This page provides an **MMC904S** (Linux) example project for controlling **3 UIM342 motors** via CAN bus, using the **UIROBOT C++ SDK** with a **Qt5 graphical user interface**. --- ## Quick Selection | Connection Method | Compatible Products | Docs | |-----------------|-------------------|------| | **MMC904S + SDK → CAN Bus** | 3× UIM342 motors | [DEMO_MMC_3x342] | --- ## Background This demonstration program runs on the **MMC904S** platform — UIROBOT's embedded Linux mini-PC. It uses the **libUirSdkRaspI32.so** SDK library and a **Qt5 GUI** to control three UIM342 servo stepper motors simultaneously over a CAN bus network. ### System Architecture ``` MMC904S (DemoApp ↔ SDK) ↔ Gateway ↔ Motors/I/O ``` Three gateway options are supported: | Gateway | Type | Protocol | |---------|------|----------| | **UIM2513** | RS232-to-CAN | Serial | | **UIM2523** | Ethernet-to-CAN | TCP/IP | | **MMCGtwy** | Built-in MMC gateway | Internal | ### Key Features - Qt5 graphical user interface with real-time status display - Individual control of 3 motors (JOG, PTP, Homing, Stop) - Group motion control for synchronized multi-axis movement - Real-time notification (RTCN) message processing - Speed slider control (up to 100,000 pps) - Driver ON/OFF control - LED status indicators for connection and motor status --- ## Required Hardware | Item | Qty | Description | |------|:---:|-------------| | MMC904S | 1 | Embedded Linux mini-PC | | UIM342 Motors | 3 | CAN bus smart motors (Node IDs configurable) | | UIM2513 or UIM2523 | 1 | CAN bus gateway | | 24V DC Power Supply | 1 | For motors and gateway | | Ethernet Cable | 1 | For network connection | | Windows PC | 1 | For development (Visual Studio + Visual GDB) | --- ## Wiring ``` Windows PC MMC904S (Visual Studio --- (Linux Target) + Visual GDB) | IP: 192.168.1.16 | | | | Ethernet Built-in Gateway | | | +-------------+ +-----+-----+ | | CAN Bus (twisted pair) +------+----+------+ | | | UIM342-1 UIM342-2 UIM342-3 (ID: 1) (ID: 2) (ID: 3) ``` > **Note**: The MMC904S can communicate via UIM2513 (serial), UIM2523 (Ethernet), or its built-in MMC gateway. --- ## Software Structure ### Project Files | File | Description | |------|-------------| | `Demo_3xUIM342.pro` | Qt5 project file | | `MainWindow.cpp / .h` | Qt GUI main window (UI with sliders, buttons, status LEDs) | | `MainWindow.ui` | Qt Designer UI layout | | `ControlFunction.cpp / .h` | Motor control logic (individual + group motion) | | `MMC_3xUIM342.cpp` | Application entry point | | `CAN30SDK.h` | CAN bus SDK header | | `uirSDKgen3.h` | UIROBOT SDK header | | `libUirSdkRaspI32.so` | Pre-compiled SDK library for Raspberry Pi / MMC | | `DEMO_MMC_3x342.sln` | Visual Studio solution for Visual GDB | ### GUI Features (from MainWindow.cpp) The Qt interface provides: - **3 motor control panels** — each with Start, Stop, Set Origin buttons - **Speed slider** — up to 100,000 pps - **Position display** — real-time position readout for each motor - **LED indicators** — Connection status, Motor SON status - **Driver ON/OFF** — Global motor driver control ### Control Functions (from ControlFunction.h) ```cpp // Gateway management ERRO StartMmcGateway(void); // Open MMC904 gateway ERRO CloseMmcGateway(void); // Close MMC904 gateway // Motor power control ERRO SetDriverON(void); // Turn motor driver ON ERRO SetDriverOFF(void); // Turn motor driver OFF // Individual motor control ERRO SetMotorMotion1(void); // Configure Motor 1 motion ERRO SetMotorMotion2(void); // Configure Motor 2 motion ERRO SetMotorMotion3(void); // Configure Motor 3 motion // Group motion ERRO SetGroupMotion(void); // Synchronized multi-axis motion // Real-time notification void CRevRtcnNotify(UI_MSG_OBJ* uiMsgObj); // Handle RTCN messages void RtcnProcess(void); // RTCN thread // Utility bool StopMotion(int CNAid); // Stop specific motor bool WaitFlag(bool* pFlag, unsigned int nWaitTimsMS = 60000); ``` --- ## Development Environment Setup ### Step 1 — Install Visual Studio Download and install from [visualstudio.microsoft.com](https://visualstudio.microsoft.com/) with **Desktop development with C++** workload. ### Step 2 — Install Visual GDB Download and install from [visualgdb.com](https://visualgdb.com/). This extension enables cross-compilation and remote debugging for Linux targets. ### Step 3 — Download Sample Code Download the project archive: | Description | Download | |-------------|----------| | MMC 3×UIM342 Demo (C++ SDK + Qt GUI) | [Download ZIP](https://www.uirobot.com/uploads/files/851ca2aac2177dbc5f8f199b275048c8.zip) | ### Step 4 — Open and Build 1. Open the solution file `DEMO_MMC_3x342.sln` in Visual Studio 2. Configure Visual GDB to connect to your MMC904S (IP: 192.168.1.16) 3. Build the project — Visual GDB will cross-compile and deploy to the target --- ## Related Documents - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [UIM342 CAN Bus Motor Controller](/docs/uim342) - [MMC90X Miniature Motion Control Computer](/docs/mmc90x) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-25 | Based on source code analysis of DEMO_MMC_3x342*