Command

Description

Z

The Zero the speed command allows a smooth stop of the motion system.

When the GS-C receives this command it reduces the stepping rate to ”zero” through a deceleration

ramp and it stops the program execution. If there is no motion when activated, the program

execution is immediately stopped. By using this command it is possible to stop the motor still

maintaining trace of the system position.

The program can be subsequentely restarted through an E command.

±xxxxxx

The incremental positioning command allows the user to perform a movement referenced to the

actual position. The command can be issued either with a + or – sign that defines the direction of

the motion, and it is followed by an argument ranging from 1 and 999999 that defines the number of

steps to be executed.

The Incremental position command can be mixed to the Goto absolute positioning command in a

program, and it is normally used in a subroutine.

The Incremental position command is of the delayed execution type and it occupies 4 memory

locations.

20/31

During the program execution, the GS-C accepts

only the F, Z and K commands. Any other command

sent to the GS-C during the program execution has

no effect, and the module will respond to the Host

Computer by sending the answer B (Busy).

The GS-C200S programming requires a specific

attention because, when a program includes a jump

command, it is mandatory to address the proper

memory position to correctly execute the sequence.

For this purpose it is mandatory to define the jump

memory location by adding, for each program in-

struction, the proper bytes length that is specified

in the command description. The program starts

from memory address 0.

THE PROGRAM STORAGE AREA

The GS-C contains two storage areas reserved to

the User. The first is the microprocessor Random

Access Memory from where the motion program is

executed, the second is an EEPROM where the

programs are saved. The EEPROM contains a

program or a command sequence programmed by

the user that can be transferred into the RAM

memory by using the X command.

The RAM contains either a program or a command

sequence sent by the Host computer or transferred

from the EEPROM. In any case the program that is

executed when an E or Goto command is issued.

is the one contained in the RAM.

If the program is sent by the Host, it is checked to

verify if the logical and physical correctness has

been respected and if the storage capability is not

exceeded. In case an error is detected, it is notified

to the Host through an appropriated error message.

The number of instructions that can be stored de-

pends on the type of instruction, and typically it

ranges between 30 and 60, for a total of 119 mem-

ory locations.

THE POWER SUPPLY

The GS-C module contains a high efficiency switch

mode power supply. It generates the various regu-

lated voltages required for the proper operation of

the internal logic and the communication port, start-

ing from an unregulated input voltage that can

range from 12 to 40 Volt. The module also features

a 5V output capable of delivering up to 100mA,

which can be used to supply external devices or the

logic port of a GS-D module. This output is pro-

tected against short circuit to ground. Two outputs

at

±12V are available with a current capacity of

10mA.

PROGRAM EXAMPLES

After the description of the communication protocol,

of the various commands and of the various mes-

sages, some simple programs examples are given

in the following.

Example 1

The required action is to run a motor at 1000

steps/sec. rate, with a start-stop rate of 100

steps/sec., and a ramp length of 50 steps. The

target position to be reached is the step 500000.

The operative sequence is the following:

1) Connect the GS-C200 to an Host Computer

equipped with the advanced Basic program.

2) Power-on the GS-C200.

3) Enter the DOS operating system and then run

the F.A.S.T. program (see the GS-C200PROG

datasheet).

4) Start the programming session by typing the

following command sequence:

F

↓

Read the controller status.

A Ready is answered by the GS-C.

I3

↓

Clear the position counter and the

USER outputs.

GS-C200 / GS-C200S