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M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
1.0
OVERVIEW
UIM241 miniature integrated stepper motor controllers communicate with user device
using RS232 protocol. The user device controls UIM241 through ASCII coded instructions.
Communication baud rate can be changed through instruction
UIM241 has a size of 42.3mm*42.3mm*16.5mm and is designed to mount onto
NEMA17/23/34/42 stepper motors seamlessly. UIM241X02 can provide 0.7-2A output
current; UIM241X04 can provide 1.5-4A output current; UIM241X08 can provide 3-8A
output current. Current value is adjustable within the range through instructions.
Once set,
the value is stored in EEPROM. UIM241XX controller also has the function of high speed
current compensation to offset the effect of Back Electromotive Force (BEMF) of motor at
high speed and therefore to facilitate motor’s high-speed performance. UIM241XX series
of controllers work with 12 ~ 48VDC power supply.
UIM241XX can perform 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 three optional modules to be added on customer request:
Advanced Motion
Module
(linear/non-linear acceleration/deceleration, S-curve PV/PVT displacement
control)
, Encoder-based Closed-loop Control Module and Sensor Input control Module.
The embedded 64-bit calculation precision DSP controller guarantees the real-time
processing of the motion control and change notifications (similar to the interrupters of
CPU). Entire control process is finished within 1 millisecond.
1.1 Basic Control System
UIM241 controller’s basic control system comprises communication system, basic motion
control system, absolute position counter, and real-time event-based change notification
system.
Communication System
UIM241 controller communicates with user device using RS232 protocol. User device
controls the UIM241 controller through ASCII coded instructions. Communication baud rate
can be changed through instruction.
Basic Motion Control
UIM241 has a build-in basic motion control system. User device can control the following
basic motion parameters through instructions in real-time: direction, speed, angular
displacement, phase current, micro-stepping, and enable/disable the H-bridge, etc. Speed
input range is +/-65,000 pulses/sec, and displacement input range is +/- 2,000,000,000
pulses.
Absolute Position Counter / Quadrature Encoder Interface
UIM241 has a hardware pulse counter.
The counter can be reset either by user instruction
or automatically by the configurable sensor input event. Under most conditions, through
the advanced motion control, this counter can provide the absolute position of the motor
with enough accuracy. When the counter reaches zero position, there could be
automatically generated message feedback to the user device, given the corresponding
configuration through user instruction.
