FIZ+ controller expects industry-standard G-code formatted commands. Commands are text-based and human-readable. Some highlights and behavior notes:

G-code introduction

G-code is the common name for the most widely used numerical control (CNC) programming language. It tells the motors where to move, how fast to move, and what path to follow. G-code has many variants and each machine has unique behavior implementation. More details on G-code can be found at

Index of supported G-code commands

Below is a list of supported commands. For a detailed explanation and usage examples see next section.

Version strings and identification commands

Command Description Returns
$S Return version, sn, model and brand strings See details

Controller initialization

Command Description Returns
$B1 Reset motor driver OK
$B2 Reset and initialize motor driver OK
$B3 Reset STM32F103 processor OK

Motion commands

Command Description Returns
G0 Rapid positioning OK
G4 Wait / stall after complete OK
G90 Absolute programming mode OK
G91 Incremental programming mode OK
G92 Set position OK

Miscellaneous function

Command Description Returns
M0 Compulsory stop OK
M7 DN function with filter (VIS) OK
M8 DN function no filter (IR + VIS) OK
M230 Set normal move OK
M231 Set normal + forced move OK
M232 Set PI low/high detection voltage OK
M234 Set motor and DN drive current OK
M235 Set motor idle current OK
M238 PI LED on (some lenses leak light into sensor) OK
M239 PI LED off OK
M240 Set motor drive speed OK

Advanced function

Command Description Returns
M241 Dividing setting 1 OK
M242 Pulse generation control 1 OK
M243 Microstepping OK
M244 Dividing setting 2 OK

Status commands

Command Description Returns
!1 Return motor pos, limit sw, moving status 4000, 20000, 0, 0, 0, 0, 0, 0