Delta DVP-20PM

6 Basic Usage of Motion Instructions and G-codes
Motion
instru
ction
number
Applicable model
20PM
04
05
CW/
CCW
X P 1
Y
P 2 Z P 3
R L F V
Clockwise circular/helical
interpolation
Counterclockwise circular/helical
interpolation
(radius)

Word device Double word device
K H D KK HH DD
P
1
     
P
2
 
   
P
3
 
   
L
 
   
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; L: Arc radius (If the angle subtended by an arc is less than
180°, the value of R is a positive value. If the angle subtended by an arc is
greater than 180°, the value of R is a negative value.); V: Speed of
circular/helical 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
.
 2-axis circular interpolation: DVP20PM00D only supports circular interpolation on
the XY plane. DVP20PM00M supports circular/helical interpolation on 3 planes
by G-code instructions: G17 (XY plane selection), G18 (ZX plane selection) or
G19 (YZ plane selection).
Center
point
Center
point
G03 (Counterclockwise interpolation)
G02 (Clockwise interpolation)
Center
point
Center
point
Start point
(present position)
+R
-R
+R
-R
Start point
(present position)
End point ( )PP
1, 2
End point ( )PP
1, 2
 Helical interpolation: Helical interpolation is applicable to DVP20PM00M. Three
axes which are perpendicular to one another are used. They move
synchronously. Helical interpolation is the extension of circular interpolation. If a
helical interpolation instruction is used, and the change of height is zero, circular
interpolation will be executed.
DVP-20PM Application Manual
6-19