Delta DVP-20PM

6 Basic Usage of Motion Instructions and G-codes
DVP-20PM Application Manual
6-15
 If G19 is used, and the postion of the X-axis does not change, helical
interpolation will be equivalent to circular interpolation.
Y-axis
Z-axis
End point
Start point
Center
point
(J, K)
Center
point
(J, K)
Start point
End point
CCW (Counterclockwise interpolation)
CW (Clockwise interpolation)
X-axis
Start point
Start point
Center
point
(J, K)
Center
point
(J, K)
End point
End point
X-axis
Z-axis
Y-axis
X=0
( x, y, z)
( y, z)
X=0
X=0
( x, y, z)
( y, z)
X=0
 16-bit devices and 32-bit devices can be used together.
 Principles of writing an instruction: (1) Users have to specify a target position,
and an arc center. They do not have to specify the speed of interpolation. (2) If
there is no vector from the present position of an axis to its target position, users
do not need to specify the target position of the axis. (3) If there is not vector
form the present position of an axis to its arc center, users do not need to specify
the arc center of the axis. The circular/helical instrctions listed below are
available.
 DVP20PM00 only supports 2-axis (the XY plane) circular interpolation, and
according to the programming rule, there are 18 operand combinations for
CW/CCW.
No. Motion instruction Combination of operands
1
X
P 1 I P 3
2
X
P 1 I P 3 F V
3
X
P 1 J P 4
4
X
P 1 J P 4 F V
5
X
P 1 I P 3 J P 4
6
X
P 1 I P 3 J P 4 F V
7
Y
P 2 I P 3
8
Y P 2 I P 3 F V
9
Y
P 2 J P 4
10
Y
P 2 J P 4 F V
11
Y P 2 I P 3 J P 4
12
Y
P 2 I P 3 J P 4 F V
13
X
P 1
Y
P 2 I P 3
14
X
P 1 Y P 2 I P 3 F V
15
X
P 1
Y
P 2 J P 4
16
X
P 1
Y
P 2 J P 4 F V
17
X
P 1 Y P 2 I P 3 J P 4
18
CW/CCW
X
P 1
Y
P 2 I P 3 J P 4 F V