G-code

G-code (also RS-274) is the most widely used computer numerical control (CNC) programming
language. It is used mainly in computer-aided manufacturing to control automated machine tools,
and has many variants.

G-code instructions are provided to a machine controller (industrial computer) that tells the motors
where to move, how fast to move, and what path to follow. The two most common situations are
that, within a machine tool such as a lathe or mill, a cutting tool is moved according to these
instructions through a toolpath cutting away material to leave only the finished workpiece and/or
an unfinished workpiece is precisely positioned in any of up to nine axes[1] around the three
dimensions relative to a toolpath and, either or both can move relative to each other. The same
concept also extends to noncutting tools such as forming or burnishing tools, photoplotting,
additive methods such as 3D printing, and measuring instruments.

Implementations
The first implementation of a numerical control programming language was developed at the MIT
Servomechanisms Laboratory in the late 1950s. In the decades since, many implementations have
been developed by many (commercial and noncommercial) organizations. G-code has often been
used in these implementations. The main standardized version used in the United States was settled
by the Electronic Industries Alliance in the early 1960s. A final revision was approved in February
1980 as RS-274-D. In other countries, the standard ISO 6983 is often used, but many European
countries use other standards. For example, DIN 66025 is used in Germany, and PN-73M-55256
and PN-93/M-55251 were formerly used in Poland.

Extensions and variations have been added independently by control manufacturers and machine
tool manufacturers, and operators of a specific controller must be aware of differences of each
manufacturer's product.

One standardized version of G-code, known as BCL (Binary Cutter Language), is used only on
very few machines. Developed at MIT, BCL was developed to control CNC machines in terms of
straight lines and arcs.

During the 1970s through 1990s, many CNC machine tool builders attempted to overcome
compatibility difficulties by standardizing on machine tool controllers built by Fanuc. Siemens
was another market dominator in CNC controls, especially in Europe. In the 2010s, controller
differences and incompatibility are not as troublesome because machining operations are usually
developed with CAD/CAM applications that can output the appropriate G-code for a specific
machine through a software tool called a post-processor (sometimes shortened to just a "post").

Some CNC machines use "conversational" programming, which is a wizard-like programming

mode that either hides G-code or completely bypasses the use of G-code. Some popular examples
are Okuma's Advanced One Touch (AOT), Southwestern Industries' ProtoTRAK, Mazak's
Mazatrol, Hurco's Ultimax and Winmax, Haas' Intuitive Programming System (IPS), and Mori
Seiki's CAPS conversational software.

G-code began as a limited language that lacked constructs such as loops, conditional operators,
and programmer-declared variables with natural-word-including names (or the expressions in
which to use them). It was unable to encode logic, but was just a way to "connect the dots" where
the programmer figured out many of the dots' locations longhand. The latest implementations of
G-code include macro language capabilities somewhat closer to a high-level programming
language. Additionally, all primary manufacturers (e.g., Fanuc, Siemens, Heidenhain) provide
access to programmable logic controller (PLC) data, such as axis positioning data and tool data,
via variables used by NC programs. These constructs make it easier to develop automation
applications.

Specific codes
G-codes, also called preparatory codes, are any word in a CNC program that begins with the letter
G. Generally it is a code telling the machine tool what type of action to perform, such as:

 Rapid movement (transport the tool as quickly as possible in between cuts)

 Controlled feed in a straight line or arc
 Series of controlled feed movements that would result in a hole being bored, a workpiece
cut (routed) to a specific dimension, or a profile (contour) shape added to the edge of a
workpiece
 Set tool information such as offset
 Switch coordinate systems

There are other codes; the type codes can be thought of like registers in a computer.

It has been pointed out over the years that the term "G-code" is imprecise because "G" is only one
of many letter addresses in the complete language. It comes from the literal sense of the term,
referring to one letter address and to the specific codes that can be formed with it (for example,
G00, G01, G28), but every letter of the English alphabet is used somewhere in the language.
Nevertheless, "G-code" is metonymically established as the common name of the language.

Letter addresses

Some letter addresses are used only in milling or only in turning; most are used in both. Bold
below are the letters seen most frequently throughout a program.

Variable Description Corollary info

A Absolute or incremental
Positive rotation is defined as a counterclockwise
position of A axis (rotational
rotation looking from X positive towards X negative.
axis around X axis)
B Absolute or incremental
position of B axis (rotational
axis around Y axis)
C Absolute or incremental
position of C axis (rotational
axis around Z axis)
D Defines diameter or radial
offset used for cutter
compensation. D is used for G41: left cutter compensation, G42: right cutter
depth of cut on lathes. It is compensation
used for aperture selection and
commands on photoplotters.
E Precision feedrate for
threading on lathes
F Common units are distance per time for mills (inches
per minute, IPM, or millimeters per minute, mm/min)
Defines feed rate and distance per revolution for lathes (inches per
revolution, IPR, or millimeters per revolution,
mm/rev)
G G commands often tell the control what kind of
Address for preparatory
motion is wanted (e.g., rapid positioning, linear feed,
commands
circular feed, fixed cycle) or what offset value to use.
H Defines tool length offset;
Incremental axis G43: Negative tool length compensation, G44:
corresponding to C axis (e.g., Positive tool length compensation
on a turn-mill)
I Defines arc center in X axis
for G02 or G03 arc The arc center is the relative distance from the current
commands. position to the arc center, not the absolute distance
Also used as a parameter from the work coordinate system (WCS).
within some fixed cycles.
J Defines arc center in Y axis
for G02 or G03 arc
commands. Same corollary info as I above.
Also used as a parameter
within some fixed cycles.
K Defines arc center in Z axis
for G02 or G03 arc
commands.
Same corollary info as I above.
Also used as a parameter
within some fixed cycles,
equal to L address.
L Fixed cycle loop count: Defines number of repetitions
("loops") of a fixed cycle at each position. Assumed to
be 1 unless programmed with another integer.
Fixed cycle loop count; Sometimes the K address is used instead of L. With
Specification of what register incremental positioning (G91), a series of equally
to edit using G10 spaced holes can be programmed as a loop rather than
as individual positions.
G10 use: Specification of what register to edit (work
offsets, tool radius offsets, tool length offsets, etc.).
M Action code, auxiliary command; descriptions vary.
Many M-codes call for machine functions, which is
Miscellaneous function
why people often say that the "M" stands for
"machine", although it was not intended to.
N Line (block) numbers: Optional, so often omitted.
Necessary for certain tasks, such as M99 P address (to
tell the control which block of the program to return to
Line (block) number in if not the default) or GoTo statements (if the control
program; supports those). N numbering need not increment by 1
System parameter number to (for example, it can increment by 10, 20, or 1000) and
change using G10 can be used on every block or only in certain spots
throughout a program.
System parameter number: G10 allows changing of
system parameters under program control.[8]
O For example, O4501. For many years it was common
for CNC control displays to use slashed zero glyphs to
Program name ensure effortless distinction of letter "O" from digit
"0". Today's GUI controls often have a choice of
fonts, like a PC does.
P  With G04, defines dwell time value.
 Also serves as a parameter in some canned
cycles, representing dwell times or other
variables.
Serves as parameter address  Also used in the calling and termination of
for various G and M codes subprograms. (With M98, it specifies which
subprogram to call; with M99, it specifies
which block number of the main program to
return to.)

