Delta Tau GEO BRICK LV Guide D’Exploitation
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification
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See Also:
Program commands CALL{data}, G{data}, M{data}, T{data}, RETURN
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 milliseconds
This command causes Turbo PMAC to keep the command positions of all axes in the coordinate system
constant (no movement) for the time specified in {data}.
constant (no movement) for the time specified in {data}.
There are three differences between DELAY and DWELL. First, if DELAY comes after a blended move,
the TA deceleration time from the move occurs within the Delay time, not before it. Second, the actual
time for Delay does varies with a changing time base (current % value, from whatever source), whereas
DWELL always uses the fixed time base (%100). Third, Turbo PMAC precomputes upcoming moves
(and the lines preceding them) during a DELAY, but it does not do so during a DWELL.
the TA deceleration time from the move occurs within the Delay time, not before it. Second, the actual
time for Delay does varies with a changing time base (current % value, from whatever source), whereas
DWELL always uses the fixed time base (%100). Third, Turbo PMAC precomputes upcoming moves
(and the lines preceding them) during a DELAY, but it does not do so during a DWELL.
A DELAY command is equivalent to a zero-distance move of the time specified in milliseconds. As for a
move, if the specified Delay time is less than the acceleration time currently in force (TA or 2*TS), the
delay will be for the acceleration time, not the specified Delay time.
move, if the specified Delay time is less than the acceleration time currently in force (TA or 2*TS), the
delay will be for the acceleration time, not the specified Delay time.
Examples:
DELAY750
DELAY(Q1+100)
DELAY(Q1+100)
See Also:
Time-Base Control (Synchronizing Turbo PMAC to External Events)
I-variables I10, Isx87, Isx88
On-line command %{constant}
Program commands DWELL, TA, TS
Time-Base Control (Synchronizing Turbo PMAC to External Events)
I-variables I10, Isx87, Isx88
On-line command %{constant}
Program commands DWELL, TA, TS
DISABLE PLC {constant}[,{constant}...]
Function:
Disable PLC Programs
Type:
Motion program (PROG or ROT), PLC program
Syntax:
DISABLE PLC {constant}[,{constant}...]
DISABLE PLC {constant}[..{constant}]
DIS PLC {constant}[,{constant}...]
DIS PLC {constant}[..{constant}]
where:
each {constant} is an integer from 0 to 31 representing the PLC number
This command causes Turbo PMAC to disable (stop executing) the specified uncompiled PLC program
or programs. Execution can subsequently be resumed at the top of the program with the ENABLE PLC
command. To restart execution at the stopped point, execution should be stopped with the PAUSE PLC
command and restarted with the RESUME PLC command
or programs. Execution can subsequently be resumed at the top of the program with the ENABLE PLC
command. To restart execution at the stopped point, execution should be stopped with the PAUSE PLC
command and restarted with the RESUME PLC command
Execution of a PLC program can only be disabled at the end of a scan, which is either the end of the
program, or after executing an ENDWHILE statement in the program. (A PLC program can be paused in
the middle of a scan, however.)
program, or after executing an ENDWHILE statement in the program. (A PLC program can be paused in
the middle of a scan, however.)
PLC programs are specified by number, and may be specified in a command singularly, in a list
(separated by commas), or in a range of consecutively numbered programs.
(separated by commas), or in a range of consecutively numbered programs.