G-code/kr

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이 페이지는 RepRap 펌웨어들이 사용하는 G-code 의 종류와 그것들이 어떻게 동작하는지 설명하기 위한 것이다. 주요한 적용 대상은 FFF 공정을 사용하는 적층 제조이다. 프린트 헤드의 움직임을 위한 코드들은 NIST RS274NGC G-code standard를 따른다. 따라서 RepRap 펌웨어들은 CNC 밀링이나 비슷한 방식에도 사용할 수 있다.

프린터를 위한 GCode를 준비하는 데에는 몇 가지 다른 방식들이 있다. 한 가지는 Slic3r, SkeinforgeCura와 같은 슬라이서를 사용하는 것이다. 이 프로그램들은 CAD 모델을 층들로 썰어내고, 각 층마다 필요한 GCode를 생산해낸다. 슬라이서는 3차원 모델로부터 출력물로 가기 위한 가장 쉬운 방법이다. 하지만 사용자는 그러한 사용 중에 일부 flexibility(?)을 희생해야한다. GCode 생성을 위한 또 다른 선택지는 mecode와 같은 더 낮은 레벨의 라이브러리를 사용하는 것이다. mecode 같은 라이브러리는 도구 경로를 정확히 컨트롤 할 수 있도록 해주고, 또한 그러므로써 슬라이싱 기법이 적합하지 않은 복잡한 출력을 해야 할 때 유용하다. 마지막 방법은 직접 GCode를 바로 쓰는 것이다. 이것은 프린터를 calibrating하는 동안 몇개의 선을 그릴 필요가 있을때라면 가장 좋은 방법일 것이다.

많은 다른 형태의 펌웨어들이 존재하고 그 개발자들은 이전에 다른 사람들이 했던 것을 찾아보거나, 구현방법에 대한 논의 없이 새로운 기능들을 구현하려는 경향이 있기 때문에, 3D 프린터를 위한 특정 코드들은 많은 세부 종류들이 여러 해를 거듭하여 개발되었다.(개발자나 펌웨어의 종류에 따라 특정한 동일 코드가 서로 다른 기능을 가질 수 있다는 얘기인 것 같습니다.)


Contents

소개

RepRap 기기로 전송되기 위한 전형적인 GCode의 조각은 다음과 같다:

N3 T0*57
N4 G92 E0*67
N5 G28*22
N6 G1 F1500.0*82
N7 G1 X2.0 Y2.0 F3000.0*85
N8 G1 X3.0 Y3.0*33

위의(그리고 그 이상의) 심볼과 숫자에 대한 의미가 아래에 설명되어 있다. 어떠한 펌웨어에 구현된 특정 GCode를 찾기 위한 명령어를 기술한 다음과 같은 작은 테이블이 있다:


Support FiveD Teacup Sprinter Marlin Repetier
yes automatic yes yes experimental

이 의미는 :

yes
완전 지원
experimental
몇몇은 지원. 이 경우는 종종 기본적이거나 중요한 설정이 바뀌지 않았는지 소스 코드 브랜치를 확인할 필요가 있다.
automatic
펌웨어가 이 항목(feature)을 자동으로 핸들링하기 때문에 명령어를 전송할 필요가 없다; 당신은 이 특징을 신경쓸 필요가 없다. 예를 들어 Teacup 펌웨어에서 전원공급기 on/off(M80/M81) 같은 것이 있다.
no
펌웨어가 이 항목을 지원하지 않는다.

기술적으로 보기 위해, 매 줄의 끝은 <nl>가 첨부되고 선택적으로 <cr>도 첨부된다. 따라서 Unix 라인 종료 기능은 Windows에서처럼 잘 이루어진다.

RepRap G Code 항

이 절은 글자가 앞에 나오는 항에 대해 설명한다. 각 항에 숫자는 nnn으로 표현한다. 숫자는 문맥에 따라 정수로 쓰이거나 소수점을 포함할 수 있다.예를 들어 X좌표는 정수 (X175) 또는 소수(X17.62)를 사용할 수 있지만 압출기 번호 2.76은 아무 의미가 없습니다.

글자 의미
Gnnn 어떤 점으로 이동하라는 것과 같은 표준 GCode 명령.
Mnnn RepRap에 의해 정의된 명령. 예를 들면 쿨링 팬 회전.
Tnnn 도구 nnn 선택. RepRap에서 도구는 압출기.
Snnn 파라미터 명령. 예를 들어 모터로 보내는 전압.
Pnnn 파라미터 명령. 밀리초 동안의 time
Xnnn 이동을 위해 사용하는 X 좌표.
Ynnn 이동을 위해 사용하는 Y 좌표.
Znnn 이동을 위해 사용하는 Z 좌표.
Innn 파라미터. 현재는 사용하지 않음.
Jnnn 파라미터. 현재는 사용하지 않음.
Fnnn 1분당 Feedrate. (프린트 헤드의 움직임 스피드)
Rnnn 파라미터 - 온도에 사용
Qnnn Parameter - not currently used
Ennn 압출형의 길이 mm. 이것은 정확히 X, Y, Z 와 같지만 필라멘트를 압출하는 길이이다. 이것은 새로운 스테퍼모터 기반 시스템의 인터프리트를 위한 것이다... 너 나은 것 : Skeinforge 4D와 그 이상은 이것을 압출되는 출력 길이가 아닌 소모되는 필라민트의 절대 길이로 인터프리트한다.
Nnnn 선 번호. 통신 오류시 재전송 요청을 위해 사용.
*nnn 체크섬 : 통신 오류를 체크하는데 사용.

주석

다음과 같은 G-Code 주석들은:

N3 T0*57 ;This is a comment
N4 G92 E0*67
; So is this
N5 G28*22

RepRap이 빈 줄과 마찬가지로 무시할 것이다. 그러나, 이런 줄들은 전송하기 전에 제거하는 것이 더 좋다. 대역폭을 절약할 수 있다.(쓸데 없는 데이터 전송을 방지)

각 명령어들에 대한 설명

검사

N and *

Example: N123 [...G Code in here...] *71

줄번호와 체크섬이다. RepRap 펌웨어는 자기가 계산한 값과 체크섬을 비교한다. 만약 다르다면, 해당 라인의 재전송을 요청한다.

You can leave both of these out - RepRap will still work, but it won't do checking. You have to have both or neither though.

