Delta Electronics AH500, Manual

Page: 456 / 547

C h a p t e r 9 M u l t i a x i a l I n t e r p o l a t i o n
9 - 7
G-code Instruction code Operand Function
0001 G01
X P
1
Y P
2
Z P
3
A P
4
B P
5
C P
6
F V
Linear interpolation
(The distance remaining can be
considered.)
Device
K H F D DD W WW
P
1
     
P
2
     
P
3
     
P
4
     
P
5
     
P
6
     
V
     
Description:

P
1
: Target position of an x-axis; P
2
: Target position of a y-axis; P
3
: Target position of a z-axis;
P
4
: Target position of an A-axis; P
5
: Target position of a B-axis; P
6
: Target position of a C axis;
V : Speed of linear interpolation

If the value of P
1
/ P
2
/ P
3
is not a floating-point value, it must be in the range of -2,147,483,648 to
2,147,483,647, and the value of V must be in the range of 0 to 500,000. If the value of P
1
/ P
2
/ P
3
is a floating-point value, it must be in the range of-2,147,483.648 to 2,147,483.647, and the
value of
V must be in the range of 0 to 500.0.

If users specify a speed for G01, the speed of interpolation will be the speed specified. If no
speed is specified for the instruction, the speed of interpolation will be the speed specified for
G01/G02/G03 which precedes G01.

V : Maximum speed of interpolation

Users only need to specify one target position or more than one target position.

Operation
Maximum speed
Vel oc ity
Time
Time it t ake s f or t he a xis
s pec ified t o de ce le ra te
Time it t ake s f or t he a xis
s pec ified t o ac c elerat e
Start-up speed
Nu mbe r o f pu lse s ou tpu t

Users can set the time it takes for an axis specified to accelerate/decelerate and the
start-up speed of the axis by means of special data registers.

The time it takes for an axis specified to accelerate/decelerate is proportional to the
maximum speed of the axis.