Q Peck increment in canned

For example, G73, G83 (peck drilling cycles)
cycles
R For radii, not all controls support the R address for
Defines size of arc radius, or
G02 and G03, in which case IJK vectors are used. For
defines retract height in
retract height, the "R level", as it's called, is returned
milling canned cycles
to if G99 is programmed.
S Data type = integer. In G97 mode (which is usually
the default), an integer after S is interpreted as a
number of rev/min (rpm). In G96 mode (Constant
Defines speed, either spindle Surface Speed or CSS), an integer after S is
speed or surface speed interpreted as surface speed—sfm (G20) or m/min
depending on mode (G21). See also Speeds and feeds. On multifunction
(turn-mill or mill-turn) machines, which spindle gets
the input (main spindle or subspindles) is determined
by other M codes.
T To understand how the T address works and how it
interacts (or not) with M06, one must study the
various methods, such as lathe turret programming,
ATC (Automatic Tool Change, set by M06) fixed tool
Tool selection
selection, ATC random memory tool selection, the
concept of "next tool waiting", and empty tools.[5]
Programming on any particular machine tool requires
knowing which method that machine uses.[5]
U Incremental axis
corresponding to X axis
(typically only lathe group A In these controls, X and U obviate G90 and G91,
controls) respectively. On these lathes, G90 is instead a fixed
Also defines dwell time on cycle address for roughing.
some machines (instead of "P"
or "X").
V Until the 2000s, the V address was very rarely used
because most lathes that used U and W didn't have a
Y-axis, so they didn't use V. (Green et al. 1996[7] did
Incremental axis not even list V in their table of addresses.) That is still
corresponding to Y axis often the case, although the proliferation of live lathe
tooling and turn-mill machining has made V address
usage less rare than it used to be (Smid 2008[5] shows
an example). See also G18.
W Incremental axis
In these controls, Z and W obviate G90 and G91,
corresponding to Z axis
respectively. On these lathes, G90 is instead a fixed
(typically only lathe group A
cycle address for roughing.
controls)
X Absolute or incremental
position of X axis.
Also defines dwell time on
some machines (instead of "P"
or "U").
Y Absolute or incremental
position of Y axis
Z Absolute or incremental The main spindle's axis of rotation often determines
position of Z axis which axis of a machine tool is labeled as Z.
List of G-codes commonly found on FANUC and similarly designed controls for
milling and turning
Note: Modal means a code stays in effect until replaced, or cancelled, by another permitted code. Non-
Modal means it executes only once. See, for example, codes G09, G61 & G64 below.

