Manual

6-4 Escape Sequences
2 The System clears the Emergency Stopped state and turns off the STOP light, thus
enabling subsequent motor motion. See the STOP button in Chapter 4. The optional Step
Verify circuit is reset. The "
ESC.!2:" command is ignored if it is executed while the System
is in neither the Emergency Stopped state nor the Motor Slipped state. It is also ignored if it
is executed while the Stop switch is still actuated. The FP command may be useful here;
see the example under CS.
For more information about Step Verify see the CS command in Chapter 3 or personality
parameters 49, 50, and 51 in Chapter 7.
The ACL "CS" command has the same effect as "
ESC.!2:" except that CS is not executed
until all preceding ACL commands in the input buffer have been processed.
Note that all motion commands are ignored while the System is Stopped. If the input buffer
contains any such commands, they will be quickly processed. However, to remove any
uncertainty, the
ESC.K command can be used before "ESC.!2:" to clear out any ACL
commands remaining in the buffer. If the host does not either send ESC.K or wait (via
ESC.B, ESC.L, or ESC.O) for the buffer to empty, the remaining commands will continue to
execute after the "ESC.!2:" is received. This is undesirable because the Home reference is
lost when an Emergency Stop occurs.
3 The System immediately enters the Paused state as though the PAUSE button had been
pressed. The currently- executing vector or arc, if any, is allowed to finish. See the PAUSE
button in Chapter 4. If the "
ESC.!3:" command is executed while the System is already in
the Paused state, the command has no effect.
The ACL "PS" command has the same effect as "
ESC.!3:" except that PS is not executed
until all preceding ACL commands in the input buffer have been processed.
Note that "
ESC.!3:" may not execute immediately. The host should verify with ESC.O before
assuming that the "ESC.!3:" has taken effect.
The FP command (see Chapter 3) does not disable "
ESC.!3:" even when the PAUSE button
is disabled.
4 The System clears the Paused state and turns off the Paused light, thus enabling
subsequent ACL processing. This is as though the PAUSE button had been pressed a
second time. If "
ESC.!4:" is received while the System is not in the Paused state, the
command has no effect.
There is no ACL command to perform the function of "
ESC.!4:", because such a command
would itself be inhibited by the Paused state.
Note that "
ESC.!4:" may not execute immediately. The host should verify with ESC.O before
assuming that the "
ESC.!4:" has taken effect.
5 The System aborts the downloading or execution of any Download Sequence at the end of
the current command and resumes processing ACL commands from the input buffer. If no
sequence is being downloaded or executed when this command is received then the only
effect is to reestablish non-volatile memory internal consistency; see
ESC.O and
Appendix A. See also the AD command in Chapter 3.