Delta X Robot
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References

  • G-code Commands
    • Useful Commands
      • Identify Delta Robot Command
      • Disconnect COM Port Command
      • Get Current Position Command
      • Get Position Offset Command
      • Get Current Theta Angles
      • Get Current Endstop Sensor States
      • Get Robot IMEI
      • Get Robot Infor
      • Get Robot Active Status
      • Set Feedback String
      • Emergency Stop Command
      • Get Current Temperature
      • Set up WIFI connection
      • Contact Us
    • Delta X 1
      • G00, G01 - Linear Move
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G02, G03 - Arc or Circle Move
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G04 - Dwell/Delay
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G05 - Bézier cubic spline
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G06 - Theta angle control
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G28 - Homing
        • Descriptions
        • Usage
      • G90 - Absolute Movement Mode
        • Descriptions
        • Usage
      • G91 - Relative Movement Mode
        • Descriptions
        • Usage
        • Example
      • M03, M04 - Ouput On / Laser On / Vacuum On / Gripper Close
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M05 - Ouput Off / Laser Off / Vacuum Off / Gripper Open
        • Descriptions
        • Usage
      • M84 - Disable Steppers
        • Descriptions
        • Usage
      • M104 - Set Hotend Temperature
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M109 - Wait For Hotend Temperature
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M203 - Set Max Feedrate
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M204 - Set Acceleration
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M206 - Set Z Offset
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M360 - Select End Effector
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M361 - Set Interpolated line length
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M362 - Set Arc segment length
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M500 - Save Settings
        • Descriptions
        • Usage
        • Example
      • M501 - Restore Settings
        • Descriptions
        • Usage
        • Example
      • M502 - Reset Settings
        • Descriptions
        • Usage
        • Example
      • Contact Us
    • Delta X 2
      • G00, G01 - Linear Move
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G02, G03 - Arc or Circle Move
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G04 - Dwell/Delay
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G05 - Bézier cubic spline
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G06 - Theta angle control
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G28 - Homing
        • Descriptions
        • Usage
      • G90 - Absolute Movement Mode
        • Descriptions
        • Usage
      • G91 - Relative Movement Mode
        • Descriptions
        • Usage
        • Example
      • G93 - Get Current Position
        • Descriptions
        • Usage
        • Feedback
        • Example
      • M03, M04 - Ouput On / Laser On / Vacuum On / Gripper Close
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M05 - Ouput Off / Laser Off / Vacuum Off / Gripper Open
        • Descriptions
        • Usage
      • M84 - Disable Steppers
        • Descriptions
        • Usage
      • M104 - Set Hotend Temperature
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M105 - Report Temperature
        • Descriptions
        • Usage
        • Example
      • M109 - Wait For Hotend Temperature
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M203 - Set Feedrate
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M204 - Set Acceleration
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M205 - Set Begin/End Velocity
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M206 - Set Axis Offset
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M331 - Select Linked Device
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M360 - Select End Effector
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M361 - Set Interpolated line length
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M362 - Set Arc segment length
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M402 - Set Z Max Position
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M500 - Save Settings
        • Descriptions
        • Usage
        • Example
      • M501 - Restore Settings
        • Descriptions
        • Usage
        • Example
      • M502 - Reset Settings
        • Descriptions
        • Usage
        • Example
      • Contact Us
    • Delta X S V4
      • G0, G1 - Linear Movement
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G2, G3 - Controlled Arc Movement
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G4 - Dwell/Delay
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G6 - Theta angle control
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G28 - Homing
        • Descriptions
        • Usage
      • G90 - Absolute Movement Mode
        • Descriptions
        • Usage
      • G91 - Relative Movement Mode
        • Descriptions
        • Usage
      • G93 - Get Current Position
        • Descriptions
        • Usage
        • Feedback
        • Example
      • M03, M04 - Turn Ouput On / Set PWM
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M05 - Ouput Off / Turn Off PWM
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M07 - Read Input Signals.
        • Descriptions
        • Usage
        • Parameters
        • Feedback
        • Example
      • M08 - Read Input Signals Automatically.
        • Descriptions
        • Usage
        • Parameters
        • Feedback
        • Example
      • M40 - Open RS232 port.
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M41 - Open RS485 port
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M42 - Open TTL port.
