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User Manual - Zapp Automation Ltd

1. 1 stop bit None Parity 2 2 Hand Shaking Any out of box UIM2501 controller has a factory default baud rate 9600 User can use the 9600 baud rate to connect to a new UIM2501 controller If the baud rate has been changed the new baud rate will be stored in the controller s non volatile memory EEPROM New baud rate will take effect after the controller is restarted If user device knows the baud rate it can start sending instructions without hand shaking Hand shaking is more used as a method to check the existence and firmware version of the controller Under following two situations the UIM2501 will issue the greeting message when UIM2501 is powering up and When UIM2501 receives following ASCII instruction ABC case sensitive and ended with a semicolon Hand shaking is considered successful if the user device receives a greeting message starting with a message header of AA AB AC The greeting message from UIM2501 has the following structure Byte 1 2 3 4 5 6 7 8 9 10 11 12 13 Value AA AB AC 19 01 00 00 Firmware Version 00 00 FF Page 12 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter Where AA AB AC denotes the greeting message 19 01 denotes the UIM2501 controller Firmware Version denotes the firmware version Data is in 7 bits format from three 7bits message data to a 16bits integer is illustrated in figure 5 1
2. 2 3 Reset Baud Rate to Factory Default 9600 Conversion In case that user forgets the UIM2501 baud rate and cannot establish the connection following process can reset the baud rate to the factory default of 9600 Reboot the controller In 10 seconds toggle the DIP1 DIP switch 1 for two rounds IE Pic O o During toggling the LED on the controller will flash If exceed 10 seconds please restart from the first step If step 2 is successful the LED will turn off for one second and re lit That indicates the baud rate has been changed to 9600 and ready to use The BDRn instruction can be used to change the baud rate from 9600 now 2 4 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page BDRn Set RS232 baud rate n 19 MDL Check the Firmware Version of UIM2501 33 MDLn Check the Model Modules Firmware of noden 34 UI Robot Technology Co Ltd M501130405EN Page13 UIM2501 3 0 GANZ OP COMMUNICATION UIM2501 and UIM242XX support and realize following bit rate as shown in table 3 1 In the same time instruction is provided for user to switch between these standard communication bit rates Purpose of changing the bit rates includes obtaining longer bus length and more stable communication User can set the CAN network bit rate through set
3. converter UIM2501 accepts all the instructions described in the UIM242 and UID820 828 User Manuals User can refer to the UIM242 and UID820 828 User Manuals for detailed information UI Robot Technology Co Ltd M501130405EN Page11 UIM2501 2 0 RS232 COMMUNICATION Through one CAN RS232 converter the UIM2501 user device can command multiple 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 UIM2501 is small in size and it is usually installed close to the user device less than 1 metre therefore it has good communication effect and high speed The transfer time is ahout 1ms 0 001s when the baud rate is 57600 Meanwhile it takes only 50 100ms for Simple CAN custom made by Ulrobot to transfer an instruction This can ensure the real time of the control system UIM2501 controller communicates and exchanges information with user devices through the RS232 serial protocol The RS232 configuration of user device the hand shaking methods and the instruction used to change the baud rate will be introduce in this Chapter along with the method to reset the baud rate to factory default 2 1 Settings for User Device RS232 Port To communicate with UIM242XX user device needs to have following RS232 port settings 8 bits data
