UIrobot UIM2501 Manual de usuario
RS2
3
3
2-CA
N
for
U
U
s
N
2.0B
U
IM24
s
e
r
Conv
2XX
M
r
M
a
ertin
g
M
otio
n
a
n
u
UI
M
g
Cont
n
Cont
u
al
M
2501
roller
roller
Page|2
UIM2501
UI Robot Technology Co. LTD M25020101008EN
Please pay attention to the following before using the UIROBOT products:
• UIROBOT products meet the specification contained in their particular Data Sheet.
• UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection.
• Attempts to break UIROBOT’s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to
unauthorized access to UIROBOT’s IP work, UIROBOT has a right to sue for relief under that Act.
Information contained in this publication regarding controller applications and the like is provided only for your convenience
and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications.
UIROBOT MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED,
WRITTEN OR ORAL, STATUTORY OR OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED
TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR FITNESS FOR PURPOSE. UIROBOT disclaims
all liability arising from this information and its use. Use of UIROBOT products in life support and/or safety applications is
entirely at the buyer’s risk, and the buyer agrees to defend, indemnify and hold harmless UIROBOT from any and all damages,
claims, suits, or expenses resulting from such use. No licenses are conveyed, implicitly or otherwise, under any UIROBOT
intellectual property rights.
[Trade Mark/Layout-design/Patent]
The UIROBOT name and logo are registered trademarks of UIROBOT Ltd. in the P.R. China and other countries.
UIROBOT’s UIM24XXX series Step Motor Controllers, UIM25XX series CAN-RS232 Converter and their layout designs are
patent protected.
Page|3
UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
UIM2501
RS232-CAN2.0B Converting Controller
(For UIM242XX series Controller)
Features
Embedded DSP Microprocessor
−Embedded high-performance DSP (Digital Signal Processor)
−Simple, intuitive, rich instructions
−Intelligent, fault-tolerating, user-friend interface
CAN2.0B Active Communication
−2-wire interface
−1 Mega bit/sec operation, long distance
−Differential data bus, high noise immunity
RS232 Communication
−RS232 three-wire serial communication
−Max baud rate 112500 bps
Wide Supply Voltage
−Wide supply voltage range 6 ~ 40VDC
Description
The UIM2501 RS232-CAN Converting Controller is used in conjunction with UIM242XX stepper
motor controller to provide a RS232 interface on the user side and a CAN bus interface on the
motor side (factory side).
With the UIM2501, user will be benefited from the advantages of the CAN network and the
simplicity of RS232 protocol, and no need to deal with the complicated CAN protocol, no worry
about the communication distance and noise immunity.
One UIM2501 controller can network with up to 100 UIM242XX controllers. Interfacing the
UIM2501 is simple, intuitive and fault tolerating. Users are not required to have stepper motor
driving or CAN protocol knowledge.
UIM2501 is compact in size. The enclosure is made of die-cast aluminum to provide a rugged
durable protection and improves the heat dissipation.
Page|4
UIM2501
UI Robot Technology Co. LTD M25020101008EN
Terminal Description
Figure 0-1: Terminal Description
Description of Screw Terminals
Terminal
No. / Color Description Input / Output
MIN NOM MAX UNIT
1 / Red V+ Supply voltage 6 40 VDC
2 / Black GND Supply voltage ground 0 VDC
3 / White CANH CANHigh‐LevelVoltageI/O VDC
4 / Green CANL CANLow‐LevelVoltageI/O VDC
RS232 Connector is a DB-9 (Female Pin) connector.
DIP Switch
UIM2501 controller has an 8-bit DIP switch, which serves multiple functions. When powering up,
DIP1~DIP7 are read as the UIM2501 controller’s ID/address. After powering up, DIP1 and DIP2
are assigned to other RS232 related features (refer to the “RS232 communication” section).
DIP8 is used to enable the built-in terminating resistor.
Unless necessary, please maintain the DIP positions as shown in following Figure.
Figure 0-2: Terminal Description
Actuator
Controller ID
Terminating Resistor Enable
V+
GND
CANH
CANL
RS232
DB9
DIP Switch
To avoid loss of terminal
screws, please always
keep screws tightened.
Page|5
UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
Typical Application
Standalone Operation
When only one UIM242 controller is needed, user can use the following wiring scheme.
Please note that, the standalone wiring scheme is mandatory when assigning a controller ID
to a UIM242 controller (motor is not required). For details, please refer to section 3.1.
