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UI Robot Technology Co. Ltd.

M4120170509EN

Page 33

UIM241 Miniature Integrated Stepper Motor Controller(

Closed-loop

)

7.4 Nonlinear Deceleration

Similar to the nonlinear acceleration control, there are three cases and corresponding
control algorithms as listed below.

If the desired speed is higher than a certain user preset value (i.e. the Maximum Cessation
Speed), UIM241XX will use the Uniform Deceleration Control algorithm.

Figure7-6: Nonlinear Deceleration Control (case 1)

If desired speed is lower than the Max Cessation Speed and current motor speed is higher
than the Max. Cessation Speed, the Uniform Deceleration Control will be first applied and
followed by a step deceleration to the desired 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 adjusted to the desired speed
through step deceleration.

Figure7-8: Nonlinear Deceleration Control (case 3)

T

（

Time

）

Speed

Uniform Deceleration

Desired Speed

Current Speed

Maximum Cessation Speed

T

（

Time

）

Speed

Uniform deceleration

Desired Speed

Current Speed

Maximum Cessation Speed

Step Deceleration

T

（

Time

）

Speed

用

Desired Speed

Current Speed

Maximum Cessation Speed

Step Deceleration

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Содержание UIM241 Series

Страница 1: ...User Manual UIM241XX Series RS232 Instruction Control Miniature Integrated Stepper Motor Controller Closed loop V1 2...

Страница 2: ...end indemnify and hold harmless UIROBOT from any and all damages claims suits or expenses resulting from such use No licenses are conveyed implicitly or otherwise under any UIROBOT intellectual proper...

Страница 3: ...241 Miniature Integrated Stepper Motor Controller Closed loop 4A 8A Custom made please contact with salesmans before purchase Examples UIM241L02P UIM241C04T MS UIM241C08P IE Examples of Control Connec...

Страница 4: ...ntrol intuitive and fault tolerating GENERAL DESCRIPTION UIM24102 UIM24104 UIM24108 are miniature stepper motor controllers with RS232 interface UIM241 controllers can be mounted onto NEMA17 23 34 42...

Страница 5: ...S2 Sensor input port 2 9 RST Reset R232 baud rate to 9600 Motor Terminals Terminal No Description A A Connect to the stepper motor phase A B B Connect to the stepper motor phase B WARNING Incorrect co...

Страница 6: ...users use UIROBOT controllers must strictly follow the specification that one controller can only drive one motor Be careful to avoid connecting more than one motor to the controller The user should...

Страница 7: ...a converted cable If the sensor inputs are used make sure the signal are wired to the terminal 7 and or terminal 8 and the signal ground are wired to the terminal 6 Furthermore please be aware User is...

Страница 8: ...ICF Check initial configuration register AA DA 66 MCF Set master configuration register AA B0 69 MCF Check master configuration register AA B0 70 SCF Set sensor control configuration register AA C0 8...

Страница 9: ...7 80 ORG Reset the position to a given value AA B7 81 SPD Set the desired speed AA B5 89 SPD Check current speed CC B2 90 STO Store motion control parameters AA D1 94 STO Bind motion control parameter...

Страница 10: ...e is not recommended as operation at maximum value for extended period may have negative effect on device reliability Electrical Characteristics Ambient Temperature 25 C Supply Power Voltage 12V 48VDC...

Страница 11: ...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 F...

Страница 12: ...uto current reduction ratio 55 3 ACR Check auto current reduction ratio 56 4 BDR Set RS232 Baud Rate 57 5 BLC Backlash compensation 58 6 BLC Check backlash compensation 59 7 CUR Motor Current Adjustin...

Страница 13: ...ER Check quadrature encoder resolution 85 33 SCF SCFx Set Sensor Configuration 86 34 SCF Check the value of Sensor Configuration 87 35 SFB Check Sensor Data 88 36 SPD Speed Adjusting 89 37 SPD Check C...