4. AA Controller ID DO FF Command DO gt gt Message ID of ADR Note Once an operation object is specified all object specific instructions will be sent to this specified object the UIM242xx Controller UNTILL another operation object new ID is specified After specify object user can control the corresponding controller through UIM242 instruction Page 18 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 2 BDRn Set RS232 BaudRrate Format BDRn Description Set RS232 BaudRrate n 9600 19200 38400 56000 Other value of baud rate is also available but it must be integral multiple of 100 ACK AA Reserved BD FF Command Reserved gt gt Factory use BD gt gt Message ID of instruction BDR Note The new baud rate will be stored in the controller s non volatile memory EEPROM New baud rate will take effect after the controller is restarted UI Robot Technology Co Ltd M501130405EN Page19 UIM2501 3 BTRn Format Description ACK Command Note Set CAN network bit rate BTRn Set CAN network bit rate index n 1 0 1 2 e 7 AA BTR BC FF BTR gt gt Desired bit rate index BC gt gt Message ID of instruction BTR After fulfills the BTRn instruction the UIM2501 will automatically perform global registration process i e process gREG instruction and return ACK message Details can be found in the fol
5. Futhermore UIM2501 must be regard as a gateway in this situation 6 Communication protocol of UIM2501 will automatic recovery to CAN2 OB when it restarts UI Robot Technology Co Ltd M501130405EN Page35 UIM2501 APPENDIX A DIMENSIONS 27 5 RRL 2 M3 WKS Units mm Page 36 M501130405EN UI Robot Technology Co Ltd
6. BTRn Set CAN network communication bit rate index AA BC 20 BTR Check current CAN network bit rate index AA BC 21 SET Assign an ID AA DD 35 gACRn Set the ACR function of all nodes AA AD 22 gCURn Set motor phase current for all nodes AA AD 23 gDOUn Set the TTL level output of P4 ports of allnodes AA AD 24 gMCSn Set micro stepping resolution for allnodes AA AD 25 gOFF Disable the H Bridge of all nodes AA AD 26 gORG Set Original Point of all nodes AA AD 27 gPOSn Setup absolute position control for all nodes AA AD 28 gQECn ES encoder based position control for all AA wer 29 gREGn ae the quantity of all subsidiary nodes and cc 55 30 gSPDn Set motor speed for all nodes AA AD 31 gSTPn Setup relative position control for all nodes AA AD 32 MDLn Check the Model Modules Firmware ofnode CC DE 34 MDL Check the Firmware Version of UIM2501 CC DE 33 UI Robot Technology Co Ltd M501130405EN Page7 UIM2501 CHARACTERISTICS Absolute Maximum Ratings Supply Voltage Ar ee ae a Br la ea 0 3V to 40V Voltage on RX with respect to GND ur 22044440444400nnnnnnnnnnnnnonnnnnnnnnnnnnnn 25V to 25V Voltage on TX with respect to OND NEEN 13 2V to 13 2V Ambient temperature under Dias 20 C to 85 C Storage ee 22 ee lee 50 C to 150 C TNOTICE Stresses above those listed under Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only and functional operation of th
7. Object Specify Instruction ADR unneenssennsssensnnnnsnnnnsnnnnnnnonnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnn nn 15 4 3 Global G nttdl 2 2 r tee tl kben chewed aha nen nant dagen ded ile ceed ace 15 4 4 Instruction CET 16 5 0 INSUUCHON isscccecccsccscttscscsctescsccscesssscccierssnccnsssccnenessecnecessscueceessencereansanaccceestanccesscancceessanecesexene 17 1 ADRn Specify the operation oben 18 2 BDRiy Set RS232 Ba dRrate u une ee es ln nd 19 3 BIRy Set CAN network bit rate euer ee es ee AN Eege 20 4 BTR Check CAN network bit rate oo ccc eeeeeeeeeeeeeeteneeeeeeeceaeeeeaeeseaeeeeaeeseaeeseaeeseaeeeeaeeseaeeseaeeseaeesnaeeseeeseaeenes 21 5 gACRn Set Automatic Current PBecduce kreere nerne renerne nenene en 22 6 SC RN SEt current ea RER 23 7 gDOUn Set the TTL level out 24 8 gMCSn Set micro stepping resolution eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeaeeeseaeesaaeesaeeeeeeseaeesaeeseaeesnaeeseaeesiaees 25 9 gOFF Dis ble the H Bridge 22 u 2 Hs Re es 26 10 JORG Get origin point 27 11 gPOSn Set absolute position 28 12 gQECn Set closed loop encoder based position 29 13 al SIE RER ET 20 14 gSPDn Set motor speed u2 2 2 20e ee euere tal lt EA 31 15 g9S1Pr Setrelativeposition 2 42 ra ek ee E a 32 16 MDL Check the firmware version of UIM2501 ceeeeesceeeeeeeeneeceneeeeeeseaeeseaeeseaeeeeaeeseaeeseaeeseeeseaeeseaeeseaeene 33 17 MDLn Check UIM242 model an
