Gcodes for Delta X 2

G00, G01 - Linear Move

Descriptions

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

G00 [F<rate>] [X<pos>] [Y<pos>] [Z<pos>] [W<angle>]
G01 [F<rate>] [X<pos>] [Y<pos>] [Z<pos>] [W<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[angle]: (mm) A coordinate on the 4-axis.

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

G02, G03 - Arc or Circle Move

Descriptions

G2 adds a clockwise arc move to the planner; G3 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<angle>]
G3 [F<rate>] [I<offset>] [J<offset>] [X<pos>] [Y<pos>] [W<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.
  • I[offset]:(mm) An offset from the current X position to use as the arc center.
  • J[offset]:(mm) An offset from the current Y position to use as the arc center.
  • X[pos]:(mm) A coordinate on the X-axis.
  • Y[pos]:(mm) A coordinate on the Y-axis.
  • W[angle]: (mm) A coordinate on the 4-axis.

Example

G28
G01 Z-350
G01 X50
G02 X-50 Y0 I-50 J0
G03 X50 Y0 I50 J0

G04 - Dwell/Delay

Descriptions

Dwell pauses the command queue and waits for a period of time.

Usage

G04 [P<time>]

Parameters

  • P[time]: delay time in miliseconds.

Example

G01 X0 Y0 Z-350
G4 P500          ;delay 500ms
G01 X100

G05 - Bézier cubic spline

Descriptions

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 G5 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).

Usage

G5 [F<rate>] I<pos> J<pos> P<pos> Q<pos> X<pos> Y<pos>

Parameters

  • F[rate]:(mm/s) The maximum feedrate of the move between the start and end point. This value applies to all subsequent moves.
  • I[offset]:(mm) Offset from the X start point to first control point.
  • J[offset]:(mm) Offset from the Y start point to first control point.
  • P[offset]:(mm) Offset from the X end point to second control point.
  • Q[offset]:(mm) Offset from the Y end point to the second control point.
  • X[pos]:(mm) A destination coordinate on the X axis.
  • Y[pos]:(mm) A destination coordinate on the Y axis.

Example

;program a curvy “N” shape
G0 X0 Y0
G5 I0 J3 P0 Q-3 X1 Y1

G06 - Theta angle control

Descriptions

Directly control movement angle without endpoint coordinates.

Usage

G06 [X<angle>] [Y<angle>] [Z<angle>] [P<pos>]

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[angle]:(degree) The value of the Theta 1 angle.
  • Y[angle]:(degree) The value of the Theta 2 angle.
  • Z[angle]:(degree) The value of the Theta 3 angle.
  • P[pos]:(mm) Distance traveled.

Example

G6 X0 Y0 Z0      ;set theta 1, theta 2, theta 3 angle at 0 deg

G28 - Homing

Descriptions

Auto-home all axes, moving them towards their endstops until triggered.

Usage

G28

G90 - Absolute Movement Mode

Descriptions

In absolute mode, all coordinates given in G-code are interpreted as positions in the logical coordinate space.

Usage

G90

Note

Absolute positioning is the default.

G91 - Relative Movement Mode

Descriptions

Set relative position mode. In this mode, all coordinates are interpreted as relative to the last position.

Usage

G91

Example

G91              ; Set all axes to relative

G93 - Get Current Position

Descriptions

Get current posiition of end effector.

Usage

G93

Feedback

  • <xpos>,<ypos>,<zpos>
    • <xpos> : Current X position.
    • <ypos> : Current Y position.
    • <zpos> : Current Z position.

Example

G93              ; get current pos

return:
31, 43, -270

M03, M04 - Ouput On / Laser On / Vacuum On / Gripper Close

Descriptions

M03 is used to turn on the vacuum pump, laser, and close the gripper.

Usage

M03 [S<value>]

Parameters

  • S[value]: Vacuum pump (empty), Spindle speed (0 - 255), laser power (0 - 255), angle of gripper (0-100), if value is emtpy then gripper close.

