G-code - Wikipedia, the free encyclopedia

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G-code
From Wikipedia, the free encyclopedia

G-code (also RS-274), which has many variants, is the common name for the most widely
used numerical control (NC) programming language. It is used mainly in computer-aided
manufacturing to control automated machine tools. G-code is sometimes called G
programming language, not to be confused with LabVIEW's G programming language.
G-code is a language in which people tell computerized machine tools how to make
something. The "how" is defined by instructions on where to move, how fast to move, and
what path to move. The most common situation is that, within a machine tool, a cutting tool
is moved according to these instructions through a toolpath and cuts away material to leave
only the finished workpiece. The same concept also extends to noncutting tools such as
forming or burnishing tools, photoplotting, additive methods such as 3D printing, and
measuring instruments.

G-code
Paradigm

Procedural, Imperative

Designed by

Massachusetts Institute
of Technology

First appeared

1950s (first edition)

Filename

.mpt, .mpf .nc and several

extensions

others

Major implementations
many, mainly Siemens Sinumerik, FANUC,
Haas, Heidenhain, Mazak. Generally there is
one international standardISO 6983.

Contents
1 Implementations
2 Specific codes
2.1 Letter addresses
2.2 List of G-codes commonly found on FANUC and similarly designed
controls
2.3 List of M-codes commonly found on FANUC and similarly designed
controls
3 Example program
4 Programming environments
5 Abbreviations used by programmers and operators
6 See also
6.1 Extended developments
6.2 Similar concepts
6.3 Concerns during application
7 References
8 Bibliography
9 External links

Implementations
The first implementation of a numerical control programming language was developed at the MIT Servomechanisms Laboratory in the
late 1950s. In the decades since, many implementations have been developed by many (commercial and noncommercial) organizations.
G-code has often been used in these implementations. The main standardized version used in the United States was settled by the
Electronic Industries Alliance in the early 1960s. A final revision was approved in February 1980 as RS-274-D.[1] In other countries, the
standard ISO 6983 is often used, but many European states use other standards. For example, DIN 66025 is used in Germany, and
PN-73M-55256 and PN-93/M-55251 are used in Poland.
Extensions and variations have been added independently by control manufacturers and machine tool manufacturers, and operators of a
specific controller must be aware of differences of each manufacturer's product.
One standardized version of G-code, known as BCL, is used only on very few machines.
During the 1970s through 1990s, many CNC machine tool builders attempted to overcome compatibility difficulties by standardizing on
machine tool controllers built by Fanuc. Siemens was another market dominator in CNC controls, especially in Europe. In the 2010s,
controller differences and incompatibility are not as troublesome because machining operations are developed with CAD/CAM
applications that can output the appropriate G-code for a specific machine tool.
Some CNC machines use "conversational" programming, which is a wizard-like programming mode that either hides G-code or
completely bypasses the use of G-code. Some popular examples are Southwestern Industries' ProtoTRAK, Mazak's Mazatrol, Hurco's
Ultimax, Haas' Intuitive Programming System (IPS), and Mori Seiki's CAPS conversational software.
G-code began as a limited type of language that lacked constructs such as loops, conditional operators, and programmer-declared
variables with natural-word-including names (or the expressions in which to use them). It was unable to encode logic; it was just a way to
"connect the dots" where many of the dots' locations were figured out longhand by the programmer. The latest implementations of
G-code include such constructs, creating a language somewhat closer to a high-level programming language. Additionally, all primary
manufacturers (e.g. Fanuc, Siemens, Heidenhain) provide access to PLC data, such as axis positioning data and tool data,[2] via
variables which can be used by NC programs. These constructs make it easier to develop automation applications.

Specific codes
G-codes are also called preparatory codes, and are any word in a CNC program that begins with the letter G. Generally it is a code
telling the machine tool what type of action to perform, such as:

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Rapid movement (transport the tool as quickly as possible through space to the location where it will cut)
Controlled feed in a straight line or arc
Series of controlled feed movements that would result in a hole being bored, a workpiece cut (routed) to a specific dimension, or a
profile (contour) shape added to the edge of a workpiece
Set tool information such as offset
Switch coordinate systems
There are other codes; the type codes can be thought of like registers in a computer.
Students and hobbyists have pointed out over the years that the term "G-code" is imprecise. It comes from the literal sense of the term,
referring to one letter address and to the specific codes that can be formed with it (for example, G00, G01, G28). But every letter of the
English alphabet is used somewhere in the language. Nevertheless, "G-code" is established as the common name of the language.

Letter addresses
Some letter addresses are used only in milling or only in turning; most are used in both. Bold below are the letters seen most frequently
throughout a program.
Sources: Smid 2008;[3] Smid 2010;[4] Green et al. 1996.[5]

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Variable

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Description

Absolute or incremental position of A

axis (rotational axis around X axis)

Absolute or incremental position of B

axis (rotational axis around Y axis)

Absolute or incremental position of C

axis (rotational axis around Z axis)

Defines diameter or radial offset used

for cutter compensation. D is used for
depth of cut on lathes. It is used for
aperture selection and commands on
photoplotters.

Precision feedrate for threading on

lathes

Corollary info

Defines feed rate

Common units are distance per time for mills (inches per minute, IPM, or millimeters
per minute, mm/min) and distance per revolution for lathes (inches per revolution,
IPR, or millimeters per revolution, mm/rev)

Address for preparatory commands

G commands often tell the control what kind of motion is wanted (e.g., rapid
positioning, linear feed, circular feed, fixed cycle) or what offset value to use.

Defines tool length offset;

Incremental axis corresponding to C
axis (e.g., on a turn-mill)

Defines arc center in X axis for G02 or

G03 arc commands.
Also used as a parameter within some
fixed cycles.

Defines arc center in Y axis for G02 or

G03 arc commands.
Also used as a parameter within some
fixed cycles.

Defines arc center in Z axis for G02 or

G03 arc commands.
Also used as a parameter within some
fixed cycles, equal to L address.

