--- ## UIM342 CAN Bus Smart Servo Stepper Motor Controller ::: faq **Q: Can the UIM2040CM motor be directly connected to a computer, or is a microcontroller required?** A: All UIM motors can be directly connected to a computer/PLC/industrial computer via a gateway. Use UIM2523 (Ethernet-CAN) or UIM2513 (RS232-CAN). **Q: What is the default node ID of the UIM2040CM motor?** A: The default node ID for all UIM motors is **5**. **Q: What is the default CAN bus bitrate?** A: The default bitrate is **500 Kbps**. **Q: Is the UIM motor a 200-step or 400-step motor? What is the default CPR?** A: 1.8\u00b0 stepper, **200 steps/rev**. With microstepping, up to 12,800 steps/rev. CPR = 200 \u00d7 MCS. **Q: What is the maximum speed of a UIM motor?** A: NEMA 8/11/17: **3000 RPM**; NEMA 23+: **2000 RPM**. **Q: How can I read the motor speed?** A: Refer to the communication protocol in the user manual. Encoder feedback is processed internally. **Q: Can the UIM2040CM motor run on 12VDC?** A: Yes, but 16-24V is recommended, max 28V. **Q: Can UIM motors work with PLCs?** A: Yes. Use UIM2513 (RS232-CAN) or UIM2523 (Ethernet-CAN) gateway. **Q: How to switch back to PTP mode from JV mode?** A: Use PA2000+BG, PR2000+BG, or ST then SP+PA+BG. **Q: Why does the motor stall when I send a command?** A: Disconnect additional devices and run without load. Ensure brake (if equipped) is connected to 24V and released. **Q: How to retrieve error info like stalling or overload?** A: Refer to Chapter 2.4, Page 21 of the user manual for real-time error functionality. **Q: I have two motors, and there is a delay when activated. Why?** A: Ensure each motor has a unique ID (range: 5-125) and verify acceleration/deceleration parameters match. **Q: When I activate the switch, one motor moves briefly then stops. Why?** A: Verify both motors have matching parameters including acceleration, deceleration, and input logic settings. **Q: How to operate the motor without connecting RS232 to a computer?** A: Configure "Input Logic Action" via a gateway. The motor can then operate independently using the Input button. **Q: Can the UIM4247CM report its current position?** A: Yes, UIM4247CM/CA smart motors can report their current position. **Q: Can I control UIM4247CM using Arduino?** A: Yes, use an MCP2515 or the dedicated UI-MCP2515 converter. **Q: Does the encoder auto-determine position at startup?** A: CM Series (incremental) \u2014 requires homing. CA Series (absolute) \u2014 no homing needed. **Q: Do users need to change the LPR setting?** A: LPR cannot be changed as the integrated encoder has a fixed LPR. Custom services available. **Q: What is the relationship between microstep resolution and CPR?** A: CPR = 200 \u00d7 MCS. Only MCS is user-configurable. Supported: 1, 2, 4, 8, 16, 32, 64. **Q: Can the COM and ENA pins operate at 3.3V DC?** A: No, 3.3V is insufficient. 5-24V required. **Q: I purchased a UIM8696CMB with brake. How to control the brake?** A: Connect brake to an external 24V power supply. Powered = released, unpowered = engaged. **Q: My motor runs but not in closed-loop mode. Why?** A: Closed-loop is active only while rotating. Positional deviation after stopping is compensated during next motion. **Q: Can the jog button input logic be operated via software/HMI?** A: Yes. Use JV command to set jog speed, BG to execute, JV=0+BG to stop. **Q: What kit should I purchase if I'm new to CAN bus?** A: Recommended: UIMEVA 342SKIT (includes NEMA 8, NEMA 11, and UIM2513). **Q: Can the system record positions by manually rotating the shaft?** A: Yes, EEPROM can store positions with an external main controller. **Q: I want to increase encoder count from 16 to 64. Any concerns?** A: 16 microsteps already provide 0.11\u00b0/step resolution. 64 is available at no extra cost. **Q: What do RTCN codes 51, 52, 60, 71, 72 mean?** A: These relate to other products and are not relevant to your use case. **Q: Are ST0 and ST1 functions still available?