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Uman Tabassum Follow Jun 1, 2021 · 2 min read Converting C code to machine code Converting C code into machine code The compiler recognizes the c code and converts it into machine C language consists of inbuilt functions like printf,scanf,gets and puts, etc these are all the functions inbuilt we can use that inbuilt Process of converting source code into machine code Have you ever wondered how your computer interprets human written (C-) code, compiles it to machine code and executes the operation you just programmed? For me those internal mechanics were a “miracle” for a long time — you hit compile, wait several seconds and voilà, your application runs! This page tries to describe the flavour of G-codes that the RepRap firmwares use and how they work. The main target is additive fabrication using FFF processes. Codes for print head movements follow the NIST RS274NGC G-code standard, so RepRap firmwares are quite usable for CNC milling and similar applications as well. See also on Wikipedia's G-code article. There are a few different ways to prepare G-code for a printer. One method would be to use a slicing program such as Slic3r, Skeinforge or Cura. These programs import a CAD model, slice it into layers, and output the G-code required to print each layer. Slicers are the easiest way to go from a 3D model to a printed part, however the user sacrifices some flexibility when using them. Another option for G-code generation is to use a lower level library like mecode. Libraries like mecode give you precise control over the tool path, and thus are useful if you have a complex print that is not suitable for naive slicing. The final option is to just write the G-code yourself. This may be the best choice if you just need to run a few test lines while calibrating your printer. As many different firmwares exist and their developers tend to implement new features without discussing strategies or looking what others did before them, a lot of different sub-flavours for the 3D-Printer specific codes developed over the years. This particular page is the master page for RepRap. Nowhere in here should the same code be used for two different things; there are always more numbers to use... The rule is: add your new code here, then implement it. Unfortunately human nature being what it is, the best procedures aren't always followed, so some multiple uses of the same code exist. The rule which should be followed is that later appearances of a code on this page (later than the original use of a code), are deprecated and should be changed, unless there is a good technical reason (like the general G-Code standard) why a later instance should be preferred. Note that the key date is appearance here, not date of implementation. IntroductionA typical piece of G-code as sent to a RepRap machine might look like this: N3 T0*57 N4 G92 E0*67 N5 G28*22 N6 G1 F1500.0*82 N7 G1 X2.0 Y2.0 F3000.0*85 N8 G1 X3.0 Y3.0*33 G-code can also be stored in files on SD cards. A file containing RepRap G-code usually has the extension N12320, N12321 or N12322. Files for BFB/RapMan have the extension N12323. G-code stored in file or produced by a slicer might look like this: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0 The meaning of all those symbols and numbers (and more) is explained below. Slicers will (optionally?) add G-code scripts to the beginning and end of their output file to perform specified actions before and/or after a print such as z-probing the build-area, heating/cooling the bed and hotend, performing ooze free "nozzle wipe" startup routine, switching system power on/off, and even "ejecting" parts. More info on the Start GCode routines and End GCode routines pages. To find out which specific G-code(s) are implemented in any given firmware, there are little tables attached to the command descriptions, like this one: Here means: {{yes}}The G-code is fully supported by the firmware.{{partial}} or {{experimental}}There is some support for the G-code. Often it is required to check out the source code branch for the firmware (usually stored in a different branch) or to flip configuration switches on the mainboard.{{automatic}}The firmware handles this G-code automatically, so there's no need to send the command. An example is power supply on/off G-code (M80/M81) in the Teacup firmware.{{???}}It is unknown if the firmware supports this G-code. You may want to test this yourself before using it in production.