L
Fixed cycle loop count;
Specification of what register to edit
using G10

Fixed cycle loop count: Defines number of repetitions ("loops") of a fixed cycle at each
position. Assumed to be 1 unless programmed with another integer. Sometimes the K
address is used instead of L. With incremental positioning (G91), a series of equally
spaced holes can be programmed as a loop rather than as individual positions.
G10 use: Specification of what register to edit (work offsets, tool radius offsets, tool
length offsets, etc.).

Miscellaneous function

Action code, auxiliary command; descriptions vary. Many M-codes call for machine
functions, which is why people often say that the "M" stands for "machine", although it
was not intended to.

Line (block) number in program;

System parameter number to be
changed using G10

Line (block) numbers: Optional, so often omitted. Necessary for certain tasks, such as
M99 P address (to tell the control which block of the program to return to if not the
default one) or GoTo statements (if the control supports those). N numbering need not
increment by 1 (for example, it can increment by 10, 20, or 1000) and can be used on
every block or only in certain spots throughout a program.
System parameter number: G10 allows changing of system parameters under
program control.

Program name

For example, O4501. For many years it was common for CNC control displays to use
slashed zero glyphs to ensure effortless distinction of letter "O" from digit "0". Today's
GUI controls often have a choice of fonts, like a PC does.

P
Serves as parameter address for
various G and M codes

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With G04, defines dwell time value.

Also serves as a parameter in some canned cycles, representing dwell times or
other variables.
Also used in the calling and termination of subprograms. (With M98, it specifies
which subprogram to call; with M99, it specifies which block number of the main
program to return to.)

Peck increment in canned cycles

For example, G73, G83 (peck drilling cycles)

For radii, not all controls support the R address for G02 and G03, in which case IJK
Defines size of arc radius, or defines
vectors are used. For retract height, the "R level", as it's called, is returned to if G99 is
retract height in milling canned cycles
programmed.

Data type = integer. In G97 mode (which is usually the default), an integer after S is
Defines speed, either spindle speed or interpreted as a number of rev/min (rpm). In G96 mode (CSS), an integer after S is
interpreted as surface speedsfm (G20) or m/min (G21). See also Speeds and feeds.
surface speed depending on mode
On multifunction (turn-mill or mill-turn) machines, which spindle gets the input (main

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spindle or subspindles) is determined by other M codes.

T
Tool selection

To understand how the T address works and how it interacts (or not) with M06, one
must study the various methods, such as lathe turret programming, ATC fixed tool
selection, ATC random memory tool selection, the concept of "next tool waiting", and
empty tools. Programming on any particular machine tool requires knowing which
method that machine uses. Ways of obtaining this training are mentioned in the
comments for M06.

Incremental axis corresponding to X

axis (typically only lathe group A
controls)
Also defines dwell time on some
machines (instead of "P" or "X").

In these controls, X and U obviate G90 and G91, respectively. On these lathes, G90 is
instead a fixed cycle address for roughing.

Incremental axis corresponding to Y

axis

Until the 2000s, the V address was very rarely used, because most lathes that used U
and W didn't have a Y-axis, so they didn't use V. (Green et al. 1996[5] did not even list
V in their table of addresses.) That is still often the case, although the proliferation of
live lathe tooling and turn-mill machining has made V address usage less rare than it
used to be (Smid 2008[3] shows an example). See also G18.

Incremental axis corresponding to Z

axis (typically only lathe group A
controls)

In these controls, Z and W obviate G90 and G91, respectively. On these lathes, G90
is instead a fixed cycle address for roughing.

Absolute or incremental position of X

axis.
Also defines dwell time on some
machines (instead of "P" or "U").

Absolute or incremental position of Y

axis

Absolute or incremental position of Z

axis

The main spindle's axis of rotation often determines which axis of a machine tool is
labeled as Z.

List of G-codes commonly found on FANUC and similarly designed controls

Sources: Smid 2008;[3] Smid 2010;[4] Green et al. 1996.[5]
Note: Modal means a code stays in effect until replaced, or cancelled, by another permitted code. Non-Modal means it executes only once. See, for
example, codes G09, G61 & G64 below.

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Code

Description

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Milling Turning
(M)
(T)

G00

Rapid positioning

On 2- or 3-axis moves, G00 (unlike G01) traditionally does not necessarily move in a
single straight line between start point and end point. It moves each axis at its max
speed until its vector is achieved. Shorter vector usually finishes first (given similar axis
speeds). This matters because it may yield a dog-leg or hockey-stick motion, which the
programmer needs to consider depending on what obstacles are nearby, to avoid a
crash. Some machines offer interpolated rapids as a feature for ease of programming
(safe to assume a straight line).

The most common workhorse code for feeding during a cut. The program specs the
start and end points, and the control automatically calculates (interpolates) the
intermediate points to pass through that will yield a straight line (hence "linear"). The
control then calculates the angular velocities at which to turn the axis leadscrews via
their servomotors or stepper motors. The computer performs thousands of calculations
per second, and the motors react quickly to each input. Thus the actual toolpath of the
machining takes place with the given feedrate on a path that is accurately linear to
within very small limits.

G01

Linear interpolation M

Circular
interpolation,
clockwise

Very similar in concept to G01. Again, the control interpolates intermediate points and
commands the servo- or stepper motors to rotate the amount needed for the leadscrew
to translate the motion to the correct tool tip positioning. This process repeated
thousands of times per minute generates the desired toolpath. In the case of G02, the
interpolation generates a circle rather than a line. As with G01, the actual toolpath of the
machining takes place with the given feedrate on a path that accurately matches the
ideal (in G02's case, a circle) to within very small limits. In fact, the interpolation is so
precise (when all conditions are correct) that milling an interpolated circle can obviate
operations such as drilling, and often even fine boring. Addresses for radius or arc
center: G02 and G03 take either an R address (for the radius desired on the part) or IJK
addresses (for the component vectors that define the vector from the arc start point to
the arc center point). Cutter comp: On most controls you cannot start G41 or G42 in
G02 or G03 modes. You must already have compensated in an earlier G01 block. Often
a short linear lead-in movement will be programmed, merely to allow cutter
compensation before the main event, the circle-cutting, begins. Full circles: When the
arc start point and the arc end point are identical, a 360 arc, a full circle, will be cut.
(Some older controls cannot support this because arcs cannot cross between quadrants
of the cartesian system. Instead, four quarter-circle arcs are programmed back-to-back.)

