Appendix A: Supported G-Code Commands
Supported g-code command summary (less used commands in gray):
Command ([DPSOH Name Summary
Fn F10 Feed Rate 6HWPD[LPXPYHORFLW\RQVSHHGOLPLWHGFRPPDQGV8QLW *
G0 G0 X-2 Y-1 Rapid Move 0RYHDVIDVWDVSRVVLEOHLQDVWUDLJKWOLQHWRWKHVSHFL¿HGSRLQW
G1 G1 X-2 F1 Linear Move 0RYHDWVSHFL¿HG)HHG5DWHLQDVWUDLJKWOLQHWRWKHVSHFL¿HGSRLQW
G2 VHDUFKRQOLQH CW Arc $UFDWVSHFL¿HG)HHG5DWHLQVSHFL¿HGSODQH
G3 VHDUFKRQOLQH CCW Arc $UFDWVSHFL¿HG)HHG5DWHLQVSHFL¿HGSODQH
G4 G4 P2 Dwell 3DXVHIRUVSHFL¿HGSHULRG VHFRQGV
G10 L2 G10 P2 L2 X1 Set WCS point 3 3LQGLFDWHVZKLFK:&6* * WRPRGLI\UHVSHFWLYHO\
6HWVSHFL¿HG:&6D[HVWRVSHFL¿HGYDOXHEDVHGRQPDFKLQH
DEVROXWHRULJLQZLWKRXWPRYHPHQW FXUUHQWSRVLWLRQLJQRUHG
([DPSOHVHWV:&6*¶V;D[LVXQLWIURPPDFKLQHDEVROXWH]HUR
G10 L20 G10 P2 L20 X1 Set WCS point 3 3LQGLFDWHVZKLFK:&6* * WRPRGLI\UHVSHFWLYHO\
6HWVSHFL¿HG:&6D[HVVRFXUUHQWSRVLWLRQEHFRPHVVSHFL¿HGYDOXH
ZLWKRXWPRYHPHQW8VHWRVHW:&6EDVHGRQSUREHGUHVXOW
([DPSOHVHWVFXUUHQW;SRVLWLRQWRLQ:&6*
G17 G17 Set XY Plane 6HWVDUFSODQHWR;<
G18 G18 6HW;=3ODQH 6HWVDUFSODQHWR;=
G19 G19 6HW<=3ODQH 6HWVDUFSODQHWR<=
G20 G20 8QLW LQFK 6HWXQLWVWRLQFKHV3HUVLVWVXQWLO*LVFDOOHGRUUHVHW
G21 G21 8QLW PP 6HWXQLWVWRPP3HUVLVWVXQWLO*LVFDOOHGGHIDXOWRQUHVHW
G28 G28 Z-1 Move to G28.1 0RYHWRVSHFL¿HGSRVLWLRQ LQFXUUHQW:&6 WKHQPRYHWRDEVROXWH
YLDD[HV SRVLWLRQVWRUHGLQ*
([DPSOHPRYHVWR=LQWKHFXUUHQW:&6WKHQPRYHVWR*
G28.1 G28.1 6WRUH¿QDO* 6WRUHWKHFXUUHQWDEVROXWHSRVLWLRQIRUXVHE\*
SRVLWLRQ
G30 G30 Z-1 Move to G30.1 0RYHWRVSHFL¿HGSRVLWLRQ LQFXUUHQW:&6 WKHQPRYHWRDEVROXWH
YLDD[HV SRVLWLRQVWRUHGLQ*
([DPSOHPRYHVWR=LQWKHFXUUHQW:&6WKHQPRYHVWR*
G30.1 G30.1 6WRUH¿QDO* 6WRUHWKHFXUUHQWDEVROXWHSRVLWLRQIRUXVHE\*
SRVLWLRQ
G38.2 G38.2 X-2 F5 Probe 3UREHWRZDUGVSDUWVWRSRQFRQWDFWHUURULIQRFRQWDFW
G53 G53 G0 X-2 8VH0DFKLQH 0RYHLQPDFKLQHFRRUGLQDWHVUHJDUGOHVVRIDFWLYH:&6
origin *RQO\DSSOLHVWRFRGHRQWKHVDPHOLQH QRWSHUVLVWHQW
G54 G55 X-2 :RUN2IIVHWV :RUNRIIVHWVGH¿QHDQRULJLQLQUHODWLRQWRDEVROXWHPDFKLQH]HUR
G55 µ:&6¶ :RUNRIIVHWVDUHSHUVLVWHQW
G56 8VHWKHRULJLQGH¿QHGLQWKHVSHFL¿HGZRUNFRRUGLQDWHV\VWHP
G57 SHUVLVWHQW 6HHµG10¶WRGH¿QHWKHRULJLQ([DPSOHPRYHVXQLWV
