# Arduino CAN Bus Examples This page provides complete Arduino example projects for controlling UIROBOT motors and I/O modules. Choose your connection method below: --- ## Quick Selection | Connection Method | Compatible Products | Docs | |-----------------|-------------------|-----------| | **UI-MCP2515 → CAN Bus** | UIM342 (single motor) | [AN250901] | | **UI-MCP2515 → CAN Bus** | UIM342 (change Node ID) | [AN250902] | | **UI-MCP2515 → CAN Bus** | UIM342 (multiple motors) | [AN250903] | | **Direct Wiring (Pulse-Direction)** | UIM344 (single motor) | [AN250904] | | **Direct Wiring (Pulse-Direction)** | UIM344 (high speed) | [AN250911] | | **Direct Wiring (Pulse-Direction)** | UIM344 (multiple motors) | [AN250905] | | **UIM2523 Ethernet → CAN Bus** | UIM342 (single motor) | [AN250906] | | **UIM2523 Ethernet → CAN Bus** | UIM342 (multiple motors) | [AN260415] | | **UIM2523 Ethernet → CAN Bus** | UIM342 (set IP) | [AN250907] | --- ## Section 1: UI-MCP2515 → CAN Bus (UIM342) ### Background The UIM342 series all-in-one motors integrate a stepper motor, encoder position feedback, and a UIM342 drive-and-control controller. The UI-MCP2515 is a CAN module based on the MCP2515 controller and TJA1050 transceiver. By combining Arduino, UI-MCP2515, and UIM342, users can create a complete motion control system. ### Required Hardware | Item | Qty | Description | |------|:---:|-------------| | Arduino UNO / Mega | 1 | Main controller board | | UI-MCP2515 | 1 | SPI to CAN module | | UIM342 Series Motor | 1+ | CAN bus smart motor | | 24V DC Power Supply | 1 | For motor power | | USB Cable | 1 | For Arduino programming | ### Wiring  ### Step-by-Step Setup #### Step 1: Install Arduino IDE Download and install the Arduino IDE from [arduino.cc](https://www.arduino.cc/en/software/). #### Step 2: Download Sample Code Download the sample code package: - Basic: [Arduino_Cpp_Mcp2515_UIM342_AN250901.zip](https://www.uirobot.com/uploads/files/Arduino_Cpp_Mcp2515_UIM342_AN250901.zip) - Change Node ID: [Arduino_Cpp_Mcp2515_UIM342_ChangeNodeID_AN250902.zip](https://www.uirobot.com/uploads/files/Arduino_Cpp_Mcp2515_UIM342_ChangeNodeID_AN250902.zip) - Multi-Motor: [Arduino_Cpp_Mcp2515_UIM342_Multiple_AN250903.zip](https://www.uirobot.com/uploads/files/5019760d5da5aa92d6a72ffccda72ad6.zip) #### Step 3: Install Required Libraries 1. Open Arduino IDE → Sketch → Include Library → Manage Libraries 2. Search for **MCP2515** or **MCP_CAN** library by coryjfowler 3. Click Install #### Step 4: Upload Code 1. Open the downloaded `.ino` file in Arduino IDE 2. Select **Tools → Board → Arduino UNO** 3. Select **Tools → Port → (your COM port)** 4. Click **Upload** button #### Step 5: Open Serial Monitor 1. Tools → Serial Monitor (or Ctrl+Shift+M) 2. Set baud rate to **115200** 3. Observe motor control messages --- ## Section 2: Direct Wiring — Pulse-Direction (UIM344) ### Background The UIM344 is a closed-loop stepper motor driver that accepts standard pulse-direction signals. Connect Arduino digital pins directly to the motor's PLS (Pulse), DIR (Direction), and ENA (Enable) inputs — no CAN module required. ### Required Hardware | Item | Qty | Description | |------|:---:|-------------| | Arduino UNO / Mega | 1 | Main controller board | | UIM344 Series Motor | 1+ | Pulse-direction stepper motor | | 24V DC Power Supply | 1 | For motor power | ### Wiring ``` Arduino UNO UIM344 Motor +--------------+ +--------------+ | Digital Pin |----->| PLS (Pulse) | | Digital Pin |----->| DIR (Direction)| | Digital Pin |----->| ENA (Enable) | | GND |----->| GND | +--------------+ +--------------+ | 24V DC Power Supply ``` ### Step-by-Step Setup #### Step 1-3: Same as Section 1 Download code from: - Basic: [Arduino_Cpp_UIM344_AN250904.zip](https://www.uirobot.com/uploads/files/Arduino_Cpp_UIM344_AN250904.zip) - High Speed: [Arduino_Cpp_UIM344_HighSpeed_AN250911.zip](https://www.uirobot.com/uploads/files/Arduino_Cpp_UIM344_HighSpeed_AN250911.zip) - Multi-Motor: [Arduino_Cpp_UIM344_Multiple_AN250905.zip](https://www.uirobot.com/uploads/files/Arduino_Cpp_UIM344_Multiple_AN250905.zip) --- ## Section 3: Arduino Ethernet + UIM2523 → CAN Bus ### Background The UIM2523 is an Ethernet-to-CAN gateway. Connect an Arduino with Ethernet shield to control CAN bus motors over a network. ### Required Hardware | Item | Qty | Description | |------|:---:|-------------| | Arduino Ethernet / Uno+Ethernet Shield | 1 | Controller with network | | UIM2523 | 1 | Ethernet to CAN gateway | | UIM342 Series Motor | 1+ | CAN bus smart motor | | Network Switch | 1 | For network connection | | UIC320A | 1 | USB-CAN for debugging (optional) | ### Wiring ``` Arduino Ethernet UIM2523 UIM342 Motor +----------------+ +-------------+ +------------+ | RJ45 Port |---| RJ45 Port | | | | (to Switch) | | CANH ---+----->| CANH | | | | CANL ---+----->| CANL | | | | V+ ---+----->| V+ (24V) | | | | V- ---+----->| V- (GND) | +----------------+ +-------------+ +------------+ | | Network Switch | | | PC (for monitoring) ``` ### Step-by-Step Setup 1. Connect hardware as shown in the wiring diagram 2. Configure PC IP to the same subnet as UIM2523 3. Upload to Arduino: - Basic: [ArduinoETH_Cpp_UIM2523_UIM342_AN250906.zip](https://www.uirobot.com/uploads/files/ArduinoETH_Cpp_UIM2523_UIM342_AN250906.zip) - Multi-Motor: [ArduinoETH_Cpp_UIM2523_UIM342_Multiple_AN260415.zip](https://www.uirobot.com/uploads/files/ArduinoETH_Cpp_UIM2523_UIM342_Multiple_AN260415.zip) - Set IP: [ArduinoETH_Cpp_UIM2523_UIM342_SetIP_AN250907.zip](https://www.uirobot.com/uploads/files/ArduinoETH_Cpp_UIM2523_UIM342_SetIP_AN250907.zip) 4. Open Serial Monitor to verify --- ## Download All Sample Codes | Application Note | Description | Download | |-----------------|-------------|----------| | AN250901 | UIM342 basic CAN control (MCP2515) | [Download](https://www.uirobot.com/uploads/files/Arduino_Cpp_Mcp2515_UIM342_AN250901.zip) | | AN250902 | UIM342 change Node ID (MCP2515) | [Download](https://www.uirobot.com/uploads/files/Arduino_Cpp_Mcp2515_UIM342_ChangeNodeID_AN250902.zip) | | AN250903 | UIM342 multi-motor (MCP2515) | [Download](https://www.uirobot.com/uploads/files/5019760d5da5aa92d6a72ffccda72ad6.zip) | | AN250904 | UIM344 basic pulse-direction | [Download](https://www.uirobot.com/uploads/files/Arduino_Cpp_UIM344_AN250904.zip) | | AN250911 | UIM344 high-speed pulse-direction | [Download](https://www.uirobot.com/uploads/files/Arduino_Cpp_UIM344_HighSpeed_AN250911.zip) | | AN250905 | UIM344 multi-motor pulse-direction | [Download](https://www.uirobot.com/uploads/files/Arduino_Cpp_UIM344_Multiple_AN250905.zip) | | AN250906 | UIM342 Ethernet (UIM2523) basic | [Download](https://www.uirobot.com/uploads/files/ArduinoETH_Cpp_UIM2523_UIM342_AN250906.zip) | | AN260415 | UIM342 Ethernet (UIM2523) multi-motor | [Download](https://www.uirobot.com/uploads/files/ArduinoETH_Cpp_UIM2523_UIM342_Multiple_AN260415.zip) | | AN250907 | UIM2523 set IP address | [Download](https://www.uirobot.com/uploads/files/ArduinoETH_Cpp_UIM2523_UIM342_SetIP_AN250907.zip) | --- ## Video Tutorial ▶️ Watch on YouTube: [How to Control the UIM344 Series Closed-Loop Pulse-Direction Motor Using an Arduino](https://www.youtube.com/watch?v=iZMjSs_pVa0) ▶️ Watch on YouTube: [How to Control UlM342 CANBUS Servo Stepper Smart Motors Using Arduino+ Ul-MCP2515](https://www.youtube.com/watch?v=GLb7F3KFpPc) ▶️ Watch on YouTube: [Missing Step Self-Compensation for UIM344 Closed-Loop Pulse-Direction Control Motor](https://www.youtube.com/watch?v=H2et6Vd74zg) --- ## Related Documents - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [UIM342 CAN Bus Motor Controller](/docs/uim342) - [UIM344 Pulse-Direction Motor Controller](/docs/uim344) - [UI-MCP2515 SPI to CAN Module](/docs/UI-MCP2515) - [UIM2523 Ethernet to CAN Gateway](/docs/uim2523) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-25 | Based on Application Notes AN250901-AN260415*