Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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“maximum velocity”, “maximum acceleration” and “maximum deceleration” among axis group
parameters will prevail.
4. In absolute mode for G90, the terminal point of circular arc is the absolute coordinate value
regarding 0 unit in their own directions as reference. In relative mode for G91, the terminal point
of circular arc is the incremental value relative to the start point of circular arc.
5. No matter whether in the absolute mode or in relative mode, the coordinates of the center of a
circle I_J_(I_K_/J_K_) are always relative coordinates with the start point as reference
6. T is the number of full circles; the path is a length of arc when T=0; it is the circle number of full
circles plus the arc length when T is a constant.
7. Different from format 1, format 2 decides a circular arc via the start point, terminal point and
radius. If the input value on the right of R parameter is a positive number (R+), the circular arc is
the minor arc less than 180 degrees; if the input value on the right of R parameter is a negative
number (R-), the circular arc is the major arc more than 180 degrees.
8. The following full lines are the motion path when G2 selects R+ and R- and the arrows on the
arc indicate the motion direction.
R-
R+
Start point
Clockwise motion
Terminal point

The coordinate relations on different planes:
a) pla ne ci rcul ar a rc XY a) XZ p lan e circula r arc a ) YZ p lane circula r arc
X X Y
I
I J
J K K
R R R
O O O
Y Z Z
Star t po int Start po int St art p oin t
Terminal
poi nt
Ter min al
p oint
Te rmi nal
p oin t
Cente r of a circle Ce nter of a circle Cente r of a circle
b c a
Please note the relations among the coordinate planes and I, J, K. Only two of I, J and K exist in
one circular arc instruction. Which two exist depends on corresponding plane, e.g. on XY plane,
only I and J show up.
The coordinate plane can be set by G17, G18 and G19. The circular and helical motion paths for G2
on different coordinate planes are shown as below.