# UIM1616 & UIM0808 Digital I/O Module — Technical Reference > Complete technical specifications, instruction set, and wiring guide for UIM0808/UIM1616 CAN bus I/O controllers --- ## Product Overview The UIM1616 is a Digital I/O Controller with CAN Bus communication interface. Users can communicate with the UIM1616 through UIM Gateways (e.g. RS232 / USB / Ethernet) or through user CAN devices. The UIM1616 embeds a high-performance DSP processing system with simple instruction set and high fault tolerance. ### Key Features :::grid{cols=2 style=card} **Control System** Robust DSP hardware, fault tolerance, digital filter, input change notification. **Input Ports** Up to 16 digital inputs with 1500V photoelectric isolation and ESD protection. **Output Ports** Up to 16 digital outputs with 1500V isolation, overheat/overload protection. **CAN Networking** Active CAN 2.0, 1 Mbps max, 1500V isolated. SDK with C++/C# samples. ::: --- ## Product Models | Parameter | UIM1616 | UIM0808 | |-----------|---------|---------| | **Supply Voltage** | 12-24 VDC | 12-24 VDC | | **Digital Inputs** | 16 channels | 8 channels | | **Digital Outputs** | 16 channels | 8 channels | | **Output Current per Port** | 500 mA | 500 mA | | **Max Total Output Current** | 4000 mA | 4000 mA | | **Dimensions** | 120 × 68 × 12 mm | 78 × 68 × 12 mm | ### Order Code Structure ``` UIM [I/O Quantity] [User Code] I/O Quantity: 1616 = 16 Inputs / 16 Outputs 0808 = 8 Inputs / 8 Outputs ``` --- ## Core Functions ### Control System - Robust DSP hardware platform - Fault tolerance, fail-safe user interface - Digital filter for noise immunity - Input change notification - Complete SDK, LIB and DLL provided - C++ and C# sample codes ### Input Ports - Up to 16 digital input ports - 1 quadrature encoder interface - 1500V photoelectric isolation - ESD protection ### Output Ports - Up to 16 digital output ports - 500 mA output current per port - 1500V photoelectric isolation - ESD protection - Overheat protection - Overload protection - Short circuit protection - Overvoltage protection - Current limiting ### CAN Networking - Active CAN 2.0, 1 Mbps max - 1500V photoelectric isolation - Support 3 types of IDs: - Node ID - Group ID - Global ID ### Other Features - Compact structure, easy to install and use - Simple mechanical/electrical interface - Small size: 120 × 68 × 12 mm (UIM1616) / 78 × 68 × 12 mm (UIM0808) --- ## Technical Specifications ### Absolute Maximum Ratings | Parameter | Specification | |-----------|---------------| | Ambient temperature under bias | -40°C ~ 85°C | | Storage temperature | -65°C ~ +150°C | | Voltage on V+ with respect to V- | -0.3V ~ 36V | | Voltage on input ports with respect to V- | -0.3V ~ 40V | | Voltage on output ports with respect to V- | -0.3V ~ 40V | | Maximum current sunk by any output port | 1000 mA | | Maximum current sunk by all output ports | 4000 mA | ### Operating Conditions (at ambient temperature 25°C) | Parameter | Min | Max | Unit | |-----------|-----|-----|------| | Supply voltage (DC) | 12 | 24 | V | | Current Output / port | 0 | 500 | mA | | Voltage on input ports | 0 | 24 | V | ### Operating Environment | Parameter | Specification | |-----------|---------------| | Cooling | Free Air | | Environment | Avoid dust, oil mist and corrosive gases | | Operating temperature | -40°C ~ 85°C | | Humidity | < 80% RH, no condensation, no frost | | Vibration | 3G Max | | Storage | -65°C ~ 150°C | ### Communication Interface | Parameter | Specification | |-----------|---------------| | Protocol | Active CAN 2.0 | | Physical Layer | Two-wire system, CANH, CANL, twisted pair | | CAN Driver | Max. 1 Mbps | | Standard | Meets ISO-11898 standard physical layer requirements | | Isolation | 1500V isolated, differential bus | --- ## Wiring Diagrams ### UIM1616 Wiring  ### Input Wiring (NPN Sensor)  ### Output Wiring (Inductive Load) ``` UIM1616 ┌─────┐ V+ ──────┤ ├──── Load + │ OPx │ V- ──────┤ ├──── Load - └─────┘ Note: Install flyback diode in the direction shown for inductive loads. ``` --- :::tip UIM1616 supports 16 digital inputs and 16 digital outputs with 1500V isolation. Each input features continuous, low-pass filtered, and single-trigger modes with change-of-state notification. ::: ## I/O Configuration ### Digital Input - 16 channels, NPN type - Input voltage: 0-24VDC - Optocoupler isolation (1500V) - Configurable trigger mode per input: - **Continuous trigger** (TG[i]=0) - **Filtered trigger** (TG[i]=1~60000 ms low-pass