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M49 - Get Ports Config
        • Descriptions
        • Usage
        • Example
      • M50 - Enable RJ45
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M51 - Set Ethernet Port
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M52 - Set MAC Device
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M53 - Set Ethernet IP
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M54 - Set Ethernet DNS
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M55 - Set Ethernet Gateway
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M56 - Set Ethernet Subnet
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M57 - Get Robot IP
        • Descriptions
        • Usage
        • Example
      • M60 - Set Axis 4 Parameters
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M61 - Set Axis 5 Parameters
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M62 - Set Axis 6 Parameters
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M84 - Disable Steppers
        • Descriptions
        • Usage
      • M100 - Set Auto Feedback Position
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M203 - Set Jerk
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M204 - Set Max Acceleration
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M205 - Set Begin/End Velocity
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M206 - Set Axis Offset
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M207 - Set Z Safe
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M210 - Set Theta Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M211 - Set Axis 4 Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M212 - Set Axis 5 Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M213 - Set Axis 6 Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M220 - Get Current Axis Parameter
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M500 - Save Settings
        • Descriptions
        • Usage
        • Example
      • M501 - Restore Settings
        • Descriptions
        • Usage
        • Example
      • M502 - Reset Settings
        • Descriptions
        • Usage
        • Example
      • M600 - Enable Emergency Stop Button
        • Descriptions
        • Usage
        • Example
      • M601 - Disable Emergency Stop Button
        • Descriptions
        • Usage
        • Example
      • Contact Us
    • Delta X S V5
      • G0, G1 - Linear Movement
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G2, G3 - Controlled Arc Movement
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G4 - Dwell/Delay
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G6 - Theta angle control
        • Descriptions
        • Usage
        • Parameters
        • Example
      • G28 - Homing
        • Descriptions
        • Usage
      • G90 - Absolute Movement Mode
        • Descriptions
        • Usage
      • G91 - Relative Movement Mode
        • Descriptions
        • Usage
      • G93 - Get Current Position
        • Descriptions
        • Usage
        • Feedback
        • Example
      • M03, M04 - Turn Ouput On / Set PWM
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M05 - Ouput Off / Turn Off PWM
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M07 - Read Input Signals.
        • Descriptions
        • Usage
        • Parameters
        • Feedback
        • Example
      • M08 - Read Input Signals Automatically.
        • Descriptions
        • Usage
        • Parameters
        • Feedback
        • Example
      • M40 - Open RS232 port.
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M41 - Open RS485 port
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M42 - Open USB1 port.
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M49 - Get Ports Config
        • Descriptions
        • Usage
        • Example
      • M50 - Enable RJ45
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M51 - Set Ethernet Port
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M52 - Set MAC Device
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M53 - Set Ethernet IP
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M54 - Set Ethernet DNS
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M55 - Set Ethernet Gateway
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M56 - Set Ethernet Subnet
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M57 - Get Robot IP
        • Descriptions
        • Usage
        • Example
      • M60 - Set Axis 4 Parameters
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M61 - Set Axis 5 Parameters
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M62 - Set Axis 6 Parameters
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M84 - Disable Steppers
        • Descriptions
        • Usage
      • M100 - Set Auto Feedback Position
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M203 - Set Jerk
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M204 - Set Max Acceleration
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M205 - Set Begin/End Velocity
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M206 - Set Axis Offset
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M207 - Set Z Safe
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M210 - Set Theta Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M211 - Set Axis 4 Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M212 - Set Axis 5 Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M213 - Set Axis 6 Movement Parameter
        • Descriptions
        • Usage
        • Parameters
        • Example
      • M220 - Get Current Axis Parameter
        • Descriptions
        • Usage
        • Parameter
        • Example
      • M500 - Save Settings
        • Descriptions
        • Usage
        • Example
      • M501 - Restore Settings
