UI Robot Technology Co. Ltd.
M4120170509EN
Page 25
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
6.0
BASIC CONTROL INSTRUCTIONS
UIM241 controllers support abundant motion control instructions. The instructions of
UIm241 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 UIM241XX motion control modes is provided.
6.1 General Introduction of Motion Control Modes
There are three motion control modes for UIM241XX controller: Velocity Tracking (VT),
Position Tracking (PT) and Position Velocity Tracking (PVT).
Velocity Tracking (VT)
In the Velocity Tracking (VT) mode, UIM241XX controller controls the motor speed to track
desired speed.
Figure6-1 Velocity Tracking
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.
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 7.0
Advanced Motion Control. If Advanced Motion Control Module is not installed, once a SPD
instruction is received, motor speed will be set to desired speed.
Position Tracking (PT)
In the Position Tracking (PT) mode, UIM241 controller will keep motor running at a speed
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. UIM241 controller will make sure that the desired position is achieved
when trying to approach the desired speed to the greatest extent.
T (Time)
Speed
Current Speed
Instruction “SPD 1000;” received at this point
1000
Basic motion control, speed rises without
acceleration process
Advanced motion control, linear/non-linear
acceleration
T (Time)
Speed
Current Speed
Instruction “SPD - 1000;” received at this point
-1000
Basic motion control, speed falls without
deceleration process
Advanced motion control, linear/non-linear
deceleration
