Instructions

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8.0 Supplementary Information
8.1 GCode Commands
This section contains a full list of GCode G and M commands which are
applicable to Robox®.
G0
Coordinated Rapid Movement [X Y Z E D B]
E = Extruder 1 (mm³), D = Extruder 2 (mm³), B= Nozzle Motor (0=closed, 1=fully open) This will
move the head to an absolute location at maximum axis speed. e.g. G0 X100 Y100 (move to
100,100)
G1
Coordinated Movement [X Y Z E D B] F
E = Extruder 1 (mm³), D = Extruder 2 (mm³), B= Nozzle Motor (0=closed, 1=fully open), F=Speed
mm/min. This will move the head to an absolute location at the specified feed rate. e.g. G1 X100
Y100 E50 F100 (move to 100,100 while extruding 50mm³ at 100mm/s)
G4
Dwell S or P
S = Delay (seconds), P = Delay (milliseconds) This will cause all motion to delay for the specified
time period. e.g. G4 S100 (wait for 100 seconds) or G4 P500 (wait for 500 milliseconds)
G28
Home [X Y Z]
Home specified axis, e.g. Home X Z will home the X and Z axis in sequence - X is always homed
first, and Z always last.
G36
Move filament until slip [E / D F]
E = Extruder 1 (mm³), D = Extruder 2 (mm³), F=Speed mm³/min
This will feed the specified volume at the specified feedrate, until the extruder index wheel detects
that the filament is no longer moving.
G37
Unlock door [S]
S = Override Safe Temperature (Bed) (°C)
This will unlock the door immediately if no S value is present, or allow the door unlock at a
specified bed temperature. e.g. G37 S50 will unlock the door when the bed temperature reaches
50°C.
G38
Level gantry
Using the input from two G28 Z probes at least 100mm apart in the X direction, this command
automatically levels the gantry to make it parallel to the bed.
G39
Level bed (compensate Z according to Y)
Using the input from two G28 Z probes at least 100mm apart in the Y direction, this command
automatically drives the Z axis during printing to keep the nozzle the same distance from the bed.
G90
Use absolute coordinates on X/Y/Z axes (default)
This command causes Robox® to interpret all moves as ‘absolute’, i.e. move to the location
specified. e.g. G1 X100 Y100 will move to the fixed location 100,100. This is the default behaviour of
the firmware.
G91
Use relative coordinates on X/Y/Z axes
This command causes Robox® to interpret all moves as ‘relative’ i.e. move to the location relative
to your current position. e.g. if the head is at position 100,100 - G1 X20 Y20 will move the head to
120,120, not 20,20.