GCODES FOR X CONVEYOR BOARD

Detect Conveyor COM Port

To check if the connected COM port is for the X Conveyor, send the command IsXConveyor. If the COM port is connected to the conveyor, it will respond with YesXConveyor.

Example

IsXConveyor

>>> YesXConveyor

M310 - Set Motion Mode

Description

Set the motion mode of the conveyor belt. After selecting the motion mode, the position of the conveyor will be reset to 0.

Usage

M310 [<value>]

Parameter

  • [value] = 0: Output Mode (Stepper output pins will be used as normal digital outputs).
  • [value] = 1: Position Mode (Position of the conveyor will be controlled by commands sent to the serial port).
  • [value] = 2: Velocity Mode (Velocity of the conveyor will be controlled by commands sent to the serial port).
  • [value] = 3: Manual Mode (Velocity of the conveyor will be controlled by buttons).

Example

M310 1    ;change control mode to Position Mode

M311 - Set Speed In Velocity Mode

Description

Set the speed of the conveyor belt when it is in velocity mode. The speed will be maintained exactly as set. A positive value moves the conveyor in one direction, and a negative value moves it in the opposite direction.

Usage

M311 [<value>]

Parameter

  • [value]: Conveyor speed in mm/s.

Example

M311 200    ;set speed to 200 mm/s
M311 -200   ;set speed to 200 mm/s in the opposite direction

M312 - Set Position

Description

Move the conveyor to a specified position. If you want to reset the position, you can send ‘M310 1’ again to reset the current position to 0.

Usage

M312 [<value>]

Parameter

  • [value]: Position in mm.

Example

M312 123    ;move to position 123 mm

M313 - Set Speed In Position Move

Description

Set the speed of the conveyor belt when moving to the desired position specified by M312.

Usage

M313 [<value>]

Parameter

  • [value]: Speed in mm/s.

Example

M313 300    ;set speed to 300 mm/s for position move

M314 - Set Motor Pins Level

Description

Set the Motor pins level in Output Mode.

Usage

M314 [P<value>] [V<value>]

Parameter

  • P[value]: Index of the output pin.
  • V[value]: Value to set (0 for LOW, 1 for HIGH).

Example

M314 P1 V1    ;set output pin 1 to HIGH level

M315 - Config Conveyor Parameters

Description

Configure the conveyor parameters.

Usage

M315 [S<value>] [R<value>] [E<value>] [P<value>] [A<value>] [B<value>]

Parameter

  • S[value]: Pulses per mm of the stepper.
  • R[value]: Set reverse conveyor (0 for normal, 1 for reverse).
  • E[value]: Enable/disable encoder (0 for disable, 1 for enable).
  • P[value]: Set stop position while using encoder.
  • A[value]: Acceleration of the conveyor in mm/s².
  • B[value]: Set velocity button.

Example

M315 S31.83 R0 E0 A5000 ;set conveyor parameters (31.83 pulses/mm, normal direction, encoder disabled, acceleration 5000 mm/s²)

Note

If you send the “M315” command without any parameters, it will return the current values of all the above parameters.

M316 - Set Encoder Mode

Description

Configure the Encoder Port Mode: * 0 - Absolute Mode: Return absolute position value. * 1 - Relative Mode: Return relative position value. * 2 - Input Pin Mode: Use encoder port as input pins. * 3 - Button Mode: Connect to buttons to adjust the conveyor speed.

Usage

M316 [mode]

Parameter

  • [mode]: Mode of the Encoder Port.

Example

M316 1   ;set encoder port to Relative Mode

M317 - Get Position from Encoder

Description

Get the current position of the conveyor from the encoder.

Usage

M317 [T<value>] [R]

Parameter

  • T[value]: Set auto-report position period time in milliseconds.
  • R: Reset the position.
  • (no parameter): Report current position once.

Example

M317          ;get current position
>> P0:5.32
M317 T500     ;set auto-report position every 500 ms
>> P0:8.43
>> P0:16.57
M317 R        ;reset the position to 0

M318 - Set Encoder Parameters

Description

Configure encoder parameter values: pulses per mm, reverse direction, and encoder scale parameter.

Usage

M318 [S<value>] [R<value>] [C<value>]

Parameter

  • S[value]: Pulses per mm of the encoder (default is 5.12 with X1 scale parameter).
  • R[value]: Reverse direction (0 for disable, 1 for enable).
  • C[value]: Scale factor of the encoder (1, 2, 4).

Example

M318 S10.24 C2 R1 ;set X2 scale factor, pulses per mm will be doubled, and reverse the direction of the encoder

M319 - Read Encoder Pin

Description

Get the status of an encoder pin in several modes.

Usage

M319 [V<value>] [T<value>] [S<value>]

Parameter

  • V[pin index]: Get current status of the encoder pin at the specified index (0, 1).
  • T[pin index]: Set auto feedback when encoder pin status changes.
  • S[pin index]: Stop auto feedback at the specified encoder pin index.

Example

M319 V1 ;get status of encoder pin 1
>> I1 V1
M319 T0 ;set auto feedback for encoder pin 0
>> I0 V0
>> I0 V1
M319 S0 ;stop auto feedback for encoder pin 0

M320 - Set Output Pin

Description

Set the output pin state. When activated, the output pin is pulled down to GND. When deactivated, the output pin is floating.

