Delta X Gcode

[gcode-page] [gcode-name]G0, G1 - Linear Move[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]The [gcode-prefix]G0[/gcode-prefix] and [gcode-prefix]G1[/gcode-prefix] 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. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3]

[gcode-usage]G0 [F<rate>] [X<pos>] [Y<pos>] [Z<pos>] [W<angle>] [U<angle> [V<angle>][/gcode-usage]
[gcode-robot-tag3]Delta X S[/gcode-robot-tag3]

[gcode-usage]G0 [A<rate>] [S<rate>] [E<rate>][/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [F<rate>] [/gcode-cell1] [gcode-cell2] (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. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [A<rate>] [/gcode-cell1] [gcode-cell2] (mm/s2) Acceleration of motion. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [S<rate>] [/gcode-cell1] [gcode-cell2] (mm/s) Starting velocity. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [E<rate>] [/gcode-cell1] [gcode-cell2] (mm/s) Finish velocity. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [X<pos>] [/gcode-cell1] [gcode-cell2] (mm) A coordinate on the X-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Y<pos>] [/gcode-cell1] [gcode-cell2] (mm) A coordinate on the Y-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Z<pos>] [/gcode-cell1] [gcode-cell2] (mm) A coordinate on the Z-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [W<ang>] [/gcode-cell1] [gcode-cell2] (degree) A coordinate on the 4-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [U<ang>] [/gcode-cell1] [gcode-cell2] (degree) A coordinate on the 5-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [V<ang>] [/gcode-cell1] [gcode-cell2] (degree) A coordinate on the 6-axis. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Examples[/gcode-subTitle] [gcode-example] G01 X12 ;move to 12mm on the X-axis
G01 F200 ;set the feedrate to 200 mm/s
G01 X90.6 Y13.8 ;move to 90.6mm on the X-axis and 13.8mm on the Y-axis
G01 X0 Y0 Z-350
G01 W90 ;rotate to 90 degree 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
[/gcode-example] [gcode-note] [gcode-note-line] These syntaxes are equivalent: G01, G1, G0 [/gcode-note-line] [/gcode-note]
[gcode-name]G2, G3 - Controlled Arc Move[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text] [gcode-prefix]G2[/gcode-prefix] adds a clockwise arc move to the planner; [gcode-prefix]G3[/gcode-prefix] 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. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3]

[gcode-usage] G2 [F<rate>] [I<offset>] [J<offset>] [X<pos>] [Y<pos>] [W<ang>] [/gcode-usage]
[gcode-robot-tag3]Delta X S[/gcode-robot-tag3]

[gcode-usage]G2 [A<rate>] [S<rate>] [E<rate>][/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [F<rate&gt] [/gcode-cell1] [gcode-cell2] The maximum movement rate of the move between the start and endpoint. The feed rate set here applies to subsequent moves that omit this parameter. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [A<rate>] [/gcode-cell1] [gcode-cell2] (mm/s2) Acceleration of motion. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [S<rate>] [/gcode-cell1] [gcode-cell2] (mm/s) Starting velocity. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [E<rate>] [/gcode-cell1] [gcode-cell2] (mm/s) Finish velocity. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] I<offset> [/gcode-cell1] [gcode-cell2] An offset from the current X position to use as the arc center. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] J<offset> [/gcode-cell1] [gcode-cell2] An offset from the current Y position to use as the arc center. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [X<pos>] [/gcode-cell1] [gcode-cell2] A coordinate on the X-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Y<pos>] [/gcode-cell1] [gcode-cell2] A coordinate on the Y-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [W<ang>] [/gcode-cell1] [gcode-cell2] A coordinate on the W axis. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Examples[/gcode-subTitle] [gcode-example] G28
G01 Z-350
G01 X50
G02 X-50 Y0 I-50 J0
G03 X50 Y0 I50 J0 [/gcode-example]
[gcode-name]G4 - Dwell/Delay[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Pause the robot for a period of time. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]G4 [P<value>][/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [P<value>] [/gcode-cell1] [gcode-cell2] Time in ms. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Examples[/gcode-subTitle] [gcode-example] G01 X0 Y0 Z-350
G4 P500 ; delay 500ms
G01 X100
[/gcode-example]
