Control Delta X 2 with Arduino Mega 2560

[document]

[index]1. Setup[/index]

[index]2. Communicate[/index]

Arduino communicates with robot via UART protocol. 

Way of communication: 

    - First, the Arduino sends a G-code command to the robot. 

    - After receiving and executing that g-code command, the robot will send an 'Ok\n' response back to the Arduino. 

    - After receiving a response from the robot, the Arduino sends the next G-code command.

You can refer the program below:

bool stringComplete = false; 

char index = 0;                    
 

void setup() { 

  Serial.begin(115200);      

  delay(500); 

  Serial.println("IsDelta"); 

} 

 

void loop() { 

  if(stringComplete){ 

    sendGcode(index); 

    stringComplete = false; 

    index++; 

    if (index > 4) { 

      index = 0; 

    } 

  } 

} 

 

void serialEvent() { 

  while (Serial.available()) { 

    char inChar = (char)Serial.read(); 

    if (inChar == '\n') { 

      stringComplete = true; 

    } 

  } 

} 

 

void sendGcode(char i){ 

  switch (i) { 

    case 0: { 

      Serial.println("G28"); 

      break; 

    } 

    case 1: { 

      Serial.println("G01 Z-280"); 

      break; 

    } 

    case 2: { 

      Serial.println("G01 X160"); 

      break; 

    } 

    case 3: { 

      Serial.println("G02 I-160 J0 X160 Y0"); 

      break; 

    } 

    case 4: { 

      Serial.println("G01 X0"); 

      break; 

    } 

    default: break; 

  } 

} 

[/document]












Delta X 2 has 2 Serial ports.







These 2 ports are used to connect with Conveyor or Slider Rail. These are two ports that Delta X 1 does not have.

To enable these two ports to control Conveyor, you use the following command:M330 [R<index>] hoặc M331 [R<index>].

index =
0 : None.
1 : Conveyor.
2 : Slidingrail.


Example (select port 2 for conveyor): M331 R1





You can use these 2 ports to use Arduino to control Delta X 2.


I use Arduino Mega 2560 and use Serial1 to connect to Serial Port 1 of Robot (If you use Arduino Uno then use default Serial).


The connection is as follows: Vcc <--> Vcc, Gnd <--> Gnd, TX <--> RX, RX <--> TX







To enable Serial port on robot by Arduino. Please send the command "IsDelta\n" from Arduino to Robot.


Here is a simple code to control Robot using Serial 1 port of Arduino. (Note that the '\n' after every command sent to the robot is required. If you use the println("IsDelta") function, '\n' is not needed because println("IsDelta") = print("IsDelta\n")



Serial1.begin(115200);
Serial1.println("IsDelta");
delay(100);
Serial1.println("G28");
Serial1.println("G01 Z-350");











If you send too much G-code to the queue of robot, the robot will freeze so you should wait until Robot responds "Ok", send next command.


Here is a basic library that I wrote.


https://github.com/deltaxrobot/Delta-X-Example/tree/master/Delta_X_With_External_Arduino?fbclid=IwAR0Sa9wRxxs7tf_tkwB9J39NPRoSvZyZLjKkssO6oRsH8hpKR6bT2oBgPcU




#include "DeltaXRobot.h"


DeltaXRobot DeltaX;


void setup()
{
Serial.begin(115200);
DeltaX.SetSerial(&Serial1);


DeltaX.Gcode("G28");
DeltaX.Gcode("G01 Z-350");
DeltaX.Gcode("G01 X-100");
DeltaX.Gcode("G02 I100 J0 X-100 Y0");
DeltaX.Gcode("G03 I100 J0 X-100 Y0");

DeltaX.BeginGcode("subprogram1");


DeltaX.Home();
DeltaX.MoveZ(-300);
DeltaX.MoveZ(-270);
DeltaX.MoveZ(-300);
DeltaX.MoveZ(-270);
DeltaX.MoveZ(-300);
DeltaX.MoveZ(-270);


DeltaX.EndGcode();

DeltaX.BeginGcode("subprogram2");

DeltaX.Home();
DeltaX.MoveZ(-300);
DeltaX.MoveXY(100,100);
DeltaX.MoveXY(-100, 100);
DeltaX.MoveXY(-100, -100);
DeltaX.MoveXY(100, -100);
DeltaX.Gcode("G01 X0 Y0");
DeltaX.Gcode("G01 Z-330");

DeltaX.EndGcode();


DeltaX.Run("subprogram1");
}


void loop()
{
DeltaX.Execute();

if (DeltaX.IsAllStop() == true && DeltaX.IsSelectingProgram("subprogram1") == true)
{
DeltaX.Run("subprogram2");
}
}