UIrobot UIM24002 User manual

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Page|2
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD M24020100321EN
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Page|3
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD
M24020100321EN
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Features
ÂMiniature size 42.3mm*42.3mm*13.5mm (L*W*H)
ÂIntegrally designed to fit onto motors seamlessly, as well as work standalone
ÂWide range input voltage 10-40VDC
ÂMax 2A / 4A / 8A adjustable output current
Â1 to 16th micro step resolution
ÂDual full H-bridge with PWM constant current control
ÂEnable/shutdown input for power saving
ÂOptoisolated inputs with common anode
ÂDie-cast aluminum enclosure, improve heat radiation and durability
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Description
UIM240xx Miniature Stepper Motor Controller is a series of miniature, high performance
stepper motor controller. They can be mounted onto 42 / 57 / 86 / 110 series stepper
motor seamlessly through corresponding flanges. The thickness of these controllers is
less than 14 mm. UIM24002 is capable to provide 0-2A adjustable current. UIM 24004 is
capable for 1.6-4A adjustable current output and UIM24008 is capable for 2A-8A
adjustable current output. Their mixed-decay current control reduces the back-EMF
effect under high motor speed and improves the performance. Except that UIM24002
takes 10-35VDC input, UIM240xx series controllers can work on 12 to 40VDC input.
Enclosure is made of die-cast aluminum which provides a rugged durable protection and
improves the heat dissipation.
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UIM24002 / UIM24004 / UIM24008
Miniature Stepper Motor Controller

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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD M24020100321EN
Terminal Description
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Screw Terminals
Terminal
No./ColorDescriptionMINNOMMAXUNIT
1/RedV+SupplyvoltageUIM24004‐812 40 VDC
UIM240021035
2/BlackGND Supplyvoltageground  0 VDC
3/WhiteVccOpto‐couplercommonanode  5(1) VDC
4/GreenDIRDirectioninput(2) GND Vcc VDC
5/BlueSTEP Steppingpulseinput(3) GND Vcc VDC
6/YellowSHDN Shutdownthecontroller(4) GND Vcc VDC
Note:
(1) Pleasereferto“opticallyisolatedinputinterface”sectionfordetails.
(2) Inputisconsideredhighlevelifthisterminalisnotconnected.
(3) Low‐levelpulsedurationshould>8μs.Maximumpulsefrequencyis50KHz.
(4) Anactivelow‐levelinputshutsdownpowersupplytothemotor.High‐levelinputorleftopenmakesthe
controllerfullyworking.Whenawakenfromshutdownmode,wait1millisecondbeforesendingpulse.
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Motor Wiring Pads
Pad A + / A- (at the bottom of the controller): Connect to the stepper motor phase A
Pad B + / B- (at the bottom of the controller): Connect to the stepper motor phase B
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DIP Switch
GND Vcc DIR
V+
Phase B
Phase A
B- B+ A+ A-
STEP SHDN
Toavoidlossofterminal
screws,pleasealwayskeep
screwstightened.
Note:Toavoiddamagingthecontroller,makesurethephasewindsare
connectedcorrectly.Resistancebetweendifferentphases’leadsisusually>
100KΩ.Resistancebetweendifferentphases’leadsisusually<100Ω.
!

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Page|5
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD
M24020100321EN
Typical Application
UIM240xx controller’s wiring is very straightforward as shown in following Figure.
Terminal 6 (SHDN) can be left open if offline is not needed.
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Optically Isolated Input Interface
UIM240xx controllers’ logic control inputs are all optically isolated. All opto-couplers
share one common anode (Vcc) as shown in above schematic diagram. Typically, Vcc is
5V. However, 3.3V or voltages higher than 5V are also acceptable, so long as the current
through the opto-coupler’s emitter is between 5~20mA.
Should a voltage higher than 5V be applied to Vcc, an additional resistor is needed for
every terminal to ensure that the current through each emitter does not exceed 20mA.
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UIM240xx
Stepper Controller
10~40VDC
StepperMotor
A+ A- B+ B-
1
2
DC+
DC‐
UserDevice
3.3~5V
Direction
Pulse
SHDN
Vcc
5
4
6
3
UIM240xxController
+
‐
Vcc
User
Device
500
Ω
5~20mA
Additional
Resistor

