7.2.1 Configuring the Data Recorder .................................................................... 74
7.2.2 Starting the Recording ................................................................................. 76
7.2.3 Reading Recorded Data ............................................................................... 76
7.3
Digital Output Signals ............................................................................................... 76
7.3.1 Commands for Digital Outputs .................................................................... 76
7.3.2 Configuring the "Position Distance" Trigger Mode ..................................... 78
7.3.3 Configuring the "On Target" Trigger Mode ................................................. 80
7.3.4 Configuring the "Motion Error" Trigger Mode ............................................ 80
7.3.5 Configuring the "In Motion" Trigger Mode ................................................. 80
7.3.6 Configuring the "Po Offset" Trigger Mode ...................................... 81
7.3.7 Configuring the "Single Position" Trigger Mode .......................................... 82
7.3.8 Setting Signal Polarity .................................................................................. 83
7.4
Digital Input Signals .................................................................................................. 84
7.4.1 Commands and Parameters for Digital Inputs ............................................ 84
7.4.2 Using Digital Input Signals in Macros .......................................................... 86
7.4.3 Using Digital Input Signals as Switch Signals ............................................... 86
7.5
Analog Input Signals ................................................................................................. 88
7.5.1 Commands for Analog Inputs ...................................................................... 88
7.5.2 Using Analog Input Signals in Macros .......................................................... 89
7.6
Joystick Control ........................................................................................................ 89
7.6.1 How Joystick Control Works ........................................................................ 89
7.6.2 Commands and Parameters for Joystick Control ........................................ 90
7.6.3 Controlling Axis Motion ............................................................................... 91
7.6.4 Calibrating the Joystick ................................................................................ 92
7.6.5 Joysticks Available ....................................................................................... 95
7.7
Controller Macros ..................................................................................................... 97
7.7.1 Overview: Macro Functionality and Example Macros ................................. 97
7.7.2 Commands and Parameters for Macros ...................................................... 98
7.7.3 Working with Macros .................................................................................. 99
7.7.4 Making Backups and Loading Controller Macros ...................................... 107
7.7.5 Macro Example: Synchronization of Two Controllers ............................... 108
7.7.6 Macro Example: Stopping Motion by Pushbutton .................................... 109
7.7.7 Macro Example: Joystick Control with Storage of Positions ..................... 110
7.7.8 Macro Example: Joystick Control with Change in Velocity ........................ 113
8
GCS Commands
115
8.1
Notation .................................................................................................................. 115
8.2
GCS Syntax for Syntax Version 2.0 ......................................................................... 115
8.3
Target and Sender Address .................................................................................... 117
8.4
Variables ................................................................................................................. 118
8.5
Command Overview ............................................................................................... 120
8.6
Command Descriptions for GCS 2.0 ....................................................................... 126
8.7
Error Codes ............................................................................................................. 207