8. be set by user instruction to adapt to different distance transmission UIM2501 has embedded DSP microprocessor User device can command multiple UIM242 controllers through RS232 using ASCII coded instructions Instructions for UIM2501 are simple intuitive and fault tolerating For example in order to command a node ID of 6 the following instructionas are all valid SET6 SET 6 SET 6 or SET 6 even SET amp 6 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 UIM2501 accepts a wide range input voltage from 6 to 40VDC UI Robot provides free Microsoft Windows XP bases VB VC demo software and their source code to facilitate the quick start of user device side programming Instruction and Feedback Structure As a protocol converter UIM2501supports all instructions and conform to all instruction and feedback structures of UIM242XX and UID820 828 Therefore this information is omitted in this manual User can refer to the UIM242 and UID820 828 User Manuals for details Motor and I O Control Functions and Instructions Motor control specific functions instructions and operations are directly performed by the UIM242 controllers Digital I O functions are performed by UID820 828 As a CAN RS232 Page 10 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter
9. network malfunctioning User can change the ID by instruction The process of ID assignment is described in following section Controller ID Assignment Instruction SET User can change the ID by instruction Once an ID is assigned the ID will be stored in the UIM242XX controller s non volatile memory All new UIM242xx controllers have been assigned a factory default ID of 5 User can change the ID using SETn instruction Before assign an ID to a UIM242XX controller please make sure the UIM2501 controller and the UIM242XX controller are connected together using the standalone operation scheme Figure 0 3 A motor is not necessary After the controller and UIM2501 is power on user can change the ID using SETn instruction Object Specify Instruction ADR To operate a specific UIM242xx controller through UIM2501 user needs to use ADRn instruction to specify the ID Then the fowllowing instruction will be send to the specified controller After the specifying the Controller ID user can use UIM242 instructions to control the specified controller Those instructions are provided in the UIM242 user manual Global Control Besides the object specific operation UIM2501 can also send commands to all subsidiary UIM242XX controllers This process is called broadcasting or global control instruction At some situation user need to operate all controllers for example make all controllers stop at the same time Especially in an emer
10. the H Bridge of all nodes 26 gORG Set Original Point of all nodes 27 gPOSn Setup absolute position control for all nodes 28 gQECn Setup encoder based position control for all nodes 29 gREGn Record the quantity of all subsidiary nodes and IDs 30 gSPDn Set motor speed for all nodes 31 gSTPn Setup relative position control for all nodes 32 SETn Assign an ID 35 Page 16 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 5 0 INSTRUCITON This chapter describes the detail of the instructions mentioned in this document As a protocol converter UIM2501supports all instructions and conform to all instruction and feedback structures of UIM242XX and UID820 Therefore this information is omitted in this manual User can refer to the UIM242 and UID820 User Manuals for details Figure5 1 Conversion from three 7bits message data to a 16bits data Data received Hex XX XX D Byte 2 Byte 3 Byte XX Xx Receive sequence earlier gt later 7 6 5 4 3 2 1 0 L Jois pr2 on oro os oe o7 Z 6 5 4 3 2 1 0 psp press oo 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 16bit Binary Data D15 D14 D13 D12 D11 Dto D9 os D7 De D5 D4 Ds D2 D1 UI Robot Technology Co Ltd M501130405EN Page17 UIM2501 1 ADRn Specify the operation object Format ADRn Description Specify the object for UIM2501 by ID n n 5 6 7 120 ACK
11. 1130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 18 SETn Controller ID Assignment Format SETn Description Assign an ID n to a UIM242XX controller n 0 1 5 6 125 133 134 253 n 0 UIM2501 will communicate with UIM242 through CAN2 0B protocol n 1 UIM2501 will communicate with UIM242 through CAN2 0A protocol n 5 6 125 single slave assign an ID 5 6 125 n 133 134 253 network assign an ID 5 6 125 to specified controller ACK AA ControllerIDJ DD FF Command DD gt gt Message ID of SET Note 1 Controller ID of UIM242 can be changed by instruction Once an ID is assigned the ID will be stored in the UIM242XX controller s non volatile memory D D All new UIM242xx controllers have been assigned a factory default ID of 5 User can change the ID using SETn instruction Before assign an ID to a UIM242XX controller please make sure the UIM2501 controller and the UIM242XX controller are connected together a motor is not necessary After powering up user can use the instruction to assign an ID to the UIM242XX controller 3 For only 1232 version UIM2501 n can be set to 0 1 133 134 253 4 In a network n can not be set to 5 6 125 otherwise all controllers will have the same ID o D If user needs to change the ID of a controller in a network a controllers ID must be specified at first and n should be set to 133 134 253
