Reference Manual
PMAC 2 Software Reference
308 PMAC Program Command Specification
from disturbing the normal host communications protocol.
If PMAC variable I64 is set to 1, any response sent to the host as a result of an internal
COMMAND statement is preceded by a <CTRL-B> character, making it easier for the host
computer to tell that this is an unsolicited response.
Example
CMD^D would disable all PLC programs (equivalent to issuing a <CONTROL-D> from the host).
CMD^K would kill (disable) all motors on PMAC.
CMD^A would stop all programs and moves on PMAC, also closing any loops that were open.
See Also
I-variables I1, I6
On-line commands <CONTROL-A> to <CONTROL-Z>
Program command COMMAND”{command}”
D{data}
Function
Tool Data (D-Code)
Type
Motion program
Syntax
D{data}
where:
• {data} is a floating-point constant or expression in the range 0.000 to 999.999,
specifying the program number and the line label to jump to
Remarks
PMAC interprets this statement as a CALL 10n3.({data’}*1000) command,
where n is the hundreds’ digit of {data}, and {data’} is the value of {data}
without the hundred’s digit (modulo 100 in mathematical terms). That is, this statement
causes a jump (with return) to motion program 10n3, and the specified line label.
(Programs 10n3 are usually used to implement the tool data operations as the system
designer sees fit.) The value of {data’} can be from 0.0 to 99.999, corresponding to
line labels N0 to N99999.
If the specified program and/or line label do not exist, the D command is ignored, and the
program continues as if it were not there. No error is generated.
This structure permits the implementation of customizable D-code routines for machine-
tool style applications by the writing of subroutines in motion programs 10n3.
Arguments can be passed to these subroutines by following the D-code with one or more
sets of {letter}{data}, as in CALL and READ statements.
Most users will have D-codes only in the range 0-99, which permits the use of PROG
1003 only, and allows {data’} to equal {data} for direct specification of the line
label.
Example
D01 jumps to N1000 of PROG 1003
D12 jumps to N12000 of PROG 1003
D115 jumps to N15000 of PROG 1013
See Also
Program commands CALL{data}, G{data}, M{data}, T{data}, RETURN
DELAY{data}
Function
Delay for Specified Time
Type
Motion program
Syntax
DELAY{data}
DLY{data}
where:
• {data} is a floating-point constant or expression, specifying the delay time in