Milling Turning
Code Description Corollary info
(M) (T)
G00 On 2- or 3-axis moves, G00
(unlike G01) traditionally
does not necessarily move in
a single straight line between
start point and endpoint. It
moves each axis at its max
speed until its vector quantity
is achieved. A shorter vector
usually finishes first (given
similar axis speeds). This
Rapid positioning M T matters because it may yield
a dog-leg or hockey-stick
motion, which the
programmer needs to
consider, depending on what
obstacles are nearby, to avoid
a crash. Some machines offer
interpolated rapids as a
feature for ease of
programming (safe to assume
a straight line).
G01 The most common workhorse
code for feeding during a cut.
The program specs the start
and endpoints, and the
control automatically
calculates (interpolates) the
intermediate points to pass
through that yield a straight
Linear interpolation M T line (hence "linear"). The
control then calculates the
angular velocities at which to
turn the axis leadscrews via
their servomotors or stepper
motors. The computer
performs thousands of
calculations per second, and
the motors react quickly to
 each input. Thus the actual
toolpath of the machining
takes place with the given
feed rate on a path that is
accurately linear to within
very small limits.
G02 Very similar in concept to
G01. Again, the control
interpolates intermediate
points and commands the
servo- or stepper motors to
rotate the amount needed for
the leadscrew to translate the
motion to the correct tooltip
positioning. This process
repeated thousands of times
per minute generates the
desired toolpath. In the case
of G02, the interpolation
generates a circle rather than
a line. As with G01, the
actual toolpath of the
machining takes place with
the given feed rate on a path
that accurately matches the
ideal (in G02's case, a circle)
Circular interpolation, clockwise M T
to within very small limits. In
fact, the interpolation is so
precise (when all conditions
are correct) that milling an
interpolated circle can
obviate operations such as
drilling, and often even find
boring. Addresses for radius
or arc center: G02 and G03
take either an R address (for
the radius desired on the part)
or IJK addresses (for the
component vectors that
define the vector from the arc
start point to the arc center
point). Cutter comp: On
most controls you cannot
start G41 or G42 in G02 or
G03 modes. You must
already have compensated in
 an earlier G01 block. Often, a
short linear lead-in
movement is programmed,
merely to allow cutter
compensation before the
main action, the circle-cutting
begins. Full circles: When
the arc start point and the arc
endpoint are identical, the
tool cuts a 360° arc (a full
circle). (Some older controls
do not support this because
arcs cannot cross between
quadrants of the cartesian
system. Instead, they require
four quarter-circle arcs
programmed back-to-back.)
G03 Circular interpolation, Same corollary info as for
M T
counterclockwise G02.
G04 Takes an address for dwell
period (may be X, U, or P).
The dwell period is specified
by a control parameter,
typically set to milliseconds.
Some machines can accept
either X1.0 (s) or P1000
(ms), which are equivalent.
Choosing dwell duration:
Often the dwell needs only to
last one or two full spindle
rotations. This is typically
Dwell M T much less than one second.
Be aware when choosing a
duration value that a long
dwell is a waste of cycle
time. In some situations, it
won't matter, but for high-
volume repetitive production
(over thousands of cycles), it
is worth calculating that
perhaps you only need 100
ms, and you can call it 200 to
be safe, but 1000 is just a
waste (too long).
G05 High-precision contour control Uses a deep look-ahead
M
P10000 (HPCC) buffer and simulation
 processing to provide better
axis movement acceleration
and deceleration during
contour milling
G05.1 Uses a deep look-ahead
Q1. buffer and simulation
processing to provide better
AI Advanced Preview Control M
axis movement acceleration
and deceleration during
contour milling
G06.1 Activates Non-Uniform
Rational B Spline for
Non-uniform rational B-spline complex curve and waveform
M
(NURBS) Machining machining (this code is
confirmed in Mazatrol 640M
ISO Programming)
G07 Imaginary axis designation M
G09 Exact stop check, non-modal M T The modal version is G61.
G10 Modifies the value of work
Programmable data input M T
coordinate and tool offsets
G11 Data write cancel M T
G17 XY plane selection M
G18 ZX plane selection M T
G19 YZ plane selection M
G20 Somewhat uncommon except
in USA and (to lesser extent)
Canada and UK. However, in
the global marketplace,
competence with both G20
and G21 always stands some
chance of being necessary at
any time. The usual
minimum increment in G20
Programming in inches M T is one ten-thousandth of an
inch (0.0001"), which is a
larger distance than the usual
minimum increment in G21
(one thousandth of a
millimeter, .001 mm, that is,
one micrometre). This
physical difference
sometimes favors G21
programming.
G21 Prevalent worldwide.
However, in the global
marketplace, competence
Programming in millimeters (mm) M T
with both G20 and G21
always stands some chance of
being necessary at any time.
G28 Takes X Y Z addresses which
define the intermediate point
that the tool tip will pass
Return to home position (machine through on its way home to
M T
zero, aka machine reference point) machine zero. They are in
terms of part zero (aka
program zero), NOT machine
zero.
G30 Takes a P address specifying
which machine zero point to
use if the machine has several
secondary points (P1 to P4).
Takes X Y Z addresses that
Return to secondary home position
define the intermediate point
(machine zero, aka machine M T
that the tooltip passes through
reference point)
on its way home to machine
zero. These are expressed in
terms of part zero (aka
program zero), NOT machine
zero.
G31 Used for probes and tool
Feed until skip function M
length measurement systems.
G32 Similar to G01 linear
Single-point threading, longhand interpolation, except with
style (if not using a cycle, e.g., T automatic spindle
G76) synchronization for single-
point threading.
G33 Constant-pitch threading M
G33 Single-point threading, longhand Some lathe controls assign
style (if not using a cycle, e.g., T this mode to G33 rather than
G76) G32.
G34 Variable-pitch threading M
G40 Turn off cutter radius
Tool radius compensation off M T compensation (CRC).
Cancels G41 or G42.
G41 Turn on cutter radius
Tool radius compensation left M T compensation (CRC), left, for
climb milling.
Milling: Given righthand-
helix cutter and M03 spindle
direction, G41 corresponds to
climb milling (down milling).
Takes an address (D or H)
that calls an offset register
value for radius.
Turning: Often needs no D
or H address on lathes,
because whatever tool is
active automatically calls its
geometry offsets with it.
(Each turret station is bound
to its geometry offset
register.)