Страница 14: ...ntrol Module and Sensor Input control Module The embedded 64 bit calculation precision DSP controller guarantees the real time processing of the motion control and change notifications similar to the...

Страница 15: ...fulfill the acceleration or deceleration The input range of the displacement control is 2 billion pulses steps In advanced motion control mode the actual direction is decided by module calculation Wh...

Страница 16: ...le 1 5 Instructions and Interface Instructions for UIM241XX are simple intuitive and fault tolerating For example in order to command a speed of 1000 steps sec the following instructions are all valid...

Страница 17: ...dback messages from UIM241 follow the structure below Header Controller ID Message ID Data Terminator There are 3 kinds of headers AA CC and EE Controller ID the identification number of current contr...

Страница 18: ...lled Macro Operator Instructions between a pair of macro operators will get no ACK message The semicolon at the end of the instruction set has no letter or number before it That is called Null Instruc...

Страница 19: ...knows the baud rate it can start sending instructions without hand shaking Hand shaking is more used as a method to check the existence and firmware version of the controller Under following two situ...

Страница 20: ...will turn off for one second and re lit That indicates the baud rate has been changed to 9600 and ready to use 5 Use BDR instruction to change the baud rate to desired value 3 4 Instruction List The f...

Страница 21: ...falling edge of S1 A0 Voltage on S1 High Low 2 rising edge of S1 A1 Voltage on S1 Low High 3 falling edge of S2 A2 Voltage on S2 High Low 4 rising edge of S2 A3 Voltage on S2 Low High 5 exceed upper l...

Страница 22: ...er is a 16bits register with following structure ICFG 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 em...

Страница 23: ...lue ANE CHS QEI X QEM CM AM DM X X ORGIE STPIE X X S2IE S1IE Bit15 ANE Enable Disable Analog Input 0 Disable the analog input all sensor are set to digital input 1 Enable the analog input Port S1 can...

Страница 24: ...ted a message will be send to user device automatically Bit3 2 Unimplemented Read as 0 Bit1 S2IE S2 Status Change RTCN 0 Disable sensor port 2 S2 status change RTCN 1 Enable S2 status change RTCN Bit0...

Страница 25: ...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 achieve...

Страница 26: ...take this instruction as a request to shift from PT mode to VT mode In PT mode the actual speed direction and desired displacement are related to deviation of actual displacement When sign of desired...

Страница 27: ...l Motor Speed 0 ReceiveSPD1000 0 1000 ReceiveQEC2000 Reach position2000 ReceiveORG ReceiveENA ReceiveQEC 2000 No Operation or Event Control Mode Desired Position Current Position Position Error Desire...

Страница 28: ...E and ACR The basic ACK message is 13bytes long and has a structure as shown below Byte 1 2 3 4 5 6 7 8 9 10 11 12 13 Value AA 00 ASB CUR SPD2 SPD1 SPD0 STP4 STP3 STP2 STP1 STP0 FF Where Power up Inst...

Страница 29: ...motor status incremental displacement speed direction micro stepping resolution and phase current enabled offline status and ACR status The feedback Message is 13 bytes long in the following format By...

Страница 30: ...R Check auto current attenuation ratio 56 CUR Set output phase current 60 ENA Enable H bridge circuit 61 ENA Set enable time boot after ms enable 62 ENAxFFFF Check enable time 63 FBK Check current mot...

Страница 31: ...pter 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 i...

Страница 32: ...tion rate Figure7 3 Nonlinear Acceleration Control case 1 If the desired speed is less than the Max Starting Speed then the motor speed will step up to the desired speed immediately Figure7 4 Nonlinea...

Страница 33: ...nt motor speed is higher than the Max Cessation Speed the Uniform Deceleration Control will be first applied and followed by a step deceleration to the desired speed Figure7 7 Nonlinear Deceleration C...

Страница 34: ...ut impact or vibration The control process is shown in figure 7 9 Figure7 9 S curve Relative Displacement Control case 1 In the control process UIM241XX s advance motion control module will continuous...