** A: No, these functions are no longer available. **Q: What is the meaning of UI_MSG_OBJ? Do d0-d8 values depend on the control word?** A: Yes, values in d0-d8 depend on the control word. **Q: Best way to use SdkGetRTCN() to fetch motor position in a separate thread?** A: RTCN method is outdated. Use alternative methods to fetch positions. **Q: Is motor stall notification (index 9) equivalent to ERR_MXN_PQER?** A: Yes. **Q: Is there an SDK command to turn off motor power?** A: Yes, use SdkSetMotorOn with bMotorOn = 0. **Q: Does UIROBOT have a G-code interpreter?** A: Currently, no G-code interpreter is available. **Q: What is the brake holding torque for UIM8696CMB?** A: **4 Nm**. **Q: Can I test motors with CAN and absolute encoders using a PLC?** A: Sample code is under development. Contact support for more information. **Q: Best method to update set-points for UIM342C?** A: Optimize SDK commands. SdkGetMotionStatus() takes ~30ms, so efficient iteration is needed. **Q: Can a new PTP motion be initiated before current one completes?** A: Not recommended during deceleration. Extend motion time or distance. **Q: I purchased NEMA 34 UIM8696CM with C# code, motor occasionally fails.** A: Use Visual Studio 2019. If speed is too high, adjust to prevent stalling. **Q: Can I use my mini PC to control the motor with your software?** A: Yes, but real-time performance issues may occur. SDK is free. **Q: Can I obtain sample C++ or C# source code?** A: Yes, sample code for both C# and C++ is available on the UIROBOT website. ::: ::: faq **Q: What is the default PPR of the UIM2040CM encoder before configuration?** A: The default is 3200 PPR. **Q: What is the CAN bus baud rate for the UIM2513 gateway?** A: The RS232 baud rate is 57600 bps, and the CAN bit rate is 500 Kbps. **Q: Is the UIM2040CM a 200-step or 400-step motor?** A: The motor defaults to 200 steps per revolution. The driver defaults to 16 microsteps, so 3200 steps per revolution total. **Q: What is the maximum speed of the UIM2040CM motor?** A: Max 3000 RPM. **Q: How can I read the motor speed?** A: You need to use a closed loop. Use the `GET SP` command to read the speed. **Q: Can the UIM2040CM motor run on 12 VDC? What is the minimum voltage?** A: The motor can operate on a 12 VDC supply, with a minimum requirement of 12 VDC. **Q: How do I set a hard origin (auto-home to a specific position after startup)?** A: Set the home position using PTP mode. Steps: 1. Choose PTP mode 2. Enable the motor 3. Select ABS 4. Set speed (e.g., 10,000 pps) 5. Choose distance → Set → Run 6. Set PLS to 0 7. Run again — the motor will return to the hard origin Note: Returning to origin can only be achieved in PTP + ABS mode while the motor is continuously powered. If power is interrupted, the motor will not find the previous origin. **Q: What is the intrinsic step angle of the motor?** A: Our integrated smart motor is 1.8° per step. **Q: Is CPR = 4 × LPR(id_0) linked with CPR(id_4)?** A: No, there is no correlation between them. CPR(id_4) is only for microstepping to smooth the movement. **Q: What is the range of motor IDs?** A: 5–125. **Q: How many steps per revolution for different microstepping settings?** A: It depends on the microstepping resolution: - 1/4: 800 steps/rev - 1/8: 1600 steps/rev - 1/16: 3200 steps/rev (default) - 1/32: 6400 steps/rev - 1/64: 12800 steps/rev - 1/128: 25600 steps/rev **Q: How do I jog the motors using a held button (input logic)?** A: Use the input logic function. Set up the action to jog. Refer to the user manual's Logic Input chapter for details. **Q: How do I get back to PTP mode if the motor is in JV mode?** A: Method 1: Send `ST;`, wait, then `SP1000;` + `PA2000;` + `BG;` Method 2: Send `JV0;` + `BG;`, wait, then `SP1000;` + `PA2000;` + `BG;` Method 3: Send `PA2000;` + `BG;` **Q: When I send a command, the motor stalls. What settings should I change?