G-CODES FOR DELTA X S V5

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>] [V<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.
  • V[angle]:(mm) A coordinate on the 6-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-750                 
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>] [V<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>] [V<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.
  • V[angle]:(degree) The value of the Axis 6 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,-270

M03, M04 - Turn Ouput On / Set PWM

Descriptions

This is the command used to turn on the Delta X S robot’s output pin.

Usage

M03 D<x>
M03 P<x> W<y>
M04 P<x> W<y>

Parameters

  • M03 D[x] : turn on digital pins
    • x = 0, 1, 2, … 15.
  • M03 P[x] W[y] : turn on PWM pins
    • x = 0, 1, 2, 3, 4, 8, 9, 10, 14, 15.
    • y = [0, 255]
  • M04 P[x] W[y] : turn on PWM pins but with larger pwm range.
    • x = 0, 1, 2, 3, 4, 8, 9, 10, 14, 15.
    • y = [0, 65535].

Example

G01 X0 Y0 Z-750
M03 D0                ;turn on relay D0
G01 Z-700

M05 - Ouput Off / Turn Off PWM

Descriptions

This is the command used to turn off the Delta X S robot’s output pin

Usage

M05 D<x>
M05 P<x>

Parameters

  • M05 D[x]: turn off digital output pin
    • x = 0, 1, 2, … 15.
  • M05 P[x]: turn off PWM output pin
    • x = 0, 1, 2, 3, 4, 8, 9, 10, 14, 15.

Example

G01 X0 Y0 Z-750
M03 D0                ;turn on relay D0
G01 Z-780
G04 P300
G01 Z-750
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 Pin
    • x = 0, 1, 2, 3, 4, 5, 6, 7.
  • M07 A[x]: Read Analog Input Pin
    • x = 0, 1, 2, 3.

Feedback

  • I[x] V[val]:
    • x = pin number
    • val = {0,1}
  • A[x] V[val]:
    • x = pin number
    • val = [0, 4095]

Example

M07 I0 I3              ;read digital pin I0 and I3
>>> I0 V1
>>> I3 V0
M07 A2                 ;read analog pin A2
>>> A2 V3946

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> P<i>
M08 A<x> C<y> P<i>

Parameters

  • M08 I[x] B[y] : auto read digital input pins.
    • I[x] : Digital Input Pin
      • x = 0, 1, 2, 3, 4, 5, 6, 7).
    • B[y] :
      • y = 1: Start the auto-reading digital input signal process.
      • y = 0: Stop the auto-reading digital input signal process.
    • P[i] : set feedback port
      • i = 0: USB0
      • i = 1: RS232
      • i = 2: RS485
      • i = 3: USB1
  • M08 A[x] C[y]
    • A[x]: Analog Input Pin
      • x = 0, 1, 2, 3.
    • C[y]: Cycle (microseconds) to update values.
      • y >= 100: Start the auto-reading analog input signal process.
      • y <= 100: Stop the auto-reading analog input signal process.
    • P[i] : set feedback port
      • i = 0: USB0
      • i = 1: RS232
      • i = 2: RS485
      • i = 3: USB1

Feedback

  • I[x] V[val] : return auto read digital input value
    • x = pin number
    • val = {0,1}
  • A[x] V[val] : return auto read analog input value
    • x = pin number
    • val = [0, 4095]

Example

M08 I3 B1 P0           ;start auto read digital pin I3, feedback via USB0 port
M08 A2 C200 P1         ;auto update A2 analog value with cycle=200us via RS232 port

>>> I3 V0
>>> A2 V2478

M40 - Open RS232 port.

Descriptions

Enable/Disable RS232 port and set baudrate.

Usage

M40 A<x> B<y>

Parameters

  • M40 A[x] B[y]
    • A[x] : Open/Close RS232 port
      • x = 1 : Open Port
      • x = 0 : Close port
    • B[y]: baudrate.

Example

M40 A1 B115200             ;Open RS232 port and set baudrate at 115200

M41 - Open RS485 port

Descriptions

Enable/Disable RS485 port and set baudrate.

Usage

M41 A<x> B<y>

Parameters

  • M41 A[x] B[y]
    • A[x] : Open/Close RS485 port
      • x = 1 : Open Port
      • x = 0 : Close Port
    • B[y] : baudrate.

Note:

When control Delta X S via RS485, after each time sending a G-code command to the robot, you must wait for a response from the robot before sending the next G-code command. Otherwise, the communication will not be successful.

Example

M41 A1 B115200             ;Open RS485 port and set baudrate at 115200

M42 - Open USB1 port.

Descriptions

Enable/Disable USB1 port and set baudrate.

