Guide

24
GCode Command (v1.2)
Description
Feedback
1. #n is used for the debug, if you don’t want to use it please remove it directly.
(For Example: G2202 N0 V90\n)
2. ‘\n’ is the symbol of line feed.
Moving Command (parameters are in underline)
#n G0 X100 Y100 Z100
F1000\n
Move to XYZ(mm), F is
speed(mm/min)
$n ok \n or $n Ex \n (refer to Err
output)
#n G1 X100 Y100 Z100
F1000\n
After entering the laser mode
(M2400 S1), command G1
means laser on, G0 means off.
$n ok \n or $n Ex \n (refer to Err
output)
#n G2004 P1000\n
Delay microsecond
$n ok \n
#n G2201 S100 R90 H80
F1000\n
Polar coordinates, S is
stretch(mm), R is
rotation(degree),H is
height(mm), F is
speed(mm/min)
$n ok \n or $n Ex \n (refer to Err
output)
#n G2202 N0 V90\n
Move the motor to the
position ,N is ID of
joints(0~3),V is angle(0~180)
$n ok \n or $n Ex \n (refer to Err
output)
#n G2204 X10 Y10 Z10
F1000\n
Relative displacement
$n ok \n or $n Ex \n (refer to Err
output)
#n G2205 S10 R10 H10
F1000\n
Polar coordinates for relative
displacement
$n ok \n or $n Ex \n (refer to Err
output)
Setting Command (parameters are in underline)
#n M17\n
Attach all the joint motors
$n ok \n
#n M204 P200 T200
R200\n
Set accelerations and save
P = Printing moves
R = Extruder only (no X, Y, Z)
moves
T =Hot End Travel (non
printing) moves
$n ok \n
#n M2019\n
Detach all the joint motors
$n ok \n
#n M2120 V0.2\n
Set time cycle of feedback,
return Cartesian coordinates, V
is time(seconds)
@3 X154.71 Y194.91 Z10.21\n