UI Robot Technology Co. Ltd.
M4120170509EN
Page 39
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
8.0
SENSOR INPUT CONTROL
UIM241XX Motion Controller has an optional (sold separately) Sensor Control Module
which supports two sensor input ports: S1, S2. Port S2 can be configured for digital input
(0-5V). Port S1 can be configured for either digital input or analog input.
Besides digital input condition circuit, UIM241XX has a 12 bits ADC (analog/digital
converter) and a 5V reference voltage. If the input voltage is 0~5V, the feedback value will
be 0~4095. The ADC sample rate is 50K Hz. The analog feedback value is a mathematic
average of 16 samples, and the update rate is 1000 Hz. Regardless of whether it’s digital
or analog, the input voltage cannot exceed -0.3V ~ 5.3V, otherwise permanent damage
can be done.
Besides measuring the voltage input and providing the reads to the user device when
inquired, the sensor control module is able to carry out a certain control action when a
sensor event happens. Actions and sensor events can be defined by instructions. With the
Sensor Control Module, UIM241 can perform motion controls without the user device.
There are 6 sensor events 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 Falling Edge
S2 Voltage Level Change, High >>>Low
4
S2 Rising Edge
S2 Voltage Level Change, Low >>>High
5
Exceeding the Upper Limit
Analog input voltage is higher than user defined upper limit
6
Exceeding the Lower Limit
Analog input voltage is lower than user defined lower limit
There are 13 actions that can be furthermore 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
•
Forword displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Reverse displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Direction-change displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Decelerate at preset deceleration until stop
•
Emergency stop
•
Reset position and encoder counter
•
Reset position and encoder c Reverse displacement control follow the preset
motion parameters (speed, displacement, acceleration)
•
Reset position and encoder c Decelerate at preset deceleration until stop
•
Reset position and encoder c Emergency stop
•
Off
