To get going for now, put a G04 P####
That will dwell for a specified amount of time in milliseconds for the P Value. Exp. P1500 is 1.5 seconds.
I don't have a plasma nor have I ran one before, so I don't know what the standard is for them to pierce; however, you can probably find the M Code that turns on the torch and add a dwell inside that M Code. This way you don't have to add to your g code, the controller can handle it.
Furthermore, you can add a DRO to the screen and call it "Pierce Time" and let the macro read what you put into that DRO. Set the DRO up as a System Parameter and just have the M Code look at the #VARS you put in the DRO.