The checksum "cs" for a GCode string "cmd" (including its line number) is computed by exor-ing the bytes in the string up to and not including the * character as follows:

int cs = 0;
for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++)
   cs = cs ^ cmd[i];
cs &= 0xff;  // Defensive programming...

and the value is appended as a decimal integer to the command after the * character.

The RepRap firmware expects line numbers to increase by 1 each line, and if that doesn't happen it is flagged as an error. But you can reset the count using M110 (see below).

버퍼링 되는 G 명령들

RepRap 펌웨어는 이 명령들을 실행을 위해 내부의 링 버퍼에 저장한다. 이것은 명령이 승인되고 다음 명령이 전송되는 동안 (주목할만한) 딜레이가 없다는 것을 의미한다. 이것은 연속된 선분들이 멈칫거리지 않고 차례대로 그려질 수 있다는 것을 의미한다. 이런 버퍼링 되는 명령들은 (펌웨어에서) 받는 즉시 승인이 되고 저장이 된다. 만약 버퍼가 가득차면, 버퍼의 공간이 확보될 때까지 승인이 지연된다. 이것이 흐름제어를 하는 방법이다.


G0: 빠른 이동(rapid move)

Support FiveD Teacup Sprinter Marlin Repetier
 ??? yes yes yes yes

예제: G0 X12

X = 12mm 인 지점으로 빠르게 이동하는 경우.


사실, RepRap 펌웨어는 빠른 이동(rapid move)에 통제된 이동(controlled move)에 사용된 것과 완전히 똑같은 코드를 사용한다.(G1 명령 참고) 따라서, RepRap 머신의 경우 이 명령은 별다른 효과가 없다. (축들을 직선으로 구동하지 않는 몇몇 구형 장비들에서는 더 빠르게 이동하기 위해 사용된다. 그런 장비들의 경우에는 G0 명령은 목적지로 가능한 빠르게 도달하기 위한 어떤 움직임도 허용한다.)

G1: 제어된 이동(controlled move)

Support FiveD Teacup Sprinter Marlin Repetier
yes yes yes yes yes

예제: G1 X90.6 Y13.8 E22.4


현재 위치(X,Y)에서 (90.6, 13.8)의 위치로 직선 이동하고, 현재 압출된 길이에서 22.4mm 길이까지 압출이 되며 이동한다.


RepRap은 Feedrate을 이용하여 세세한 것들도 할 수 있다.


G1 F1500
G1 X90.6 Y13.8 E22.4

이것은 feedrate을 1500mm/minute 으로 설정하고, 이 속도로 위에서 설명한 이동을 할 것이다.

G1 F1500
G1 X90.6 Y13.8 E22.4 F3000

그러나 이것은 feedrate 을 1500mm/min 으로 설정하고, feedrate 을 3000mm/min 으로 가속하면서 위에서 설명한 이동을 할 것이다. 압출 역시 모든 것이 동기화 되어 X,Y 축의 이동에 맞추어 가속이 될 것이다.


RepRap 은 그래서 feedrate 을 선형적으로 보간하기 위해 또 다른 변수로 다룬다. (X, Y, Z, E 같은). 이것은 가감속 하는 동안 모든 움직임과 모든 지점에서의 올바른 양(부피)이 압출되는 것을 보장하는 어느정도 완벽한 제어를 하게 한다.


Note: 모든 펌웨어가 이것을 구현한 것은 아니다. 예를 들어, 현재 Marlin 은 이동의 시작점부터 새 feedrate 값을 사용할 것이다. 그리고 그 값을 변경하지 않는다.

첫번째 예제는 정속 이동을 어떻게 하는지 보여줬다. 두번째는 어떻게 가속과 감속을 하는지 보여준다.

G1 F1500
G1 X90.6 Y13.8 E22.4 F3000
G1 X80 Y20 E36 F1500

이것은 이전에 설명한 것처럼 가속을 하며 첫번째 이동을 한다. 그리고 3000mm/min 에서 1500mm/min으로 감속을 하며 이동한다.

압출기를 주어진 양만큼 되돌리기 위해서는(예를 들어 내부 공중을 이동하면서 재료를 흘리지 않기 위해 노즐 내 압력을 낮추기 위한 예제로) 간단히 G1 을 사용하고 E 값을 현재 압출된 길이보다 작은 값으로 설정한다.

G28: 원점으로 이동

Support FiveD Teacup Sprinter Marlin Repetier
yes yes yes yes yes


예제: G28


이 명령은 RepRap 기계를 X, Y, Z 축의 엔드스탑이 있는 곳으로 이동시킨다. "호밍(homing)"이라고 알려진 과정이다. 이것은 가속을 해서 홈위치로 빠르게 이동을 한다. 하지만 홈 위치에 도달했을 때 각 방향으로 1mm 정도 천천히 후진을 한 뒤, 다시 엔드스탑의 위치로 천천히 움직인다. 이것은 더 정확한 홈 위치를 잡을 수 있게 한다.


만약 명령에 좌표를 추가하면, 해당 축의 원점을 찾을 것이다. 그래서

G28 X0 Y72.3

이런 명령은 X와 Y 축의 원점으로 이동하지만, Z 축은 수행하지 않는다. 좌표값은 무시된다.

G29-G32: Bed probing

G29 Detailed Z-Probe

probes the bed at 3 points.

G30 Single Z Probe

In its simplest form probes bed at current XY location.

Some implementations allow more general behaviour: if a Pn field is specified the probed X, Y, and Z values are saved as point n on the bed for calculating the offset plane. Generally n is 0, 1, or 2. If X, or Y, or Z values are specified (e.g. G30 P1 X20 Y50 Z0.3) then those values are used instead of the machine's current coordinates. A silly Z value (less than -9999.0) causes the machine to probe at the current point to get Z, rather than using the given value. If an S field is specfied (e.g. G30 P1 Z0.3 S) the bed plane is computed for compensation and stored. The combination of these options allows for the machine to be moved to points using G1 commands, and then probe the bed, or for the user to position the nozzle interactively and use those coordinates. The user can also record those values and place them in a setup GCode file for automatic execution.