        • Descriptions
        • Usage
        • Example
      • M502 - Reset Settings
        • Descriptions
        • Usage
        • Example
      • M600 - Enable Emergency Stop Button
        • Descriptions
        • Usage
        • Example
      • M601 - Disable Emergency Stop Button
        • Descriptions
        • Usage
      • Contact Us
    • Desktop Conveyor
      • Detect Desktop Conveyor COM Port
        • Example
      • M310 - Set Motion Mode
        • Decription
        • Usage
        • Parameter
        • Example
      • M311 - Set Speed In Serial Mode
        • Decription
        • Usage
        • Parameter
        • Example
      • M312 - Set Position
        • Decription
        • Usage
        • Parameter
        • Example
      • M313 - Set Speed In Position Move
        • Decription
        • Usage
        • Parameter
        • Example
      • Contact Us
    • X Conveyor
      • Detect Conveyor COM Port
        • Example
      • M310 - Set Motion Mode
        • Decription
        • Usage
        • Parameter
        • Example
      • M311 - Set Speed In Velocity Mode
        • Decription
        • Usage
        • Parameter
        • Example
      • M312 - Set Position
        • Decription
        • Usage
        • Parameter
        • Example
      • M313 - Set Speed In Position Move
        • Decription
        • Usage
        • Parameter
        • Example
      • M314 - Set Output Pins Level
        • Decription
        • Usage
        • Parameter
        • Example
      • M315 - Config Conveyor Parameters
        • Decription
        • Usage
        • Parameter
        • Example
      • M316 - Set Encoder Mode
        • Decription
        • Usage
        • Parameter
        • Example
      • M317 - Get Position from Encoder
        • Description
        • Parameter
        • Usage
      • M318 - Set encoder parameters
        • Description
        • Parameter
        • Usage
      • M319 - Read Input Pin
        • Description
        • Parameter
        • Usage
      • M390 - Set Ethernet Port
        • Description
        • Usage
        • Parameter
        • Example
      • M391 - Set Ethernet IP Address
        • Description
        • Usage
        • Parameter
        • Example
      • M392 - Set Ethernet DNS Address
        • Description
        • Usage
        • Parameter
        • Example
      • M393 - Set Ethernet Gateway Address
        • Description
        • Usage
        • Parameter
        • Example
      • M394 - Set Ethernet Subnet Address
        • Description
        • Usage
        • Parameter
        • Example
      • M395 - Set Ethernet MAC Address
        • Description
        • Usage
        • Parameter
        • Example
      • M396 - Save and Init Ethernet Port
        • Description
        • Usage
        • Example
      • M397 - Get Ethernet Port Parameters
        • Description
        • Example
      • M398 - Get Ethernet Local Port Parameters
        • Description
        • Example
      • Contact Us
    • Slider X
      • M320 - Homing
        • Description
        • Usage
        • Example
      • M321 - Set Moving Speed
        • Description
        • Usage
        • Parameter
        • Example
      • M322 - Set Desired Position
        • Description
        • Usage
        • Parameter
        • Example
      • M323 - Disable Stepper Motor
        • Description
        • Usage
        • Example
      • M324 - Set Acceleration
        • Description
        • Usage
        • Parameters
        • Example
      • Contact Us
    • X Encoder
      • Identity X Encoder
      • M316 - Select Response Mode
        • Description
        • Usage
        • Parameter
        • Example
      • M317 - Get Current Position
        • Description
        • Usage
        • Parameter
        • Example
      • M318 - Set Pulse/MM value
        • Description
        • Usage
        • Parameter
        • Example
      • M319 - Read Proximity Sensor
        • Description
        • Usage
        • Parameter
      • Contact Us
  • Macro Programming
    • Macro Programming
      • GOTO - Jumping Ahead in G-CODE
        • Description
          • Example
      • Conditional Expresssions
        • Example:
      • Math Methods
      • If conditional Branching
        • Usage
          • Example
      • Variables
        • Description
        • Usage
      • Subprograms
        • Define a Subprogram
        • Call the subprogram
          • Example
      • Execute another G-code file
      • Function
        • Object Detecting Functions
        • Communicate
      • Contact Us
  • Specifications
    • Delta X 1
      • Basic Parameters
      • Electrical Parameters
      • Mechanical materials
      • Working Space
        • Reach
        • Safe Working Area
      • Contact Us
    • Delta X 2
      • Basic Parameters
      • Electrical Parameters
      • Mechanical materials
      • Robot Dimensions
        • Working Space
        • Safe Working Area
      • Moving Base Dimensions
      • Wiring and Pinout
        • Pinout
        • Communication Ports and Power Supply
      • Contact Us
    • Delta X S V4
      • D400
        • Basic Parameters
        • Electrical Parameters
        • Mechanical materials
        • Working Space
          • Reach
          • Safe Working Area
        • Moving Base Dimensions
          • 3-Axes Model
          • 4-Axes Model
          • 5-Axes Model
        • Wiring & Communicate Ports
          • Mainboard Interface
          • Output Wiring
          • Input Wiring
        • Contact Us
      • D600
        • Basic Parameters
        • Electrical Parameters
        • Mechanical materials
        • Working Space
          • Reach
          • Safe Working Area
        • Moving Base Dimensions
          • 3-Axes Model