** A: Step 1: Disconnect the load and test without load. Step 2: Check if the brake is released (connect yellow/white wires to 24V). Step 3: In PPS mode, 175 PPS is too slow. 3200 PPS = 1 full rotation. Try setting to 3200 PPS. **Q: How do I know what MCS (microstepping) value I have?** A: Use StepEva3 to make the motor complete one full rotation. Power on without enabling, measure the number of pulses for one full rotation. MCS = Pulses / 200. **Q: The motor is running at 125°F (52°C). Is this normal?** A: Yes, 125°F (52°C) is normal. Temperature lower than 70°C is generally fine. **Q: What does function code 0x28 (40 decimal) mean?** A: It is the QA function for PVT (I/O SET/GET). Note: EID should be INT32, not INT16. **Q: Can the firmware be updated?** A: No, the motor's firmware cannot be updated. **Q: What is the "working range" in StepEva3?** A: Working range actually means the positional range (Bump Limit and Work Range), not torque. **Q: The motor with firmware 2403 is not recognized by the software. What should I do?** A: Restore factory settings for the motor with firmware 2403. **Q: What if the "Restore Factory Defaults" button is not visible, and restoring defaults doesn't fix the issue?** A: After resetting to default, all motor IDs default to 5. They must be changed one by one with different IDs. Do not connect all motors to the CAN network simultaneously, as this will cause station conflicts. **Q: Can a new PTP move be started before the current move is complete?** A: Not recommended during the deceleration phase. PTP commands sent during deceleration may cause motor stalling. Extend total motion time or increase motion distance. **Q: Is there an SDK command to power off the motor?** A: Yes. Use `SdkSetMotorOn(g_GtwyHandle, CANid, 0, NULL)` — set `bMotorOn = 0` to turn off the motor driver. **Q: Does UIROBOT have a G-code interpreter?** A: No, currently there is no G-code interpreter available. **Q: What is the best method to get motor position using SdkGetRTCN?** A: Getting motor position from RTCN is obsolete. Use alternative methods. **Q: Is motor stall notification (index 9) the same as ERR_MXN_PQER?** A: Yes. **Q: What is the brake holding torque for UIM8696CMB?** A: 4 Nm (holding torque). The brake holding torque is 2 Nm. **Q: How do I adjust the stall detection threshold?** A: In StepEva3, go to Soft Limits → Position Error → set the Upper Limit to the desired value → click Set. **Q: Is there a way to disable ACK to speed up commands?** A: Yes. Pass `NULL` as the last parameter in command-setting functions like `SdkSetJogMxn()`. This sends the command without waiting for feedback, significantly increasing speed. **Q: What are the RTCN codes 51, 52, 60, 71, 72?** A: Don't care — they are for other products and are not relevant to your use case. **Q: Are ST0 and ST1 functions still available?** A: No, these functions are no longer available. **Q: What does UI_MSG_OBJ mean? Do d0-d8 values depend on the Control Word?** A: Yes, values in d0-d8 depend on the Control Word. ::: --- ## CAN Protocol & SDK ::: faq **Q: What is the PLS conversion per degree of rotation?** A: For UIM2040CM/UIM2040CA and UIM2852CM/UIM2852CA (default 16 microsteps): PLS per degree = 3200 / 360 ≈ 8.89 pulses per degree. **Q: What is the formula for converting PPS to RPM?** A: PPS = RPM × 200 × MCS / 60. Where MCS = Microstepping resolution. **Q: I'm streaming setpoints to the UIM342C. What is the best approach?** A: SDK command-setting functions like SdkSetJogMxn have parameters that can be set to NULL to not wait for feedback, significantly increasing speed. **Q: What is the command to control the brake via CAN?** A: `MT[5]=1` — Release Brake. `MT[5]=0` — Enable Brake. This applies to motors with internally controlled brakes. **Q: How many turns can the multi-turn absolute encoder handle before wrapping to 0?