General Command Overview

Preprocessor

Command	Description
#include	The #include directive inserts the contents of another file. The included file is referenced by its path. Typically, it is used to “import” commonly used code like e.g. libraries. Its behavior is similar to the C-Preprocessor.

Interpolations

Command	Description	Modal or Nonmodal	Default
G00	Interpolation mode: Linear. Applying maximum velocity ignoring programmed velocity. Reset by `G01`, `G02`, `G03`.	Modal.	Default.
G01	Interpolation mode: Linear. Applying programmed velocity. Reset by `G00`, `G02`, `G03`.	Modal.	No.
G02	Clockwise interpolation mode: Circular or helical. Applying current velocity. Reset by `G00`, `G01`, `G03`.	Modal.	No.
G03	Counterclockwise interpolation mode: Circular or helical. Applying current velocity. Reset by `G00`, `G01`, `G02`.	Modal.	No.
G303	With G303 an circular arc (CIP circle) can be programmed, that can be freely located in space.		No
G04	Defines a dwell time, i.e. suspends machining for a given duration.	Nonmodal.	No.

Workingplane Selection

Command	Description	Modal or Nonmodal	Default
G17	Selects `XY`-plane as workingplane.	Modal.	Default.
G18	Selects `ZX`-plane as workingplane.	Modal.	No.
G19	Selects `YZ`-plane as workingplane.	Modal.	No.

Delete Distance to go

Command	Description	Modal or Nonmodal	Default
G31	Delete distance to go.	Nonmodal.	No.

Deactivation and Activation of Tool Radius Compensation

Command	Description	Modal or Nonmodal	Default
G40	Deactivates Tool Radius Compensation (TRC). With/After a G40 command it is mandatory to program at least one geometry element.	Modal.	Default.
G41	Activates Tool Radius Compensation (TRC). Left.	Modal.	No.
G42	Activates Tool Radius Compensation (TRC). Right.	Modal.	No.

Set, Deactivate and Activate Zero-Offset-Shift Translations

Command	Description	Modal or Nonmodal	Default
G53	Deactivates any zero-offset-shift translation.	Modal.	Default.
G54..G57	Activates the zero-offset-shift associated with the given `G`-Code. Activates the translation `G58` and `G59`.	Modal.	No.
G58, G59	Sets the translation associated with the given `G`-Code.	Modal.	No.

Command	Description
zeroOffsetShiftSet(g:= USInt, x:= LReal, y:= LReal, z:= LReal)	Sets the translation for `G`-Code `g` where `g` must be one of the numbers `54`, `55`, `56` or `57`.

Accurate Stop

Command	Description	Modal or Nonmodal	Default
G09	Accurate stop.	Nonmodal.	No.
G60	Accurate stop.	Modal.	No.

Set Unit for Length and Speed

Command	Description	Modal or Nonmodal	Default
G70	Sets the unit for lengths to inch. Does not affect the unit for velocity.	Modal.	No.
G71	Sets the unit for lengths to millimeter. Does not affect the unit for velocity.	Modal.	Default.
G700	Sets the unit for lengths to inch. Also applies to the interpretation of velocity.	Modal.	No.
G710	Sets the unit for lengths to millimeter. Also applies to the interpretation of velocity.	Modal.	Default.

Switch to Absolute or Relative Coordinates

Command	Description	Modal or Nonmodal	Default
G90	Switches to absolute programming.	Modal.	Default.
G91	Switches to incremental programming.	Modal.	No.

IJK

Command	Description	Modal or Nonmodal	Default
I<vx> J<vy> K<vz>	Center point is `currentPoint + [vx,vy,vz]`. Current length unit is used for `vx,vy,vz`. `I` used by `G4` defines a duration.	Modal.	Default: Center point is `currentPoint + [0,0,0]`. The `IJK`-parameters are optional.

M-Functions

Command	Description
M<v>	Triggers the `M`-function `v`. The timing behavior depends on the definition of `v` in the development environment of TwinCAT. There must not be more than one `M`-function of type handshake in a block.
M2	Predefined `M`-function. Signals program end.
M30	Predefined `M`-function. Signals program end.

Tool Orientation

Command	Description	Modal or Nonmodal	Default
P<v>	Switches tool orientation.	Modal.	No.

Set Block Number

Command	Description
N<v>	Block number.

