gcode description

This is a list of all the GCODE that a Makelangelo robot understands. Any app that adheres to this API can successfully draw pictures on a Makelangelo robot.

D0 [Lnn] [Rnn] [Unn] [Vnn] [Wnn] [Tnn]

Jog each motor nn steps.

D5

report current firmware version

D6 [Xnn] [Ynn] [Znn] [Unn] [Vnn] [Wnn]

Set home position for each axis.

D7 [Lnn] [Rnn]

Polagraph only. Set calibration length of each belt

D8

Polagraph only. Report calibration values for left and right belts

D11

DEPRECATED SEE M502 Polagraph only. Makleangelo setup

D13 Znn

Polagraph only. Set pen angle

D14

get machine style

D15

Sixi only. Sixi demo

D17

Sixi only. report sensor values

D18

Sixi only. copy sensor values to motor step positions (set current position)

D19

Sixi only. toggle continuous D17 reporting

D20

Sixi only. clear error flags

D21

Sixi only. toggle software ESTOP

D22

DEPRECATED SEE M502 Sixi only. Robot is at home position. Calibrate sensors accordingly.

D23

Sixi only. Robot is at calibration position. Calibrate sensors accordingly.

D40 Snn

Set and report strict mode. where nn=0 for off and 1 for on.

G0/G1 [Xn] [Yn] [Zn] [Un] [Vn] [Wn]

linear travel

G02/G03 arcs G04 [Snn] [Pnn]

Wait S milliseconds and P seconds.

G28

go home

G90

set absolute mode

G91

set relative mode

G92

teleport

M6 Tnn

change tool to nn

M42 Paa Sbb

Set digital pin aa to state bb (1 or 0).

M100

Print a helpful message to serial.

M101 Annn Tnnn Bnnn

Change axis A limits to max T and min B.

M110 Nnn

sets next expected line number to n.

M111

** Snn**

sets parser flags to n. Combine any valid flags: 0 (relative) 1 (strict) 2 (echo)

M112

emergency stop. Set all PIDS to zero.

M114

report current target position

M117 [string]

Only if LCD available. Display string on the LCD panel.

M203 [Xnn] [Ynn] [Znn] [Unn] [Vnn] [Wnn]

set max feedrate per axis

M205 [Xnn] [Ynn] [Znn] [Unn] [Vnn] [Wnn] [Bnn]

set jerk for all axies. B is minimum segment time (us)

M206 [Xn] [Yn] [Zn] [Un] [Vn] [Wn]

set home offsets

M226 P[a] S[b]

Wait for pin P to be in state S (1 or 0).

M300 S[a] P[b]

play frequency a for b milliseconds (if there is a speaker)

M306 L[0...5] [Pn] [In] [Dn]

Sixi only. Adjust PID and report new values.

M428

Sixi only. set home position to the current raw angle values (don't use home position to adjust home position!)

M500

save settings

M501

reload settings

M502

factory reset

M503

report all settings