UIrobot UIM2501 User manual

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2501
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UIM2501
UI Robot Technology Co. LTD M25020101008EN
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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and may be superseded by updates.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.
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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.
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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 CANHigh‐LevelVoltageI/O VDC
4 / Green CANL CANLow‐LevelVoltageI/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.
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Figure 0-2: Terminal Description
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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.

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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.
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UIM2501
Controller CANL
RS232 Cable
DB9Port
1 2 3
4
CANH
120Ω
12‐40V
DCSupply
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
DCSupply
TwistWirePair
StepperMotor

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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.
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RS232
Motor#1
6‐40
VDC
Power
CANH
CANL
CANH
CANL
120Ohm
CANH
CANL
Factory
ControlRoom
UIM250
Controller
12‐40
VDC
Power
UIM242xx
Controller1
Motor#2
CANH CANL
12‐40
VDC
Power
UIM242xx
Controller1
Motor#100
CANH CANL
12‐40
VDC
Power
UIM242xx
Controller1

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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
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UIM2501
UI Robot Technology Co. LTD M25020101008EN
Table of Contents
Description .......................................................................................................................... 3
Terminal Description .......................................................................................................... 4
Typical Application............................................................................................................. 5
Characteristics.................................................................................................................... 7
1.0Overview................................................................................................................ 9
1.1 Instruction and Feedback Structure ...................................................................................... 9
1.2 Motor Control Functions and Instructions ............................................................................. 9
2.0RS232 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
3.0Standalone 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
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UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
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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.

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UIM2501
UI Robot Technology Co. LTD M25020101008EN
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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.

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UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
2.3 Baud Rate Change Instruction（BDR）
Any out-of-box UIM2501 controller has a factory default baud rate 9600. User can use the
9600 baud rate to connect to a new UIM2501 controller.
To change to a different baud rate, user can use the instruction BDR as described below.
On receiving the BDR instruction, the new baud rate will be stored in the EEPROM and will
take effect after the controller is restarted.
Instruction BDR
Function Change the RS232 baud rate
Syntax BDR = x; Variable Integer x = 9600 … 115200
ACK
0xAA [Reserved] 0xBD 0xFF
0xBD is the Message ID of instruction BDR.
The [Reserved] is for factory use.
Comment New Baud Rate will be stored in the controller’s non-volatile memory (EEPROM).
New baud rate will take effect after the controller is restarted.
2.4 Reset Baud Rate to Factory Default 9600
In case that user forgets the UIM2501 baud rate and cannot establish the connection,
following process can reset the baud rate to the factory default of 9600:
1. Reboot the controller.
2. In 10 seconds, toggle the DIP1 (DIP switch 1) for two rounds. During toggling, the LED
on the controller will flash. If exceed 10 seconds, please restart from the first step.
3. If step 2 is successful, the LED will turn off for one second and re-lit. That indicates the
baud rate has been changed to 9600 and ready to use.
4. The BDR instruction can be used to change the 9600 Baud Rate.
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UIM2501
UI Robot Technology Co. LTD M25020101008EN

STANDALONE AND NETWORKING
OPERATION
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3.0 STANDALONE AND NETWORKING OPERATION
UIM2501 supports CAN networking. One UIM2501 can communicate with one or several
UIM242 controller(s).
Before operation, every UIM242 controller needs to be assigned a unique identification
number (i.e., ID or address). Two or more UIM242 controllers with an identical ID in the
network may cause the network malfunctioning. The process of ID assignment is described
in section 3.2.
3.1 Global Control Introduction
Besides the object specific operation, UIM2501 can also send commands to all subsidiary
UIM242XX controllers. This process is called broadcasting or global control instruction.
3.1.1 Global Instruction Format
Global control instructions have the same format as shown below: a leading “g” followed by
the normal one-to-one operation instruction.
gXYZ;
Where,
g denotes the global control instruction.
XYZ is the normal one-to-one operation instruction.
3.1.2 Global Instruction ACK Message
Except the instruction gREG, all global instructions have the same ACK message as shown
below:
0xAA [QTY] 0xAD 0xFF
Where, [QTY] is the quantity of all UIM242xx controllers that are operable.
Detailed global instructions are described in section 3.4 ~ 3.13.
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UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
3.2 Controller ID Assignment Instruction（SETADR）
All new UIM242xx controllers have been assigned a factory default ID of 5.
User can change the ID using SETADR instruction. Before assign an ID to a UIM242XX
controller, please make sure the UIM2501 controller and the UIM242XX controller are
connected together using the standalone operation scheme (Figure 0-3).
After powering up, user can use the following instruction to assign an ID to the UIM242XX
controller.
Instruction SETADR
Function Assign an ID to a UIM242XX controller
Syntax SETADR = x; Variable Integer x = 5, 6, 7 … 126
ACK 0xAA [Controller ID] 0xDD 0xFF
0xDD is the Message ID of SETADR.
Comment
SETADR is the abbreviation of “Set Address”.
Every time there can be only one UIM242XX controller linked to the UIM2501
controller to get the ID assigned. Once an ID is assigned, the ID will be stored in
the UIM242XX controller’s non-volatile memory.
3.3 Object Specify Instruction（ADR）
To operate a specific UIM242xx controller, user needs to first notify the UIM2501 controller
which UIM242 controller is suppose to receive instructions. Therefore, before sending motor
control instructions, user needs to use the following instruction to specify the UIM242xx
controller’s ID.
Instruction ADR
Function Specify the operation object by its ID
Syntax ADR = x; Variable Integer ID = 5, 6, 7 … 126
ACK 0xAA [Controller ID] 0xD0 0xFF
0xD0 is the Message ID of ADR.
Comment
ADR is the abbreviation of address.
Once an operation object is specified, all object specific instructions will be sent
to this specified object (the UIM242xx Controller), UNTILL another operation
object (new ID) is specified.

