Delta DVP-10PM, Руководство по применению

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6
Motion Instructions & G-Code Instructions
DVP-PM Application Manual
6-44
6.5 G-Code Instructions
Mnemonic Operands Function
G-Code
G00
X P
1
Y P
2
Z P
3
3-axis High-speed Positioning
Controllers
20PM -
Operands:
P
1
: Target position on X axis P
2
: Target position on Y axis P
3
: Target position on Z axis (built-in 3
rd
axis)
Explanations:
1. For 20D model, the target position on Z axis ( P
3
) is operated by the built-in 3
rd
axis control. Please refer to p6-46.
2. Range of parameters: -2,147,483,648 ~ 2,147,483,647 (without decimal point); -2,147,483.648 ~ 2,147,483.647
(with decimal point)
3. The operand parameters for 20M model can also be 16-bit register (D) or 32-bit register (DD).
4. For relevant special registers, see Remarks of MON 00 DRV.
5. The moving speed of G00 instruction is fixed at maximum speed V
MAX
.
6. The settings of position have continuity. See Remarks.
7. Acceleration/deceleration time and bias speed can be set up in special D.
8. Acceleration/deceleration time and bias speed increase or decrease in proportional to the setting of V
MAX
.
9. Timing diagram:
Speed
Moving at V
M AX
Bias speed
Time
Deceleration
time
Acceleration
time
Number of
output pulses
10. 20D model does not support 3-axis positioning control. 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 positioning in X-Y axis and
independent high-speed positioning for Z axis. For the safety of the mechanical operation, when G00 instruction
is executed, Z-axis high-speed positioning will be executed first before the X-Y-axis high-speed positioning. That
is to say, when DVP-PM is executing G00 instruction with X-Z, Y-Z, X-Y-Z combinations, the program will
automatically be divided as:
G00 Z P
3
(A)
G00 X P
1
Y P
2
(B)
See Remarks for more explanations on row (A) and (B)
Remarks:
1. The settings of position have continuity, for example:
G00 X500.0 Y500.0 Z500.0;
X1000.0 Y1000.0 Z1000.0;
After the row with G00 instruction is executed, the program will execute the next row. The second row of the