UIrobot UIM241 Series, Руководство пользователя

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UI Robot Technology Co. Ltd. M4120170509EN Page 11
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
CONTENTS
General Description ................................................................................................................... 4
Terminal DESCRIPTION ............................................................................................................. 5
Typical Application..................................................................................................................... 7
Instruction set summary ............................................................................................................ 8
Characteristics .......................................................................................................................... 10
1.0 Overview ..................................................................................................................... 14
1.1 Basic Control System .................................................................................................. 14
1.2 Advanced Motion Control Module ............................................................................... 15
1.3 Sensor Input Control Module....................................................................................... 15
1.4 Encoder-based Closed-loop Control Module .............................................................. 16
1.5 Instructions and Interface ............................................................................................ 16
2.0 Instruction and Feedback Structure ........................................................................ 17
2.1 Instruction Structure .................................................................................................... 17
2.2 Macro Operator and Null Instruction ........................................................................... 17
3.0 RS232 communication .............................................................................................. 19
3.1 User Device RS232 Port Configuration....................................................................... 19
3.2 Hand-Shaking .............................................................................................................. 19
3.3 Reset Baud Rate to Factory Default 9600 .................................................................. 19
3.4 Instruction List ............................................................................................................. 20
4.0 Real-time Change Notification ................................................................................. 21
4.1 RTCN Structure ........................................................................................................... 21
4.2 Enable/Disable RTCN ................................................................................................. 21
5.0 initial and HARDware/Firmware Configuration ...................................................... 22
5.1 Initial Configuration Register (Firmware version: 1232 or higher) .............................. 22
5.2 Auto-enable ................................................................................................................. 23
5.3 User Program .............................................................................................................. 23
5.4 Master Configuration Register..................................................................................... 23
5.5 Instruction List ............................................................................................................. 24
6.0 Basic Control Instructions ....................................................................................... 25
6.1 General Introduction of Motion Control Modes ........................................................... 25
6.2 Basic Instruction Acknowledgment (ACK)................................................................... 28
6.3 Motor Status Feedback Message ............................................................................... 29
6.4 Instruction List ............................................................................................................. 30
7.0 Advanced Motion Control ......................................................................................... 31
7.1 Linear Acceleration ...................................................................................................... 31
7.2 Linear Deceleration ..................................................................................................... 31
7.3 Nonlinear Acceleration ................................................................................................ 31
7.4 Nonlinear Deceleration ................................................................................................ 33
7.5 S-curve Displacement Control..................................................................................... 34
7.6 Direction Control and Position Counter ....................................................................... 35
7.7 Backlash Compensation .............................................................................................. 36
7.8 Advanced Motion Control Instructions ........................................................................ 36
7.9 Enable/disable Advanced Motion Control Module (MCFG) ........................................ 37