UIrobot UIM240XX Series User manual

User Manual
UIM240XX Series
Parallel Signal Control
Miniature Integrated Stepper Motor Driver
V1.2

M40160606EN Page 2
M4020161125EN
UI Robot Technology Co. Ltd
UIM24002/04/08
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and may be superseded by updates.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.
[Contact]
SHANGHAI UNITED INTELLIGENCE ROBOTICS INC.
ADD : Rm 202-203, Building Y2, No, 112 Liang Xiu Rd, Zhangjiang Innopark,Shanghai,China
Z I P : 201203
T E L :021 –61182435(sales,Marketing)
F A X:021 –61182431
N E T:www.uirobot.com
Email:[e-mail]
[UIM240XX Ordering Information]
In order to serve you quicker and better, when you order UIM240XX series controller, please provide the product
number in following format.
UIM240XX PART NUMBERING SYSTEM
Note: Optional. Default control connector is T (screw terminal) if not selected.
Examples: UIM24004, UIM24004P, UIM24008P, etc.
Examples of Control Connector options:
Screw Terminal Rectangular Plug / Socket
Category
UIM
Motor
Control
Series
240
Parallel
signal
2
4
0
0
2
L
T
-
UIM
Current
02 = 2A
04 = 4A
08 = 8A
Control Connector
T = Screw Terminal
P = Plug / Socket
Max. Supply Voltage
L=28V
C=40V

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UIM240XX Miniature Integrated Stepper Motor
UIM24002/24004/24008
Parallel Signal Control
Miniature Integrated Stepper Motor Driver
FEATURES
Miniature size 42.3mm*42.3mm*16.5mm
Integral design
Wide range input voltage 12-28VDC
0 - 2A / 1.5 - 4A / 3 - 8A adjustable output current
1 to 16th micro stepping
Automatic Current Reduction
Dual full H-bridge with PWM constant current control
Enable/shutdown input for power saving
Optical-isolated inputs
Die-cast aluminum enclosure
DESCRIPTION
UIM240XX Miniature Stepper Motor Drivers are series miniature, high performance stepper motor
controllers. They can be mounted onto NEMA 17 / 23 / 34 / 42 series stepper motor seamlessly through
corresponding flanges. The thickness of these controllers is less than 15 mm.
The UIM240L02 outputs 0-2A adjustable current, the UIM 240C04 outputs1.5-4A adjustable current and
the UIM240C08 outputs 3-8A adjustable current. Their mixed-decay current control reduces the back-
EMF effect under high motor speed and improves the performance. Except that UIM240L02 takes 12-
28VDC input, UIM240CXX series controllers work on 12 - 40VDC input.
The enclosure is made of die-cast aluminum which provides a rugged, durable protection and improves
the heat dissipation.

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UIM24002/04/08
TERMINAL DESCRIPTION
Figure 0-1: Wiring Terminal
Control Terminals
Terminal No.
Designator
Description
1
V+
Supply voltage, 12 - 40VDC
2
GND
Supply voltage ground
3
VCC
Opto-coupler common anode
4
DIR
Direction input(1)
5
STP
Stepping pulse input(2)
6
ENA
Enable the controller(3)
Note:
(1) Input is considered high level if this terminal is not connected.
(2) Low-level pulse duration should > 4μs.
(3) 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.
Motor Terminals
Terminal No.
Designator
Description
1/2
A+ / A-
Connect to the stepper motor phase A
3/4
B- / B+
Connect to the stepper motor phase B
Warning: Incorrect connection of phase winds will permanently damage the controller.
Resistance between leads of different phases is usually > 100K. Resistance between leads of the
same phase is usually < 100.
Warning: In addition to the port of power supply and motor, the voltage of rest port must be in
the range of -0.3V ~ 5.3V, otherwise it will permanently damage the controller.
Control Terminal
To avoid loss of screws, please
always keep screws tightened.
Motor
Terminal
A+
A-
B-
B+
V+
GND
DIR
VCC
STP
ENA
DIP Switch1
Current Measurement Pads
Current Adjusting Trimmer
DIP Switch2

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UIM240XX Miniature Integrated Stepper Motor
Attention:
If no special instructions, users use UIROBOT controllers must strictly follow the specification
that one controller can only drive one motor. Be careful to avoid connecting more than one motor
to the controller. The user should be responsible for the loss caused by that error operation, our
company will be not responsible for it.

