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g2dialect Consensus Gcode

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Alden Hart edited this page Mar 18, 2017 · 8 revisions

This page provides reference information used by the g2dialect.

OK, There is no "standard" Gcode, despite multiple attempts to establish one. These pages collect common Gcode and Mcode uses derived from the following sources:

  • NIST
  • LinuxCNC
  • Haas
  • Fanuc
  • Tormach
  • CNC Cookbook

It also lists Reprap, Machinekit, TinyG and other usage that is incompatible with the common usage, and provides some notes and some recommendations for alternatives.

See also: Consensus Mcodes

Consensus Gcode Usage

This table lists rough consensus usage from the above sources.

Gcode Command Usage / Notes
G0 Coordinated Straight Motion at Rapid Rate Rapid Traverse
G1 Coordinated Straight Motion at Feed Rate Feed rate is honored, as are abs/inv-time feed rate modes
G2 Clockwise Circular/Helical Interpolation at Feed Rate Controlled Arc Move
G3 Counterclockwise Circular/Helical Interpolation at Feed Rate Controlled Arc Move
G4 Dwell P is in seconds, not milliseconds or other units
G5.x Reserved for curve and spline interpolation
G5 Cubic Spline (LinuxCNC)
G5.1 Quadratic B-Spline (LinuxCNC)
G5.2 NURBS, add control point (LinuxCNC)
G5.3 NURBS, execute (LinuxCNC)
G6 Not used
G7 Diameter Mode Lathe usage
G8 Radius Mode Lathe usage
G9 Exact Stop (non-modal) Fanuc, Haas
G10 Programmable Data Input See G10 Lxx commands below
G10 L1 Set Tool Table Entry
G10 L10 Set Tool Table, Calculated, Workpiece
G10 L11 Set Tool Table, Calculated, Fixture
G10 L2 Coordinate System Origin Setting
G10_L20 Coordinate Origin Setting Calculated
G11 Not Used
G12 CW circular pocket (Haas, Tormach)
G13 CCW circular pocket (Haas, Tormach)
G15 Polar coordinates (Tormach, CNC Cookbook)
G16 Polar coordinates (Tormach, CNC Cookbook)
G17 Select XY Plane
G17.1 Select UV Plane
G18 Select XZ Plane
G18.1 Select UW Plane
G19 Select YZ Plane
G19.1 Select VW Plane
G20 Set Units to Inches (Imperial) Units selection governs movement, displays, and settings
G21 Set Units to Millimeters (Metric) Units selection governs movement, displays, and settings
G22 Not used
G23 Not used
G24 Not used
G25 Not used
G26 Not used
G27 Reference Position Check (Fanuc)
G28 Go To Predefined Position Through Point (G28) Move to G28.1 stored position via optional intermediate point
G28.1 Set Predefined Position Store current position for G28. All axes are stored.
G29 Go to G29 Reference Point (Haas)
G30 Go To Predefined Position Through Point (G30) Move to G30.1 stored position via optional intermediate point
G30.1 Set Predefined Position Store current position for G30. All axes are stored.
G31 Straight Probe Until Skip (Haas, Tormach)
G32 Thread Cutting (Fanuc)
G33 Spindle Synchronized Motion
G33.1 Rigid Tapping
G34 Not used
G35 Automatic Tool Diameter Measurement (Haas)
G36 Automatic Work Offset Measurement (Haas)
G37 Automatic Tool Length Measurement (Haas)
G38.2 Straight Probe To Workpiece Report if failure
