UIrobot UIM2842 User Manual Download

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User Manual

UIM2842

CAN2.0B Instruction Control

Miniature Integrated Stepper Motor Controller

(Closed-loop)

V1.0

Summary of Contents for UIM2842

Page 1: ...User Manual UIM2842 CAN2 0B Instruction Control Miniature Integrated Stepper Motor Controller Closed loop V1 0...

Page 2: ...NTABILITY OR FITNESS FOR PURPOSE UIROBOT disclaims all liability arising from this information and its use Use of UIROBOT products in life support and or safety applications is entirely at the buyer s...

Page 3: ...P Microprocessor Hardware DSP 64bits calculating precision Abundant and simple instructions Intelligent control intuitive and fault tolerating SDK and underlying control drive of host VC C C VB demo A...

Page 4: ...PCI120 by using RS232 based string or SimpleCAN protocol One gateway can network with up to 100 UIM242 controllers UIM2842 can realize encoder based closed loop control Its architecture includes commu...

Page 5: ...voltage output 80mA 2 AG Analog ground for sensors 3 S3 Sensor input port 3 4 P4 TTL signal output port 5 S1 Sensor input port 1 6 S2 Sensor input port 2 7 CANH CAN signal dominant high 8 CANL CAN sig...

Page 6: ...x current 80mA GND Ground of 5V power For encoder max current 80mA A A phase input of encoder 50K pull up resistor in the controller B B phase input of encoder 50K pull up resistor in the controller Z...

Page 7: ...or TTL output the max sourcing sinking current must be kept in 0 20mA Output voltage of P4 is 0 5 V Relative to terminal 2 Futhermore users must note Hot plugging is forbidden Hot plugging will cause...

Page 8: ...d of the bus Please refer to the UIM2501 user manual for how to enable the UIM2501 converter s terminating resistor CANH and CANL should use a twisted wire pair Figure 0 3 Wiring Scheme for Standalone...

Page 9: ...the better Both ends of the bus should be terminated with120 terminating resistors Shielded 120 ohm CAN bus cable is recommended if the transfer distance is over 50 meters In practice only one termin...

Page 10: ...cheme for Network Operation 2 Warning Hot plugging is forbidden Warning All controllers gateways and subscriber equipments must be common grounded RS232 Moter 1 6 40 VDC 120 CANH CANL Factory Control...

Page 11: ...gn decides direction AA AD gPOS Set desired position the sign decides direction AA AD gQEC Set encoder based position the sign decides direction AA AD gDOUT Set output TTL level AA AD Model Check Inst...

Page 12: ...maximum starting speed AA B3 85 MMS Check maximum starting speed AA B3 86 ORG Set zero origin position AA B7 88 ORG Reset the position to a given value AA B7 89 SPD Set the desired speed AA B5 98 SPD...

Page 13: ...ve negative effect on device reliability Electrical Characteristics Ambient Temperature 25 C Supply Power Voltage 12V 28VDC Motor Output Current Max 1A per phase instruction adjustable Driving Mode PW...

Page 14: ...Page 14 M4220170607EN UI Robot Technology Co Ltd UIM2842 Size and Weight Size 23mm x 28 1mm x 15mm Weight 0 1 kg...

Page 15: ...ication 25 4 1 RTCN Structure 25 4 2 Enable Disable RTCN 26 5 0 initial and Hardware Firmware Configuration 27 5 1 Initial Configuration Register 27 5 2 Auto enable 28 5 3 User Program 28 5 4 Master C...

Page 16: ...3 ACR Check auto current reduction ratio 63 4 BLC Backlash compensation 64 5 BLC Check backlash compensation 65 6 CUR Motor Current Adjusting 66 7 DOU Set TTL Output 67 8 DOU Check TTL Output Level 68...

Page 17: ...iguration 96 36 SFB Check Sensor Data 97 37 SPD Speed Adjusting 98 38 SPD Check Current Speed 99 39 SQT Set Tolerance of Blocked Alarm 100 40 STGx Set Digital Input Sampling Mode 101 41 STG Check Digi...

