Reference Manual

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 380

No other program buffers (PLC, fixed or rotary motion) may be open when this command is sent (Turbo

PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command with a

CLOSE command to make sure no other buffers have been left open.

No motion programs may be running in any coordinate system when this command is sent (Turbo PMAC

will report ERR001 if I6=1 or 3). As long as a forward kinematic program buffer is open, no motion

program may be run in any coordinate system (Turbo PMAC will report ERR015 if I6=1 or 3).

Inverse kinematic programs can be protected by password. If there is a password for the Turbo PMAC,

and the password has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6

is 1 or 3).

See Also:

Kinematic Calculations

I-variable Isx50

On-line commands LIST FORWARD, LIST INVERSE, OPEN FORWARD

OPEN PLC

Function: Open a PLC program buffer for entry

Scope: Port specific

Syntax: OPEN PLC {constant}

where:

 {constant} is an integer from 0 to 31 representing the PLC program to be opened

This command causes Turbo PMAC to open the specified PLC program buffer for entry and editing on

this port. This permits subsequent program lines that are valid for a PLC to be entered into this buffer

from this port only. When entry of the program is finished, the CLOSE command should be sent on this

port to prevent further lines from being put in the buffer.

No other program buffers (PLC, fixed or rotary motion) may be open when this command is sent (Turbo

PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command with a

CLOSE or CLOSE ALL command to make sure no other buffers have been left open.

PLCs 0-15 can be protected by password. If the PLC is protected by password, and the proper password

has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6=1 or 3).

Opening a PLC program buffer automatically disables that PLC program. Other PLC programs and

motion programs will keep executing. Closing the PLC program buffer after entry does not re-enable the

program. To re-enable the program, the ENABLE PLC command must be used, or Turbo PMAC must be

reset (with a saved value of I5 permitting this PLC program to execute).

Example:

CLOSE ; Make sure other buffers are closed

DELETE GATHER ; Make sure memory is free

OPEN PLC 7 ; Open buffer for entry, disabling program

CLEAR ; Erase existing contents

IF (M11=1) ; Enter new version of program...

CLOSE ; Close buffer at end of program

ENABLE PLC 7 ; Re-enable program