** A: The theoretical maximum is 2³² revolutions. The practical minimum accounting for microstepping division is approximately 67 million revolutions. **Q: Can the PVT command not start spinning — what is the prerequisite?** A: Need `BG;` after `PV=0;`. Any motion instruction (JV, PA, PR, PV) must be followed by `BG;` to activate the movement. **Q: Inconsistent ACK responses — what is the cause?** A: This is caused by accidentally changing the system into PLC mode (fixed CAN-ID). To change back, reboot the motor. **Q: Can I configure the motor to run at 20 rev/s?** A: Yes. pps = mcs × 200 × rps. For 16 microsteps: 16 × 200 × 20 = 64,000 pps. For 32 microsteps: 32 × 200 × 20 = 128,000 pps. **Q: Is the absolute encoder compatible with Siemens PN/CAN LINK?** A: Yes. **Q: Are the CAN timing requirements in section 2.5 strictly mandatory?** A: Yes, they are mandatory. ::: --- ## CAN Bus Motion Control Gateways (UIM2513 / UIM2523) ::: faq **Q: Can the UIM2523 communicate with RV-CAN devices via Ethernet?** A: Yes. For large projects, provide details for better design support. **Q: I'm interested in the UIM2523 Ethernet kit. How to use it for satellite tracking? I prefer Python on Unix.** A: Currently C++ for Windows is provided. Linux code and Arduino code (including Python examples) are available. **Q: Does UIM2523 work with Ethernet-to-USB 3.0 adapters?** A: StepEva3 software does not support third-party gateways. ::: ::: faq **Q: Can the UIM2523 be used as a generic TCP/IP-to-CAN converter with a PLC?** A: The UIM2523 gateway can be configured with a PLC using TCP protocol, but it is only capable of controlling our smart motors. **Q: Does UIM2523 work with an Ethernet-to-USB 3.0 adapter?** A: StepEva3 does not support third-party gateways. Use our gateway for compatibility. **Q: Can UIM2523 communicate with RV-CAN devices over Ethernet?** A: Yes. For large projects, provide details for better design support. ::: ::: faq **Q: Gateway UIM2513 driver is recognized as "USB Serial Converter" but StepEva3 says "Selected Gateway not found".** A: First verify wiring and power (check green LED). Then check the correct COM port via the StepEva3 dropdown menu or Device Manager. **Q: How many clients can connect to the UIM2513 gateway?** A: This is a serial port, so only one client can be connected. ::: --- ## UIM1616 & UIM0808 CAN Bus I/O Module ::: faq **Q: Do UIM1616 and UIM2513 contain encryption functions?** A: No, they do not contain encryption functions. **Q: Can I use the UIM0808/UIM1616 I/O Module with a PLC without the MMC904S?** A: Yes. The I/O module with a CAN interface can be used with a PLC without the MMC904S. **Q: I changed the CAN bit rate on UIM0808 to 1M and can no longer communicate. Is there a hard reset?** A: Use our gateway to connect to the I/O module and modify the settings via StepEva3. **Q: Can I integrate a fan for SW-controlled cooling?** A: Yes, order a UIM0808 I/O module to connect the fan for signal control. ::: --- ## UIM344 Pulse & Direction Closed-Loop Stepper Motor Controller ::: faq **Q: I purchased a UIM4247PM. How to confirm connection with USB-to-TTL?** A: TX flashing = signal sent. RX not flashing = reception failure. Use 3.3V TTL; higher voltages may fail. **Q: How to connect UIM344 to configuration software?** A: Refer to SUPPORT \u2192 VIDEO \u2192 "UIM2040PM Quick Wiring". Use 3.3V TTL. **Q: How to connect UIM4247PM to PC using TTL?** A: Refer to SUPPORT \u2192 VIDEO \u2192 "UIM4247PM Quick Wiring". Use 3.3V TTL. **Q: Where to find user manual and Arduino code for UIM4247PM?** A: SUPPORT \u2192 DOWNLOAD \u2192 "UIM4247PM Technical Support Document". **Q: What is the default microstepping for UIM4247PM?** A: Default microstepping is **32**. **Q: UIM4247PM only works when COM is connected to Arduino GND, not 5V.** A: Check current settings, temperature, and pulse frequency. At MCS=32, 1 rev = 6400 microsteps. **Q: Can you provide Arduino code for UIM5756PM?