Page 18: ...es CAN2 0B communication protocol which due to its high speed 1 million bit rate long distance 10km transference and high noise immunity is widely used in applications with serious signal interference...

Page 19: ...The transfer time will be less than 1 millisecond if the baud rate is set to 115200 UIM2842 s RTCN system supports 12 events displacement control done absolution position reset sensor 1 2 3 rising ed...

Page 20: ...4 also can output setting level when detects events list below pre configuration Run Stop status The output voltage level is determined by if the speed is zero or not Direction change The output volta...

Page 21: ...message first Message of UIM has two forms listing below 1 String based on RS232 Figure 2 1 and 2 CAN message based on UI simpleCAN Figure 2 2 If there is no special version all messages are based on...

Page 22: ...ugh the shifting operation One 16bit data takes three 7bits data to represent Terminator denotes the end of a feedback message UIM2842 controller utilizes FF or FE as the terminator If terminator is F...

Page 23: ...tion control i e Enable disable Current Micro stepping Auto current reduction Direction Speed and Displacement Actually user can simply send the null instruction alone to check the status of the above...

Page 24: ...nt Before operation a unique identification number i e ID or address is assigned to every UIM2842 controller needs to be ID is used to identify which object is the instructions send to and where the A...

Page 25: ...e RTCN system is able to response to the following events Table4 1 Real time change notification events No Event Message ID Description 1 falling edge of S1 A0 Voltage on S1 High Low 2 rising edge of...

Page 26: ...by the writing to the Master Configuration Register s ORGIE bit MCFG 5 STPIE bit MCFG 4 P4IE bit MCFG 3 S3IE bit MCFG 2 S2IE bit MCFG 1 and S1IE bit MCFG 0 Please refer to section 4 1 for details Plea...

Page 27: ...CFG 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 emerge...

Page 28: ...e process Master Configuration Register is a 16bits register with the following structure MCFG bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 value ANE CHS QEI X QEM CM AM DM X STLIE ORGIE STPIE P4IE S3IE...

Page 29: ...STPIE Displacement Control STP POS QEC Completion RTCN 0 Disable the displacement control completion RTCN 1 Enable the displacement control completion RTCN Once the displacementinstruction has been ex...

Page 30: ...orward 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 linea...

Page 31: ...small then it may cause the following situation the motor has already reached the desired position but it still has not reached the desired speed Figure6 2 Position Tracking Mode without acceleration...

Page 32: ...e and the incorrect instruction will not be executed EE Error Code FF Where EE denotes an error message The error code is list below Error Code 65 66 Meaning Syntax Error Value Error Basic ACK Message...

Page 33: ...signed 16bit integer 5 STP4 STP0 denotes the desired motor displacement See figure 10 2 for how to convert to a signed 32bit integer 6 3 Motor Status Feedback Message Upon receiving the FBK instructio...

Page 34: ...nt Instruction Description Page ACR Set auto current attenuation ratio 62 ACR Check auto current attenuation ratio 63 CUR Set output phase current 66 ENA Enable H bridge circuit 69 ENA Set enable time...

Page 35: ...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 fi...

Page 36: ...less than the Max Starting Speed then the motor speed will step up to the desired speed immediately Figure7 4 Nonlinear Acceleration Control case 2 If the current speed is higher than the Max Startin...

Page 37: ...speed Figure7 7 Nonlinear Deceleration Control case 2 If the desired speed is lower than the Max Cessation Speed and current motor speed is lower than Max Cessation Speed then the speed will be adjus...

Page 38: ...g point time and then perform the deceleration to guarantee that when desired displacement is reached the speed is right zero The entire calculation time is around 20 micro seconds with 64bit accuracy...

Page 39: ...ounter and displacement counter Absolute position counter is used for recording the absolute position of motor The actual angular displacement is also relative to micro stepping The value recorded in...

Page 40: ...as listed below 1 Enable disable MCFG MCF User can clear the CM bit of Master Configuration Register MCFG CM 0 to disable the module or set the CM bit MCFG CM 1 to enable the module 2 Set acceleration...

