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M4220170607EN
UI Robot Technology Co. Ltd.
UIM2842
note encoder interface is a standard module which is available as long as Sensor Input
Module is installed.
Enable Closed-loop Control Module
The Encoder-based Closed-loop Control Module (hereinafter referred to as Closed-loop
Control Module) is enabled by configuring the QEM bit of MCFG (MCFG<11>). When
MCFG<QEM>=0, this module is disabled; when MCFG<QEI>=1, it is enabled.
Please note, closed-loop control module is a must even if user uses external encoders.
Otherwise, 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 is automatically included.
For master configuration register (MCFG), please refer to Section 5.4.
9.2
Instruction List
The following table shows the instructions mentioned in this chapter, the detail of those
instructions is descriped at the end of the document.
Instruction Description
Page
QECη;
Set desired quadrature encoder’s position η
90
QEC;
Check current quadrature encoder’s position
91
QERη;
Set quadrature encoder’s resolution η
92
QER;
Check quadrature encoder’s resolution
93
SQTη;
Set tolerance η of blocked alarm
100