filter) ### Digital Output - 16 channels, MOSFET push-pull - Output current: 500 mA per channel - Max total current: 4000 mA - Protection: overheat, overload, short circuit, overvoltage ### Auxiliary Encoder - 1 quadrature encoder interface (A/B phase) - 5V supply for encoder - Configurable counting period via QE[0] - Features: - **SP**: Get encoder speed (count increment per second) - **PR**: Get encoder periodical count increment - **PA**: Get encoder total count - **OG**: Clear encoder counter --- ## Instruction Set Summary ### Protocol Instructions | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `PP[i]` | 0x01 | Set/Get | Protocol Parameters | ### System Instructions | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `IE[i]` | 0x07 | Set/Get | Information Enable | | `ML` | 0x0B | Get | Model Information | | `SN` | 0x0C | Get | Serial Number | | `ER[i]` | 0x0F | Clear/Get | Error Report | | `QE[i]` | 0x3D | Set/Get | Quadrature Encoder | | `SY[i]` | 0x7E | Set | System Operation (Reboot/Factory Reset) | ### I/O Instructions | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `TG[i]` | 0x35 | Set/Get | Input Trigger Type | | `DI` | 0x37 | Set/Get | Digital Input/Output | ### Auxiliary Encoder Instructions | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `SP` | 0x1E | Get | Encoder Speed | | `PR` | 0x1F | Get | Encoder Periodical Counts | | `PA` | 0x20 | Get | Encoder Counts | | `OG` | 0x21 | Set | Clear Encoder Counter | ### Notification Instructions | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `RT` | 0x5A | Auto Sent | Real-Time Information | --- ## Quick Start This section explains how to quickly set up and run a system composed of a UIM1616 and a UIM2513 Gateway. ### Required Materials - Windows PC - UIM2513 Gateway (RS232-CAN converter) - USB-232 Cable - UIM1616 I/O Controller - DC24V / 3A Minimum Power Supply ### Connection Steps 1. Wire the system as shown in the wiring diagram 2. **Double-check all wiring before powering on** 3. Connect UIM2513 gateway to PC ### Default Parameters - UIM1616 Initial ID: **7** - UIM1616 Initial Bitrate: **500K** ### Using StepEva3 Software 1. Download and run the Windows control panel **StepEva3** 2. Select **UIM2513 (RS232-CAN)** gateway 3. Select the UIM1616 device to operate from the device list 4. Use the I/O control panel to read inputs and control outputs --- ## CAN Bus Precautions > **WARNING** - Avoid star connections. When CAN cable length exceeds 20 meters, dedicated CAN cables should be used. The length of branch cable to each node should not exceed 20 cm. - UIM2513 has a built-in terminal resistor, which can be activated by the toggle switch. It is recommended to connect a 120-ohm terminal resistor to the other end of the CAN cable. - **Strictly avoid hot-plugging while power is on**. Hot-plugging may lead to ground loss, causing burnout of multiple UIM devices. - Connect all UIM devices to a common ground. --- ## Safety Precautions | Precaution | Consequence of Neglect | |------------|----------------------| | Do not use in humid, corrosive, flammable gas environments or near flammable substances | Fire / Malfunction | | Do not use the wire when soaked in oil/water | Fire / Malfunction | | Do not frequently power on/off | Malfunction | | Never modify, disassemble or repair by yourself | Fire / Malfunction | | Power supply voltage must meet product requirements | Malfunction | | Cut off power when not in use for long time | Fire / Malfunction | --- ## Video Tutorial :::video[In what applications are servo stepper motors commonly used?](https://www.youtube.com/watch?v=BKWmdWwrXGw) ::: :::video[UIROBOT Control System Modules - Simple, Robust, Compact.](https://www.youtube.com/watch?v=DVb7QDI8uFo) ::: --- ## Downloads - 📖 [UIM1616 User Manual V4.7 (PDF)](https://www.uirobot.com/uploads/files/Manual_UIM1616%20V4.7.pdf) - 📖 [StepEva3 User Manual V4.7 (PDF)](https://www.uirobot.com/uploads/files/Manual_StepEva3%20V4.7.pdf) - 📖 [uirSDK3 User Manual V4.7 (PDF)](https://www.uirobot.com/uploads/files/f30fdec2ef52855e328edf9abcbd1d4e.pdf) --- ## Related Documents - [CAN Bus Compact I/O Modules](/docs/compact-io-module) - Product lineup overview for UIM0808/UIM1616 - [UIM342 CAN Bus Smart Servo Stepper Motor Controller](/docs/uim342) - [UIM342A CAN Bus Smart Servo Stepper Motor Controller](/docs/uim342a) - [UIM2513 CAN Bus Motion Control Gateway](/docs/uim2513) - [Quick Start Guide](/docs/quick-start) --- *Last Updated: 2026-06-23 | Based on User Manual V4.7*