Circular
interpolation,
counterclockwise

Same corollary info as for G02.

Takes an address for dwell period (may be X, U, or P). The dwell period is specified by a
control parameter, typically set to milliseconds. Some machines can accept either X1.0
(s) or P1000 (ms), which are equivalent. Choosing dwell duration: Often the dwell
needs only to last one or two full spindle rotations. This is typically much less than one
second. Be aware when choosing a duration value that a long dwell is a waste of cycle
time. In some situations it won't matter, but for high-volume repetitive production (over
thousands of cycles), it is worth calculating that perhaps you only need 100 ms, and
you can call it 200 to be safe, but 1000 is just a waste (too long).

G02

G03

G04

Dwell

G05
High-precision
P10000 contour control
(HPCC)

Uses a deep look-ahead buffer and simulation processing to provide better axis
movement acceleration and deceleration during contour milling

G05.1
Q1.

AI Advanced
Preview Control

Uses a deep look-ahead buffer and simulation processing to provide better axis
movement acceleration and deceleration during contour milling

G06.1

Non-uniform
rational B-spline
(NURBS)
Machining

Activates Non-Uniform Rational B Spline for complex curve and waveform machining
(this code is confirmed in Mazatrol 640M ISO Programming)

G07

Imaginary axis
designation

G09

Exact stop check,

non-modal

The modal version is G61.

G10

Programmable data
M
input

Modifies the value of work coordinate and tool offsets[6]

G11

Data write cancel

G12

Full-circle
interpolation,
clockwise

Fixed cycle for ease of programming 360 circular interpolation with blend-radius lead-in
and lead-out. Not standard on Fanuc controls.

Full-circle
interpolation,
counterclockwise

Fixed cycle for ease of programming 360 circular interpolation with blend-radius lead-in
and lead-out. Not standard on Fanuc controls.

G13

G17

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Corollary info

XY plane selection M

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G18
ZX plane selection

G19

On most CNC lathes (built 1960s to 2000s), ZX is the only available plane, so no G17 to
G19 codes are used. This is now changing as the era begins in which live tooling,
multitask/multifunction, and mill-turn/turn-mill gradually become the "new normal". But
the simpler, traditional form factor will probably not disappearit will just move over to
make room for the newer configurations. See also V address.

YZ plane selection M

G20
Programming in
inches

Somewhat uncommon except in USA and (to lesser extent) Canada and UK. However,
in the global marketplace, competence with both G20 and G21 always stands some
chance of being necessary at any time. The usual minimum increment in G20 is one
ten-thousandth of an inch (0.0001"), which is a larger distance than the usual minimum
increment in G21 (one thousandth of a millimeter, .001 mm, that is, one micrometre).
This physical difference sometimes favors G21 programming.

G21

Programming in
millimeters (mm)

Prevalent worldwide. However, in the global marketplace, competence with both G20
and G21 always stands some chance of being necessary at any time.

G28

Return to home
position (machine
zero, aka machine
reference point)

Takes X Y Z addresses which define the intermediate point that the tool tip will pass
through on its way home to machine zero. They are in terms of part zero (aka program
zero), NOT machine zero.

Takes a P address specifying which machine zero point is desired, if the machine has
several secondary points (P1 to P4). Takes X Y Z addresses which define the
intermediate point that the tool tip will pass through on its way home to machine zero.
They are in terms of part zero (aka program zero), NOT machine zero.

Similar to G01 linear interpolation, except with automatic spindle synchronization for
single-point threading.

Some lathe controls assign this mode to G33 rather than G32.

Turn off cutter radius compensation (CRC). Cancels G41 or G42.

G30

Return to
secondary home
position (machine
zero, aka machine
reference point)

G31

Skip function (used

for probes and tool
M
length
measurement
systems)

G32

Single-point
threading,
longhand style (if
not using a cycle,
e.g., G76)

G33

Constant-pitch
threading

G33

Single-point
threading,
longhand style (if
not using a cycle,
e.g., G76)

G34

Variable-pitch
threading

G40

Tool radius
compensation off

G41

Turn on cutter radius compensation (CRC), left, for climb milling.

Milling: Given righthand-helix cutter and M03 spindle direction, G41 corresponds to
climb milling (down milling). Takes an address (D or H) that calls an offset register value
for radius.
Turning: Often needs no D or H address on lathes, because whatever tool is active
automatically calls its geometry offsets with it. (Each turret station is bound to its
geometry offset register.)

Tool radius
compensation left

G42

G43

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Tool radius
M
compensation right

Tool height offset

compensation
negative

G41 and G42 for milling has been partially automated and obviated (although not
completely) since CAM programming has become more common. CAM systems allow
the user to program as if with a zero-diameter cutter. The fundamental concept of cutter
radius compensation is still in play (i.e., that the surface produced will be distance R
away from the cutter center), but the programming mindset is different; the human does
not choreograph the toolpath with conscious, painstaking attention to G41, G42, and
G40, because the CAM software takes care of it. The software has various CRC mode
selections, such as computer, control, wear, reverse wear, off, some of which do not use
G41/G42 at all (good for roughing, or wide finish tolerances), and others which use it so
that the wear offset can still be tweaked at the machine (better for tight finish
tolerances).
Turn on cutter radius compensation (CRC), right, for conventional milling. Similar
corollary info as for G41. Given righthand-helix cutter and M03 spindle direction, G42
corresponds to conventional milling (up milling).
Takes an address, usually H, to call the tool length offset register value. The value is
negative because it will be added to the gauge line position. G43 is the commonly used
version (vs G44).

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G44

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Tool height offset

compensation
positive

G45

Axis offset single

increase

G46

Axis offset single

decrease

G47

Axis offset double

increase

G48

Axis offset double

decrease

G49

Tool length offset

compensation
cancel

G50

G50

Define the
maximum spindle
speed
Scaling function
cancel

Takes an address, usually H, to call the tool length offset register value. The value is
positive because it will be subtracted from the gauge line position. G44 is the
seldom-used version (vs G43).

Cancels G43 or G44.

