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Daniel K. Schneider: /* Introduction */

2019-09-12T09:50:04Z

Introduction

New page

== Introduction ==

According to [http://en.wikipedia.org/wiki/G-code Wikipedia], {{quotation|G-Code, or preparatory code or function, are functions in the Numerical control programming language. The G-codes are the codes that position the tool and do the actual work, as opposed to M-codes, that manages the machine; T for tool-related codes. S and F are tool-Speed and tool-Feed, and finally D-codes for tool compensation.}}

See also
* [[Grbl]] a low cost alternative to parallel-port-based motion control for CNC milling that accepts g-code.
* [[Slicers and user interfaces for 3D printers]]
* [[Skeinforge for RapMan]] (A popular slicer program for RepRap and other machines)

== Arduino g-codes ==

* See [http://reprap.org/wiki/G-code G-code] page at RepRap wiki.

== List of G-codes for the Rapman ==

This is a g-code page for the [[RapMan]] printer.

List of RapMan G-code (thanks to [http://rapmanv3.blogspot.com/2009/05/gcodes.html Bits from Bytes] blog:
RapMan special codes
{|
|-
! Code || Explanation || Example
|-
| G0 || Rapid Motion in X, Y, and Z axes. || G0 X10.0 Y20.0 Z1.15
|-
| G1 || Coordinated Motion in X, Y, and Z axes with speed F mm/minute. || G1 X10.0 Y20.0 Z1.15 F960.0
|-
| G2 || Arc – Clockwise (Not used by Skienforge) ||
|-
| G3 || Arc - Counter (Clockwise Not used by Skienforge) ||
|-
| G4 || Dwell Time || G4 S20
|-
| G20 || Inches as units used || G20
|-
| G21 || Millimetres as units used || G21
|-
| G28 || Go Home (far left) || G28
|-
| G90 || Absolute Positioning || G90
|-
| G92 || Set current as home || G92
|-
| M101 || Turn extruder on (forward/filament in). || M101
|-
| M102 || Turn extruder on Reverse (Still to add) ||
|-
| M103 || Turn extruder off. || M103
|-
| M104 || Set target temperature to 245.0 C. || M104 S245
|-
| M105 || Custom code for temperature reading. Not used ||
|-
| M106 || Turn fan on. || M106
|-
| M107 || Turn fan off. || M107
|-
| M108 || Set Extruder speed to S value/10 = 40rpm. || M108 S400
|-
| M220 || Turn off AUX V1.0.5 || M220
|-
| M221 || Turn on AUX V1.0.5 || M221
|-
| M222 || Set speed of fast XY moves || M222
|-
| M223 || Set speed of fast Z moves || M223
|-
| M224 || Enable extruder during fast moves || M224
|-
| M225 || Enable extruder during fast moves || M225
|-
| M226 || Pause RapMan as if pause button pressed || M226
|}

Typical file headers produced by the Skeinforge program

{|
|-
| G21|| millimeter system selection
|-
| G90|| absolute distance mode
|-
| G28|| Return to home position
|-
| M222 S800 || Manually added to file. Set speed of fast XY moves. Default value 500 -V1.0.5
|-
| M223 S768 || Manually added to file. Set speed of fast Z moves. Default value 500 -V1.0.5
|-
| M103|| Turn extruder OFF.
|-
| M105|| Custom code for temperature reading – not used by RapMan
|-
| M104 S247.0 || Set temperature to 247.0 DegC.
|-
| G1 X0.0 Y0.0 Z0.0 F480.0 || example of linear interpolation at speed 480
|-
| M101|| Turn extruder ON.
|-
| Main|| code follows||.....
|}

== Example code ==

Lines 1-12 from a Duplo-compatible block with a vertical hand on top (6.4cm X 6.4 cm x 13.5cm). The file has 79009 lines (!) and prints at medium speed/quality.
<source lang="DOS">
G90
G21
M103
M105
M113 S1.0
M104 S255.0
G1 X-8.64 Y-69.23 Z0.84 F60.0
M101
M108 S595.0
G1 X-8.64 Y5.87 Z0.84 F200.0
G1 X-4.32 Y5.87 Z0.84 F200.0
G1 X-4.32 Y-69.23 Z0.84 F200.0
</source>

