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

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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

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2. PROGRAM STRUCTURE#

Start / End#

% ... M30

Comments#

( comment ) ; comment ' comment

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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

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4. UNITS#

G20 – Inches#

G20

G21 – Millimeters#

G21

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5. DWELL#

G4#

G4 P2

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6. HOMING#

G28#

G28

G30#

G30

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7. DRILLING#

G81#

G98 G81 X10 Y10 Z-5 R2 F100

Cancel#

G80

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8. SCALING#

G51#

G51 I1.5 G51 I1.5 X10 Y10

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9. PARAMETERS#

F100 S1000

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10. M-CODES#

M0 M3 S1000 M4 M5 M6 T1 M8 M9 M10 M11 M30

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11. TOOL CHANGE EXECUTION#

M6 triggers:

1. M6_beg
2. M6_put
3. M6_get
4. M6_mess
5. M6_end

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12. MODAL RULES#

• Motion persists
• Feed persists
• Units persist

Example: G1 X10 Y10 X20 Y20

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13. NON-MODAL#

• I
• J
• R

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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

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15. ERROR HANDLING#

• Missing parameters → error
• Invalid arc definition → error
• Unknown command → ignore or error

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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

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17. BEST PRACTICES#

• Always set units
• Always retract Z before rapid XY
• Avoid mixing arc definitions
• Reset states when needed

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18. IMPLEMENTATION NOTES#

To build interpreter in C#:

• Lexer → tokenize line
• Parser → command objects
• State machine → modal tracking
• Executor → motion simulation

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SUMMARY#

This file provides:

• Full command coverage
• Execution semantics
• Interpreter-ready structure

It can be used for:

• CNC programming
• G-code validation
• Simulator development