Grbl V1.

1 Quick Reference
This is designed as an Aide Memoir for when I cannot Grbl Alarm Codes Grbl Settings
remember if $110 or $120 is the maximum rate or acceleration Code Alarm Description Setting Description
setting, what error 31 means….. If you are changing the Grbl 1 Hard limit triggered. Position Lost. $0 Step pulse, microseconds
settings please refer to other sources as well. 2 Soft limit alarm, position kept. Unlock is Safe. $1 Step idle delay, milliseconds
3 Reset while in motion. Position lost. $2 Step port invert, XYZmask*
Grbl Error Codes 4 Probe fail. Probe not in expected initial state. $3 Direction port invert, XYZmask*
Code Description 5 Probe fail. Probe did not contact the work. The direction each axis moves.
1 GCode Command letter was not found. 6 Homing fail. The active homing cycle was reset. $4 Step enable invert, (0=Disable, 1=Invert)
2 GCode Command value invalid or missing. 7 Homing fail. Door opened during homing cycle. $5 Limit pins invert, (0=N-Open. 1=N-Close)
3 Grbl '$' not recognized or supported. 8 Homing fail. Pull off failed to clear limit switch. $6 Probe pin invert, (0=N-Open. 1=N-Close)
4 Negative value for an expected positive value. 9 Homing fail. Could not find limit switch. $10 Status report, ‘?’ status. 0=WCS position, 1=Machine
5 Homing fail. Homing not enabled in settings. position, 2= plan/buffer and WCS position,
6 Min step pulse must be greater than 3usec. 3=plan/buffer and Machine position.
7 EEPROM read failed. Default values used. $11 Junction deviation, mm
Grbl Non Gcode Commands
8 Grbl '$' command Only valid when Idle. $12 Arc tolerance, mm
Command Description $13 Report in inches, (0=mm. 1=Inches)**
9 GCode commands invalid in alarm or jog state.
$$ Display Grbl Settings. $20 Soft limits, (0=Disable. 1=Enable, Homing must be
10 Soft limits require homing to be enabled.
$x=val Change Grbl Setting x to val. enabled)
11 Max characters per line exceeded. Ignored.
$# View GCode Parameters. $21 Hard limits, (0=Disable. 1=Enable)
12 Grbl '$' setting exceeds the maximum step rate.
$G View GCode parser state. $22 Homing cycle, (0=Disable. 1=Enable)
13 Safety door opened and door state initiated.
$C Toggle Check Gcode Mode $23 Homing direction invert, XYZmask* Sets which
14 Build info or start-up line > EEPROM line length
$H Run Homing Cycle corner it homes to.
15 Jog target exceeds machine travel, ignored.
$J=gcode Run Jogging Motion. $24 Homing feed, mm/min
16 Jog Cmd missing '=' or has prohibited GCode.
$X Kill Alarm Lock state. $25 Homing seek, mm/min
17 Laser mode requires PWM output.
$I View Build Info $26 Homing debounce, milliseconds
20 Unsupported or invalid GCode command.
$N View saved start up code $27 Homing pull-off, mm
21 > 1 GCode command in a modal group in block.
$Nx=line Save Start-up GCode line (x=0 or 1) There are $30 Max spindle speed, RPM
22 Feed rate has not yet been set or is undefined.
executed on a reset. $31 Min spindle speed, RPM
23 GCode command requires an integer value.
$RST=$ Restores the Grbl settings to defaults. $32 Laser mode, (0=Off, 1=On)
24 > 1 GCode command using axis words found.
$RST=# Erases G54-G59 WCS offsets and G28/30 $100 Number of X steps to move 1mm
25 Repeated GCode word found in block.
positions stored in EEPROM. $101 Number of Y steps to move 1mm
26 No axis words found in command block.
$RST=* Clear and Load all data from EEPROM. $102 Number of Z steps to move 1mm
27 Line number value is invalid.
$SLP Enable Sleep mode. $110 X Max rate, mm/min
28 GCode Cmd missing a required value word.
Ctrl-x Soft Reset $111 Y Max rate, mm/min
29 G59.x WCS are not supported.
? Status report query. $112 Z Max rate, mm/min
30 G53 only valid with G0 and G1 motion modes.
~ Cycle Start/Resume from Feed Hold, Door or $120 X Acceleration, mm/sec^2
31 Unneeded Axis words found in block.
Program pause. $121 Y Acceleration, mm/sec^2
32 G2/G3 arcs need >= 1 in-plane axis word.
! Feed Hold – Stop all motion. $122 Z Acceleration, mm/sec^2
33 Motion command target is invalid.
NOTE: There are a number of other real time commands using non $130 X Max travel, mm Only for Homing and Soft Limits.
34 Arc radius value is invalid. typeable characters. These are for developers and are not normally
35 G2/G3 arcs need >= 1 in-plane offset word. $131 Y Max travel, mm Only for Homing and Soft Limits.
used outside from the console. These control things such as feed
36 Unused value words found in block. overrides. And are not covered here. $132 Z Max travel, mm Only for Homing and Soft Limits.
37 G43.1 offset not assigned to tool length axis. * XYZmask is a value setting for the X Y and Z axes. Change if an axis is
38 Tool number greater than max value. moving in the wrong direction. Value will be 0-7.
** Reporting units are independent of the units set in the Gcode!

