G-CODES FOR DELTA X 3¶
G0, G1 - Linear Movement¶
Descriptions¶
The G0 and G1 commands add a linear MOVE to the queue to be performed after all previous moves are completed. A command like G1 F1000 sets the feed rate for all subsequent moves.
Usage¶
G1 [X<pos>] [Y<pos>] [Z<pos>] [W<angle>] [U<angle>]
[F<val>] [A<val>] [J<val>] [S<val>] [E<val>]
Parameters¶
X[pos]:(mm) A coordinate on the X-axis.Y[pos]:(mm) A coordinate on the Y-axis.Z[pos]:(mm) A coordinate on the Z-axis.W[angle]:(mm) A coordinate on the 4-axis.U[angle]:(mm) A coordinate on the 5-axis.F[val]:(mm/s) The maximum movement rate of the move between the start and endpoint. The feedrate set here applies to subsequent moves that omit this parameter.A[val]:(mm/s2) Acceleration of the motion.J[val]:(mm/s3) Jerk of the motion.S[val]:(mm/s) Begin velocity.E[val]:(mm/s) Finish velocity.
Example¶
G01 X12 ;move to 12mm on the X-axis
G01 F200 A5000 J1200000 ;set the feedrate=200 mm/s, accel=5000mm/s2, jerk=1200000mm/s3
G01 X90.6 Y13.8 S50 E100 ;move to 90.6mm on the X-axis and 13.8mm on the Y-axis with begin vel = 50, end vel = 100 mm/s
G01 X0 Y0 Z-360
G01 W90 ;rotate to 90° on the 4-axis
G01 X100 Y50 Z-400 W90 U45 F200 ;X=100 mm, Y=50 mm, Z=-400 mm, W=90°, U=45°, F=200 mm/s
G2, G3 - Controlled Arc Movement¶
Descriptions¶
G2 adds a clockwise arc move to the planner; G3 adds a counter-clockwise arc. An arc move starts at the current position and ends at the given XYZ, pivoting around a center-point offset given by I and J.
Usage¶
G02 [I<offset>] [J<offset>] [X<pos>] [Y<pos>] [W<angle>] [U<angle>]
[F<val>] [A<val>] [S<val>] [E<val>]
Parameters¶
I[offset]:(mm) An offset from the current X position to use as the arc center.J[offset]:(mm) An offset from the current Y position to use as the arc center.X[pos]:(mm) A coordinate on the X-axis.Y[pos]:(mm) A coordinate on the Y-axis.F[val]:(mm/s) The maximum movement rate of the move between the start and endpoint. The feedrate set here applies to subsequent moves that omit this parameter.A[val]:(mm/s2) Acceleration of the motion.S[val]:(mm/s) Begin velocity.E[val]:(mm/s) Finish velocity.
Example¶
G28
G01 Z-350
G01 X50
G02 X-50 Y0 I-50 J0
G03 X50 Y0 I50 J0
G4 - Dwell/Delay¶
Descriptions¶
Pause the robot for a period of time.
Usage¶
G4 P<value>
Parameters¶
P[value]: time in milisecons.
Example¶
G01 X0 Y0 Z-350
G4 P500 ;delay 500ms
G01 X100
G6 - Theta angle control¶
Descriptions¶
Directly control movement angle without endpoint coordinates.
Usage¶
G6 [X<angle>] [Y<angle>] [Z<angle>] [W<angle>] [U<angle>]
Parameters¶
X[angle]:(degree) The value of the Theta 1 angle.Y[angle]:(degree) The value of the Theta 2 angle.Z[angle]:(degree) The value of the Theta 3 angle.W[angle]:(degree) The value of the Axis 4 angle.U[angle]:(degree) The value of the Axis 5 angle.
Example¶
G6 X0 Y0 Z0 W90 U90
G28 - Homing¶
Descriptions¶
Auto-home all axes, moving them towards their endstops until triggered.
Usage¶
G28
G90 - Absolute Movement Mode¶
Descriptions¶
In absolute mode, all coordinates given in G-code are interpreted as positions in the logical coordinate space.
Usage¶
G90
G91 - Relative Movement Mode¶
Descriptions¶
Set relative position mode. In this mode, all coordinates are interpreted as relative to the last position.
Usage¶
G91
G93 - Get Current Position¶
Descriptions¶
Get current position of end effector.
Usage¶
G93
Feedback¶
<xpos>,<ypos>,<zpos><xpos>: Current X position.<ypos>: Current Y position.<zpos>: Current Z position.
Example¶
G93 ; get current pos
return:
31,43,-291
M03, M04 - Ouput On / Set PWM / Vacuum On¶
Descriptions¶
This is the command used to turn on the Delta X S robot’s output pin.
