Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 423
M41=0
ENDIF
See Also:
Addressing Modes, On-Line Commands (Talking t Turbo PMAC)
I-variables I1, I3, I6.
Program commands ADDRESS, COMMAND^{letter}
Writing A PLC Program
COMMANDx^{letter}
Function: Control-Character Command Issuance from Internal Program
Type: Motion program (PROG or ROT), PLC program
Syntax: COMMAND^{letter}
CMD^{letter}
COMMANDS^{letter}
CMDS^{letter}
COMMANDP^{letter}
CMDP^{letter}
COMMANDR^{letter}
CMDR^{letter}
COMMANDA^{letter}
CMDA^{letter}
where:
 {letter} is a letter character from A to Z (upper or lowercase) representing the corresponding
control character
This statement causes the motion program to issue a control-character command as if it came from the
host, except for the direction of the response. All control-character commands are global, so there are no
addressing concerns.
Any data or error response for the control-character command is directed to the port specified by the letter
at the end of COMMAND:
 COMMAND provides no response to any port
 COMMANDS provides a response to the main serial port
 COMMANDP provides a response to the parallel bus port
 COMMANDR provides a response to the DPRAM ASCII response buffer
 COMMANDA provides a response to the Option 9T auxiliary serial port
Note:
Do not put the up-arrow character and the letter in quotes (do not use
COMMANDx"^A") or Turbo PMAC will attempt to issue a command with the two
non-control characters, ^ and A in this example, instead of the control character.
Commands issued from within a program are placed in the command queue, to be parsed and acted upon
at the appropriate time by Turbo PMAC’ command interpreter, which operates in background, between
other background tasks. If issued from a motion program, the command will not be interpreted before the
next move or dwell command in the motion program is calculated. If issued from a PLC program, the
command will not be interpreted before the end of the current scan of the PLC. This delay can make the
action appear to execute out of sequence.
Because of the queuing of commands and the fact that command interpretation is a lower priority than
command issuing, it is possible to overflow the queue. If there is no room for a new command, program
execution is temporarily halted until the new command can be placed on the queue.