Figure 0-3: Wiring Scheme for Standalone Operation
Notice:
For long distance transfer, both ends of the bus should be terminated with120Ωterminating
resistors. UIM2501 converter already has a build-in terminating resistor. To enable it, user
needs toggle the DIP8 to the ON position. On the UIM242 controller side, user needs to
attach a resistor to the end of the bus as shown in above figure 0-3.
To achieve the best communication, CANH and CANL should be a twisted wire pair.
UIM2501
Controller CANL
RS232 Cable
DB9Port
1 2 3
4
CANH
120Ω
12‐40V
DCSupply
UIM242XX
Controller
1
2
3
4
5
7
8
6
A+ A- B- B+
CANL
CANH
V+
GND
A
G
S1
S2
S3
9P4
6–40V
DCSupply
TwistWirePair
StepperMotor
Page|6
UIM2501
UI Robot Technology Co. LTD M25020101008EN
Network Operation
Multiple UIM242XX controllers can be wired together to form a reliable motor network.
Following figure provides a typical network wiring solution.
Figure 0-4: Wiring Scheme for Network Operation
Notice:
In multi-node CAN applications, it is important to maintain a direct point-to-point wiring
scheme. A single pair of wires should connect each element of the CAN bus, and the two
ends of the bus should be terminated with 120Ωresistors. A star configuration should never
be used.
UIM2501 converter has a build-in terminal resistor. To enable the UIM2501 converter’s
terminating resistor, please toggle the DIP8 to ON position. User only needs to attach a
resistor at the UIM242 end of the bus.
In addition, any deviation from the point-to-point wiring scheme creates a stub. The high-
speed edge of the CAN data on a stub can create reflections back down the bus. These
reflections can cause data errors by eroding the noise margin of the system. Although stubs
are unavoidable in a multi-node system, care should be taken to keep these stubs as small
as possible.
RS232
Motor#1
6‐40
VDC
Power
CANH
CANL
CANH
CANL
120Ohm
CANH
CANL
Factory
ControlRoom
UIM250
Controller
12‐40
VDC
Power
UIM242xx
Controller1
Motor#2
CANH
CANL
12‐40
VDC
Power
UIM242xx
Controller1
Motor#100
CANH
CANL
12‐40
VDC
Power
UIM242xx
Controller1
Page|7
UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
Characteristics
Absolute Maximum Ratings (†)
Supply Voltage................................................................................................................. 6V to 40V
Voltage on RX with respect to GND .............................................................................. -25V to +25V
Voltage on TX with respect to GND......................................................................... -13.2V to +13.2V
Ambient temperature under bias……………............................................................... -20°C to +85°C
Storage temperature.................................................................................................. -50°C to +150°C
†NOTICE: Stresses above those listed under “Absolute Maximum Ratings” may cause permanent damage to
the device. This is a stress rating only and functional operation of the device at those or any other conditions
above those indicated in the operation listings of this specification is not implied. Exposure to maximum rating
conditions for extended periods may affect device reliability.
Electrical Characteristics（Ambient Temperature 25℃）
Supply Power Voltage 6V ~ 40VDC
Current Consumption Max 100mA
Communication (Ambient Temperature 25℃）
To User Device RS232
Wiring Method DB9 Female Connector
RS232 Baud Rate MAX 115200 bps
To UIM242 Controller Active CAN 2.0B
CAN wiring Method 2-Wire,CANH,CANL
CAN bus
• Supports 1 Mb/s operation
• ISO-11898 standard physical layer requirements
• Suitable for 12V and 24V systems
• Up to 100 nodes can be connected
Environment Requirements
Cooling Free Air
Working
Environment Avoid dust, oil mist and corrosive gases
Temperature -20 ℃~ + 85 ℃
Humidity <80%RH，no condensation, no frosting
Vibration 3G Max
Storage Temperature -50 ℃~ + 150 ℃
Size and Weight
Size 66.4mm x 38mm x 18mm (L*W*H)
Wight 0.1 kg
Page|8
UIM2501
UI Robot Technology Co. LTD M25020101008EN
Table of Contents
Description .......................................................................................................................... 3
Terminal Description .......................................................................................................... 4
Typical Application............................................................................................................. 5
Characteristics.................................................................................................................... 7
1.0Overview................................................................................................................ 9
1.1 Instruction and Feedback Structure ...................................................................................... 9
1.2 Motor Control Functions and Instructions ............................................................................. 9
2.0RS232 Communication....................................................................................... 10
2.1 Settings for User Device RS232 Port.................................................................................. 10
2.2 Hand-Shaking...................................................................................................................... 10
2.3 Baud Rate Change Instruction（BDR）............................................................................. 11
