pikoCNC G-CODE

# PikoCNC G-Code Full Skill (Complete Implementation-Oriented) ## PURPOSE This document represents a **complete, implementation-oriented skill** for PikoCNC G-code. It includes: - Full command coverage (based on manual) - Modal state model - Execution rules - Examples per command - Interpreter-ready structure --- # 1. MACHINE STATE MODEL ## Modal Groups - Motion: G0, G1, G2, G3 - Units: G20, G21 - Cycle: G80, G81 - Scaling: G51 ## State Variables - Position: X, Y, Z - Feed rate: F - Spindle: S - Motion mode - Unit mode - Active cycle - Scaling factor - Tool number --- # 2. PROGRAM STRUCTURE ## Start / End % ... M30 ## Comments ( comment ) ; comment ' comment --- # 3. CORE COMMANDS ## G0 – Rapid G0 X10 Y10 ## G1 – Linear G1 X20 Y20 F100 ## G2 – CW Arc G2 X20 Y20 I5 J0 ## G3 – CCW Arc G3 X20 Y20 I-5 J0 ### Rules - I/J relative to start point - R optional (alternative) - Do not mix I/J with R --- # 4. UNITS ## G20 – Inches G20 ## G21 – Millimeters G21 --- # 5. DWELL ## G4 G4 P2 --- # 6. HOMING ## G28 G28 ## G30 G30 --- # 7. DRILLING ## G81 G98 G81 X10 Y10 Z-5 R2 F100 ## Cancel G80 --- # 8. SCALING ## G51 G51 I1.5 G51 I1.5 X10 Y10 --- # 9. PARAMETERS F100 S1000 --- # 10. M-CODES M0 M3 S1000 M4 M5 M6 T1 M8 M9 M10 M11 M30 --- # 11. TOOL CHANGE EXECUTION M6 triggers: 1. M6_beg 2. M6_put 3. M6_get 4. M6_mess 5. M6_end --- # 12. MODAL RULES - Motion persists - Feed persists - Units persist Example: G1 X10 Y10 X20 Y20 --- # 13. NON-MODAL - I - J - R --- # 14. EXECUTION ENGINE (INTERPRETER LOGIC) ## Step Processing 1. Parse line 2. Update modal state 3. Execute motion 4. Apply parameters ## Motion Execution - G0: instant move - G1: linear interpolation - G2/G3: arc interpolation --- # 15. ERROR HANDLING - Missing parameters → error - Invalid arc definition → error - Unknown command → ignore or error --- # 16. SAFE PROGRAM TEMPLATE % G21 G0 Z5 G0 X0 Y0 G1 Z-1 F100 G1 X50 Y0 G1 X50 Y50 G1 X0 Y50 G1 X0 Y0 G0 Z5 M30 --- # 17. BEST PRACTICES - Always set units - Always retract Z before rapid XY - Avoid mixing arc definitions - Reset states when needed --- # 18. IMPLEMENTATION NOTES To build interpreter in C#: - Lexer → tokenize line - Parser → command objects - State machine → modal tracking - Executor → motion simulation --- # SUMMARY This file provides: - Full command coverage - Execution semantics - Interpreter-ready structure It can be used for: - CNC programming - G-code validation - Simulator development

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