Usage

M320 P<pin> V<value>

Parameter

  • P<pin>: Index of the output pin.
  • V<value>: Value to set (0 for deactivated/floating, 1 for activated/pulled down to GND).

Example

M320 P1 V1    ;activate output pin 1 and pull it down to GND

M321 - Read Input Pin

Description

Read the value of an input pin.

Usage

M321 V<pin>

Parameter

  • V<pin>: Index of the input pin.

Example

M321 V1 ;get status of input 1
>> I1 V1

M322 - Configure Input Pin

Description

View or set the function configuration of input pins.

Usage

M322
M322 I<pin>
M322 I<pin> F<function> V<value>

Parameter

  • I<pin>: Index of the input pin.
  • F<function>: Function assigned to the input pin.
  • V<value>: Value used by the assigned function.

Function

  • F0: No function assigned. The pin operates as a normal input.
  • F1: Increase speed by V each time the input is triggered.
  • F2: Decrease speed by V each time the input is triggered.
  • F3: Move to relative position V when the input is triggered.
  • F4: Stop the motor when the input is triggered.

Example

M322              ;get current configuration of all input pins
M322 I1           ;get current configuration of input pin 1
M322 I1 F1 V50    ;increase speed by 50 each time input pin 1 is triggered
M322 I2 F3 V100   ;move to relative position 100 when input pin 2 is triggered

M323 - Configure Output Pin

Description

View or set the function configuration of output pins.

Usage

M323
M323 P<pin>
M323 P<pin> F<function> V<value>

Parameter

  • P<pin>: Index of the output pin.
  • F<function>: Function assigned to the output pin.
  • V<value>: Value used by the assigned function.

Function

  • F0: The pin operates as a normal output and is controlled by M320.
  • F1: Activate when the position command is complete.
  • F2 V0: Activate when the target velocity is reached.
  • F2 V>0: Activate when the velocity is greater than or equal to V.

Example

M323              ;get current configuration of all output pins
M323 P1           ;get current configuration of output pin 1
M323 P1 F1 V0     ;activate output pin 1 when the position command is complete
M323 P2 F2 V50    ;activate output pin 2 when the velocity is greater than or equal to 50

M389 - Enable Ethernet

Description

This command can be used to enable or disable Ethernet port.

Usage

M389 [number]

Parameter

  • [number]
    • number = 1 : enable Ethernet port
    • number = 0 : disable Ethernet port

Example

M389 1 ; enable Ethernet port

M390 - Set Ethernet Port

Description

Set the port number for Ethernet communication.

Usage

M390 [port]

Parameter

  • [port]: Ethernet port number.

Example

M390 3456 ;set Ethernet port to 3456

M391 - Set Ethernet IP Address

Description

Define the Ethernet IP address.

Usage

M391 [number] [number] [number] [number]

Parameter

  • [number]: IP address segments.

Example

M391 192 168 0 2 ;set IP address to 192.168.0.2

M392 - Set Ethernet DNS Address

Description

Define the Ethernet DNS address.

Usage

M392 [number] [number] [number] [number]

Parameter

  • [number]: DNS address segments.

Example

M392 192 168 0 127 ;set DNS address to 192.168.0.127

M393 - Set Ethernet Gateway Address

Description

Define the Ethernet Gateway address.

Usage

M393 [number] [number] [number] [number]

Parameter

  • [number]: Gateway address segments.

Example

M393 192 168 237 81 ;set Gateway address to 192.168.237.81

M394 - Set Ethernet Subnet Address

Description

Define the Ethernet Subnet address.

Usage

M394 [number] [number] [number] [number]

Parameter

  • [number]: Subnet address segments.

Example

M394 255 255 255 0 ;set Subnet address to 255.255.255.0

M395 - Set Ethernet MAC Address

Description

Define the Ethernet MAC address. Convert HEX numbers in the address to DEC numbers before sending to the robot.

Usage

M395 [number] [number] [number] [number] [number] [number]

Parameter

  • [number]: MAC address segments (integer).

Example

M395 18 52 86 120 171 5 ;set MAC address to 12:34:56:78:AB:05

M396 - Save and Init Ethernet Port

Description

After setting all Ethernet addresses and port, use this command to save and initialize the Ethernet port.

Usage

M396

Example

M396 ;initialize Ethernet port

M397 - Get Ethernet Port Parameters

Description

Use this command to check all Ethernet address and port numbers.

Example

>>> M397 ;get all Ethernet setting parameters
<<< E_port:3456
<<< E_ip:192.168.0.2
<<< E_dns:192.168.0.127
<<< E_gateway:192.168.237.81
<<< E_subnet:192.168.237.89
<<< E_mac:12-34-56-78-AB-05
<<< Ok

M398 - Get Ethernet Local Port Parameters

Description

Use this command to check all Ethernet local address and port numbers.

Example

>>> M398 ;get all Ethernet setting parameters
<<< E_port:3456
<<< E_ip:192.168.0.2
<<< E_dns:192.168.0.127
<<< E_gateway:192.168.237.81
<<< E_subnet:192.168.237.89
<<< E_mac:12-34-56-78-AB-05
<<< Ok

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