GS-C200
GS-C200S
INTELLIGENT STEPPER MOTOR CONTROLLERS
June 1994
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DESCRIPTION
The GS-C200 and GS-C200S are powerful stepper
motor control modules that interface every power
sequencer/driver available on the market.
A sophisticated hardware and an easy to learn
programming language result in minimal develop-
ment and debugging time of motion control sys-
tems. The modules are supported by dedicated
software that includes both an on-screen editor and
a debugger that greatly improve the module ease
of use.
The instruction sets comprise respectively 25 (GS-
C200) and 29 (GS-C200S) different commands
FEATURES
Absolute and incremental positioning
Up to 999,999 step per move
Speed range to 10,000 steps/s
Ramp lenght to 999 steps
Single unregulated supply voltage
Index and velocity mode
Automatic and Home positioning
Loops and Delay execution
Conditional start and stop
Status feedback to the host
RS232 communication port
Point to point and Multipoint protocol
Closed loop operation
Counter preset (GS-C200S only)
Jump to (GS-C200S only)
Jump to on-condition (GS-C200S only)
Initialization during execution (GS-C200S only)
Auxiliary output voltages +5V,
12V
which can be executed either under host control or
in a stand alone environment. An on board EE-
PROM is used for program saving and retrieving.
The availability of three User inputs and three
programmable User outputs, each of which can be
tested or set under program control, assures to the
designer a high level of system power and flexibility.
ABSOLUTE MAXIMUM RATINGS
Symbol
Parameter
Value
Unit
Vs
DC Supply Voltage
42
V
Tstg
Storage Temperature Range
40 to + 85
C
Top
Operating Temperature Range
0 to + 50
C
Humidity (non condensing)
0 to 90
%
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ELECTRICAL CHARACTERISTICS (T
A
= 25C and V
s
=24V unless otherwise specified)
Symbol
Parameter
Min
Typ
Max
Unit
Vs
DC Supply Voltage
12
40
V
Is
Quiescent Supply Current
80
mA
Vi
Logic Input Voltage
(TTL compatible)
Low
High
2
0.8
5
V
V
Vo
Logic Output Voltage
(TTL compatible)
Low
High
2
0.8
5
V
V
tcpw
Clock Pulse Width
5
s
trpw
Reset Pulse Width (Internal)
500
s
COMMUNICATION PORT CHARACTERISTICS
SIGNAL LINES
3 (TxD, RxD, GND)
BAUD RATE RANGE
110 to 9600
FORMAT
1 Start Bit
7 Data Bit
2 Stop Bit
Odd parity
MOTION CHARACTERISTICS
SPEED RANGE
10 to 10000 steps
SPEED RESOLUTION
10 steps
RAMP LENGHT
1 to 999 steps
RAMP RESOLUTION
1 step
POSITIONINGRANGE(C200)
(C200S)
0 to 9999999
8388608 to + 8388607
SINGLE MOVEMENT RANGE
1 to 999999 steps
POSITIONING RESOLUTION
1 step
POSITIONINGREPEATIBILITY
+/ 0 step
PROGRAM STORAGE
CAPABILITY
119 bytes
STORAGE CAPACITY
MINIMUM NUMBER OF COMMANDS
30
MAXIMUM NUMBER OF COMMANDS
45
GS-C200 / GS-C200S
Figure 1. Block Diagram
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CONNECTION DIAGRAM AND MECHANICAL DATA
Dimensions in mm.
