GCODES FOR X CONVEYOR BOARD¶
Detect Conveyor COM Port¶
To check if the connected COM port is for the X Conveyor
, send the command IsXConveyor
. If the COM port is connected to the conveyor, it will respond with YesXConveyor
.
Example¶
IsXConveyor
>>> YesXConveyor
M310 - Set Motion Mode¶
Description¶
Set the motion mode of the conveyor belt. After selecting the motion mode, the position of the conveyor will be reset to 0.
Usage¶
M310 [<value>]
Parameter¶
[value] = 0
: Output Mode (Stepper output pins will be used as normal digital outputs).[value] = 1
: Position Mode (Position of the conveyor will be controlled by commands sent to the serial port).[value] = 2
: Velocity Mode (Velocity of the conveyor will be controlled by commands sent to the serial port).[value] = 3
: Manual Mode (Velocity of the conveyor will be controlled by buttons).
Example¶
M310 1 ;change control mode to Position Mode
M311 - Set Speed In Velocity Mode¶
Description¶
Set the speed of the conveyor belt when it is in velocity mode. The speed will be maintained exactly as set. A positive value moves the conveyor in one direction, and a negative value moves it in the opposite direction.
Usage¶
M311 [<value>]
Parameter¶
[value]
: Conveyor speed in mm/s.
Example¶
M311 200 ;set speed to 200 mm/s
M311 -200 ;set speed to 200 mm/s in the opposite direction
M312 - Set Position¶
Description¶
Move the conveyor to a specified position. If you want to reset the position, you can send ‘M310 1’ again to reset the current position to 0.
Usage¶
M312 [<value>]
Parameter¶
[value]
: Position in mm.
Example¶
M312 123 ;move to position 123 mm
M313 - Set Speed In Position Move¶
Description¶
Set the speed of the conveyor belt when moving to the desired position specified by M312.
Usage¶
M313 [<value>]
Parameter¶
[value]
: Speed in mm/s.
Example¶
M313 300 ;set speed to 300 mm/s for position move
M314 - Set Output Pins Level¶
Description¶
Set the output pins level in Output Mode.
Usage¶
M314 [P<value>] [V<value>]
Parameter¶
P[value]
: Index of the output pin.V[value]
: Value to set (0 for LOW, 1 for HIGH).
Example¶
M314 P1 V1 ;set output pin 1 to HIGH level
M315 - Config Conveyor Parameters¶
Description¶
Configure the conveyor parameters.
Usage¶
M315 [S<value>] [R<value>] [E<value>] [P<value>] [A<value>] [B<value>]
Parameter¶
S[value]
: Pulses per mm of the stepper.R[value]
: Set reverse conveyor (0 for normal, 1 for reverse).E[value]
: Enable/disable encoder (0 for disable, 1 for enable).P[value]
: Set stop position while using encoder.A[value]
: Acceleration of the conveyor in mm/s².B[value]
: Set velocity button.
Example¶
M315 S31.83 R0 E0 A5000 ;set conveyor parameters (31.83 pulses/mm, normal direction, encoder disabled, acceleration 5000 mm/s²)
Note
If you send the “M315” command without any parameters, it will return the current values of all the above parameters.
M316 - Set Encoder Mode¶
Description¶
Configure the Encoder Port Mode: * 0 - Absolute Mode: Return absolute position value. * 1 - Relative Mode: Return relative position value. * 2 - Input Pin Mode: Use encoder port as input pins. * 3 - Button Mode: Connect to buttons to adjust the conveyor speed.
Usage¶
M316 [mode]
Parameter¶
[mode]
: Mode of the Encoder Port.
Example¶
M316 1 ;set encoder port to Relative Mode
M317 - Get Position from Encoder¶
Description¶
Get the current position of the conveyor from the encoder.
Usage¶
M317 [T<value>] [R]
Parameter¶
T[value]
: Set auto-report position period time in milliseconds.R
: Reset the position.- (no parameter): Report current position once.
Example¶
M317 ;get current position
>> P0:5.32
M317 T500 ;set auto-report position every 500 ms
>> P0:8.43
>> P0:16.57
M317 R ;reset the position to 0
M318 - Set Encoder Parameters¶
Description¶
Configure encoder parameter values: pulses per mm, reverse direction, and encoder scale parameter.
