G – (Mainly) Motion:
| Inst | Description | Parameters | Examples | Notes |
|---|---|---|---|---|
| G00 | Rapid Move (Joint Space Interpolation) |
X, Y, Z, U, V, W, A, B, C, D, E, H, L, O, R, S, 01q…16q: Coordinates (Units) F: Rapid Feed Rate (Units/min) |
G00 x500 y-200.2 g0 Z500 G00 01q1000.5 |
Required: – Robot in ready or busy state – Buffer space available After Effects: – If “F” is used, Rapid Feed Rate will be changed for future Rapid Moves |
| G01 | Linear Move (Work Space Interpolation) |
X, Y, Z, U, V, W, A, B, C, D, E, H, L, O, R, S, 01q…16q: Coordinates (Units) F: Rapid Feed Rate (Units/min) |
G01 x500 y-200.2 g1 Z500 G01 01q1000.5 |
Required: – Robot in ready or busy state – Buffer space available After Effects: – If “F” is used, Rapid Feed Rate will be changed for future Linear Moves |
| G04 | Dwell | P: Dwell Time (Seconds) | G4 P1 g04 P0.05 |
Required: – Robot in ready or busy state – Buffer space available |
| G90 | Change to Absolute Mode | G90 g90 |
After Effects: – All coordinate inputs will be referred to system origin |
|
| G91 | Change to Incremental Mode | G91 g91 |
After Effects: – All coordinate inputs will be referred last ordered position |
M – (Mainly) Parameter Settings:
| Inst | Description | Parameters | Example | Notes |
|---|---|---|---|---|
| M204 | Set Acceleration and Deceleration | P: Acceleration (Units/s) | M204 P50000 m204 p50.5 |
After Effects: – Motion profile will assume new acceleration and deceleration |
| M205 | Set Jerk | P: Jerk (Units/s2) | M205 P500000 m205 p500.5 |
After Effects: – Motion profile will assume new jerk |