{{no}}The firmware does not support this G-code.For the technically-minded, G-code line endings are Unix Line Endings ( N12324), but will accept Windows Line Endings ( N12325), so you should not need to worry about converting between the two, but it is best practice to use Unix Line Endings where possible. FieldsA RepRap G-code is a list of fields that are separated by white spaces or line breaks. A field can be interpreted as a command, parameter, or for any other special purpose. It consists of one letter directly followed by a number, or can be only a stand-alone letter (Flag). The letter gives information about the meaning of the field (see the list below in this section). Numbers can be integers (128) or fractional numbers (12.42), depending on context. For example, an X coordinate can take integers ( N12326) or fractionals ( N12327), but selecting extruder number 2.76 would make no sense. In this description, the numbers in the fields are represented by N12328 as a placeholder. In RepRapFirmware, some parameters can be followed by more than one number, with colon used to separate them. Typically this is used to specify extruder parameters, with one value provided per extruder. If only one value is provided where a value is needed for each extruder, then that value is applied to all extruders. LetterMeaningGnnnStandard G-code command, such as move to a pointMnnnRepRap-defined command, such as turn on a cooling fanTnnnSelect tool nnn. In RepRap, a tool is typically associated with a nozzle, which may be fed by one or more extruders.SnnnCommand parameter, such as time in seconds; temperatures; voltage to send to a motorPnnnCommand parameter, such as time in milliseconds; proportional (Kp) in PID TuningXnnnA X coordinate, usually to move to. This can be an Integer or Fractional number.YnnnA Y coordinate, usually to move to. This can be an Integer or Fractional number.ZnnnA Z coordinate, usually to move to. This can be an Integer or Fractional number.U,V,WAdditional axis coordinates (RepRapFirmware)InnnParameter - X-offset in arc move; integral (Ki) in PID TuningJnnnParameter - Y-offset in arc moveDnnnParameter - used for diameter; derivative (Kd) in PID TuningHnnnParameter - used for heater number in PID TuningFnnnFeedrate in mm per minute. (Speed of print head movement)RnnnParameter - used for temperaturesQnnnParameter - not currently usedEnnnLength of extrudate. This is exactly like X, Y and Z, but for the length of filament to consume.NnnnLine number. Used to request repeat transmission in the case of communications errors.*nnnChecksum. Used to check for communications errors.Case sensitivityThe original NIST G-code standard requires gcode interpreters to be case-insensitive, except for characters in comments. However, not all 3D printer firmwares conform to this and some recognise uppercase command letters and parameters only. Firmwares that are known to be case-insensitiveRepRapFirmware version 1.19 and later (except within quoted strings)Firmwares that are known to be case-sensitiveRepRapFirmware version 1.18 and earlierQuoted stringsIn RepRapFirmware, some commands support quoted strings when providing file names and other string parameters. This allows file names, WiFi passwords etc. to contain spaces, semicolons and other characters that would otherwise not be permitted. Double-quote characters are used to delimit the string, and any double-quote character within the string must be repeated. Unfortunately, some gcode sender programs convert all characters to uppercase and don't provide any means to disable this feature. Therefore, within a quoted-string, the single-quote character is used as a flag to force the following character to lowercase. If you want to include a single quote character in the string, use two single quote characters to represent one single quote character. Example: to add SSID MYROUTER with password N12329 to the WiFi network list, use command: N12330 or if you can't send lowercase characters: N12331 Using expressions in parametersRepRapFirmware 3.1 and later allow parameter values to be computed from an expression enclosed in { }. Such an expression may include constants, values from the machine object model, operators and functions. Example: N12332 See https://duet3d.dozuki.com/Wiki/GCode_Meta_Commands#Section_Use_of_expressions_within_GCode_commands for more details. G-code comments begin at a semicolon, and end at the end of the line: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22 Some firmwares also obey the CNC G-code standard, which is to enclose comments in round brackets. Comments of this form must start and end on the same line: (Home some axes) G28 (here come the axes to be homed) X Y Comments and white space will be ignored by your RepRap Printer. It's better to strip these out on the host computer before sending the G-code to your printer, as this saves bandwidth. Special fieldsN: Line numberExampleN123 If present, the line number should be the first field in a line. For G-code stored in files on SD cards the line number is usually omitted. If checking is supported, the RepRap firmware expects line numbers to increase by 1 each line, and if that doesn't happen it is flagged as an error. But you can reset the count using N12333 (see below). Although supported, usage of N in Machinekit is discouraged as it serves no purpose. *: ChecksumExample: N12334 If present, the checksum should be the last field in a line, but before a comment. For G-code stored in files on SD cards the checksum is usually omitted. The firmware compares the checksum against a locally-computed value. If they differ, it requests a repeat transmission of the line. *: CRCExample: N12335 The 8-bit checksum provides insufficient protection against noise on the received data connection in some situations, for example where the cable from a display device runs