G38.3 Straight Probe To Workpiece
G38.4 Straight Probe Away From Workpiece Report if failure
G38.5 Straight Probe Away From Workpiece
G39 Not used
G40 Cancel Cutter Compensation Turn Compensation Off
G41 Start Cutter Radius Compensation Left
G41.1 Dynamic Cutter Compensation
G42 Start Cutter Radius Compensation Right
G42.1 Dynamic Cutter Compensation
G43 Tool Length Offset Use Tool Length Offset from Tool Table.
G43 Tool Length Compensation, Positive (Fanuc, Haas)
G43.1 Dynamic Tool Length Offset
G43.2 Apply additional Tool Length Offset
G44 Tool Length Compensation, Negative (Fanuc, Haas)
G49 Cancel Tool Length Compensation
G50 Reset Scale Factors to 1.0 (Haas, Tormach)
G51 Set Axis Data Input Scale Factors (Haas, Tormach)
G52 Local Work Shift (Fanuc, Haas)
G53 Motion In Machine Coordinate System Non-Modal
G54 Select Coordinate System 1 Use Preset Work Coordinate System 1
G55 Select Coordinate System 2 Use Preset Work Coordinate System 2
G56 Select Coordinate System 3 Use Preset Work Coordinate System 3
G57 Select Coordinate System 4 Use Preset Work Coordinate System 4
G58 Select Coordinate System 5 Use Preset Work Coordinate System 5
G59 Select Coordinate System 6 Use Preset Work Coordinate System 6
G59.1 Select Coordinate System 7 Use Preset Work Coordinate System 7
G59.2 Select Coordinate System 8 Use Preset Work Coordinate System 8
G59.3 Select Coordinate System 9 Use Preset Work Coordinate System 9
G60 Unidirectional Positioning (Haas)
G61 Exact Path Mode
G61.1 Exact Stop Mode
G62 Automatic Corner Override (CNC Cookbook)
G63 Tapping Mode (CNC Cookbook)
G64 Continuous Mode Path Blending Mode
G65 Macro Subroutine Call (Haas)
G68 Coordinate System Rotation
G69 Cancel Coordinate System Rotation
G70 Bolt Hole Circle (Haas)
G71 Bolt Hole Arc (Haas)
G72 Bolt Holes Along and Angle (Haas)
G73 Drilling Cycle with Chip Breaking
G74 Reverse Tap Canned Cycle (Haas)
G76 Multi-pass Threading Cycle (Lathe)
G77 Back Bore Canned Cycle (Haas)
G80 Cancel Motion Mode including Canned Cycle
G81 Drilling Cycle
G82 Drilling Cycle with Dwell
G83 Drilling Cycle with Peck
G84 Tapping Canned Cycle (Haas)
G85 Boring Cycle, No Dwell, Feed Out
G86 Boring Cycle, Stop, Rapid Out
G87 Bore/Manual Retract Canned Cycle (Haas)
G88 Bore/Dwell Canned Cycle (Haas)
G89 Boring Cycle, Dwell, Feed Out
G90 Absolute Distance Mode
G09.1 Absolute Arc Distance Mode
G91 Incremental Distance Mode Set to Relative Positioning
G91.1 Incremental Arc Distance Mode
G91.x Reset Coordinate System Offsets
G92 Set Coordinate System Offsets
G92.1 Cancel Coordinate System Offsets
G92.2 Cancel Offset Coordinate Systems, Do Not Reset Parameters
G92.3 Apply Parameters to Offset Coordinate Systems Restore Axis Offsets
G93 Inverse Time Feed Rate Mode Inverse Time Mode
G94 Units Per Minute Feed Rate Mode Feed Rate Mode
G95 Units Per Revolution Feed Rate Mode
G96 Constant Surface Speed
G97 RPM Mode Cancel Constant Surface Speed
G98 Initial Level Return In Canned Cycles Canned Cycle Z Retract Mode
G99 R-point Level Return In Canned Cycles
G100+ Haas Gcodes continue from G100 to G188

