Skip to content

coast_runner_command_reference.md

Latest commit

 

History

History
309 lines (212 loc) · 7.8 KB

coast_runner_command_reference.md

File metadata and controls

309 lines (212 loc) · 7.8 KB
Raw

Coast Runner CR-1 Command Reference

Scope

This document summarizes the commands the Coast Runner CR-1 is documented to accept, based primarily on the manual’s Section 9.1 (G-code Commands) and Section 9.2 (grbl Commands and Settings). It is intended as a concise implementation and interoperability reference.

Conventions

  • X..., Y..., Z... are axis words.
  • F... is feedrate.
  • S... is spindle RPM.
  • Pn in G10 selects work offset register P1–P6, corresponding to G54–G59.
  • Commands marked CRWrite-only are macros interpreted by CRWrite and are not sent directly to grbl as valid G-code.

1. Motion and coordinate system commands

Axis words

X... Y... Z... Specify motion targets or distances, depending on modal state. Axis words do not define motion behavior on their own; they work together with motion commands such as G0, G1, G38.x, or jogging.

Motion mode

G0 Rapid motion at the machine’s configured rapid rate.

G1 Linear motion at feedrate. Requires a defined feedrate, either already modal or supplied in the block with F....

Positioning mode

G90 Absolute positioning.

G91 Relative positioning.

Coordinate system selection

G53 Machine-coordinate motion. Non-modal. Used for absolute moves in machine coordinates.

G54 G55 G56 G57 G58 G59 Select the active work coordinate system. These are modal.

Feedrate

F... Set feedrate. Interpreted in inches or millimeters according to the current unit mode. Feedrate affects G1 motion and related feed-controlled motion, but not G0 rapid moves.

2. Jogging commands

Jog command

$J=<move> F<feed> Issue a jog. Jogging uses grbl’s dedicated jog path rather than ordinary buffered G-code execution.

Documented jog behavior:

  • jogs are always feed-controlled,
  • the parser state is read but not modified by the jog command,
  • jogs that would violate soft limits are ignored rather than causing a normal motion alarm,
  • while jogging, grbl enters Jog state and does not accept ordinary movement commands.

Examples:

  • $J=G91 Y-20 F100
  • $J=G90 X-10 F50
  • $J=G53 Z-20 F300

Jog cancel

! Cancels an active jog when jogging is in progress.

0x85 Programmatic jog-cancel character. Also cancels an active jog.

3. Spindle commands

M3 Enable clockwise spindle rotation.

M4 Enable counterclockwise spindle rotation. The manual notes this is useful for probing because it spins “backwards” relative to normal cutting.

M5 Stop spindle rotation.

S... Set spindle speed in RPM. The manual documents a CR-1 spindle range of 1500–8000 RPM; values below minimum will not produce the expected low-speed rotation, and values above maximum are capped in effect.

4. Probing and work-offset commands

Probe until contact

G38.2 <move> F<feed> Probe move that stops on probe trip and alarms if no trip occurs by the end of travel.

G38.3 <move> F<feed> Probe move that stops on probe trip and continues without alarm if no trip occurs.

Probe until clear

G38.4 <move> F<feed> Probe-clear move; expects the probe to start tripped and alarms if it never clears.

G38.5 <move> F<feed> Probe-clear move; expects the probe to start tripped and continues without alarm if it never clears.

Set work coordinate system

G10 L2 Pn ... Write absolute machine-referenced values into WCS register Pn.

G10 L20 Pn ... Write WCS values relative to the current spindle location. This is the command family the manual recommends for normal probing workflows.

5. Units and timing

G20 Interpret input distances in inches.

G21 Interpret input distances in millimeters.

G4 P... Dwell. Pause execution for the specified duration. The manual notes it can be useful as a synchronization delay between EEPROM-writing operations and later expressions that read them.

6. CRWrite-only macro commands

These are not native grbl commands on the CR-1. They are intercepted by CRWrite and expanded or evaluated there. Sending them directly to grbl is documented to produce an error.

M100 — Find and store midpoint

Computes the midpoint between two WCS components and writes the result into a target WCS component.

Example:

  • M100 G54X G55X G56X Writes the midpoint of G54X and G55X into G56X.

M101 — Check tolerance

Compares three WCS registers on a specified axis against a tolerance and raises an alarm if the allowed variation is exceeded.

Example:

  • M101 G54 G55 G56 X0.1

M102 — WCS math

Evaluates a math expression and writes the result into a WCS component.

Examples:

  • M102 G54Y ((G55Y + G56Y)/2)
  • M102 G54X (G54X - ((.25 / 2) * 25.4))

M106 — WCS comparison

Compares a WCS component against another WCS component or a constant and raises an alarm with a custom message if the comparison is false.

Example:

  • M106 G54X < 0 Error: G54X is too low

7. Less-common supported G-code

Arc and plane selection

G2 Clockwise arc.

G3 Counterclockwise arc.

G17 XY plane.

G18 XZ plane.

G19 YZ plane.

Reference positions

G28.1 Store reference position #1.

G28 Move to reference position #1.

G30.1 Store reference position #2.

G30 Move to reference position #2.

Tool length and coordinate offsets

G43.1 Z... Apply tool length offset.

G49 Clear tool length offset.

G92 Apply coordinate-system offset.

G92.1 Clear G92 offset.

Feedrate mode

G93 Inverse-time feed mode.

G94 Units-per-minute feed mode. Default.

Miscellaneous

N... Line number.

T... Tool number. Documented as accepted but ignored because the CR-1 has no automatic tool changer.

M17 CR-1-specific stepper high-power mode.

M18 CR-1-specific stepper disable until next motion command.

8. Program-flow and coolant notes

Program-flow note

The manual documents two separate M2 entries with conflicting descriptions: one as a pause/resume style behavior and one as end-of-program behavior. That inconsistency appears to be in the manual itself, so M2 should be treated as documentation-ambiguous unless verified against firmware behavior.

Coolant commands

M7 M8 M9 The CR-1 manual says coolant commands are allowed but ignored, because the CR-1 does not implement coolant control.

9. grbl dollar commands

These commands are documented as CR-1 grbl control commands rather than ordinary G-code. They generally apply when grbl is idle.

$H Home all axes.

$HX $HY $HZ Home a single axis.

$X Unlock after startup or alarm without homing.

$L Autolevel the X table.

$LS Store the current X-table level state as the reference level.

$J=... Jog command.

$I Report version and hardware info.

$E Dump EEPROM contents.

$G Report parser/modal state.

$C Toggle check-code mode.

$# Report offsets.

$$ Report stored parameters.

$N Display startup lines.

$N0=... $N1=... Set startup lines.

$n=... Write parameter n.

$RST=# Clear offsets and restore parser-state defaults.

$RST=$ Restore parameters to factory defaults.

$RST=* Full factory restore.

10. Real-time commands

These are documented as taking effect immediately, regardless of queued motion.

| or 0x18 Soft reset.

? Status report.

! Feed hold.

~ Resume after hold.

$ Help summary.

11. CR-1-specific behavior differences from base grbl

The manual documents several differences between the CR-1 fork and baseline grbl 1.1g. The most relevant command-surface differences are:

  • stepper power has more than simple on/off states,
  • M17 and M18 alter stepper behavior,
  • alarms require manual soft reset,
  • both | and 0x18 are accepted as soft reset,
  • $L provides autolevel functionality,
  • probing is interrupt-driven,
  • coolant commands are accepted but ignored,
  • status formatting includes CR-1-specific probe/limit reporting conventions.

Source: Coast Runner Operator Manual v0.91.pdf