This is a list of commands and responses (regular expressions) available for the GcodeDriver. Despite its name, the GcodeDriver does not only support the common G-code numerical control (CNC) programming language but any text-line language, provided it uses decimal numbers and is line oriented (single commands and responses ending with carriage-return and/or line-feed).

When the driver is commanded by OpenPnP to perform an action it looks up the appropriate Gcode, performs variable substitution and then sends it to the controller.

Commands can contain multiple lines to send to the controller. Each line is sent as a command and the driver usually waits for the COMMAND_CONFIRM_REGEX to match before sending the next one.

Note: For the most common controller firmwares, OpenPnP can automatically configure many commands and regular expressions for you. It will use the axes as configured in your machine to compose it with the right variables. Use the Issues and Solutions system to get the proposed codes. You can always dismiss/undo them or change/expand them afterwards.

The following instructions are for manual configuration or tweaking, where the Issues & Solutions system does not help (or not all the way). Or for special controllers that do not speak a common G-code language.

Each of the commands and regular expressions can be set in the configuration panel.

Sent after the driver finishes connecting to the serial port. Can be used to send any initialization parameters the controller needs.

Example:

G21 ; Set millimeters mode
G90 ; Set absolute positioning mode
M82 ; Set absolute mode for extruder

Sent when the machine is enabled, primarily when the big START button is pressed. Can be used to turn on motors and lighting, start pumps, reset solenoids, etc.

Example:

M810 ; Turn on LED lighting

Sent when the machine is disabled, primarily when the big STOP button is pressed or before shutting down. Should turn off everything.

Example:

M84 ; Disable steppers
M811 ; Turn off LED lighting

Note: For the most common controller firmwares, OpenPnP can automatically configure this command for you. Use the Issues and Solutions system.

Sent in response to the home command. Should home the machine and reset the controller's coordinates to the preferred home location.

Note: if you are not using the Axis Letter mode on the Driver, the axis and rate variables are not available.

Example:

M84 ; Disable steppers, resetting the Z axis
G4P500 ; Wait half a second for the Z axis to settle
G28 X0 Y0 ; Home X and Y
G92 X0 Y0 Z0 E0 ; Reset machine coordinates to zero.

Note: For the most common controller firmwares, OpenPnP can automatically configure this command for you. Use the Issues and Solutions system.

This command has special handling for the X, Y, Z and Rotation variables. If the move does not change one of these variables that variable is replaced with the empty string, removing it from the command. This allows Gcode to be sent containing only the components that are being used which is important for some controllers when moving an "extruder" for the C axis (The current extruder is selected by sending a Gcode tool command like 'T1' in the pre-move-command). The end result is that if a move contains only a change in the C axis only the C axis value will be sent.

Note: if you are using the Axis Letter mode on the Driver, the X, Y, Z etc. are replaced by the proper controller axis letters.

Example:

G0 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {Rotation:E%.4f} F{FeedRate:%.0f} ; Send standard Gcode move

Make sure to check the axis designators. The rotation axis might be designated "A" instead of "E" in some controllers, so it must read {Rotation:A%.4f} instead.

NOTE For OpenPnP 1.0 add an additional line (it must be moved to MOVE_TO_COMPLETE_COMMAND in newer versions):

M400 ; Wait for moves to complete before returning

If you need to move in mils or microns see this post on the form:

https://groups.google.com/forum/?utm_medium=email&utm_source=footer#!msg/openpnp/XV44ij3ZKZ0/eUfbsqRdFQAJ

Note: For the most common controller firmwares, OpenPnP can automatically configure this command for you. Use the Issues and Solutions system.

This command is useful in systems that use multiple controllers where it is desirable to have them move simultaneously. To use it, remove the "M400 ; Wait for moves to complete before returning" from the MOVE_TO_COMMAND and add it to the MOVE_TO_COMPLETE_COMMAND. Now the G0 portion of the command will be sent to all involved controllers first. Then M400 will be sent to each controller in turn, starting from the last one, until all moves are complete.

M400 ; Wait for moves to complete before returning

Note: For the most common controller firmwares, OpenPnP can automatically configure this command for you. Use the Issues and Solutions system.

This command can reset the axis coordinates at the current machine position to new values. This is used after Visual Homing but also if you use the rotational axis Wrap around feature.

Example:

G92 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {A:A%.4f} {B:B%.4f} ; reset coordinates in the controller

NOTE This command is deprecated in OpenPnP 2.0. Use the Vacuum Setup instead. The command remains in OpenPnP so you can move it to the actuator.

For OpenPnP 1.0: Sent to indicate that the machine should pick a part. Typically turns on a vacuum pump or solenoid.

Example:

M808 ; Turn on pump
M800 ; Turn on nozzle 1 vacuum solenoid

NOTE This command is deprecated in OpenPnP 2.0. Use the Vacuum Setup instead. The command remains in OpenPnP so you can move it to the actuator.

For OpenPnP 1.0: Sent to indicate that the machine should place a part. Typically turns off a vacuum pump or solenoid. May also trigger an exhaust solenoid or blow off valve.

Example:

M809 ; Turn off pump
M801 ; Turn off nozzle 1 vacuum solenoid
M802 ; Turn on nozzle 1 exhaust solenoid
G4P250 ; Wait 250 milliseconds
M803 ; Turn off nozzle 1 exhaust solenoid

NOTE This command is deprecated in OpenPnP 2.0. Use the Vacuum Setup instead. The command remains in OpenPnP so you can move it to the actuator.

Sent to turn on the vacuum pump before performing a pick.

NOTE This command is deprecated in OpenPnP 2.0. Use the Vacuum Setup instead. The command remains in OpenPnP so you can move it to the actuator.

Sent to turn off the vacuum pump after a place if there are no longer any nozzles that are picked.

Sent whenever an Actuator's actuate(boolean) method is called. This is currently used by the ReferenceDragFeeder to fire a drag solenoid. Actuators are generally an area where people customize their machines, so this is here to support customizations such as automated feeders.

The True and False variables can be used to substitute any string for either a true or false value. By specifying a value as the format string and using both the True and False variables you can choose what will be sent in either case. See the example for details.

Example:

M800 P{True:1}{False:0} ; Send "M800 P1" if the actuator is turned on, or "M800 P0" if the actuator is turned off.

Sent whenever an Actuator's actuate(double) method is called. This is currently used by the ReferenceAutoFeeder to trigger a feed operation. Actuators are generally an area where people customize their machines, so this is here to support customizations such as automated feeders.

Example:

M104 S{DoubleValue} ; Set a set-point double value.

Sent whenever an Actuator's read() method is called. Along with ACTUATOR_READ_REGEX this can be used to read a value from any type of attached sensor or device.

NOTE This command is deprecated in OpenPnP 2.0. Use the ACTUATOR_READ_COMMAND instead. If ACTUATOR_READ_WITH_DOUBLE_COMMAND is defined but ACTUATOR_READ_COMMAND is not, it will migrate automatically. If both are defined, an issue in the "Issues & Solutions" tab will appear. Accept that issue to replace the read command with the "read with double" command. Dismiss it to remove the "read with double" command entirely.

Sent whenever an Actuator's read(double) method is called. Along with ACTUATOR_READ_REGEX this can be used to read a value from any type of attached sensor or device.

NOTE This command is deprecated in the newer OpenPnP 2.0 versions. Use the more universal SET_GLOBAL_OFFSETS_COMMAND instead.

Sent after visual homing is complete to reset the motion controller's coordinates to their home locations.

Example:

G92 {X:X%.4f} {Y:Y%.4f} ; Send G92 to reset the motion controllers coordinates after homing.