G31 Report Current Probe status

When used on its own this reports whether the Z probe is triggered, or gives the Z probe value in some units if the probe generates height values. If combined with a Z and P field (example: G31 P312 Z0.7) this will set the Z height to 0.7mm when the Z-probe value reaches 312 when a G28 Z0 (zero Z axis) command is sent. The machine will then move a further -0.7mm in Z to place itself at Z = 0. This allows non-contact measuring probes to approach but not touch the bed, and for the gap left to be allowed for. If the probe is a touch probe and generates a simple 0/1 off/on signal, then G31 Z0.7 will tell the RepRap machine that it is at a height of 0.7mm when the probe is triggered.

G32 Probe Z and calculate Z plane

probes the bed at 3 pre-defined points (see M557) and updates transformation matrix for bed leveling compensation.

Unbuffered G commands

The following commands are not buffered. When one is received it is stored, but it is not acknowledged to the host until the buffer is exhausted and then the command has been executed. Thus the host will pause at one of these commands until it has been done. Short pauses between these commands and any that might follow them do not affect the performance of the machine.

Teacup Firmware buffers G20, G21, G90 and G91.

G4: Dwell

Example: G4 P200

In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.

G10: Head Offset

Example: G10 P3 X17.8 Y-19.3 Z0.0 R140 S205

This sets the offset for extrude head 3 (from the P3) to the X and Y values specified. You can put a non-zero Z value in as well, but this is usually a bad idea unless the heads are loaded and unloaded by some sort of head changer. When all the heads are in the machine at once they should all be set to the same Z height.

Remember that any parameter that you don't specify will automatically be set to the last value for that parameter. That usually means that you want explicitly to set Z0.0.

The R value is the standby temperature in oC that will be used for the tool, and the S value is its operating temperature. If you don't want the head to be at a different temperature when not in use, set both values the same. See the T code (select tool) below.

The NIST G-code standard mentions an additional L parameter, which is ignored.

This command is subject to discussion.

G20: Set Units to Inches

Example: G20

Units from now on are in inches.

G21: Set Units to Millimeters

Example: G21

Units from now on are in millimeters. (This is the RepRap default.)

G90: Set to Absolute Positioning

Example: G90

All coordinates from now on are absolute relative to the origin of the machine. (This is the RepRap default.)

G91: Set to Relative Positioning

Example: G91

All coordinates from now on are relative to the last position.

G92: Set Position

Example: G92 X10 E90

Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.

A G92 without coordinates will reset all axes to zero.

버퍼링되지 않는 M과 T 명령

M0: 정지

예제 : M0

RepRap 머신이 버퍼에 남아있는 움직임을 모두 끝내고 종료한다.. 모든 모터와 히터는 꺼진다. 이것은 마스터 마이크로컨트롤러의 리셋 버튼에 의해 재시작될 수 있다. M1과 M112 참조


M1: 휴면

예제: M1

RepRap 머신이 버퍼에 남아있는 움직임을 모두 끝내고 종료한다. 모든 모터와 히터는 꺼진다. G코드와 M 코드 전송은 가능하다. 전송된 첫번째 코드가 깨우고 재시작할 것이다. M0와 M112 참조 The RepRap machine finishes any moves left in its buffer, then shuts down. All motors and heaters are turned off. It can still be sent G and M codes, the first of which will wake it up again. See also M0, M112.

M3: 스핀들 켜기, 시계방향 (CNC 전용)

예제: M3 S4000

스핀들이 4000RPM으로 켜져서 시계방향으로 돌아간다.

M4: 스핀들 켜기, 반시계방향 (CNC 전용)

예제: M4 S4000

스핀들이 4000RPM으로 켜져서 반시계방향으로 돌아간다.

M5: 스핀들 끄기 (CNC 전용)

예제: M5

The spindle is turned off.

M7: Mist Coolant On (CNC specific)

예제: M7

Mist coolant is turned on (if available)

M8: Flood Coolant On (CNC specific)

예제: M8

Flood coolant is turned on (if available)

M9: Coolant Off (CNC specific)

예제: M9

All coolant systems are turned off.

M10: Vacuum On (CNC specific)

예제: M10

Dust collection vacuum system turned on.

M11: Vacuum Off (CNC specific)

예제: M11

Dust collection vacuum system turned off.

M17: Enable/Power all stepper motors

예제: M17

M18: Disable all stepper motors

예제: M18

Disables stepper motors and allows axis to move 'freely.'

M20: List SD card

예제: M20

All files in the root folder of the SD card are listed to the serial port. This results in a line like:

ok Files: {SQUARE.G,SQCOM.G,}

The trailing comma is optional. Note that file names are returned in upper case, but - when sent to the M23 command (below) they must be in lower case. This seems to be a function of the SD software. Go figure...

M21: Initialize SD card

예제: M21

The SD card is initialized. If an SD card is loaded when the machine is switched on, this will happen by default. SD card must be initialized for the other SD functions to work.

M22: Release SD card

예제: M22

SD card is released and can be physically removed.

M23: Select SD file

예제: M23 filename.gco

The file specified as filename.gco (8.3 naming convention is supported) is selected ready for printing.

M24: Start/resume SD print

예제: M24

The machine prints from the file selected with the M23 command.

M25: Pause SD print

예제: M25

The machine pause printing at the current position within the file selected with the M23 command.

M26: Set SD position

예제: M26

Set SD position in bytes (M26 S12345).

M27: Report SD print status

예제: M27

Report SD print status.

M28: Begin write to SD card

예제: M28 filename.gco

File specified by filename.gco is created (or overwritten if it exists) on the SD card and all subsequent commands sent to the machine are written to that file.

M29: Stop writing to SD card

예제: M29 filename.gco

File opened by M28 command is closed, and all subsequent commands sent to the machine are executed as normal.

M30: SD 카드에서 파일을 삭제

예제: M30 filename.gco

filename.gco가 삭제된다.

M40: Eject

If your RepRap machine can eject the parts it has built off the bed, this command executes the eject cycle. This usually involves cooling the bed and then performing a sequence of movements that remove the printed parts from it. The X, Y and Z position of the machine at the end of this cycle are undefined (though they can be found out using the M114 command, q.v.).

See also M240 and M241 below.

M41: Loop

예제: M41

If the RepRap machine was building a file from its own memory such as a local SD card (as opposed to a file being transmitted to it from a host computer) this goes back to the beginning of the file and runs it again. So, for example, if your RepRap is capable of ejecting parts from its build bed then you can set it printing in a loop and it will run and run. Use with caution - the only things that will stop it are:

  1. When you press the reset button,
  2. When the build material runs out (if your RepRap is set up to detect this), and
  3. When there's an error (such as a heater failure).