Page 41: ...on Control Module can be enabled or disabled by setting the CM bit of MCFG MCFG 10 Setting the CM bit MCFG CM 1 will enable the module and clearing the CM bit MCFG CM 0 will disable the advanced motio...

Page 42: ...the sensor port so regardless of whether it s digital or analog the input voltage cannot exceed 0 3V 5 3V otherwise permanent damage can be done If the TTL level at the sensor port is too low LTTL sen...

Page 43: ...olation module has strong anti interference and it is recommended to be used in factories interference occasions Please note that the resistance of R should be adjusted to ensure that the current flow...

Page 44: ...re bound to sensor events Start and run forwardly at preset speed and acceleration Start and run reversely at preset speed and acceleration Change direction and run at preset speed and acceleration Fo...

Page 45: ...nalog input port by clear the CHS bit of the master configuration register i e make MCFG CHS 0 Once configured the analog voltage on port S1 can be obtained by instruction SFB In order to use the sens...

Page 46: ...ng instruction STG the controllers will work in intermittent sampling mode and sampling interval is T Single Sampling In single sampling mode once a fluctuation is detected at one port UIM2842 control...

Page 47: ...he ANE bit MCFG 15 and CHS bit MCFG 14 of the master configuration register define the digital analog input of the sensor port The S1IE bit MCFG 0 and S2IE bit MCFG 1 enable disable the sensor real ti...

Page 48: ...S2IE S1IE 0110 Reset position Depends on MCFG S2IE S1IE 0111 Reset position Dispalcement Control Depends on MCFG S2IE S1IE 1000 Execute preset interrupt program Depends on MCFG S2IE S1IE 1001 Directio...

Page 49: ...etails Bit 7 4 S3RACT 3 0 S3 Rising edge Action Bit 3 0 S3FACT 3 0 S3 Falling edge Action The action code caused by S3 level edge the same as the S1 S2 ACT Code binary Action RTCN or Not 0000 N A No R...

Page 50: ...log threshold Note ATCONH ATCONL input range is 0 4095 with 0 corresponding to 0V and 4095 corresponding to 5V 4095 is the maximum of a 12bits data 8 9 Instruction List The following table shows the i...

Page 51: ...ser device and restart the UIM242 controller the system will automatically run 13 If enable auto feedback once the motor touches limit switch user device will receive a feedback message of falling edg...

Page 52: ...y 10 Add suffix code 0011 for ATCONH get SCFG 0000 1100 1100 1100 0011 binary 0xCCC3 hex 52419 decimal 11 Send instruction SCF xCCC3 or SCF 52419 12 Calculate the lower limit 0 6V 5V 4095 491 value is...

Page 53: ...er has a built in quadrature encoder hereinafter referred to as encoder interface circuit which is capable of decoding encoder signals of less than 200KHz input Another option is user can connect exte...

Page 54: ...rwise UIM2842 controller can only read the external encoder data but cannot maintain closed loop motion control with this data However if the internal encoder is installed Closed loop Control Module i...

Page 55: ...ted to the TTL output control 1 MCF The P4IE bit MCFG 3 of the master configuration register enables disables the P4 real time change notification RTCN For details please refer to section 5 1 2 SCF is...

Page 56: ...Bit 11 P4LVL Port P4 output voltage level 0 If the event defined by P4EVENT code happens P4 output 0V 1 If the event defined by P4EVENT code happens P4 output 5V Bit 10 8 P4EVENT 2 0 P4 Output Drivin...

Page 57: ...moves backward P4 outputs 0V 3 Need RTCN every time P4 changes Realization 1 First stop the motor by sending OFF 2 Set MCFG P4IE 1 get MCFG 0000 0000 0000 1000 binary 0x8 hex 8 decimal 3 Send instruc...

Page 58: ...e is NOT accepted 3 Instruction structure is as follow INS or INSx or INS Where INS Instruction Symbol Comprises three letters with no space between them and is not case sensitive If there is an x INS...

Page 59: ...bit data into 16 bit data and 32 bit data Obviously one 16 bit data takes three 7 bit data to represent and one 32 bit data takes five 7 bit data Terminator The end of a feedback message UIM motion co...

