Query Regarding GCode Interpretation in RoboDK

ht133magnolia · 12-03-2025, 04:44 PM

Hello, from the following Gcode, does RoboDK decide the linear speed based on the F values?

Code:
G92 E0

G1 Z0.350 F7800.000

G1 E-2.00000 F2400.00000

G92 E0

G1 X89.915 Y90.753 F7800.000

G1 E2.00000 F2400.00000

G1 F1800

G1 X91.668 Y89.274 E2.20854

G1 X93.820 Y88.481 E2.41708

G1 X95.000 Y88.375 E2.52479

G1 X105.000 Y88.375 E3.43409

G1 X107.259 Y88.772 E3.64263

G1 X109.247 Y89.915 E3.85117

G1 X110.726 Y91.668 E4.05972

G1 X111.519 Y93.820 E4.26826

G1 X111.625 Y95.000 E4.37597

G1 X111.625 Y105.000 E5.28526

G1 X111.228 Y107.259 E5.49381

G1 X110.085 Y109.247 E5.70235

G1 X108.332 Y110.726 E5.91089

G1 X106.180 Y111.519 E6.11943

G1 X105.000 Y111.625 E6.22714

G1 X95.000 Y111.625 E7.13644

G1 X92.741 Y111.228 E7.34498

G1 X90.753 Y110.085 E7.55352

G1 X89.274 Y108.332 E7.76207

G1 X88.481 Y106.180 E7.97061

G1 X88.375 Y105.000 E8.07832

G1 X88.375 Y95.000 E8.98761

G1 X88.772 Y92.741 E9.19615

G1 X89.878 Y90.818 E9.39788

G1 E7.39788 F2400.00000

G92 E0

G1 X103.400 Y103.400 F7800.000

G1 E2.00000 F2400.00000

G1 F1800

G1 X96.600 Y103.400 E2.61836

G1 X96.600 Y96.600 E3.23672

G1 X103.400 Y96.600 E3.85509

G1 X103.400 Y103.325 E4.46663

G1 X104.025 Y104.025 F7800.000

G1 F1800

G1 X95.975 Y104.025 E5.19863

G1 X95.975 Y95.975 E5.93063

G1 X104.025 Y95.975 E6.66264

G1 X104.025 Y103.950 E7.38782

G1 X104.650 Y104.650 F7800.000

G1 F1800

G1 X95.350 Y104.650 E8.23347

G1 X95.350 Y95.350 E9.07911

G1 X104.650 Y95.350 E9.92476

G1 X104.650 Y104.575 E10.76358

G1 X104.167 Y104.521 F7800.000

G1 E8.76358 F2400.00000

G92 E0

G1 X102.532 Y103.018 F7800.000

G1 E2.00000 F2400.00000

G1 F1800

G1 X103.018 Y102.532 E2.06545

G1 X103.018 Y101.607 E2.15350

G1 X101.607 Y103.018 E2.34348

G1 X100.682 Y103.018 E2.43154

G1 X103.018 Y100.682 E2.74604

G1 X103.018 Y99.757 E2.83410

G1 X99.757 Y103.018 E3.27314

G1 X98.832 Y103.018 E3.36119

G1 X103.018 Y98.832 E3.92476

G1 X103.018 Y97.907 E4.01282

G1 X97.907 Y103.018 E4.70091

G1 X96.982 Y103.018 E4.78897

G1 X103.018 Y96.982 E5.60160

G1 X102.093 Y96.982 E5.68965

G1 X96.982 Y102.093 E6.37775

G1 X96.982 Y101.168 E6.46580

G1 X101.168 Y96.982 E7.02937

G1 X100.243 Y96.982 E7.11743

G1 X96.982 Y100.243 E7.55647

G1 X96.982 Y99.318 E7.64452

G1 X99.318 Y96.982 E7.95903

G1 X98.393 Y96.982 E8.04709

G1 X96.982 Y98.393 E8.23707

G1 X96.982 Y97.468 E8.32512

G1 X97.468 Y96.982 E8.39057

G1 Z0.650 F7800.000

G1 X103.529 Y103.529 F7800.000

G1 F900

G1 X96.471 Y103.529 E8.95008

G1 X96.471 Y96.471 E9.50959

G1 X103.529 Y96.471 E10.06909

G1 X103.529 Y103.454 E10.62265

G1 X104.164 Y104.164 F7800.000

G1 F900

G1 X95.836 Y104.164 E11.28294

G1 X95.836 Y95.836 E11.94323

G1 X104.164 Y95.836 E12.60351

G1 X104.164 Y104.089 E13.25786

G1 X104.725 Y104.725 F7800.000

G1 F900

G1 X95.275 Y104.725 E13.83023

