diff --git a/test/klippy/gcode_arcs.cfg b/test/klippy/gcode_arcs.cfg
new file mode 100644
index 00000000..ac9d089e
--- /dev/null
+++ b/test/klippy/gcode_arcs.cfg
@@ -0,0 +1,67 @@
+# Test config for arcs
+[gcode_arcs]
+
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .0125
+endstop_pin: ^ar3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: ar60
+dir_pin: !ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^ar14
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: .0025
+endstop_pin: ^ar18
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .004242
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
diff --git a/test/klippy/gcode_arcs.test b/test/klippy/gcode_arcs.test
new file mode 100644
index 00000000..2be4efc9
--- /dev/null
+++ b/test/klippy/gcode_arcs.test
@@ -0,0 +1,11 @@
+# Tests for g-code G2/G3 arc commands
+DICTIONARY atmega2560.dict
+CONFIG gcode_arcs.cfg
+
+# Home and move in arcs
+G28
+G1 X20 Y20 Z20
+G2 X125 Y32 Z20 E1 I10.5 J10.5
+
+# XY+Z arc move
+G2 X20 Y20 Z10 E1 I10.5 J10.5