Страница 35: ...um cessation speed at zero to disable non linear acceleration deceleration This process is shown is figure 7 11 Figure7 11 S curve Displacement Control 7 6 Direction Control and Position Counter When...

Страница 36: ...nds to be steady The influence caused by backlash is considerable in a reciprocating motion UIM241 controllers provide the function of backlash compensation to reduce the influence on mechanical trans...

Страница 37: ...backlash compensation value BLC Max starting speed and max cessation speed has been described in front section The unit of MMS and MMD are pps Figure7 12 Two modes to Set the of Acceleration Rate 7 9...

Страница 38: ...N UI Robot Technology Co Ltd UIM24102 04 08 IE MDE Check deceleration rate 73 MMD Set maximum cessation speed 75 MMD Check maximum cessation speed 76 MMS Set maximum starting speed 77 MMS Check maximu...

Страница 39: ...nts that can be configured as listed below Table8 1 Sensor Events No Sensor Events Description 1 S1 Falling Edge S1 Voltage Level Change High Low 2 S1 Rising Edge S1 Voltage Level Change Low High 3 S2...

Страница 40: ...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 sensor events user may n...

Страница 41: ...terval is T Single Sampling In single sampling mode once a fluctuation is detected at one port UIM241 controllers will not detect the level fluctuation at this port until user configures the correspon...

Страница 42: ...put of the sensor port The S1IE bit MCFG 0 and S2IE bit MCFG 1 enable disable the sensor real time change notification RTCN See section 5 4 for details 2 SCF Sensor Configuration Register SCF is used...

Страница 43: ...until Stop Depends on MCFG S2IE S1IE 0100 Emergency Stop Depends on MCFG S2IE S1IE 0101 Reverse Displacement Control Depends on MCFG S2IE S1IE 0110 Reset position Depends on MCFG S2IE S1IE 0111 Reset...

Страница 44: ...14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Defination Reserved AL 11 0 15 12 Unimplemented read as 0 11 0 AL 11 0 Lower limit of analog threshold Note ATCONH ATCONL input range is 0 4095 with 0 corresponding...

Страница 45: ...FF stroke limit sensor at each end When the mobile table hit the sensor a 0V presents Requirements 1 As soon as one sensor S2 is hit the stepper motor starts to run reversely until the table hits the...

Страница 46: ...00 0000 0001 binary 0x8001 hex 32769 decimal 3 Send instruction MCF x8001 or MCF 32769 4 It is required Start and Run Forwardly on S1 falling edge when analog input 0 6V therefore S1FACT 3 0 1010 5 It...

Страница 47: ...UI Robot Technology Co Ltd M4120170509EN Page 47 UIM241 Miniature Integrated Stepper Motor Controller Closed loop...

Страница 48: ...nterface circuit which is capable of decoding encoder signals of less than 200KHz input Another option is user can connect external encoder of their own choice to UIM241 controller using S1 and S2 por...

Страница 49: ...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 is automatically included...

Страница 50: ...not case sensitive If there is an x INSx then it means the value is hexadecimal Please note if is hexadecimal then the data must have an even number of digits such as 00 01 0A A data has an odd numbe...

Страница 51: ...data and 32bit data Obviously one 16bit data takes three 7bit data to represent and one 32bit data takes five 7bit data Terminator The end of a feedback message UIM motion controller utilizes FF or FE...

Страница 52: ...Page 52 M4120170509EN UI Robot Technology Co Ltd UIM24102 04 08 IE Figure 10 2 Conversion from five 7bits message data to a 32bits data...

Страница 53: ...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 nd B...

Страница 54: ...eck desired motor status ACK AA 00 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 0 Value N A 0 ACR ENA OFF...

Страница 55: ...ndby CUR working current 2 2 3 99 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 00 BA A0 FF Comment B...