close to an extruder cable. Therefore RepRapFirmware allows a CRC to be used in place of a checksum. If present, the CRC should be the last field in a line, but before a comment. RepRapFirmware assumes that * followed by 5 digits is a CRC, whereas * followed by 1, 2 or 3 digits is a checksum. The polynomial used is 0x1021 as for CCITT CRC16. CheckingExampleN123 [...G Code in here...] *71 The RepRap firmware checks the line number and the checksum (or CRC if supported). You can leave both of these out - RepRap will still work, but it won't do checking. You have to have both or neither though. If only one appears, it produces an error. The checksum "cs" for a G-code string "cmd" (including its line number) is computed by exor-ing the bytes in the string up to and not including the * character as follows: int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming... and the value is appended as a decimal integer to the command after the * character. Conditional Execution and LoopsRepRapFirmware 3.01 and later supports conditions and loops in GCode. Properties from the firmware object model (e.g. current position, current tool) can be included in controlling expressions. See https://duet3d.dozuki.com/Wiki/GCode_Meta_Commands for details. BufferingIf buffering is supported, the RepRap firmware stores some commands in a ring buffer internally for execution. This means that there is no (appreciable) delay while a command is acknowledged and the next transmitted. In turn, this means that sequences of line segments can be plotted without a dwell between one and the next. As soon as one of these buffered commands is received it is acknowledged and stored locally. If the local buffer is full, then the acknowledgment is delayed until space for storage in the buffer is available. This is how flow control is achieved. Typically, the following moving commands are buffered: N12336- N12337 and N12338- N12339. The Teacup Firmware buffers also some setting commands: N12340, N12341, N12342 and N12343. All other N12344, N12345 or N12346 commands are not buffered. RepRapFirmware also implements an internal queue to ensure that certain codes (like M106) are executed in the right order and not when the last move has been added to the look-ahead queue. When an unbuffered command is received it is stored, but it is not acknowledged to the host until the buffer is exhausted and then the command has been executed. Thus the host will pause at one of these commands until it has been done. Short pauses between these commands and any that might follow them do not affect the performance of the machine. G-commandsG0 & G1: Move
N12349 N12350ParametersNot all parameters need to be used, but at least one has to be used N12351 The position to move to on the X axis N12352 The position to move to on the Y axis N12353 The position to move to on the Z axis N12354 The amount to extrude between the starting point and ending point N12355 The feedrate per minute of the move between the starting point and ending point (if supplied) N12356 (RepRapFirmware) Flag to check if an endstop was hit ( N12357 to check, N12358 to ignore, other N12356 see note, default is N12358)1 N12361 (RepRapFirmware) Restore point number 4 N12362 Laser cutter/engraver power. In RepRapFirmware, when not in laser mode S in interpreted the same as H.Examples G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material The RepRap firmware spec treats N12336 and N12348 as the same command, since it's just as efficient as not doing so.2 Most RepRap firmwares do subtle things with feedrates. G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude In the above example, we first set the feedrate to 1500mm/min, then move to 50mm on X and 25.3mm on Y while extruding 22.4mm of filament between the two points. G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min However, in the above example, we set a feedrate of 1500 mm/min, then do the same move, but accelerating to 3000 mm/min. Everything stays synchronized, so extrusion accelerates right along with X and Y movement. The RepRap spec treats the feedrate as simply another variable (like X, Y, Z, and E) to be linearly interpolated. This gives complete control over the acceleration and deceleration of the printer head in a way that ensures everything moves smoothly together and the right volume of material is extruded at all points.3 To reverse the extruder by a given amount (for example to reduce its internal pressure while it does an in-air movement so that it doesn't dribble) simply use N12336 or N12348 to send an N12367 value that is less than the currently extruded length.Notes 1Some firmwares allow for the RepRap to enable or disable the "sensing" of endstops during a move. Please check with whatever firmware you are using to see if they support the N12368 parameter in this way, as damage may occur if you assume incorrectly. In RepRapFirmware, using the N12357 or N12370 parameter on a delta printer causes the N12371 parameters to refer to the individual tower motor positions instead of the head position, and to enable endstop detection as well if the parameter is H1. H3 may be used to measure axis lengths and H4 can be used to stop when an endstop is hit while updating the position only (H4 is supported in 3.2-b4 and later). 