Set Radius

Command	Description	Modal or Nonmodal	Default
U<v>	Sets the radius within the context of `G02` or `G03` to `\|v\|`.	Modal.	No.

Set Cartesian Coordinate

Command	Description
X<v>	Sets the `X`-coordinate of the next point to `v`. Uses current length unit for `v`.
Y<v>	Sets the `Y`-coordinate of the next point to `v`. Uses current length unit for `v`.
Z<v>	Sets the `Z`-coordinate of the next point to `v`. Uses current length unit for `v`.

Auxiliary Axes

Command	Description	Modal or Nonmodal	Default
Q<i>=<v>	Sets label for auxiliary axis.	Modal.	No.

Set Orientation Angle

Command	Description	Modal or Nonmodal	Default
A<v>	Sets the `A`-angle of the next orientation to `v`. Uses current length unit for `v`.	Nonmodal, but may influence succeeding blocks.	No.
B<v>	Sets the `B`-angle of the next orientation to `v`. Uses current length unit for `v`.	Nonmodal, but may influence succeeding blocks.	No.
C<v>	Sets the `C`-angle of the next orientation to `v`. Uses current length unit for `v`.	Nonmodal, but may influence succeeding blocks.	No.

Control Structures

Command	Description
IF-THEN-ELSIF-ELSE	Conditional statement.
CASE OF	Conditional statement.
FOR	Counter-controlled loop.
WHILE	Head-controlled loop.
REPEAT	Foot-controlled loop.
EXIT	Leaving a loop.

Jump statement

Command	Description
LABEL-GOTO	Jump statement.

Trigonometric

Command	Description
SIN(x)	Returns the sine of `x`; `x` in radians.
COS(x)	Returns the cosine of `x`; `x` in radians.
TAN(x)	Returns the tangent of `x`; `x` in radians.
ASIN(x)	Returns the arc sine of `x`; `x` in radians.
ACOS(x)	Returns the arc cosine of `x`; `x` in radians.
ATAN(x)	Returns the arc tangent of `x`; `x` in radians.
ATAN2(y, x)	Returns the arc tangent of `y/x`; `y/x` in radians.

Arithmetic

Command	Description
ABS(x)	Returns the absolute value of `x`.
SQRT(x)	Returns the square root of `x`.
LN(x)	Returns the natural logarithm of `x`.
LOG(x)	Returns the decimal logarithm of `x`.
EXP(x)	Returns `e` raised to the power of `x`.
ADD(x1, x2, …)	Returns the sum of all parameters.
MUL(x1, x2, …)	Returns the product of all parameters.
SUB(x, y)	Returns the difference `x-y`.
DIV(x, y)	Returns the quotient `x/y`.
MOD(x, y)	Returns the remainder of the integer division `x/y`.
EXPT(x, y)	Returns `x` raised to the power of `y`.

Arithmetic Parameters

Command	Description
rSet(index := LINT, value := LREAL)	Assigns an `R`-parameter value.
rGet(index := LINT)	Extracts an `R`-parameter value.

Bit Shift and Bit Rotation

Command	Description
SHL(x, y)	Returns the bitstring `x` shifted left by `y` bits.
SHR(x, y)	Returns the bitstring `x` shifted right by `y` bits.
ROL(x, y)	Returns the bitstring `x` rotated left by `y` bits.
ROR(x, y)	Returns the bitstring `x` rotated right by `y` bits.

Logical Operations

Command	Description
AND(x1, x2, …)	Returns the bitwise Logical And of all parameters.
OR(x1, y2, …)	Returns the bitwise Logical Or of all parameters.
XOR(x1, x2, …)	Returns the bitwise Logical Exclusive Or of all parameters.
NOT(x)	Returns the bitwise complement of `x`.

Selection (Conditional Expressions)

Command	Description
SEL(cond, x1, x2)	Returns `x1` if `cond` is `FALSE`, and `x2` otherwise.
MUX(select, x0, x1, …, xN)	Returns `x<select>`.

Min, Max and Limit

Command	Description
MAX(x1, x2, …)	Returns the maximum of all parameters.
MIN(x1, x2, …)	Returns the minimum of all parameters.
LIMIT(min, in, max)	Returns `in` if it lies in the interval `[min,max]`. Otherwise, the violated bound (`min` or `max`) is returned.