[gcode-name]G5 - Bezier cubic spline[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text][gcode-prefix]G5[/gcode-prefix] creates a cubic B-spline in the XY plane with the X and Y axes only. P and Q parameters are required. I and J are required for the first [gcode-prefix]G5[/gcode-prefix] command in a series. For subsequent [gcode-prefix]G5[/gcode-prefix]commands, either both I and J must be specified, or neither. If I and J are unspecified, the starting direction of the cubic will automatically match the ending direction of the previous cubic (as if I and J are the negation of the previous P and Q). [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]G5 [F<rate>] [I<pos>] [J<pos>] [P<pos>] [Q<pos>] [X<pos>] [Y<pos>] [W<ang>][/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [F<rate>] [/gcode-cell1] [gcode-cell2] The maximum movement rate of the move between the start and endpoint. The feedrate set here applies to subsequent moves that omit this parameter. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [I<pos>] [/gcode-cell1] [gcode-cell2] X incremental offset from the start point to the first control point. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [J<pos>] [/gcode-cell1] [gcode-cell2] Y incremental offset from the start point to the first control point. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [P<pos>] [/gcode-cell1] [gcode-cell2] X incremental offset from the endpoint to the second control point. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Q<pos>] [/gcode-cell1] [gcode-cell2] Y incremental offset from the endpoint to the second control point. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [X<pos>] [/gcode-cell1] [gcode-cell2] A coordinate on the Y-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Y<pos>] [/gcode-cell1] [gcode-cell2] A coordinate on the Y-axis. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [W<ang>] [/gcode-cell1] [gcode-cell2] A coordinate on the W axis. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Examples[/gcode-subTitle] [gcode-example] G5 F200 I-40 Y20 P-20 Y-20 X20 Y-20.
[/gcode-example]
[gcode-name]G6 - Controlled Angle[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Directly control movement angle without endpoint coordinates. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3]

[gcode-usage]G6 [F<rate>] [X<pos>] [Y<pos>] [Z<pos>] [P<pos>][/gcode-usage]
[gcode-robot-tag3]Delta X S[/gcode-robot-tag3]

[gcode-usage]G6 [A<rate>] [S<rate>] [E<rate>][/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [F<rate>] [/gcode-cell1] [gcode-cell2] The maximum movement rate of the move between the start and endpoint. The feed rate set here applies to subsequent moves that omit this parameter. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [A<rate>] [/gcode-cell1] [gcode-cell2] (mm/s2) Acceleration of motion. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [S<rate>] [/gcode-cell1] [gcode-cell2] (mm/s) Starting velocity. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [E<rate>] [/gcode-cell1] [gcode-cell2] (mm/s) Finish velocity. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [X<pos>] [/gcode-cell1] [gcode-cell2] The value of the angle theta 1. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Y<pos>] [/gcode-cell1] [gcode-cell2] The value of the angle theta 2. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Z<pos>] [/gcode-cell1] [gcode-cell2] The value of the angle theta 3. [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [P<pos>] [/gcode-cell1] [gcode-cell2] Distance traveled. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]G28 - Auto Home[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Auto-home one or more axes, moving them towards their endstops until triggered. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]G28[/gcode-usage]
[gcode-name]G90 - Absolute Positioning[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]In absolute mode, all coordinates given in G-code are interpreted as positions in the logical coordinate space. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]G90[/gcode-usage]
[gcode-name]G91 - Relative Positioning[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Set relative position mode. In this mode, all coordinates are interpreted as relative to the last position. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]G91[/gcode-usage]
[gcode-name]M03, M04 - Output On/Laser On/ Vacuum On/ Gripper Close[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle]Description[/gcode-subTitle] [description-text][gcode-prefix]M03[/gcode-prefix] is used to turn on the vacuum pump, laser, and close the gripper. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M03 [S<value>][/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [S<value>] [/gcode-cell1] [gcode-cell2] Vacuum pump (empty), Spindle speed (0 - 255), laser power (0 - 255), angle of gripper (0-100), if value is emtpy then gripper close. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-note] [gcode-note-line] [gcode-prefix]M03[/gcode-prefix] will be equivalent to [gcode-prefix]M03 S255[/gcode-prefix] [/gcode-note-line] [/gcode-note] [gcode-robot-tag3]Delta X S V2[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] This is the command used to turn on the robot's relay. However, it only exists in Delta X S V2. To turn on the relay at Delta X S V3, V4 we use the command [gcode-prefix]M03 Dx[/gcode-prefix] with Dx named from D0 to D7. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M03 Rx Wy[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Rx: [/gcode-cell1] [gcode-cell2] Relay Output: x = 0, 1, 2, 3 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Wy: [/gcode-cell1] [gcode-cell2] y = 1: turn on the relay
y = 0: turn off the relay
Do not use: turn on the relay (y = 1) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Examples[/gcode-subTitle] [gcode-example] G01 Z-400
