G-code reference

Motion profiles are compiled to a small G-code dialect, uploaded to the machine's SD card, and played back by the firmware. The trailing G122 is the firmware contract for "test complete".

Code	Meaning	Parameters
G0	Rapid move	X<pos> F<feedrate>
G1	Linear move	X<pos> F<feedrate>
G2	Clockwise arc	(executed as a dwell by the firmware)
G3	Counter-clockwise arc	(executed as a dwell by the firmware)
G4	Dwell (pause)	P<milliseconds>
G28	Home axis	—
G90	Absolute positioning	—
G91	Relative (incremental) positioning	—
G122	Stop / test complete	—
G123	Waveform canned cycle	shape, amplitude, frequency, cycles

• X is a position (absolute under G90) or a distance (relative under G91), in millimetres.
• F is the feed rate in mm/s.
• P is a dwell time in milliseconds.

How the app generates it

The motion-profile builder converts each move:

• Linear → G1 X… F… (preceded by G90/G91 as the mode changes).
• Dwell → G4 P….
• Waveform → a single G123 canned cycle. The firmware segments the position-vs-time curve itself and plays it back from SD, so cyclic loading runs unattended with no host involvement. The builder switches to G90 and ramps to the wave's mean position first, since G123 oscillates about the current position (testProfile.ts).

Every generated program ends with G122. You can inspect the exact output for any profile with Preview G-code in the builder.

G123 is sine-only

The WaveformShape enum reserves TRIANGLE, but the firmware canned cycle implements sine only. The app pins the shape to sine so TRIANGLE can't be emitted as W1 and silently run as a sine anyway.

Arcs

G2/G3 are valid wire codes — the protocol and firmware accept them, and the firmware executes them as a dwell — but the app's builder does not generate them. Use the Waveform move for cyclic motion.

In the protocol these map to the GCode enum (RAPID_MOVE=0, LINEAR_MOVE=1, CW_ARC=2, CCW_ARC=3, DWELL=4, HOME=28, ABSOLUTE=90, INCREMENTAL=91, STOP=122, WAVEFORM=123); see the protocol messages.