** A: Yes, in SUPPORT \u2192 DOWNLOAD \u2192 "UIM5756PM Technical Support Document". **Q: UIM5756PM connected to Arduino Uno with 24V, motor makes noise but doesn't rotate.** A: Check connections, ensure green LED is on, start with low-speed pulses (1000 pulses/sec). **Q: Can I use third-party motion control software (e.g., Dragonframe)?** A: Yes, use UIMxxxxPM series motors with pulse-direction commands. **Q: How can I control NEMA 23 on an industrial PC using Codesys?** A: Smart motors support CAN, UART, or Ethernet. Refer to application notes. ::: ::: faq **Q: How do I connect the UIM4247PM to a PC for configuration?** A: The TX, RX, and GND wires are TTL (3.3V). Use a USB-to-TTL converter at 3.3V. Communication may fail if voltage exceeds 3.3V. **Q: What is the default microstepping for UIM4247PM?** A: The default microstep setting is 32. **Q: Can the COM and ENA pins operate at 3.3V DC?** A: No, 3.3V is insufficient. Use 5–24V. **Q: The UIM4247PM only works when COM is connected to GND, not 5V. Why?** A: Check current settings, temperature, and pulse frequency. At MCS=32, 1 revolution = 6400 microsteps. **Q: How do I control the direction on the UIM344?** A: Short-circuit the gray and brown wires. Default rotation is counterclockwise; after shorting, it will rotate clockwise. **Q: What is the max expected speed for UIM5756PM?** A: UIM2040PM / UIM4247PM / UIM4247PMB: 3000 RPM. UIM5756PM / UIM5756PMB / UIM8696PM / UIM8696PMB: 2000 RPM. **Q: Can I run the UIM4247PM at 7 revolutions per second?** A: Yes. Refer to the video and sample code for pulse-direction control. **Q: How can I run the UIM4247PM motor on a 24V PWM input signal?** A: Add a 2.49K resistor in series to use 24V. Refer to the wiring diagram for details. **Q: Can I use third-party motion control software like Dragonframe with UIM344 motors?** A: Yes, use UIM344PM series motors with pulse-direction commands. **Q: Can the UIM4247PMB motor be set to a loose/passive state?** A: Yes. Simply turn off the motor driver (do not apply voltage on the ENA port). The torque in the released state (detent torque) is typically 0.005–0.02 Nm. **Q: Is there Arduino code for UIM5756PM (UIM344)?** A: The UIM344 motor uses pulse and direction control and does not come with example code. For Arduino code, we recommend the UIM342 CAN Bus series. ::: --- ## MMC90X / MMC904S — Linux Development ::: faq **Q: I'm transitioning from Windows to Linux (Raspberry Pi). How to use the SDK?** A: Download required tools: gcc-linaro, Qt, Visual GDB. Refer to "MMC904 Development Environment Configuration" document. ::: --- ::: faq **Q: How do I use the SDK under a Linux environment?** A: Download the required tools: gcc-linaro-7.5.0, Qt 5.11.3, Visual GDB 5.5, and Visual Studio 2019. Refer to the "MMC904 Development Environment Configuration and Example Compilation" document. **Q: Can I use the Jetson AGX platform with your motors?** A: We have not used this platform. We only support standard CAN protocol. You may need to develop the solution yourself using CAN message frames. **Q: Will StepEva3 run on RPI4 with CANBUS HAT?** A: No, StepEva3 runs on Win32 only. ::: --- ## UI-MCP2515 SPI to CAN Bus Converter Adapter ::: faq **Q: I received a motor and a CAN bus Arduino MCP2515 interface. Why is this interface not mentioned in the wiring diagram?** A: Connect CAN-H and CAN-L wires with a termination resistor. There are many third-party interfaces; refer to the UIM342 manual page 22 and MCP2515 documentation. **Q: Can CM/CA series motors be controlled by Arduino or other MCU boards?** A: Yes, using UIM2513 (RS232-CAN) or UI-MCP2515 (SPI-CAN) gateway. If the host has a CAN interface, no additional gateway is needed. ::: ::: faq **Q: I can communicate with the motor via MCP2515 but it won't spin. The MCP rate was changed to 8MHz.** A: Modifying the MCP rate will cause communication errors and is not allowed. Set it back to 16MHz — after reverting, the system will function correctly. **Q: Do you have additional Arduino sample programs for UI-MCP2515 beyond basic jogging?