Usage¶
M03
M03 D<x>
M03 P<x> W<y>
M04 P<x> W<y>
Parameters¶
M03orM03 D4: turn on vacuumM03 D[x]: turn on digital pinsx= 0, 1, 2, 3.
M03 P[x] W[y]: turn on PWM pinsx= 0, 1.y= [0, 255].
M04 P[x] W[y]: turn on PWM pins but with larger pwm range.x= 0, 1.y= [0, 65535].
Example¶
G01 X0 Y0 Z-400
M03 D0 ;turn on relay D0
G01 Z-350
M05 - Ouput Off / Turn Off PWM / Vacuum Off¶
Descriptions¶
This is the command used to turn off the Delta X S robot’s output pin
Usage¶
M05
M05 D<x>
M05 P<x>
Parameters¶
M05orM05 D4: turn off vacuumM05 D[x]: turn off digital output pinx= 0, 1, 2, 3.
M05 P[x]: turn off PWM output pinx= 0, 1.
Example¶
G01 X0 Y0 Z-350
M03 D0 ;turn on relay D0
G01 Z-380
G04 P300
G01 Z-350
G01 X50 Y50
M05 D0 ;turn off relay D0
M07 - Read Input Signals.¶
Descriptions¶
Read Digital and Analog input signals.
Usage¶
M07 I<x>
M07 A<x>
Parameters¶
M07 I[x]: Read Digital Input Pinx= 0, 1, 2, 3.
M07 A[x]: Read Analog Input Pinx= 0, 1.
Feedback¶
I[x] V[val]:x= pin numberval= {0,1}
A[x] V[val]:x= pin numberval= [0, 1023]
Example¶
M07 I0 I3 ;read digital pin I0 and I3
>>> I0 V1
>>> I3 V0
M07 A1 ;read analog pin A1
>>> A1 V762
M08 - Read Input Signals Automatically.¶
Descriptions¶
Read Digital and Analog input signals automatically. For the digital signals, the robot will automatic read the value of signal when there is a change from 0 to 1 or from 1 to 0. About the analog signals, the robot will automatic read the value after a certain amount of time.
Usage¶
M08 I<x> B<y>
M08 A<x> P<y>
Parameters¶
M08 I[x] B[y]: auto read digital input pins.I[x]: Digital Input Pinx= 0, 1, 2, 3.
B[y]:y = 1: Start the auto-reading digital input signal process.y = 0: Stop the auto-reading digital input signal process.
M08 A[x] C[y]A[x]: Analog Input Pinx= 0, 1.
C[y]: Cycle (microseconds) to update values.y >= 50: Start the auto-reading analog input signal process.y <= 50: Stop the auto-reading analog input signal process.
Feedback¶
I[x] V[val]: return auto read digital input valuex= pin numberval= {0,1}
A[x] V[val]: return auto read analog input valuex= pin numberval= [0, 1023]
Example¶
M08 I3 B1 ;start auto read digital pin I3
M08 A1 C200 ;auto update A1 analog value with cycle=200us
>>> I3 V0
>>> A1 V762
M50 - Enable RJ45¶
Descriptions¶
This command can be used to enable or disable RJ45 port.
Usage¶
M50 A<x>
Parameter¶
A[x]x = 1: enable RJ45x = 0: disable RJ45
Example¶
M50 A1 ; enable RJ45
M51 - Set Ethernet Port¶
Descriptions¶
Set ethernet port number
Usage¶
M51 B<x>
Parameter¶
B[x]: port number
Example¶
M51 B8080 ; set ethernet port
M52 - Set MAC Device¶
Descriptions¶
Set MAC address of the robot
Usage¶
Address form: A:B:C:D:E:F
M52 A<x> B<y> C<z> D<t> E<u> F<v>
Parameter¶
A[x]: numberB[y]: numberC[z]: numberD[t]: numberE[u]: numberF[v]: number
Example¶
M52 A12 B23 C34 D45 E56 F67
>>> MAC add: 12-23-34-45-56-67
M53 - Set Ethernet IP¶
Descriptions¶
Set ethernet IP of robot
Usage¶
M53 A<x> B<y> C<z> D<t>
Parameter¶
A[x]: numberB[y]: numberC[z]: numberD[t]: number
Example¶
M53 A192 B168 C1 D1
>>> IP: 192.168.1.1
M54 - Set Ethernet DNS¶
Descriptions¶
Set ethernet DNS address
Usage¶
M54 A<x> B<y> C<z> D<t>
Parameter¶
A[x]: numberB[y]: numberC[z]: numberD[t]: number
Example¶
M53 A192 B168 C1 D3
>>> DNS IP: 192.168.1.3
M55 - Set Ethernet Gateway¶
Descriptions¶
Set ethernet gateway address
Usage¶
M55 A<x> B<y> C<z> D<t>
Parameter¶
A[x]: numberB[y]: numberC[z]: numberD[t]: number
Example¶
; set ethernet gateway address 192.168.3.1
M55 A192 B168 C3 D1
M56 - Set Ethernet Subnet¶
Descriptions¶
Set ethernet gateway address
Usage¶
M56 A<x> B<y> C<z> D<t>
Parameter¶
A[x]: numberB[y]: numberC[z]: numberD[t]: number
Example¶
; set ethernet subnet address 192.168.3.1
M56 A192 B168 C3 D1
M57 - Get Robot IP¶
Descriptions¶
Get the IP of Delta Robot
Usage¶
M57
Example¶
M57
>>> 192.168.2.2
M58 - Get Ethernet Info¶
Descriptions¶
Get the ethernet info
Usage¶
M58
Example¶
M58
>>> Ethernet:On;Ip:192.168.1.54;Port:12345;Mac:12-23-34-45-56-67;Dns:192.168.1.1;Gateway:192.168.1.1;Subnet:255.255.255.0
M84 - Disable Steppers¶
Descriptions¶
This command can be used to disable steppers.
