In the case of your TV, PCM means digital stereo (2 channels - L & R). Dolby Digital means that the TV will output up to DD 5.1 surround, and anything below that.
With your sound bar, you want to select the Dolby Digital output option on the TV.
PCM from a TV is almost always plain stereo or stereo with Dolby Surround (not to be confused with Dolby Digital). Most of the non-HD core TV channels us Dolby Surround because the signal carries a hidden centre and rear surround field that is ignored by basic stereo-only capable gear. Your soundbar would detect the hidden Dolby Surround and activate its Dolby ProLogic decoder (DPL or DPLII) and you might have the option of setting it to DPL II Movie/Music/Game.
Most of the HD TV channels carry audio that can be formatted in the TV to be Dolby Digital in up to 5.1 channels. This is exactly what happens when you select Dolby Digital. So long as the program being viewed has full 5.1 audio, then that's what you'll get. When a channels program changes such as when the adverts play, you'll find that the audio changes to Dolby Surround. That's perfectly normal. The adverts don't have full surround generally.
For those with Sky Q and the UHD subscription, the UHD sports channel and some of UHD Movie downloads carry the additional Dolby ATMOS channels as a hidden signal extra to DD5.1. This is called Dolby Digital Plus. With a Sky Q box connected directly to your sound bar, and when playing content that has the additional ATMOS channels (5.1.2 format), then the sound bar would detect DD+ and direct the extra sound to the upfiring speakers.