Gcode

G0, G1 – Linear Move
G2, G3 – Controlled Arc Move
G4 – Dwell
G5 – Bezier cubic spline
G6 – Controlled Angle
G28 – Auto Home
G90 – Absolute Positioning
G91 – Relative Positioning
M3 – Spindle CW/ Laser On/ Vacuum Hold/ Gripper Close
M4 – Spindle CCW/ Laser On/ Vacuum Hold/ Gripper Close
M5 – Spindle / Laser Off/ Vacuum Release/ Gripper Open
M84 – Disable steppers
M104 – Set Hotend Temperature
M109 – Wait for Hotend Temperature
M203 – Set Max Feedrate
M204 – Set Acceleration
M205 – Set begin speed
M206 – Set Offsets
M310 – Set Conveyor Speed Mode
M311 – Set Conveyor Speed
M312 – Set Conveyor Position
M320 – Go To Sliding Rail Home
M321 – Set Sliding Rail Speed
M322 – Set Sliding Rail Position
M323 – Disable Sliding Rail Stepper Motor
M330 – Set External Serial Port 1
M331 – Set External Serial Port 2
M360 – Set End effector
M361 – Set mm per linear segment
M362 – Set mm per arc segment
M500 – Save Settings
M501 – Restore Settings
M502 – Restore Settings
Some other commands

Delta X Gcode

G0, G1 – Linear Move
Description: The G0 and G1 commands add a linear move to the queue to be performed after all previous moves are completed.
A command like G1 F1000 sets the feed rate for all subsequent moves.
Usage: G0 [F<rate>] [X<pos>] [Y<pos>] [Z<pos>] [W<ang>]
Parameters:
[F<rate>]    The maximum movement rate of the move between the start and endpoint. The feedrate set here applies to subsequent moves that omit this parameter.
[X<pos>]   A coordinate on the X-axis.
[Y<pos>]   A coordinate on the Y-axis.
[Z<pos>]   A coordinate on the Z-axis.
[W<ang>]   A coordinate on the W axis.
Examples:
G0 X12  ; move to 12mm on the X-axis 
G0 F1500  ; set the feedrate to 1500mm/minute 
G1 X90.6 Y13.8  ; move to 90.6mm on the X-axis and 13.8mm on the Y-axis 

G2, G3 – Controlled Arc Move
Description: G2 adds a clockwise arc move to the planner; G3 adds a counter-clockwise arc. An arc move starts at the current position and ends at the given XYZ, pivoting around a center-point offset given by I and J.
Usage: G2 [F<rate>] I<offset> J<offset> [X<pos>] [Y<pos>] [W<ang>]
Parameters:
[F<rate>]    The maximum movement rate of the move between the start and endpoint. The feed rate set here applies to subsequent moves that omit this parameter.
I<offset>   An offset from the current X position to use as the arc center.
J<offset>   An offset from the current Y position to use as the arc center.
[X<pos>]   A coordinate on the X-axis.
[Y<pos>]   A coordinate on the Y-axis.
[W<ang>]   A coordinate on the W axis.
Examples:
G2 I40 J0 X80 Y0

G4 – Dwell
Description: Dwell pauses the command queue and waits for a period of time.
Usage: G4 [P<time in ms>]. Another firmware version "time in s"
Parameters:
[P<time>]   Amount of time to dwell.
Examples:
G4 P500 ; delay 0.5s, or 500s

G5 – Bezier cubic spline
Description: G5 creates a cubic B-spline in the XY plane with the X and Y axes only. P and Q parameters are required. I and J are required for the first G5 command in a series. For subsequent G5commands, either both I and J must be specified, or neither. If I and J are unspecified, the starting direction of the cubic will automatically match the ending direction of the previous cubic (as if I and J are the negation of the previous P and Q).
Usage: G5 [F<rate>] I<pos> J<pos> P<pos> Q<pos> X<pos> Y<pos>  [W<ang>]
Parameters:
[F<rate>]    The maximum movement rate of the move between the start and endpoint. The feedrate set here applies to subsequent moves that omit this parameter.
[I<pos>]   X incremental offset from the start point to the first control point.
[J<pos>]   Y incremental offset from the start point to the first control point.
[P<pos>]  X incremental offset from the endpoint to the second control point.
[Q<pos>]   Y incremental offset from the endpoint to the second control point.
[X<pos>]   A coordinate on the Y-axis.
[Y<pos>]   A coordinate on the Y-axis.
[W<ang>]   A coordinate on the W axis.
Examples:
G5 F200 I-40 Y20 P-20 Y-20 X20 Y-20.


G6 – Controlled Angle
Description: Directly control movement angle without endpoint coordinates.
Usage: G6 [F<rate>] X<pos> Y<pos> Z<pos> P<pos>
Parameters:
[F<rate>]    The maximum movement rate of the move between the start and endpoint. The feed rate set here applies to subsequent moves that omit this parameter.
[X<pos>]   The value of the angle theta 1.
[Y<pos>]   The value of the angle theta 2.
[Z<pos>]   The value of the angle theta 3.
[P<pos>]   Distance traveled.
Examples:

G28 – Auto Home
Description: Auto-home one or more axes, moving them towards their endstops until triggered.
Usage: G28

G90 – Absolute Positioning
Description: In absolute mode, all coordinates given in G-code are interpreted as positions in the logical coordinate space.
Usage: G90

G91 – Relative Positioning
Description: Set relative position mode. In this mode, all coordinates are interpreted as relative to the last position.
Usage: G91

M3 – Spindle CW/ Laser On/ Set Gripper To Close/ Set Angle of Gripper
Description: Wait for moves to complete, then set the spindle speed (clockwise), laser power, or angle of the gripper.
Usage: M3 [S<value>]
Parameters:
[S<value>] Spindle speed (0 - 255), laser power (0 - 255), angle of gripper (0-100), if value is emtpy then gripper close.