12. UIROBOT United Intelligence Robot Technology User Manual UIM2501 CAN2 0 RS232 Control Protocol Converter UIM2501 Please pay attention to the following before using the UIROBOT products UIROBOT products meet the specification contained in their particular Data Sheet 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 such use No licenses are conveyed implic
13. age range 6 40VDC GENERAL DESCRIPTION The UIM2501 RS232 CAN Converting Controller is used in conjunction with UIM242XX stepper motor controller to provide a RS232 interface on the user side and a CAN bus interface on the motor side factory side With the UIM2501 user will be benefited from the advantages of the CAN network and the simplicity of RS232 protocol and no need to deal with the complicated CAN protocol no worry about the communication distance and noise immunity One UIM2501 controller can network with up to 100 UIM242XX controllers Interfacing the UIM2501 is simple intuitive and fault tolerating Users are not required to have stepper motor driving or CAN protocol knowledge UIM2501 is compact in size The enclosure is made of die cast aluminum to provide a rugged durable protection and improves the heat dissipation UI Robot Technology Co Ltd M501130405EN Page3 UIM2501 TERMINAL DESCRIPYION Figure0 1 Terminal Description To avoid loss of terminal screws please always keep screws tightened DIP Switch Description Screw Terminals Terminal No Designator Description 1 V Supply voltage 6 40VDC 2 GND Supply voltage ground 3 CANH CAN Dominant High 4 CANL CAN Dominant Low RS232 Connector DB 9 Female Pin connector connect to RS232 cable DIP SWITCH UIM2501 controller has an 8 bit DIP switch which serves multiple function
14. d version 34 18 SET Controller ID Assignment 2 40 40 een 35 UI Robot Technology Co Ltd M501130405EN Page9 UIM2501 1 1 1 2 1 0 OVERVIEW UIM2501 RS232 CAN Converting Controller is used in conjunction with UIM242 stepper motor controller to provide a RS232 interface on the user side and a CAN bus interface on the motor controller side UIM2501 Controller s functions can be summarized as Receives RS232 based instructions from user device converts the instructions into more concise and efficient CAN based instructions and sends instructions to UIM242 controllers Converts CAN messages from UIM242 controllers into RS232 messages and send back to the user devices Coordinates and controls UIM242 controllers in the network With UIM2501 users do not need know CAN bus protocol well but can benefit from those advantages of CAN bus such as high speed 1Mbps long distance 10km and hing noise immunity At the same time the simple communication interface of RS232 protocol can help users focus on the application to improve development efficiency UIM2501 supports 57600 bps RS232 baud rate The instruction takes less than 2ms 0 002s to transfer from user machine to UIM242XX The baud rate can be set by user instruction UIM2501 supports 1Mbps CAN communication speed After optimization all UIM242 instructions take less than 0 1 ms normally 0 05 ms to transfer on the bus CAN bit rate can
15. e device at those or any other conditions above those indicated in the operation listings of this specification is not implied Exposure to maximum rating conditions for extended periods may affect device reliability Electrical Characteristics Ambient Temperature 25 C Supply Power Voltage 6V 40VDC Current Consumption Max 100mA To UIM242 Controller Communication Ambient Temperature 25 C Active CAN 2 0 CAN wiring Method CAN bus 2 Wire CANH CANL e Supports 1 Mb s operation e ISO 11898 standard physical layer requirements e Short circuit protection e High voltage transient protection e Automatic thermal shutdown protection e Up to 100 nodes can be connected e Differential data bus high noise immunity To User Device RS232 Physical Connection Three wire TX RX GND RS232 Baud Rate MAX 57600 bps Set by instryction can be reset to 9600 Set Baud Rate User instruction toggle the DIP1 ro reset to 9600 Environment Requirements Cooling Free air Working environment Avoid dust oil mist and corrosive gases Working temperature 40 C 85 C Humidity lt 80 RH no condensation no frosting Vibration 3G Max Storage temperature 50 C 150 C Size 66 4mm x 38mm x 18mm L W H Wight 0 1 kg Page 8 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter Menu general descripti