G01 X100
M03 R0 W1 ;Turn on relay 0
G01 Z-410
G01 Z-400
G01 X-100
M03 R0 W0 ;Turn off relay 0
[/gcode-example] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] [gcode-prefix]M03 Dx[/gcode-prefix] is used to turn on the [gcode-prefix]output pins[/gcode-prefix] of the robot. This is an important command. The robot will transmit signals to external devices or to control the end effector such as turning on and off pneumatic valves (to activate the gripper or suction cup). [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M03 Dx Wy[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Dx [/gcode-cell1] [gcode-cell2] [gcode-robot-tag3]Delta X S V2[/gcode-robot-tag3]
Digital Output: x = 0, 1, 2, 3 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] [gcode-robot-tag3]Delta X S V3[/gcode-robot-tag3]
Relay Output: x = 0, 1, 2, 3, 4, 5, 6, 7
Digital Output: x = 8, 9, 10, 11, 12, 13, 14, 15 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] [gcode-robot-tag3]Delta X S V4[/gcode-robot-tag3]
Digital Output: x = 0, 1, 2, ..., 14, 15 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Wy: [/gcode-cell1] [gcode-cell2] y = 1: turn on ouput
y = 0: turn off ouput
Do not use: turn on output (y = 1) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Examples[/gcode-subTitle] [gcode-example] G01 Z-400
G01 X100
M03 D8 W1 ;Open gripper connected to the D8 pin
G01 Z-410
G01 Z-400
G01 X-100
M03 D8 W0 ;Close gripper connected to the D8 pin
[/gcode-example] [gcode-note] [gcode-note-line] Just use M03 D0, the robot will still turn on the D0 digital pin. [/gcode-note-line] [/gcode-note] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M03 Px Wy[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] x: [/gcode-cell1] [gcode-cell2] PWM Output ID {0 - 1} [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] y: [/gcode-cell1] [gcode-cell2] PWM 8bit value (0-255); [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M03 Sx Wy[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] x: [/gcode-cell1] [gcode-cell2] RC Servo ID {0 - 1} [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] y: [/gcode-cell1] [gcode-cell2] RC Servo angle (0 - 180) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M05 - Output Off/Laser Off/ Vacuum Off/ Gripper Open[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle]Description[/gcode-subTitle] [description-text][gcode-prefix]M05[/gcode-prefix] is used to turn off the vacuum pump, laser, and close the gripper. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M05[/gcode-usage]
[gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text][gcode-prefix]TURN OFF[/gcode-prefix] Relay, Digital Output, PWM pin [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M05 Rx[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Rx: [/gcode-cell1] [gcode-cell2] Relay Output: x = 0, 1, 2, 3 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M05 Dx[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Dx [/gcode-cell1] [gcode-cell2] [gcode-robot-tag2]Delta X S V2[/gcode-robot-tag2]
Digital Output: x = 0, 1, 2, 3 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] [gcode-robot-tag2]Delta X S V3[/gcode-robot-tag2]
Relay Output: x = 0, 1, 2, ..., 6, 7
Digital Output: x = 8, 9, 10, ..., 14, 15 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] [gcode-robot-tag2]Delta X S V4[/gcode-robot-tag2]
Digital Output: x = 0, 1, 2, ..., 14, 15 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M05 Px[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Px: [/gcode-cell1] [gcode-cell2] PWM pin: x = 0, 1 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M05 Ux[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ux: [/gcode-cell1] [gcode-cell2] x = 0: Turn off all relays [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] x = 1: Turn off digital output pins [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] x = 2: Turn off PWM pins [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M07 - Read Input (immediate feedback)[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Read Digital and Analog Input [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M7 Ix[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ix: [/gcode-cell1] [gcode-cell2] Digital input pin: x = 0, 1, 2, 3, 4, 5 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Feedback[/gcode-subTitle] [gcode-usage]Ix Vy[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] y: [/gcode-cell1] [gcode-cell2] 0 or 1 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M7 Ax[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Analog input pin: x = 0, 1 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Feedback[/gcode-subTitle] [gcode-usage]Ax Vy[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Vy: [/gcode-cell1] [gcode-cell2] y = 0 to 4096 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M08 - Read Input[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Read Digital and Analog Input. The result will be returned after a while. