ISO Code (“GCode”)

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