Delta DVP-20PM

6 Basic Usage of Motion Instructions and G-codes
DVP-20PM Application
Manual
6-50
Applicable model
20PM
G-code
G02
G03
X P 1
Y
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)

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
 Range of the parameters P
1
, P
2
, P
3
, P
4
, P
5
, and P
6
:
-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
, P
3
, P
4
,
P
5
, and P
6
: -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 circular/helical interpolation (V) has continuity. Please refer to the
additional remark below for more information.
 Please refer to the explanations of CW and CCW for more information about the
positioning process of a DVP-20PM series motion controller.
Additional
remark
 The setting of speed has continuity.
Example:
G02 X0.0 Y100.0 I0.0 J50.0 F100.0;
G02 X0.0 Y0.0 I0.0 J50.0;
 After the row with G02 is executed, the program will execute the next row. The
second row in the program will reach the target position automatically at the
speed F100.0 set in the first row.
Applicable model
20PM
G-code
G02
G03
X P 1 Y P 2 Z P 3
R L F V
Clockwise circular/helical
interpolation
Counterclockwise
circular/helical interpolation
(radius)

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
 Range of the parameters P
1
, P
2
, P
3
, and R: -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
, P
3
, and R:
-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.
 Please refer to the explanations of CW and CCW for more information about the
positioning process of a DVP-20PM series motion controller.