Exceptions to Consensus Gcode Usage

The following table lists incompatibilities (bolded) with consensus Gcode. Incompatibilities may be due to:

  • Differences in implementation from a consensus Gcode command
  • Differences in parameter usage from a consensus Gcode command
  • Additional or incompatible dot extensions
  • Additional Gcode commands that are not in the consensus set

The implementation is noted in (Parens). When (Reprap) is noted it means that one or more of the major Reprap implementations do this, as there are variations.

Gcode Consensus Usage Non-Consensus Usage / Notes
G0 Coordinated Straight Motion at Rapid Rate (Reprap) provides feed rate for G0. (Reprap) uses S to set endstop options during movement, (Reprap) defines E axes, which are not part of the Gcode axis set (XYZ ABC UVW). (Reprap) may invoke retraction and recharge on G0.
G1 Coordinated Straight Motion at Feed Rate (Reprap) uses S to set endstop options during movement, (Reprap) defines E axes, which are not part of the Gcode axis set (XYZ ABC UVW)
G2 Clockwise Circular/Helical Interpolation at Feed Rate (Reprap) motion features similar to G1. Note: circular/helical motion is rarely used in 3D printing.
G3 Counterclockwise Circular/Helical Interpolation at Feed Rate (Reprap) motion features similar to G1. Note: circular/helical motion is rarely used in 3D printing.
G4 Dwell (Reprap) dwell may use S to set dwell time in milliseconds (not seconds). Uses P for seconds. Note: S is a modal word who's usage here is incompatible as it conflicts with Spindle RPM setting
G5.x Reserved for curve and spline interpolation
G5 Cubic Spline
G5.1 Quadratic B-Spline
G5.2 NURBS, add control point
G5.3 NURBS, execute
G6 Not used
G7 Diameter Mode
G8 Radius Mode
G9 Exact Stop (non-modal)
G10 Programmable Data Input
G10 L1 Set Tool Table Entry
G10 L10 Set Tool Table, Calculated, Workpiece
G10 L11 Set Tool Table, Calculated, Fixture
G10 L2 Coordinate System Origin Setting
G10_L20 Coordinate Origin Setting Calculated
G11 Not Used
G12 CW circular pocket
G13 CCW circular pocket
G15 Polar coordinates
G16 Polar coordinates
G17 Select XY Plane
G17.1 Select UV Plane
G18 Select XZ Plane
G18.1 Select UW Plane
G19 Select YZ Plane
G19.1 Select VW Plane
G20 Set Units to Inches (Imperial)
G21 Set Units to Millimeters (Metric)
G22 Not used (MachineKit) Firmware Controlled Retract
G23 Not used (MachineKit) Firmware Controlled Precharge
G24 Not used
G25 Not used
G26 Not used
G27 Reference Position Check
G28 Go To Predefined Position Through Point (G28)
G28.1 Set Predefined Position
G28.2 Not used (TinyG) Homing Sequence.
G28.3 Not used (TinyG) Set Absolute Axis to Defined Position
G29 Go to G29 Reference Point (Marlin, MachineKit) Detailed Z-Probe
G29.1 Not used (MachineKit) Set Z probe head offset
G29.2 Not used (MachineKit) Set Z probe head offset calculated from toolhead position
G30 Go To Predefined Position Through Point (G30) (Marlin, Smoothie, Reprap) Single Z-Probe
G30.1 Set Predefined Position
G31 Straight Probe Until Skip (Marlin) Dock Z Probe Sled
G31 Straight Probe Until Skip (Smoothie) Report Current Probe Status
G32 Thread Cutting (Marlin) Undock Z Probe Sled
G32 Thread Cutting (Smoothie) Probe Z and Calculate Z Plane
G33 Spindle Synchronized Motion
G33.1 Rigid Tapping
G34 Not used
G35 Automatic Tool Diameter Measurement
G36 Automatic Work Offset Measurement
G37 Automatic Tool Length Measurement
G38.2 Straight Probe To Workpiece, Report if failure
G38.3 Straight Probe To Workpiece
G38.4 Straight Probe Away From Workpiece, Report if failure
G38.5 Straight Probe Away From Workpiece
G39 Not used
G40 Cancel Cutter Compensation
G41 Start Cutter Radius Compensation Left
G41.1 Dynamic Cutter Compensation
G42 Start Cutter Radius Compensation Right
G42.1 Dynamic Cutter Compensation
G43 Tool Length Offset
G43 Tool Length Compensation, Positive
G43.1 Dynamic Tool Length Offset
G43.2 Apply additional Tool Length Offset
G44 Tool Length Compensation, Negative (Fanuc, Haas)
G49 Cancel Tool Length Compensation
G50 Reset Scale Factors to 1.0
G51 Set Axis Data Input Scale Factors
G52 Local Work Shift
G53 Motion In Machine Coordinate System
G54 Select Coordinate System 1
G55 Select Coordinate System 2
G56 Select Coordinate System 3
G57 Select Coordinate System 4
G58 Select Coordinate System 5
G59 Select Coordinate System 6
G59.1 Select Coordinate System 7
G59.2 Select Coordinate System 8
G59.3 Select Coordinate System 9
G60 Unidirectional Positioning
G61 Exact Path Mode
G61.1 Exact Stop Mode
G62 Automatic Corner Override
G63 Tapping Mode
G64 Continuous Mode
G65 Macro Subroutine Call
G68 Coordinate System Rotation
G69 Cancel Coordinate System Rotation
G70 Bolt Hole Circle
G71 Bolt Hole Arc
G72 Bolt Holes Along and Angle
G73 Drilling Cycle with Chip Breaking
G74 Reverse Tap Canned Cycle
G76 Multi-pass Threading Cycle
G77 Back Bore Canned Cycle
G80 Cancel Motion Mode
G81 Drilling Cycle
G82 Drilling Cycle with Dwell
G83 Drilling Cycle with Peck
G84 Tapping Canned Cycle
G85 Boring Cycle, No Dwell, Feed Out
G86 Boring Cycle, Stop, Rapid Out
G87 Bore/Manual Retract Canned Cycle
G88 Bore/Dwell Canned Cycle
G89 Boring Cycle, Dwell, Feed Out
G90 Absolute Distance Mode
G09.1 Absolute Arc Distance Mode
G91 Incremental Distance Mode
G91.1 Incremental Arc Distance Mode
G91.x Reset Coordinate System Offsets
G92 Set Coordinate System Offsets
G92.1 Cancel Coordinate System Offsets
G92.2 Cancel Offset Coordinate Systems, Do Not Reset Parameters
G92.3 Apply Parameters to Offset Coordinate Systems
G93 Inverse Time Feed Rate Mode
G94 Units Per Minute Feed Rate Mode
G95 Units Per Revolution Feed Rate Mode
G96 Constant Surface Speed
G97 RPM Mode / Cancel Constant Surface Speed
G98 Initial Level Return In Canned Cycles
G99 R-point Level Return In Canned Cycles
G100+ Haas Gcodes continue from G100 to G188
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Getting Started Pages