G1 X95.275 Y95.275 E14.40261

G1 X104.725 Y95.275 E14.97499

G1 X104.725 Y104.650 E15.54283

G1 X104.242 Y104.596 F7800.000

G1 X103.140 Y97.354 F7800.000

G1 F1200

G1 X102.646 Y96.860 E15.60231

G1 X101.681 Y96.860 E15.68433

G1 X103.140 Y98.319 E15.85981

G1 X103.140 Y99.283 E15.94183

G1 X100.717 Y96.860 E16.23330

G1 X99.753 Y96.860 E16.31533

G1 X103.140 Y100.247 E16.72280

G1 X103.140 Y101.212 E16.80482

G1 X98.788 Y96.860 E17.32828

G1 X97.824 Y96.860 E17.41030

G1 X103.140 Y102.176 E18.04976

G1 X103.140 Y103.140 E18.13178

G1 X96.860 Y96.860 E18.88724

G1 X96.860 Y97.824 E18.96926

G1 X102.176 Y103.140 E19.60872

G1 X101.212 Y103.140 E19.69074

G1 X96.860 Y98.788 E20.21421

G1 X96.860 Y99.753 E20.29623

G1 X100.247 Y103.140 E20.70370

G1 X99.283 Y103.140 E20.78572

G1 X96.860 Y100.717 E21.07719

G1 X96.860 Y101.681 E21.15922

G1 X98.319 Y103.140 E21.33469

G1 X97.354 Y103.140 E21.41672

G1 X96.860 Y102.646 E21.47620

G1 Z0.950 F7800.000

G1 E19.47620 F2400.00000

G92 E0

G1 X103.529 Y103.529 F7800.000

G1 E2.00000 F2400.00000

G1 F900

G1 X96.471 Y103.529 E2.55951

G1 X96.471 Y96.471 E3.11901

G1 X103.529 Y96.471 E3.67852

G1 X103.529 Y103.454 E4.23208

G1 X104.164 Y104.164 F7800.000

G1 F900

G1 X95.836 Y104.164 E4.89237

G1 X95.836 Y95.836 E5.55265

G1 X104.164 Y95.836 E6.21294

G1 X104.164 Y104.089 E6.86728

G1 X104.725 Y104.725 F7800.000

G1 F900

G1 X95.275 Y104.725 E7.43966

G1 X95.275 Y95.275 E8.01204

G1 X104.725 Y95.275 E8.58442

G1 X104.725 Y104.650 E9.15225

G1 X104.242 Y104.596 F7800.000

G1 E7.15225 F2400.00000

G92 E0

G1 X102.646 Y103.140 F7800.000

G1 E2.00000 F2400.00000

G1 F900

G1 X103.140 Y102.646 E2.05948

G1 X103.140 Y101.681 E2.14150

G1 X101.681 Y103.140 E2.31698

G1 X100.717 Y103.140 E2.39900

G1 X103.140 Y100.717 E2.69047

G1 X103.140 Y99.753 E2.77249

G1 X99.753 Y103.140 E3.17996

G1 X98.788 Y103.140 E3.26198

G1 X103.140 Y98.788 E3.78544

G1 X103.140 Y97.824 E3.86746

G1 X97.824 Y103.140 E4.50692

G1 X96.860 Y103.140 E4.58894

G1 X103.140 Y96.860 E5.34439

G1 X102.176 Y96.860 E5.42641

G1 X96.860 Y102.176 E6.06586

G1 X96.860 Y101.212 E6.14788

G1 X101.212 Y96.860 E6.67134

G1 X100.247 Y96.860 E6.75336

G1 X96.860 Y100.247 E7.16083

G1 X96.860 Y99.283 E7.24285

G1 X99.283 Y96.860 E7.53433

G1 X98.319 Y96.860 E7.61635

G1 X96.860 Y98.319 E7.79182

G1 X96.860 Y97.354 E7.87384

G1 X97.354 Y96.860 E7.93333

M106 S255

G1 Z1.250 F7800.000

G1 E5.93333 F2400.00000

G92 E0

G1 X104.275 Y104.275 F7800.000

G1 E2.00000 F2400.00000

G1 F862.2

G1 X95.725 Y104.275 E2.51787

G1 X95.725 Y95.725 E3.03573

G1 X104.275 Y95.725 E3.55360

G1 X104.275 Y104.200 E4.06692

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E4.63930

G1 X95.275 Y95.275 E5.21168

G1 X104.725 Y95.275 E5.78406

G1 X104.725 Y104.650 E6.35189

G1 X104.242 Y104.596 F7800.000

G1 Z1.550 F7800.000

G1 X104.275 Y104.275 F7800.000