2In the RS274NGC Spec, N12336 is Rapid Move, which was used to move between the current point in space and the new point as quickly and efficiently as possible, and N12348 is Controlled Move, which was used to move between the current point in space and the new point as precise as possible. In RepRapFirmware, G1 is always a linear move but G0 may not be linear (e.g. on a SCARA machine); however a G0 move will never go below the lower of the initial and final Z height of the move. 3Some firmwares may not support setting the feedrate inline with a move. 4RepRapFirmware provides an additional 'R' parameter to tell the machine to add the coordinates of the specified restore point to all axis coordinates mentioned in the G0 or G1 command. Axes that are not mentioned in the G0 or G1 command are not moved. When a print is paused, the coordinates are saved in restore point #1. When a tool change is commenced, the coordinates are saved in restore point #2. Coordinates can also be saved in restore points explicity using the G60 command. Some older machines, CNC or otherwise, used to move faster if they did not move in a straight line. This is also true for some non-Cartesian printers, like delta or polar printers, which move easier and faster in a curve. G2 & G3: Controlled Arc MoveUsageN12374 (Clockwise Arc) N12375 (Counter-Clockwise Arc)Parameters N12351 The position to move to on the X axis N12352 The position to move to on the Y axis N12378 The point in X space from the current X position to maintain a constant distance from N12379 The point in Y space from the current Y position to maintain a constant distance from N12354 The amount to extrude between the starting point and ending point N12355 The feedrate per minute of the move between the starting point and ending point (if supplied)Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.00 (Move in a Clockwise arc from the current point to point (X=90.6,Y=13.8), with a center point at (X=current_X+5, Y=current_Y+10), extruding 22.4mm of material between starting and stopping) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.01 (Move in a Counter-Clockwise arc from the current point to point (X=90.6,Y=13.8), with a center point at (X=current_X+5, Y=current_Y+10), extruding 22.4mm of material between starting and stopping) Notes1In Marlin Firmware not implemented for DELTA printers. 2Prusa Firmware implements arcs only in Cartesian XY. 3On Klipper, a N12382 section must be enabled in the configuration file. G4: DwellPause the machine for a period of time. ParametersN12383 Time to wait, in milliseconds (In Teacup, P0, wait until all previous moves are finished) N12362 Time to wait, in seconds (Only on Repetier, Marlin, Prusa, Smoothieware, and RepRapFirmware 1.16 and later)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.02 In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled. On Marlin, Smoothie and RepRapFirmware, the "S" parameter will wait for seconds, while the "P" parameter will wait for milliseconds. "G4 S2" and "G4 P2000" are equivalent. G6: Direct Stepper MovePerform a direct, uninterpolated, and non-kinematic synchronized move of one or more steppers directly. Units may be linear (e.g., mm or inches on N12385) or specified in degrees (SCARA). This command is useful for initialization, diagnostics, and calibration, and should be disabled on production equipment. This type of move can be potentially dangerous, especially for deltabots, so implementations should do their best to limit movement to prevent twerking and damaging the carriage assembly.Parameters N12386 Stepper A position or angle N12387 Stepper B position or angle N12388 Stepper C position or angle N12389 Relative move flagSCARA Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.03DELTA Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.04 G10: Set tool Offset and/or workplace coordinates and/or tool temperaturesUsageN123901Parameters N12383 Tool number N12392 Offset mode 5 N12351 X offset N12352 Y offset N12353 Z offset2 N12396 other axis offsets4 N12361 Standby temperature(s) (RepRapFirmware) N12362 Active temperature(s) (RepRapFirmware)Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.05 (sets the offset for tool 2 to the X, Y, and Z values specified) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.06 (RepRapFirmware only - set standby and active temperatures3 for tool 1) Remember that any parameter that you don't specify will automatically be set to the last value for that parameter. That usually means that you want explicitly to set Z0.0. RepRapFirmware will report the tool parameters if only the tool number is specified. The precise meaning of the X, Y (and other offset) values is: with no offset this tool is at this position relative to where a tool with offset (0, 0, 0) would be. So if the tool is 10mm to the left of a zero-offset tool the X value would be -10, and so on. The N12389 value is the standby temperature in oC that will be used for the tool, and the N123 [...G Code in here...] *7100 value is its operating temperature. If you don't want the tool to be at a different temperature when not in use, set both values the same. See the T code (select tool) below. In tools with multiple heaters the temperatures for them all are specified thus: R100.0:90.0:20.0 S185.0:200.0:150.0 . See also N123 [...G Code in here...] *7101.Notes 1Marlin uses G10/G11 for executing a retraction/unretraction move. Smoothie uses N123 [...G Code in here...] *7102 for retract and N123 [...G Code in here...] *7103 for setting workspace coordinates. RepRapFirmware interprets a G10 command with no P or L parameter as a retraction command. 