ISO Code (“GCode”)

Inst

Description

Parameters

Examples

Notes

G00

Rapid Move (Joint Space Interpolation)

X, Y, Z, U, V, W, A, B, C, D, E, H, L, M, N, O, 01q…16q: Coordinates (Units)
F: Rapid Feed Rate (Units/min)

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, M, N, O 01q…16q: Coordinates (Units)
F: Feed Rate (Units/min)

G1 x500 y-200.2
g1 Z500
G01 01q32.5 

Required:
– Robot in ready or busy state
– Buffer space available
After Effects:
– If “F” is used, Feed Rate will be changed for future Linear

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

Inst

Description

Parameters

Examples

Notes

M10

Set vacuum on

M10 Q10 K0 P800 S100 T700 R1.5

Required:
– Robot in ready or busy state
– Buffer space available

M11

Set vacuum off

M11

M17

Enable Motors

M17

Required:
– Safety Conditions Verified

M17.1

Enable Motion

M7.1

Required:
– Safety Conditions Verified

M18

Disable Motors

M18

After Effects:
– Instructions in buffer after M18 are purged

M67

Set Analog Output, In Sequence

Q: Output channel
(0-AO0; 10-DO0; 11-DO1)
P: Duty Cycle (0 to 4095)

M67 Q10 P800

M68

Set Analog Output, Immediate

Q: Output channel
(0-AO0; 10-DO0; 11-DO1)
P: Duty Cycle (0 to 4095)

M68 Q10 P800

M101

Set deformation monitoring In Sequence

P: Delta Deformation limit
(0 to 32.0) [deg/scan]
S: Behavior
(0-QuickStop; 1-ImediateStop; 2-TorqueOff)

M101 P0.1 S2

M204

Set acceleration and deceleration

P: Acceleration/Deceleration (Units/s^2)

M204 P2000

M205

Set jerk

P: All 4 Jerk values for all motion types (Units/s^3)

M205 P30000

M211

Activate/Deactivate Work Coordinates Limit

P: Limit Index
S: State (S0-Deactivate; S1-Activate)

M211 P2 S0