M42: Stop on material exhausted / Switch I/O pin

M42 in ???

예제: M42

If your RepRap can detect when its material runs out, this decides the behaviour when that happens. The X and Y axes are zeroed (but not Z), and then the machine shuts all motors and heaters off. You have to press reset to reactivate the machine. In other words, it parks itself and then executes an M0 command (q.v.).

M42 in Marlin/Sprinter

예제: M42 P7 S255

M42 범용 I/O 핀을 스위칭한다.

M42 in Teacup

Not needed. General purpose devices are handled like a heater, see M104.

M43: Stand by on material exhausted

예제: M43

If your RepRap can detect when its material runs out, this decides the behaviour when that happens. The X and Y axes are zeroed (but not Z), and then the machine shuts all motors and heaters off except the heated bed, the temperature of which is maintained. The machine will still respond to G and M code commands in this state.

M80: ATX Power On

예제: M80

Turns on the ATX power supply from standby mode to fully operational mode. No-op on electronics without standby mode.

Note: some firmwares, like Teacup, handle power on/off automatically, so this is redundant there. Also, see RAMPS wiring for ATX on/off

M81: ATX Power Off

예제: M81

Turns off the ATX power supply. Counterpart to M80.

M82: set extruder to absolute mode

예제: M82

makes the extruder interpret extrusion as absolute positions.

This is the default in repetier.

M83: set extruder to relative mode

예제: M83

makes the extruder interpret extrusion values as relative positions.

M84: Stop idle hold

예제: M84

Stop the idle hold on all axis and extruder. In some cases the idle hold causes annoying noises, which can be stopped by disabling the hold. Be aware that by disabling idle hold during printing, you will get quality issues. This is recommended only in between or after printjobs.

M92: Set axis_steps_per_unit

예제: M92 X<newsteps> Sprinter and Marlin

Allows programming of steps per unit of axis till the electronics are reset for the specified axis. Very useful for calibration.

M98: Get axis_hysteresis_mm

예제: M98

Report the current hysteresis values in mm for all of the axis.

Proposed for Marlin

M99: Set axis_hysteresis_mm

예제: M99 X<mm> Y<mm> Z<mm> E<mm>

Allows programming of axis hysteresis. Mechanical pulleys, gears and threads can have hysteresis when they change direction. That is, a certain number of steps occur before movement occurs. You can measure how many mm are lost to hysteresis and set their values with this command. Every time an axis changes direction, these extra mm will be added to compensate for the hysteresis.

Proposed for Marlin

M101 Turn extruder 1 on Forward / Undo Extruder Retraction

M101 in Teacup firmware

If a DC extruder is present, turn that on. Else, undo filament retraction, which means, make the extruder ready for extrusion. Complement to M103.

M101 in other firmwares

Deprecated. Regarding filament retraction, see M227, M228, M229.

M102 Turn extruder 1 on Reverse

Deprecated.

M103 Turn all extruders off / Extruder Retraction

M103 in Teacup firmware

If a DC extruder is present, turn that off. Else, retract the filament in the hope to prevent nozzle drooling. Complement to M101.

M103 in other firmwares

Deprecated. Regarding extruder retraction, see M227, M228, M229.

M104: 압출기 온도 설정(Set Extruder Temperature)

Support FiveD Teacup Sprinter Marlin Repetier
yes yes yes yes yes

예제: M104 S190

현재 선택되어있는 압출기의 온도를 190oC 로 설정하고 호스트로 제어권을 즉시 넘긴다.(즉, 압출기의 온도가 설정 온도에 도달하기 전에) M109 항목 참조할 것.

이 코드는 앞으로 사라지게 될 것이다. 온도는 G10 명령과 T 파라미터를 사용하여 설정해야 하기 때문이다(q.v.).

Deprecation is subject to discussion. --Traumflug 11:33, 19 July 2012 (UTC)

M104 in Teacup Firmware

Teacup 펌웨어에서는, M104 온도 센서를 사용하는 모든 장치들을 제어하는데 사용될 수 있다. 이것은 P 파라미터를 지원하며, config.h 에 지정된 센서 목록을 사용하고 인덱스는 0부터 시작한다. 온도 센서가 없는 장치들은 M106 항목을 볼 것.

예제: M104 P1 S100

두번째 온도 센서가 부착된 장치의 온도를 100 °C 로 설정한다.

M105: Get Extruder Temperature

예제: M105

Request the temperature of the current extruder and the build base in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command looks like: ok T:201 B:117

Expansion/generalization of M105 to be considered as noted in Pronterface I/O Monitor

M106: 팬 ON

Support FiveD Teacup Sprinter Marlin Repetier
yes yes yes

예제 : M106 S127

쿨링팬을 최대 속력의 절반으로 켠다.

필수 파라미터 'S'는 PWM 값(0-255)를 정의한다. M106 S0은 팬을 끈다. 몇몇의 구현에서 PWM은 실수 값으로 구현되기도 한다 : M106 S0.7.


Teacup 펌웨어에서의 M106

위의 내용에 추가하여 Teacup 펌웨어는 M106을 일반적인 장치를 제어하는데 사용한다. 이것은 추가적인 heaters/devices 폴더의 config.h파일에 나열된 zero-based 인덱스인 P 파라미터를 지원한다.

예제: M106 P2 S255

장치 #3를 최대 속력/전력으로 켜라.

Note: 만일 히터에 장착된 온도센서가 M106과 M104에 의해 동시에 켜질 경우 온도 제어는 M106에 의해 빨리 override 할 것이다.

M107: Fan Off

Deprecated. Use M106 S0 instead.

M108: Set Extruder Speed

Sets speed of extruder motor. (Deprecated in current firmware, see M113)

M109: 압출기 온도 설정 후 대기(Set Extruder Temperature and Wait)

Support FiveD Teacup Sprinter Marlin Repetier
 ??? not needed see text yes  ???
M109 in Teacup

필요없음. Marlin의 동작을 흉내내려면, M116 에 이어 M104 을 연달아 사용할 것.

