# C++ Windows CAN Bus Examples This page provides **C++ Windows** example projects for controlling UIROBOT products using the **UirSDK3** and **CAN30SDK** libraries. These demonstrations support both serial (UIM2513) and Ethernet (UIM2523) gateway connections. --- ## Quick Selection | Connection Method | Compatible Products | Docs | |-----------------|-------------------|------| | **C++ SDK (32-bit) → CAN Bus** | UIM342 (basic) | [AN250821] | | **C++ SDK (64-bit) → CAN Bus** | UIM342 (basic) | [AN250822] | | **C++ SDK (32-bit) → CAN Bus** | UIM342 (BuiltIn2) | [AN250915] | | **C++ SDK (64-bit) → CAN Bus** | UIM342 (BuiltIn2) | [AN250916] | | **C++ SDK (32-bit) → CAN Bus** | UIM342 (6 motors) | [AN251105] | | **Serial (UIM2513)** | UIM342 (UART) | [AN251021] | | **C++ SDK (32-bit) → CAN Bus** | UIM1616 I/O module | [AN251030] | | **C++ SDK (64-bit) → CAN Bus** | UIM1616 I/O module | [AN251111] | --- ## Background The C++ demonstration programs use **UirSDK3** and **CAN30SDK** to control UIROBOT devices via CAN bus networks. These projects demonstrate how to control UIM342 motors and UIM1616 I/O modules through UIM2513 (serial) or UIM2523 (Ethernet) gateways. ### Key Features - Supports both serial (UIM2513) and Ethernet (UIM2523) communication - Multi-axis synchronous motion control (UIM342) - Real-time status monitoring and feedback - Sensor-triggered homing functionality (UIM342) - Complete error handling mechanism --- ## Required Hardware | Item | Qty | Description | |------|:---:|-------------| | UIM342 Series Motor | 1+ | CAN bus smart motor | | UIM1616 Module | 1 | CAN bus I/O module | | UIM2513 Gateway | 1 | RS232-to-CAN gateway (serial mode) | | UIM2523 Gateway | 1 | Ethernet-to-CAN gateway (IP: 192.168.1.254) | | MMC904 | 1 | Mini-PC (IP: 192.168.1.16, optional) | | 24V DC Power Supply | 1 | For motors, gateways, and I/O modules | | Windows PC | 1 | For development (Visual Studio) | --- ## Wiring ``` Windows PC (Visual Studio C++) +-----------------------------------+ | UirSDK3 + CAN30SDK | | - UIM2513 (Serial COM) | | - UIM2523 (Ethernet 192.168.1.x) | +-------++---------------++---------+ || || Serial|| Ethernet || || +-------v--------+ +----v----------+ | UIM2513 | | UIM2523 | | RS232-to-CAN | | Ethernet-to-CAN| | Serial Gateway | | (192.168.1.254)| +-------+-------+ +-------+--------+ | | +---------+---------+ | CAN Bus (twisted pair) | +-------v--------+ | UIM342 Motor | | or UIM1616 I/O | +-----------------+ ``` --- ## Software Installation ### Step 1 — Install Visual Studio 1. Visit: [visualstudio.microsoft.com](https://visualstudio.microsoft.com/) 2. Download and install **Visual Studio** (Community edition is free) 3. During installation, select **Desktop development with C++** workload ### Step 2 — Download Sample Code Download the appropriate ZIP files from the table below and extract them. --- ## Section 1: UIM342 Motor Control (AN250821 / AN250822) ### Open the Project 1. Unzip the downloaded ZIP file 2. Open the Visual Studio solution (`.sln`) file: - 32-bit: `Win32_Cpp_libUirSdkWin32_UIM342.sln` - 64-bit: `Win64_Cpp_libUirSdkWin64_UIM342.sln` ### SDK File Structure Ensure the following directories are correctly placed relative to the project: ```text [Project Folder]/ ├── uirSDKfiles/ # SDK header files ├── UirSdkLib/ # Library files ├── Win32_Cpp_libUirSdkWin32_UIM342.sln └── ... ``` ### Compile 1. Ensure SDK files are located in `../uirSDKfiles/` directory 2. Ensure library files are located in `../UirSdkLib/` directory 3. Open the project in Visual Studio 4. Select the appropriate platform (x86 for 32-bit, x64 for 64-bit) 5. Click **Build → Build Solution** 6. After successful compilation, DLL files are automatically copied to the output directory ### Run 1. Ensure gateway devices are properly connected 2. Check network configuration (IP address / serial port) 3. Run the executable from Visual Studio (F5) or from the output folder ### Select Gateway Type The program supports multiple gateway types. Select the appropriate one during runtime: - **UIM2513**: RS232 serial connection - **UIM2523**: Ethernet connection (IP: 192.168.1.254) - **MMC904**: Embedded controller connection (IP: 192.168.1.16) > **Note**: The actual sample code is provided in the ZIP files above. The code snippet illustrates the general structure using UirSDK3. --- ## Section 2: UIM1616 I/O Module Control (AN251030 / AN251111) ### Open the Project 1. Unzip the downloaded ZIP file 2. Open the Visual Studio solution (`.sln`) file: - 32-bit: `Win32_Cpp_libUirSdkWin32_UIM1616.sln` - 64-bit: `Win64_Cpp_libUirSdkWin64_UIM1616.sln` ### Compile 1. Select the appropriate platform (x86 for 32-bit, x64 for 64-bit) 2. **Build → Build Solution** 3. DLL files are automatically copied to the output directory ### Run 1. Ensure gateway devices are properly connected 2. Check network configuration (IP address / serial port) 3. Confirm UIM1616 Module ID is set correctly 4. Run the executable ### Select Gateway Type Same as UIM342 — select UIM2513 (serial) or UIM2523 (Ethernet) during runtime. --- ## Step-by-Step Setup ### Step 1 — Connect Hardware 1. Connect the gateway (UIM2513 or UIM2523) to your PC and CAN bus network 2. Wire CANH/CANL between the gateway and target devices (UIM342 or UIM1616) 3. Connect 24V DC power supply 4. **Double-check all wiring before powering on** ### Step 2 — Install Visual Studio Install Visual Studio with **Desktop development with C++** workload. ### Step 3 — Download and Open Sample Code 1. Download the appropriate ZIP file 2. Extract and ensure SDK files are in the correct directories 3. Open the `.sln` file in Visual Studio ### Step 4 — Compile Build the solution. Verify no compilation errors. DLLs are automatically copied to the output directory. ### Step 5 — Run and Select Gateway Run the program and select the gateway type when prompted. The program will establish communication with the target device via the selected gateway. --- ## Additional Tips - **Architecture**: Choose the correct version (32-bit or 64-bit) matching your Windows OS - **SDK Path**: Ensure `uirSDKfiles` and `UirSdkLib` directories are in the correct relative path - **Gateway Selection**: Use UIM2513 for serial connection, UIM2523 for Ethernet connection - **Node IDs**: Ensure each device on the CAN bus has a unique Node ID - **Network**: For Ethernet mode, all devices must be on the same subnet (192.168.1.xxx) --- ## Download All Sample Codes | Application Note | Description | Download Link | |-----------------|-------------|---------------| | AN250821 | UIM342 32-bit basic | [Download ZIP](https://www.uirobot.com/uploads/files/Win32_Cpp_libUirSdkWin32_UIM342_AN250821.zip) | | AN250822 | UIM342 64-bit basic | [Download ZIP](https://www.uirobot.com/uploads/files/edca53197b92f7ad3258773be7a3215e.zip) | | AN250915 | UIM342 BuiltIn2 32-bit | [Download ZIP](https://www.uirobot.com/uploads/files/274d6b862bc67d1c4c2bcc9a1c3c4d65.zip) | | AN250916 | UIM342 BuiltIn2 64-bit | [Download ZIP](https://www.uirobot.com/uploads/files/58038951ba35ed1f5d98efe672dcfd97.zip) | | AN251105 | UIM342 6-motor 32-bit | [Download ZIP](https://www.uirobot.com/uploads/files/Win32_Cpp_libUirSdkWin32_UIM342_Six_Motors_AN251105.zip) | | AN251021 | UIM2513 serial (C++) | [Download ZIP](https://www.uirobot.com/uploads/files/Win32_Cpp_Serial_Messge_UIM2513_AN251021.zip) | | AN251030 | UIM1616 32-bit | [Download ZIP](https://www.uirobot.com/uploads/files/Win32_Cpp_libUirSdkWin32_UIM1616_AN251030.zip) | | AN251111 | UIM1616 64-bit | [Download ZIP](https://www.uirobot.com/uploads/files/Win64_Cpp_libUirSdkWin64_UIM1616_AN251111.zip) | --- ## Video Tutorial :::video[UIROBOT C++ and C# Usage Guide for Visual Studio 2022](https://www.youtube.com/watch?v=yBTrlSD8ITI) ::: --- ## Related Documents - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [C# (Windows) CAN Bus Examples](/docs/csharp-windows-examples) - [UIM342 CAN Bus Motor Controller](/docs/uim342) - [UIM1616 CAN Bus I/O Module](/docs/uim1616) - [UIM2513 CAN Bus Gateway](/docs/uim2513) - [UIM2523 Ethernet to CAN Gateway](/docs/uim2523) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-25 | Based on Application Notes AN250821-AN251111*