UI Robot Technology Co. Ltd.
M4120170509EN
Page 41
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
8.3 Digital Input Sampling Mode
Digital input of UIM241 has three sampling mode:
1
）
Continuous sampling
2
）
Intermittent sampling
3
）
Single sampling
Continuous Sampling
In continuous sampling mode, UIM241 controllers detect level fluctuation at port S1/S2
uninterruptrdly. Once a fluctuation happens, controllers will call corresponding program,
execute pre-set actions, and (or) send a message to user device.
If user sets the sampling interval to 0 by using instruction STG, the controllers will work in
continuous sampling mode.
Intermittent Sampling
In intermittent sampling mode, user needs to set sampling interval T (1~60000ms) at first.
Once a fluctuation is detected at one port, UIM241 controllers will not detect the level
fluctuation at this port until (T+1) ms later.
When working in this mode, it is available for prevention and treatment of disturb and shake
eliminating of digital input.
If user sets the sampling interval to T (1 ~ 60000) by using 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, UIM241 controllers will
not detect the level fluctuation at this port until user configures the corresponding control
bit of S12CON again.
If user sets the sampling interval to T (> 60000) by using instruction STG, the controllers
will work in single sampling mode.
8.4 Sensor Event, Action and Binding
UIM241XXs support 6 sensor events as listed in section 8.0. There are 13 actions that can
be bound to those 6 sensor events. Binding means assigning a sensor action to a sensor
event. The binding between events and actions are realized through the configuration of
the Sensor Control Register S12CON. An action-code is needed when configuring sensor
registers.
•
Start and run forwardly at preset-speed and acceleration (code: 10)
•
Start and run reversely at preset-speed and acceleration (code: 2)
•
Change direction and run at preset-speed and acceleration (code: 14)
•
Forword displacement control follow the preset motion parameters (speed,
displacement, acceleration) (code: 13)
•
Reverse displacement control follow the preset motion parameters (speed,
displacement, acceleration) (code: 5)
•
Direction-change displacement control follow the preset motion parameters (speed,
displacement, acceleration) (code: 9)
•
Decelerate at preset deceleration until stop (code: 3)
•
Emergency stop (code: 4)