Page 60: ...0 5 0 6 0 7 0 0 D21 1 D22 2 D23 3 D24 4 D25 5 D26 6 D27 7 0 0 D14 1 D15 2 D16 3 D17 4 D18 5 D19 6 D20 7 0 0 D7 1 D8 2 D9 3 D10 4 D11 5 D12 6 D13 7 0 0 D0 1 D1 2 D2 3 D3 4 D4 5 D5 6 D6 7 0 1 st Byte 2...

Page 61: ...Description Check desired motor status ACK AA Controller ID ASB CUR V0 V1 V2 P0 P1 P2 P3 P4 FF Comment ASB Received data 0 CUR Received data 1 V0 P4 Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1...

Page 62: ...in standeby mode current reduces to 2 3 99 Standby CUR working current 100 ACK 0 or 1 ACK is the same as ACK of 6 ENA 2 3 99 ACK is as follow AA Controller ID BA A0 FF Comment BA Message ID of instruc...

Page 63: ...pper Motor Controller Closed loop 3 ACR Check auto current reduction ratio Format ACR Description Check auto current reduction ratio ACK AA Controller ID BA A0 FF Comment Refer to ACK comment of instr...

Page 64: ...iption Set value of backlash compensation in reciprocating motion 0 1 65535 Unsigned integer Units pps open loop ACK AA Controller ID DE B0 B1 B2 FF Comment DE Message ID of instruction BLC B0 B2 Rece...

Page 65: ...re Integrated Stepper Motor Controller Closed loop 5 BLC Check backlash compensation Format BLC Description Check the value of backlash compensation in reciprocating motion ACK AA Controller ID DE B0...

Page 66: ...it 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 full step 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp V0 V2 is the converted value for desired speed...

Page 67: ...ssage ID of DOU P4 The logic level of the TTL output P4 1 means the output is 5V P4 0 means the output is 0V Note Using DOU will affect S34CON Once DOU instruction is receiced UIM242 controller will c...

Page 68: ...UI Robot Technology Co Ltd UIM2842 8 DOU Check TTL Output Level Format DOU Description Check current TTL output level ACK AA Controller ID C1 P4 FF COMMENT Refer to ACK comment of DOU Note Using DOU w...

Page 69: ...3 P4 FF Comment ASB Received data 0 CUR Received data 1 V0 P4 Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 full step 15 1 16 step CUR structure Bit 7 6 5 4 3...

Page 70: ...r ID A0 E0 E1 E2 FF Comment A0 Message ID of instruction ENA E0 E2 Received data 0 2 E0 E2 is the converted value for auto ENA time 16 bits Figure 12 1 units ms Note This instruction sets ENAtimer onl...

Page 71: ...ed loop 11 ENAxFFFF Check enable time Format ENAxFFFF Description Check auto enable time ACK AA Controller ID A0 E0 E1 E2 FF Comment Refer to ACK comment of instruction ENA Note This instruction check...

Page 72: ...B is as follow Bit 7 6 5 4 3 2 1 0 Defination N A 0 ACR ENA OFF DIR MCS 1 0 full step 15 1 16 step Structure of CUR is as follow Bit 7 6 5 4 3 2 1 0 Defination N A 0 Phase Current e g 27 2 7 Amp V0 V2...

Page 73: ...bytes structure is as follow Byte 0 1 Defination D0 D1 Where D1 D0 compose a hexadecimal 16bit data D1 is high D0 is low Example Initial Configuration 0x1234 Then send instruction ICFx 34 12 ACK AA C...

Page 74: ...UIM2842 14 ICF Check Initial Configuration Register Format ICF Description Check initial configuration register ACK AA Controller ID DA C0 C1 C2 FF Comment Refer to ACK comment of ICFx Note Require c...

Page 75: ...1 2 65 000 000 Pre requiring MCFG AM 0 value mode 1 2 60 000 Pre requiring MCFG AM 1 period mode ACK AA Controller ID B1 FG A0 A1 A2 A3 A4 FF Comment B1 The message ID of MAC FG Equal to the AM bit o...

