Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
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1
Explanation of G Code Formats

G code Unit
The position unit of axis X_, Y_, Z_, A_, B_, C_, P_, Q_ in G code is consistent with that of axis
parameter. Please set the same physical unit for each axis.
For example, the unit is set as mm. And thus G0 X100.5 Y300 Z30.6 indicates that axis X, Y, Z
move to the place of 100.5mm, 300mm, and 30.6mm respectively.

G code parameter omitting
1. One or more items among X_, Y_, Z_, A_, B_, C_, P_, Q_ in G0 instruction can be omitted.
2. One or more items among X_, Y_, Z_, A_, B_, C_, P_, Q_, E_, E_, F_ in G1 instruction can
be omitted.
3. One or more items among X_, Y_, Z_, A_, B_, C_, P_, Q_, E_, E_, F_ in G2 and G3
instruction can be omitted except I_, J_, K_, R_.
4. The parameters on the right of G4, G51 instruction can not be omitted.
5. D_ can be omitted for M code.
6. Only one G code can be written in the same row in CNC editing area in the CANopen
Builder software.

Special function of G code

Using %ML register to represent key values in G code
X_, Y_, Z_, A_, B_, C_, P_, Q_, E_, F_, I_, J_, K_, R_,T_,E_, F_ all can use %ML register.
“%” of “%ML” is deleted and “$” is added to the right and left of “ML”. T is of ULINT type
and others are of LREAL type.
Example: N0 G0 X$ML0$ Y$ML1$ Z$ML2$
（
%ML0=100.0
，
%ML1=200.0
，
%ML2=300.0
）
Explanation: After the G code is executed, axis X moves to 100 units; axis Y moves to
200 units and axis Z moves to 300 units.

G code transition
G code transition mode can be changed via G50/G51/G52. See the transition modes which are
usable to G0/G1/G2/G3 as follows.
G50
(Precise stop)
G51
(Round path transition)
G52
(Smooth path transition)
G0 Usable
The transition mode is
invalid and the motion
effect is the same as
G50.
The transition mode is invalid and the
motion effect is the same as G50.
G1 Usable Usable Usable
G2 Usable Usable
The transition mode can be used when the
straight line or circular arc and circular arc
are tangent or are close to the point of
tangency.
G3 Usable Usable
The transition mode can be used when the
straight line or circular arc and circular arc
are tangent or are close to the point of
tangency.

Defaults
1. Relative, absolute default : The default mode is absolute mode and could be set via G90/G91.
2. Plane default: The default plane is XY plane and could be switched via G17/G18/G19.
3. Transition mode: The default plane is an accurate stop mode and could be switched via
G50/G51/G52.
4. G0-related defaults: The velocity, acceleration, deceleration and jerk are the velocity,
acceleration, deceleration and jerk of each axis in the axis group parameters. They can be set via
DMC_SetG0Para instruction.