16. gency situation the gOFF instruction can stop all motors then an accident can be avoid Global Instruction Format Global control instructions have the same format as shown below a leading g followed by the normal one to one operation instruction gXXX Where UI Robot Technology Co Ltd M501130405EN Page15 UIM2501 g denotes the global control instruction XXX is the object specific operation instructions e g ACR OFF etc Global Instruction ACK Message 4 4 Except the instruction gREG BTR all global instructions have the same ACK message as shown below AA QTY AD FF Where QTY is the quantity of all UIM242xx controllers that are operable AD is the Message ID of all global instructions The global instructions are list in section4 4 The details of those instructions are provided in the UIM242 user manual Except gREG BTR instruction the rest ACK message are omitted in this document Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page ADRn Specify the operation object by node ID n 18 gACRn Set the ACR function of all nodes 22 gCURn Set motor phase current for all nodes 23 gDOUn Set the TTL level output of P4 ports of all nodes 24 gMCSn Set micro stepping resolution for allnodes 25 gOFF Disable
17. ion UIM2501 Converter et pons Sensor3 UIM242XX Sensor3 Controller UI Robot Technology Co Ltd M501130405EN Page5 UIM2501 Network Operation CAN bus provides a reliable and simple network construction scheme Figure 0 4 provides a typical network wiring solution The corresponding relation of UIM2501 and UIM242XX is shown in Figure 0 3 Please be aware that A single pair of wires should connect each element of the CAN bus A star configuration should never be used Stub length should be shorter than 2cm and keep these stubs as small as possible The two ends of the bus should be terminated with 1200 resistors When the distance is longer than 100m a specialized 120 ohm impedance shielding twisted pair cable for CAN bus should be considered UIM2501 converter has a build in terminal resistor User only needs to attach a resistor at the UIM242 end of the bus To enable the UIM2501 converter s terminating resistor please toggle the DIP8 to ON position Figure 0 4 Wiring Scheme for Network Operation 6 40 UIM2501 VDC E Page 6 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter INSTRUCTION SET SUMMARY Feedback Messag Instruction Description Header elD Page ADRn Specify the operation object by node ID n AA DO 18 BDRn Set RS232 baud rate n AA BD 19
18. ion control for all nodes n 2 000 000 000 1 0 1 2 000 000 000 integer ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction Page 32 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 16 MDL Check the firmware version of UIM2501 Format MDL Description Check the firmware version of UIM2501 ACK CC Reserved DE 19 01 00 00 VO V1 V2 FF Command DE gt gt Message ID of instruction MDL VO V2 gt gt Received data 0 2 VO V2 converted to a 16 bit data which denote the firmware version Figure5 1 UI Robot Technology Co Ltd M501130405EN Page33 UIM2501 Check the Model installed modules and firmware version of the CC Controller ID DE 18 02 CUR asb VO V1 V2 FF Message ID of instruction MDL Max phase current e g 207 means 2 0 Amper 17 MDLn Check UIM242 model and version Format MDLn Description UIM242 controller with ID n n 5 6 125 ACK Command DE gt gt CUR gt gt asb gt gt vo V2 gt gt The installed optional modules Receiced data 0 2 V0 V2 converted to a 16 bit data which denote the firmware version Figure 5 1 asb has the following structure Bit 7 3 210 6 5 4 Meaning Int QEC Closed loop No of Sensor Ports For example if bit 4 is 1 the Advanced Motion Control module is installed Page 34 M50
