Gilson 215 Robotics User Manual


 
C-3
Appendix C
GSIOC Commands
@ I Reads non-volatile memory (NV-RAM) at current address.
Returns “aaa=xxxx” where:
aaa - Value between 0 and 19 for word type data or
100 to 119 for floating type data.
xxxx - Data at the address.
Current address is incremented.
@aa[=xxxx] B Sets the value at NV-RAM address where:
aa - Value between 0 and 19 for word type data or
100 to 119 for floating type data.
xxxx - (Optional) Data at the address.
~n B Sets test mode depending on value assigned to n:
1 - XYZ test.
9 - Reset NV-RAM and initialize to defaults.
9 I Reads contact input event FIFO. Returns “Xtttttt” where:
X - State of the four contact inputs: 1 for closed, 0
for open. See table below.
tttttt - Time since the last buffered 9 command
XABCD
@ 0000
A 1000
B 0100
C 1100
D 0010
E 1010
F 0110
G 1110
H 0001
I 1001
J 0101
K 1101
L 0011
M 1011
N 0111
O 1111
P 1111
Whenever the status of a contact input changes, the state of
all contacts and the time since the last buffered 9 command
in the event FIFO is encountered.