
72. tegers O 80 represent O 8 0 amps Once received the current value will be stored in the controllers EEPROM If Comment 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 6 5 Automatic Current Reduction Instruction ACR ACR X Enable disable ACR automatic current reduction function Variable Integer x 7 0 1 Refer to the Basic Instruction ACK for details If ACR 1 the function is enabled vice versa When ACR is enabled the Comment current will be reduced after motor stops which means a decrease of holding torque Value of this instruction will be stored in EEPROM 6 6 Micro Stepping Setup Instruction MCS MCS x Set micro stepping resolution Variable Integer x 1 2 4 8 16 Refer to the Basic Instruction ACK for details x 1 2 4 8 16 represents the full half quarter eighth and sixteenth step resolution respectively Comment Once received the MCS value will be stored in the controllers 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 6 7 Motion Direction Instruction DIR DIR x obsoleted do not use Set the desired motor direction Variable Integer x 0 1 Refer to the Basic Instruction ACK for details Motor direction is now determined by th
73. tion Channel Z is called index pulse which is generated per revolution as a reference for tracking of absolute position The quadrature signals from encoder can be decoded into four types of messages the order of which reverse when rotation direction is reversed The phase signals and index pulses are detected by encoder and further decoded to produce a count up pulse for one direction of shaft rotation or a countdown pulse for the other direction of shaft rotation UIM242 controller has a built in quadrature encoder hereinafter referred to as encoder interface circuit which is capable of decoding encoder signals of less than 200KHz input Another option is user can connect external encoder of their own choice to UIM242 controller using S1 and S2 ports for channel A and B In this case however INDEX decoding function is not available S1 S2 supports 0 5V TTL input The input range for S1 and S2 ports of UIM242 controller is 0 3V 5 3V Any input beyond this range can result in permanent damage Also for this case encoder power supply is to be provided by user For UIROBOT UIM242 controller with internal encoder the S1 and S2 ports are not occupied and therefore are available for sensors Whether the encoder is built in or external the controlling mode and the instructions are the same Instructions relative to encoder control function are listed below Instruction Function Example 1 MCFG enable encoder function MCFG1792 2 encoder
74. tor rotation angle 1 8 200 360 If MCS 16 motor rotation angle 1 8 200 16 22 5 6 12 To check STP displacement Feedback Check current incremental displacement N A OxCC Controller ID OxB3 STP4 STP3 STP2 STP1 STPO OxFF OxCC denotes current status feedback OxB3 is the message ID of current incremental displacement STP STP4 STPO denotes the current incremental displacement See figure 2 2 for how to convert to a signed 32bit integer Displacement is essentially defined as counts from the pulse counter or encoder Therefore the actual angular displacement is relative to micro stepping resolution or encoder resolution M42110923EN Page 26 UI Robot Technology Co Ltd UIM242XX Miniature Integrated Stepper Motor Controller 6 13 Position Control Instruction POS Function Set desired position for open loop control Integer x 2 000 000 000 1 0 1 2 000 000 000 OxAA Controller ID 0xB7 P4 P3 P2 P1 PO OxFF OxB7 is the message ID of desired position POS P4 PO denotes the desired absolute position See figure 2 2 for how to convert to a signed 32bit integer Position is essentially recorded from counts of the pulse counter Therefore the actual motor position is also relative to the micro stepping resolution The position counter records the total pulses sent to motor When the direction is positive DIR 1 the counter increases by 1 when the direction is negative DIR 0
75. ts data and 32bits data needs five 7btis data to represent Terminator denotes the end of a feedback message UIM242XX controller utilizes OxFF as the terminator Note there are two types of feedback that has NO message ID ACK message and Motor Status feedback controllers response to FBK instruction Other messages could have NO data such as some real time change notification messages Figure2 1 Conversion from three 7bits message to a 16bits data mn ts pajas am profo le 7jo sfajafalrjo 1 2 bit 7 bit D Message byte1 Message byte2 Message byte3 EE EE EE EE x x x EC EE E DEE b ooo er o ps 2e o zz js zo e rer o e s s o o o e s gt o ooo ise 7j6jsjajsjaftjo Message byte1 Ul Robot Technology Co Ltd M42110923EN Page 15 UIM24202 04 08 3 0 CAN2 0 Communication In order to communicate with UIM242 controller a UIM2501 CAN RS232 Converting Controller is required between the user device and the UIM242 The user device sends ASCII coded instructions through RS232 port to the UIM2501 converter Inside UIM2501 the RS232 based instructions are translated into CAN messages and sent to UIM242 controllers ACK and or feedback messages are sent back from UIM242 controllers to the UIM2501 and then translated into RS232 messages and sent back to user device With this UIM2501 converter the user does not have to understand and deal with CAN bus operations but still enjoy the advantages of CAN bus suc
76. uration through user instruction UIM242 controller has Quadrature Encoder Interface and can work with quadrature encoder when sensor input module is installed Furthermore with the encoder based closed loop control module the UIM242 can perform self closed loop control Real time Change Notification RTCN 1 2 1 3 Similar to CPU s interrupters UIM242XX 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 UIM242XX s RTCN system supports 8 events displacement control done falling edge analog input beyond upper threshold analog input lower than lower threshold All RTCNs can be enabled or disabled by instructions Similar to CPU s interrupters UIM242 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 UIM242 s RTCN system supports 12 events position displacement control complete absolution position reset sensor 1 2 3 rising edge and falling edge analog input beyond upper threshold analog input lower than lower threshold and TTL status etc All RTCNs can be enabled or disabled by instruction
77. x a 4bits suffix code to point to this register The suffix code for S34CON is 0001 binary In addition S34CON is also used for sensor input control In this chapter only the TTL output control related configuration is described S34CON Structure M MOEILIENCIEIENESESEIEXESEJERES PALVL PAEVENT S3RACT S3FACT Bit 15 12 Unimplemented Read as 0 Bit 11 P4LVL Port P4 output voltage level 0 If the event defined by P4AEVENT code happens P4 output OV 1 If the event defined by PAEVENT code happens P4 output 5V Ul Robot Technology Co Ltd M42110923EN Page 51 UIM24202 04 08 Bit 10 8 PAEVENT 2 0 P4 Output Driving Events P4EVENT na Action RTCN or Not No action Output is controlled by instruction Depends on MCFG lt P4 E gt When SPDz0 Output P4LVL vice versa Depends on MCFG lt P4 E gt When DIR 1 Output P4LVL vice versa Depends on MCFG lt P4IE gt When POS 0 Output P4LVL vice versa Depends on MCFG lt P4IE gt Bit 7 0 S3RACT lt 3 0 gt S3FACT lt 3 0 gt S3 Input Control Please refer to section 8 6 for more information 10 3 Output Control Configuration Instruction SCFG Please refer to chapter 8 for detailed information 10 4 TTL Output Instruction DOUT CK OxAA controller ID OxC1 P4 OxFF OxC1 is the message ID of DOUT P4 is the logic level of the TTL output P421 means the output is 5V while P4 0 means the output is OV DOUT is the abbreviation of Digital Output

User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents