Delta DVP-PM Series User Manual

6 Motion Instructions & G-Code Instructions
DVP-PM Application Manual
6-18
MON Mnemonic Operands Function
04
05
CW / CCW
X P 1 Y P 2 Z P 3
R L F V
Clockwise Arc / Clockwise Helical
/ Counterclockwise Arc /
Counterclockwise Helical
Movement (radius)
Controllers
20PM -
Bit Devices Double-Word Devices Notes
Type
K H D KK HH DD
P
1
* * * * * *
P
2
* * * * * *
P
3
* * * * * *
L * * * * * *
V * * * * * *
 CW/CCW instruction supports V, Z index register
modification on the devices.
 You can place an M-Code instruction after
CW/CCW.
Operands:
P
1
: Target position on X axis P
2
: Target position on Y axis P
3
: Target position on Z axis
L: Radius of arc / helix (R = ”+“ when radian < 180°; R = “-” when radian > 180°)
V: Arc/helical interpolation speed
Explanations:
1. Maximum V = V
MAX
.
2. 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.
3. Acceleration/deceleration time and bias speed can be set up in special D.
4. Acceleration/deceleration time increases or decreases in proportional to the setting of V
MAX
.
5. 2-axis arc interpolation: 20D model only supports arc interpolation on X-Y plane. 20M model supports arc /
helical interpolation on 3 planes by G-Code instructions: G17 (X-Y plane), G18 (X-Z plane) or G19 (Y-Z plane).
See the figure below for X-Y arc interpolation
+R
-R
+R
-R
Center
Center
Center
Center
Target point
(P , P )
12
Target point (P , P )
12
Starting point
(current position)
Starting point
(current position)
CCW (Counterclockwise) CW (Clockwise)
6. 3-axis helical interpolation: Applicable to 20M model only. 3-axis helical interpolation is an advanced function to
2-axis arc interpolation. When a 3
rd
axis is added to arc interpolation, a helical interpolation can be performed, i.e.
if the vertical value on Z axis is set to 0, the helical interpolation will simply perform 2-axis arc interpolation
7. The figure below illustrates the moving paths of the helical interpolation with and without the value on Z-axis.
(G17 mode, X-Y plane).

Delta DVP-PM Series Specifications

General

Brand	Delta
Model	DVP-PM Series
Category	Controller
Language	English