UIM24202-M Stepper motor controller advanced motion control programmable serial port RS232

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).

CAN2.0B Active Communication

− 2-wire interface

− Max 1M bps operation, long distance

− Differential bus, high noise immunity

− Max 100 nodes

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)

− 3 digital inputs, 1 can be configured to analog input (12bit)

− 1 TTL output, controlled by 3 events or instruction

− 12 real-time event based change notifications (similar to interrupters)

− 5 programmable actions triggered by 8 sensor events

− Simple, intuitive, rich instructions

− User-friendly interface

Description

UIM24204 and UIM24208 are miniature stepper motor controllers with CAN network capability. Through a CAN-RS232 converter (UIM2501), user device can command multiple UIM242 controllers through RS232 using ASCII coded instructions. Instructions are simple, intuitive and fault-tolerating. User is not required to have knowledge on stepper motor driving and CAN network.

UIM242 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 3 optional advanced modules: Advanced Motion Control Module, Input Control Module, and Output Control Module. With UIM242’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).

UIM242 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.

1.1.1 Communication

Through a CAN-RS232 converter (i.e. UIM2501), user device can command multiple UIM242 controllers through RS232 using ASCII coded instructions. The UIM2501 translates the instructions from RS232 to CAN2.0B and sends the instructions to the target controller according to the controller ID that specified by the user device.

1.1.2 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.

1.1.3 Absolute Position Counter

UIM242XX has a hardware pulse counter. Output of the counter is signed. The counter can be reset either by user instruction or automatically the configurable sensor input event. Under most conditions, through the advanced motion control, this counter can provide the absolute position of the motor with enough accuracy. When the counter reaches zero position, there can be automatically generated message feedback to the user device, given the corresponding configuration through user instruction.

1.1.4 Real-time Change Notification (RTCN)

Similar to CPU’s interrupters, UIM242XX can automatically generate certain messages after predefined events, and sends them to the user device. The time is less than 1 millisecond from the occurring of the event to the message being sent. Message transfer time depends on the baud rate of the RS232 setup of the UIM2501. The transfer time will be less than 0.5 milliseconds if the baud rate is set to 115200.

UIM242XX’s RTCN system supports 12 events: displacement control done, absolution zero

position, sensor 1/2/3 rising edge, falling edge, analog input beyond upper threshold, analog input lower than lower threshold, and TTL status etc. All RTCNs can be enabled or disabled by instructions.

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. UIM242XX 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 ms. Advanced motion control module can be disabled/enabled by user instruction.