Bottom view
GS-C200 / GS-C200S
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PIN DESCRIPTION
Pin
Function
Description
1
SEL0
Protocol/address LSB select input
2
SEL1
Protocol/address SSB select input
3
SEL2
Protocol/address MSB select input
4
BR0
Baud rate LSB select input
5
BR1
Baud rate SSB select input
6
BR2
Baud rate MSB select input
7
CHS
Checksum enable input
8
GND
Ground
9
REC
Program autorecall input
10
Must be connected to pin 8
11
RXD
RS232 received data input
12
TXD
RS232 transmitted data output
13
TXPD
Transmitted data pull-down resistor
14
RDY
Status logic output
15
VSL
Unregulated 12V supply output (note 1)
16
+VSL
Unregulated +12V supply output (note 1)
17
Vs
Supply voltage input
18
Vs
Supply voltage input
19
GND
Ground
20
5V
5V Auxiliary output (note 2)
21
5V
5V Auxiliary output (note 2)
22
MOV
Motor moving logic output
23
RAMP
Motor ramping logic output
24
ENABLE
Stop enable logic input
25
Not connected
26
DIR
Direction selection logic output
27
RESET
Power driver Reset logic output
28
CLOCK
Step clock logic output
29
Not connected
30
HOME
Home position logic input
31
UO1
User 1 logic output
32
EOT
End of travel switch logic input
33
UO2
User 2 logic output
34
UI1
User 1 logic input
35
UO3
User 3 logic output
36
UI2
User 2 logic input
37
UI3
User 3 logic input
38
GND
Ground
Notes: 1 Maximum available current is 10mA
2 Maximum available current is 100mA
GS-C200 / GS-C200S
The various signals that characterize the GS-C, their function and the active level are described in detail
in the following:
Pin
Function
1 - 2 - 3
The SEL0 (pin1), SEL1 (pin2) and SEL2 (pin3) inputs are used to select the communication protocol and
the module address. They have an internal pull-up and when unconnected they are at the 1 logic level.
4 - 5 - 6
The BR0 (pin4), BR1 (pin5) and BR2 (pin6) inputs are used to select the Baud rate of the
communication port. They have an internal pull-up and when unconnected they are at the 1 logic level.
7
The CHS checksum generation conditioning input enables the user to include or exclude the checksum
character from the data exchange string. A "zero" logic level applied to this input disables the control and
the generation of the checksum character thus allowing the GS-C to be connected to a video terminal.
8
This pin is the common terminal for all logic signals and for the power supply return path.
9
The REC Recall Program Enable input pin, when brought to "zero", enables the automatic recall of the
program stored in the EEPROM and its immediate execution.
10
This pin is for testing purpose only and it must be grounded for normal operation.
11
The RxD input of the serial communication port is used by the module to receive commands from the
Host Computer. The input logic levels are compatible with the RS232 and V24 standards.
12
The TxD output of the serial communication port is used by the module to send data to the Host
Computer. The logic levels of this output are compatible with the RS232 and V24 standards.
13
The TxPD Transmitted data pull-down resistor pin must always be connected to the TxD output (pin 12)
when the Point-to-Point protocol is used. When the Multipoint protocol is selected, this pin must be left
open on all modules except the chain terminator unit, in order to avoid the TxD output overload.
14
The RDY hardware status output (open collector) signal pin is used as the controller status flag. RDY
assumes a "zero" logic level when a command or a program is in execution
15
12V unregulated output. A maximum of 10mA can be sinked from this pin.
16
+12V unregulated output. A maximum of 10mA can be sinked from this pin.
17 - 18
Module supply input. For correct operations a supply voltage ranging from 12 to 40 Volt is required.
19
See pin 8.
20 - 21
5 Volt regulated output, available either for the Sequencer-Driver logic section or for a custom interface
logic supply. The maximum current that can be sinked from this pin is 100mA.
22
The MOV Motor moving output becomes the logic level "one" when the GS-C is executing a movement.
This output can be used to program the phase current level when the motion is running at a level higher
than for the rest condition.
23
The RAMP Ramp in execution output is rised to the logic level "one" when the GS-C is executing an
acceleration or a deceleration ramp. This output can be used to program the phase current level when
the motion is ramping at a level higher than for the rest or slewing condition.
24
The ENABLE input pin allows the user to control the Step clock logic output to avoid the motor being
stepped if the previous step was not correctly executed. A "zero" logic level applied to this pin stops the
generation of the step pulses. This input can be used to stop the system when an emergency occurs, to
execute the motion according to externally generated timing, or to implement a closed loop control
system.
25, 29
Not connected.
26
The DIR Direction selection output is used to inform the Sequencer-Driver on the direction of rotation.
The logic level "one" determines a clockwise rotation, but of course the rotation depends on the motor
phases connection to the Sequencer-Driver.
27
The RESET Power driver Reset output is brought to the "zero" logic state for 400
s when the unit is
powered-on, or when the GS-C receives the "Initialize position counter" command. This output is
normally used to assure the correct start-up of the Sequencer-Driver or any other external custom logic.
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GS-C200 / GS-C200S
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