uirSDK3 is a cross-platform development kit for programming UIROBOT's CAN bus motion controllers, servo stepper motors, and I/O modules. It provides a comprehensive set of C/C++ API functions for Windows, Linux, and Raspberry Pi systems, enabling developers to build custom control applications with full access to motor control, I/O operations, and real-time notifications. --- ## Key Features :::grid{cols=2 style=card} **Cross-Platform Support** Native libraries for Windows (32/64-bit), Linux, and Raspberry Pi (32/64-bit). Use the same API across all platforms with platform-specific DLL/SO files. **Complete API Coverage** Access all device functions including CAN network management, motor control, I/O operations, encoder reading, and real-time notifications through a unified API. **Multi-Gateway Support** Connect through UIM2513 (RS232-CAN), UIM2523 (Ethernet-CAN), or UIC320/UIC322 (USB-CAN) gateways. Single API handles all gateway types. **Real-Time Notifications** Register callback functions to receive real-time events including motion completion, input changes, stall detection, and error alerts. ::: :::grid{cols=2 style=card} **C++ and C# Sample Code** Ready-to-use demo projects for Visual Studio (C++) and C# with full source code. Includes Win32 and Win64 builds. **Simple Programming Model** Open gateway → Get member list → Send commands. Minimal boilerplate code to get started. **Error Handling** Comprehensive error codes with descriptive definitions. Easy debugging with detailed error reporting. **Comprehensive Documentation** Complete programmer's manual with function descriptions, parameter tables, data structures, and code examples for every API function. ::: --- ## Supported Platforms | Platform | Library File | Architecture | |----------|-------------|--------------| | Windows | libUirSdkWin32.dll / .lib | 32-bit | | Windows | libUirSdkWin64.dll / .lib | 64-bit | | Linux | libUirSdk.so | 64-bit | | Raspberry Pi | libUirSdkRaspi32.so | 32-bit | | Raspberry Pi | libUirSDKRaspi64.so | 64-bit | --- ## SDK Package Contents ``` uirSDK/ ├── uirSDKFiles/ │ ├── CAN30SDK.h # Static library function API │ ├── CAN30SDK_DLL.h # Dynamic library function API │ ├── UIError.h # Error type definitions │ └── uirSDKgen3.h # All structures and type definitions └── UirSdkLib/ ├── libUirSdk.so # Linux static library ├── libUirSdkWin32.dll # Windows 32-bit dynamic library ├── libUirSdkWin64.dll # Windows 64-bit dynamic library ├── libUirSdkWin32.lib # Windows 32-bit static library └── libUirSdkWin64.lib # Windows 64-bit static library ``` --- ## Supported Devices | Device | Type | Description | |--------|------|-------------| | UIM342 / UIM342A | Motion Controller | CAN bus smart servo stepper motor controller | | UIM620 | Motion Controller | CAN bus motion controller series | | UIM720 | Motion Controller | CAN bus motion controller series | | UIM1616 / UIM0808 | I/O Controller | CAN bus digital I/O controller | --- ## API Function List ### CAN Network | Function | Description | |----------|-------------| | `SdkStartCanNet` | Open CAN network and discover devices | | `SdkCloseCanNet` | Close CAN network connection | | `SdkGetGtwyInfo` | Get gateway information | | `SdkGetMemberList` | Get list of connected devices | | `SdkSetIPaddr` | Set Ethernet gateway IP address | ### Communication Parameters | Function | Description | |----------|-------------| | `SdkSetProtocolPara` | Set communication parameters | | `SdkGetProtocolPara` | Get communication parameters | ### System Information | Function | Description | |----------|-------------| | `SdkGetSerial` | Get device serial number | | `SdkGetModel` | Get device model information | | `SdkGetErrReport` | Get error report | | `SdkClrErrReport` | Clear error report | | `SdkGetLastErr` | Get latest error | | `SdkGetMotionStatus` | Get motion status | | `SdkRstMotionStatus` | Reset motion status | | `SdkGetSystemTime` | Get system power-on time | | `SdkRstSystemTime` | Reset system power-on time | | `SdkSetSystem` | System operation (reboot/factory reset) | ### Motion Control — Static Parameters | Function | Description | |----------|-------------| | `SdkSetMotorConfig` | Set motor configuration | | `SdkGetMotorConfig` | Get motor configuration | | `SdkSetAcceleration` | Set acceleration | | `SdkGetAcceleration` | Get acceleration | | `SdkSetDeceleration` | Set deceleration | | `SdkGetDeceleration` | Get deceleration | | `SdkSetCutInSpeed` | Set cut-in speed | | `SdkGetCutInSpeed` | Get cut-in speed | | `SdkSetStopDeceleration` | Set emergency stop deceleration | | `SdkGetStopDeceleration` | Get emergency stop deceleration | | `SdkSetEncoderConfig` | Set encoder parameters | | `SdkGetEncoderConfig` | Get encoder parameters | | `SdkSetBacklashComp` | Set backlash compensation | | `SdkGetBacklashComp` | Get backlash compensation | | `SdkSetMotionLimits` | Set motion limits | | `SdkGetMotionLimits` | Get motion limits | | `SdkRstMotionLimits` | Reset motion limits | | `SdkSetLimitCheck` | Set limit check status | | `SdkGetLimitCheck` | Get limit check status | | `SdkGetDesiredValue` | Get desired value | ### Motion Control — Dynamic Parameters | Function | Description | |----------|-------------| | `SdkSetMotorOn` | Enable/disable motor driver | | `SdkGetMotorOn` | Get motor enable status | | `SdkSetBeginMxn` | Begin motion | | `SdkSetStopMxn` | Emergency stop | | `SdkSetOrigin` | Set origin position | | `SdkSetJogMxn` | Set JOG motion speed | | `SdkGetJogMxn` | Get JOG motion speed | | `SdkSetPtpMxnA` | Set PTP absolute position | | `SdkGetPtpMxnA` | Get PTP absolute position | | `SdkSetPtpMxnR` | Set PTP relative position | | `SdkGetPtpMxnR` | Get PTP relative position | ### I/O Operations | Function | Description | |----------|-------------| | `SdkSetTriggerMode` | Set port trigger mode | | `SdkGetTriggerMode` | Get port trigger mode | | `SdkSetDigitalOutput` | Set digital output | | `SdkGetDIOport` | Get I/O port digital status | | `SdkSetInputLogicAC` | Set input logic acceleration | | `SdkGetInputLogicAC` | Get input logic acceleration | | `SdkSetInputLogicDC` | Set input logic deceleration | | `SdkGetInputLogicDC` | Get input logic deceleration | | `SdkSetInputLogicSP` | Set input logic speed | | `SdkGetInputLogicSP` | Get input logic speed | | `SdkSetInputLogicPR` | Set input logic relative position | | `SdkGetInputLogicPR` | Get input logic relative position | | `SdkSetInputLogicPA` | Set input logic absolute position | | `SdkGetInputLogicPA` | Get input logic absolute position | | `SdkSetInputLogic` | Set input logic action | | `SdkGetInputLogic` | Get input logic action | ### I/O Module (UIM1616) | Function | Description | |----------|-------------| | `SdkSetEncoderPeriod` | Set auxiliary encoder period | | `SdkRstEncoderCount` | Reset auxiliary encoder count | | `SdkGetEncoderSpeed` | Get auxiliary encoder speed | | `SdkGetEncoderCount` | Get auxiliary encoder count | | `SdkGetEncoderIncrement` | Get auxiliary encoder increment | ### Real-Time Notification | Function | Description | |----------|-------------| | `SdkGetRTCN` | Get real-time notification message | --- ## Key Data Structures ### Gateway Info ```cpp typedef union _GATEWAY_INFO_OBJ { struct { uint GtwyHandle; // Gateway handle uint COMidx; // Serial port number uint COMbaud; // Baud rate uint BTRidx; // CAN bit rate uint SerialNo; // Gateway SN uint FirmVer; // Firmware version char ModelStr[64]; // Model information uint MemberQty; // Number of members uchar MemberCid[100]; // Members CAN-ID list }; struct { // For Ethernet gateways uint GtwyHandle; uint IPaddr; uint IPport; // ... same fields } tcp; } GATEWAY_INFO_OBJ; ``` ### Member Info ```cpp typedef struct _MEMBER_INFO_OBJ { uint GtwyHandle; // Gateway handle uchar CANnid; // Device CAN-ID uchar CANgid; // Group CAN-ID ushort COMbaud; // Baud rate uint SerialNo; // Device serial number MODEL_INFO_OBJ Model; // Model information } MEMBER_INFO_OBJ; ``` ### UI Message ```cpp typedef struct _UI_MSG_OBJ { uchar id; // CAN ID uchar cw; // Control Word uchar dl; // Data Length uchar data[9]; // Data array uint ix; // Sub-Index (reserved) } UI_MSG_OBJ; ``` --- ## Quick Start ### Step 1 — Include Headers ```cpp #include "CAN30SDK_DLL.h" #include "uirSDKgen3.h" ``` ### Step 2 — Open CAN Network ```cpp GATEWAY_INFO_OBJ Gtwy = {0}; MEMBER_INFO_OBJ Member[100]; // For RS232 gateway (UIM2513) Gtwy.detail.type = UIGW3_GW2513; Gtwy.COMidx = 7; // COM port number Gtwy.COMbaud = 57600; // Baud rate // Open network ERRO err = SdkStartCanNet(&Gtwy, Member, 0); if (err) { printf("Failed to open CAN network\n"); return -1; } uint g_GtwyHandle = Gtwy.GtwyHandle; int memberCount = Gtwy.MemberQty; ``` ### Step 3 — Control Motor ```cpp uint NodeID = 5; // Motor Node ID // Enable motor SdkSetMotorOn(g_GtwyHandle, NodeID, 1, NULL); // Set speed and start JOG motion int speed = 1000; // 1000 pulses/sec SdkSetJogMxn(g_GtwyHandle, NodeID, speed, NULL); SdkSetBeginMxn(g_GtwyHandle, NodeID, 0, NULL); // ... motion in progress ... // Emergency stop SdkSetStopMxn(g_GtwyHandle, NodeID, 0, NULL); // Disable motor SdkSetMotorOn(g_GtwyHandle, NodeID, 0, NULL); ``` ### Step 4 — Close Network ```cpp SdkCloseCanNet(g_GtwyHandle); ``` --- ## Programming Workflow ``` ┌─────────────────────────────────────────────────────────────┐ │ uirSDK3 Programming Flow │ ├─────────────────────────────────────────────────────────────┤ │ │ │ 1. Open CAN Network │ │ └──> SdkStartCanNet() │ │ │ │ 2. Get Device List │ │ └──> SdkGetMemberList() │ │ │ │ 3. Configure Motor (optional) │ │ ├──> SdkSetMotorConfig() │ │ ├──> SdkSetAcceleration() │ │ └──> SdkSetMotionLimits() │ │ │ │ 4. Enable Motor │ │ └──> SdkSetMotorOn(1) │ │ │ │ 5. Execute Motion │ │ ├──> JOG: SdkSetJogMxn() + SdkSetBeginMxn() │ │ └──> PTP: SdkSetPtpMxnA/R() + SdkSetBeginMxn() │ │ │ │ 6. Monitor Status │ │ ├──> SdkGetMotionStatus() │ │ └──> SdkGetRTCN() (real-time notifications) │ │ │ │ 7. Stop & Disable │ │ ├──> SdkSetStopMxn() │ │ └──> SdkSetMotorOn(0) │ │ │ │ 8. Close Network │ │ └──> SdkCloseCanNet() │ │ │ └─────────────────────────────────────────────────────────────┘ ``` --- ## Sample Code Projects | Project | Platform | Language | Description | |---------|----------|----------|-------------| | Win32_Cpp_libUirSdkWin32_UIM342 | Windows 32-bit | C++ | UIM342 motor control example | | Win64_Cpp_libUirSdkWin64_UIM342 | Windows 64-bit | C++ | UIM342 motor control example | | Win32_Cpp_libUirSdkWin32_UIM1616 | Windows 32-bit | C++ | UIM1616 I/O control example | | Win64_Cpp_libUirSdkWin64_UIM1616 | Windows 64-bit | C++ | UIM1616 I/O control example | | Win32_C#_libUirSdkWin32_UIM342 | Windows 32-bit | C# | UIM342 motor control example | | Win64_C#_libUirSdkWin64_UIM342 | Windows 64-bit | C# | UIM342 motor control example | | Win32_C#_libUirSdkWin32_UIM1616 | Windows 32-bit | C# | UIM1616 I/O control example | | Win64_C#_libUirSdkWin64_UIM1616 | Windows 64-bit | C# | UIM1616 I/O control example | --- ## Error Codes | Error Code | Description | |------------|-------------| | 0 | No error (success) | | !0 | Error code (refer to UIError.h) | --- ## Applications :::grid{cols=3 style=card} **Custom Control Software** Build tailor-made control interfaces for specific production lines or medical devices. Full access to all motor and I/O functions. **System Integration** Integrate UIROBOT motors into existing PLC or SCADA systems. The SDK provides a clean API layer above the raw CAN protocol. **Multi-Axis Coordination** Control multiple motors simultaneously for coordinated motion. Use real-time notifications for synchronized operations. ::: --- ## Related Products | Product | Description | |---------|-------------| | UIM342 / UIM342A | CAN bus smart motor controller | | UIM620 | CAN bus motion controller | | UIM720 | CAN bus motion controller | | UIM1616 / UIM0808 | CAN bus digital I/O controller | | UIM2513 | RS232 to CAN gateway | | UIM2523 | Ethernet to CAN gateway | --- ## Resources :::tip Download the uirSDK package, sample code, and documentation from the [UIROBOT Download Center](https://www.uirobot.com/serve/list-437.html). ::: - 📖 [uirSDK3 User Manual V4.7 (PDF)](https://www.uirobot.com/uploads/files/f30fdec2ef52855e328edf9abcbd1d4e.pdf) - 💻 [Sample Code (C++, C#)](https://www.uirobot.com/serve/list-437.html) --- *Last Updated: 2026-06-23 | Based on uirSDK3 User Manual V4.7*