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UIM2501
UI Robot Technology Co. LTD M25020101008EN
3.4 Global Register Instruction (gREG)
Instruction gREG
Function Record the quantity of all subsidiary UIM242 controllers and their IDs
Syntax gREG; Variable N/A
Feedback
0xCC [QTY] 0xD0 A1 A2 A3 A4 A5 A6 A7 A8 0xFF
QTY is the quantity of UIM242xx controllers found.
0xD0 is the Message ID of gREG. (Notice, 0xD0 also is the Message ID of ADR.
However, ACK message of ADR is started with 0xAA, while the feedback
message of gREG is started with 0xCC. )
A1~A8 are the first 8 IDs found. Ax=0 means not found.
Comment
Once this instruction is executed by the UIM2501 Controller, the total number of
all subsidiary UIM242xx controllers and their ID are recorded in the UIM2501
controller. The returned QTY servers as an indicator of the health of the network.
3.5 Global Motor Enable Instruction (gENABLE)
Instruction gENABLE
Function Enable the H-Bridge of all UIM242xx Controller
Syntax gENABLE; Variable N/A
ACK 0xAA [QTY] 0xAD 0xFF
Comment User can first set the motion parameters to every UIM242xx Controller one by
one, and then issue this instruction to enable all motors’ motion.
3.6 Global Motor Disable Instruction (gOFFLINE)
Instruction gOFFLINE
Function Disable the H-Bridge of all UIM242xx Controller
Syntax gOFFLINE; Variable N/A
ACK 0xAA [QTY] 0xAD 0xFF
Comment User can shutdown all motors using this instruction, especially in emergency.
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UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
3.7 Global Motor Current Setup Instruction (gCUR)
Instruction gCUR
Function Setup motor current for all subsidiary UIM242 Controllers
Syntax gCUR = x; Variable Integer x = 0、1 … 80
ACK 0xAA [QTY] 0xAD 0xFF
3.8 Global Auto Current Reduction Instruction (gACR)
Instruction gACR
Function Enable/disable the ACR function of all subsidiary UIM242 Controllers
Syntax gACR = x; Variable Integer x = 0, 1
ACK 0xAA [QTY] 0xAD 0xFF
3.9 Global Micro-Stepping Resolution Setup Instruction (gMCS)
Instruction gMCS
Function Setup micro-stepping resolution for all subsidiary UIM242 Controllers
Syntax gMCS = x; Variable Integer x = 1, 2, 4, 16
ACK 0xAA [QTY] 0xAD 0xFF
3.10 Global Direction Instruction (gDIR)
Instruction gDIR
Function Setup motion direction for all subsidiary UIM242 Controllers
Syntax gDIR = x; Variable Integer x = 0, 1
ACK 0xAA [QTY] 0xAD 0xFF
3.11 Global Speed Setup Instruction (gSPD)
Instruction gSPD
Function Setup motor speed for all subsidiary UIM242 Controllers
Syntax gSPD = x; Variable Integer x = 0, 1 … 65535
ACK 0xAA [QTY] 0xAD 0xFF

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UIM2501
UI Robot Technology Co. LTD M25020101008EN
3.12 Global Position Control Instruction (gSTP)
Instruction gSTP
Function Setup relative position control for all subsidiary UIM242 Controllers
Syntax gSTP = x; Variable Integer x = 0、1 … 2,000,000,000
ACK 0xAA [QTY] 0xAD 0xFF
3.13 Global Origin Point Setup Instruction (gORG)
Instruction gORG
Function Clear absolute position counters of all subsidiary UIM242 Controllers
Syntax gORG; Variable N/A
ACK 0xAA [QTY] 0xAD 0xFF

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UIM2501 Converting Controller
M25020101008EN UI Robot Technology Co. LTD
Appendix A Dimensions
单位：mm
Mounting2‐M3depth5