** A: Yes, we have implemented additional code for absolute position and relative position control. Example code is available for half-rotation and full-rotation moves. ::: --- ## StepEva3 — UIROBOT Motion Control Software ::: faq **Q: Can StepEva3 be used on Raspberry Pi?** A: Currently, StepEva3 does not support Raspberry Pi. **Q: Can StepEva3 automate forward/reverse motion?** A: Yes, UIM motors support this. Refer to the video tutorial. **Q: Can programming be saved to the controller to auto-run after power-up?** A: Yes, configure Input Logic Actions to respond to sensor inputs. **Q: Can the stall detection threshold be adjusted?** A: Yes, in StepEva3 under Soft Limits \u2192 Position Error upper limit. ::: ::: faq **Q: StepEva3 download doesn't work — the icon does nothing.** A: Use the direct download link: https://www.uirobot.com/?download_23/stepeva304en.html **Q: Can StepEva3 be used on a Raspberry Pi?** A: No, StepEva3 runs on Windows (Win32) only. **Q: StepEva3 shows "Qt5Widgets.dll" error on launch.** A: The Qt5Widgets.dll file does not require additional installation. Download the latest version of StepEva3 from the official website. **Q: Can StepEva3 automate forward/reverse motion N times?** A: Currently, the cycle forward/reverse rotation function cannot be achieved through StepEva3 configuration alone, but it can be implemented programmatically. **Q: Can I use a mini PC as a motion controller with your software?** A: Yes, you can use your mini PC. The SDK is free. However, real-time performance issues may occur. **Q: Is there a way to loop commands for two motors with unique codes per motor in StepEva3?** A: This falls under custom services and would require a separate assessment for development costs. **Q: How do I use the Jog button from an HMI screen (software, not physical)?** A: Use the `JV` command to set jog speed, then send `BG` to execute. To stop, use `JV=0` + `BG`. ::: --- ## Motors — General ::: faq **Q: Can these motors drive conveyor units?** A: Yes, max torque up to 6 Nm or higher. **Q: Can the motor be used outdoors?** A: Yes. **Q: Can the motor be used with a gearbox?** A: Yes, compatible with various gearboxes. Contact us for custom solutions. **Q: Is the motor power comparable to traditional motors?** A: Yes. Refer to product specifications. **Q: Is NEMA 8 stepper motor 200 steps per revolution?** A: Yes. At microstep 64, it operates at 12,800 steps/rev. **Q: What certifications do UIROBOT products meet?** A: **CE** and **RoHS** certified. Additional certifications available for bulk orders. **Q: How to wire the brake?** A: Connect to an external 24V power source, not the motor controller output. **Q: What do the LED indicators on the back of the motor mean?** A: Red = Error, Green = Normal, Yellow (Red+Green) = Busy (CAN transmitting). **Q: Do you recommend any specific gearbox brands?** A: We provide integrated solutions. Provide the required gear ratio for assistance. **Q: Can lubricant or temperature-sensitive components be customized?** A: Yes, including vacuum-rated and -55\u00b0C low-temp operation. **Q: Do you offer NEMA 8 with planetary gearboxes (5:1 to 20:1)?** A: Yes, including planetary, harmonic drive, and worm gearboxes. **Q: What is the IP rating for NEMA 8 and NEMA 11?** A: Standard: IP65. Custom: up to IP68. **Q: Is it possible to fully encapsulate the rear electronics?** A: Yes. **Q: Can the rear connectors be customized for waterproofing?** A: Yes. **Q: Do you offer longer motor versions for more torque?** A: Yes, customization of length, temperature range, vacuum level, and performance is supported. **Q: Upon arrival, the motor was in an error state and shaft could move freely. Why?** A: Normal. Motor shaft locks only when the drive system is enabled. Can be auto-enabled via StepEva3. **Q: Is motor stall notification (index 9) equivalent to ERR_MXN_PQER?