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Command

Description

Hs

The Home command allows the GS-C to find the mechanical reference position.

The command is followed by the argument that specifies the searching direction of the End Of

Travel switch.

The argument can be omitted and in such a case the GS-C will execute the command:

H+

↓

As soon as the GS-C receives the Home command, it moves the motor in the selected direction at

the Start-Stop speed (defined as the first instruction at the beginning of the program) until the End

Of Travel input is brought to ”zero”. When this condition is reached the direction is reversed and the

movement continues until the Home input reaches the ”zero” logical level. The position counter is

then cleared as well as the program contained in the RAM memory, and the controller is ready to

process a new command. In the GS-C200S, the position is also cleared, but the previous program,

present in the RAM is saved. When the Home and the End Of Travel inputs are tied toghether the

system reference point will correspond to the End Of Travel position.

To allow the system homing also in a stand alone application, an Home command is automatically

executed at start-up after the program recall. The Home direction is defined by the logic state of the

RxD input (pin 11) that when unconnected is equivalent to a H+ command, while when connected to

the +5V pin it forces a H– command. In a stand-alone environment, when the Home command is

not needed, it is mandatory to ground the End od Travel and the Home inputs (pins 32 and 30). The

Home command is of the immediate execution type.

Ix

The Initialize command forces the GS-C module to be selectively inizialized.

The command is followed by an argument whose value ranges between 1 and 3, and that specifies

where the action is addressed according to the following table:

1 = Position counter is cleared

2 = User outputs are cleared

3 = Position counter and User outputs are cleared.

The Initialize command is used to create a logic Home position for the GS-C200 if the 9999999

steps are not enough for the specific application. This function is better performed by the force

command in the GS-C200S, for which it is also possible to insert this command into the program.

The Initialize command is of the immediate execution type for the GS-C200, while it results of the

delayed/immediate execution type for the GS-C200S and it occupies 2 memory locations.

jv **

The jump command, executed only by the GS-C200S, allows the user to move inside the program

and to repeat indefinitely a portion of the program itself.

The argument specifies the memory location to be reached and it ranges from 0 (that is the program

starting point) to 118.

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

jcv,y **

The conditional jump command, executed only by the GS-C200S module, allows the user to move

inside the program as a function of the logic state of the User inputs.

The argument specifies both the memory location to be reached (v), that must range between 0 and

118, and the User input condition to be matched (y) in order to execute the conditional jump.

The following example shows how powerful this command is:

jc0,40

↓

jc1,52

↓

jc2,74

↓

When the first command is encountered the module tests the status of the User input pins and if

their value is 0 a jump to the memory location 40 is executed. If the condition is not met the jump is

not executed and the following instruction is examined, and so on.

The conditional jump command is of the delayed execution type and it occupies 2 memory

locations.

K

The Kill command aborts the program execution.

The program can be restarted just by issuing the Execute instruction which will start the sequence

from the first program instruction and not from the interrupt point; it is therefore advisable to always

send a Home instruction after a Kill instruction in order to allow the system to start from a known

position.

The Kill command is of the immediate execution type.

GS-C200 / GS-C200S