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UI Robot Technology Co. Ltd
UIM24002/04/08
TYPICAL APPLICATION
UIM240xx controller’s wiring is very straightforward as shown in following Figure. Terminal 6 (EN) can be
left open if offline is not needed.
Figure 0-2: Typical Application
OPTICALLY ISOLATED INPUT INTERFACE
UIM240xx controllers’ logic control inputs are all optically isolated. All opto-isolators 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-isolator’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.
Figure 0-3: Optically Isolated Input Interface
Note, in most situations, VCC can also be used as common cathode connection. This is because the
opto-isolators used in UIM240 are bidirectional (AC&DC) type.
12 ~ 40VDC
Stepper Motor
UIM240XX
DIR
VCC
V+
GND
STP
ENA
User MCU
3.3~5V
Direction
Pulse
Enable
VCC
1
2
3
4
5
6
499 
A+
+
A-
B-
B+
UIM240XX
500
5~20mA
VCC
STP, DIR, etc.
3
X
Additional
Resistor
User Device
3.3-24V

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UIM240XX Miniature Integrated Stepper Motor
CHARACTERISTICS
Absolute Maximum Ratings (†)
Supply Voltage......................................................................................................................... 10V to 40V
Ambient temperature under bias……………...................................................................... -40°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°C )
Supply Power Voltage
12 – 40VDC (10 – 28VDC for UIM240L02)
Motor Output Current
Max 2A/4A/8A per phase (Adjustable through on-board trimmer)
Driving Mode
PWM constant current
Stepping Resolution
Full, 1/2 step, 1/4 step, 1/8 step, and 1/16 step
Insulation Resistance
>100MΩ
Dielectric Strength
0.5KV in one minute
Communication (Ambient Temperature 25°C )
Parallel Communication
3-wire interface: Pulse, Direction, Shutdown
Micro Step Resolution
1, 1/2, 1/4, 1/8, 1/16 set through on-board DIP switch 1 and switch 2
Environment Requirements
Cooling
Free air
Working environment
Avoid dust, oil mist and corrosive gases
Working temperature
-40°C ~ 85°C
Humidity
<80%RH，no condensation, no frosting
Vibration
3G Max
Storage temperature
-50°C ~ 150°C
Size and Weight
Size
42.3mm x 42.3mm x 16.5mm (L*W*H)
Wight
0.1 kg

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UI Robot Technology Co. Ltd
UIM24002/04/08
FUNCTIONAL DESCRIPTION
Supply Voltage
UIM240xx controllers accept a wide range input voltage from 12 to 40VDC. (UIM240L02 takes 12 – 28
VDC) In general, higher supply voltage improves motor performance under high speed situation, but
also increases the power loss and temperature raise.
Automatic Current Reduction (ACR)
UIM240XX controller is featured of Auto Current Reduction. If this function is enabled, when the motor
stops running, the phase current will be cut to 50% of the set value. As soon as the motor goes back to
working, the current will go back to the set value. This function is enabled by turn the DIP1 (figure 0-4)
of the DIP switch 2 to the ON position.
Adjust Output Current
UIM24002/04/08 is capable of providing maximum2A / 4A / 8A per phase 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 “Va” of 0 - 2V proportionally represents 0 ~ 2A.
For UIM24004, a mapped voltage “Va” of 0 - 4V proportionally represents 0 ~ 4A.
For UIM24008, a mapped voltage “Va” of 0 - 4V proportionally represents 0 ~ 8A.
Note:
1. The controller needs to be powered before mapped voltage “Va” can be measured. (Motor is not
required to be connected at this time.)
2. DIP1 (on the bottom side DIP switch 2) needs to be turned off to shut down the ACR Function.
3. After adjustment, user can choose to turn on the DIP1 to enable the automatic current reduction.
Figure 0-4: Adjusting the Output Current
Micro Stepping Resolution
The micro stepping resolution is set by both DIP switch 1 and DIP switch 2 located at top and bottom
side of the driver as shown in following figure. UIM240xx controller can provide micro-stepping control at
full-step, 1/2, 1/4, 1/8 and 1/16 step resolutions.
Bottom Side
Voltmeter
Mapped Voltage Va
12 ~ 40VDC
Before measuring Va:
1) Apply Power
2) Turn off DIP1
Current Adjustment
Trimmer

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UIM240XX Miniature Integrated Stepper Motor
APPENDIX A DIMENSIONS
Units: mm
ON
1 2
ON
1 2
ON
1 2
ON
1 2
Full
1/2
1/4
1/16
Actuator
ON
1 2
1/8
ON
1 2
ON
1 2
ON
1 2
ON
1 2
ON
1 2
DIP Switch
1
DIP Switch
2
For ACR use
Resolution

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UIM24002/04/08
APPENDIX B INSTALLATION
NEMA 17 Stepper Installation (without adapting flange)
1. Screw mount UIM controller / driver onto the motor
2. Wire the motor leads.
NEMA 23 and Larger Stepper Installation (with adapting flange)
1. Screw mount the adapting flange onto the motor
2. Screw mount UIM controller / driver onto the adapting flange
3. Wire the motor leads.