TinyG Gcode Support

updated 2/24/13 - ash

NOTE: This page describes Gcode supported in release 0.95 and later

This table summarizes Gcode supported. axes means one or more of X,Y,Z,A,B,C.

Gcode | Parameters | Command | Description
------|------------|---------|-------------
G0 | _axes_ | Straight traverse | Traverse at maximum velocity. At least one axis must be present
G1 | _axes_, F | Straight feed | Feed at feed rate F. At least one axis must be present
G2 | _axes_, F, I,J,K or R | Clockwise arc feed | Arc at feed rate F. Offset mode IJK or radius mode R
G3 | _axes_, F, I,J,K or R | Counter clockwise arc feed | Arc at feed rate F. Offset mode IJK or radius mode R
G4 | P | Dwell | Pause for P seconds
G10 L2 | _axes_, P | Set offset parameters | P selects coordinate system 1-6
G17 | | Select XY plane |
G18 | | Select XZ plane |
G19 | | Select YZ plane |
G20 | | Select inches units mode |
G21 | | Select mm units mode |
G28 | _axes_ | Go to G28.1 position | Optional axes specify an intermediate point
G28.1 | | Set position for G28 | Axis words are not provided for this command
G28.2 | _axes_ | Homing Sequence | Homes all axes present in command. At least one axis must be specified
G28.3 | _axes_ | Set Zero | Set axis to zero or other value. Use to zero axes that cannot otherwise be homed
G30 | _axes_ | Go to G30.1 position | Optional axes specify an intermediate point
G30.1 | | Set position for G30 | Axis words are not provided for this command
G53 | | Select absolute coordinates | Applies only to current block
G54 | | Select coordinate system 1 |
G55 | | Select coordinate system 2 |
G56 | | Select coordinate system 3 |
G57 | | Select coordinate system 4 |
G58 | | Select coordinate system 5 |
G59 | | Select coordinate system 6 |
G61 | | Exact path mode |
G61.1 | | Exact stop mode |
G64 | | Continuous path mode |
G80 | | Cancel motion mode |
G90 | | Set absolute mode |
G91 | | Set incremental mode |
G92 | _axes_ | Set origin offsets |
G92.1 | | Reset origin offsets |
G92.2 | | Suspend origin offsets |
G92.3 | | Resume origin offsets |
G93 | | Set inverse feedrate mode |
G94 | | Cancel inverse feedrate mode |

Mcode | Parameter |Command | Description
------|-----------|--------|-------------
M0 | | Program stop |
M1 | | Program stop |
M2 | | Program end |
M30 | | Program end |
M60 | Program end |
M3 | S | Spindle on - CW | S is speed in RPM
M4 | S | Spindle on - CCW | S is speed in RPM
M5 | | Spindle off |
M6 | | Change tool | No operation at this time
M7 | | Mist coolant on | Note that mist and flood share the same Coolant ON/OFF pin
M8 | | Flood coolant on | Note that mist and flood share the same Coolant ON/OFF pin
M9 | | All coolant off | Note that mist and flood share the same Coolant ON/OFF pin

Other | Parameter |Command | Description
------|-----------|--------|-------------
N | line number | label gcode block | Line numbers are allowed, handled, and may be reported back in status reports. Don't underestimate how useful this is for debugging Gcode files.
() | comment | gcode comment | Gcode comments are allowed. They are stripped and ignored, except for messages (below)
(msg....) | message | gcode message | Gcode messages are comments that begin with the characters `msg` (case insensitive). These will be echoed to the operator