6 Basic Usage of Motion Instructions and G-codes
Motion
instru
ction
number
Applicable model
20PM
02
03
CW/CCW
X P
1
P
2
Z P
3
I P
4
J P
5
K P
6
F V
Clockwise circular/helical
interpolation
Counterclockwise
circular/helical interpolation
(arc center)
Word device Double word device
K H D KK HH DD
P
1
P
2
P
3
P
4
P
5
P
6
V
Note: The instruction supports devices.
The devices supported can be
modified by V devices can Z
devices. 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; P
4
: Vector from the present position of the X-axis to an arc
center; P
5
: Vector from the present position of the Y-axis to an arc center; P
6
:
Vector from the present position of the Z-axis to an arc center; V: Speed of
circular/helical interpolation
P
4
, P
5
and P
6
: Vectors from the present positions of an x-axis, a y-axis, and a
z-axis to an arc center
V
MAX
=500 kHz
Range of parameters P
1
, P
2
, P
3
, P
4
, P
5
, P
6
: (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
DEC
V
MAX
Time
V
BIAS
Start
Operation speed
Target position
DVP-20PM Application Manual
6-13
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