Page 76: ...607EN UI Robot Technology Co Ltd UIM2842 16 MAC Check Current Acceleration Rate Format MAC Description Check current acceleration rate ACK AA Controller ID B1 FG A0 A1 A2 A3 A4 FF Comment Refer to ACK...

Page 77: ...mpose a hexadecimal 16bit data D1 is high D0 is low For example Master Configuration 0x1234 Then send instruction MCFx 34 12 Each Byte must have an even number of digits or letters ACK AA Controller I...

Page 78: ...Robot Technology Co Ltd UIM2842 18 MCF Check Master Configuration Register Format MCF Description Check the value of the Master Configuration Register ACK AA Controller ID B0 C0 C1 C2 FF Comment Refe...

Page 79: ...V1 V2 P0 P1 P2 P3 P4 FF Comment ASB Received data 0 CUR Received data 1 V0 P4 Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 full step 15 1 16 step CUR structu...

Page 80: ...ing MCFG DM 0 value mode 1 2 60 000 Pre requiring MCFG DM 1 period mode ACK AA Controller ID B2 FG D0 D1 D2 D3 D4 FF Comment B2 The message ID of MDE FG Equal to the DM bit of the MCFG DM Denote the i...

Page 81: ...Page 81 Miniature Integrated Stepper Motor Controller Closed loop 21 MDE Check Current Deceleration Rate Format MDE Description Check current deceleration rate ACK AA Controller ID B2 FG D0 D1 D2 D3 D...

Page 82: ...te denotes one byte the data is hexadecimal Comment DE Message ID of instruction MDL CUR The Max phase current e g 20 means 2 0 A asb The installed optional modules and sensor ports V0 V2 Received dat...

Page 83: ...Maximum Cessation Speed Format MMD Description Set the maximum cessation speed at 1 2 65 000 000 unsigned integer ACK AA Controller ID B4 M0 M1 M2 FF COMMENT B4 The message ID of MMD M0 M2 Received da...

Page 84: ...0607EN UI Robot Technology Co Ltd UIM2842 24 MMD Check current Maximum Cessation Speed Format MMD Description Check the maximum cessation speed ACK AA Controller ID B4 M0 M1 M2 FF Comment Refer to ACK...

Page 85: ...t Maximum Starting Speed Format MMS Description Set the maximum starting speed at 1 2 65 000 000 unsigned integer ACK AA Controller ID B3 M0 M1 M2 FF Comment B3 The message ID of MMS M0 M2 Received da...

Page 86: ...70607EN UI Robot Technology Co Ltd UIM2842 26 MMS Check current Maximum Starting Speed Format MMS Description Check the maximum starting speed ACK AA Controller ID B3 M0 M1 M2 FF Comment Refer to ACK...

Page 87: ...V0 P4 Received data 2 9 ASB structure Bit 7 6 5 4 3 2 1 0 Value N A 0 ACR ENA OFF DIR MCS 1 0 full step 15 1 16 step CUR structure Bit 7 6 5 4 3 2 1 0 Value N A 0 Phase Current e g 27 2 7 Amp V0 V2 i...

Page 88: ...Technology Co Ltd UIM2842 28 ORG Reset Position Counter Format ORG Description Reset the position encoder counter to zero 0 is equivalent to instruction ORG 0 ACK AA Controller ID B7 P0 P1 P2 P3 P4 FF...

Page 89: ...RG Reset Position Counter Format ORG Description Reset the position encoder counter to a given value 2147483647 2147483647 signed integer 0 reset the position encoder counter to zero 0 0 reset the pos...

Page 90: ...ncreases when the direction is negative the counter decreases When ICFG CW 0 consider clockwise as forword direction when ICFG CW 1 consider anticlockwise as forword direction Encoder counter can only...

Page 91: ...losed loop 31 QEC Check Current Encoder Positon Format QEC Description Check current encoder position ACK CC Controller ID B1 Q0 Q1 Q2 Q3 Q4 FF Comment B1 Message ID of current encoder position Q0 Q4...

Page 92: ...Description Set the quadrature encoder resolution at 0 1 65000 ACK AA Controller ID C2 R0 R1 R2 FF Comment C2 Message ID of QER R0 R2 Received data 0 2 R0 R2 is the converted value for encoder resolu...