M4 – Spindle CCW/ Laser On/ Set Gripper To Close/ Set Angle of Gripper
Description: Wait for moves to complete, then set the spindle speed (clockwise), laser power, or angle of the gripper.
Usage: M4 [S<value>]
Parameters:
[S<value>] Spindle speed (0 - 255), laser power (0 - 255), angle of gripper (0-100), if value is emtpy then gripper close.

M5 – Spindle / Laser Off/ Gripper Open
Description: Wait for moves to complete, then turn off the spindle/laser power, PWM and set gripper to open.
Usage: M5

M84 – Disable steppers
Description: This command can be used to disable steppers.
Usage: M84

M104 – Set Hotend Temperature
Description: Set a new target hot end temperature and continue without waiting. The firmware will continue to try to reach and hold the temperature in the background.
Usage: M104 [S<temp>]
Parameters:
[S<temp>] Target temperature.

M109 – Wait for Hotend Temperature
Description: This command optionally sets a new target hot end temperature and waits for the target temperature to be reached before proceeding.
Usage: M109 [S<temp>]
Parameters:
[S<temp>] Target temperature.

M203 – Set Max Feedrate
Description: Set the max feed rate for one or more axes.
Usage: M203 [S<units/s>]
Parameters:
[S<units/s>] Max feedrate.


M204 – Set Acceleration
Description: Set the preferred acceleration for moves of different types.
Usage: M204 [A<accel>]
Parameters:
[A<accel>] Travel acceleration.

M205 – Set begin speed
Description: 
Usage: M205 [S<units/s>]
Parameters:
[S<mm/s>] begin speed.

M206 – Set X Y Z Offsets
Description: Use M206 to apply a persistent X Y Z offset to the native home position and coordinate space. This effectively shifts the coordinate space in the negative direction. Used for 3d printing.
Usage: M206 [X<offset>] [Y<offset>] [Z<offset>]

Parameters:

[X<offset>] X offset.

[Y<offset>] Y offset.
[Z<offset>] Z offset.

M330 – Set External Serial Port 1
Description: There are 2 Serial ports on robot for connecting conveyors, slider rail or with external arduino. By default these serials are turned off.

To use external Arduino control Delta X, please connect TX RX GND pin at 1 of 2 ports. And send to robot "IsDelta\n" 2 times to activate the port.

When connecting Delta X robot with conveyor and slider rail. You can use a computer connected to the robot and control the robot, conveyor, and slider rail through just one COM port on the computer.

Usage: M330 [R<index>]
Parameters:
 index =
0 : None.
1 : Conveyor.
2 : Slidingrail.


M331 – Set External Serial Port 2
Description: There are 2 Serial ports on robot for connecting conveyors, slider rail or with external arduino. By default these serials are turned off.

To use external Arduino control Delta X, please connect TX RX GND pin at 1 of 2 ports. And send to robot "IsDelta\n" 2 times to activate the port.

When connecting Delta X robot with conveyor and slider rail. You can use a computer connected to the robot and control the robot, conveyor, and slider rail through just one COM port on the computer.

Usage: M331 [R<index>]
Parameters:
 index =
0 : None.
1 : Conveyor.
2 : Slidingrail.


M360 – Set End effector
Description: Select the end effector for the delta robot.
Usage: M360 [E<index>]
Parameters:
 index =
0 : Vacuum.
1 : Gripper.
2 : Pen.
3 : Laser.
4 : Printer.
5 : Custom.


M361 – Set mm per linear segment
Description: Set segment length when interpolation.
Usage: M361 [P<units>]
Parameters:
[P<units>] Segment length when linear interpolation.

M362 – Set mm per arc segment
Description: Set segment length when interpolation.
Usage: M361 [P<units>]
Parameters:
[P<units>] segment length when arc interpolation.

M500 – Save Settings
Description: Save all configurable settings to EEPROM.
Usage: M500

M501 – Restore Settings
Description: Load all saved settings from EEPROM.
Usage: M501

M502 – Restore Settings
Description: Reset all configurable settings to their factory defaults.
Usage: M502

Conveyor Gcode

M310 – Set Mode
Description: .
Usage: M310 [<index>]
Parameters:

1: Serial Mode.
0: Volume Mode.

M311 – Set Speed
Description:
Usage: M311 [<value>]
Parameters:
[<value>]: Speed in mm/s

M312 - Set Position
Description:
Usage: M312 [<value>]
Parameters:
[<value>]: Position in mm

M313 - Set Speed for Position Moving
Description:
Usage: M313 [<value>]
Parameters:
[<value>]: Speed in mm/s

Sliding Rail Gcode

M320 – Go To Home
Description:
Usage: M320 

M321 - Set Speed
Description:
Usage: M321 [<value>]
Parameters:
[<value>]: Speed in mm

M322 – Set Position
Description:
Usage: M322 [<value>]
Parameters:
[<value>]: Position in mm

M323 – Disable Stepper Motor
Description:
Usage: M323



Some other commands

IsDelta – Confirm the robot

Response: “YesDelta”

Disconnect – Disconnect robot

SAVEWIFI – Save wifi information to EEPROM

SAVEIP – Save delta IP address to EEPROM

IP – Get the IP address of the robot

Response (example): "192.168.1.199" 

gSsid – Get the SSID of the installed wifi

Response (example): "wifi_imwi"

gPswd – Get the password of the installed wifi

Response (example): "matkhauwifi"

SSID:x – Set SSID of your wifi for the robot
          x: wifi name;
Example: "SSID:wifi_imwi"

PSWD:x – Set PASSWORD of your wifi
             x: password;
Example: "PSWD:matkhauwifi"