Страница 56: ...d UIM24102 04 08 IE 3 ACR Check auto current reduction ratio Format ACR Description Check auto current reduction ratio ACK AA 00 BA A0 FF Comment Refer to ACK comment of instruction ACR Note Require c...

Страница 57: ...Baud Rate 9600 19200 38400 56000 100000 115200 250000 Other value of baud rate is also available but it must be integral multiple of 100 ACK AA Reserved BD FF Comment Reserved Factory use BD Message...

Страница 58: ...BLC Description Set value of backlash compensation in reciprocating motion 0 1 65535 Unsigned integer Units pps open loop ACK AA 00 DE B0 B1 B2 FF Comment DE Message ID of instruction BLC B0 B2 Recei...

Страница 59: ...1 Miniature Integrated Stepper Motor Controller Closed loop 6 BLC Check backlash compensation Format BLC Description Check the value of backlash compensation in reciprocating motion ACK AA 00 DE B0 B1...

Страница 60: ...t 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 1...

Страница 61: ...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 2...

Страница 62: ...00 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 10 1 units ms Note This instruction sets ENAtimer only...

Страница 63: ...ller Closed loop 10 ENAxFFFF Check enable time Format ENAxFFFF Description Check auto enable time ACK AA 00 A0 E0 E1 E2 FF Comment Refer to ACK comment of instruction ENA Note This instruction checks...

Страница 64: ...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...

Страница 65: ...r has two 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...

Страница 66: ...d UIM24102 04 08 IE 13 ICF Check Initial Configuration Register Format ICF Description Check initial configuration register ACK AA 00 DA C0 C1 C2 FF Comment Refer to ACK comment of ICFx Note Require c...

Страница 67: ...n rate to 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 00 B1 FG A0 A1 A2 A3 A4 FF Comment B1 The message ID of MAC FG Equal to the AM bit of...

Страница 68: ...0509EN UI Robot Technology Co Ltd UIM24102 04 08 IE 15 MAC Check Current Acceleration Rate Format MAC Description Check current acceleration rate ACK AA 00 B1 FG A0 A1 A2 A3 A4 FF Comment Refer to ACK...

Страница 69: ...D1 D0 compose 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 00...

Страница 70: ...I Robot Technology Co Ltd UIM24102 04 08 IE 17 MCF Check Master Configuration Register Format MCF Description Check the value of the Master Configuration Register ACK AA 00 B0 C0 C1 C2 FF Comment Refe...

Страница 71: ...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 structure...

Страница 72: ...Pre requiring MCFG DM 0 value mode 1 2 60 000 Pre requiring MCFG DM 1 period mode ACK AA 00 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 in...

Страница 73: ...N Page 73 UIM241 Miniature Integrated Stepper Motor Controller Closed loop 20 MDE Check Current Deceleration Rate Format MDE Description Check current deceleration rate ACK AA 00 B2 FG D0 D1 D2 D3 D4...

Страница 74: ...s 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 data 0 2 V0...

Страница 75: ...MMD Set Maximum Cessation Speed Format MMD Description Set the maximum cessation speed at 1 2 65 000 000 unsigned integer ACK AA 00 B4 M0 M1 M2 FF COMMENT B4 The message ID of MMD M0 M2 Received data...

Страница 76: ...0509EN UI Robot Technology Co Ltd UIM24102 04 08 IE 23 MMD Check current Maximum Cessation Speed Format MMD Description Check the maximum cessation speed ACK AA 00 B4 M0 M1 M2 FF Comment Refer to ACK...

Страница 77: ...4 MMS Set Maximum Starting Speed Format MMS Description Set the maximum starting speed at 1 2 65 000 000 unsigned integer ACK AA 00 B3 M0 M1 M2 FF Comment B3 The message ID of MMS M0 M2 Received data...

Страница 78: ...70509EN UI Robot Technology Co Ltd UIM24102 04 08 IE 25 MMS Check current Maximum Starting Speed Format MMS Description Check the maximum starting speed ACK AA 00 B3 M0 M1 M2 FF Comment Refer to ACK c...