Usage¶
M84
M203 - Set Max Velocity¶
Descriptions¶
Set movement velocity of end effector.
Usage¶
M203 [S<value>]
Parameters¶
S[value]: (mm/s).
Example¶
M203 S2000 ;set max velocity = 2000 mm/s
M204 - Set Max Acceleration¶
Descriptions¶
Set movement acceleration.
Usage¶
M204 [A<value>]
Parameters¶
A[value]: (mm/s2) end effector acceleration.
Example¶
M204 A6000 ;set accel = 6000 mm/s^2
M205 - Set Begin/End Velocity¶
Descriptions¶
Set segment begin/end velocity.
Usage¶
M205 [S<value>]
Parameters¶
S[value]: (mm/s2) end effector begin/end velocity.
Example¶
M205 S40 ;Set begin speed at 40 mm/s
M206 - Set Axis Offset¶
Descriptions¶
Set home offset for one or all axis.
Usage¶
M206 [X<value>] [Y<value>] [Z<value>]
Parameters¶
X[value]: (mm) X offset value.Y[value]: (mm) Y offset value.Z[value]: (mm) Z offset value.
Example¶
M206 X20 Y-10 Z30 ;Set home offsets
M207 - Set Z Safe¶
Descriptions¶
Set the lowest Z level that the robot cannot exceed.
Usage¶
M207 [Z<value>]
Parameters¶
Z[value]: (mm) Z safe value.
Example¶
M207 Z-420 ;Set Z safe value
M210 - Set theta move parameter¶
Descriptions¶
Set the lowest Z level that the robot cannot exceed.
Usage¶
M210 [F<val>] [A<val>] [J<val>] [S<val>] [E<val>]
Parameters¶
F[val]:(mm/s) Speed.A[val]:(mm/s2) Accel.J[val]:(mm/s3) Jerk.S[val]:(mm/s) Start velocity.E[val]:(mm/s) End velocity.
Example¶
M210 F2000 A15000 J900000 S50 E50 ;set all theta movement para
M360 - Select End Effector¶
Descriptions¶
Select the end effector for the robot. You can change the end effector to one of these : Vacuum, gripper, pen, laser, printer or use your custom end effector.
Usage¶
M360 E<value>
Parameters¶
E[value]- 0-Vacuum (default).
- 1-Gripper
- 2-Pen
- 3-Laser
Example¶
M360 E2 ;select the end effector is Pen
M361 - Set minimum movement¶
Descriptions¶
Set the minimum movement distance. Default distance = 0.2 mm
Usage¶
M361 P<len>
Parameters¶
P[len]: (mm) Length in mm.
Example¶
M361 P0.2 ;set min length = 0.2mm
M500 - Save Settings¶
Descriptions¶
Save all configurable settings to EEPROM.
Usage¶
M500
Example¶
M500 ;Save settings
M501 - Restore Settings¶
Descriptions¶
Load all saved settings from EEPROM.
Usage¶
M501
Example¶
M501 ;Restore all settings.
M502 - Reset Settings¶
Descriptions¶
Reset all configurable settings to their factory defaults.
Usage¶
M502
Example¶
M502 ;reset
Contact Us¶
- Store: https://deltaxstore.com
- Website: https://www.deltaxrobot.com
- Email: deltaxrobot@gmail.com
- Phone: +84 38 875 2005