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M8 Ix[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ix: [/gcode-cell1] [gcode-cell2] Digital input pin: x = 0, 1, 2, 3, 4, 5 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Feedback[/gcode-subTitle] [gcode-usage]Ix Vy[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Vy: [/gcode-cell1] [gcode-cell2] y = 0 or 1 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M8 Ax Wy[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Analog input pin: x = 0, 1 [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Wy: [/gcode-cell1] [gcode-cell2] Response time: y >= 100 us [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-subTitle]Feedback[/gcode-subTitle] [gcode-usage]Ax Vy[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Vy: [/gcode-cell1] [gcode-cell2] y = 0 to 4096 [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M40 - Open RS232 port[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M40 Ax By[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] x = 1: open [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] x = 0: close [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] By: [/gcode-cell1] [gcode-cell2] y: baud rate [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M41 - Open RS485 port[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M41 Ax By[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] x = 1: open [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] x = 0: close [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] By: [/gcode-cell1] [gcode-cell2] y: baud rate [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M42 - Open TTL port[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M42 Ax By[/gcode-usage]
[gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] x = 1: open [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [/gcode-cell1] [gcode-cell2] x = 0: close [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] By: [/gcode-cell1] [gcode-cell2] y: baud rate [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M60 - 4-axis configuration[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3]
[gcode-subTitle]Description[/gcode-subTitle] [description-text] This command can be used to config the 4-axis. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [/gcode-usage] [gcode-usage] M60 Dx Ex Ix Sx Rx Ux Px Qx Hx Ax Jx Fx [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Dx: [/gcode-cell1] [gcode-cell2] x = 1: add the 4-axis for Delta X S robot
x = 0: do not use the 4-axis [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] x = 1: use the endstop sensor
x = 0: do not use the endstop sensor [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ix: [/gcode-cell1] [gcode-cell2] Set the activation sensor state
x = 1: use the HIGH level of sensor signal
x = 0: use the LOW level of sensor signal [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Rotate speed of the 4-axis when it go home
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Rx: [/gcode-cell1] [gcode-cell2] Set the value that the 4-axis will move reverse to and go home again
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ux: [/gcode-cell1] [gcode-cell2] Step per unit
x (step/unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Px: [/gcode-cell1] [gcode-cell2] Set the max position that the 4-axis can move to
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Qx: [/gcode-cell1] [gcode-cell2] Set the min position that the 4-axis can move to
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Hx: [/gcode-cell1] [gcode-cell2] Set the home position
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the max acceleration of the 4-axis
x (unit/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the max jerk of the 4-axis
x (unit/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the max rotate speed of the 4-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M61 - 5-axis configuration[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3]
[gcode-subTitle]Description[/gcode-subTitle] [description-text] This command can be used to config the 5-axis. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage] M61 Dx Ex Ix Sx Rx Ux Px Qx Hx Ax Jx Fx [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Dx: [/gcode-cell1] [gcode-cell2] x = 1: add the 5-axis for Delta X S robot
x = 0: do not use the 5-axis [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] x = 1: use the endstop sensor
x = 0: do not use the endstop sensor [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ix: [/gcode-cell1] [gcode-cell2] Set the activation sensor state
x = 1: use the HIGH level of sensor signal
x = 0: use the LOW level of sensor signal [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Rotate speed of the 5-axis when it go home
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Rx: [/gcode-cell1] [gcode-cell2] Set the value that the 5-axis will move reverse to and go home again
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ux: [/gcode-cell1] [gcode-cell2] Step per unit
x (step/unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Px: [/gcode-cell1] [gcode-cell2] Set the max position that the 5-axis can move to
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Qx: [/gcode-cell1] [gcode-cell2] Set the min position that the 5-axis can move to
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Hx: [/gcode-cell1] [gcode-cell2] Set the home position