G41 and G42 for milling

have been partially
automated and obviated
(although not completely)
since CAM programming has
become more common. CAM
systems let the user program
as if using a zero-diameter
cutter. The fundamental
concept of cutter radius
compensation is still in play
(i.e., that the surface
produced will be distance R
away from the cutter center),
but the programming mindset
is different. The human does
not choreograph the toolpath
with conscious, painstaking
attention to G41, G42, and
G40, because the CAM
software takes care of that.
The software has various
CRC mode selections, such
as computer, control, wear,
reverse wear, off, some of
which do not use G41/G42 at
all (good for roughing, or
wide finish tolerances), and
others that use it so that the
wear offset can still be
 tweaked at the machine
(better for tight finish
tolerances).
G42 Turn on cutter radius
compensation (CRC), right,
for conventional milling.
Similar corollary info as for
Tool radius compensation right M T G41. Given righthand-helix
cutter and M03 spindle
direction, G42 corresponds to
conventional milling (up
milling).
G43 Takes an address, usually H,
to call the tool length offset
register value. The value is
Tool height offset compensation negative because it will be
M
negative added to the gauge line
position. G43 is the
commonly used version (vs
G44).
G44 Takes an address, usually H,
to call the tool length offset
register value. The value is
Tool height offset compensation positive because it will be
M
positive subtracted from the gauge
line position. G44 is the
seldom-used version (vs
G43).
G45 Axis offset single increase M
G46 Axis offset single decrease M
G47 Axis offset double increase M
G48 Axis offset double decrease M
G49 Tool length offset compensation
M Cancels G43 or G44.
cancel
G50 Takes an S address integer,
which is interpreted as rpm.
Without this feature, G96
mode (CSS) would rev the
Define the maximum spindle speed T
spindle to "wide open
throttle" when closely
approaching the axis of
rotation.
G50 Scaling function cancel M
G50 Position register is one of the
original methods to relate the
part (program) coordinate
system to the tool position,
which indirectly relates it to
the machine coordinate
system, the only position the
control really "knows". Not
commonly programmed
anymore because G54 to G59
(WCSs) are a better, newer
method. Called via G50 for
turning, G92 for milling.
Those G addresses also have
Position register (programming of alternate meanings (which
T
vector from part zero to tooltip) see). Position register can
still be useful for datum shift
programming. The "manual
absolute" switch, which has
very few useful applications
in WCS contexts, was more
useful in position register
contexts because it allowed
the operator to move the tool
to a certain distance from the
part (for example, by
touching off a 2.0000" gage)
and then declare to the
control what the distance-to-
go shall be (2.0000).
G52 Temporarily shifts program
zero to a new location. It is
simply "an offset from an
offset", that is, an additional
offset added onto the WCS
offset. This simplifies
programming in some cases.
The typical example is
Local coordinate system (LCS) M
moving from part to part in a
multipart setup. With G54
active, G52 X140.0 Y170.0
shifts program zero 140 mm
over in X and 170 mm over
in Y. When the part "over
there" is done, G52 X0 Y0
returns program zero to
 normal G54 (by reducing
G52 offset to nothing). The
same result can also be
achieved (1) using multiple
WCS origins,
G54/G55/G56/G57/G58/G59;
(2) on newer controls, G54.1
P1/P2/P3/etc. (all the way up
to P48); or (3) using G10 for
programmable data input, in
which the program can write
new offset values to the
offset registers.[8] The method
to use depends on the shop-
specific application.
G53 Takes absolute coordinates
(X,Y,Z,A,B,C) with
reference to machine zero
rather than program zero.
Can be helpful for tool
changes. Nonmodal and
Machine coordinate system M T
absolute only. Subsequent
blocks are interpreted from
the previously selected Work
Coordinate System, G54 to
G59, even if it is not
explicitly programmed.
G54 to Have largely replaced
G59 position register (G50 and
G92). Each tuple of axis
offsets relates program zero
Work coordinate systems (WCSs) M T directly to machine zero.
Standard is 6 tuples (G54 to
G59), with optional
extensibility to 48 more via
G54.1 P1 to P48.
G54.1 P1 Up to 48 more WCSs besides
to P48 the 6 provided as standard by
G54 to G59. Note floating-
point extension of G-code
data type (formerly all
Extended work coordinate systems M T
integers). Other examples
have also evolved (e.g.,
G84.2). Modern controls
have the hardware to handle
it.
G61 Can be canceled with G64.
Exact stop check, modal M T The non-modal version is
G09.
G62 Automatic corner override M T
G64 Default cutting mode (cancel exact
M T Cancels G61.
stop check mode)
G68 Rotates coordinate system in
the current plane given with
G17, G18, or G19. Center of
rotation is given with two
parameters, which vary with
each vendor's
implementation. Rotate with
angle given with argument R.
Rotate coordinate system M
This can be used, for
instance, to align the
coordinate system with a
misaligned part. It can also be
used to repeat movement
sequences around a center.
Not all vendors support
coordinate system rotation.
G69 Turn off coordinate system rotation M Cancels G68.
G70 Fixed cycle, multiple repetitive
cycle, for finishing (including T
contours)
G71 Fixed cycle, multiple repetitive
cycle, for roughing (Z-axis T
emphasis)
G72 Fixed cycle, multiple repetitive
cycle, for roughing (X-axis T
emphasis)
G73 Fixed cycle, multiple repetitive
cycle, for roughing, with pattern T
repetition
G73 Retracts only as far as a
clearance increment (system
Peck drilling cycle for milling –
parameter). For when
high-speed (NO full retraction from M
chipbreaking is the main
pecks)
concern, but chip clogging of
flutes is not. Compare G83.
G74 Peck drilling cycle for turning T
G74 Tapping cycle for milling, lefthand
M See notes at G84.
thread, M04 spindle direction
G75 Peck grooving cycle for turning T
G76 Includes OSS and shift
(oriented spindle stop and
Fine boring cycle for milling M
shift tool off centerline for
retraction)
G76 Threading cycle for turning,
T
multiple repetitive cycle
G80 Milling: Cancels all cycles
such as G73, G81, G83, etc.
Z-axis returns either to Z-
initial level or R level, as
programmed (G98 or G99,
Cancel canned cycle M T respectively).
Turning: Usually not needed
on lathes, because a new
group-1 G address (G00 to
G03) cancels whatever cycle
was active.
G81 Simple drilling cycle M No dwell built in
G82 Dwells at hole bottom (Z-
depth) for the number of
milliseconds specified by the
P address. Good for when
hole bottom finish matters.
Drilling cycle with dwell M
Good for spot drilling
because the divot is certain to
clean up evenly. Consider the
"choosing dwell duration"
note at G04.
G83 Returns to R-level after each
Peck drilling cycle (full retraction
M peck. Good for clearing flutes
from pecks)
of chips. Compare G73.
G84 G74 and G84 are the
righthand and lefthand "pair"
for old-school tapping with a
Tapping cycle, righthand thread,
M non-rigid toolholder
M03 spindle direction
("tapping head" style).
Compare the rigid tapping
"pair", G84.2 and G84.3.
G84.2 See notes at G84. Rigid
tapping synchronizes speed
Tapping cycle, righthand thread,
and feeds according to the
M03 spindle direction, rigid M
desired thread helix. That is,
toolholder
it synchronizes degrees of
spindle rotation with microns
 of axial travel. Therefore, it
can use a rigid tool holder to
hold the tap. This feature is
not available on old machines
or newer low-end machines,
which must use "tapping
head" motion (G74/G84).
G84.3 Tapping cycle, lefthand thread,
M04 spindle direction, rigid M See notes at G84 and G84.2.
toolholder
G85  Good cycle for a
reamer.
 In some cases good
for single-point
boring tool, although
in other cases the lack
of depth of cut on the
boring cycle, feed in/feed out M way back out is bad
for surface finish, in
which case, G76
(OSS/shift) can be
used instead.
 If need dwell at hole
bottom, see G89.

