UI Robot Technology Co. Ltd.
M4120170509EN
Page 31
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
7.0
ADVANCED MOTION CONTROL
UIM241XX 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
6 additional instructions.
Values of these instructions will be stored in the EEPROM, the burning process will not
affect any real-time process.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 introduced
。
7.1 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( MAC and SPD), UIM241 controller will perform the acceleration process automatically.
Figure7-1: Linear Acceleration Control
7.2 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 (MDE and SPD), UIM241 controller will perform the deceleration process automatically.
Figure7-2: Linear Deceleration Control
7.3 Nonlinear Acceleration
To minimize the response time and to avoid resonance point, user can use UIM241XX’s
non-linear acceleration function. Experiments show that through non-linear acceleration,
T
（
Time
）
Speed
Acceleration Rate
Current Speed
Desired Speed
T
（
Time
）
Speed
Uniform Deceleration
Desired Speed
Current Speeed
