This page provides complete Python example projects for controlling UIROBOT motors and I/O modules. Choose your connection method below: --- ## Quick Selection | Connection Method | Compatible Products | Docs | |-----------------|-------------------|------| | **Serial (UIM2513) → CAN Bus** | UIM342 (multi-axis) | [AN251219] | | **Serial (UIM2513) → CAN Bus** | UIM1616 I/O module | [AN260128] | --- ## Background UIROBOT provides Python demonstration programs for controlling UIM342 motors and UIM1616 I/O modules via the **UIM2513 RS232-to-CAN gateway**. These programs use serial communication (pyserial) to send commands to the gateway, which forwards them as CAN messages to the target devices. The code supports **Windows, Linux, and macOS** systems. Refer to the README.md in each sample code package for further platform-specific information. --- ## Required Hardware | Item | Qty | Description | |------|:---:|-------------| | UIM2513 Gateway | 1 | RS232 to CAN bus gateway | | UIM342 Series Motor | 1+ | CAN bus smart motor (for AN251219) | | UIM1616 Module | 1 | CAN bus I/O module (for AN260128) | | 24V DC Power Supply | 1 | For gateway and motors | | RS232-USB Cable | 1 | For connecting UIM2513 to PC | | PC with Windows | 1 | For running Python scripts | --- ## Wiring ``` PC (Windows) UIM2513 UIM342/UIM1616 +---------------+ +-----------+ +----------------+ | USB Port |-----| RS232/USB | | | | Python Script | | CANH ----+----->| CANH | | (pyserial) | | CANL ----+----->| CANL | +---------------+ | V+ ----+----->| V+ (24V DC) | | V- ----+----->| V- (GND) | +-----------+ +----------------+ ``` --- ## Setup Python Environment ### Step 1 — Download Python 1. Visit the official Python website: [python.org/downloads](https://www.python.org/downloads/) 2. Select a version suitable for Windows (Python 3.11 or higher recommended) 3. Download the installer (.exe file) matching your system architecture (32-bit or 64-bit) ### Step 2 — Install Python 1. Double-click the downloaded installer to launch the installation wizard 2. **Important**: Check **"Add Python to PATH"** option 3. Select **"Install Now"** for default installation 4. Verify installation: ```bash python --version ``` ### Step 3 — Install Required Libraries Open Command Prompt (CMD) or PowerShell and install the required libraries: ```bash # Install pyserial for serial communication pip install pyserial>=3.5 pyserial-asyncio>=0.6 # Or install all dependencies from requirements.txt pip install -r requirements.txt # Upgrade pip (optional but recommended) python -m pip install --upgrade pip ``` --- ## Sample Code ### Download Links | Application Note | Description | Download | |-----------------|-------------|----------| | AN251219 | UIM342 multi-axis control via UIM2513 serial | [Download](https://www.uirobot.com/uploads/files/Windows_Python_Serial_Messge_UIM2513_AN251219.zip) | | AN260128 | UIM1616 I/O module control via UIM2513 serial | [Download](https://www.uirobot.com/uploads/files/Windows_Python_Serial_Messge_UIM2513_UIM1616_AN260128.zip) | ### Section 1: UIM342 Multi-Axis Control (AN251219) This demonstration program controls UIM342 motors via the UIM2513 gateway using serial communication. #### Features - Serial communication with UIM2513 gateway - Multi-axis synchronous motion control - Real-time status monitoring and feedback - Sensor-triggered homing functionality - Complete error handling mechanism #### Run the Program ```bash # Navigate to the project directory cd D:\Python_Serial_Messge_UIM2513_AN251219 # Run the main script python src\main.py ``` #> **Note**: The sample code is provided in the ZIP files above. The code snippet illustrates the general structure. ### Section 2: UIM1616 I/O Module Control (AN260128) This demonstration program controls the **UIM1616 CAN bus I/O module** via the UIM2513 gateway. #### Features - Serial communication with UIM2513 gateway - Real-time I/O status monitoring and feedback #### Run the Program ```bash # Navigate to the project directory cd D:\Windows_Python_Serial_Messge_UIM2513_UIM1616_AN260128 # Run the main script python src\main.py ``` > The program will automatically detect available serial ports. Ensure equipment is powered on and CAN cables are properly connected. --- ## Step-by-Step Setup ### Step 1 — Download Sample Code 1. Visit the UIROBOT website: [uirobot.com](https://uirobot.com) 2. Navigate to **Support → Code Example** 3. Find the **Python** section and download the appropriate sample code 4. Extract the downloaded ZIP file ### Step 2 — Install Python Follow the setup instructions in the **Setup Python Environment** section above. ### Step 3 — Install Required Libraries ```bash pip install pyserial>=3.5 pyserial-asyncio>=0.6 ``` ### Step 4 — Connect Hardware 1. Connect the UIM2513 gateway to your PC via USB 2. Wire CANH/CANL between UIM2513 and the target device (UIM342 or UIM1616) 3. Connect 24V DC power supply 4. **Double-check all wiring before powering on** ### Step 5 — Run the Program ```bash cd [extracted_folder_path] python src\main.py ``` ### Step 6 — Verify Results - The program will automatically detect available COM ports - For UIM342: The motor should respond to commands - For UIM1616: I/O status should be displayed - Check for any error messages (e.g., power-up issues, CAN cable connections) --- ## Download All Sample Codes | Application Note | Description | Download Link | |-----------------|-------------|---------------| | AN251219 | UIM342 multi-axis control (UIM2513 serial) | [Download ZIP](https://www.uirobot.com/uploads/files/Windows_Python_Serial_Messge_UIM2513_AN251219.zip) | | AN260128 | UIM1616 I/O module control (UIM2513 serial) | [Download ZIP](https://www.uirobot.com/uploads/files/Windows_Python_Serial_Messge_UIM2513_UIM1616_AN260128.zip) | --- ## Related Documents - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [Arduino CAN Bus Examples](/docs/arduino-examples) - [UIM342 CAN Bus Motor Controller](/docs/uim342) - [UIM1616 CAN Bus I/O Module](/docs/uim1616) - [UIM2513 CAN Bus Gateway](/docs/uim2513) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-25 | Based on Application Notes AN251219, AN260128*