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>]
Parameter
[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>]
(degree) A coordinate on the 4-axis.
[U<angle>]
(degree) A coordinate on the 5-axis.
[V<angle>]
(degree) A coordinate on the 6-axis.
Example
G01 X12
G01 F200
G01 X90.6 Y13.8
G01 X0 Y0 Z-350
G01 W90
G01 X100 Y50 Z-400 W90 U45 F200
;move to 12mm on the X-axis
;set the feedrate to 200 mm/s
;move to 90.6mm on the X-axis and 13.8mm on the Y-axis
;rotate to 90 degree on the 4-axis
;X = 100 mm, Y = 50 mm, Z = -400 mm, W = 90 °, U = 45 °, F = 200 mm/s
Description
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>]
Parameter
[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>]
(mm) A coordinate on the X-axis.
[Y<pos>]
(mm) A coordinate on the Y-axis.
Example
G28
G01 Z-350
G01 X50
G02 X-50 Y0 I-50 J0
G03 X50 Y0 I50 J0
Description
Pause the robot for a period of time.
Usage
G4 [P<value>]
Parameter
[P<value>]
Time in milliseconds.
Example
G01 X0 Y0 Z-350
G4 P500
G01 X100
; delay 500ms
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<offset>] [J<offset>] [P<offset>] [Q<offset>] [X<pos>] [Y<pos>]
Parameter
[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<offset>]
(mm) X incremental offset from the start point to the first control point.
[J<offset>]
(mm) X incremental offset from the start point to the first control point.
[P<offset>]
(mm) A coordinate on the X-axis.
[Q<offset>]
(mm) A coordinate on the Y-axis.
[X<pos>]
(mm) A coordinate on the Y-axis.
[Y<pos>]
(mm) A coordinate on the Y-axis.
Example
G5 F200 I-40 Y20 P-20 Y-20 X20 Y-20
Description
Directly control movement angle without endpoint coordinates.
Usage
G6 [F<rate>] [X<angle>] [Y<angle>] [Z<angle>] [P<pos>]
Parameter
[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<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>]
Distance traveled.
Description
Auto-home one or more axes, moving them towards their endstops until triggered.
Usage
G28
Description
In absolute mode, all coordinates given in G-code are interpreted as positions in the logical coordinate space.
Usage
G90
Description
Set relative position mode. In this mode, all coordinates are interpreted as relative to the last position.
Usage
G91
Description
M03 is used to turn on the vacuum pump, laser, and close the gripper.
Usage
M03 [S<value>]
Parameter
[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
Description
M05 is used to turn off the vacuum pump, laser, and close the gripper.
Usage
M05
Description
This command can be used to disable steppers.
Usage
M84
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>]
Parameter
[S<temp>]
Target temperature.
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>]
Parameter
[S<temp>]
Target temperature.
Description
Set the limited feedrate for moving base of robot.
Usage
M203 [S<value>]
Parameter
[S<value>]
Max feedrate (mm/s)
Description
Set the acceleration for moving base of robot.
Usage
M204 [A<value>]
Parameter
[A<value>]
Robot acceleration (mm/s2)
Description
Set the starting and ending speeds for each movement of the robot.
Usage
M205 [S<value>]
Parameter
[S<value>]
Starting Speed (mm/s)
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<value>] [Y<value>] [Z<value>]
Parameter
[X<value>]
X offset (mm)
[Y<angle>]
Y offset (mm)
[Z<angle>]
Z offset (mm)
Description
There is 1 serial port on robot for connecting conveyors, slider rail or with external Arduino. By default this serial is turned off. To use external Arduino control Delta X, please connect TX RX GND pin of the port. And send to robot the "IsDelta\n" command 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>]
Parameter
[R<index>]
0 : None
1 : Conveyor
2 : Slider
Description
Select the end effector for the delta robot.
Usage
M360 [E<value>]
Parameter
[E<value>]
0 : Vacuum (default)
1 : Gripper
2 : Pen
3 : Laser
4 : Printer
5 : Custom
Description
Set the length of each segment in line interpolation.
Usage
M361 [P<units>]
Parameter
[P<units>]
Length in mm.
Description
Set segment length in arc interpolation.
Usage
M362 [P<units>]
Parameter
[P<units>]
Length in mm.
Description
Save all configurable settings to EEPROM.
Usage
M500
Description
Load all saved settings from EEPROM.
Usage
M501
Description
Reset all configurable settings to their factory defaults.
Usage
M502