[document]
[index]G0, G1 – Linear Move[/index]
Description: 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: G0 [F<rate>] [X<pos>] [Y<pos>] [Z<pos>] [W<angle>] [U<angle> [V<angle>]
Parameters:
[F<rate>] (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.
[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<ang>] (degree) A coordinate on the 4-axis.
[U<ang>] (degree) A coordinate on the 5-axis.
[V<ang>] (degree) A coordinate on the 6-axis.
Examples:
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
[index]G2, G3 – Controlled Arc Move[/index]
Description: G2 adds a clockwise arc move to the planner; G03 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: G2 [F<rate>] I<offset> J<offset> [X<pos>] [Y<pos>] [W<ang>]
Parameters:
[F<rate>] 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.
I<offset> An offset from the current X position to use as the arc center.
J<offset> An offset from the current Y position to use as the arc center.
[X<pos>] A coordinate on the X-axis.
[Y<pos>] A coordinate on the Y-axis.
[W<ang>] A coordinate on the W axis.
Examples:
G2 I40 J0 X80 Y0
[index]G4 – Dwell[/index]
Description: Dwell pauses the command queue and waits for a period of time.
Usage: G4 [P<time in ms>]. Another firmware version "time in s"
Parameters:
[P<time>] Amount of time to dwell.
Examples:
G4 P500 ; delay 0.5s, or 500s
[index]G5 – Bezier cubic spline[/index]
Description: G5 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 G5 command in a series. For subsequent G5commands, 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).
Usage: G5 [F<rate>] I<pos> J<pos> P<pos> Q<pos> X<pos> Y<pos> [W<ang>]
Parameters:
[F<rate>] The maximum movement rate of the move between the start and endpoint. The feedrate set here applies to subsequent moves that omit this parameter.
[I<pos>] X incremental offset from the start point to the first control point.
[J<pos>] Y incremental offset from the start point to the first control point.
[P<pos>] X incremental offset from the endpoint to the second control point.
[Q<pos>] Y incremental offset from the endpoint to the second control point.
[X<pos>] A coordinate on the Y-axis.
[Y<pos>] A coordinate on the Y-axis.
[W<ang>] A coordinate on the W axis.
Examples:
G5 F200 I-40 Y20 P-20 Y-20 X20 Y-20.
[index]G6 – Controlled Angle[/index]
Description: Directly control movement angle without endpoint coordinates.
Usage: G6 [F<rate>] X<pos> Y<pos> Z<pos> P<pos>
Parameters:
[F<rate>] 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.
[X<pos>] The value of the angle theta 1.
[Y<pos>] The value of the angle theta 2.
[Z<pos>] The value of the angle theta 3.
[P<pos>] Distance traveled.
Examples:
[index]G28 – Auto Home[/index]
Description: Auto-home one or more axes, moving them towards their endstops until triggered.
Usage: G28
[index]G90 – Absolute Positioning[/index]
Description: In absolute mode, all coordinates given in G-code are interpreted as positions in the logical coordinate space.
Usage: G90
[index]G91 – Relative Positioning[/index]
Description: Set relative position mode. In this mode, all coordinates are interpreted as relative to the last position.
Usage: G91
[index]M03, M04 – Laser On/ Vacuum On/ Gripper Close[/index]
Delta X 1, Delta X 2
Description: Wait for moves to complete, then set the spindle speed (clockwise), laser power, or angle of the gripper.
Usage: M03 [S<value>]
Parameters:
[S<value>] Spindle speed (0 - 255), laser power (0 - 255), angle of gripper (0-100), if value is emtpy then gripper close.
Delta X S
x: Relay ID{0 - 3}
y: - 1: turn on the relay
- 0: turn off the relay
G01 Z-400
M03 R0 W1 <---- Turn on relay 0
G01 Z-410
G01 Z-400
G01 X-100
M03 R0 W0 <---- Turn off relay 0
x: Digital Output ID{0 - 3}
y: - 1 Digital on
- 0 Digital off
G01 Z-400
G01 X100
M03 D1 W1 <---- Open gripper connected to the D1 pin
G01 Z-410
G01 Z-400
G01 X-100
M03 D1 W0 <---- Close gripper connected to the D1 pin
x: PWM Output ID {0 - 1}
y: PWM 8bit value (0-255);
x: RC Servo ID {0 - 1}
y: RC Servo angle (0 - 180)
[index]M05 – Laser Off/ Vacuum Off/ Gripper Open[/index]
Delta X 1, Delta X 2
Description: Wait for moves to complete, then turn off the Vacuum/spindle/laser power, PWM and set gripper to open.
