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pikoCNC G-CODE

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Interprets and executes full PikoCNC G-code commands with modal state tracking, motion control, parameter handling, and error detection for CNC machining.

Install

openclaw skills install pikocnc

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

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

2. PROGRAM STRUCTURE

Start / End

% ... M30

Comments

( comment ) ; comment ' comment

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

4. UNITS

G20 – Inches

G20

G21 – Millimeters

G21

5. DWELL

G4

G4 P2

6. HOMING

G28

G28

G30

G30

7. DRILLING

G81

G98 G81 X10 Y10 Z-5 R2 F100

Cancel

G80

8. SCALING

G51

G51 I1.5 G51 I1.5 X10 Y10

9. PARAMETERS

F100 S1000

10. M-CODES

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

11. TOOL CHANGE EXECUTION

M6 triggers:

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

12. MODAL RULES

  • Motion persists
  • Feed persists
  • Units persist

Example: G1 X10 Y10 X20 Y20

13. NON-MODAL

  • I
  • J
  • R

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

15. ERROR HANDLING

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

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

17. BEST PRACTICES

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

18. IMPLEMENTATION NOTES

To build interpreter in C#:

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

SUMMARY

This file provides:

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

It can be used for:

  • CNC programming
  • G-code validation
  • Simulator development