Delta DVP-15MC Series - G51 (Round Path Transition)

Chapter 11 Motion Control Instructions
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11.6.4.10 G51 (Round path transition)
 Function: To change the transition mode into arc transition. The following transition modes are always
arc transition. G50/G52 can be used for the switch of transition modes in the execution process. The
terminal actuator will not reduce its speed between G codes and the transition curve is an arc. In this
mode, the speed of the first G code prevails as the entire motion speed and F can not be used for
changing the speed in the motion. VelOverride parameter of DMC_CartesianCoordinate instruction
can be set to control the speed of terminal actuator.
 Format: N_ G51 D_
 Parameter Explanation:
N_：The row number of G code in NC program
D_：Radius of the arc

Example 1
N0 G51 D40
N1 G1 X100 Y100
N2 G1 X300 Y100
100
0
300100
Y
X
4
0
40

Example 2
N0 G1 X100 Y100
N1 G51 D50
N2 G1 X200 Y100
N3 G1 X200 Y0
100
0
200100
Y
X
50
5
0