  1. Home
  2. What is g2core?
  3. Who uses g2core?
  4. Jerk-Controlled Motion
  5. Getting Started with g2core
  6. Connecting to g2core
  7. Configuring g2core
  8. Flashing g2core
  9. Troubleshooting

Reference Pages

  1. Gcodes
  2. Mcodes
  3. Text Mode
  4. JSON Communications
  5. GPIO Digital IO
  6. Alarms & Exceptions
  7. Power Management
  8. Coordinate Systems
  9. Status Reports
  10. Status Codes
  11. G2 Communications
  12. Tool Offsets and Selection
  13. Probing
  14. Feedhold, Resume, Job Kill
  15. Marlin Compatibility
  16. 9 Axis UVW Operation
  17. gQuintic Specs

Discussion Topics

  1. Roadmap
  2. GPIO for 1.X Releases
  3. Toolheads
  4. Raster Streaming Prototol
  5. g2core REST Interface
  6. Gcode Parsing
  7. G2 3DP Dialect
  8. Consensus Gcode
  9. Digital DRO
  10. Overview of Motion Processing

Developer Pages

  1. Development & Contribution
  2. Branching and Release - DRAFT
  3. Getting Started with g2core Development
  4. Project Structure & Motate
  5. Compiling G2
  6. OSX w/Xcode
  7. OSX/Linux Command Line
  8. Windows10 w/AtmelStudio7
  9. Debugging G2 on OSX
  10. Board and Machine Profiles
  11. Arduino Due Pinout
  12. Arduino DUE External Interfaces
  13. Diagnostics
  14. Debugging w/Motate Pins
  15. Development Troubleshooting
  16. g2core Communications
  17. Git Procedures
  18. Windows 10 / VMware 8 Issues
  19. Dual Endpoint USB Internals
  20. G2core License
  21. VSCode Setup
  22. Compatibility Axioms
  23. Wiki History
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