M109 in Marlin, Sprinter (ATmega port)

압출기 히터의 온도를 설정하고 해당 온도에 도달하기를 기다림. 단위는 섭씨

예제: M109 S185

M109 in Sprinter (4pi port)

파라미터: S (optional), 목표 온도 설정. 만약 정해주지 않으면, M104 에서 설정한 온도가 되기를 기다림. 파라미터: R (optional), 목표 온도 범위의 최대값을 설정.

예제: M109 S185 R240 //압출기의 온도를 185도로 설정하고 압출기의 온도가 185~240도가 되기를 기다림.

만약 압출기가 여러개라면, TP 파라미터를 사용하여 압출기를 선택할 것.

이 기능을 사용하기 위한 또 다른 방법은 G10 을 사용하는 것이다.

M110: Set Current Line Number

Support FiveD Teacup Sprinter Marlin Repetier
 ??? not needed  ???  ???  ???

예제: M110 N123

Set the current line number to 123. Thus the expected next line after this command will be 124.

M111: Set Debug Level

예제: M111 S6

Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:

#define DEBUG_ECHO (1<<0)
#define DEBUG_INFO (1<<1)
#define DEBUG_ERRORS (1<<2)

Thus 6 means send information and errors, but don't echo commands. (This is the RepRap default.)


예제: M253

Support FiveD Teacup Sprinter Marlin Repetier
Debug


M112: 긴급 정지

예제: M112

진행상의 어떤 움직임이 갑자기 종료될 경우 RepRap은 셧다운된다. 모든 모터와 히터가 꺼진다. 이것은 마스터 마이크로컨트롤러의 리셋버튼에 의해 재시작될 수 있다. M0와 M1 참조

M113: Set Extruder PWM

예제: M113

Set the PWM for the currently-selected extruder. On its own this command sets RepRap to use the on-board potentiometer on the extruder controller board to set the PWM for the currently-selected extruder's stepper power. With an S field:

M113 S0.7

it causes the PWM to be set to the S value (70% in this instance). M113 S0 turns the extruder off, until an M113 command other than M113 S0 is sent.

M114: Get Current Position

예제: M114

This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.

For example, the machine returns a string such as:

ok C: X:0.00 Y:0.00 Z:0.00 E:0.00

In Marlin first 3 numbers is the position for the planner. The other positions are the positions from the stepper function. This helps for debugging a previous stepper function bug.

X:0.00 Y:0.00 RZ:0.00 LZ:0.00 Count X:0.00 Y:0.00 RZ:41.02 LZ:41.02

M115: Get Firmware Version and Capabilities

예제: M115

Request the Firmware Version and Capabilities of the current microcontroller The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.

sample data from firmware:

ok PROTOCOL_VERSION:0.1 FIRMWARE_NAME:FiveD FIRMWARE_URL:http%3A//reprap.org MACHINE_TYPE:Mendel EXTRUDER_COUNT:1

This M115 code is inconsistently implemented, and should not be relied upon to exist, or output correctly in all cases. An initial implementation was committed to svn for the FiveD Reprap firmware on 11 Oct 2010. Work to more formally define protocol versions is currently (October 2010) being discussed. See M115_Keywords for one draft set of keywords and their meanings.

M116: 대기

예제: M116

모든 온도와 다른 천천히 변하는 변수들이 설정된 값에 도달할 때까지 대기한다. M109 참조

M117: Get Zero Position

예제: M117

This causes the RepRap machine to report the X, Y, Z and E coordinates in steps not mm to the host that it found when it last hit the zero stops for those axes. That is to say, when you zero X, the x coordinate of the machine when it hits the X endstop is recorded. This value should be 0, of course. But if the machine has drifted (for example by dropping steps) then it won't be. This command allows you to measure and to diagnose such problems. (E is included for completeness. It doesn't normally have an endstop.)

M117 in Marlin: 메시지 표시

예제: M117 Hello World

이것은 메시지를 상태를 표시하기 위해 컨트롤러에 연결된 LCD에 메시지를보낸다. 위의 명령은 Hello World를 표시하도록 할 것이다.

M118: Negotiate Features

예제: M118 P42

This M-code is for future proofing. NO firmware or hostware supports this at the moment. It is used in conjunction with M115's FEATURES keyword.

See Protocol_Feature_Negotiation for more info.

M119: Get Endstop Status

Support FiveD Teacup Sprinter Marlin Repetier
yes yes yes

예제: M119

Returns the current state of the configured X, Y, Z endstops. Takes into account any 'inverted endstop' settings, so one can confirm that the machine is interpreting the endstops correctly.

M120: Push

Push the state of the RepRap machine onto a stack. Exactly what variables get pushed depends on the implementation (as does the depth of the stack - a typical depth might be 5). A sensible minimum, however, might be

  1. Current feedrate, and
  2. Whether moves (and separately extrusion) are relative or absolute

M121: Pop

Recover the last state pushed onto the stack.

M122: Diagnose

Sending an M122 causes the RepRap to transmit diagnostic information, for eaxmple via a USB serial link.

M126: Open Valve

예제: M126 P500

Open the extruder's valve (if it has one) and wait 500 milliseconds for it to do so.

M127: Close Valve

예제: M127 P400

Close the extruder's valve (if it has one) and wait 400 milliseconds for it to do so.

M128: Extruder Pressure PWM

예제: M128 S255

PWM value to control internal extruder pressure. S255 is full pressure.

M129: Extruder pressure off

예제: M129 P100

In addition to setting Extruder pressure to 0, you can turn the pressure off entirely. P400 will wait 100ms to do so.

M130: Set PID P value

Support FiveD Teacup Sprinter Marlin Repetier
yes

예제: M130 P 0 S 8.0 # Sets heater 0 P factor to 8.0

M131: Set PID I value

Support FiveD Teacup Sprinter Marlin Repetier
yes

예제: M130 P 1 S 0.5 # Sets heater 1 I factor to 0.5

M132: Set PID D value

Support FiveD Teacup Sprinter Marlin Repetier
yes

예제: M130 P 0 S 24 # Sets heater 0 D factor to 24.0


M133: Set PID I limit value

Support FiveD Teacup Sprinter Marlin Repetier
yes

예제: M130 P 1 S 264 # Sets heater 0 I limit value to 264


M134: Write PID values to EEPROM

Support FiveD Teacup Sprinter Marlin Repetier
yes

예제: M134


M135: Set PID sample interval

예제: M135 S300

Set the PID to measure temperatures and calculate the power to send to the heaters every 300ms.