Comparison

Command	Description
GT(x, y)	Returns `TRUE` if `x` is larger than `y`.
GE(x, y)	Returns `TRUE` if `x` is not smaller than `y`.
EQ(x, y)	Returns `TRUE` if `x` and `y` are equal.
LE(x, y)	Returns `TRUE` if `x` is not larger than `y`.
LT(x, y)	Returns `TRUE` if `x` is smaller than `y`.
NE(x, y)	Returns `TRUE` if `x` and `y` are not equal.

Strings and Messages

Command	Description
toString(<arg0>, …, <argN>): STRING	Converts and concatenates the given arguments to one string.
msg(str:= String[81])	Sends the given message to the message list of TwinCAT.

Transformations

Command	Description
transRotX(angle:= LReal) transRotY(angle:= LReal) transRotZ(angle:= LReal)	Rotation around the respective axis by the given angle in the user-defined angle unit.
transRotA(x:= LReal, y:= LReal, z:= LReal, angle:= LReal)	Rotate around vector `[x,y,z]` by the given `angle`.
transMirrorX() transMirrorY() transMirrorZ()	Mirror with respect to the `X`-direction, `Y`-direction or `Z`-direction relative to the origin of the current PCS.
transScale(factor:= LReal)	Scales the coordinate system by the `factor` in the `X`-dimension, `Y`-dimension and `Z`-dimension.
transScaleAxis(axisNo := axisIndex, factor := value)	Scales the selected path axis (axisNo) by the factor.
transTranslate(x:= LReal, y:= LReal, z:= LReal)	Translate by vector `[x,y,z]`.
transPop()	Pops a transformation from the stack of transformations.
transDepth(): UInt	Yields the depth of the stack of transformations, i.e. the number of active transformations.
transRestore(depth:= UInt)	Reduces the stack of transformations to the given depth.

Movement

Command	Description
moveCircle3d(cx:= LReal, cy:= LReal, cz:= LReal, nx:= LReal, ny:= LReal, nz:= LReal, angle:= LReal, height:= LReal)	Move circular by rotating around the center `cx,cy,cz` and the normal vector `nx,ny,nz` by the given `angle`. If `height` is nonzero, a helix is described. The rotation is performed according to the right hand rule.

Centerpoint Correction

Command	Description
centerpointCorrectionSet(on:= bool)	Activates the centerpoint correction for circles. Used for circles that are defined by centerpoint programming.
centerpointCorrectionLimitSet(limit:= LReal)	Sets the precision limit for the centerpoint of circles.

Tools

Command	Description
toolParamSet(tidx:= USInt, col:= USInt, val:= LReal)	Set a parameter of the tool `tidx` (1..255) to `val`. The parameter is identified by `col` (0..15).
toolParam(tidx:= USInt, col:= USInt): LReal	Yields the given tool parameter.
toolSet(index:= USInt, nr:= Int, tooltype:= ToolType, length:= LReal, radius:= LReal, lengthAdd:= LReal, radiusAdd:= LReal, offsetX:= LReal, offsetY:= LReal, offsetZ:= LReal)	Set all parameters of a tool.
ToolType	Enumeration of tool types.

Tool Radius Compensation

Command	Description
trcApproachDepartSet(approachRadius:= LReal, approachAngle:= LReal, departRadius:= LReal, departAngle:= LReal)	Configures the approach and depart behavior to use an arc of given radius and angle.
trcOffsetSet(offset:= LReal)	Configures the amount of segment extension that is used to close gaps.
trcLimitSet(offset:= LReal)	Configures the lookahead that is used for collision elimination.
trcParam(): TrcParamType	Returns the current configuration as a structure value.
trcParamSet(param:= TrcParamType)	Configures the tool radius compensation. Summarizes `trcApproachDepartSet`, `trcOffsetSet` and `trcLimitSet`.
TrcParamType	Structure containing all configuration parameters of the tool radius compensation.
collisionElimination(nx:= LReal, ny:= LReal, nz:= LReal, limit:= ULInt)	Activates collision elimination with respect to the plane of the normal vector `nx`, `ny`, `nz`.
collisionEliminationFlush()	To ignore conflicts between the path preceding the call and the path succeeding the call.