G1 F862.2

G1 X95.725 Y104.275 E6.86976

G1 X95.725 Y95.725 E7.38762

G1 X104.275 Y95.725 E7.90549

G1 X104.275 Y104.200 E8.41881

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E8.99119

G1 X95.275 Y95.275 E9.56357

G1 X104.725 Y95.275 E10.13595

G1 X104.725 Y104.650 E10.70378

G1 X104.242 Y104.596 F7800.000

G1 Z1.850 F7800.000

G1 X104.275 Y104.275 F7800.000

G1 F862.2

G1 X95.725 Y104.275 E11.22165

G1 X95.725 Y95.725 E11.73952

G1 X104.275 Y95.725 E12.25738

G1 X104.275 Y104.200 E12.77071

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E13.34308

G1 X95.275 Y95.275 E13.91546

G1 X104.725 Y95.275 E14.48784

G1 X104.725 Y104.650 E15.05568

G1 X104.242 Y104.596 F7800.000

G1 Z2.150 F7800.000

G1 X104.275 Y104.275 F7800.000

G1 F862.2

G1 X95.725 Y104.275 E15.57354

G1 X95.725 Y95.725 E16.09141

G1 X104.275 Y95.725 E16.60928

G1 X104.275 Y104.200 E17.12260

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E17.69498

G1 X95.275 Y95.275 E18.26736

G1 X104.725 Y95.275 E18.83973

G1 X104.725 Y104.650 E19.40757

G1 X104.242 Y104.596 F7800.000

G1 Z2.450 F7800.000

G1 X104.275 Y104.275 F7800.000

G1 F862.2

G1 X95.725 Y104.275 E19.92544

G1 X95.725 Y95.725 E20.44330

G1 X104.275 Y95.725 E20.96117

G1 X104.275 Y104.200 E21.47449

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E22.04687

G1 X95.275 Y95.275 E22.61925

G1 X104.725 Y95.275 E23.19163

G1 X104.725 Y104.650 E23.75946

G1 X104.242 Y104.596 F7800.000

G1 Z2.750 F7800.000

G1 X104.275 Y104.275 F7800.000

G1 F862.2

G1 X95.725 Y104.275 E24.27733

G1 X95.725 Y95.725 E24.79519

G1 X104.275 Y95.725 E25.31306

G1 X104.275 Y104.200 E25.82638

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E26.39876

G1 X95.275 Y95.275 E26.97114

G1 X104.725 Y95.275 E27.54352

G1 X104.725 Y104.650 E28.11135

G1 X104.242 Y104.596 F7800.000

G1 Z3.050 F7800.000

G1 X104.275 Y104.275 F7800.000

G1 F862.2

G1 X95.725 Y104.275 E28.62922

G1 X95.725 Y95.725 E29.14709

G1 X104.275 Y95.725 E29.66495

G1 X104.275 Y104.200 E30.17828

G1 X104.404 Y104.758 F7800.000

G1 X104.725 Y104.725 F7800.000

G1 F862.2

G1 X95.275 Y104.725 E30.75065

G1 X95.275 Y95.275 E31.32303

G1 X104.725 Y95.275 E31.89541

G1 X104.725 Y104.650 E32.46325

G1 X104.242 Y104.596 F7800.000

G1 E30.46325 F2400.00000

G92 E0

**Albert** · 12-04-2025, 07:58 AM

Yes, when loading G-code files in RoboDK, the linear speed of the robot tool (TCP) is defined by the F value (feed).

ht133magnolia · 12-05-2025, 02:30 AM

Is the F value fully reflected in the robot's movement? Such as- F1800 means 30mm/s. Will the robot's TCP also move 30 mm/s? I just want to make sure that I am not missing any scaling factor (if there is any).

**Albert** · 12-05-2025, 08:11 AM

The speed is defined as units per minute. And the units is controlled by the G20 (inch) and G21 (mm) commands. I believe mm are the default units.