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g2dialect Consensus Gcode

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Alden Hart edited this page Jun 9, 2016 · 8 revisions

This page provides reference information used by the g2dialect.

OK, There is no "standard" Gcode, despite multiple attempts to establish one. This page collects 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.

##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 to the above table due to:

  • Differences in implemenation 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

    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
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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

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  2. Branching and Release - DRAFT
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