19/31

Command

Description

Ux

The Until command allows the program currently stored in RAM memory to be continuously exe-

cuted until a specific USER input is brought to ”zero”.

The command is always followed by an argument whose value ranges between 1 and 3, and it

specifies the User input to be tested. The command:

U2

↓

states that the program, once started, will be continuously executed as long as the User input UI2 is

at the logic level ”one”.

Just after User Input UI2 is set to ”zero”, the program processes the next command after U2. The

Until command is of the delayed execution type and it occupies 2 memory locations.

Vx

The Verify command allows the Host to know the current absolute position of the motor versus the

Home position or the status of the USER inputs and outputs.

The instruction is always followed by an argument whose value, 1 or 2, specifies the type of

requested information. The request for the current absolute position is obtained by issuing the

instruction:

V1

↓

the GC-C200 answer can be

1234567

↓

while the GS-C200S answer can be:

+1234

↓

The request of the USER outputs status is obtained by using the instruction:

V2

↓

the GS-C answer can be:

25

↓

that denotes the following Input/Output status:

The Verify command is of the immediate execution type.

X

The eXchange command allows the user to transfer the program currently stored in the EEPROM

into the RAM.

This command is used either during the program debugging phase when the F.A.S.T. program is

utilized, or when the fast execution of a frequently used program is needed.

In this latter case the Host recalls the program from the EEPROM by simply issuing the following

command string:

E

↓

X

↓

The eXchange command is of the immediate execution type.

Wx

The Wait-for command allows the program start or a portion of program execution to be

conditioned by the rising edge of an external signal applied to the a USER input. The command is

always followed by an argument whose value ranges between 1 and 3, and it specifies the User

input to be tested in order to conditions the next command execution. The instruction:

W2

↓

states that the program execution is conditioned by the presence of a ”one” logic level at the User

Input UI2. The Wait-for command is of the delayed execution type and it occupies 2 memory locations.

UI1 =

0

UO1 =

1

UI2 =

1

UO2 =

0

UI3 =

0

UO1 =

1

25

GS-C200 / GS-C200S