Usage

M41 A<x> B<y>

Parameters

  • M42 A[x] B[y]
    • A[x] : Open/Close USB1 port
      • x = 1 : Open Port
      • x = 0 : Close Port
    • B[y] : baudrate.

Example

M42 A1 B115200             ;Open TTL USB1 and set baudrate at 115200

M49 - Get Ports Config

Descriptions

Feedback all ports config informations, this command will show you that these ports is enabled or not, and the baudrate of each port.

Usage

M49

Example

M49

>>>USB:1 BAUD:115200      ;USB port is enabled(default), baudrate is 115200
>>>RS232:0 BAUD:115200    ;RS232 port is disabled, last set baudrate is 115200
>>>RS485:1 BAUD:115200
>>>TTL:1 BAUD:115200
>>>RJ45:1 Port:1921682553

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 RJ45
    • x = 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] : number
  • B[y] : number
  • C[z] : number
  • D[t] : number
  • E[u] : number
  • F[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] : number
  • B[y] : number
  • C[z] : number
  • D[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] : number
  • B[y] : number
  • C[z] : number
  • D[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] : number
  • B[y] : number
  • C[z] : number
  • D[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] : number
  • B[y] : number
  • C[z] : number
  • D[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

M60 - Set Axis 4 Parameters

Descriptions

Config axis 4 parameters.

Usage

M60 [D<val>] [E<val>] [I<val>] [S<val>] [R<val>] [U<val>] 
    [P<val>] [Q<val>] [H<val>] A[<val>] [J<val>] [F<val>]

Parameter

  • D[val] : enable axis 4
    • val = 1 : enable axis 4
    • val = 0 : disable axis 4
  • E[val] : enable endstop
    • val = 1 : enable axis 4 endstop
    • val = 0 : disable axis 4 endstop
  • I[val] : set invert endstop logic level
    • val = 1 : axis 4 endstop invert
    • val = 0 : axis 4 endstop non-invert
  • S[val] : (unit/s) homing speed
  • R[val] : (unit/s) homing revert speed
  • U[val] : (step/unit) set step/unit parameter
  • P[val] : (unit) set max position
  • Q[val] : (unit) set min position
  • H[val] : (unit) set home position
  • A[val] : (unit) set max acceleration
  • J[val] : (unit) set max jerk
  • F[val] : (unit) set max velocity

Example

M60 D1 E1 I0 S15 R5 U8.333 P178 Q0 H45 A4000 J900000 F2000

M61 - Set Axis 5 Parameters

Descriptions

Config axis 5 parameters.

Usage

M61 [D<val>] [E<val>] [I<val>] [S<val>] [R<val>] [U<val>] 
    [P<val>] [Q<val>] [H<val>] A[<val>] [J<val>] [F<val>]

Parameter

  • D[val] : enable axis 5
    • val = 1 : enable
    • val = 0 : disable
  • E[val] : enable endstop
    • val = 1 : enable axis 5 endstop
    • val = 0 : disable axis 5 endstop
  • I[val] : set invert endstop logic level
    • val = 1 : axis 5 endstop invert
    • val = 0 : axis 5 endstop non-invert
  • S[val] : (unit/s) homing speed
  • R[val] : (unit/s) homing revert speed
  • U[val] : (step/unit) set step/unit parameter
  • P[val] : (unit) set max position
  • Q[val] : (unit) set min position
  • H[val] : (unit) set home position
  • A[val] : (unit) set max acceleration
  • J[val] : (unit) set max jerk
  • F[val] : (unit) set max velocity

Example

M61 D1 E1 I0 S15 R5 U8.333 P178 Q0 H45 A4000 J900000 F2000

M62 - Set Axis 6 Parameters

Descriptions

Config axis 6 parameters.

Usage

M62 [D<val>] [E<val>] [I<val>] [S<val>] [R<val>] [U<val>] 
    [P<val>] [Q<val>] [H<val>] A[<val>] [J<val>] [F<val>]

Parameter

  • D[val] : enable axis 6
    • val = 1 : enable
    • val = 0 : disable
  • E[val] : enable endstop
    • val = 1 : enable axis 6 endstop
    • val = 0 : disable axis 6 endstop
  • I[val] : set invert endstop logic level
    • val = 1 : axis 6 endstop invert
    • val = 0 : axis 6 endstop non-invert
  • S[val] : (unit/s) homing speed
  • R[val] : (unit/s) homing revert speed
  • U[val] : (step/unit) set step/unit parameter
  • P[val] : (unit) set max position
  • Q[val] : (unit) set min position
  • H[val] : (unit) set home position
  • A[val] : (unit) set max acceleration
  • J[val] : (unit) set max jerk
  • F[val] : (unit) set max velocity

Example

M62 D1 E1 I0 S15 R5 U8.333 P178 Q0 H45 A4000 J900000 F2000

M84 - Disable Steppers

Descriptions

This command can be used to disable steppers.