Usage¶
M318 [S<value>] [R<value>] [C<value>]
Parameter¶
S[value]
: Pulses per mm of the encoder (default is 5.12 with X1 scale parameter).R[value]
: Reverse direction (0 for disable, 1 for enable).C[value]
: Scale factor of the encoder (1, 2, 4).
Example¶
M318 S10.24 C2 R1 ;set X2 scale factor, pulses per mm will be doubled, and reverse the direction of the encoder
M319 - Read Input Pin¶
Description¶
Get the status of an input pin in several modes.
Usage¶
M319 [V<value>] [T<value>] [S<value>]
Parameter¶
V[pin index]
: Get current status of the pin at the specified index (0, 1).T[pin index]
: Set auto feedback when pin status changes.S[pin index]
: Stop auto feedback at the specified pin index.
Example¶
M319 V1 ;get status of pin 1
>> I1 V1
M319 T0 ;set auto feedback for pin 0
>> I0 V0
>> I0 V1
M319 S0 ;stop auto feedback for pin 0
M390 - Set Ethernet Port¶
Description¶
Set the port number for Ethernet communication.
Usage¶
M390 [port]
Parameter¶
[port]
: Ethernet port number.
Example¶
M390 3456 ;set Ethernet port to 3456
M391 - Set Ethernet IP Address¶
Description¶
Define the Ethernet IP address.
Usage¶
M391 [number] [number] [number] [number]
Parameter¶
[number]
: IP address segments.
Example¶
M391 192 168 0 2 ;set IP address to 192.168.0.2
M392 - Set Ethernet DNS Address¶
Description¶
Define the Ethernet DNS address.
Usage¶
M392 [number] [number] [number] [number]
Parameter¶
[number]
: DNS address segments.
Example¶
M392 192 168 0 127 ;set DNS address to 192.168.0.127
M393 - Set Ethernet Gateway Address¶
Description¶
Define the Ethernet Gateway address.
Usage¶
M393 [number] [number] [number] [number]
Parameter¶
[number]
: Gateway address segments.
Example¶
M393 192 168 237 81 ;set Gateway address to 192.168.237.81
M394 - Set Ethernet Subnet Address¶
Description¶
Define the Ethernet Subnet address.
Usage¶
M394 [number] [number] [number] [number]
Parameter¶
[number]
: Subnet address segments.
Example¶
M394 192 168 237 89 ;set Subnet address to 192.168.237.89
M395 - Set Ethernet MAC Address¶
Description¶
Define the Ethernet MAC address. Convert HEX numbers in the address to DEC numbers before sending to the robot.
Usage¶
M395 [number] [number] [number] [number] [number] [number]
Parameter¶
[number]
: MAC address segments (integer).
Example¶
M395 18 52 86 120 171 5 ;set MAC address to 12:34:56:78:AB:05
M396 - Save and Init Ethernet Port¶
Description¶
After setting all Ethernet addresses and port, use this command to save and initialize the Ethernet port.
Usage¶
M396
Example¶
M396 ;initialize Ethernet port
M397 - Get Ethernet Port Parameters¶
Description¶
Use this command to check all Ethernet address and port numbers.
Example¶
>>> M397 ;get all Ethernet setting parameters
<<< E_port:3456
<<< E_ip:192.168.0.2
<<< E_dns:192.168.0.127
<<< E_gateway:192.168.237.81
<<< E_subnet:192.168.237.89
<<< E_mac:12-34-56-78-AB-05
<<< Ok
M398 - Get Ethernet Local Port Parameters¶
Description¶
Use this command to check all Ethernet local address and port numbers.
Example¶
>>> M398 ;get all Ethernet setting parameters
<<< E_port:3456
<<< E_ip:192.168.0.2
<<< E_dns:192.168.0.127
<<< E_gateway:192.168.237.81
<<< E_subnet:192.168.237.89
<<< E_mac:12-34-56-78-AB-05
<<< Ok
Contact Us¶
- Store: https://deltaxstore.com
- Website: https://www.deltaxrobot.com
- Email: deltaxrobot@gmail.com
- Phone: +84 38 875 2005