M136: Print PID settings to host

Support FiveD Teacup Sprinter Marlin Repetier
Debug

예제: M136 P1 # print heater 0 PID parameters to host

M140: 베드 온도 설정(Bed Temperature) (Fast)

Support FiveD Teacup Sprinter Marlin Repetier
yes yes yes yes

예제: M140 S55

이 코드는 베드의 온도를 55oC 로 설정하고 제어권을 즉시 호스트로 넘긴다.(즉, 베드의 온도가 설정한 온도에 도달하기 전에)

M141: Chamber Temperature (Fast)

예제: M141 S30

Set the temperature of the chamber to 30oC and return control to the host immediately (i.e. before that temperature has been reached by the chamber).

M142: Holding Pressure

예제: M142 S1

Set the holding pressure of the bed to 1 bar.

The holding pressure is in bar. For hardware which only has on/off holding, when the holding pressure is zero, turn off holding, when the holding pressure is greater than zero, turn on holding.

M143: Maximum hot-end temperature

예제: M143 S275

Set the maximum temperature of the hot-end to 275C

When temperature of the hot-end exceeds this value, take countermeasures, for instance an emergency stop. This is to prevent hot-end damage.

M160: Number of mixed materials

예제: M160 S4

Set the number of materials, N, that the current extruder can handle to the number specified. The default is 1.

When N >= 2, then the E field that controls extrusion requires N+1 values separated by spaces after it like this:

M160 S4
G1 X90.6 Y13.8 E22.4 0.1 0.1 0.1 0.7
G1 X70.6 E42.4 0.0 0.0 0.0 1.0
G1 E42.4 1.0 0.0 0.0 0.0

The second line moves straight to the point (90.6, 13.8) extruding 22.4mm of filament. The mix ratio at the end of the move is 0.1:0.1:0.1:0.7.

The third line moves back 20mm in X extruding 20mm of filament. The mix varies linearly from 0.1:0.1:0.1:0.7 to 0:0:0:1 as the move is made.

The fourth line has no physical effect, but sets the mix proportions for the start of the next move to 1:0:0:0.

M190: 베드 온도를 지정한 온도가 되기를 기다림(Wait for bed temperature to reach target temp)

Support FiveD Teacup Sprinter Marlin Repetier
obsolete, see M116 yes yes

예제: M190 S60

이 코드는 베드 온도가 60도가 되기를 기다리며, 매 초마다 핫엔드와 베드의 온도를 출력한다.

M200 - Set filament diameter / Get Endstop Status

Support FiveD Teacup Sprinter Marlin Repetier
yes

M200 sets the filament diameter.

Question: what does a firmware do with filament diameter? Has this an effect on how much an E command moves the extruder motor? --Traumflug 11:34, 14 October 2012 (UTC)

M201 - Set max printing acceleration

in units/s^2 for print moves (M201 X1000 Y1000)

M202 - Set max travel acceleration

in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!

M203 - Set maximum feedrate

that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec

Note: this should be in units/minute, just like the F code.

M204 - Set default acceleration

S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate

M205 - advanced settings

minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk

M206: set home offset

예제: M206 X10.0 Y10.0 Z-0.4

The values specified are added to the endstop position when the axes are referenced. The same can be achieved with a G92 right after homing (G28, G161).

With Marlin firmware, this value can be saved to EEPROM using the M500 command.

A similar command is G10, aligning these two is subject to discussion.

M207: calibrate z axis by detecting z max length

예제: M207

After placing the tip of the nozzle in the position you expect to be considered Z=0, issue this command to calibrate the Z axis. It will perform a z axis homing routine and calculate the distance traveled in this process. The result is stored in EEPROM as z_max_length. For using this calibration method the machine must be using a Z MAX endstop.

This procedure is usually more reliable than mechanical adjustments of a Z MIN endstop.

M208: set axis max travel

예제: M208 X250 Y210 Z180

The values specified set the software limits for axis travel in the positive direction.

With Marlin firmware, this value can be saved to EEPROM using the M500 command.


M209: enable automatic retract

예제: M209 S1

This boolean value S 1=true or 0=false enables automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.

M210: Set homing feedrates

예제: M210 X1000 Y1500

Set the feedrates used for homing to the values specified in mm per minute.

M220:set speed factor override percentage

예제: M220 S80

S<factor in percent>- set speed factor override percentage

M221: set extrude factor override percentage

예제: M221 S70

S<factor in percent>- set extrude factor override percentage

M226: Gcode Initiated Pause

Example: M226

Initiates a pause in the same way as if the pause button is pressed. That is, program execution is stopped and the printer waits for user interaction. This matches the behaviour of M1 in the NIST RS274NGC G-code standard and M0 in Marlin firmware.

M227: Enable Automatic Reverse and Prime

예제: M227 P1600 S1600

P and S are steps.

"Reverse and Prime" means, the extruder filament is retracted some distance when not in use and pushed forward the same amount before going into use again. This shall help to prevent drooling of the extruder nozzle. Teacup firmware implements this with M101/M103.

M228: Disable Automatic Reverse and Prime

Example: M228

See also M227.

M229: Enable Automatic Reverse and Prime

Example: M229 P1.0 S1.0

P and S are extruder screw rotations. See also M227.

M230: Disable / Enable Wait for Temperature Change

Example: M230 S1

S1 Disable wait for temperature change S0 Enable wait for temperature change


M240: Start conveyor belt motor / Echo off

Support FiveD Teacup Sprinter Marlin Repetier
Debug: Echo off

Example: M240

The conveyor belt allows to start mass production of a part with a reprap.

Echoing may be controlled in some firmwares with M111

M241: Stop conveyor belt motor / echo on

Support FiveD Teacup Sprinter Marlin Repetier
Debug: Echo on

Example: M241

Echoing may be controlled in some firmwares with M111

M245: Start cooler

Example: M245

used to cool parts/heated-bed down after printing for easy remove of the parts after print

M246: Stop cooler

Example: M246

M300: '삐' 소리 재생

사용법: M300 S<frequency Hz> P<duration ms>

예제: M300 S300 P1000

'삐' 소리를 재생한다. 프린팅 종료와 같은 중요한 이벤트를 알려주기 위해 사용한다.

여러 줄의 명령을 사용하여 간단한 멜로디 재생도 가능하다. 예제는 여기를 참조 R2C2 electronics.


