Delta DVP-PM Series User Manual

6 Motion Instructions and G-Code Instructions
DVP-PM Application Manual
6-47
Mnemonic Operands Function
G-Code
G01
X
P 1 Y P 2
Z P 3 F V
3-axis Linear Interpolation
(considering remaining distance)
Controllers
20PM -
Operands:
P
1
: Target position on X axis P
2
: Target position on Y axis P
3
: Target position on Z axis
V: Speed for linear interpolation
Explanations:
1. For 20D model, the target position on Z axis (P
3
) is controlled by the built-in 3
rd
axis. Please refer to p6-49.
2. Range of P
1
, P
2
, P
3
: -2,147,483,648 ~ 2,147,483,647 (without decimal point); -2,147,483.648 ~ 2,147,483.647
(with decimal point)
3. Range of V: 0 ~ 500,000 (without decimal point); 0 ~ 500.0 (with decimal point)
4. The operand parameters for 20M model can also be 16-bit register (D) and 32-bit register (DD).
5. The speed for linear interpolation (V) has continuity. See Remarks.
6. For positioning process, see explanations of MON 01 LIN instruction.
7. 20D model does not support 3-axis synchronous interpolation. For 3
rd
axis control, an additional single-axis
positioning module DVP-01PU is required. Therefore, you have to design a 2-axis high-speed interpolation in
X-Y axis and independent high-speed positioning for Z axis. For the safety of the mechanical operation, when
G01 instruction is executed, Z-axis movement will be executed first before the X-Y-axis interpolation. That is to
say, when DVP-PM is executing G01 instruction with X-Z, Y-Z, X-Y-Z combinations, the program will
automatically be divided as:
G01 Z P
3
FV (A)
G01 X P
1
YP
2
FV (B)
Please refer to p6-49 for more explanations on row (A) and (B)
Remarks:
1. The settings of speed have continuity, for example:
G01 X100 Y100 Z400 F200;
X200 Y200;
After the row with G01 instruction is executed, the program will execute the next row. The second row of the
program will reach the target position automatically by speed F200 set in the first row.
2. For 20D model, when G01 adopts Z-axis target position (built-in 3
rd
axis control) as:
G01 X1000 Y1000 Z100 F200;
The instruction will automatically be compiled as:
G01 Z100 F200; ... (A)
G01 X1000 Y1000 F200; ... (B)
(A) is first executed, and at this time the operation on Z-axis fast moves to target position K100 at speed K200.
(B) is next executed and the operation on X-Y-axis moves to target position (1000, 1000) at speed K200.

Delta DVP-PM Series Specifications

General

Brand	Delta
Model	DVP-PM Series
Category	Controller
Language	English