Note:

M03 will be equivalent to M03 S255.

Example

G01 X0 Y0 Z-350
M03                   ;turn on Vacuum pump
G01 Z-300

M05 - Ouput Off / Laser Off / Vacuum Off / Gripper Open

Descriptions

M05 is used to turn off the vacuum pump, laser, or close the gripper.

Usage

M05

M84 - Disable Steppers

Descriptions

This command can be used to disable steppers.

Usage

M84

M104 - Set Hotend Temperature

Descriptions

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]: (degree Celsius) Target temperature.

Example

M104 S195           ;set hotend at 195 degC

M105 - Report Temperature

Descriptions

Request a temperature report to be sent to the host as soon as possible.

Usage

M105

Example

M105           ;set hotend at 95 degC

return
T:195

M109 - Wait For Hotend Temperature

Descriptions

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]: (degree Celsius) Target temperature.

Example

M109 S180  ;Set target temperature and wait (if heating up)

M203 - Set Feedrate

Descriptions

Set movement feedrate.

Usage

M203 S<value>

Parameters

  • S[value]: (mm/s) max feedrate.

Example

M203 S500  ;Set max feedrate

M204 - Set Acceleration

Descriptions

Set movement acceleration.

Usage

M204 A<value>

Parameters

  • A[value]: (mm/s2) end effector acceleration.

Example

M204 A5000  ;Set movement acceleration.

M205 - Set Begin/End Velocity

Descriptions

Set segment begin/end velocity.

Usage

M205 S<value>

Parameters

  • S[value]: (mm/s2) end effector begin/end velocity.

Example

M205 S40  ;Set begin speed at 40 mm/s

M206 - Set Axis Offset

Descriptions

Set home offset for one or all axis.

Usage

M206 [X<value>] [Y<value>] [Z<value>]

Parameters

  • X[value]: (mm) X offset value.
  • Y[value]: (mm) Y offset value.
  • Z[value]: (mm) Z offset value.

Example

M206 X20 Y-10 Z30  ;Set home offsets

M331 - Select Linked Device

Descriptions

Config device is linked to external UART port.

Usage

M331 R<value>

Parameters

  • R[value]
    • 0-None (Disable port).
    • 1-Conveyor
    • 2-Sliding Rail

Example

M331 R1  ;select the device which connected with external port is Conveyor,
          now you can control Conveyor via Delta Robot

M360 - Select End Effector

Descriptions

Select the end effector for the robot. You can change the end effector to one of these : Vacuum, gripper, pen, laser, printer or use your custom end effector.

Usage

M360 E<value>

Parameters

  • E[value]
    • 0-Vacuum (default).
    • 1-Gripper
    • 2-Pen
    • 3-Laser
    • 4-Printer
    • 5-Custom

Example

M360 E2  ;select the end effector is Pen

M361 - Set Interpolated line length

Descriptions

Set the length of each segment in line interpolation.

Usage

M361 P<len>

Parameters

  • P[len]: (mm) Length in mm.

Example

M361 P0.3    ;set segment length = 0.3mm

M362 - Set Arc segment length

Descriptions

Set segment length in arc interpolation.

Usage

M362 P<len>

Parameters

  • P[len]: (mm) Length in mm.

Example

M362 P0.4    ;set segment length = 0.4mm

M402 - Set Z Max Position

Descriptions

Set the maximum position of Z axis, the end effector can’t move upper than this value.

Usage

M402 Z<pos>

Parameters

  • Z[pos]: (mm) max z position in mm.

Example

M402 Z-245   ;After this command, end effector cant get higher than -245 mm.

M500 - Save Settings

Descriptions

Save all configurable settings to EEPROM.

Usage

M500

Example

M500    ;Save settings

M501 - Restore Settings

Descriptions

Load all saved settings from EEPROM.

Usage

M501

Example

M501    ;Restore all settings.

M502 - Reset Settings

Descriptions

Reset all configurable settings to their factory defaults.

Usage

M502

Example

M502    ;reset

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