> Ethernet to CAN bus gateway for connecting UIROBOT servo stepper motors, motion controllers, and I/O controllers --- ## Product Overview The UIM2523 is an industrial Ethernet (TCP/IP) to CAN gateway, designed for UIROBOT's Integrated Servo Stepper Motors and Control System. Users can send instructions through UIM2523 to control UIM series servo stepper, AC servo motion controller and I/O controller products. ### Key Features :::grid{cols=2 style=card} **Control System** Robust DSP hardware with fault tolerance and fail-safe user interface. **Ethernet Interface** RJ45 connector with standard TCP/IP protocol support. **CAN Networking** Active CAN 2.0, 1 Mbps max, 1500V photoelectric isolation. **SDK Support** Complete SDK with DLL, LIB, SO files. C++ and C# samples. ::: --- ## Product Lineup The UIM2523 is one of UIROBOT's CAN bus gateway solutions. It complements the UIM2513 (RS232-CAN) gateway. | Model | Interface | CAN Ports | Isolation | Application | |-------|-----------|-----------|-----------|-------------| | UIM2513 | RS232 | 2 x CAN 2.0B | 2500V | Legacy device integration | | **UIM2523** | **Ethernet** | **1 x CAN 2.0B** | **2500V** | **Networked motion control** | --- ## 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 ~ 50V | ### Operating Conditions (at ambient temperature 25°C) | Parameter | Min | Max | Unit | |-----------|-----|-----|------| | Supply voltage (DC) | 12 | 48 | V | | Input Current | 0 | 100 | mA | ### 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 | |-----------|---------------| | CAN Protocol | Active CAN 2.0 | | CAN Physical | 2 wires, CANH, CANL, twisted pair | | CAN Driver | Max. 1 Mbps | | CAN Standard | Meets ISO-11898 standard physical layer requirements | | CAN Isolation | 1500V isolated, differential bus | | User Interface | TCP/IP via RJ45 | ### Mechanical Parameters | Parameter | Specification | |-----------|---------------| | Dimensions | 72 × 38 × 14 mm | | Weight | 0.15 Kg | --- ## Hardware ### Wiring Diagram  ### Pin Description | Pin | Function | Color | Description | |-----|----------|-------|-------------| | V+ | Supply voltage positive | Red | 12–48 VDC | | V- | Supply voltage negative | Black | 0 V | | CH | CANH | White | CAN Bus High | | CL | CANL | Green | CAN Bus Low | | RJ45 | Ethernet | - | TCP/IP network interface | ### Network Configuration | Parameter | Value | |-----------|-------| | Default IP Address | 192.68.1.254 | | Default Port | 8888 | | Node ID | Fixed = 2 | > **Note**: Before connecting, make sure that the IP address of the computer LAN port is in the 192.168.1.xxx network segment, otherwise the gateway cannot be searched. --- ## CAN Network & ID Configuration The UIM2523 uses Active CAN 2.0B hardware and software, with CAN bit rate configurable from 125K to 1000Kbps via instructions. ### CAN ID Types | ID Type | Description | |---------|-------------| | **Node ID** | Configurable via instructions (UIM2523 fixed = 2) | | **Group ID** | Configurable via instructions, for group synchronization | | **Global ID** | Fixed as 0, all devices respond | --- ## Protocol ### UIMessage Frame Structure UIM2523 and the user controller exchange information using UIMessages. The length of a UIMessage is fixed to 16 bytes. ``` ┌─────┬─────┬─────┬─────┬─────┬─────┬─────┬─────┬─────┬─────┬─────┐ │ SM │ ID │ CW │ d0 │ ... │ d7 │ d8 │ R0 │ R1 │ CC │ │ │ AA │ │ │ │ │ │ Aux │ │ │ EM │ │ └─────┴─────┴─────┴─────┴─────┴─────┴─────┴─────┴─────┴─────┴─────┘ ``` - **SM**: Start of Message (0xAA with CRC, 0xAD without CRC) - **ID**: Device ID (1 byte) - **CW**: Control Word (1 byte, bit7: 0=No ACK, 1=Need ACK) - **DL**: Data Length (1 byte) - **d0-d7**: Data bytes (low byte first) - **R1:R0**: RTU CRC16 - **EM**: End of Message (fixed 0xCC) --- ## Instruction