Manual

3-14 Detailed Descriptions of ACL Commands
<id> is the identifying number of the Download Sequence to be defined; it must be an
integer in the range 0 through 255, and it identifies which Download Sequence is to be
created. <id> is optional; if omitted it defaults to zero (i.e. Download Sequence 0 will be
defined). If <id> is outside the range 0 through 255 an error is logged and Downloading
mode is not entered.
Any existing Download Sequence stored under the specified <id> number is erased when
the BD command is executed. Thus it is not necessary to erase an old sequence before
sending a new one.
The Downloading mode is canceled, and the Download Sequence is delimited, by executing
an ED command or sending
ESC.!5:. After the Downloading mode has been canceled all
ACL commands are executed normally as soon as they are received. However, if you reset
or turn off the power without sending ED or
ESC.!5: then download memory is left in a
corrupt state and the Automove System will detect this at the next power up. (See
Appendix A Power Up Actions.) You can usually fix this by simply sending an ED, then
cycling the power again.
If a second BD command is sent without sending an ED for the first Download Sequence,
the first sequence is delimited (i.e. terminated) and the second one is begun.
If the IN command is sent during Downloading mode it does not cancel Downloading mode
but instead is stored as part of the Download Sequence.
Invoking
After it has been stored via BD...ED the Download Sequence can be invoked, or executed,
by the XD ("Execute Download Sequence") command. When a Download Sequence is
invoked the stored ACL commands are executed as though they had been received through
the RS-232C port. Download Sequences can call each other via XD up to a maximum
nesting depth of 12 sequences.
Several other commands can be used to invoke Download Sequences. They are: XI
("Execute If"), XU ("Execute Until"), and XW ("Execute While").
The first ten sequences, 0 through 9, can be invoked from the front panel. Download
Sequence 0 is invoked by pressing the PAUSE button while holding the FAST button
depressed; sequence 1 is invoked by pressing TEACH while holding the FAST button. (The
FAST button is the unlabeled button in the center of the four Arrow buttons.) Any sequence
from 0 through 9 can be invoked by setting the Program Select thumbwheel switch to the
desired i.d., then pressing the GO button. Download sequences can also be invoked via the
Digital Inputs -- see personality parameters 36 through 38; also see Chapter 8 Using the
Digital Outputs and Inputs.