2It's usually a bad idea to put a non-zero N123 [...G Code in here...] *7104 value in as well unless the tools are loaded and unloaded by some sort of tool changer or are on indepedent carriages. When all the tools are in the machine at once they should all be set to the same Z height. 3If the absolute zero temperature (-273.15) is passed as active and standby temperatures, RepRapFirmware will only switch off the tool heater(s) without changing their preset active or standby temperatures. RepRapFirmware-dc42 does not support this setting. 4Tool offsets are applied after any X axis mapping has been performed. Therefore if for example you map X to U in your N123 [...G Code in here...] *7105 command to create the tool, you should specify a U offset not an X offset. If you map X to both X and U, you can specify both offsets. (Not supported on all firmwares). 5L1 sets the offsets of the specified tool relative to the head reference point to the specified values. L2 sets the current workplace coordinate offsets to the specified values. L20 adjusts the current workplace coordinate offsets so that the current tool head position has the specified coordinates. NOTE on some firmwares L is required (and is required by NIST standard). P is also required to specify either the tool to update or the WCS to update. G10: RetractParametersN12362 retract length (S1 = long retract, S0 = short retract = default) (Repetier only)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.07 Retracts filament according to settings of N123 [...G Code in here...] *7107 (Marlin, RepRapFirmware) or according to the N123 [...G Code in here...] *7100 value (Repetier). RepRapFirmware recognizes N123 [...G Code in here...] *7102 as a command to set tool offsets and/or temperatures if the N123 [...G Code in here...] *7110 parameter is present, and as a retraction command if it is absent. G11: UnretractParametersN12362 retract length (S1 = long retract, S0 = short retract = default) (Repetier only)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.08 Unretracts/recovers filament according to settings of N123 [...G Code in here...] *7112 (Marlin, RepRapFirmware) or according to the N123 [...G Code in here...] *7100 value (Repetier). G12: Clean ToolUsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.09 N123 [...G Code in here...] *7114Parameters N123831 Pattern style selection N12362 Number of strokes (i.e. back-and-forth movements) N123 [...G Code in here...] *7117 Number of repetitions N12354 0=Never 1=Always apply software endstops (Marlin 2.0.6+)Examples G12 ; stroke pattern (default) To generate a three triangle zig-zag pattern which will be stroked three times time use the following command. G12 P1 S3 T2 ; zig-zag pattern with 2 triangles Notes1In Marlin firmware and Derivatives Mk4duo this is implemented by hard-coded firmware behaviours As defined for variables NOZZLE_CLEAN_STROKES, NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT and NOZZLE_CLEAN_PARK. With NOZZLE_CLEAN_PARK enabled, the nozzle will automatically return to the XYZ position after G12 is run. More on this behaviour is documented inside of the code base. The use of G12 for tool cleaning clashes with the established use of G12 for circular pocket milling on CNC machines. For this reason, RepRapFirmware does not support G12. G17..19: Plane Selection (CNC specific)These codes set the current plane as follows:
This mode applies to N123 [...G Code in here...] *7122/ N12337 arc moves. Normal arc moves are in the XY plane, and for most applications that's all you need. For CNC routing it can be useful to do small "digging" moves while making cuts, so to keep the G-code compact it uses N123 [...G Code in here...] *7122/ N12337 arcs involving the Z plane. These commands are supported in Marlin 1.1.4 and later with N123 [...G Code in here...] *7126 and N123 [...G Code in here...] *7127 enabled. G20: Set Units to InchesExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*220 Units from now on are in inches. In RepRapFirmware, the inches/mm setting applies to regular printing and travel moves (G0, G1, G2 etc.) but not to configuration commands. Therefore configuration should be done in mm. When executing a macro file, RepRapFirmware remembers the initial inches/mm setting and restores it after execution of the macro has completed. G21: Set Units to MillimetersExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*221 Units from now on are in millimeters. (This is the RepRap default.) In RepRapFirmware, the inches/mm setting applies to regular printing and travel moves (G0, G1, G2 etc.) but not to