Gilson Understanding GSIOC Commands for Robotics Systems

GSIOC Commands

Appendix C

GSIOC Commands

There are two kinds of commands that you can send over the GSIOC:

•Buffered commands send instructions to the liquid handler. These commands are executed one at a time.

•Immediate commands request status information from the Quad-Z 215. These commands are executed immediately, temporarily interrupting other commands in progress.

GSIOC Command List

In the command list on the following pages, the GSIOC command must be entered in the proper upper or lower case format. If a buffered command requires additional information, you’ll see italicized text next to the command. The description of the command identifies what you need to enter in place of the italicized parameter. Also note that if a parameter is optional, it appears within brackets, [ ].

			I	-	Immediate
			B	-	Buffered
Command	Type	Description
%	I	Identifies the selected slave device. Returns character
		string: “215QADVx.yz”, where x, y, and z represent
		software version.
$	I	Resets the Quad-Z 215. Returns “$” and resets the
		instrument to its power-up state which:
		•	clears any error state
		•	relaxes all axes
		•	opens contact closure inputs

C-2