!10.
!3.
!1.

etc. = Set speed - slow (1) -> fast (10)

. means ASCII 03 below.

FY0. - Track enhancing on.
FY1. - Track enhancing off.

FN0. - Landscape
FN1. - Portrait

FW - Depends on media choice. 300 = Custom, 113 = Pen, 102 = Vinyl Sticker, 100 = Card without craft backing paper etc.

FX5,0. - Thickness (the first param sets the thickness. Not sure what the 0 does - maybe 'using backing paper'?). 1-33.

FC - always FC18? Except the pen is FC0. Perhaps this sets the curvature amount? As in, the distance from the plotter centre to the cutting point.

FJ. - Set origin.

FE0. - Dunno.

TB71. - Dunno
TB51,400. - ?

FA. - Dunno

--------------------8<--------------

1b 04 - Start plotter?
1b 05 - Get movement status - wait for 30 03.
'TT' 03 - Not sure.
'FG' 03 - Start moving. WAIT FOR REPLY WITH LARGE TIMEOUT!

Blank A4 page (210x297):

FU5440,3880
FM1
TB50,1
FO5440
&100,100,100,\0,0,Z4200,5940,&1,1,1,TB50,0
FO0
H,

Blank small page (210x180):

FU3100,3880
FM1
TB50,1
FO5588
&100,100,100,\0,0,Z4200,3600,&1,1,1,TB50,0
FO0
H,

Small page (210x180) with diagonal line.

FU3100,3880
FM1
TB50,1
FO5588
&100,100,100,\0,0,Z4200,3600,L0,M1338.939,326.979,D572.2,761.839
&1,1,1,TB50,0
FO0
H,


L0 = draw? M = move, D = draw?

Small page with two segment line.

FU3100,3880
FM1
TB50,1
FO5588
&100,100,100,\0,0,Z4200,3600,L0,M1487.719,761.859,D1110.08,315.539
D549.3,693.199
&1,1,1,TB50,0
FO0
H,

Yep seems like that.

Let's try two separate lines.

Small page with two separate lines.

FU3100,3880
FM1
TB50,1
FO5588
&100,100,100,\0,0,Z4200,3600,L0,M1773.84,418.539,D1258.84,796.2
M938.4,315.539,D457.76,681.759
&1,1,1,TB50,0
FO0
H,

Ok so to just do lines you have L0. Not sure what it does. Let's try a circle.

FU3100,3880
FM1
TB50,1
FO5588
&100,100,100,\0,0,Z4200,3600,L0,)0,640.86,761.859,348.813,348.813,0,3600,0
&1,1,1,TB50,0
FO0
H,

Oh, haha. ) means circle (or curve) not end of a function - those crazy japanese!

Seems to be )0, x, y, width, height, start angle, end angle (in 1/10ths of a degree), ??

Oooo and the robo master even says "Width 34.9, Height 34.9". Those are millimetres.

What about a bezier?

This is an arc, a line, then a spline (bezier). The max length appears to be 4096 so this was sent as 2 packets.

FU3100,3880
FM1
TB50,1
FO5588
&100,100,100,\0,0,Z4200,3600,L0,M2941.14,567.319,D2943.81,569.339
D2946.481,571.359
D2949.15,573.379
D2951.818,575.399
D2954.483,577.419
D2957.147,579.439
D2959.807,581.459
D2962.463,583.48
D2965.116,585.501
D2967.764,587.522
D2970.407,589.543
D2973.045,591.564
D2975.676,593.586
D2978.301,595.608
D2980.919,597.63
D2983.529,599.653
D2986.131,601.676
D2988.725,603.699
D2991.31,605.723
D2993.885,607.748
D2996.45,609.772
D2999.004,611.798
D3001.547,613.824
D3004.079,615.85
D3006.599,617.877
D3009.106,619.905
D3011.6,621.933
D3014.08,623.962
D3016.546,625.991
D3018.998,628.022
D3021.434,630.053
D3023.855,632.084
D3026.26,634.117
D3028.648,636.15
D3031.019,638.184
D3033.372,640.219
D3035.707,642.255
D3038.024,644.291
D3040.321,646.329
D3042.599,648.368
D3044.856,650.407
D3047.093,652.447
D3049.309,654.489
D3051.503,656.531
D3053.675,658.575
D3055.824,660.62
D3057.95,662.665
D3060.053,664.712
D3062.131,666.76
D3064.184,668.81
D3066.213,670.86
D3068.215,672.912
D3070.191,674.964
D3072.141,677.019
D3074.064,679.074
D3075.958,681.131
D3077.825,683.189
D3079.663,685.248
D3081.471,687.309
D3083.25,689.372
D3084.999,691.435
D3086.717,693.5
D3088.403,695.567
D3090.058,697.635
D3091.681,699.705
D3093.271,701.776
D3094.827,703.849
D3096.35,705.924
D3097.839,708
D3099.293,710.078
D3100.711,712.157
D3102.094,714.238
D3103.44,716.321
D3104.75,718.406
D3106.022,720.492
D3107.257,722.58
D3108.453,724.67
D3109.611,726.762
D3110.729,728.856
D3111.807,730.952
D3112.846,733.049
D3113.843,735.149
D3114.799,737.25
D3115.713,739.354
D3116.585,741.459
D3117.414,743.567
D3118.199,745.676
D3118.941,747.788
D3119.639,749.902
D3120.291,752.018
D3120.898,754.136
D3121.46,756.256
D3121.975,758.378
D3122.443,760.503
D3122.864,762.63
....
D2418.595,799.039
D2415.932,794.761
D2413.276,790.469
D2410.629,786.163
D2407.988,781.844
D2405.354,777.513
D2402.726,773.172
D2400.103,768.82
D2397.486,764.458
D2394.874,760.088
D2392.266,755.71
D2389.662,751.324
D2387.061,746.933
D2384.464,742.535
D2381.869,738.133
D2379.277,733.727
D2376.686,729.318
D2374.096,724.907
D2371.508,720.493
D2368.92,716.08
M1705.159,624.54,D1235.96,933.519
)0,595.08,498.639,506.796,506.796,1154.071,1528.769,0
&1,1,1,TB50,0
FO0
H,

So beziers are sent as polylines. I guess H means halt.

TODO next: Perforated lines?