G58 IURPRULJLQGH¿QHGE\:&6*
G59
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Command ([DPSOH Name Summary
G90 G90 X-2 $EVROXWH0RYH Move relative to current WCS. ([DPSOHPRYHVXQLWVIURPRULJLQ
G91 G91 X-2 Relative Move 0RYHUHODWLYHWRFXUUHQWSRVLWLRQ([DPSOHPRYHV;D[LVXQLWV
G92 G92 X0Y0Z1 Coordinate 6RXUFHRIHSLFPLVHU\GRQRWXVH XVH:&6LQVWHDG
2IIVHW 6HWDFWLYH:&6SRVLWLRQDVVSHFL¿HG ZLWKRXWPRYHPHQW
0RGL¿HVDOO:&6D[HVWRPDWFKFDOFXODWHGRIIVHW
8QVSHFL¿HGD[HVDUHQ¶WPRGL¿HG
1RWVWRUHGLQ((3520FOHDUHGZKHQUHVHW
([DPSOHVHWVDFWLYH:&6RULJLQ=IURPFXUUHQWSRVLWLRQDQG
PRGL¿HVDOO:&6D[HVWRPDWFKFDOFXODWHGRIIVHW
G92.1 G92.1 &OHDU2IIVHW &OHDUSUHYLRXVO\VHW* FRRUGLQDWHRIIVHW
G93 G93 0LQXWHV8QLW )LQWHUSUHWHGDVLQYHUVHIHHGUDWH
G94 G94 8QLWV0LQXWH )LQWHUSUHWHGDVIHHGUDWH
M3 M3 Spindle CW 6SLQVSLQGOH&:DWVSHFL¿HGVSHHG
M4 M4 S5000 Spindle CCW 6SLQVSLQGOH&&:DWVSHFL¿HGVSHHG
M5 M5 Stop Spindle 6WRSWKHVSLQGOHDVVSHFL¿HGLQ³6SLQGOH2SHUDWLRQ´
M8 M8 Enable Coolant *KRVW*XQQHUVXSSRUWVFRRODQWEXWQRV\VWHPLVLQVWDOOHG
M9 M9 'LVDEOH&RRODQW *KRVW*XQQHUVXSSRUWVFRRODQWEXWQRV\VWHPLVLQVWDOOHG
M30 M30 End End program.
%HIRUHFDOOLQJ0VWRSVSLQGOHDVSHU³6SLQGOH2SHUDWLRQ´
M100 Un M100 X10 Verify 6XSSRUWHGLQ''FXWRQO\
Remaining 9HULI\DWOHDVWn GLVWDQFHLVDYDLODEOHRQ8D[LVEHWZHHQODVWSUREH
Travel SRLQWDQGDEVROXWHPDFKLQHOLPLW$ODUPLIn H[FHHGVDYDLODEOH
GLVWDQFHRQ8D[LV(UURULIQRSUREHKDVRFFXUUHG
0GLVUHJDUGVXQLWPRGH DOODUJXPHQWVDUHLQPP
M101 Vm M101 X1 Verify Delta 6XSSRUWHGLQ''FXWRQO\
%HWZHHQ3RLQWV 9HULI\GLVWDQFHEHWZHHQWKHWZRPRVWUHFHQW*SUREHUHVXOWVLV
OHVVWKDQm DORQJD[LVV$ODUPLIFDOFXODWHGGHOWDH[FHHGVm.
(UURULIOHVVWKDQWZRSUHYLRXVSUREHRSHUDWLRQVKDYHRFFXUUHG
0GLVUHJDUGVXQLWPRGH DOODUJXPHQWVDUHLQPP
Sn S5000 Spindle Speed 6HWWKHVSLQGOHVSHHGDVVSHFL¿HGLQ³6SLQGOH2SHUDWLRQ´
More Grbl-specific command information:
http://www.shapeoko.com/wiki/index.php/G-Code !
Grbl attempts to follow LinuxCNC’s g-code syntax and methodologies:
http://linuxcnc.org/docs/html/gcode/gcode.html !
Grbl configuration commands:
https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9
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