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M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
5.0
INITIAL AND HARDWARE/FIRMWARE
CONFIGURATION
UIM241’s hardware and firmware can be configured through user instructions. There are
4 configuration registers for UIM241:
Initial Configuration Register, Master Configuration
Register, S12CON and Analog Threshold Register
. In this chapter, only the
Initial
Configuration Register
and
Mater Configuration Register
are described. User can find
details about the other registers in their corresponding chapters.
5.1 Initial Configuration Register (Firmware version: 1232 or higher)
Initial configuration register is used to decide the initial status of the controllers after power-
on. Once configured, its value will be burned into the on-board EEPROM, and the controller
will auto reboot. Initial configuration register is a 16bits register with following structure:
ICFG
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Value
X
X
X
X
X
X
X
X
X
X
X
X
Elock
PROG
CCW ENA
Bit15-4
Unimplemented. Read as 0.
Bit3
Elock, Lock when emergency events happen
0 = After the sensor is emergency stop or power-off, the controller is unlock,
and can execute instructions.
1 = After the sensor is emergency stop or power-off, the controller is lock, and
receives no instruction. It needs to reboot the controller to unlock it.
Bit2
Execute user program after power-on (Future function)
Bit1
CCW, Adjust rotation direction (Figure 5-1)
0 = Set CW is positive; when turn CW, displacement counter accumulate;
otherwise, displacement counter decrease.
1 = Set anti-CW is positive; when turn anti-CW, displacement counter
accumulate; otherwise, displacement counter decrease.
Bit0
ENA, Auto-enable after powr-on
0 = Disable the function (Auto-enable after power-on)
1 =
Enable the function, auto-enable the controller after the pre-set time
when power is on
Figure 5-1 Rotation Direction
Clockwise (CW)
