SETTING THE MOTION DATA
SELECTING THE OPERATING MODE
The UI215GA can operate in four different modes: Index, Return to Electrical Home, Jog and
Continuous Running/Mechanical Home Position Hunting modes.
MODE 0 OR INDEX MODE
When a "START" signal is input to pin #26 on CN1
with the mode selection lines (pins #24 and #25) are
both "OFF", the UI215GA will read all the data input
lines on CN1. The microprocessor will then calculate
the pulse train profile and then execute the length of
move that was preset. The maximum length for each
index move is 9,999 steps. The starting speed (base
speed), running speed, acceleration/deceleration rate
and the direction of rotation that was preset on CN1
will determine how the motor will rotate. The starting
(base) speed is 50pps in the low speed range and
300pps in the high speed range and cannot be changed.
MODE 1 OR RETURN TO
ELECTRICAL HOME MODE
The UI215GA's microprocessor has an internal counter
that keeps track of its current position relative to its
electrical home position each time an index move is
completed (the counter is updated only in the index
mode). The internal counter is equal to 0 when the
UI215GA is in the electrical home position. The inter-
nal counter is set to 0 when power is first applied to the
UI215GA or when the RESET input line (pin #28) is
turned "ON". When the UI215GA is in the Return to
Electrical Home mode (pin #24 "ON" and pin #25
"OFF") and a START signal is input (pin #26), the
motor will move toward the electrical home position.
As the motor nears the home position, it will deceler-
ate and stop when the home position is reached. In
other words, the Return to Electrical Home Mode
returns the system to its original starting position. If
the S -STOP signal is input (pin #27), the motor will
decelerate and stop. The move will be completed
when the next START signal is input. The maximum
number of steps from home that the internal counter
can return is ±16,777,216 steps. The speed at which
the motor will move toward the home position will be
the same as the running speed that is preset on CN1.
17
" 00 36
Connections for selecting
the INDEX mode (mode 0)
0 0
31 1 0
,
0 0
0
1
1
0 0
25
M
o
t
o
r
Motion
0 1 ' 2 4
0 0
0
❑
0
START Signal H
00
00
0 0 D i r e c t i o n Signal H
0 ( C W / C C W )
❑
a
1
2
35
25
0
0
Index mode
Connections for selecting
the RETURN mode (mode 1)
0 0 3 6
0 0
i t °
R e t u r n to Electrical Home mode
0
0 0 0 I I , I
I 0
M
o
t
o
r
Motion
C
W
/
C
C
W
o r2.
o o
o o
o o
o o
0 0
o a H 7 1
0 0 S T A R T Signal
0 0
L
0 0
0 0
0 0 2
O
