Scara Robot With Software Teach&Play + G-Code

G00 Rapid move
G01 Linear feedrate move
G02 Clockwise move
G03 Counter clockwise moveG04 Dwell time G4 L#
G08 Spline smoothing on, optional L# number of blocks to buffer
G09 Exact stop check, spline smoothing Off
G10 Linear feedrate move with decelerated stop
G11 Controlled Decel stop
G20 Inch mode
G21 Millimeter mode
G28 move to position relitive to machine zero
G40 Cancel tool comp
G41 Tool comp left
G42 Tool comp right
G53 Cancel fixture coordinate offsets
G54-G59 fixture coordinate offsets 1 through 6
G70 Inch mode
G71 Millimeter mode
G80 Cancels modal cycles and canned cycles
G81 Drill cycle G81 X# Y# Z# F# R#
G82 Dwell cycle G82 X# Y# Z# F# R# L#
G83 Peck cycle G83 X# Y# Z# F# R# Q#
G84 Tapping cycle G84 X# Y# Z# F# R# C#
G85 Boring cycle 1 bore down, feed out G85 X# Y# Z# F# R#
G86 Boring cycle 2 bore down, dwell, feed out G86 X# Y# Z# F# R# L#
G88 Boring cycle 3 bore down, spindle stop, dwell, feed out G88 X# Y# Z# F# R# L#
G89 Boring cycle 4 bore down, spindle stop, dwell, rapid out G89 X# Y# Z# F# R# L#
G90 Absolute mode
G91 Incremental mode
G92 Home coordinate reset
G100-G199 User-definable G codes
199 User-definable M codes