Delta D25886 User Manual download pdf (Page 223)

4. Motion Control Instructions

4-182 DVP-MC operating manual

 Example 5: Omission format

The G codes to be executed:

N00 G0 X0 Y0 Z0

N01 G1 X100 Y100 Z100

N02 G2 I100 J100

N03 G91

N04 G2 I50 J50

（）200,200

（）150,150

（）100,100

（）100,100,100

（）200,200,200

Instruction explanation:

The axis position is (100, 100,100) after execution of N01 row of instruction is finished;

In N02 row of instruction, there are only I and J parameters and other omitted parameter values are

based on the last instruction, i.e. N02 instruction: N02 X100 Y100 Z100 I100 J100; the start point and

terminal point are (100, 100, 100) and so the motion path is a full circle.

N03 row of instruction is G91 and the following rows of codes after G91 are in relative mode.

N04 row of instruction is equivalently N04 G2 X100 Y100 Z100 I50 J50. The terminal coordinates are

(200, 200, 200) due to the relative mode and the coordinates of the center of a circle for the projection

on XY plane are (150,150)

 Example 6: Helical interpolation with the radius specified by XY plane (Current position: 0)

The G codes to be executed:

N1 G2 X200 Y200 Z200 R-200

N0 G0 X0 Y0 Z0

N1 G2 X200 Y200 Z200 R200

The motion path is a major arc while the first G2 code is executed and it is a minor arc while the

second G2 code is executed.

（）200,200

200

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Delta D25886 User Manual Page 223