Usage

M84

M100 - Set Auto Feedback Position

Descriptions

Auto feedback positon in a period of time by the specified port.

Usage

M100 A<ena> B<time> C<port>

Parameter

  • A[ena] Enable/Disable auto feedback position
    • ena = 1 : enable
    • ena = 0 : disable
  • B[time] : (miliseconds) period to send feedback
  • C[port] : set feedback port
    • port = 0 : USB
    • port = 1 : RS232
    • port = 2 : RS485
    • port = 3 : TTL
    • port = 4 : RJ45

Example

M100 A0 B200 C1   ;set USB port feedback position at cycle 200 ms

M203 - Set Jerk

Descriptions

Set movement jerk of end effector.

Usage

M203 [J<value>]

Parameters

  • J[value]: (mm/s^3) jerk.

Example

M203 J1200000     ;set jerk = 1.200.000 mm/s^3

M204 - Set Max Acceleration

Descriptions

Set movement acceleration.

Usage

M204 [A<value>]

Parameters

  • A[value]: (mm/s2) end effector acceleration.

Example

M204 A15000    ;set accel = 15000 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>] [W<value>] [U<value>] [V<value>] 

Parameters

  • X[value]: (mm) X offset value.
  • Y[value]: (mm) Y offset value.
  • Z[value]: (mm) Z offset value.
  • W[value]: (mm) W offset value.
  • U[value]: (mm) U offset value.
  • V[value]: (mm) V 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-870  ;Set Z safe value

M210 - Set Theta Movement Parameter

Descriptions

Config theta movement para like speed, accel, jerk, start velocity and end velocity.

Usage

M210 [F<value>] [A<value>] [J<value>] [S<value>] [E<value>]

Parameters

  • F[value]: (unit/s) speed.
  • A[value]: (unit/s^2) accel.
  • J[value]: (unit/s^3) jerk.
  • S[value]: (unit/s) start velocity.
  • E[value]: (unit/s) end velocity.

Example

M210 F2000 A4000 J800000 S30 E30  ;set all theta movement para

M211 - Set Axis 4 Movement Parameter

Descriptions

Config axis 4 movement para like speed, accel, jerk, start velocity and end velocity.

Usage

M211 [F<value>] [A<value>] [J<value>] [S<value>] [E<value>]

Parameters

  • F[value]: (unit/s) axis 4 speed.
  • A[value]: (unit/s^2) axis 4 accel.
  • J[value]: (unit/s^3) axis 4 jerk.
  • S[value]: (unit/s) start velocity.
  • E[value]: (unit/s) end velocity.

Example

M211 F2000 A4000 J800000 S30 E30  ;config axis 4 move para

M212 - Set Axis 5 Movement Parameter

Descriptions

Config axis 5 movement para like speed, accel, jerk, start velocity and end velocity.

Usage

M212 [F<value>] [A<value>] [J<value>] [S<value>] [E<value>]

Parameters

  • F[value]: (unit/s) axis 5 speed.
  • A[value]: (unit/s^2) axis 5 accel.
  • J[value]: (unit/s^3) axis 5 jerk.
  • S[value]: (unit/s) start velocity.
  • E[value]: (unit/s) end velocity.

Example

M212 F2000 A4000 J800000 S30 E30  ;config axis 5 move para

M213 - Set Axis 6 Movement Parameter

Descriptions

Config axis 6 movement para like speed, accel, jerk, start velocity and end velocity.

Usage

M213 [F<value>] [A<value>] [J<value>] [S<value>] [E<value>]

Parameters

  • F[value]: (unit/s) axis 6 speed.
  • A[value]: (unit/s^2) axis 6 accel.
  • J[value]: (unit/s^3) axis 6 jerk.
  • S[value]: (unit/s) start velocity.
  • E[value]: (unit/s) end velocity.

Example

M213 F2000 A4000 J800000 S30 E30  ;config axis 6 move para

M220 - Get Current Axis Parameter

Descriptions

This command can be used to check current movement parameter of all axis.

Usage

M220 I<val>

Parameter

  • I[val] : axis index
    • val = 0 : get theta parameter
    • val = 1 : get axis 4 parameter
    • val = 2 : get axis 5 parameter
    • val = 3 : get axis 6 parameter

Example

M220 I1   ;get axis 4 movement para

>>>F:2000 A:4000 J:800000 S:30 E:30

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

M600 - Enable Emergency Stop Button

Descriptions

This command is used to enable EMERGENCY STOP BUTTON.

Usage

M600 A8 B9

Example

M600 A8 B9    ;enable E_STOP button

M601 - Disable Emergency Stop Button

Descriptions

Disable E_STOP button.

Usage

M601          ;disable E_STOP button

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