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G-code Motion & Position-Command Coverage

Status: Audit published (issue #154, credits upstream xyz-tools/gcode-preview#179, 2026-07-23). Updated 2026-07-25 for E10 phase 1 (DD-010): M82/M83, G90/G91, and the G92 E-datum are now modeled.

This page records which position-affecting G/M-codes the parser/interpreter (@chestnutlabs/gcode-parser) honors. The interpreter began as a byte-exact port of the inherited xyz-tools engine (E1 golden-gated); E10 (motion-model correctness) layers a firmware-conditioned modal model on top of it. Capability honesty (DD-001) means naming the remaining gaps plainly — and disclosing them at runtime via the extrusionMode / positioningMode capabilities and the g92-xyz-unhandled warning.

Coverage

Code(s) Effect on position Status Evidence
G0 / G1 linear move honored core motion
G2 / G3 arc move (I/J/K center or R) incl. full circles, all planes honored E2/E3, #157
G20 / G21 units inch / mm honored units channel
G28 homing (position reset to origin) honored interpreter
T0–T7 tool select honored tool channel
G90 / G91 absolute / relative positioning honored (E10 phase 1, #155) — positioningMode capability motion-model.test.ts
M82 / M83 extruder absolute / relative honored (E10 phase 1, #156) — delta-based classification, extrusionMode capability motion-model.test.ts
G92 set-position / datum honored (E10 phase 1 E-datum; phase 3 X/Y/Z, #158) — datum shift when the position is known; a logical resync after a probe (see below), coordinateSystem capability motion-model.test.ts
G53 / G54–G59 machine / work coordinate systems honored (E10 phase 3, #158) — active WCS + offsets (G10 L2/L20), G53 one-shot machine-coord bypass, coordinateSystem capability motion-model.test.ts
G31 probe toward a target honored (E10 phase 3, #158) — endpoint is runtime-dependent; the probed axis is marked uncertain and disclosed (probe-position-runtime-dependent), never advanced to the un-reached commanded value motion-model.test.ts
G4 dwell n/a (not position-affecting) —

Firmware conditioning (DD-010)

Absolute is the power-on default (Marlin/RepRapFirmware convention). Whether G90/G91 also switch the extruder mode is firmware-specific, so it is gated on parseOptions.extruderFollowsPositioning: Marlin/Klipper set it true (E follows G90/G91 unless M82/M83 override); RepRapFirmware leaves it false (XYZ and E independent). Explicit M82/M83 always win. When neither the mode nor a firmware hint is known, the capability is disclosed as inferred, never known — the stack does not fabricate a mode it cannot prove.

Resolved reproductions (originally captured 2026-07-23)

[G91] relative: `G1 X10` then `G1 X10` after `G91` → now ends X=20 ✓ (was 10)
[M82] abs-E:    an E-unchanged move is now classified TRAVEL ✓; extrusion distance no longer inflated
[G92 E] datum:  `G92 E0` now resets the extruder datum so the next per-move delta is correct ✓

This is why the 7 absolute-E dialect fixtures' extrusionDistance dropped at E10 phase 1: the old engine summed raw (cumulative) E words; the delta-based model sums true per-move deltas. All other geometry (positions, kinds, layers, source bytes) stayed byte-identical.

Probe-aware datum (DD-010 D4 amendment, #158)

G92 X/Y/Z resolves against per-axis position certainty, not blindly:

  • When the current machine position is known, G92 X<v> is a datum shift — the work offset is set so the current logical position reads <v>, preserving continuity (audit repro line 31: G92 X0 at X50, then G1 X10 → X60).
  • After an un-modeled probe (G31 reaches its endpoint at runtime), the probed axis is uncertain. A following G92 Z0 is then a logical resync: the current logical Z is declared 0 and the path is finalized so the next move starts a new frame at the datum — no fabricated move is drawn across the unknown probe result. In the mach3 fixture, G31 Z-11.8 then G92 Z0 then G00 Z0.039 renders at logical 0.039 (not the +0.2″ shift a stale-position datum would produce). Disclosed via probe-position-runtime-dependent; the native golden pins this, and the fixture is a documented, intentional divergence from the inherited engine (which ignored both G31 and G92 Z).

Remaining gaps

The E10 motion-model gaps from the #154 audit are now all closed. Tracking issues: #155 (G90/G91 + G92 E), #156 (M82/M83), #157 (arc planes), #158 (coordinate systems + G92 XYZ + probe awareness) — all shipped. Future motion work (e.g. full 5-axis, additional probe cycles) would open new issues under DD-010's discipline (explicit golden-regen + capability honesty).