EMC2 "G-Code" Quick Reference
| Code | Parameters | Description |
| Motion | (X- Y- Z- A- B- C- apply to all motions) |
| G0 | | Rapid motion |
| G1 | | Coordinated motion ("Straight feed") |
| G2, G3 | I- J- K- or R- | Coordinated helical motion ("Arc feed") |
| G38.2 | | Straight Probe |
| G80 | | Cancel motion mode |
| G81 | R- L- P- | Drilling Cycle |
| G82…G89 | R- L- P- Q- | Other canned cycles |
| G33 | K- | Spindle-synchronized motion |
| G76 | P- Z- I- J- R- K- Q- H- | Multipass lathe threading cycle |
| Plane Selection (affects G2, G3, G81…G89, G40…G42) |
| G17 | | Select XY plane |
| G18 | | Select XZ plane |
| G19 | | Select YZ plane |
| Distance Mode |
| G90 | | Absolute distance mode |
| G91 | | Incremental distance mode |
| Feed Rate Mode |
| G93 | | Inverse time feed rate |
| G94 | | Units per minute feed rate |
| Units |
| G20 | | Inches |
| G21 | | Millimeters |
| Cutter Radius Compensation |
| G41, G42 | | Start cutter radius compensation left or right |
| G40 | | Cancel cutter radius compensation |
| Tool Length Offset |
| G43 | H- | Use tool length offset |
| G49 | | Cancel tool length offset |
| Return Mode in Canned Cycles |
| G98 | | Retract to R- position |
| G99 | | Retract to prior position |
| Path Control Mode |
| G61 | | Exact Path mode |
| G61.1 | | Exact Stop mode |
| G64 | P- | Continuous mode with optional path tolerance |
| Stopping |
| M0 | | Pause Program |
| M2 | | End Program |
| M1, M30, M60 | Other stop codes |
| Spindle Control |
| M3, M4 | S- | Turn spindle clockwise or counterclockwise |
| M5 | | Stop spindle |
| Coolant |
| M7 | | Turn mist on |
| M8 | | Turn flood on |
| M9 | | Turn all coolant off |
| Other Input Codes |
| F- | | Set Feed Rate |
| S- | | Set Spindle Speed |
| T- | | Select Tool |
| M50…M53 | P0 (off) or P1 (on) | Feed Override, Spindle Override, Adaptive Feed, Feed Hold |
| G54…G59, G59.1…G59.3 | Select coordinate system |
| Flow-control Codes |
| O- | sub/endsub, while/endwhile, if/else/endif, do/while, call, break/continue/return |
| Non-modal Codes |
| M6 | T- | Change tool |
| G4 | P- | Dwell (seconds) |
| G10 | L2 P- X- Y- Z- A- B- C- | Coordinate system origin setting |
| G28 | | Return to home |
| G30 | | Return to secondary home |
| G53 | | Motion in machine coordinate system |
| G92 | X- Y- Z- A- B- C- | Offset coordinate systems and set parameters |
| G92.1 | | Cancel offset coordinate systems and set parameters to zero |
| G92.2 | | Cancel offset coordinate systems but do not reset parameters |
| G92.3 | | Apply parameters to offset coordinate systems |
| M101…M199 | P- Q- | User-defined M-codes |
| (MSG,…) | | Display the message "…" to the user |