19. itly or otherwise under any UIROBOT intellectual property rights Trade Mark Layout design Patent The UIROBOT name and logo are registered trademarks of UIROBOT Ltd in the P R China and other countries UIROBOT s UIM24XXX series Step Motor Controllers UIM25XX series CAN RS232 Converter and their layout designs are patent protected UIM2501 Ordering Information In order to serve you quicker and better please provide the product number in following format UIM2501 PART NUMBERING SYSTEM UIM LiH ge Category Series UIM 2501 Motor CAN 232 Control Control Converter Connector deed Note If not selected default control connector is T screw terminal the code box can be deleted Examples UIM2501T UIM2501 Page 2 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter UIM2501 CAN RS232 Control Protocol Converter Embedded DSP Microprocessor Embedded high performance DSP Simple intuitive rich instructions Intelligent fault tolerating user friend interface MS Windows based VB VC demo software and corresponding source code provided RS232 Communication RS232 three wire serial communication Max baud rate 57600 bps CAN2 0 Active Communication Active CAN 2 0 2 wire interface Support 1M bps long distance 10km Up to 100 nodes can be connected Differential data bus high noise immunity Wide Supply Voltage Wide supply volt
20. lowing section of gREG instruction Page 20 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 4 BTR Check CAN network bit rate Format BTR Description Check current CAN network bit rate index ACK AA BTR BC FF Command Refer to BTRn ACK command UI Robot Technology Co Ltd M501130405EN Page21 UIM2501 5 gACRn Set Automatic Current Reduce Format gACRn Description Set the automatic current reduce rate n for all controllers n 0 1 99 n 0 shut off automatic current reduce n 1 automatic current reduce rate is 50 n 2 3 99 automatic current reduce rate is 2 3 999 ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction Note When ACR is enabled the current will be reduced after motor stops which means a decrease of holding torque Value of this instruction will be stored in EEPROM For only 1232 version controller n can be set to 2 3 99 Page 22 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 6 gCURn Set current Format gCURn Description Set motor phase current for all nodes n7 0 1 80 ACK AA ControllerIDJ AD FF Command AD gt gt Message ID of global instruction UI Robot Technology Co Ltd M501130405EN Page23 UIM2501 7 gDOUn Setthe TTL level output Format gDOUn Description Set the TTL level output of P4
21. on nesurnsansnnnnnennnnnnnnnnennnnnennnnnnnnnnnnnnnnennnnnnnnnnnnnnnnennnnennnnanennnnnennsnnenennennnnnennnnnennnenn 3 terminal descripyion oe ERE REE RESEN 4 C SWITCH ee e A A A ah ha haha a ah aaa a haha haha 4 typical application i u nasenanascaunanununnnnanan nun nanannnaHaH nn nannnnnannanuannn wann nn nam nn Hann nianna anaman ahnen 5 INstruction set SUMIMALY secidsteverscaceceduacecacecanicadieiacenadaceraredeciewanduacauarcuacucucuccaceuedavedededuasiasabatasaninarasaaeaea 7 elle E 8 1 0 OVERVIEW EE 10 1 1 Instruction and Feedback Structure ee ee ee ee ee ee ee ee ee ee z e uneneen 10 1 2 Motor and I O Control Functions and Instructions ee erne ee ee e ee ee 10 2 0 RS232 COMMUNICATION 222244 es s s s ze k nn nnd nn nun nun ana nn nun eke eng aaa akanan SEES REESE 12 2 1 Settings for User Device RS232 Port 12 2 2 Hand Shaking kez rt s n ei iva deities ied NG hac he Rees 12 2 3 Reset Baud Rate to Factory Default 9600 uunsssunnnnsssnnnensennnnenennnnnnnnnnnnnennnnnennnnnnnnnnnnnnnnennnnenernnnnnnennnnnrnnn 13 2 4 JE Tele LAST EE 13 3 0 GAN2 OB communication aannaaien anaana aaaea aaan 14 3 1 Instr ctioniLISt rannte en ae ei Hindi 14 4 0 single and network operation uussnnsrsnnnnnnnnennnnnennnnnnnnnnennnnnennnnnnnnnnennnnnennnnnnnnnnennnnnennnnnnn 15 4 1 Controller ID Assignment Instruction SETADR ursneessssensnnnnnnnensnnnnnnnensnnnnnnnennnnnnnnnennnnnnnnnennnnnnnnn a 15 4 2
22. ports of all nodes 7 0 1 ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction Page 24 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 8 gMCSn Set micro stepping resolution Format gMCSn Description Set micro stepping resolution for all nodes n 1 2 4 8 16 integer n 1 2 4 8 16 represents the full half quarter eighth and sixteenth step resolution respectively ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction UI Robot Technology Co Ltd M501130405EN Page25 UIM2501 9 gOFF Disable the H Bridge Format gOFF Description Disable the H Bridge of all nodes ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction Note User can shutdown all motors using this instruction especially in an emergency Page 26 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 10 gORG Format Description ACK Command Set origin point gORG Clear absolute position counters including encoder of all nodes AA Controller ID AD FF AD gt gt Message ID of global instruction UI Robot Technology Co Ltd M501130405EN Page27 UIM2501 11 gPOSy Set absolute position Format gPOSn Description Setup absolute position control for all nodes n 2 000 000 000 1 0 1 2 000 000 000 in
