StepEva3 is a Windows-based control panel for UIROBOT's integrated servo stepper motors, motion controllers, and I/O modules. It provides a unified interface for device configuration, motion control, parameter tuning, and protocol debugging — all through a single application. StepEva3 supports multiple gateway types (RS232, Ethernet, USB) and enables real-time monitoring of motor status, I/O signals, and system diagnostics. --- ## Key Features :::grid{cols=2 style=card} **Multi-Gateway Support** Connect via UIM2513 (RS232-CAN), UIM2523 (Ethernet-CAN), or UIC320/UIC322 (USB-CAN). Select the appropriate gateway based on your hardware setup. **JOG & PTP Motion Control** Control motors in velocity mode (JOG) or position mode (PTP). Set speed, acceleration, deceleration, and target position with real-time feedback. **Drive Parameter Configuration** Adjust motor working current, microstepping, encoder CPR, acceleration, deceleration, backlash compensation, and more — all from a single interface. **Real-Time Monitoring** Poll motor status including actual position, actual speed, trigger signals, and I/O levels. Updates in real-time when polling is enabled. ::: :::grid{cols=2 style=card} **I/O Module Control** Control UIM1616 digital inputs and outputs remotely. Configure PWM output, monitor external encoder, and manage input trigger logic. **Protocol Debugging Tools** Built-in Serial Message Creator and CAN Message Creator for generating and parsing raw protocol packets. Ideal for development and troubleshooting. **Trigger & Input Logic Configuration** Configure 13 programmable trigger actions for each input edge. Set low-pass filter time constants and associate motion parameters with trigger events. **Limit & Safety Configuration** Set software limits (work range, bump limits), maximum speed, maximum acceleration/deceleration, and position error thresholds. ::: --- ## Supported Gateways | Gateway | Interface | Connection | Default Settings | |---------|-----------|------------|------------------| | UIM2513 | RS232-CAN | DB9 Female + USB-232 Cable | Baud: 57600, CAN: 500K | | UIM2523 | Ethernet-CAN | RJ45 Ethernet Cable | IP: 192.68.1.254, Port: 8888 | | UIC320A | USB-CAN | USB Cable | CAN: 500K | | UIC322H | RS485-CAN | Terminal Block | CAN: 500K | --- ## System Requirements | Requirement | Specification | |-------------|---------------| | Operating System | Windows 7 / 10 / 11 | | Framework | .NET Framework 4.8 | | Disk Space | ~50 MB | | USB Port | Required for UIC320A/UIC322H | | Ethernet Port | Required for UIM2523 | | Serial Port | Required for UIM2513 (or USB-232 adapter) | --- ## User Interface Overview ### Gateway Connection | Object | Description | |--------|-------------| | Close Session | Button to close the current connection | | Device Info | Displays model, firmware number, and serial number of the current gateway | | Gateway Properties | Node ID (read-only), Wake-up Object ID, CAN Rate, RS232 Rate | | Member List | List of devices searched under the current gateway | | Reboot | Restart the current gateway | | Information | Displays operational feedback, trigger, and error messages | | Control Network | Tree list of gateway members organized by Global, Group, and Node | ### Motion Control Interface | Object | Description | |--------|-------------| | Speed Unit | Switch between PPS (pulses/sec) and RPM (revolutions/min) | | Control Mode | JOG (velocity) or PTP (position) mode selection | | SET | Write speed or position setpoint to the motor | | Begin Motion | Start motor movement with current parameters | | Emergency Stop | Immediate motor stop | | Offline/Enable | Enable (yellow) or offline (blue) the motor driver | | Dec. Stop | Deceleration stop using configured deceleration value | | Set Origin | Clear pulse counter and set current position as origin | | Trigger Signal | Display status of PTP in-position, STALL, IN01-IN04 signals | | Output Control | Control OP01-OP04 output channels | | Actual Position | Real-time position feedback (polling required) | | Actual Speed | Real-time speed feedback (polling required) | --- ## Motion