Command Syntax
Command Syntax
Input Grammar:
| means OR, a value between quotes denotes a litteral and () means grouping. [] means optional
<XYZ Float> ::- [('X' <FLOAT>)] [('Y' <FLOAT>)] [('Z' <FLOAT>)]
<XYZ Bool> ::- [('X' <BOOL>)] [('Y' <BOOL>)] [('Z' <BOOL>)]
<XYZ Amps> ::- [('X' <AMPS>)] [('Y' <AMPS>)] [('Z' <AMPS>)]
<XYZ INT> ::- [('X' <INT>)] [('Y' <INT>)] [('Z' <INT>)]
<Feedrate> ::- [('F' <FLOAT>)]
<Stepping> ::- ('S' <Step Options>)
<MotorPWM> ::- ('S' <PWM Value>)
<Step Options> ::- '1' | '2' | '4' | '16'
<BOOL> ::- '0' | '1
<AMPS> ::- <FLOAT Values 0.0 to 2.0>
<PWM Value> ::- <INT Values 1 to 255>
Input Commands Supported:
| CMD | Arguments | Description |
| G0 | <XYZ Float> | Move to XYZ at Max Feedrate |
| G1 | <Feedrate> <XYZFloat> | Move to XYZ at specified feedrate, if specified, or last specified feedrate if not specified. Max feedrate if no feedrate has been specified. |
| G2 | Clockwise arc | |
| G3 | Counerclockwise arc | |
| G4 | Dwell (delay) | |
| G20 | Specify default units as INCHES | |
| G21 | Specify default units as MM | |
| G28 | Move to (0,0,0) at Max Feedrate | |
| G30 | <XYZ Float> | Go to (0,0,0) via intermediate point (X,Y,Z) |
| G81 | <XYZ Float> | Drill by moving to (X,Y) at max feedrate, Move to Z then back to oringal Z at max feedrate |
| G90 | XYZ is in absolute coordinates | |
| G91 | XYZ is in relative coordinates | |
| G92 | Specify current location as (0,0,0) | |
| M2 | Turn on spindle motor | |
| M4 | Turn on spindle motor | |
| M5 | Turn off spindle motor | |
| M100 | <XYZ Amps> | Specify AMPS per axis |
| M101 | <XYZ INT> | Specify STEPS PER INCH |
| M102 | <XYZ INT> | Specify Max Feedrate Per Axis in Steps Per Second |
| M103 | <XYZ Stepping> | Specify Stepping Mode (1,1/2,1/4,1/16) |
| M104 | <XYZ Bool> | Specify Direction Per Axis (i.e. toggle value to reverse direction of an axis) |
| M105 | <Motor PWM> | Specify Duty Cycle of Motor On Time as value from 1 (0.39%) to 255 (100%) |
| M200 | Force Save Configuration | |
| M201 | Dump Configuration | |
Output Grammar:
<rStep output> ::- <GCode reply> | <message> | 'START'
<GCode reply> ::- 'OK' | ( 'ERR ' <error type> )
<error type> ::- 'INIT' | 'CUR' | 'STEP_TYPE' | 'ADDOBJ_FULL' | 'NOT_SUPPORTED' | 'CHECKSUM'
<message> ::- 'MSG ' <message content>
<message content> ::- <step by inch message> | <max feed rate message> | <current message> | <stepping message> | <absolute mode message> | <coordinates message> | <debug message>
<step by inch message> ::- 'SBI(' <NUMBER> ',' <NUMBER> ',' <NUMBER> ')'
<max feed rate message> ::- 'MFR(' <NUMBER> ',' <NUMBER> ',' <NUMBER> ')'
<current message> ::- 'Cur(' <NUMBER> ',' <NUMBER> ',' <NUMBER> ')'
<stepping message> ::- 'Step(' <NUMBER> ')'
<absolute mode message> ::- 'Abs(' <NUMBER> ')'
<coordinates message> ::- 'Coord(' <NUMBER> ',' <NUMBER> ',' <NUMBER> ')'
<debug message> ::- 'Debug(' <STRING> ')'