UFACTORY Gcode

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Description:

UFACTORY Gcode is compatible with LinuxCNC gcode: http://linuxcnc.org/, and refers to the RS-274 standard.

• Firmware version: v2.5.0 or later
• UFACTORY Studio version: V2.5.0 or later
• TCP port: 504

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1. G command

G Command	Definition	Command	Description
G0	Rapid Move	G0 X Y Z A B C	The speed is 240mm/s by default
G1	Linear Move	G1 X Y Z A B C F	XYZ(mm), ABC(RPY,degree), F(speed,mm/min)
G2	Arc Move, clockwise arc	G2 X Y Z R P F G2 X Y Z I J K P F	R-radius I- X offset J- Y offset K- Z offset P-number of turns, default is 1
G3	Arc Move, counterclockwise arc	G3 X Y Z R P F G3 X Y Z I J K P F	R-radius I- X offset J- Y offset K- Z offset P-number of turns, default is 1
G4	Dwell	G4 P2	Unit:s
G17	Z-axis, XY-plane.	G17
G18	Y-axis, XZ-plane.	G18
G19	X-axis, YZ-plane.	G19
G20	to use inches for length units	G20
G21	to use millimeters for length units	G21	Apply to G0/G1
G90	absolute distance mode	G90	Apply to G0/G1/G2/G3
G91	incremental distance mode	G91	Apply to G0/G1/G2/G3
G90.1	absolute distance mode for I, J & K offsets	G90.1	Apply to G2/G3
G91.1	incremental distance mode for I, J & K offsets	G91.1	Apply to G2/G3

1.1 Code Example

G0 X300 Y100 Z200 A180 B0 C0        ;move to [300,100,200,180,0,0]
G4 P5                               ;sleep 5s
G1 X300 Y100 Z350 A180 B0 C0 F30000 ;move to [300,100,200,180,0,0], speed=500mm/s
G21                                 ;set the unit as mm
G0 X300                             ;move to X=300mm
G20                                 ;set the unit as inches
G0 X10                              ;move to X=10inches(254mm)
G21                                 ;set the unit as mm
G90                                 ;use absolute coordinate
G0 X300                             ;move to X=300mm
G91                                 ;use relative coordinate
G0 X10                              ;move forward 10mm
G90                                 ;use absolute coordinate

You can debug and check more examples via 'UFACTORY Studio-Gcode' page.

2. M command

M Command	Definition	Command	Description
M2/M30	End program	M2/M30
M62	Turn on digital output synchronized with motion	M62 P	P：IONum(0-15, 0-7:CO0-CO7, 8-15:DO0-D7)
M63	Turn off digital output synchronized with motion	M63 P	P：IONum(0-15, 0-7:CO0-CO7, 8-15:DO0-D7)
M64	Turn on digital output immediately	M64 P	P：IONum(0-15, 0-7:CO0-CO7, 8-15:DO0-D7)
M65	Turn off digital output immediately	M65 P	P：IONum(0-15, 0-7:CO0-CO7, 8-15:DO0-D7)
M67	Set an analog output synchronized with motion	M67 E1 Q2	E：IONum(AO0:0, AO1:1 ) Q：0-10V
M68	Set an analog output immediately	M68 E0 Q5	E：IONum(AO0:0, AO1:1 ) Q：0-10V
M100	Enable the arm	M100 P Q
M101	Clear error	M101
M102	Clear warn	M102
M103	Set mode	M103 P	P: mode
M104	Set states	M104 P	P: states
M115	Set Tool GPIO	M115 P Q	P：IONum(0/1/2/3/4) Q：0/1/10/11
M116	Control the end effector	M116 P Q

2.1 M116 Definition

M116	End effector	Command	Description
M116 P1	xArm Gripper	M116 P1 Q0	Q: position(-10~850)
M116 P2	xArm Vacuum Gripper	M116 P2 Q0	Q0: Open（synchronized with motion） Q1: Close（synchronized with motion） Q10: Open（immediately） Q11: Close（immediately）
M116 P3	BIO Gripper	M116 P3 Q1	Q0: Close Q1: Open
M116 P4	Robotiq Gripper	M116 P4 Q100	Q: position(0~255)
M116 P5	Robotiq Gripper	M116 P5 Q100	Q: position(0~255)
M116 P11	Gripper Lite	M116 P11 Q1	Q0: Close（synchronized with motion） Q1: Open（synchronized with motion） Q10: Close（immediately） Q11: Open（immediately）
M116 P12	Vacuum Gripper Lite	M116 P12 Q0	Q0: Open（synchronized with motion） Q1: Close（synchronized with motion） Q10: Open（immediately） Q11: Close（immediately）

2.2 Code Example

M62 P1            ;set CO1 to high level, wait=True
M64 P15           ;set DO7 to high level, wait=False
M67 E0 Q10        ;set AO0 to 10V, wait=True
M68 E1 Q2         ;set AO1 to 2V, wait=False


M116 P2 Q10       ;open xArm Vacuum Gripper, wait=False
M116 P2 Q11       ;close xArm Vacuum Gripper, wait=False

3. Python Example

import socket
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.setblocking(True)
sock.connect(('192.168.1.67', 504))

def send_and_recv(data):
    for line in data.split('\n'):
        line = line.strip()
        if not line:
            continue
        sock.send(line.encode('utf-8', 'replace') + b'\n')
        ret = sock.recv(5)
        code, mode_state, err = ret[0:3]
        state, mode = mode_state & 0x0F, mode_state >> 4
        cmdnum = ret[3] << 8 | ret[4]
        if code != 0 or state >= 4 or err > 0:
            print('code: {}, mode: {}, state: {}, err: {}, cmdnum: {}, cmd: {}'.format(code, mode, state, err, cmdnum, line))

# move x to x=500mm, speed= 10000 mm/min
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)