UFACTORY Gcode

Firmware version: v2.1.102+
TCP port: 504
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1. G command
G0 X Y Z A B C   // The speed is 240mm/s by default
G1 X Y Z A B C F  // XYZ(mm),  ABC(RPY,degree), F(speed,mm/min)
G4 P    // sleep command, Unit: s
G20    // set the unit as inches
G21    // set the unit as mm
G90   //absolute coordinate
G91   //relative coordinate
//Code Example
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G0 X300 Y100 Z200 A180 B0 C0        ;move to [300,100,200,180,0,0]
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G4 P5                               ;sleep 5s
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G1 X300 Y100 Z350 A180 B0 C0 F30000 ;move to [300,100,200,180,0,0], speed=500mm/s
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G21                                 ;set the unit as mm
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G0 X300                             ;move to X=300mm
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G20                                 ;set the unit as inches
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G0 X10                              ;move to X=10inches(254mm)
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G21                                 ;set the unit as mm
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G90                                 ;use absolute coordinate
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G0 X300                             ;move to X=300mm
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G91                                 ;use relative coordinate
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G0 X10                              ;move forward 10mm
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G90                                 ;use absolute coordinate
2. M command
M62 P      //set controller digital output to High level, wait=True
M63 P      //set controller digital output to Low level, wait=True    
M64 P     //set controller digital output to High level, wait=False(Execute immediately)
M65 P     //set controller digital output to Low level, wait=False(Execute immediately)
E67 E Q  //set controller analog output, wait=True
E68 E Q  //set controller analog output, wait=False(Execute immediately)
P: IONUM(0-15, 0-7: CO0-CO7, 8-15: DO0-DO7)
E: IONUM(0-1), Q: value(0-10)
//Code Example
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M62 P1            ;set CO1 to high level, wait=True
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M64 P15           ;set DO7 to high level, wait=False
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M67 E0 Q10        ;set AO0 to 10V, wait=True
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M68 E1 Q2         ;set AO1 to 2V, wait=False
3. Python Example
Python Example
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import socket
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sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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sock.setblocking(True)
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sock.connect(('192.168.1.67', 504))
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​
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def send_and_recv(data):
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    for line in data.split('\n'):
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        line = line.strip()
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        if not line:
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            continue
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        sock.send(line.encode('utf-8', 'replace') + b'\n')
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        ret = sock.recv(5)
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        code, mode_state, err = ret[0:3]
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        state, mode = mode_state & 0x0F, mode_state >> 4
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        cmdnum = ret[3] << 8 | ret[4]
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        if code != 0 or state >= 4 or err > 0:
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            print('code: {}, mode: {}, state: {}, err: {}, cmdnum: {}, cmd: {}'.format(code, mode, state, err, cmdnum, line))
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​
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# move x to x=500mm, speed= 10000 mm/min
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send_and_recv('G1 X500 F10000')
Note：
1. Response:
byte0: return value.  0 is success
byte1: mode and state
byte2: error code
byte3 & byte4: buffer
2. Recommend to send 1 non-empty data at a time(with line breaks)
sock.send(b'G0 X300\n')
3. Need to receive the response, otherwise the buffer will be full.
 sock.recv(5)
​
Last modified 15d ago