Page 93: ...iniature Integrated Stepper Motor Controller Closed loop 33 QER Check Quadrature Encoder Resolution Format QER Description check current quadrature encoder resolution ACK AA Controller ID C2 R0 R1 R2...

Page 94: ...34CON ATCONH and ATCONL separately Example Set S12CON as 0x1234 Then send instruction SCFx 34 12 00 00 is suffix Each Byte must have an even number of digits or letters ACK AA Controller ID C0 S0 S1 S...

Page 95: ...o Ltd M4220170607EN Page 95 Miniature Integrated Stepper Motor Controller Closed loop The suffix code for S34CON is 01 hexadecimal The suffix code for ATCONH is 02 hexadecimal The suffix code for ATCO...

Page 96: ...y Co Ltd UIM2842 35 SCF Check the value of Sensor Configuration Format SCF Description Check the current value of S12CON S34CON ATCONH and ATCONL ACK AA Controller ID C0 S0 S1 S2 S3 S4 AL0 AL1 AH0 AH1...

Page 97: ...roller ID C1 D1 D2 D3 AN0 AN1 FF COMMENT C1 The message ID of SFB D1 D3 Received data 1 3 AN0 AN1 Received data 4 5 D1 D3 represent the logic level of S1 S2 and S3 respectively 0 1 AN0 AN1 is the conv...

Page 98: ...V2 is the converted value for the value of desired speed 16 bits Figure11 1 Unit Pluse Second PPS or Hz The sign of speed decides direction If no or specified before x it is taken as Note Once H bridg...

Page 99: ...Format SPD Description Check current speed ACK CC Controller ID B2 V0 V1 V2 FF Comment B2 The message ID of current speed V0 V2 Received data 0 2 V0 V2 is the converted value for the value of desired...

Page 100: ...n Set tolerance of blocked alarm Alarm when deciation of reading between encoder and pulse counter is larger than 0 1 65535 ACK AA Controller ID B8 Q0 Q1 Q2 Q3 Q4 FF Comment B8 Message ID of desired e...

Page 101: ...after last sampling This can eliminate the shake of sensor signal D1 D0 EA60 denotes signle sampling once triggered the S12CON For S1 S2 and S34CON For S3 must be configurated again ACK AA Controller...

Page 102: ...hnology Co Ltd UIM2842 41 STG Check Digital Input Sampling Mode Format STG Description Check digital input sampling mode of S1 S2 S3 ACK AA Controller ID C9 S0 S1 S2 S3 S4 S5 S6 S7 S8 FF Comment Refer...

Page 103: ...2 deceleration 3 maximum starting speed 4 maximum stopping speed For sensors they also include 5 speed 6 displacement increment ACK AA Controller ID D1 FF Comment D1 Message ID of instruction STO Not...

Page 104: ...07EN UI Robot Technology Co Ltd UIM2842 Set 1st group of parameters SPD STP MAC MDE MMS MMD Banding it to rising edge of S1 STO2 Set 6th group of parameters SPD STP MAC MDE MMS MMD Banding it to falli...

Page 105: ...der counter Actual pulse sended to motor is controlled by displacement counter The actual motor displacement is also relative to the micro stepping resolution or encoder resolution If an STP0 instruct...

Page 106: ...nt Format STP Description Check current incremental displacement ACK CC Controller ID B3 P0 P1 P2 P3 P4 FF Comment B3 The message ID of current incremental displacement P0 P4 Received data 0 4 P0 P4 i...

Page 107: ...bot Technology Co Ltd M4220170607EN Page 107 Miniature Integrated Stepper Motor Controller Closed loop APPENDIX A DIMENSIONS Unit mm NEMA 28 Stepper Motor Seal Sleeve Encoder Closed loop Motion Contro...

Page 108: ...8 M4220170607EN UI Robot Technology Co Ltd UIM2842 APPENDIX B INSTALLATION INSTRUCTION Back Mounting Side Mounting NEMA 28 Motor Encoder 2842 Controller NEMA 28 Motor Encoder 28L type Flange 2842 Cont...

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