G86 Boring tool leaves a slight

score mark on the way back
boring cycle, feed in/spindle out. Appropriate cycle for
M
stop/rapid out some applications; for others,
G76 (OSS/shift) can be used
instead.
G87 For backboring. Returns to
initial level only (G98); this
cycle cannot use G99 because
boring cycle, backboring M
its R level is on the far side of
the part, away from the
spindle headstock.
G88 boring cycle, feed in/spindle
M
stop/manual operation
G89 G89 is like G85 but with
boring cycle, feed in/dwell/feed out M dwell added at bottom of
hole.
G90 Positioning defined with
Absolute programming M T (B) reference to part zero.
Milling: Always as above.
 Turning: Sometimes as
above (Fanuc group type B
and similarly designed), but
on most lathes (Fanuc group
type A and similarly
designed), G90/G91 are not
used for absolute/incremental
modes. Instead, U and W are
the incremental addresses and
X and Z are the absolute
addresses. On these lathes,
G90 is instead a fixed cycle
address for roughing.
G90 When not serving for
Fixed cycle, simple cycle, for
T (A) absolute programming
roughing (Z-axis emphasis)
(above)
G90.1 I, J, K positioning defined
Absolute arc programming M
with reference to part zero.
G91 Positioning defined with
reference to previous
position.
Milling: Always as above.
Turning: Sometimes as
above (Fanuc group type B
and similarly designed), but
on most lathes (Fanuc group
Incremental programming M T (B) type A and similarly
designed), G90/G91 are not
used for absolute/incremental
modes. Instead, U and W are
the incremental addresses and
X and Z are the absolute
addresses. On these lathes,
G90 is a fixed cycle address
for roughing.
G91.1 I, J, K positioning defined
Incremental arc programming M with reference to previous
position.
G92 Same corollary info as at G50
position register.
Milling: Always as above.
Position register (programming of
M T (B) Turning: Sometimes as
vector from part zero to tool tip)
above (Fanuc group type B
and similarly designed), but
on most lathes (Fanuc group
 type A and similarly
designed), position register is
G50.
G92 Threading cycle, simple cycle T (A)
G94 On group type A lathes,
Feedrate per minute M T (B)
feedrate per minute is G98.
G94 Fixed cycle, simple cycle, for When not serving for feedrate
T (A)
roughing (X-axis emphasis) per minute (above)
G95 On group type A lathes,
Feedrate per revolution M T (B) feedrate per revolution is
G99.
G96 Varies spindle speed
automatically to achieve a
constant surface speed. See
speeds and feeds. Takes an S
Constant surface speed (CSS) T
address integer, which is
interpreted as sfm in G20
mode or as m/min in G21
mode.
G97 Takes an S address integer,
which is interpreted as
rev/min (rpm). The default
Constant spindle speed M T
speed mode per system
parameter if no mode is
programmed.
G98 Return to initial Z level in canned
M
cycle
G98 Feedrate per minute is G94
Feedrate per minute (group type A) T (A)
on group type B.
G99 Return to R level in canned cycle M
G99 Feedrate per revolution (group type Feedrate per revolution is
T (A)
A) G95 on group type B.
G100 Tool length measurement M

List of M-codes commonly found on FANUC and similarly designed controls for
milling and turning

Some older controls require M codes to be in separate blocks (that is, not on the same line).

Milling Turning
Code Description Corollary info
(M) (T)
M00 Non-optional—machine always stops on
Compulsory stop M T
reaching M00 in the program execution.
M01 Machine only stops at M01 if operator pushes
Optional stop M T
the optional stop button.
M02 Program ends; execution may or may not return
to program top (depending on the control); may
or may not reset register values. M02 was the
original program-end code, now considered
End of program M T obsolete, but still supported for backward
compatibility.[10] Many modern controls treat
M02 as equivalent to M30.[10] See M30 for
additional discussion of control status upon
executing M02 or M30.
M03 The speed of the spindle is determined by the
address S, in either revolutions per minute
(G97 mode; default) or surface feet per minute
or [surface] meters per minute (G96 mode
[CSS] under either G20 or G21). The right-
hand rule can be used to determine which
direction is clockwise and which direction is
Spindle on counter-clockwise.
M T
(clockwise rotation)
Right-hand-helix screws moving in the
tightening direction (and right-hand-helix flutes
spinning in the cutting direction) are defined as
moving in the M03 direction, and are labeled
"clockwise" by convention. The M03 direction
is always M03 regardless of the local vantage
point and local CW/CCW distinction.
M04 Spindle on
(counterclockwise M T See comment above at M03.
rotation)
M05 Spindle stop M T
M06 Many lathes do not use M06 because the T
address itself indexes the turret.
Programming on any particular machine tool
requires knowing which method that machine
uses. To understand how the T address works
Automatic tool T (some-
M and how it interacts (or not) with M06, one
change (ATC) times)
must study the various methods, such as lathe
turret programming, ATC fixed tool selection,
ATC random memory tool selection, the
concept of "next tool waiting", and empty
tools.[5]
M07 Coolant on (mist) M T
M08 Coolant on (flood) M T
M09 Coolant off M T
M10 Pallet clamp on M For machining centers with pallet changers
M11 Pallet clamp off M For machining centers with pallet changers
M13 This one M-code does the work of both M03
Spindle on
and M08. It is not unusual for specific machine
(clockwise rotation)
M models to have such combined commands,
and coolant on
which make for shorter, more quickly written
(flood)
programs.
M19 Spindle orientation is more often called within
cycles (automatically) or during setup
(manually), but it is also available under
program control via M19. The abbreviation
OSS (oriented spindle stop) may be seen in
reference to an oriented stop within cycles.