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the max acceleration of the 5-axis
x (unit/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the max jerk of the 5-axis
x (unit/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the max rotate speed of the 5-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M62 - 6-axis configuration[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3]
[gcode-subTitle]Description[/gcode-subTitle] [description-text] This command can be used to config the 6-axis. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage] M61 Dx Ex Ix Sx Rx Ux Px Qx Hx Ax Jx Fx [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Dx: [/gcode-cell1] [gcode-cell2] x = 1: add the 6-axis for Delta X S robot
x = 0: do not use the 6-axis [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] x = 1: use the endstop sensor
x = 0: do not use the endstop sensor [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ix: [/gcode-cell1] [gcode-cell2] Set the activation sensor state
x = 1: use the HIGH level of sensor signal
x = 0: use the LOW level of sensor signal [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Rotate speed of the 6-axis when it go home
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Rx: [/gcode-cell1] [gcode-cell2] Set the value that the 6-axis will move reverse to and go home again
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ux: [/gcode-cell1] [gcode-cell2] Step per unit
x (step/unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Px: [/gcode-cell1] [gcode-cell2] Set the max position that the 6-axis can move to
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Qx: [/gcode-cell1] [gcode-cell2] Set the min position that the 6-axis can move to
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Hx: [/gcode-cell1] [gcode-cell2] Set the home position
x (unit) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the max acceleration of the 6-axis
x (unit/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the max jerk of the 6-axis
x (unit/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the max rotate speed of the 6-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M84 - Disable steppers[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]This command can be used to disable steppers. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M84[/gcode-usage]
[gcode-name]M104 - Set Hotend Temperature[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Set a new target hot end temperature and continue without waiting. The firmware will continue to try to reach and hold the temperature in the background. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M104 [S<temp>][/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [S<temp>] [/gcode-cell1] [gcode-cell2] Target temperature. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M109 - Wait for Hotend Temperature[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle]Description[/gcode-subTitle] [description-text]This command optionally sets a new target hot end temperature and waits for the target temperature to be reached before proceeding. [/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M109 [S<temp>][/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [S<temp>] [/gcode-cell1] [gcode-cell2] Target temperature. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M203 - Max Feedrate[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the limited feedrate for moving base of robot. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M203 [S<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [S<value>] [/gcode-cell1] [gcode-cell2] Max feedrate (mm/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M204 - Set Acceleration[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the acceleration for moving base of robot. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M204 [A<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [A<value>] [/gcode-cell1] [gcode-cell2] Robot acceleration (mm/s2) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M205 - Starting speed[/gcode-name] [gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the starting and ending speeds for each movement of the robot. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M205 [S<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [S<value>] [/gcode-cell1] [gcode-cell2] Starting Speed (mm/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M206 - Set X Y Z Offsets[/gcode-name] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Use [gcode-prefix]M206[/gcode-prefix] to apply a persistent X Y Z offset to the native home position and coordinate space. This effectively shifts the coordinate space in the negative direction. Used for 3d printing. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M206 [X<value>] [Y<value>] [Z<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [X<value>] [/gcode-cell1] [gcode-cell2] X offset (mm) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Y<value>] [/gcode-cell1] [gcode-cell2] Y offset (mm) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] [Z<value>] [/gcode-cell1] [gcode-cell2] Z offset (mm) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M210 - Set the movement parameters of X, Y, Z axes[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M210 Fx Ax Jx Sx Ex[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the motion speed of X, Y, Z axes