Command	Description	Modal or Nonmodal	Default
G40	Deactivates Tool Radius Compensation (TRC).	Modal.	Default.
G41	Activates Tool Radius Compensation (TRC). Left.	Modal.	No.
G42	Activates Tool Radius Compensation (TRC). Right.	Modal.	No.

Synchronization

Command	Description
sync()	Synchronizes the interpreter with the associated NC-channel.
wait()	Waits for a `GoAhead`-signal from the PLC.

Query of Axes

Command	Description
queryAxes()	Set the MCS coordinates of the interpreter to the actual coordinates of the physical axes.

Current Point

Command	Description
frameGet(x:= LReal, y:= LReal, z:= LReal, a:= LReal, b:= LReal, c:= LReal)	Store the current frame of the PCS in `x`, `y`, `z` and `a`, `b`, `c`.
qAxisGet(q1:= LReal, q2:= LReal, q3:= LReal, q4:= LReal, q5:= LReal)	Store the current values of `Q`-axes `q1` to `q5`.

Suppression of G-Code Blocks

Command	Description
disableMask():= LWord	Yields the current value of the disable mask.
disableMaskSet(mask:= LWord)	Sets the internal disable mask to the given value.

Units

Command	Description
unitAngleSet(unitAngle:= UnitAngle)	Set the unit for angles to `unitAngle`.
UnitAngle	Enumeration of unit angles.
unitLengthSet(unitLength:= UnitLength)	Set the unit for lengths to `unitLength`.
UnitLength	Enumeration of unit lengths.
unitTimeSet(unitTime:= UnitTime)	Set the unit for time to `unitTime`.
UnitTime	Enumeration of unit times.
unitVelocitySet(unitLength:= UnitLength, unitTime:= UnitTime)	Set the unit for velocity to `unitLength/unitTime`.

Trigonometric (Unit Aware)

Command	Description
gSin(angle:= LReal)	Returns the sine of the given `angle` where the current angle unit is used to interpret the angle.
gCos(angle:= LReal)	Returns the cosine of the given `angle` where the current angle unit is used to interpret the angle.
gTan(angle:= LReal)	Returns the tangent of the given `angle` where the current angle unit is used to interpret the angle.
gASin(val:= LReal)	Returns the arc sine of `val` in the current angle unit.
gACos(val:= LReal)	Returns the arc cosine of `val` in the current angle unit.
gATan(val:= LReal)	Returns the arc tangent of `val` in the current angle unit.
gATan2(y:= LReal, x:= LReal)	Returns the arc tangent of `y/x` in the current angle unit.

Feed Mode

Command	Description
feedModeSet(feedMode:= FeedModeType)	Set the feed mode.
FeedModeType	Enumeration of feed mode types.

Feed Mode

Command	Description
feedInterpolationSet(feedInterpolation:= FeedInterpolationType)	Set feed interpolation.
FeedInterpolationType	Enumeration of feed interpolation types.

Streaming of Large G-Code Files

Command	Description
runFile(path:= string)	Executes the plain `G`-Code that is contained in the `G`-Code file given by `path`.

Vertex Smoothing

Command	Description
smoothingSet (mainType:= SmoothingMainType, subType:= SmoothingSubType, value:= LReal)	Set the vertex smoothing behavior.
SmoothingMainType	Enumeration of smoothing main types.
SmoothingSubType	Enumeration of smoothing sub types.
autoAccurateStopSet	Automatic accurate stop.

Dynamic Override

Command	Description
dynOverrideSet(value:= LReal)	Set the dynamic override of axes to the given `value`.

Programming reference

Command	Description
programmingReferenceSet	As an alternative to `G90/G91`, `programmingReferenceSet` can be used to set the dimensions of the subsequent movement commands to absolute or relative.
programmingReferenceGet	The currently active dimension for the movement commands can be read out with `programmingReferenceGet`.
ReferenceType	Enumeration of reference types.

Center Point Reference of Circles

Command	Description
circleCenterReferenceSet(value:= ReferenceType)	Sets the center reference type for circles that are programmed by `G02/G03`.
ReferenceType	Enumeration of reference types.

Dynamics Set

Command	Description
axisDynamicsSet	Change in axis dynamics.
pathDynamicsSet	Change in path dynamics.

Spline Interpolation

Command	Description
transBSpline	Spline interpolation.