The relevance of spindle orientation has

increased as technology has advanced.
Although 4- and 5-axis contour milling and
CNC single-pointing have depended on spindle
position encoders for decades, before the
advent of widespread live tooling and mill-
turn/turn-mill systems, it was not as often
relevant in "regular" (non-"special") machining
for the operator (as opposed to the machine) to
know the angular orientation of a spindle as it
Spindle orientation M T
is today, except in certain contexts (such as tool
change, or G76 fine boring cycles with
choreographed tool retraction). Most milling of
features indexed around a turned workpiece
was accomplished with separate operations on
indexing head setups; in a sense, indexing
heads were originally invented as separate
pieces of equipment, to be used in separate
operations, which could provide precise spindle
orientation in a world where it otherwise
mostly didn't exist (and didn't need to). But as
CAD/CAM and multiaxis CNC machining with
multiple rotary-cutter axes becomes the norm,
even for "regular" (non-"special") applications,
machinists now frequently care about stepping
just about any spindle through its 360° with
precision.
M21 Mirror, X-axis M
M21 Tailstock forward T
M22 Mirror, Y-axis M
M22 Tailstock backward T
M23 Mirror OFF M
Thread gradual
M23 T
pullout ON
M24 Thread gradual
T
pullout OFF
M30 Today, M30 is considered the standard
program-end code, and returns execution to the
top of the program. Most controls also still
support the original program-end code, M02,
usually by treating it as equivalent to M30.
Additional info: Compare M02 with M30.
First, M02 was created, in the days when the
punched tape was expected to be short enough
End of program, with
M T to splice into a continuous loop (which is why
return to program top
on old controls, M02 triggered no tape
rewinding). The other program-end code, M30,
was added later to accommodate longer
punched tapes, which were wound on a reel and
thus needed rewinding before another cycle
could start. On many newer controls, there is
no longer a difference in how the codes are
executed—both act like M30.
M41 Gear select – gear 1 T
M42 Gear select – gear 2 T
M43 Gear select – gear 3 T
M44 Gear select – gear 4 T
M48 Feedrate override
M T MFO (manual feedrate override)
allowed
M49 Prevent MFO (manual feedrate override). This
rule is also usually called (automatically)
within tapping cycles or single-point threading
Feedrate override cycles, where feed is precisely correlated to
M T
NOT allowed speed. Same with SSO (spindle speed override)
and feed hold button. Some controls are
capable of providing SSO and MFO during
threading.
M52 Unload Last tool
M T Also empty spindle.
from spindle
M60 Automatic pallet
M For machining centers with pallet changers
change (APC)
M98 Takes an address P to specify which
Subprogram call M T subprogram to call, for example, "M98 P8979"
calls subprogram O8979.
M99 Usually placed at end of subprogram, where it
returns execution control to the main program.
The default is that control returns to the block
following the M98 call in the main program.
Subprogram end M T Return to a different block number can be
specified by a P address. M99 can also be used
in main program with block skip for endless
loop of main program on bar work on lathes
(until operator toggles block skip).
Some 3d printers have a predefined routine for
wiping the extruder nozzle in the X and Y
M100 Clean Nozzle
direction often against a flexible scraper
mounted to the dump area.

Example program
This is a generic program that demonstrates the use of G-Code to turn a part that is 1" diameter
by 1" long. Assume that a bar of material is in the machine and that the bar is slightly oversized
in length and diameter and that the bar protrudes by more than 1" from the face of the chuck.
(Caution: This is generic, it might not work on any real machine! Pay particular attention to point
5 below.)

Block / Code Description

Signals start of data during file transfer. Originally used to stop tape
rewind, not necessarily start of the program. For some controls
%
(FANUC) the first LF (EOB) is the start of the program. ISO uses %,
EIA uses ER (0x0B).
O4968
(OPTIONAL PROGRAM
DESCRIPTION OR
Sample face and turn program. Comments are enclosed in parentheses.
COMMENT)
N01 M216 Turn on load monitor
Inch units. Absolute mode. Activate work offset. Activate tool offset.
Deactivate tool nose radius compensation.
Significance: This block is often called the safe block or safety block.
Its commands can vary but are usually similar to the ones shown here.
N02 G20 G90 G54
D200 G40 The idea is that a safety block should always be given near the top of
any program, as a general default, unless some very specific/concrete
reason exists to omit it. The safety block is like a sanity check or a
preflight checklist: it explicitly ensures conditions that otherwise would
be implicit, left merely to assumption. The safety block reduces risk of
 crashes, and it can also helpfully refocus the thinking of the humans who
write or read the program under hurried conditions.
N03 G50 S2000
Set maximum spindle speed in rev/min — This setting affects Constant
Surface Speed mode
N04 T0300 Index turret to tool 3. Clear wear offset (00).
N05 G96 S854 M03
Constant surface speed [automatically varies the spindle speed], 854
sfm, start spindle CW rotation
Enable cutter radius compensation mode, rapid position to 0.55" above
N06 G41 G00 X1.1
Z1.1 T0303 M08 axial centerline (1.1" in diameter) and 1.1 inches positive from the work
offset in Z, activate flood coolant
N07 G01 Z1.0 F.05
Feed in horizontally at rate of 0.050" per revolution of the spindle until
the tool is positioned 1" positive from the work offset
Feed the tool slightly past center—the tool must travel by at least its
N08 X-0.016 nose radius past the center of the part to prevent a leftover scallop of
material.
N09 G00 Z1.1 Rapid positioning; retract to start position
N10 X1.0 Rapid positioning; next pass
N11 G01 Z0.0 F.05
Feed-in horizontally cutting the bar to 1" diameter all the way to the
datum, in/rev
N12 G00 X1.1 M05
M09 Clear the part, stop the spindle, turn off the coolant
N13 G91 G28 X0 Home X axis — return the machine's home position for the X axis
N14 G91 G28 Z0 Home Z axis — return to machine's home position for the Z axis
N15 G90 Return to absolute mode. Turn off load monitor
N16 M30 Program stop, rewind to the top of the program, wait for cycle start
Signal end of data during file transfer. Originally used to mark the end
% of the tape, not necessarily the end of the program. ISO uses %, EIA uses
ER (0x0B).