Takes an S address integer which is interpreted as rpm. Without this feature, G96 mode
(CSS) would rev the spindle to "wide open throttle" when closely approaching the axis
of rotation.

Position register is one of the original methods to relate the part (program) coordinate
system to the tool position, which indirectly relates it to the machine coordinate system,
the only position the control really "knows". Not commonly programmed anymore
because G54 to G59 (WCSs) are a better, newer method. Called via G50 for turning,
G92 for milling. Those G addresses also have alternate meanings (which see). Position
register can still be useful for datum shift programming. The "manual absolute" switch,
which has very few useful applications in WCS contexts, was more useful in position
register contexts, because it allowed the operator to move the tool to a certain distance
from the part (for example, by touching off a 2.0000" gage) and then declare to the
control what the distance-to-go shall be (2.0000).

G50

Position register
(programming of
vector from part
zero to tool tip)

Temporarily shifts program zero to a new location. It is simply "an offset from an offset",
that is, an additional offset added onto the WCS offset. This simplifies programming in
some cases. The typical example is moving from part to part in a multipart setup. With
G54 active, G52 X140.0 Y170.0 shifts program zero 140 mm over in X and 170 mm over
in Y. When the part "over there" is done, G52 X0 Y0 returns program zero to normal
G54 (by reducing G52 offset to nothing). The same result can also be achieved (1)
using multiple WCS origins, G54/G55/G56/G57/G58/G59; (2) on newer controls, G54.1
P1/P2/P3/etc. (all the way up to P48); or (3) using G10 for programmable data input, in
which the program can write new offset values to the offset registers. Which method to
use depends on shop-specific application.

G52

Local coordinate
system (LCS)

G53
Machine coordinate
M
system

Takes absolute coordinates (X,Y,Z,A,B,C) with reference to machine zero rather than
program zero. Can be helpful for tool changes. Nonmodal and absolute only.
Subsequent blocks are interpreted as "back to G54" even if it is not explicitly
programmed.

Work coordinate
systems (WCSs)

Have largely replaced position register (G50 and G92). Each tuple of axis offsets relates
program zero directly to machine zero. Standard is 6 tuples (G54 to G59), with optional
extensibility to 48 more via G54.1 P1 to P48.

Extended work
M
coordinate systems

Up to 48 more WCSs besides the 6 provided as standard by G54 to G59. Note

floating-point extension of G-code data type (formerly all integers). Other examples
have also evolved (e.g., G84.2). Modern controls have the hardware to handle it.

G61

Exact stop check,

modal

Can be canceled with G64. The non-modal version is G09.

G62

Automatic corner
override

G64

Default cutting
mode (cancel exact M
stop check mode)

Fixed cycle,
multiple repetitive
cycle, for finishing
(including
contours)

Fixed cycle,
multiple repetitive
cycle, for roughing
(Z-axis emphasis)

Fixed cycle,
multiple repetitive
cycle, for roughing
(X-axis emphasis)

G54 to
G59
G54.1
P1 to
P48

G70

G71

G72

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Cancels G61.

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G73

G73

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Fixed cycle,
multiple repetitive
cycle, for roughing,
with pattern
repetition

Peck drilling cycle

for milling
high-speed (NO full M
retraction from
pecks)

G74

Peck drilling cycle

for turning

G74

Tapping cycle for

milling, lefthand
thread, M04
spindle direction

G75

Peck grooving
cycle for turning

G76

Fine boring cycle

for milling

G76

Threading cycle for

turning, multiple
repetitive cycle

Retracts only as far as a clearance increment (system parameter). For when

chipbreaking is the main concern, but chip clogging of flutes is not. Compare G83.

See notes at G84.

T
M

Includes OSS and shift (oriented spindle stop and shift tool off centerline for retraction)
T

G80

G81

Simple drilling
cycle

No dwell built in

Dwells at hole bottom (Z-depth) for the number of milliseconds specified by the P
address. Good for when hole bottom finish matters. Good for spot drilling because the
divot will be certain to clean up evenly. Consider the "choosing dwell duration" note at
G04.

G82
Drilling cycle with
dwell
G83

G84

G84.2

G84.3

Milling: Cancels all cycles such as G73, G81, G83, etc. Z-axis returns either to Z-initial
level or R level, as programmed (G98 or G99, respectively).
Turning: Usually not needed on lathes, because a new group-1 G address (G00 to
G03) cancels whatever cycle was active.

Cancel canned
cycle

Peck drilling cycle

(full retraction from M
pecks)

Returns to R-level after each peck. Good for clearing flutes of chips. Compare G73.

Tapping cycle,
righthand thread,
M03 spindle
direction

G74 and G84 are the righthand and lefthand "pair" for old-school tapping with a
non-rigid toolholder ("tapping head" style). Compare the rigid tapping "pair", G84.2 and
G84.3.

Tapping cycle,
righthand thread,
M03 spindle
direction, rigid
toolholder

See notes at G84. Rigid tapping synchronizes speed and feed according to the desired
thread helix. That is, it synchronizes degrees of spindle rotation with microns of axial
travel. Therefore it can use a rigid toolholder to hold the tap. This feature is not available
on old machines or newer low-end machines, which must use "tapping head" motion
(G74/G84).

Tapping cycle,
lefthand thread,
M04 spindle
direction, rigid
toolholder

See notes at G84 and G84.2.

G85
boring cycle, feed
in/feed out

boring cycle, feed

in/spindle
stop/rapid out

Boring tool will leave a slight score mark on the way back out. Appropriate cycle for
some applications; for others, G76 (OSS/shift) can be used instead.

G87

boring cycle,
backboring

For backboring. Returns to initial level only (G98); this cycle cannot use G99 because
its R level is on the far side of the part, away from the spindle headstock.

G88

boring cycle, feed

in/spindle
stop/manual
operation

boring cycle, feed

in/dwell/feed out

G86

G89

8 16

Good cycle for a reamer.

In some cases good for single-point boring tool, although in other cases the lack
of depth of cut on the way back out is bad for surface finish, in which case, G76
(OSS/shift) can be used instead.
If need dwell at hole bottom, see G89.

G89 is like G85 but with dwell added at bottom of hole.

