Program G17, G18 or G19 to set the plane of an arc.  G17 (often in
effecet by default, but program it anyway) means that the arc is in the
XY plane.  In that case, I- J- should be programmed to give the center
of the arc.  In G17 mode, K- is forbidden because the arc is not in Z.

Some links into the documentaion about these topics:
http://www.linuxcnc.org/docview/html/gcode_main.html#sub:G2,-G3:-Arc
http://www.linuxcnc.org/docview/html/gcode_main.html#sub:G17,-G18,-G19:
http://www.linuxcnc.org/docview/html/gcode_main.html#r3_4

Jeff

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