2.4 Reset Baud Rate to Factory Default 9600 .......................................................................... 11
3.0Standalone and Networking Operation............................................................. 12
3.1 Global Control Introduction.................................................................................................. 12
3.2 Controller ID Assignment Instruction（SETADR）............................................................. 13
3.3 Object Specify Instruction（ADR）..................................................................................... 13
3.4 Global Register Instruction (gREG)..................................................................................... 14
3.5 Global Motor Enable Instruction (gENABLE) ...................................................................... 14
3.6 Global Motor Disable Instruction (gOFFLINE) .................................................................... 14
3.7 Global Motor Current Setup Instruction (gCUR) ................................................................. 15
3.8 Global Auto Current Reduction Instruction (gACR) ............................................................ 15
3.9 Global Micro-Stepping Resolution Setup Instruction (gMCS) ............................................. 15
3.10 Global Direction Instruction (gDIR) ..................................................................................... 15
3.11 Global Speed Setup Instruction (gSPD).............................................................................. 15
3.12 Global Position Control Instruction (gSTP) ......................................................................... 16
3.13 Global Origin Point Setup Instruction (gORG) .................................................................... 16
Appendix A Dimensions................................................................................................. 17
Page|9
UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
OVERVIEW
1.0 OVERVIEW
UIM2501 RS232-CAN Converting Controller is used in conjunction with UIM242 stepper
motor controller to provide a RS232 interface on the user side and a CAN bus interface on
the motor controller side.
UIM2501 Controller’s functions can be summarized as:
1. Receives RS232 based instructions from user device, converts the instructions into
more concise and efficient CAN based instructions, and sends instructions to UIM242
controllers.
2. Converts CAN messages from UIM242 controllers into RS232 messages, and send
back to the user devices.
3. Coordinates and controls UIM242 controllers in the network.
With the UIM2501, user will be benefited from the advantages of the CAN network and the
simplicity of RS232 protocol, and no need to deal with the complicated CAN protocol, no
worry about the communication distance and noise immunity.
One UIM2501 controller can network with up to 100 UIM242XX controllers. Interfacing the
UIM2501 is simple, intuitive and fault tolerating. Users are not required to have stepper
motor driving or CAN protocol knowledge. UIM2501 supports 1Mbps CAN communication
speed. After optimization, all UIM242 instructions take less than 0.1 ms (normally 0.05 ms)
to transfer on the bus. On the user side, UIM2501 supports 115200 bps RS232 baud rate.
UI Robot provides free Microsoft Windows XP bases VB / VC demo software and their
source code to facilitate the quick start of user device side programming.
1.1 Instruction and Feedback Structure
As a protocol converter, UIM2501supports all instructions and conform to all instruction and
feedback structures of UIM242XX. Therefore, this information is omitted in this manual.
User can refer to the UIM242XX User Manual for details.
1.2 Motor Control Functions and Instructions
Motor control specific functions, instructions and operations are directly performed by the
UIM242 controllers. As a RS232-CAN converter, UIM2501 accepts all the instructions
described in the UIM242XX User Manual. User can refer to the UIM242XX User Manual for
detailed information.
Page|10
UIM2501
UI Robot Technology Co. LTD M25020101008EN
RS232 COMMUNICATION
2.0 RS232 COMMUNICATION
UIM2501 controller communicates and exchanges information with user devices through
the RS232 serial protocol. The RS232 configuration of user device, the hand-shaking
methods, and the instruction used to change the baud rate will be introduce in this Chapter,
along with the method to reset the baud rate to factory default.
2.1 Settings for User Device RS232 Port
To communicate with UIM2501, user device needs to have following RS232 port settings:
1. 8 bits data
2. 1 stop bit
3. None Parity
2.2 Hand-Shaking
If user device knows the baud rate, it can start sending instructions without hand-shaking.
Hand-shaking is more used as a method to check the existence and firmware version of the
controller. Hand-shaking is considered successful, if the user device receives a greeting
message starting with 0xAA, 0xAB, 0xAC.
Under following two situations the UIM2501 will issue a greeting message:
1. When UIM2501 is powering up.
2. When UIM2501 receives following ASCII message: ABC; (case sensitive and ended
with a semicolon)
A greeting message from UIM2501 has the following structure:
0xAA 0xAB 0xAC 0x19 0x1 0 0 0 0 0 [ver1] [ver0] 0xFF
Where,
0xAA, 0xAB, 0xAC denotes the greeting message.
0x19, 0x1 denotes the UIM2501 controller.
[ver1:ver0] denotes the firmware version.
Tabla de contenidos
Otros manuales de Controladores de UIrobot