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G90
Absolute
programming

G90

Fixed cycle, simple

cycle, for roughing
(Z-axis emphasis)

T (B)

Positioning defined with reference to part zero.

Milling: Always as above.
Turning: Sometimes as above (Fanuc group type B and similarly designed), but on
most lathes (Fanuc group type A and similarly designed), G90/G91 are not used for
absolute/incremental modes. Instead, U and W are the incremental addresses and X
and Z are the absolute addresses. On these lathes, G90 is instead a fixed cycle
address for roughing.

T (A)

When not serving for absolute programming (above)

T (B)

Positioning defined with reference to previous position.

Milling: Always as above.
Turning: Sometimes as above (Fanuc group type B and similarly designed), but on
most lathes (Fanuc group type A and similarly designed), G90/G91 are not used for
absolute/incremental modes. Instead, U and W are the incremental addresses and X
and Z are the absolute addresses. On these lathes, G90 is a fixed cycle address for
roughing.

T (B)

Same corollary info as at G50 position register.

Milling: Always as above.
Turning: Sometimes as above (Fanuc group type B and similarly designed), but on
most lathes (Fanuc group type A and similarly designed), position register is G50.

G91
Incremental
programming

G92

Position register
(programming of
vector from part
zero to tool tip)

G92

Threading cycle,
simple cycle

G94

Feedrate per
minute

G94

Fixed cycle, simple

cycle, for roughing
(X-axis emphasis)

G95
G96

Feedrate per
revolution

T (A)
M

Constant surface
speed (CSS)

G97

Constant spindle
speed

G98

Return to initial Z
level in canned
cycle

G98

Feedrate per
minute (group type
A)

G99

Return to R level in
M
canned cycle

G99

Feedrate per
revolution (group
type A)

T (B)

On group type A lathes, feedrate per minute is G98.

T (A)

When not serving for feedrate per minute (above)

T (B)

On group type A lathes, feedrate per revolution is G99.

Varies spindle speed automatically to achieve a constant surface speed. See speeds
and feeds. Takes an S address integer, which is interpreted as sfm in G20 mode or as
m/min in G21 mode.

Takes an S address integer, which is interpreted as rev/min (rpm). The default speed
mode per system parameter if no mode is programmed.

T (A)

Feedrate per minute is G94 on group type B.

T (A)

Feedrate per revolution is G95 on group type B.

List of M-codes commonly found on FANUC and similarly designed controls

Sources: Smid 2008;[3] Smid 2010;[4] Green et al. 1996.[5]

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Code

Description

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Milling Turning
(M)
(T)

M00

Compulsory stop

Non-optionalmachine will always stop upon reaching M00 in the program execution.

M01

Optional stop

Machine will only stop at M01 if operator has pushed the optional stop button.

Program ends; execution may or may not return to program top (depending on the
control); may or may not reset register values. M02 was the original program-end code,
now considered obsolete, but still supported for backward compatibility.[7] Many modern
controls treat M02 as equivalent to M30.[7] See M30 for additional discussion of control
status upon executing M02 or M30.

M02
End of program

M03

M04

M05

The speed of the spindle is determined by the address S, in either revolutions per
minute (G97 mode; default) or surface feet per minute or [surface] meters per minute
(G96 mode [CSS] under either G20 or G21). The right-hand rule can be used to
determine which direction is clockwise and which direction is counter-clockwise.
Spindle on
M
(clockwise rotation)

Spindle on
(counterclockwise
rotation)

Spindle stop

M06

Right-hand-helix screws moving in the tightening direction (and right-hand-helix flutes

spinning in the cutting direction) are defined as moving in the M03 direction, and are
labeled "clockwise" by convention. The M03 direction is always M03 regardless of local
vantage point and local CW/CCW distinction.

See comment above at M03.

Many lathes do not use M06 because the T address itself indexes the turret.
Programming on any particular machine tool requires knowing which method that
machine uses. To understand how the T address works and how it interacts (or not) with
M06, one must study the various methods, such as lathe turret programming, ATC fixed
tool selection, ATC random memory tool selection, the concept of "next tool waiting", and
empty tools. These concepts are taught in textbooks such as Smid,[3] and online
multimedia (videos, simulators, etc.); all of these teaching resources are usually
paywalled to pay back the costs of their development. They are used in training classes
for operators, both on-site and remotely (e.g., Tooling University).

Automatic tool
change (ATC)

T
(sometimes)

M07

Coolant on (mist)

M08

Coolant on (flood)

M09

Coolant off

M10

Pallet clamp on

For machining centers with pallet changers

M11

Pallet clamp off

For machining centers with pallet changers

M13

Spindle on
(clockwise rotation)
M
and coolant on
(flood)

This one M-code does the work of both M03 and M08. It is not unusual for specific
machine models to have such combined commands, which make for shorter, more
quickly written programs.

M19

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Corollary info

Spindle orientation is more often called within cycles (automatically) or during setup
(manually), but it is also available under program control via M19. The abbreviation OSS
(oriented spindle stop) may be seen in reference to an oriented stop within cycles.

Spindle orientation

M21

Mirror, X-axis

M21

Tailstock forward

M22

Mirror, Y-axis

M22

Tailstock backward

M23

Mirror OFF

M23

Thread gradual
pullout ON

The relevance of spindle orientation has increased as technology has advanced.

Although 4- and 5-axis contour milling and CNC single-pointing have depended on
spindle position encoders for decades, before the advent of widespread live tooling and
mill-turn/turn-mill systems, it was seldom relevant in "regular" (non-"special") machining
for the operator (as opposed to the machine) to know the angular orientation of a
spindle except for within a few restricted contexts (such as tool change, or G76 fine
boring cycles with choreographed tool retraction). Most milling of features indexed
around a turned workpiece was accomplished with separate operations on indexing
head setups; in a sense, indexing heads were invented as separate pieces of
equipment, to be used in separate operations, which could provide precise spindle
orientation in a world where it otherwise mostly didn't exist (and didn't need to). But as
CAD/CAM and multiaxis CNC machining with multiple rotary-cutter axes becomes the
norm, even for "regular" (non-"special") applications, machinists now frequently care
about stepping just about any spindle through its 360 with precision.