S는 음의 주파수(Hz 단위). [음계별 주파수 예제]

P는 음의 길이(ms 단위).

M301: Set PID parameters - Hot End

Support FiveD Teacup Sprinter Marlin Repetier
PID

Example: M301 P1 I2 D3 C5

Sets Proportional, Integral and Derivative values for hot end, the value C refers to an extrusion rate.

Alternate implementation

Example: M301 W125

M302: Allow cold extrudes

This tells the printer to allow movement of the extruder motor, when the hotend is not at printing temperature


Example: M302

M303: Run PID tuning

Support FiveD Teacup Sprinter Marlin Repetier
PID PID

Hotend Usage: M303 S<temperature> C<cycles> Bed Usage: M303 E-1 C<cycles> S<temperature> Example: M303 C8 S175

Generate Proportional, Integral and Derivative values for the hotend or bed (E-1). Send the appropriate code and wait for the output to update the firmware.


M304: Set PID parameters - Bed

Support FiveD Teacup Sprinter Marlin Repetier
PID

Example: M304 P1 I2 D3

Sets Proportional, Integral and Derivative values for bed

M400: Wait for current moves to finish

Finishes all current moves and and thus clears the buffer. That's identical to G4 P0.

Example: M400

M420: Set RGB Colors as PWM

Usage: M420 R<Red PWM (0-255)> E<Green PWM (0-255)> B<Blue PWM (0-255)>

Example: M420 R255 E255 B255

Set the color of your RGB LEDs that are connected to PWM-enabled pins. Note, the Green color is controlled by the E value instead of the G value due to the G code being a primary code that cannot be overridden.


M550: Set Name

Example: M550 PGodzilla

Sets the name of the RepRap to (in this case) Godzilla. The name can be any string of printable characters except ';', which still means start comment.

M551: Set Password

Example: M551 Pmy-very-secret-word

On machines that need a password to activate them, set that password. The code 'P' is not part of the password. Note that as this is sent in clear it does not (nor is it intended to) offer a very high level of security. But on machines that are (say) on a network, it prevents idle messing about by the unauthorised. The password can contain any printable charcters except ';', which still means start comment.

M552: Set IP address

Example: M552 P192.168.1.14

Sets the IP address of the RepRap machine to (in this case) 192.168.1.14. If no P field is specified, this echos the existing IP address.


M553: Set Netmask

Example: M553 P255.255.255.0

Sets the IP address of the RepRap machine to (in this case) 255.255.255.0. If no P field is specified, this echos the existing Netmask.


M554: Set Gateway

Example: M554 P192.168.1.1

Sets the Gateway of the RepRap machine to (in this case) 192.168.1.1. If no P field is specified, this echos the existing Gateway.

M555: Set compatibility

Example: M555 P1

For firmware that can do it, sets the firmware to a mode where its input and (especially) output behaves exactly like other established firmware. The value of the P argument is:

P value Firmware
0 Native (i.e. whatever the firmware actually is)
1 RepRap_Firmware
2 Marlin
3 Teacup
4 Sprinter
5 Repetier

M556: Axis compensation

Example: M556 S100 X0.7 Y-0.2 Z0.6

Though with care and adjustment a RepRap can be set up with its axes at right-angles to each other within the accuracy of the machine, who wants to bother with care and adjustment when the problem can be solved by software? This tells software the tangents of the angles between the axes of the machine obtained by printing then measuring a test part. The S parameter (100 here) is the length of a triangle along each axis in mm. The X, Y and Z figures are the number of millimeters of the short side of the triangle that represents how out of true a pair of axes is. The X figure is the error between X and Y, the Y figure is the error between Y and Z, and the Z figure is the error between X and Z. Positive values indicate that the angle between the axis pair is obtuse, negative acute.

M557: Set Z probe point

Example: M557 P1 X30 Y40.5

Set the points at which the bed will be probed to compensate for its plane being slightly out of horizontal. The P value is the index of the point (indices start at 0) and the X and Y values are the position to move extruder 0 to to probe the bed. An implementation should allow a minimum of three points (P0, P1 and P2). This just records the point coordinates; it does not actually do the probing. See G32.

M558: Set Z probe type

Example: M558 P0

A Z probe may be a switch (the default) an IR proximity sensor, or some other device. This selects which to use. P0 gives a switch. P1 gives an IR probe. See also G31 and G32.

M559: Upload configuration file

Example: M559

If the RepRap supports it, this uploads a file that is run on re-boot to configure the machine. This file usually is a special G Code file. After sending M559, the file should be sent, ending with an M29 (q.v.).

M560: Upload web page file

Example: M560

For RepRaps that have web support and that can be driven by a web browser, this uploads the file that is the control page for the RepRap. After sending M560 the file (usually an HTML file) should be sent, terminated by the string
<!-- **EoF** -->
. Clearly that string cannot exist in the body of the file, but can be put on the end to facilitate this process. This should not be too serious a restriction...


M561: Set Identity Transform

Example: M561

This cancels any bed-plane fitting as the result of probing (or anything else) and returns the machine to moving in the user's coordinate system.

M906: Set motor currents

Example: M906 X300 Y500 Z200 E350

Sets the currents to send to the stepper motors for each axis. The values are in milliamps.

M998: Request resend of line

Example: M998 P34

Request a resend of line 34. In some implementations the input-handling code overwrites the incomming G Code with this when it detects, for example, a checksum error. Then it leaves it up to the GCode interpreter actually to request the resend.

M999: Restart after being stopped by error

Example: M999

T: Select Tool

Example: T1

Select extruder number 1 to build with.

The sequence followed is:

  1. Set the current extruder to its standby temperature specified by G10 (see above),
  2. Set the new extruder to its operating temperature specified by G10 and wait for all temperatures to stabilise,
  3. Apply any X, Y, Z offset for the new extruder specified by G10,
  4. Use the new extruder.

Selecting a non-existent tool (100, say) just does Step 1. above. That is to say it leaves all tools in their standby state. You can, of course, use the G10 command beforehand to set that standby temperature to anything you like.

Note that you may wish to move to a parking position before executing a T command in order to allow the new extruder to reach temperature while not in contact with the print. It is acceptable for the firmware to apply a small offset [by convention (-1mm x tool-number) in Y] to the current position when the above sequence is entered to allow temperature changes to take effect just away from the parking position. Any such offset must, of course, be undone when the procedure finishes.