Tool Path for program

Several points to note:

1. There is room for some programming style, even in this short program. The grouping of
codes in line N06 could have been put on multiple lines. Doing so may have made it
easier to follow program execution.
2. Many codes are modal, meaning they remain in effect until cancelled or replaced by a
contradictory code. For example, once variable speed cutting (CSS) had been selected
(G96), it stays in effect until the end of the program. In operation, the spindle speed
increases as the tool near the center of the work to maintain constant surface speed.
Similarly, once rapid feed is selected (G00), all tool movements are rapid until a feed rate
code (G01, G02, G03) is selected.
3. It is common practice to use a load monitor with CNC machinery. The load monitor stops
the machine if the spindle or feed loads exceed a preset value that is set during the set-up
operation. The jobs of the load monitor are various:
1. Prevent machine damage in the event of tool breakage or a programming mistake.
 This is especially important because it allows safe "lights-out machining",
in which the operators set up the job and start it during the day, then go
home for the night, leaving the machines running and cutting parts during
the night. Because no human is around to hear, see, or smell a problem
such as a broken tool, the load monitor serves an important sentry duty.
When it senses overload condition, which semantically suggests a dull or
broken tool, it commands a stop to the machining. Technology is available
nowadays to send an alert to someone remotely (e.g., the sleeping owner,
operator, or owner-operator) if desired, which can allow them to come to
intercede and get production going again, then leave once more. This can
be the difference between profitability or loss on some jobs because lights-
out machining reduces labor hours per part.
2. Warn of a tool that is becoming dull and must be replaced or sharpened. Thus, an
operator tending multiple machines is told by a machine, essentially, "Pause what
you're doing over there, and come attend to something over here."
4. It is common practice to bring the tool in rapidly to a "safe" point that is close to the
part—in this case, 0.1" away—and then start feeding the tool. How close that "safe"
distance is, depends on the preference of the programmer and/or operator and the
maximum material condition for the raw stock.
5. If the program is wrong, there is a high probability that the machine will crash, or ram
the tool into the part, vice, or machine under high power. This can be costly, especially in
newer machining centers. It is possible to intersperse the program with optional stops
(M01 code) that let the program run piecemeal for testing purposes. The optional stops
remain in the program but are skipped during normal running. Fortunately, most
CAD/CAM software ships with CNC simulators that display the movement of the tool as
the program executes. Nowadays the surrounding objects (chuck, clamps, fixture,
tailstock, and more) are included in the 3D models, and the simulation is much like an
entire video game or virtual reality environment, making unexpected crashes much less
likely.
1. Many modern CNC machines also allow programmers to execute the program in
a simulation mode and observe the operating parameters of the machine at a
particular execution point. This enables programmers to discover semantic errors
(as opposed to syntax errors) before losing material or tools to an incorrect
 program. Depending on the size of the part, wax blocks may be used for testing
purposes as well. Additionally, many machines support operator overrides for
both rapid and feed rate that can be used to reduce the speed of the machine,
allowing operators to stop program execution before a crash occurs.
6. The line numbers that have been included in the program above (i.e. N0 ... N16) are
usually not necessary for the operation of a machine and increase file sizes, so they are
seldom used in the industry. However, if branching or looping statements are used in the
code, then line numbers may well be included as the target of those statements (e.g.
GOTO N99).
7. Some machines do not allow multiple M codes in the same line.

Programming environments
G-code's programming environments have evolved in parallel with those of general
programming—from the earliest environments (e.g., writing a program with a pencil, typing it
into a tape puncher) to the latest environments that combine CAD (computer-aided design),
CAM (computer-aided manufacturing), and richly featured G-code editors. (G-code editors are
analogous to XML editors, using colors and indents semantically [plus other features] to aid the
user in ways that basic text editors can't. CAM packages are analogous to IDEs in general
programming.)

Two high-level paradigm shifts have been toward:

1. abandoning "manual programming" (with nothing but a pencil or text editor and a human
mind) for CAM software systems that generate G-code automatically via postprocessors
(analogous to the development of visual techniques in general programming)
2. abandoning hardcoded constructs for parametric ones (analogous to the difference in
general programming between hardcoding a constant into an equation versus declaring it
a variable and assigning new values to it at will; and to the object-oriented approach in
general).

Macro (parametric) CNC programming uses human-friendly variable names, relational

operators, and loop structures, much as general programming does, to capture information and
logic with machine-readable semantics. Whereas older manual CNC programming could only
describe particular instances of parts in numeric form, macro programming describes
abstractions that can easily apply in a wide variety of instances.

The tendency is comparable to a computer programming evolution from low-level programming

languages to high-level ones.

STEP-NC reflects the same theme, which can be viewed as yet another step along a path that
started with the development of machine tools, jigs and fixtures, and numerical control, which all
sought to "build the skill into the tool." Recent developments of G-code and STEP-NC aim to
build the information and semantics into the tool. This idea is not new; from the beginning of
numerical control, the concept of an end-to-end CAD/CAM environment was the goal of such
early technologies as DAC-1 and APT. Those efforts were fine for huge corporations like GM
and Boeing. However, small and medium enterprises went through an era of simpler
implementations of NC, with relatively primitive "connect-the-dots" G-code and manual
programming until CAD/CAM improved and disseminated throughout the industry.

Any machine tool with a great number of axes, spindles, and tool stations is difficult to program
well manually. It has been done over the years, but not easily. This challenge has existed for
decades in CNC screw machine and rotary transfer programming, and it now also arises with
today's newer machining centers called "turn-mills", "mill-turns", "multitasking machines", and
"multifunction machines". Now that CAD/CAM systems are widely used, CNC programming
(such as with G-code) requires CAD/CAM (as opposed to manual programming) to be practical
and competitive in the market segments these classes of machines serve.[11] As Smid says,
"Combine all these axes with some additional features, and the amount of knowledge required to
succeed is quite overwhelming, to say the least."[12] At the same time, however, programmers
still must thoroughly understand the principles of manual programming and must think critically
and second-guess some aspects of the software's decisions.

Since about the mid-2000s, it seems "the death of manual programming" (that is, of writing lines
of G-code without CAD/CAM assistance) may be approaching. However, it is currently only in
some contexts that manual programming is obsolete. Plenty of CAM programming takes place
nowadays among people who are rusty on, or incapable of, manual programming—but it is not
true that all CNC programming can be done, or done as well or as efficiently, without knowing
G-code.[13][14] Tailoring and refining the CNC program at the machine is an area of practice
where it can be easier or more efficient to edit the G-code directly rather than editing the CAM
toolpaths and re-post-processing the program.