T
M
T
M
T

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M24

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Thread gradual
pullout OFF

M30

End of program,
with return to
program top

M41

Gear select
gear 1

M42

Gear select
gear 2

M43

Gear select
gear 3

M44

Gear select
gear 4

M48

Feedrate override
allowed

Today M30 is considered the standard program-end code, and will return execution to
the top of the program. Today most controls also still support the original program-end
code, M02, usually by treating it as equivalent to M30. Additional info: Compare M02
with M30. First, M02 was created, in the days when the punched tape was expected to
be short enough to be spliced into a continuous loop (which is why on old controls, M02
triggered no tape rewinding).[7] The other program-end code, M30, was added later to
accommodate longer punched tapes, which were wound on a reel and thus needed
rewinding before another cycle could start.[7] On many newer controls, there is no
longer a difference in how the codes are executedboth act like M30.

Feedrate override
NOT allowed

Prevent MFO. This rule is also usually called (automatically) within tapping cycles or
single-point threading cycles, where feed is precisely correlated to speed. Same with
spindle speed override (SSO) and feed hold button. Some controls are capable of
providing SSO and MFO during threading.

M52

Unload Last tool

from spindle

Also empty spindle.

M60

Automatic pallet
change (APC)

Subprogram call

M49

M98

For machining centers with pallet changers

T

Takes an address P to specify which subprogram to call, for example, "M98 P8979" calls
subprogram O8979.

Usually placed at end of subprogram, where it returns execution control to the main
program. The default is that control returns to the block following the M98 call in the
main program. Return to a different block number can be specified by a P address. M99
can also be used in main program with block skip for endless loop of main program on
bar work on lathes (until operator toggles block skip).

M99
Subprogram end

Example program
This is a generic program that demonstrates the use of G-Code to turn a 1" diameter X 1" long part.
Assume that a bar of material is in the machine and that the bar is slightly oversized in length and
diameter and that the bar protrudes by more than 1" from the face of the chuck. (Caution: This is
generic, it might not work on any real machine! Pay particular attention to point 5 below.)

Tool Path for program

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Sample
Block

Code

Description
Signals start of data during file transfer. Originally used to stop tape rewind, not necessarily
start of program. For some controls (FANUC) the first LF (EOB) is start of program. ISO
uses %, EIA uses ER.

%
O4968 (OPTIONAL PROGRAM
DESCRIPTION OR COMMENT)

Sample face and turn program. Comments are enclosed in parentheses.

N01

M216

Turn on load monitor

N02

G20 G90 G54 D200 G40

Inch units. Absolute mode. Activate work offset. Activate tool offset. Deactivate tool nose
radius compensation.

N03

G50 S2000

Set maximum spindle speed in rev/min This setting will affect Constant Surface Speed
mode

N04

T0300

Index turret to tool 3. Clear wear offset (00).

N05

G96 S854 M03

Constant surface speed [automatically varies the spindle speed], 854 sfm, start spindle CW
rotation

N06

G41 G00 X1.1 Z1.1 T0303 M8

Enable cutter radius compensation mode, rapid position to 1.1" above axial centerline and
1.1 inches positive from the work offset, activate flood coolant

N07

G01 Z1.0 F.05

Feed in horizontally until the tool is positioned 1" positive from the work offset

N08

X-0.016

Feed the tool slightly past center, you need to travel at least the nose radius of the tool past
the center of the part or there will be a scallop of material leftover.

N09

G00 Z1.1

Rapid positioning; retract to start position

N10

X1.0

Rapid positioning; next pass

N11

G01 Z0.0 F.05

Feed in horizontally cutting the bar to 1" diameter all the way to the datum, 0.05in/rev

N12

G00 X1.1 M05 M09

Clear the part, stop the spindle, turn off the coolant

N13

G91 G28 X0

Home X axis return the machine's home position for the X axis

N14

G91 G28 Z0

Home Z axis return to machine's home position for the Z axis

N15

G90

Return to absolute mode. Turn off load monitor

N16

M30

Program stop, rewind to top of program, wait for cycle start

Signal end of data during file transfer. Originally used to mark end of tape, not necessarily
end of program. ISO uses %, EIA uses ER.

%
Several points to note:

1. There is room for some programming style, even in this short program. The grouping of codes in line N06 could have been put on
multiple lines. Doing so may have made it easier to follow program execution.
2. Many codes are "modal", meaning that they stay in effect until they are cancelled or replaced by a contradictory code. For example,
once variable speed cutting (CSS) had been selected (G96), it stayed in effect until the end of the program. In operation, the
spindle speed would increase as the tool neared the center of the work in order to maintain a constant surface speed. Similarly,
once rapid feed was selected (G00), all tool movements would be rapid until a feed rate code (G01, G02, G03) was selected.
3. It is common practice to use a load monitor with CNC machinery. The load monitor will stop the machine if the spindle or feed loads
exceed a preset value that is set during the set-up operation. The jobs of the load monitor are various:
1. Prevent machine damage in the event of tool breakage or a programming mistake.
1. This is especially important because it allows safe "lights-out machining", in which the operators set up the job and start
it running during the day, then go home for the night, leaving the machines running and cutting parts during the night.
Because no human is around to hear, see, or smell a problem such as a broken tool, the load monitor serves an
important sentry duty. When it senses overload condition, which semantically suggests a dull or broken tool, it
commands a stop to the machining. Technology is available nowadays to send an alert to someone remotely (e.g., the
sleeping owner, operator, or owner-operator) if desired, which can allow them to come intercede and get production
going again, then leave once more. This can be the difference between profitability or loss on some jobs, because
lights-out machining reduces labor hours per part.
2. Warn of a tool that is becoming dull and needs to be replaced or sharpened. Thus an operator who is busy tending multiple
machines will be told by a machine, essentially, "Hey, pause what you're doing over there, and come attend to a need over
here."
4. It is common practice to bring the tool in rapidly to a "safe" point that is close to the partin this case 0.1" awayand then start
feeding the tool. How close that "safe" distance is, depends on the preference of the programmer and/or operator and the
maximum material condition for the raw stock.
5. If the program is wrong, there is a high probability that the machine will crash, or ram the tool into the part under high power. This
can be costly, especially in newer machining centers. It is possible to intersperse the program with optional stops (M01 code) which
allow the program to be run piecemeal for testing purposes. The optional stops remain in the program but they are skipped during
the normal running of the machine. Fortunately, most CAD/CAM software ships with CNC simulators that will display the movement
of the tool as the program executes. Nowadays the surrounding objects (chuck, clamps, fixture, tailstock, and more) are included in
the 3D models, and the simulation is much like an entire video game or virtual reality environment, making unexpected crashes
much less likely. Many modern CNC machines also allow programmers to execute the program in a simulation mode and observe
the operating parameters of the machine at a particular execution point. This enables programmers to discover semantic errors (as
opposed to syntax errors) before losing material or tools to an incorrect program. Depending on the size of the part, wax blocks
may be used for testing purposes as well.
6. For educational purposes, line numbers have been included in the program above. They are usually not necessary for operation of
a machine, so they are seldom used in industry. However, if branching or looping statements are used in the code, then line
numbers may well be included as the target of those statements (e.g. GOTO N99).