configuration commands. Therefore configuration should be done in mm. When executing a macro file, RepRapFirmware remembers the initial inches/mm setting and restores it after execution of the macro has completed. So a macro file such as pause.g (executed when a pause command is received) can safely use G21 at the start to switch the units to mm without affecting the job after the macro completes, regardless of whether the job was using inches or mm. G22: Firmware RetractUsageN123 [...G Code in here...] *7128 Use this command (along with N123 [...G Code in here...] *7129) to have the firmware to do retraction moves (in contrast to generating an E axis N12348 move). The retract length and speed are set in the firmware. G23: Firmware RecoverUsageN123 [...G Code in here...] *7131 Use this command (along with N123 [...G Code in here...] *7132) to have the firmware to do a recover move. The recover length and speed are set in the firmware. G26: Mesh Validation PatternUsageN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*222 The N123 [...G Code in here...] *7133 Mesh Validation Pattern is designed to be used in conjunction with various Mesh Bed Leveling systems – those that adjust for an uneven —rather than just tilted— bed. The N123 [...G Code in here...] *7133 command prints a single layer pattern over the entire print bed, giving a clear indication of how accurately every mesh point is defined. N123 [...G Code in here...] *7133 can be used to determine which areas of the mesh are less-than-perfect and how much to adjust each mesh point. N123 [...G Code in here...] *7133 has large feature list, including a built-in test that extrudes material onto the bed. By default this is configured for PLA temperatures and a nozzle size of 0.4mm. (This will be adjustable in an upcoming version of Marlin.) See the N123 [...G Code in here...] *7137 file in the Marlin source code for full documentation of the N123 [...G Code in here...] *7133 parameter list. G27: Park toolheadPark the toolhead (i.e., nozzle) at a predefined XY position, with a Z raise value that applies over 0 or over the current position depending on the N123 [...G Code in here...] *7110 parameter. In Marlin this G-code is enabled by N123 [...G Code in here...] *7140 and the park position is defined by N123 [...G Code in here...] *7141. See G27 Park Toolhead for details.Usage N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*223 G28: Move to Origin (Home)ParametersThis command can be used without any additional parameters.N123 [...G Code in here...] *7142 Flag to go back to the X axis origin N123 [...G Code in here...] *7143 Flag to go back to the Y axis origin N123 [...G Code in here...] *7104 Flag to go back to the Z axis origin N123 [...G Code in here...] *7110 Reserved by Prusa N123 [...G Code in here...] *7146 Reserved by PrusaExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*224 When the firmware receives this command, it quickly moves the specified axes (or all axes if none are given) to the endstops, backs away from each endstop by a short distance, and slowly bumps the endstop again to increase positional accuracy. This process, known as "Homing", is required to determine the position of the print carriage(s). Some firmware may even forbid movement away from endstops and other operations until the axes have been homed. The N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, and N123 [...G Code in here...] *7104 parameters act only as flags. Any coordinates given are ignored. For example, N123 [...G Code in here...] *7150 results in the same behavior as N123 [...G Code in here...] *7151. Delta printers cannot home individual axes, but must always home all three towers, so the N123 [...G Code in here...] *7152 parameters are simply ignored on these machines. Marlin firmware (version 1.1.0 and later) provides an option called N123 [...G Code in here...] *7153 for printers that use a Z probe to home Z instead of an endstop. With this option, the XY axes are homed first, then the carriage moves to a position –usually the middle of the bed– where it can safely probe downward to home Z. RepRapFirmware uses macro files to home either all axes or individual axes. If all axes are homed, the file N123 [...G Code in here...] *7154 is processed. For individual axes the N123 [...G Code in here...] *7155, N123 [...G Code in here...] *7156, or N123 [...G Code in here...] *7157 file will be used. On Delta printers, N12338 command will always home all three towers by processing the N123 [...G Code in here...] *7159 file, regardless of any N123 [...G Code in here...] *7142 N123 [...G Code in here...] *7143 N123 [...G Code in here...] *7104 parameters. Because the behavior of N12338 is unspecified, it is recommended not to automatically include N12338 in your ending G-code. On a Cartesian this will result in damaging the printed object. If you need to move the carriage at the completion of a print, use N12336 or N12348.Notes 1 MK4duo has a N123 [...G Code in here...] *7167 parameter that tells the printer to return to the coordinates it was at before homing. 