Control Modes ### JOG Mode (Velocity Control) Control motor speed continuously in forward or reverse direction. **Operation Steps:** 1. Enable the motor (Offline/Enable button) 2. Set speed value and unit (PPS or RPM) 3. Click SET 4. Click Begin Motion 5. Click Dec. Stop to stop ### PTP Mode (Position Control) Control motor to reach a specific position. **Relative Position (INC):** 1. Enable the motor 2. Set speed value → SET 3. Switch to INC mode 4. Set position value → SET 5. Click Begin Motion 6. Click Dec. Stop to stop **Absolute Position (ABS):** 1. Enable the motor 2. Set speed value → SET 3. Switch to ABS mode 4. Set position value → SET 5. Click Begin Motion 6. Click Dec. Stop to stop --- ## Drive Parameter Configuration ### Basic Information | Parameter | Description | |-----------|-------------| | CAN ID | Node ID of the device (default: 5 for motors). Must be unique. Power cycle required after change. | | Group ID | Device group number (default: 0). Cannot overlap with CAN ID. | | I wrk (A) | Motor working current in Amps | | I idl (%) | Idle current as percentage | | Micro-step | Current microstepping value (affects CPR) | | LPR | Encoder lines per revolution | | CPR | Counts per revolution (depends on Micro-step) | | Battery | Encoder battery level indicator | | Cut-in Speed | Initial speed when motor begins movement | | Stop Decl. | Emergency stop deceleration value | | ACC | Acceleration value | | DEC | Deceleration value | | Backlash | Backlash compensation value | ### Power-On Configuration | Parameter | Description | |-----------|-------------| | Auto Enable Drive | Enable motor automatically after power-on (with optional delay in ms) | | Positive Direction | Set rotation direction for forward pulse | | Emergency Locking | Lock motor in case of malfunction | | Acceleration Units | Set unit for acceleration/deceleration | | Position Control Mode | Open-loop or closed-loop control selection | ### Real-Time Notifications | Notification | Description | |--------------|-------------| | IN01 Input Level Change | Notify on input 1 port level change | | IN02 Input Level Change | Notify on input 2 port level change | | IN03 Input Level Change | Notify on input 3 port level change | | PTP in Position | Notify when motor reaches target position | | PVT FIFO Low | Notify when PVT FIFO is low | | PVT FIFO Empty | Notify when PVT FIFO is empty | ### Trigger Control | Parameter | Description | |-----------|-------------| | Trigger Source | Select input port and edge type (I.0↑, I.1↓, etc.) | | Low-pass Filter | 0: Continuous, 1-60000: Debounce (ms), 60001: Single trigger | | Input Logic Action | Action to execute after trigger (13 options available) | | Acc. | Acceleration for triggered motion | | Dec. | Deceleration for triggered motion | | Speed | Speed for triggered motion | | PR | Relative position for triggered motion | | PA | Absolute position for triggered motion | ### Limit Configuration | Parameter | Description | |-----------|-------------| | Position Err. | Maximum position error threshold (pulses) | | Max. Acceleration/Deceleration | Maximum acceleration/deceleration limit | | Max. Speed | Maximum pulse rate limit | | Bump Limit | Hard limit position (pulses) | | Work Range | Soft limit position (pulses) | | RESET to Defaults | Reset Bump Limit and Work Range to factory defaults | --- ## I/O Module Control (UIM1616) ### Input/Output Control | Object | Description | |--------|-------------| | OUTPUT | Control output status via toggle switches | | INPUT | Display input status when external input changes | ### PWM Control | Parameter | Description | |-----------|-------------| | OP1 Period | PWM cycle time for output channel 1 | | OP1 Duty | Duty cycle for channel 1 | | OP2 Period | PWM cycle time for output channel 2 | | OP2 Duty | Duty cycle for channel 2 | ### External Encoder | Parameter | Description | |-----------|-------------| | Time Interval | Encoder count period | | Counts (Position) | Actual external encoder position | | Counts every interval (Speed) | Actual encoder speed (pls/s) | | RST | Clear encoder