x (mm/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the motion acceleration of X, Y, Z axes
x (mm/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the jerk of X, Y, Z axes
x (mm/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Set the starting speed of X, Y, Z axes
x (mm/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] Set the finish speed of X, Y, Z axes
x (mm/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M211 - Set the movement parameters of the 4-axis[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M211 Fx Ax Jx Sx Ex[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the motion speed of the 4-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the motion acceleration of the 4-axis
x (unit/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the jerk of the 4-axis
x (unit/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Set the starting speed of the 4-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] Set the finish speed of the 4-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M212 - Set the movement parameters of the 5-axis[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M212 Fx Ax Jx Sx Ex[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the motion speed of the 5-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the motion acceleration of the 5-axis
x (unit/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the jerk of the 5-axis
x (unit/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Set the starting speed of the 5-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] Set the finish speed of the 5-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M213 - Set the movement parameters of the 6-axis[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M213 Fx Ax Jx Sx Ex[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Fx: [/gcode-cell1] [gcode-cell2] Set the motion speed of the 6-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] Set the motion acceleration of the 6-axis
x (unit/s2) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Jx: [/gcode-cell1] [gcode-cell2] Set the jerk of the 6-axis
x (unit/s3) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Sx: [/gcode-cell1] [gcode-cell2] Set the starting speed of the 6-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] Ex: [/gcode-cell1] [gcode-cell2] Set the finish speed of the 6-axis
x (unit/s) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M220 - Read the movement parameters[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]This command will help us to know the value of the current motion parameters[/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M220 Ix[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ix: [/gcode-cell1] [gcode-cell2] x = 0: Read the parameters of X, Y, Z axes
x = 1: Read the parameters of the 4-axis
x = 2: Read the parameters of the 5-axis
x = 3: Read the parameters of the 6-axis [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M330 - Set External Serial Port 1[/gcode-name] [gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle] Description [/gcode-subTitle] [description-text] There are 2 Serial ports on robot for connecting conveyors, slider rail or with external arduino. By default these serials are turned off.To use external Arduino control Delta X, please connect TX RX GND pin at 1 of 2 ports. And send to robot "IsDelta\n" 2 times to activate the port.When connecting Delta X robot with conveyor and slider rail. You can use a computer connected to the robot and control the robot, conveyor, and slider rail through just one COM port on the computer. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M330 [R<index>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [R<index>] [/gcode-cell1] [gcode-cell2] 0 : None.
1 : Conveyor.
2 : Slidingrail. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M331 - Set External Serial Port 2[/gcode-name] [gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle] Description [/gcode-subTitle] [description-text]There are 2 Serial ports on robot for connecting conveyors, slider rail or with external arduino. By default these serials are turned off.To use external Arduino control Delta X, please connect TX RX GND pin at 1 of 2 ports. And send to robot "IsDelta\n" 2 times to activate the port.When connecting Delta X robot with conveyor and slider rail. You can use a computer connected to the robot and control the robot, conveyor, and slider rail through just one COM port on the computer. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M331 [R<index>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [R<index>] [/gcode-cell1] [gcode-cell2] 0 : None.
1 : Conveyor.
2 : Slidingrail. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M360 - Set End effector[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Select the end effector for the delta robot. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M360 [E<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [E<value> [/gcode-cell1] [gcode-cell2] 0 : Vacuum (default)
1 : Gripper.
2 : Pen.
3 : Laser.
4 : Printer.