Set ### PP[i] Protocol Parameter | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `PP[i]` | 0x01 | Set/Get | Protocol Parameters | | i | Description | Value (N) | |---|-------------|-----------| | 5 | CAN bit rate (bps) | 0: 1000K, 1: 800K, 2: 500K, 3: 250K, 4: 125K | | 7 | Node ID | UIM2523 ID fixed = 2 | ### ML Model Information | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `ML` | 0x0B | Get | Model, function module and firmware version | UIM2523 model information: | Model | d0 | d1 | d2 | |-------|----|----|-----| | UIM2523 | 0x19 | 0x17 | 0x00 | ### SN Serial Number | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `SN` | 0x0C | Get | Serial number of the device | ### ER[i] Error Report | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `ER[i]` | 0x0F | Clear/Get | Error Report | | i | Description | |---|-------------| | 0 | Get/Clear the latest error content | | 6 | Get/Clear power on error | | 10 | Get/Clear latest errors | | 11…18 | Get/Clear the last 2…9 errors | ### SY[i] System Operation | Mnemonic | Control Word | Function | Description | |----------|--------------|----------|-------------| | `SY[i]` | 0x7E | Set | System Operation | | i | Description | |---|-------------| | 1 | Reboot the device | | 2 | Restore factory defaults | --- ## Reset Method To reset UIM2523: 1. Locate the small hole on the back of UIM2523 (non-printed surface) 2. The reset switch is located inside the small hole 3. After powering on UIM2523, press and hold the reset button with the end of a pin or paper clip 4. Release it after the blue light on the DINKLE terminal flashes 5. Wait for the indicator light on the DINKLE terminal to turn green to complete the reset --- ## Quick Start This section explains how to quickly build and run a motor system consisting of 2 servo stepper motors equipped with UIM342 controllers and 1 UIM2523 gateway. ### Required Materials - Windows PC (with Ethernet port) - UIM2523 Gateway - Ethernet Cable (RJ45) - 2x UIM342 Servo Stepper Motors - DC24V / 3A Minimum Power Supply ### Connection Steps 1. Wire the power supply and CAN bus as shown in the wiring diagram 2. Connect UIM2523 gateway to PC via Ethernet cable 3. **Double-check all wiring before powering on** 4. Set computer IP address to 192.168.1.xxx network segment ### Default Parameters - UIM2523 Node ID: **2** (fixed) - UIM2523 Default IP: **192.68.1.254** - UIM2523 Default Port: **8888** - UIM342 Initial ID: **5** - UIM342 Initial Bitrate: **500K** ### Using StepEva3 Software 1. Download and run the Windows control panel **StepEva3** 2. Select **UIM2523 (Ethernet-CAN)** gateway 3. Input the IP address of the UIM2523 4. Select the device to operate from the device list 5. Refer to the corresponding User Manual of the selected device to operate --- ## CAN Bus Precautions > **WARNING** :::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. - UIM2523 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[How to quickly control integrated stepper motors using an UIM2523 Ethernet-CAN gateway?](https://www.youtube.com/watch?v=IzoqJDWqM0Y) ::: :::video[UIROBOT Control System Modules - Simple, Robust, Compact.](https://www.youtube.com/watch?v=DVb7QDI8uFo) ::: --- ## Downloads - 📖 [UIM2523 User Manual V5.11 (PDF)](https://www.uirobot.com/uploads/files/Manual_UIM2523%20V5.11.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 - [UIM2513 Industrial RS232-CAN Gateway — Technical Reference](/docs/uim2513) - [UIM342 CAN Bus Smart Servo Stepper Motor Controller](/docs/uim342) - [UIM342A CAN Bus Smart Servo Stepper Motor Controller](/docs/uim342a) - [UIM1616 Digital I/O Controller — Technical Reference](/docs/uim1616) - [Quick Start Guide](/docs/quick-start) --- *Last Updated: 2026-06-23 | Based on User Manual V5.11*