If the Z value changes in the offsets and the head moves up, then the Z move is made before the X and Y moves. If Z moves down, X and Y are done first.

After a reset extruders will not start heating until they are selected. You can either put them all at their standby temperature by selecting them in turn, or leave them off so they only come on if/when you first use them. The M0, M1 and M112 commands turn them all off. You can, of course, turn them all off with the M1 command, then turn some back on again. Don't forget also to turn on the heated bed (if any) if you use that trick.

Extruder numbering starts at 0.

Proposed SCARA calibration codes (Morgan)

In order to ease calibration of Reprap Morgan, the following M-codes are used to set the machine up Implemented in qharley/Marlin armlevel branch.

M360 : Move to Theta 0 degree position

The arms move into a position where the Theta steering arm is parallel to the top platform edge. The user then calibrates the position by moving the arms with the jog buttons in software like pronterface until it is perfectly parallel. Using M114 will then display the calibration offset that can then be programmed into the unit using M206 (Home offset) X represents Theta.

M361 : Move to Theta 90 degree position

Theta move to 90 degrees with platform edge. User calibrates by using jog arms to place exactly 90 degrees. Steps per degree can then be read out by using M114, and programmed using M92. X represents Theta. Program Y (Psi) to the same value initially. Remember to repeat M360 after adjusting steps per degree.

M362 : Move to Psi 0 degree position

Arms move to Psi 0 degree. Check only after other Theta calibrations

M363 : Move to Psi 90 degree position

Arms move to Psi 90 degree. Check only after other Theta calibrations

M364 : Move to Psi + Theta 90 degree position

Move arms to form a 90 degree angle between the inner and outer Psi arms. Calibrate by moving until angle is exactly 90 degree. Read out with M114, and calibrate value into Home offset M206. Psi is represented by Y.

M365 : SCARA scaling factor

Adjust X Y and Z scaling by entering the factor. 100% scaling (default) is represented by 1

M370 : Morgan manual bed level - clear map

Clear the map and prepare for calibration

M371 : Move to next calibration position

Move to the next position for calibration. User moves the bed towards the hotend until it just touches

M372 : Record calibration value, and move to next position

The position of the bed is recorded and the machine moves to the next position. Repeat until all positions programmed

M373 : End bed level calibration mode

M375 : Display matrix

Display the bed level calibration matrix

Store the calibration to EEPROM using M500

Proposed EEPROM configuration codes

BRIEFLY: each RepRap has a number of physical parameters that should be persistent, but easily configurable, such as extrusion steps/mm, various max values, etc. Those parameters are currently hardcoded in the firmware, so that a user has to modify, recompile and re-flash the firmware for any adjustments. These configs can be stored in MCU's EEPROM and modified via some M-codes. Please see the detailed proposal at M-codes for EEPROM config. (This is proposed by --AlexRa on 11-March-2011. There is currently no working implementation of the proposed commands).

Marlin uses these codes to manipulate EEPROM values.

Sprinter has implemented the following commands to manipulate EEPROM Commit message.

Teacup uses codes M130-M136 to set, read, and save some parameters.

M500: stores paramters in EEPROM

M501: reads parameters from EEPROM

If you need to reset them after you changed them temporarily

M502: reverts to the default "factory settings".

You still need to store them in EEPROM afterwards if you want to.

M503: Print settings

Replies from the RepRap machine to the host computer

All communication is in printable ASCII characters. Messages sent back to the host computer are terminated by a newline and look like this:

xx [line number to resend] [T:93.2 B:22.9] [C: X:9.2 Y:125.4 Z:3.7 E:1902.5] [Some debugging or other information may be here]

xx can be one of:

ok

rs

!!

ok means that no error has been detected.

rs means resend, and is followed by the line number to resend.

!! means that a hardware fault has been detected. The RepRap machine will shut down immediately after it has sent this message.

The T: and B: values are the temperature of the currently-selected extruder and the bed respectively, and are only sent in response to M105. If such temperatures don't exist (for example for an extruder that works at room temperature and doesn't have a sensor) then a value below absolute zero (-273oC) is returned.

C: means that coordinates follow. Those are the X: Y: etc values. These are only sent in response to M114 and M117.

The RepRap machine may also send lines that look like this:

// This is some debugging or other information on a line on its own. It may be sent at any time.

Such lines will always be preceded by //.

The most common response is simply:

ok

When the machine boots up it sends the string

start

once to the host before sending anything else. This should not be replaced or augmented by version numbers and the like. M115 (see above) requests those.

All this means that every line sent by RepRap to the host computer except the start line has a two-character prefix (one of ok, rs, !! or //). The machine should never send a line without such a prefix.


Exceptions: Marlin 1.0.0 Gen6 Firmware does not follow the two character rule. 'rs' is actually 'Resend' and '!!' is 'Error'. Example Lines:

  • Error: Line Number is not current line + 1. Last Line: 7
  • Resend: 8
  • Writing to File: print.gco
  • Done saving file.
  • File opened:print.gco Size:22992
  • File selected


When in the code base did this change take place and what other firmwares are affected?


여러 줄의 G-코드를 전송하기 위한 제안

지금까지 토론이 열려서 나온 제안입니다.

해결해야 할 문제

통신 중 잠김 문제를 해소하기 위해 호스트에서 컨트롤러로 보내는 G-code의 각 줄은 다음 줄을 보내기 위해 ok 응답을 받았습니다. 이것은 오퍼레이션을 매우 느리게 만들며 일반적인 USB-TTL 변환기는 호스트의 운영체제의 디바이스 드라이버에서 10 m초 정도의 상당한 레이턴시를 갖습니다.

더 상세한 제안과 해결법, 의견을 위해 GCODE_buffer_multiline_proposal을 참조바란다.

Alternatives to G-code

Main article: Firmware/Alternative#alternatives to G-code
  • Wikipedia: STEP-NC: "STEP-NC was designed to replace ... G-codes ... adding tolerance data ... [with a] XML format."
  • Elegant multispline motion controller "will not use G-code. It will use a custom language based on cubic Bezier curves. This allows for much better description of arcs and will result in much higher quality prints with a much lower data throughput requirements."
  • GCODE buffer multiline proposal This may have some relevance to developers