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
M206 – Set Z 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
M500 – Save Settings
M501 – Restore Settings
M502 – Restore Settings
M360 – Set End effector
M361 – Set mm per linear segment
M362 – Set mm per arc segment
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.

M206 – Set Z Offsets
Description: Use M206 to apply a persistent 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 [Z<offset>]
Parameters:
[Z<offset>] Z offset.

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

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.

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"