Страница 79: ...0 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 is...

Страница 80: ...Technology Co Ltd UIM24102 04 08 IE 27 ORG Reset Position Counter Format ORG Description Reset the position encoder counter to zero 0 is equivalent to instruction ORG 0 ACK AA 00 B7 P0 P1 P2 P3 P4 FF...

Страница 81: ...loop 28 ORG 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 rese...

Страница 82: ...reases 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 b...

Страница 83: ...troller Closed loop 30 QEC Check current encoder position Format QEC Description Check current encoder position ACK CC 00 B8 Q0 Q1 Q2 Q3 Q4 FF Comment B8 Message ID of current encoder position Q0 Q4 R...

Страница 84: ...Format QER Description Set the quadrature encoder resolution to 0 1 65000 ACK AA 00 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...

Страница 85: ...UIM241 Miniature Integrated Stepper Motor Controller Closed loop 32 QER Check quadrature encoder resolution Format QER Description Check current quadrature encoder resolution ACK AA 00 C2 R0 R1 R2 FF...

Страница 86: ...nd 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 00 C0 S0 S1 S2 AL0 AL1 AH0 AH1 FF Comm...

Страница 87: ...Miniature Integrated Stepper Motor Controller Closed loop 34 SCF Check the value of Sensor Configuration Format SCF Description Check the current value of S12CON ATCONH and ATCONL ACK AA 00 C0 S0 S1 S...

Страница 88: ...N0 AN1 FF Comment C1 The message ID of SFB D1 D2 Received data 1 2 AN0 AN1 Received data 4 5 D1 D2 represent the logic level of S1 S2 respectively 0 1 AN0 AN1 is the converted value for analog input 1...

Страница 89: ...Received data 0 2 V0 V2 is the converted value for the value of desired speed 16 bits Figure 10 1 Unit Pluse Second PPS or Hz The sign of speed decides direction If no or specified before x it is tak...

Страница 90: ...cription Check current speed ACK CC 00 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 speed 16 bits Figure 10 1...

Страница 91: ...locked alarm Format SQT Description Set tolerance of blocked alarm Alarm when deciation of reading between encoder and pulse counter is larger than 0 1 65535 AC AA 00 B8 Q0 Q1 Q2 Q3 Q4 FF Comment B8 M...

Страница 92: ...t be triggered until 0 1 2 60000ms after last sampling This can eliminate the shake of sensor signal D1 D0 EA60 denotes signle sampling once triggered the S12CON must be configurated again ACK AA 00 C...

Страница 93: ...241 Miniature Integrated Stepper Motor Controller Closed loop 40 STG Check Digital Input Sampling Mode Format STG Description Check digital input sampling mode of S1 S2 ACK AA 00 C9 S0 S1 S2 S3 S4 S5...

Страница 94: ...ters include 1 Acceleration 2 Deceleration 3 Max starting speed 4 Max cessation speed For sensor there also has 5 Speed 6 Displacement ACK AA 00 D1 FF Comment D1 The message ID of STO Note This instru...

Страница 95: ...r Firmware version being 1232 or higher This instruction will affect real time performance It takes around 15 ms for the instruction to be executed It is recommended that sending this instruction when...

Страница 96: ...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 instruction is received bef...

Страница 97: ...osed loop 44 STP Check Displacement Format STP Description Check current incremental displacement ACK CC 00 B3 P0 P1 P2 P3 P4 FF Comment B3 The message ID of current incremental displacement P0 P4 Rec...

Страница 98: ...Page 98 M4120170509EN UI Robot Technology Co Ltd UIM24102 04 08 IE APPENDIX A DIMENSIONS Units mm...

Страница 99: ...X B INSTALLATION INSTRUCTION NEMA 17 do not need flange 1 Fix the UIM controller on motor with screw 2 or 4 2 Connect the motor pin to motor terminal of UIM controller NEMA 23 34 42 need flange 1 Fix...

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