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Page|6
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD M24020100321EN
Characteristics
Absolute Maximum Ratings
SupplyVoltage40VDC（UIM24002is35VDC）
StoreTemperature‐40℃～+125℃
WorkingTemperature‐20℃～+85℃
Workingunderenvironmentexceedingmaximumvaluecoulddamagethecontroller
Electrical Characteristics（Ambient Temperature 25℃）
SupplyPowerVoltage10V～40VDC（UIM24002is8V～35VDC）
MotorOutputCurrentMax2A/4A/8Aperphase(Adjustablethroughon‐boardtrimmer）
DrivingModePWMconstantcurrent
SteppingResolutionFull‐step,half‐step,quarter‐step,andsixteenth‐step
InsulationResistance>100MΩ
DielectricStrength0.5KVinoneminute
Communication (Ambient Temperature 25℃）
ParallelCommunication3‐wireinterface:Pulse,Direction,Shutdown
MicroStepResolution1,2,4,16setthroughon‐boardDIPswitch
Environment Requirements
CoolingFreeAir
Working
Environment
EnvironmentAvoiddust,oilmistandcorrosivegases
Temp erature‐20℃～+85℃
Humidity<80%RH，ncondensation,nofrosting
Vibration3GMax
StorageTemperature‐40℃～+125℃
Size and Weight
Size42.3mmx42.3mmx13.5mm(L*W*H)
Wight0.1kg

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Page|7
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD
M24020100321EN
Functional Description
Supply Voltage
UIM240xx controllers accept a wide range input voltage from 12 to 40VDC. (UIM24002
accepts 10~35VDC) In general, higher supply voltage improves motor performance under
high speed situation, but also increases the power loss and temperature raise.
Adjust Output Current
UIM24002 / UIM24004 / UIM24008 are capable of providing 2A / 4A / 8A per phase
maximum output current respectively. In specific application, the peak output current
needs to be adjusted to meet the rated motor current. A trimmer (potentiometer) is
provided to serve this purpose at the bottom of the controller, as shown in the following
figure. Measuring the mapped voltage (Va) when tuning the trimmer provides a easy way
to set the output current.
For UIM24002, a mapped voltage of 0 - 4V proportionally represents 0 ~ 2A.
For UIM24004, a mapped voltage of 0 - 4V proportionally represents 1.5 ~ 4A.
For UIM24008, a mapped voltage of 0 - 4V proportionally represents 3.0 ~ 8A.
Please note that the controller needs to be powered before the mapped voltage Va can be
measured. (The motor is not required to be connected at this time.)
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B‐B+A+A‐
BottomSide
Voltmeter
10~40VDC
DC+
DC‐
Trimmer
MappedVoltage
Va
Note:Vaexceed4Vwillbeinternallyclampedto4V.Vahigherthan4V
willincreasethepowerconsumptionandtemperature.
!

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Page|8
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD M24020100321EN
Set Micro Step Resolution
The micro step resolution is set by the DIP switch as shown in following figure.
UIM240xx controller can provide complete micro-stepping control at full-step, half-step,
quarter-step, and sixteenth-step resolutions.
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Dimension
Unit：mm
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Actuator
1/4 Step
ON
1 2
1/16Step
ON
1 2
Hal
f
‐Step
ON
1 2
Full‐Step
ON
1 2

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Page|9
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UIM24002 / UIM24004 / UIM24008
UI Robot Technolo
gy
Co. LTD
M24020100321EN
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Installation of UIM240xx Controller
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4‐M3x10
UIMController
HeatSinkCompound
FlangeScrews
Flange
WindingLeads
(SoldertoController)