23. s When powering up DIP1 DIP7 are read as the UIM2501 controller s ID address After powering up DIP1 and DIP2 are assigned to other RS232 related features refer to the RS232 communication section DIP8 is used to enable the built in terminating resistor Unless necessary please maintain the DIP positions as shown in following Figure Figure0 2 Terminal Description Controller ID Terminating Resistor Enable Page 4 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter TYPICAL APPLICATION UIM2501 converter can work with UIM242XX in fowllwing ways single slave operation and network operation Single slave operation means one UIM2501 working with one UIM242 or UID820 828 while network operation means one UIM2501 working with a set of UIM242 and UID820 828 in a CAN network Typical applications are described below Single Slave Operation If only one UIM242 or UID820 is used following wiring scheme figure 0 3 can be applied Please note that this wiring scheme is mandatory when assigning a controller ID to a UIM242 controller motor is not required Please note 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 to the other end of the bus Furthermore CANH and CANL should be a twisted wire pair Figure0 3 Wiring Scheme for Standalone Operat
24. teger ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction Page 28 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 12 gQECn Set closed loop encoder based position Format gQECn Description Setup closed loop encoder based position control for all nodes n 2 000 000 000 1 0 1 2 000 000 000 Cinteger ACK AA Controller ID AD FF Command AD gt gt Message ID of global instruction UI Robot Technology Co Ltd M501130405EN Page29 UIM2501 13 gREG Global register Format gREG Description Record the quantity of all subsidiary UIM242 controllers and their IDs ACK CC On line ID DO A1 A2 A3 A4 A5 A6 A7 A8 FF Command DO gt gt Message ID of gREG A1 A8 gt gt Received data 1 8 A1 A8 are the first 8 IDs found An 0 means not found Note The returned QTY servers as an indicator of the health of the network Page 30 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 14 95SPDn Set motor speed Format gSPDn Description Set motor speed for all nodes n 65000 1 0 1 65000 integer ACK AA Controller AD FF Command AD gt gt Message ID of global instruction UI Robot Technology Co Ltd M501130405EN Page31 UIM2501 15 gSTPn Set relative position Format gSTPn Description Setup relative posit
25. ting the BTR bit rate index The BTR switching instruction is BTR n where nis the BTR index UIM242XX and UIM2501 all have a factory default value of 1 i e 800Kbps 50 m bus length Generally speaking every instruction and or message takes 64 128 bits Table3 1 CANCommunication Bit Rates BTR Index Bit Rate bps Bus Length m 0 1000K 25 1 800K 50 2 500K 100 3 250K 250 4 125K 500 5 50K 1000 6 20K 2500 7 10K 5000 3 1 Instruction List The following table shows the instructions mentioned in this chapter the detail of those instructions is descriped at the end of the document Instruction Description Page BTR Set CAN network communication bit rate index n 20 BTR Check current CAN network bit rate index 21 Page 14 M501130405EN UI Robot Technology Co Ltd UIM2501 CAN RS232 Control Protocol Converter 4 1 4 2 4 3 4 0 SINGLE AND NETWORK OPERATION UIM242 controllers can work within a CAN network Through UIM2501 user device can operate every UIM242 controller in the network One UIM2501 can communicate with and control single or several UIM242 controller s Before operation every UIM242 controller needs to be assigned a unique identification number i e ID or address ID is used to identify which object is the instruction send to and where the ACK is form Two or more UIM242 controllers with an identical ID in the network may cause the

User Manual - Zapp Automation Ltd

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