5 : Custom [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M361 - Interpolated line length[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the length of each segment in line interpolation. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M361 [P<units>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [P<units>] [/gcode-cell1] [gcode-cell2] Length in mm. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M362 - Arc segment length[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set segment length in arc interpolation. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M362 [P<units>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [P<units>] [/gcode-cell1] [gcode-cell2] Length in mm. [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M500 - Save Settings[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Save all configurable settings to EEPROM. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M500 [/gcode-usage] [gcode-name]M501 - Restore Settings[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Load all saved settings from EEPROM. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M501 [/gcode-usage] [gcode-name]M502 - Restore Settings[/gcode-name] [gcode-robot-tag1]Delta X 1[/gcode-robot-tag1][gcode-robot-tag2]Delta X 2[/gcode-robot-tag2][gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Reset all configurable settings to their factory defaults. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M502 [/gcode-usage]
[gcode-name]M600 - Emergency Stop [/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M600 Ax By[/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] Ax: [/gcode-cell1] [gcode-cell2] x: input pin 1
[/gcode-cell2] [/gcode-row] [gcode-row] [gcode-cell1] By: [/gcode-cell1] [gcode-cell2] y: input pin 2
[/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]
[gcode-name]M601 - Turn off Emergency Stop[/gcode-name] [gcode-robot-tag3]Delta X S[/gcode-robot-tag3] [gcode-subTitle]Description[/gcode-subTitle] [description-text]Use this command when you want to skip Emergency stop[/description-text] [gcode-subTitle]Usage[/gcode-subTitle] [gcode-usage]M601[/gcode-usage]
[gcode-name]M310 - Set Mode[/gcode-name] [gcode-robot-tag1]Conveyor Belt[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the speed of the conveyor belt when it is in continuous running mode. This speed will be kept exactly when running. With a positive value it will move in one direction and with a negative value it will move in the opposite direction. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M310 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] 0: Volume Mode (Conveyor will run continuously and its speed is adjusted by rheostat)
1: Serial Mode (Conveyor will be controlled by the signal sent to the Serial port) [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M311 - Set Speed In Speed Mode[/gcode-name] [gcode-robot-tag1]Conveyor Belt[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the speed of the conveyor belt when it is in continuous running mode. This speed will be kept exactly when running. With a positive value it will move in one direction and with a negative value it will move in the opposite direction. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M311 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] Speed in mm/s [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M312 - Set Position[/gcode-name] [gcode-robot-tag1]Conveyor Belt[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Conveyor will move to a specified position relative to the current position. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M312 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] Position in mm [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M313 - Set Speed In Position Mode[/gcode-name] [gcode-robot-tag1]Conveyor Belt[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the speed of the conveyor belt when it is in position mode. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M313 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] Speed in mm/s [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M320 - Go To Home[/gcode-name] [gcode-robot-tag1]Sliding Rail[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Slider will move back to original position at default speed [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M320 [<value>] [/gcode-usage] [gcode-name]M321 - Set Speed[/gcode-name] [gcode-robot-tag1]Sliding Rail[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the slider's speed when it moves [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M321 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] Speed in mm/s [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M322 - Set Position[/gcode-name] [gcode-robot-tag1]Sliding Rail[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Slider will move to a specified position relative to the home point. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M322 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] Position in mm [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel] [gcode-name]M323 - Disable Stepper Motor[/gcode-name] [gcode-robot-tag1]Sliding Rail[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Normally, the motor will hold the position of the slider. After receiving this command, the motor will release and the slider can be free. [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M323 [/gcode-usage] [gcode-name]M324 - Set Acceleration[/gcode-name] [gcode-robot-tag1]Sliding Rail[/gcode-robot-tag1] [gcode-subTitle] Description [/gcode-subTitle] [description-text] Set the slider's acceleration when it moves [/description-text] [gcode-subTitle] Usage [/gcode-subTitle] [gcode-usage] M324 [<value>] [/gcode-usage] [gcode-parameter-panel] [gcode-tag]Parameters[/gcode-tag] [gcode-table] [gcode-row] [gcode-cell1] [<value> [/gcode-cell1] [gcode-cell2] Acceleration in mm/s² [/gcode-cell2] [/gcode-row] [/gcode-table] [/gcode-parameter-panel]

[gcode-name]IsDelta - Confirm the robot[/gcode-name] [gcode-example] >> IsDelta
<< YesDelta [/gcode-example]
[gcode-name]Disconnect - Disconnect robot[/gcode-name]
[gcode-name]SAVEWIFI - Save wifi information to EEPROM[/gcode-name]
[gcode-name]SAVEIP - Save delta IP address to EEPROM[/gcode-name]
[gcode-name]IP - Get the IP address of the robot[/gcode-name] [gcode-example] >> IP
<< 192.168.1.199 [/gcode-example]
[gcode-name]SSID:x - Set SSID of your wifi for the robot[/gcode-name] x: wifi name; [gcode-example] << SSID:wifiname [/gcode-example]
[gcode-name]PSWD:x - Set PASSWORD of your wifi[/gcode-name] x: password;
[gcode-example] >> PSWD:wifipass
<< Ok [/gcode-example]
[/gcode-page]