Making a living cutting parts on computer-controlled machines has been made both easier and
harder by CAD/CAM software. Efficiently written G-code can be a challenge for CAM software.
Ideally, a CNC machinist should know both manual and CAM programming well so that the
benefits of both brute-force CAM and elegant hand programming can be used where needed.
Many older machines were built with limited computer memory at a time when memory was
very expensive; 32K was considered plenty of room for manual programs whereas modern CAM
software can post gigabytes of code. CAM excels at getting a program out quickly that may take
up more machine memory and take longer to run. This often makes it quite valuable to
machining a low quantity of parts. But a balance must be struck between the time it takes to
create a program and the time the program takes to machine a part. It has become easier and
faster to make just a few parts on the newer machines with much memory. This has taken its toll
on both hand programmers and manual machinists. Given natural turnover into retirement, it is
not realistic to expect to maintain a large pool of operators who are highly skilled in manual
programming when their commercial environment mostly can no longer provide the countless
hours of deep experience it took to build that skill; and yet the loss of this experience base can be
appreciated, and there are times when such a pool is sorely missed because some CNC runs still
cannot be optimized without such skill.

Abbreviations used by programmers and operators

This list is only a selection and, except for a few key terms, mostly avoids duplicating the many
abbreviations listed at engineering drawing abbreviations and symbols.

Abbreviation Expansion Corollary info

APC automatic pallet
See M60.
changer
ATC automatic tool
See M06.
changer
CAD/CAM computer-aided
design and computer-
aided manufacturing
CCW counterclockwise See M04.
CNC computerized
numerical control
CRC cutter radius
See also G40, G41, and G42.
compensation
CS Referring to cutting speed (surface speed) in surface feet
cutting speed
per minute (sfm, sfpm) or meters per minute (m/min).
CSS constant surface
See G96 for explanation.
speed
CW clockwise See M03.
DNC Sometimes referred to as "Drip Feeding" or "Drip
direct numerical Numerical Control" due to the fact that a file can be "drip"
control or distributed fed to a machine, line by line, over a serial protocol such
numerical control as RS232. DNC allows machines with limited amounts of
memory to run larger files.
DOC depth of cut Refers to how deep (in the Z direction) a given cut will be
EOB The G-code synonym of end of line (EOL). A control
character equating to newline. In many implementations of
G-code (as also, more generally, in many programming
languages), a semicolon (;) is synonymous with EOB. In
end of block
some controls (especially older ones) it must be explicitly
typed and displayed. Other software treats it as a
nonprinting/nondisplaying character, much like word
processing apps treat the pilcrow (¶).
E-stop emergency stop
EXT On the operation panel, one of the positions of the mode
switch is "external", sometimes abbreviated as "EXT",
external referring to any external source of data, such as tape or
DNC, in contrast to the computer memory that is built into
the CNC itself.
FIM full indicator
movement
FPM feet per minute See SFM.
HBM horizontal boring A type of machine tool that specializes in boring, typically
mill large holes in large workpieces.
HMC horizontal machining
center
HSM Refers to machining at speeds considered high by
traditional standards. Usually achieved with special
high speed geared-up spindle attachments or with the latest high-rev
machining spindles. On modern machines HSM refers to a cutting
strategy with a light, constant chip load and high feed rate,
usually at or near the full depth of cut.[15]
HSS A type of tool steel used to make cutters. Still widely used
today (versatile, affordable, capable) although carbide and
high-speed steel
others continue to erode its share of commercial
applications due to their higher rate of material removal.
in inch(es)
IPF Also known as chip load or IPT. See F address and feed
inches per flute
rate.
IPM inches per minute See F address and feed rate.
IPR inches per revolution See F address and feed rate.
IPT Also known as chip load or IPF. See F address and feed
inches per tooth
rate.
MDI A mode of operation in which the operator can type in
manual data input lines of program (blocks of code) and then execute them
by pushing cycle start.
MEM On the operation panel, one of the positions of the mode
switch is "memory", sometimes abbreviated as "MEM",
memory referring to the computer memory that is built into the
CNC itself, in contrast to any external source of data, such
as tape or DNC.
MFO The MFO dial or buttons allow the CNC operator or
machinist to multiply the programmed feed value by any
percentage typically between 10% and 200%. This is to
allow fine-tuning of speeds and feeds to minimize chatter,
improve surface finish, lengthen tool life, and so on. The
SSO and MFO features can be locked out for various
manual feed rate reasons, such as for synchronization of speed and feed in
override threading, or even to prevent "soldiering"/"dogging" by
operators. On some newer controls, the synchronization of
speed and feed in threading is sophisticated enough that
SSO and MFO can be available during threading, which
helps with fine-tuning speeds and feeds to reduce chatter
on the threads or in repair work involving the picking up
of existing threads.[16]
mm millimetre(s)
MPG manual pulse Referring to the handle (handwheel) (each click of the
generator handle generates one pulse of servo input)
NC numerical control
OSS oriented spindle stop See comments at M19.
SFM surface feet per
See also speeds and feeds and G96.
minute
SFPM surface feet per
See also speeds and feeds and G96.
minute
SPT single-point
threading
SSO The SSO dial or buttons allow the CNC operator or
machinist to multiply the programmed speed value by any
percentage typically between 10% and 200%. This is to
allow fine-tuning of speeds and feeds to minimize chatter,
improve surface finish, lengthen tool life, and so on. The
SSO and MFO features can be locked out for various
spindle speed reasons, such as for synchronization of speed and feed in
override threading, or even to prevent "soldiering"/"dogging" by
operators. On some newer controls, the synchronization of
speed and feed in threading is sophisticated enough that
SSO and MFO can be available during threading, which
helps with fine-tuning speeds and feeds to reduce chatter
on the threads or in repair work involving the picking up
of existing threads.[16]
TC or T/C tool change, tool
See M06.
changer
TIR total indicator
reading
TPI threads per inch
USB Universal Serial Bus One type of connection for data transfer
VMC vertical machining
center
VTL A type of machine tool that is essentially a lathe with its Z-
axis turned vertical, allowing the faceplate to sit like a
vertical turret lathe
large turntable. The VTL concept overlaps with the
vertical boring mill concept.