Delta DVP-20PM

6 Basic Usage of Motion Instructions and G-codes
Applicable model
20PM
G-code
G01
X P 1 Y P 2 Z P 3 F V
Linear interpolation
(three axes)
(The remaining distance can
be considered.)

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
 For DVP20PM00D, the target position of the Z-axis (P
3
) is controlled by the
built-in third axis. Please refer to page 6-53 for more information.
 Range of the parameters P
1
, P
2
, and P
3
: -2,147,483,648~2,147,483,647 (without
a decimal point); range of the parameter V: 0~500,000 (without a decimal point);
range of the parameters P
1
, P
2
, and P
3
: -2,147,483.648~2,147,483.647 (with a
decimal point); range of the parameter V: 0~500.0 (with a decimal point)
 The operand parameters for DVP20PM00M can also be 16-bit registers or 32-bit
registers.
 The speed of linear interpolation (V) has continuity. Please refer to the additional
remark below for more information.
 Please refer to the explanation of LIN for more information about the positioning
process of DVP20PM00M.
 DVP20PM00D does not support three-axis synchronous interpolation. For third
axis control, a DVP-01PU series single-axis positioning module is required.
Therefore, users have to design two-axis high-speed interpolation in the X-axis
and the Y-axis and independent high-speed positioning for the Z-axis. For the
safety of mechanical operation, if G01 is executed, Z-axis high-speed movement
will be executed first before the X-axis/Y-axis interpolation. That is to say, when a
DVP-20PM series motion controller executes G01 with X-Z, Y-Z, and X-Y-Z
combinations, the program will automatically be divided.
G01 ZP
3
FV (A)
G01 X P
1
Y P
2
FV (B)
Please refer to page 6-53 for more information about (A) and (B).
Additional
remark
 The setting of speed has continuity.
Example:
G01 X100 Y100 Z400 F200;
X200 Y200;
After the row with G01 is executed, the program will execute the next row. The
second row in the program will reach the target position automatically at the
speed F200 set in the first row.
 DVP20PM00D: If G01 adopts the target position of the Z-axis (built-in third axis),
the program required will be like the one shown below.
G01 X1000 Y1000 Z100 F200;
The program will be compiled.
G01 Z100 F200;…(A)
G01 X1000 Y1000 F200; …(B)
(A) is first executed, and at this time the operation fast moves to the position
K100 on the Z-axis. (B) is next executed and the operation moves to the target
position (1000, 1000) at the speed of K200.
DVP-20PM Application
Manual
6-48