Delta Tau GEO BRICK LV Guide D’Exploitation
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.
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).
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).
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
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.
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.
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).
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).
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
See Also:
PLC Program Features
I-variable I5
On-line commands CLOSE, DELETE GATHER, ENABLE PLC
PLC Program Features
I-variable I5
On-line commands CLOSE, DELETE GATHER, ENABLE PLC