UIM24104-M-S Stepper Motor Controller Serial Port RS232 Programmable for Circuit Printer

Specifications

stepper motor controller

Motor Drive Characteristics

− Wide supply voltage range 12 ~ 40VDC

− Output current 4/8A, instruction adjustable

− Full to 16th micro-step resolution

− Dual full H-bridge with PWM constant current control

− Accurate micro-stepping and current control, 6600 RPM max speed for NEMA 17 motor (half-step) and 4000 RPM for NEMA 17/23 motor (quad-step).

RS232 Interface

− RS232 three-wire serial communication

− Max baud rate 57600 bps

Embedded DSP Microprocessor

− Embedded 64-bit calculation precision high-performance digital signal processing micro controller

− Absolute position counter, reset by instruction or sensor input

− Advanced motion control module, from 0 to 4000 RPM in 0.25s and from 0 to 6600 RPM in 0.5s (for NEMA17/23)

− 2 sensor input ports, can be configured as 2 digital or 1digital 1 analog input ports (12bit)

− 8 programmable real-time event-based change notifications (similar to interrupters)

− 5 programmable actions triggered by 6 sensor events

− Simple, intuitive, rich instructions

− User-friendly interface

Description

UIM24104 and UIM24108 are miniature stepper motor controllers with RS232 interface. User device can command these controllers through RS232 using ASCII coded instructions. Instructions are simple, intuitive and fault-tolerating. User is not required to have advance knowledge on stepper motor driving.

UIM241 controller’s architecture comprises communication system, basic motion control system, absolute position counter, and real-time event-based change notification system. Embedded 64-

bit calculation precision DSP controller guarantees the real-time processing of the motion control

and change notifications. There are 2 optional advanced modules for selection: Advanced Motion Control Module and Input Control Module. With UIM241’s Advanced Motion Control, selected NEMA 17/23 motors can ramp up to 6600 RPM in 0.5 seconds and 4000 RPM in 0.25 seconds (online video

available for downloading).

UIM241 controllers can be mounted onto NEMA17/23/34/42 series stepper motor through adapting flanges. Controller thickness is less than 14 mm. Enclosure is made of die-cast aluminum to provide a rugged durable protection and improves the heat dissipation.

Basic Motion Control

User device can control following basic motions/parameters through instructions in real-time:

direction, speed, angular displacement, phase current, micro-stepping, and enable/disable

the H-bridge, etc. Speed input range is 0 ~ 65,000 pulses/sec, and angular displacement

input range is 0 ~ 2,000,000,000 pulses.

Advanced Motion Control Module

Advanced motion control module is capable to perform following functions without the help of user device: Uniform Acceleration / Deceleration, Nonlinear Acceleration / Deceleration, S-curve Displacement Control and Auto Direction Control. UIM241XX provides 2 methods to define acceleration/deceleration rate:

1. Absolute Value. Input range: 1 ~ 65,000,000 PPS/Sec (pulse/sec2 ).

2. Period, i.e., expect period for the acceleration/deceleration to finish. Input range: 1 ~ 60,000 milliseconds.

The input range of the displacement control is 0 ~ 2 billion pulses (steps), with the user defined direction. Under advanced control, the actual direction is controlled by the module itself. Once the displacement control is done, there could be a RTCN, depending on the user configuration. The time from it’s done to the RTCN being sent is less than 1 millisecond.

Advanced motion control module can be disabled/enabled by user instruction.

Sensor Input Control Module

UIM241XX’s Sensor Input Control Module supports 2 channels of TTL input or 1 channel digital and 1 channel analog input. User instruction can configure the input type. On board Analog to Digital (ADC) converter is of 12bits accuracy, 50K Hz sampling rate. The analog input is further averaged over 16 samples before output top user. The update rate is 1K Hz. For digital inputs, user can configure the desired action and REMF when each sensor’s status (sensor events) changes. There are 5 actions that can be bound to 6 sensor events:

1. Start running according the user preset speed and acceleration/deceleration rate. Direction is determined by the sensor voltage level.

2. Sudden stop.

3. Decelerate to stop.

4. Reset absolute position counter.

5. Processing displacement control using the motion parameters preset by the user (e.g., SPD, STP, acceleration/deceleration, maximum start speed, maximum diminish speed, etc.).