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7. Some machines do not allow multiple M codes in the same line.

Programming environments
G-code's programming environments have evolved in parallel with those of general programmingfrom the earliest environments (e.g.,
writing a program with a pencil, typing it into a tape puncher) to the latest environments that combine CAD (computer-aided design),
CAM (computer-aided manufacturing), and richly featured G-code editors. (G-code editors are analogous to XML editors, using colors
and indents semantically [plus other features] to aid the user in ways that basic text editors can't. CAM packages are analogous to IDEs
in general programming.)
Two high-level paradigm shifts have been (1) abandoning "manual programming" (with nothing but a pencil or text editor and a human
mind) for CAM software systems that generate G-code automatically via postprocessors (analogous to the development of visual
techniques in general programming), and (2) abandoning hardcoded constructs for parametric ones (analogous to the difference in
general programming between hardcoding a constant into an equation versus declaring it a variable and assigning new values to it at
will; and to the object-oriented approach in general). Macro (parametric) CNC programming uses human-friendly variable names,
relational operators, and loop structures much as general programming does, to capture information and logic with machine-readable
semantics. Whereas older manual CNC programming could only describe particular instances of parts in numeric form, macro
programming describes abstractions which can be flowed with ease into a wide variety of instances. The difference has many analogues,
both from before the computing era and from after its advent, such as (1) creating text as bitmaps versus using character encoding with
glyphs; (2) the abstraction level of tabulated engineering drawings, with many part dash numbers parametrically defined by the one
same drawing and a parameter table; or (3) the way that HTML passed through a phase of using content markup for presentation
purposes, then matured toward the CSS model. In all of these cases, a higher layer of abstraction was introduced in order to pursue
what was missing semantically.
STEP-NC reflects the same theme, which can be viewed as yet another step along a path that started with the development of machine
tools, jigs and fixtures, and numerical control, which all sought to "build the skill into the tool". Recent developments of G-code and
STEP-NC aim to build the information and semantics into the tool. The idea itself is not new; from the beginning of numerical control, the
concept of an end-to-end CAD/CAM environment was the goal of such early technologies as DAC-1 and APT. Those efforts were fine for
huge corporations like GM and Boeing. However, for small and medium enterprises, there had to be an era in which the simpler
implementations of NC, with relatively primitive "connect-the-dots" G-code and manual programming, ruled the day until CAD/CAM could
improve and disseminate throughout the economy.
Any machine tool with a great number of axes, spindles, and tool stations is difficult to program well manually. It has been done over the
years, but not easily. This challenge has existed for decades in CNC screw machine and rotary transfer programming, and it now also
arises with today's newer machining centers called "turn-mills", "mill-turns", "multitasking machines", and "multifunction machines". Now
that CAD/CAM systems are widely used, CNC programming (such as with G-code) requires CAD/CAM (as opposed to manual
programming) to be practical and competitive in the market segments served by these classes of machines.[8] As Smid says, "Combine
all these axes with some additional features, and the amount of knowledge required to succeed is quite overwhelming, to say the
least."[9] At the same time, however, programmers still must thoroughly understand the principles of manual programming and must
think critically and second-guess some aspects of the software's decisions.
Since about the mid-2000s, the era has finally arrived when "the death of manual programming" (that is, of writing lines of G-code
without CAD/CAM assistance) sometimes seems to be approaching. However, it is currently only in some contexts that manual
programming is obsolete. Although it is true that plenty of CAM programming can and does take place nowadays among people who are
rusty on, or incapable of, manual programming, it is not true that all CNC programming can be done, or done as well or as efficiently,
without being able to speak the language of G-code.[10][11] Tailoring and refining the CNC program at the machine is an area of practice
where it can be easier or more efficient to edit the G-code directly rather than editing the CAM toolpaths and re-post-processing the
program.

Abbreviations used by programmers and operators

This list is only a selection and, except for a few key terms, mostly avoids duplicating the many abbreviations listed at engineering
drawing abbreviations and symbols (which see also).

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Abbreviation

Expansion

Corollary info

APC

automatic pallet
changer

See M60.

ATC

automatic tool
changer

See M06.

CAD/CAM

computer-aided
design and
computer-aided
manufacturing

CCW

counterclockwise

CNC

computer numerical
control

CRC

cutter radius
compensation

See also G40, G41, and G42.

cutting speed

Referring to cutting speed (surface speed) in surface feet per minute (sfm, sfpm) or meters per
minute (m/min).

CSS

constant surface
speed

See G96 for explanation.

CW

clockwise

See M03.

DNC

direct numerical
control or distributed
numerical control

CS

EOB
end of block

E-stop

See M04.

The G-code synonym of end of line (EOL). A control character equating to newline. In many
implementations of G-code (as also, more generally, in many programming languages), a
semicolon (;) is synonymous with EOB. In some controls (especially older ones) it must be
explicitly typed and displayed. Other software treats it as a nonprinting/nondisplaying character,
much like word processing apps treat the pilcrow ().

emergency stop

EXT
external

On the operation panel, one of the positions of the mode switch is "external", sometimes
abbreviated as "EXT", referring to any external source of data, such as tape or DNC, in contrast to
the computer memory that is built into the CNC itself.

