G0 / G1 - Linear Move
G1 commands add a linear move to the queue to be performed after all previous moves are completed. These commands yield control back to the command parser as soon as the move is queued, but they may delay the command parser while awaiting a slot in the queue.
A linear move traces a straight line from one point to another, ensuring that the specified axes will arrive simultaneously at the given coordinates (by linear interpolation). The speed may change over time following an acceleration curve, according to the acceleration and jerk settings of the given axes.
A command like
G1 F1000 sets the feedrate for all subsequent moves.
By convention, most G-code generators use
G0 for non-extrusion movements (those without the E axis) and
G1 for moves that include extrusion. This is meant to allow a kinematic system to, optionally, do a more rapid uninterpolated movement requiring much less calculation.
For Cartesians and Deltas the
G0 (rapid linear movement) command is (and must be) a direct alias for
G1 (rapid movement). On SCARA machines
G0 does a fast non-linear move. Marlin 2.0 introduces an option to maintain a separate default feedrate for
G0. Note: Slicers tend to override firmware feedrates!
- Coordinates are given in millimeters by default. Units may be set to inches by
- In Relative Mode (
G91) all coordinates are interpreted as relative, adding onto the previous position.
- A single linear move may generate several smaller moves to the planner due to kinematics and bed leveling compensation. Printing performance can be tuned by adjusting segments-per-second.
G0 [E<pos>] [F<rate>] [X<pos>] [Y<pos>] [Z<pos>]
The length of filament to feed into the extruder between the start and end point
The maximum movement rate of the move between the start and end point. The feedrate set here applies to subsequent moves that omit this parameter.
A coordinate on the X axis
A coordinate on the Y axis
A coordinate on the Z axis
The most basic move sets a feedrate and moves the tool to the given position.
There are some caveats related with feedrates. Consider the following:
In the above example the feedrate is set to 1500mm/minute, then the tool is moved 50mm on the X axis and 25.3mm on the Y axis while extruding 22.4mm of filament between the two points.
However, in the above example, we set a feedrate of 1500 mm/minute on line 1 then do the move described above, accelerating to a feedrate of 3000 mm/minute (if possible). The extrusion will accelerate along with the X and Y movement, so everything stays synchronized.