GS-C200 datasheet(13/31 Pages) STMICROELECTRONICS

13 / 31 page

Direct execution commands are immediately actu-

ated. They include: start and stop the program

execution, set the programming mode, check posi-

tion, check I/O, etc...

Delayed execution commands are run when re-

quested by the sequence currently stored in memo-

ry. By using a combination of these commands, it

is possible to perform very complex movements

including also the conditioning by external stimulus,

the iteration of a specific sequence for a defined

number of times.

Utility commands allow the GS-C modules to per-

form several additional functions such as the detec-

tion of the position, phase current optimization etc...

These commands, when properly used, speed up

the system debugging phase and they increase the

system efficiency.

Note: To easily learn how to program the GS-C and to minimize

development time, a P.C. based self explaining and interactive pro-

gram named F.A.S.T. (First Advanced Stepper motor Training pro-

gram) , able to communicate with the module by using the

Point-to-Point protocol, has been developed and it is available to the

end user. (See GS-C200PROG data sheet).

Command strings can be easily implemented also

by using a high level language such as BASIC, or

they can be generated by a dedicated microcontrol-

ler programmed in machine language. The dia-

logue speed is limited by the time required to

construct the command string and to analyze the

GS-C data, and it results noticeabily reduced when

a ”machine language” program is used.

The program, after testing, can be stored in the

EEPROM included in the GS-C module and then

loaded and automatically executed at power-up,

resulting in a low cost stand-alone system. It is also

possible to save the program as a DOS file on a

floppy disk for future retrieval, or to ease the field

update of the program itself.

Every command is identified by one or two charac-

ters and by a variable length argument (from 0 to 7

characters). If the Multipoint communication proto-

col is used, the address is specified by the number

that preceeds the command. All the commands

sent by the Host, as well as the data generated by

the GS-C, are terminated by a Carriage Return

(ASCII value = 0D).

In the following pages all the commands which may

be executed by the GS-C200 and the GS-C200S

are detailed, as well as their format. A practical

example of the command usage is also given. The

presence of an asterisk at the end of the command

denotes that the command is executable only by

the GC-C200, while two asterisk denote a com-

mand executed only by the GS-C200S.

Each command is shown in the same format used

during the programming phase, i.e. the command

identifier plus the argument:

Gsxxxxxxx

The argument can be single, double or missing

according to the various command types.

The various argument are identified by different

letters according to the particular type i.e.:

s = sign

+ or –

x = figure

1 to 3

y = figure

0 to 7

v = value

1 to 999 depending on command

p = position 1to 999999 incremental or the

absolute position

Apart the different number of executable com-

mands and functions, the GS-C200S and the GS-

C200 look very similar each other. The only

foundamental difference is the way they manage

the position counter.

The position counter is the reference ruler for the

microprocessor to move correctly from the actual

position to the targeted one, executing the proper

number of steps in the right direction.

The GS-C200 position counter allows a maximum

of ten million steps to be executed, and the home

position corresponds to the 0 count position. When

a movement is larger than the position ruler limits

an Error 5 is reported to the Host.

The GS-C200S position counter allows a maximum

total count of 2

24 step ranging from –8388608 to

+8388607 steps. When the maximum count is ex-

ceeded the counter wraps-around. For example if

the position counter is +8388606 and a +5 steps

movement is executed, the final position will be:

+8388606 Initial position

+8388607 After 1 step execution

–8388608 After 2 steps execution

–8388607 After 3 steps execution

–8388606 After 4 steps execution

–8388605 Final position

Of course no error is reported.

13/31

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