Lines 1057 and forward
<source lang="DOS">
M103
M108 S350.0
G1 X0.36 Y-63.63 Z2.72 F960.0
M101
G1 X0.36 Y-63.64 Z2.72 F1200.0
G1 X63.64 Y-63.64 Z2.72 F1200.0
G1 X63.64 Y-0.36 Z2.72 F1200.0
G1 X0.36 Y-0.36 Z2.72 F1200.0
G1 X0.36 Y-62.91 Z2.72 F1200.0
M103
G1 X1.15 Y-62.86 Z2.72 F960.0
M101
G1 X1.14 Y-62.86 Z2.72 F1200.0
G1 X1.14 Y-56.39 Z2.72 F1200.0
G1 X2.64 Y-56.39 Z2.72 F1200.0
G1 X2.64 Y-55.61 Z2.72 F1200.0
G1 X1.14 Y-55.61 Z2.72 F1200.0
G1 X1.14 Y-40.39 Z2.72 F1200.0
</source>

== Recovery from printing abortion ==

Printing stopped at line 299941 after 3 days of printing. I mean I had the printer on hold sometimes (ESC), but it was a 24 job. Anyhow, big low down, but I decided that I must recover from this without super glue, i.e. leave the object on the print bed and restart.

If you don't know where it crashed, e.g. if the board did reset:
Run skeinforge again but make a change in the '''Analyze->Skeinview''' tool:
* '''Change Mouse Mode''' to '''Display Line'''. You then can identify both the layer and the spot where it stops in this tool. Then click on a drawing it will display the g-code line...

Now if you were printing a tall object, the problem is that the rapman always expects to be able to home in order to find x,y,z = 0. If you have a "real" print it can't, since raising the print bed will destroy a 14cm high print for example.

[[image:stronghold-printer-abort.jpg|frame|none|Printing in progress, but crashed sometimes later :(/]]

I tried all sorts of things fiddling with G90 and G92 codes, but did not mange to restart g-code where the printer left.
G90
G92 X0 Y0 Z-142
or
G90
G92 X0 Y0 Z142

So I came up with a typical bricoleur solution :(
* Fix the g-code to start at z=0
* Fool the printer to believe that it is at z=0

Here are the two steps:

'''(1) Fixing the g-code file'''

Normally, you should write a script (argl for stupid end-user programmers) that replaces all the Z values. E.g. Z142.2 should become 0 or 0.2. In my case I was lucky since I just print vertically. So I decided to restart at 14cm and not 14.2cm (makes it higher, but that's fine).

GCode where it stopped:
G1 X-90.5 Y68.33 Z142.2 F960.0

So I went to start of the 140mm series and killed all the lines from beginning to there. Then I used three Regexps with a text editor ([[emacs]]) to change:

Z14$.$$..$ by Z\1\2
Z15$.$$..$ by Z1\1\2
Z16$.$$..$ by Z2\1\2

Then of course, the g-code must have a header.
Resulting g-code start:
<source lang="dos">
G90
G21
M113 S1.0
M108 S380.0
M104 S210
M101
M103
M108 S380.0
M106
M103
G1 X40.96 Y-19.95 Z0.2 F869.59
M101
G1 X39.55 Y-18.93 Z0.2 F960.0
G1 X36.66 Y-17.64 Z0.2 F960.0
</source>

If your object is flat, you can stop here, else read on ....

'''(2) Fool the printer'''

a) Move the print head next to a top level point NEXT to home. Path toward -X (left) must be unobstructed. Then align it, i.e. make it touch the top.

b) Move it to the left a bit, and switch off.

c) Switch on. Then position the print head about 1mm below the point where you want to restart. This can be a bit less or more. You can see how much you go down on the control panel. I.e. press the Z+ button and move the print board up.

d) Switch off

e) Hold you finger on the Z switch (grey box which is usually touched by the long 6cm bolt. Run the file and release after 1-2 seconds, i.e. the print bed should move down again by 1mm.

f) Now the printer will move to Xmax/Ymin. If it barely scratches the print when it moves you are fine. If it is too high or too low, then repeat from (c). Took me about 4 attempts to get this right.

'''Remarks'''

I REALLY think that rapman firmware should include a control code to recover more easily e.g. Some g-code that says:
* Home to X=0 and Y=0 (but leave Z ALONE)
* Read from the G-code file the current Z-position (e.g. Z=142.2)
* Then just print ....

There is a plan for future firmware to fix this. See [http://www.bitsfrombytes.com/fora/user/index.php?topic=658.msg6312#msg6312 this post by Ian] - 22:22, 2 April 2010 (UTC).

I did manage to print this stronghold, see the [[Doblo factory]] article.

== Links ==

* [http://en.wikipedia.org/wiki/G-code g-code (Wikipedia)]
* [http://rapmanv3.blogspot.com/2009/05/gcodes.html G-codes - Bits from Bytes blog]

[[Category: 3D printing]]
[[Category: RapMan]]
[[Category: Hardware]]

G-code - Revision history

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Daniel K. Schneider: /* Introduction */