Usage: M05
Delta X S
Description: TURN OFF Relay, Digital Output, PWM pin
Usage: M05 RxParameters: x - Relay pin (0 - 3)
Usage: M05 Dx
Parameters: x - Digital Output pin (0 - 3)
Usage: M05 Px
Parameters: x - PWM pin (0 - 1)
Usage: M05 Ux
Parameters: x - 0 Turn off all relays
1 Turn off digital output pins
2 Turn off PWM pins
[index]M07 – Read Input (immediate feedback)[/index]
Delta X S
Description: Read Digital and Analog InputUsage:
M7 Ix
x: Digital input pin(0 - 5)
Feedback:
M7 Ax
x: Analog input pin (0 - 1)
Feedback:
[index]M08 – Read Input[/index]
Delta X S
Description: Read Digital and Analog Input. The result will be returned after a while.Usage:
M8 Ix
x: Digital input pin(0 - 5)
The robot will respond when the value of Ix pin changes:
M8 Ax Wy
x: Analog input pin (0 - 1)
Feedback:
[index]M40 – Open RS232 port[/index]
Delta X S
Usage:M41 Ax By
x: 1 - open
[index]M41 – Open RS485 port[/index]
Delta X S
Usage:M42 Ax By
x: 1 - open
[index]M42 – Open TTL port[/index]
Delta X S
Usage:M40 Ax By
x: 1 - open
[index]M84 – Disable steppers[/index]
Description: This command can be used to disable steppers.
Usage: M84
[index]M104 – Set Hotend Temperature[/index]
Description: 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.
Usage: M104 [S<temp>]
Parameters:
[S<temp>] Target temperature.
[index]M109 – Wait for Hotend Temperature[/index]
Description: This command optionally sets a new target hot end temperature and waits for the target temperature to be reached before proceeding.
Usage: M109 [S<temp>]
Parameters:
[S<temp>] Target temperature.
[index]M203 – Set Max Feedrate[/index]
Description: Set the max feed rate for one or more axes.
Usage: M203 [S<units/s>]
Parameters:
[S<units/s>] Max feedrate.
[index]M204 – Set Acceleration[/index]
Description: Set the preferred acceleration for moves of different types.
Usage: M204 [A<accel>]
Parameters:
[A<accel>] Travel acceleration.
[index]M205 – Set begin speed[/index]
Description:
Usage: M205 [S<units/s>]
Parameters:
[S<mm/s>] begin speed.
[index]M206 – Set X Y Z Offsets[/index]
Description: Use M206 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.
Usage: M206 [X<offset>] [Y<offset>] [Z<offset>] Parameters:[X<offset>] X offset.[Y<offset>] Y offset.
[Z<offset>] Z offset.
[index]M330 – Set External Serial Port 1[/index]
Description: 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.
Usage: M330 [R<index>]
Parameters:
index =
0 : None.
1 : Conveyor.
2 : Slidingrail.
[index]M331 – Set External Serial Port 2[/index]
Description: 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.
Usage: M331 [R<index>]
Parameters:
index =
0 : None.
1 : Conveyor.
2 : Slidingrail.
[index]M360 – Set End effector[/index]
Description: Select the end effector for the delta robot.
Usage: M360 [E<index>]
Parameters:
index =
0 : Vacuum.
1 : Gripper.
2 : Pen.
3 : Laser.
4 : Printer.
5 : Custom.
[index]M361 – Set mm per linear segment[/index]
Description: Set segment length when interpolation.
Usage: M361 [P<units>]
Parameters:
[P<units>] Segment length when linear interpolation.
[index]M362 – Set mm per arc segment[/index]
Description: Set segment length when interpolation.
Usage: M361 [P<units>]
Parameters:
[P<units>] segment length when arc interpolation.
[index]M500 – Save Settings[/index]
Description: Save all configurable settings to EEPROM.
Usage: M500
[index]M501 – Restore Settings[/index]
Description: Load all saved settings from EEPROM.
Usage: M501
[index]M502 – Restore Settings[/index]
Description: Reset all configurable settings to their factory defaults.
Usage: M502
Conveyor Gcode
[index]M310 – Set Mode[/index]
Description: .
Usage: M310 [<index>]
Parameters:
1: Serial Mode.
0: Volume Mode.
[index]M311 – Set Speed[/index]
Description:
Usage: M311 [<value>]
Parameters:
[<value>]: Speed in mm/s
[index]M312 - Set Position[/index]
Description:
Usage: M312 [<value>]
Parameters:
[<value>]: Position in mm
[index]M313 - Set Speed for Position Moving[/index]
Description:
Usage: M313 [<value>]
Parameters:
[<value>]: Speed in mm/s
Sliding Rail Gcode
[index]M320 – Go To Home[/index]
Description:
Usage: M320
[index]M321 - Set Speed[/index]
Description:
Usage: M321 [<value>]
Parameters:
[<value>]: Speed in mm
[index]M322 – Set Position[/index]
Description:
Usage: M322 [<value>]
Parameters:
[<value>]: Position in mm
[index]M323 – Disable Stepper Motor[/index]
Description:
Usage: M323
[index]Some other commands[/index]
IsDelta – Confirm the robot
Response: “YesDelta”
Disconnect – Disconnect robot
SAVEWIFI – Save wifi information to EEPROM
SAVEIP – Save delta IP address to EEPROM
IP – Get the IP address of the robot
Response (example): "192.168.1.199"
gSsid – Get the SSID of the installed wifi
Response (example): "wifi_imwi"
gPswd – Get the password of the installed wifi
Response (example): "matkhauwifi"
SSID:x – Set SSID of your wifi for the robot
x: wifi name;
Example: "SSID:wifi_imwi"
PSWD:x – Set PASSWORD of your wifi
x: password;
Example: "PSWD:matkhauwifi"
[/document]
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