Delta DVP-20PM

6 Basic Usage of Motion Instructions and G-codes
Motion
instruction
number
Applicable model
20PM
01
LIN
X P 1
Y
P 2 Z P 3 F V
Linear interpolation
(The remaining distance can
be considered.)

Word device Double word device
K H D KK HH DD
P
1
 
   
P
2
 
   
P
3
 
   
F
 
   
Note: The instruction supports devices.
The devices supported can be
modified by V devices can Z
devices. Please refer to the
specifications for the DVP-20PM
series motion controller used for
more information about the device
ranges available. The instruction can
be followed by an M-code
instruction.
Explanation
 P
1
: Target position of the X-axis; P
2
: Target position of the Y-axis; P
3
: Target
position of the Z-axis; V: Speed of linear interpolation
 Maximum V = V
MAX
.
 Range of parameters: (16-bit) K=-32,768~32,767; H=0~FFFF; D=0~9,999;
(32-bit) KK=-2,147,483,648~2,147,483,647; HH=0~FFFFFFFF; DD=0~9,998
 Acceleration/deceleration time and bias speed can be set in special data
registers.
 Acceleration/deceleration time increases or decreases in proportional to the
setting of V
MAX
.
 Timing diagram
Speed
T ACC
T
DEC
V MAX
Time
V BIAS
Start
Interpolation speed
Target position
 The interpolation speed can be monitored by special data registers:
D1850~D1851 are for the X-axis. D1930~D1931 are for the Y-axis.
D2010~D2011 are for the Z-axis.
 D1865 is for setting a stop mode with the consideration on the remaining
distance. (Please refer to the additional remark below for more information.)
 16-bit devices and 32-bit devices can be used together.
 Target position is required, but moving speed could be left out.
DVP-20PM Application
Manual
6-10