Version 1.0 September 2021 by Graham Bland

Grbl V1.1 Quick Reference
Grbl Supported GCodes Grbl Supported GCodes Grbl Gcode Parameters
Code Description Code Description Letter Description
F Set Feed rate in Units/min (See G20/G21). Exact Path mode. Grbl does not support any other XYZ Distances or positions on the X Y Z axes.
G61 modes.
A Rapid positioning move at the Rapid Feed IJK Distances or positions for G2 and G3 Arcs.
G0 Canned Cycle Cancel. Grbl does not support any of
Rate. In Laser mode Laser will be turned off. Correspond to the Z Y X axis respectively. These
A Cutting move in a straight line. At the Current G80 the canned cycle modes which this cancels so it does are always incremental coordinates regardless of
G1 nothing.
F rate. G90/G91
G2 Cut a Clockwise arc. All distances and positions are Absolute values L Loop Cycle Count, supported but not used.
G90
from the current origin. N Line Number, supported but not used.
G3 Cut an Anti-Clockwise arc.
All distances and positions are Relative values R Arc radius for G2 and G3.
Pause command execution for the time in Pnnn. G91
P specifies the time in seconds. Other systems use from the current position.
G4 P Multi-purpose parameter depends on command it
milliseconds as the pause time, if used unchanged this G91.1 Sets Arc incremental position mode is used in.
can result in VERY long pauses. Sets the current coordinate point, used to set an T Tool selection, not used.
Sets the offset for a saved origin using absolute G92 origin point of zero, commonly known as the
G10L2 NOTE: All parameters must be followed by a number.
machine coordinates. home position.
As G10 L2 but the XYZ parameters are offsets Reset any G92 offsets in effect to zero and zero
G10L20 G92.1 Grbl States
from the current position. any saved values
G17 Draw Arcs in the XY plane, default. State Description
G93 Inverse time motion mode.
Alarm Homing enabled but homing cycle not run or
G18 Draw Arcs in the ZX plane. G94 Units/min mode at the current F rate. error has been detected such as limit switch
G19 Draw Arcs in the YZ plane. M0 Pause. activated. Home or unlock to resume.
G20 All distances and positions are in Inches As M0 but only pauses if an optional stop switch
M1 Idle Waiting for any command.
G21 All distances and positions are in mm is on. Jog Performing jog motion, no new commands until
Go to safe position. NOTE: If you have not run a Program End, turn off spindle/laser and stops
G28 M2 complete, except Jog commands.
homing cycle and have set the safe position this is
the machine. Homing Performing a homing cycle, won’t accept new
very ‘unsafe’ to use.
Start spindle clockwise. In Laser mode sets commands until complete.
Set Safe position using absolute machine M3
G28.1 Constant power. Check Check mode is enabled; all commands accepted
coordinates.
G30 Go to the saved G30 position. M4 As M3, In Laser Mode sets Dynamic power. but will only be parsed, not executed.
Set Predefined position using absolute machine M5 Stop the Spindle Cycle Running GCode commands, all commands
coordinates, a rapid G0 move to that position M8 Coolant on as a flood. (Same as M7) accepted, will go to Idle when commands are
G30.1 complete.
will be performed before the coordinates are M9 Coolant off.
saved. Hold Pause is in operation, resume to continue.
M30 Same as M2.
G38.2 Probe towards the stock, error on a failure. Safety The safety door switch has been activated,
S Set Spindle speed in RPM or Laser Power.
Door similar to a Hold but will resume on closing the
G38.3 As G38.2, no error on failure
NOTE: Codes can contain leading zeros, G0 and G00 are the same. door. You probably don’t have a safety door on
As G38.2 but move away, stop on a loss of There are loads more GCodes, these are the ones Grbl supports.
G38.4 your machine!
contact. A lot of commands are Modal meaning they are remembered and
G38.5 As G38.4, no error on failure. applied to subsequent commands. For example, G0 X1 followed by Z5
Sleep Sleep command has been received and
Cutter Compensation off. Grbl does not support remembers the G0 Mode and applies it to the Z5. S is modal, executed, sometimes used at the end of a job.
G40 remembered from the last command. Two commands in the same Reset or power cycle to continue.
cutter compensation.
Dynamic Tool length offset, offsets Z end of tool modal group cannot be on the same line.
G43.1 For more information and details please refer to my
position for subsequent moves.
‘Introduction to CNC for a Total Novice’ series in the files
G49 Cancel Tool length Offset.
G53 Use machine coordinates in this command. section of the Facebook group ‘SainSmart Genmitsu CNC
G54 Activate the relevant saved origin. Users Group’ or the Official documentation at
G55-59 As G54, activates a different saved position https://github.com/grbl/grbl.

Version 1.0 September 2021 by Graham Bland