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UIM2501
UI Robot Technology Co. LTD M25020101008EN
STANDALONE AND NETWORKING
OPERATION
3.0 STANDALONE AND NETWORKING OPERATION
UIM2501 supports CAN networking. One UIM2501 can communicate with one or several
UIM242 controller(s).
Before operation, every UIM242 controller needs to be assigned a unique identification
number (i.e., ID or address). Two or more UIM242 controllers with an identical ID in the
network may cause the network malfunctioning. The process of ID assignment is described
in section 3.2.
3.1 Global Control Introduction
Besides the object specific operation, UIM2501 can also send commands to all subsidiary
UIM242XX controllers. This process is called broadcasting or global control instruction.
3.1.1 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.
gXYZ;
Where,
g
denotes the global control instruction.
XYZ
is the normal one-to-one operation instruction.
3.1.2 Global Instruction ACK Message
Except the instruction
gREG
, all global instructions have the same ACK message as shown
below:
0xAA [QTY] 0xAD 0xFF
Where,
[QTY]
is the quantity of all UIM242xx controllers that are operable.
Detailed global instructions are described in section 3.4 ~ 3.13.
