Example

Delta X Robot Control Overview

• All Delta X Robotics delta robot product lines are controlled via standard G-code commands.
• You can connect over USB (COM serial port) or over Ethernet.
• Any device or programming language that can communicate with a serial COM port can control the robot.
• For the full list of supported G-code commands and device-specific details, see the official documentation: Delta X Robot Docs.

Command and Response Basics

• Every command you send to the robot must end with a newline character \n.
• After a G-code command is processed, the robot returns a response. Typically, it replies with Ok\n (every response also ends with \n).
• To query the current robot position, send the command Position\n.
• To verify that a COM port is connected to a Delta X robot, send IsDelta\n; the robot will respond with YesDelta\n.

Serial Testing Tip (Windows)

• For quick G-code testing on Windows, use the Termite software.
• Download: Termite (serial terminal)
• Suggested settings:
  • Port: the COM port assigned to your robot (e.g., COM5)
  • Baud rate: 115200 (or the value configured on your robot)
  • Transmit: append newline (\n) to each line
  • Receive: display newlines
• Example manual session (each line ends with \n):

>> G28
<< Ok
>> Position
<< 0.00,-0.00,-291.28
>> G1 Z-100 F1000
<< Ok

Coordinate System and Safety Notes

• The end-effector Z value is negative during normal operation because the origin plane (Z = 0) lies on the plane of the three motor axes. The robot works below this plane.
• The home Z height depends on the specific Delta X robot model.
• From the home position, do not issue X/Y moves immediately. First move straight down along Z to enter the safe working volume (recommend around 100 mm), then perform any X/Y moves.

Safe start sequence (each line ends with \n):

G28
G1 Z-100
G1 X100 Y0

Quick Example

Minimal G-code session (each line ends with \n):

Delta X 1

G28
Position
G1 X100 Y0 Z-250 F2000

Python example using a COM port (USB) with pyserial:

import serial

ser = serial.Serial('COM5', 115200, timeout=1)

def send(command: str) -> None:
    ser.write((command + '\n').encode('utf-8'))
    response = ser.readline().decode('utf-8', errors='ignore').strip()
    print(response)  # e.g., 'Ok'

# Home, move, then read current position
send('G28')
send('G1 X100 Y0 Z-250 F500')
send('Position')  # e.g., 'X:100.000 Y:0.000 Z:-50.000'

ser.close()

For full command references and device details, see: Delta X Robot Docs.