FIM

full indicator
movement

FPM

feet per minute

HBM

horizontal boring mill A type of machine tool that specializes in boring, typically large holes in large workpieces.

HMC

horizontal machining
center

HSM

high speed
machining

Refers to machining at speeds considered high by traditional standards. Usually achieved with
special geared-up spindle attachments or with the latest high-rev spindles.

high speed steel

A type of tool steel used to make cutters. Still widely used today (versatile, affordable, capable)
although carbide and others continue to erode its share of commercial applications

HSS

See SFM.

in

inch(es)

IPF

inches per flute

Also known as chip load or IPT. See F address and feed rate.

IPM

inches per minute

See F address and feed rate.

IPR

inches per revolution See F address and feed rate.

IPT

inches per tooth

Also known as chip load or IPF. See F address and feed rate.

manual data input

A mode of operation in which the operator can type in lines of program (blocks of code) and then
execute them by pushing cycle start.

memory

On the operation panel, one of the positions of the mode switch is "memory", sometimes
abbreviated as "MEM", referring to the computer memory that is built into the CNC itself, in
contrast to any external source of data, such as tape or DNC.

manual feedrate
override

The MFO dial or buttons allow the CNC operator or machinist to multiply the programmed feed
value by any percentage typically between 10% and 200%. This is to allow fine-tuning of speeds
and feeds to minimize chatter, improve surface finish, lengthen tool life, and so on. The SSO and
MFO features can be locked out for various reasons, such as for synchronization of speed and
feed in threading, or even to prevent "soldiering"/"dogging" by operators. On some newer controls,
the synchronization of speed and feed in threading is sophisticated enough that SSO and MFO
can be available during threading, which helps with fune-tuning speeds and feeds to reduce
chatter on the threads or in repair work involving the picking up of existing threads.[12]

MDI
MEM

MFO

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mm

millimetre(s)

MPG

manual pulse
generator

NC

numerical control

OSS

oriented spindle stop See comments at M19.

Referring to the handle (handwheel) (each click of the handle generates one pulse of servo input)

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SFM

surface feet per

minute

See also speeds and feeds and G96.

SFPM

surface feet per

minute

See also speeds and feeds and G96.

SPT

single-point
threading

SSO

spindle speed
override

The SSO dial or buttons allow the CNC operator or machinist to multiply the programmed speed
value by any percentage typically between 10% and 200%. This is to allow fine-tuning of speeds
and feeds to minimize chatter, improve surface finish, lengthen tool life, and so on. The SSO and
MFO features can be locked out for various reasons, such as for synchronization of speed and
feed in threading, or even to prevent "soldiering"/"dogging" by operators. On some newer controls,
the synchronization of speed and feed in threading is sophisticated enough that SSO and MFO
can be available during threading, which helps with fune-tuning speeds and feeds to reduce
chatter on the threads or in repair work involving the picking up of existing threads.[12]

TC or T/C

tool change, tool

changer

TIR

total indicator
reading

TPI

threads per inch

USB

Universal Serial Bus One type of connection through which to transfer data

VMC

vertical machining
center

VTL
vertical turret lathe

A type of machine tool that is essentially a lathe with its Z axis turned vertical, allowing the
faceplate to sit like a large turntable. The VTL concept overlaps with the vertical boring mill
concept.

See also
3D printing
Canned cycle
LinuxCNC - a free CNC software with many resources for G-code documentation

Extended developments
Direct Numerical Control (DNC)
STEP-NC
MTConnect

Similar concepts
Gerber file

Concerns during application

Cutter location, cutter compensation, offset parameters
Coordinate systems

References
1. EIA Standard RS-274-D Interchangeable Variable Block Data
Format for Positioning, Contouring, and Contouring/Positioning
Numerically Controlled Machines, 2001 Eye Street, NW,
Washington, D.C. 20006: Electronic Industries Association, February
1979
2. "Fanuc macro system variables". Retrieved 2014-06-30.
3. Smid 2008.
4. Smid 2010.
5. Green 1996, pp. 11621226.
6. http://atyourservice.haascnc.com/faqs/clearing-all-offsets/
7. Smid 2010, pp. 2930.

8. MMS editorial staff (2010-12-20), "CAM system simplifies

Swiss-type lathe programming", Modern Machine Shop 83 (8 [2011
Jan]): 100105. Online ahead of print.
9. Smid 2008, p. 457.
10. Lynch, Mike (2010-01-18), "When programmers should know G
code", Modern Machine Shop (online ed.).
11. Lynch, Mike (2011-10-19), "Five CNC myths and misconceptions
[CNC Tech Talk column, Editor's Commentary]", Modern Machine
Shop (online ed.).
12. Korn, Derek (2014-05-06), "What is arbitrary speed threading?",
Modern Machine Shop.

Bibliography
Green, Robert E. et al. (eds) (1996), Machinery's Handbook (25 ed.), New York, NY, USA: Industrial Press,
ISBN 978-0-8311-2575-2.
Smid, Peter (2008), CNC Programming Handbook (3rd ed.), New York: Industrial Press, ISBN 9780831133474, LCCN 2007045901.
Smid, Peter (2010), CNC Control Setup for Milling and Turning, New York: Industrial Press, ISBN 978-0831133504,
LCCN 2010007023.

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External links
CNC G-Code and M-Code Programming (http://carlsonmfg.com/cnc-g-code-m-code-programming.html)
Tutorial for G-code (http://gnipsel.com/linuxcnc/index.html)
Kramer, T. R.; Proctor, F. M.; Messina, E. R. (1 Aug 2000), The NIST RS274NGC Interpreter Version 3, NIST, NISTIR 6556
http://museum.mit.edu/150/86 Has several links (including history of MIT Servo Lab)
Complete list of G-code used by most 3D printer (http://reprap.org/wiki/G-code)
Retrieved from "https://en.wikipedia.org/w/index.php?title=G-code&oldid=686957894"
Categories: Computer-aided engineering Domain-specific programming languages Encodings
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