** A: Yes. ::: ::: faq **Q: What kit should I purchase if I'm new to CAN bus and want to use a NEMA 8 motor?** A: Recommended: UIMEVA 342SKIT (includes NEMA 8 + NEMA 11 + UIM2513). **Q: Do you offer customization for lubricants or temperature-sensitive components?** A: Yes, our smart motors can operate from -60°C to -55°C and can also be used in vacuum environments. These are custom services. **Q: What planetary gear reductions can you offer for NEMA 8 smart motors?** A: We provide gear ratios of 4.38:1, 5.4:1, 19.2:1, 23.6:1, 29.1:1, etc. **Q: Can the electronics in the rear of the motor be fully potted?** A: Yes. **Q: Is there flexibility in connectors for water resistance?** A: Yes, we accept custom connector designs. **Q: What is the IP rating for NEMA 8 and NEMA 11?** A: Standard: IP65. Custom: up to IP68. **Q: Once programmed, can the motors be controlled with switches without a gateway?** A: Yes. **Q: Is it possible to run the system on a 12V nominal battery pack (3-cell lithium ion)?** A: Yes. **Q: Do you offer longer motor versions for more torque?** A: Yes. Customization of length, temperature range, vacuum level, and performance is supported. **Q: Do you recommend a specific gearbox brand?** A: We provide integrated solutions. Provide the required gear ratio for assistance. **Q: Do you pack products in carton boxes?** A: Yes, each product is individually packaged before being placed together in a larger box. **Q: Does the equipment contain batteries? Is it dangerous?** A: Our products do not include batteries and are not hazardous. **Q: How many motors can be commanded with the same CAN adapter?** A: A CAN gateway can theoretically control up to 100 motors; in practice, 40 to 70 motors. **Q: Do you offer a NEMA 6 motor?** A: Sorry, we don't have it. **Q: Does the motor have a setting for step loss self-correction?** A: Yes. Adjust the Max Position Error setting (start with 10,000 pulses). The system supports up to 65,000 pulses tolerance. **Q: Can the motor detect current spikes (obstruction), halt, and reverse direction?** A: Yes. **Q: Do you have any motors with higher than 6.5 Nm of torque?** A: Yes, this option is available. However, motor length will increase accordingly. **Q: What type of battery source can UIM5756CM tolerate?** A: The motor can be powered by batteries, but a switching power supply must be added to ensure the voltage is controlled between 24V and 36V (max 48V). **Q: How do I extend the motor leads to 5 meters?** A: We provide an integrated assembly with TE Connectivity M12 circular connectors. **Q: Do you have NEMA 17 with a round shaft?** A: Yes, our motors can be supplied with a round shaft. **Q: What is the depth of the holes for the UIM2852CA motor mounting screws?** A: 2.5 mm. **Q: Is the orientation of the D-shaft the same for every motor?** A: Physically, the D-shaft orientation varies between units. But it can be standardized in software — the zero position can be set at the factory before shipment. **Q: Do you sell 90-degree transmission (right-angle gearbox) stepper servo motors?** A: Yes, we offer customization with a 90-degree right-angle gearbox. **Q: Can you provide motors with an offset shaft or shorter version?** A: Yes. Please provide your detailed parameter requirements for evaluation. **Q: What is the difference between UIM5756PM and UIM5756CA for position reading?** A: UIM5756PM is a pulse/direction motor and cannot read position data. UIM5756CA has an absolute encoder and can read position. **Q: Do you have linear actuators compatible with your controller?** A: We don't currently offer standard linear actuators, but we can customize them. **Q: Is there a push-to-open function available?** A: Yes, this functionality can be implemented as a customized solution. ::: --- ## Related Documents - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-26 | Source: [uirobot.com/faq](https://www.uirobot.com/faq/list-443/1.html)*