count | ### UIM1616 Configuration | Parameter | Description | |-----------|-------------| | Node ID | Device Node ID (cannot overlap with Group ID) | | Group ID | Device Group ID (cannot overlap with CAN ID) | | Encoder Mode | Enable/Disable encoder counting | | Reboot | Restart the current device | --- ## Protocol Debugging Tools ### Serial Message Creator Generate and send RS232 raw packets to UIM2513 gateway. | Object | Description | |--------|-------------| | COM | Select serial port connected to UIM2513 | | BAUD | Baud rate (default: 57600) | | START | Open serial port | | GET/SET | Select query or setting command | | Target Node ID | Destination device Node ID | | Control Word | Select instruction to generate | | Sub-Index | Select sub-instruction index | | Data Length | Auto-displayed based on instruction | | Data (+/- Decimal) | Set data value (signed integer) | | Create | Generate packet in Packet Generation area | | Used CRC Check | Enable CRC calculation (header 0xAA) | | Send | Send message to UIM2513 | | Received Message | Display last received message | | Parsed Information | Parse received message | ### CAN Message Creator Generate and send CAN raw packets to UIC322 adapter. | Object | Description | |--------|-------------| | COM No. | Select serial port connected to UIC322 | | CAN Rate | CAN baud rate (default: 500K) | | START | Open serial port | | GET/SET | Select query or setting command | | Target Node ID | Destination device Node ID | | Control Word | Select instruction to generate | | Sub-Index | Select sub-instruction index | | Data Length | Auto-displayed based on instruction | | Data (Decimal) | Set data value (signed integer) | | Create | Generate packet (CAN-ID and Data Bytes editable) | | Send | Send message to UIC322 | | CAN Message Received | Display last received message (Hex) | | Parsed Information | Parse received message | --- ## Quick Start ### Step 1 — Install StepEva3 Download and extract StepEva3 to any folder. No installation required — run `StepEva3.exe` directly. ### Step 2 — Connect Gateway | Gateway | Connection Steps | |---------|------------------| | UIM2513 | Connect USB-232 cable from PC to UIM2513, select COM port in StepEva3 | | UIM2523 | Connect Ethernet cable, set PC IP to 192.168.1.xxx, enter IP 192.68.1.254 | | UIC320A | Connect USB cable from PC to UIC320A, select COM port | ### Step 3 — Select Device 1. Click the gateway type in StepEva3 2. Wait for device search to complete 3. Select the target device from the member list ### Step 4 — Control Motor 1. Click the device name to enter motion control interface 2. Enable the motor (Offline/Enable button turns yellow) 3. Set speed and/or position parameters 4. Click Begin Motion to start --- ## Applications :::grid{cols=3 style=card} **Prototyping & Evaluation** Quick setup for testing UIROBOT motor systems. Connect hardware, configure parameters, and test motion in minutes without writing code. **Production Line Setup** Configure multiple motors on the same CAN bus. Set Node IDs, Group IDs, and motion parameters for coordinated multi-axis systems. **Field Maintenance** Diagnose motor issues by monitoring real-time status, checking error reports, and testing I/O signals. Protocol debugging tools help identify communication problems. ::: --- ## Related Products | Product | Description | |---------|-------------| | UIM342 | CAN bus smart motor controller (incremental encoder) | | UIM342A | CAN bus smart motor controller (absolute encoder) | | UIM1616 | CAN bus digital I/O controller | | UIM2513 | RS232 to CAN gateway | | UIM2523 | Ethernet to CAN gateway | | UIC320A | USB to CAN 2.0B adapter (isolated) | --- ## Resources :::tip Download StepEva3, user manuals, and sample code from the [UIROBOT Download Center](https://www.uirobot.com/serve/list-437.html). ::: - 📖 [StepEva3 User Manual V4.8 (PDF)](https://www.uirobot.com/uploads/files/Manual_StepEva3%20V4.8.pdf) - 📖 [uirSDK3 User Manual V4.7 (PDF)](https://www.uirobot.com/uploads/files/f30fdec2ef52855e328edf9abcbd1d4e.pdf) --- *Last Updated: 2026-06-23 | Based on StepEva3 User Manual V4.8*