          • 4-Axes Model
          • 5-Axes Model
        • Wiring & Communicate Ports
          • Mainboard Interface
          • Output Wiring
          • Input Wiring
        • Contact Us
      • D800
        • Basic Parameters
        • Electrical Parameters
        • Mechanical materials
        • Working Space
          • Reach
          • Safe Working Area
        • Moving Base Dimensions
          • 3-Axes Model
          • 4-Axes Model
          • 5-Axes Model
        • Wiring & Communicate Ports
          • Mainboard Interface
          • Output Wiring
          • Input Wiring
        • Contact Us
    • Delta X S V5
      • D400
        • Basic Parameters
        • Electrical Parameters
        • Mechanical materials
        • Working Space
          • Reach
          • Safe Working Area
        • Moving Base Dimensions
          • 3-Axes Model
          • 4-Axes Model
          • 5-Axes Model
          • 6-Axes Model
        • Wiring & Communicate Ports
          • Input Terminal Adapter (DB9 Male) and Wiring Example
          • Output Terminal Adapter (DB15 Male) and Wiring Example
        • Contact Us
      • D600
        • Basic Parameters
        • Electrical Parameters
        • Mechanical materials
        • Working Space
          • Reach
          • Safe Working Area
        • Moving Base Dimensions
          • 3-Axes Model
          • 4-Axes Model
          • 5-Axes Model
          • 6-Axes Model
        • Wiring & Communicate Ports
          • Mainboard Interface
        • Contact Us
      • D800
        • Basic Parameters
        • Electrical Parameters
        • Mechanical materials
        • Working Space
          • Reach
          • Safe Working Area
        • Moving Base Dimensions
          • 3-Axes Model
          • 4-Axes Model
          • 5-Axes Model
          • 6-Axes Model
        • Wiring & Communication Ports
          • Input Terminal Adapter (DB9 Male) and Wiring Example
          • Output Terminal Adapter (DB15 Male) and Wiring Example
        • Contact Us
    • Accessories
      • Delta X 2 Accessories
        • Desktop Conveyor
          • Introduction
          • System Components
          • Dimensions
          • Conveyor Specifications
          • Conveyor Features
          • Control Options
          • Applications
          • Contact Us
        • Slider X
          • Basic Parameters
          • Mechanical materials
          • Dimensions
          • Applications
          • Contact Us
        • Vision Kit V1
          • Key Features:
          • In the Box:
          • Applications:
        • 2020 Aluminum Profile Frames
          • Hyper Cube Frame 2020 Basic Kit
          • Hyper Cube Frame 2020 Develop Kit
      • Delta X S Accessories
        • X Conveyor D120/200/300/400 L1200
          • Introduction
          • System Components
          • Dimensions
          • Conveyor Specifications
          • Control Options
          • Features
          • Applications
          • Conclusion
          • Contact Us
        • Industrial Vision System Kit (for Delta X S)
        • 4040 Aluminum Profile Frames
          • On-Table Frames
          • Stand Frames

Tutorials

  • Tutorial List
    • Popular Tutorials
    • Assemble Guides
    • Control Robot Guides
    • Other tutorials
  • Assembly Guides
    • Delta X 2
      • Table of Contents
      • Safety Precautions
      • Package Contents
      • Tools Required
      • Assembly Tutorials
        • Step 1: Robot Assembly
        • Step 2: Aluminum Frame Assembly
          • 2.1. Pick and Place Frame Part List
          • 2.2 Pick and Place Frame Assembly
          • 2.3 Install Robot Into The Aluminum Frame
        • Step 3: End Effector Attachment
        • Step 4: Power on and Testing
      • Maintenance
      • Contact Support
    • Delta X S Robot
      • Introduction
      • Safety Precautions
      • Package Contents
      • Assembly Instructions
        • Step 1: Mounting the robot onto the frame
        • Step 2: Power on and Home the robot
          • Power on the robot
          • Home the robot
        • Step 3: Attaching the arms to the robot body
        • Step 4(Optional): Install Axis 4 (5,6)
      • Input & Output Connection
        • Input Terminal Adapter (DB9 Male) and Wiring Example
        • Output Terminal Adapter (DB15 Male) and Wiring Example
        • Caution
      • Maintenance
      • Contact Support
      • Contact Us
    • Delta X S Frame
      • Introduction
      • Requirements
      • Step 1: Preparation
      • Step 2: Frame Assembly
        • 2.1 Installing the Corner Brackets
        • 2.2. Install the rectangular frame below
        • 2.3 Adding 4 Support Columns to the Frame
        • 2.4 Create Top Rectangular Frame with Crossbars for Robot Mounting
        • 2.5 Install Top Rectangular Frame with the Main Frame Body
      • Step 3: Finalizing the Assembly
      • Contact Us
    • Delta X S IO Wiring
      • Digital Input(PNP) and Analog Input Wiring
        • Input Terminal Block (DB9 Male):
        • Wiring Steps
        • Input Breakout Terminal Board Pinout.
  • Control Guides
    • Use Arduino to Control Delta X 2
      • Step 1: Wiring Diagram
      • Step 2: Write the Sketch for Arduino
        • Programming
      • Conclusion
  • Applications
    • Delta X Drawing
      • Delta X S draw Einstein with E=mC^2
      • Step by step
        • Delta X Art Software
          • Step 1: Start Local Server
          • Step 2: Install Delta X Art Software
          • Step 3: Create Drawing
          • Step 4: Export G-code
        • Custom Icon in Drawing
Delta X Robot
  • References
  • Specifications
  • Accessories
  • Delta X S Accessories
  • 4040 Aluminum Profile Frames
  • Stand Frames
  • Edit on Github
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