2 Original Prusa i3 MK2/s, MK2.5/s, MK3/s supports a N123 [...G Code in here...] *7168 parameter to suppress mesh bed leveling. If N123 [...G Code in here...] *7168 is omitted, G28 will home only and NOT perform mesh bed leveling. Original Prusa i3 MK3/s (TMC2130 drivers) supports a N123 [...G Code in here...] *7170 parameter to calibrate the X and Y home position. N123 [...G Code in here...] *7168 Suppress mesh bed leveling (Prusa MK2/s, MK2.5/s and MK3/s only)2 N123 [...G Code in here...] *7170 Calibrate X and Y home position (Prusa MK3/s only)2 G29: Detailed Z-ProbeThis command uses a probe to measure the bed height at 3 or more points to determine its tilt and overall flatness. It then enables compensation so that the nozzle will remain parallel to the bed. The printer must be homed with N12338 before using this command. Each firmware behaves differently and depends on the type of bed leveling that's been configured. For example, Marlin 1.0.2 provides 3 different types of automatic bed leveling (probe required) and a manual bed leveling option. See your firmware's documentation for the specific options available. UsageN123 [...G Code in here...] *7174 N123 [...G Code in here...] *7175Parameters N12362 Firmware-dependent behavior N123 [...G Code in here...] *7177 Optional file name for bed height map file (RepRapFirmware only)Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*225 G29 Auto Bed Leveling (Marlin - MK4duo)Marlin 1.0.2 and earlier provides three options for automatic bed leveling:
Marlin 1.1.0 and later allows the bilinear grid (i.e., "mesh") method to be used on all types of machines, not just deltas. This is the recommended leveling method going forward. Also in Marlin 1.1.0 and later, the N123 [...G Code in here...] *7178 option allows all forms of Auto Bed Leveling to be used without a probe. The procedure is similar to that of N123 [...G Code in here...] *7179 (see below). Begin the process with N123 [...G Code in here...] *7174 to move the nozzle to the first point. Adjust the Z axis using N12348 or your host software. Send N123 [...G Code in here...] *7174 again to move to the next point and repeat until all points have been sampled.Parameters N123 [...G Code in here...] *7110 Set the size of the grid that will be probed (P x P points). Not supported by non-linear delta printer bed leveling. Example: N123 [...G Code in here...] *7184 N123 [...G Code in here...] *7100 Set the XY travel speed between probe points (in units/min) N123 [...G Code in here...] *7186 Dry-Run mode. Just evaluate the bed Topology - Don't apply or clean the rotation Matrix. Useful to check the topology after a first run of G29. N123 [...G Code in here...] *7187 Set the verbose level (0-4). Example: N123 [...G Code in here...] *7188 N12346 Generate a Bed Topology Report. Example: N123 [...G Code in here...] *7190 for a detailed report. This is useful for manual bed leveling and finding flaws in the bed (to assist with part placement). Not supported by non-linear delta printer bed leveling. N123 [...G Code in here...] *7191 Set the Front limit of the probing grid N123 [...G Code in here...] *7167 Set the Back limit of the probing grid N123 [...G Code in here...] *7193 Set the Left limit of the probing grid N12389 Set the Right limit of the probing gridGlobal Parameters N12367 By default N123 [...G Code in here...] *7174 will engage the Z probe, test the bed, then disengage. Include N12367 or N123 [...G Code in here...] *7198 to engage/disengage the Z probe for each sample. (This has no effect for fixed probes.) G29 Unified Bed Leveling (Marlin - MK4duo)Marlin firmware (version 1.1.0 and later) includes the N123 [...G Code in here...] *7199 option for Unified Bed Leveling. UBL combines mesh leveling, tilted plane adjustment, 3-point leveling, and manual editing tools all together in a single package. To accomplish so much, UBL overloads `G29` with several new parameters and provides an additional N123 [...G Code in here...] *7133 Mesh Tuning feature. See the MarlinFW website for a dedicated Unified Bed Leveling page and complete documentation on `G29` for UBL and `G26` Mesh Validation. G29 UBL Parameters (synopsis)N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*226 G29 Manual Bed Leveling (Marlin - MK4duo)Marlin firmware (version 1.0.2 and later) also provides a N123 [...G Code in here...] *7179 feature that can be used to perform bed leveling on machines lacking a probe. This form of bed leveling compensates for uneven Z height across the surface of the bed using a mesh and bilinear interpolation.Manual Bed Leveling Usage N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*227Options for the N123 [...G Code in here...] *7100 parameter int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03 Produces a mesh report int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04 Start probing mesh points int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...05 Probe the next mesh point int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...06 Manually modify a single point int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...07 Set z offset. Positive away from bed, negative closer to bed. G29 Auto Bed Leveling (Repetier-Firmware)Repetier firmware since v0.91 supports N123 [...G Code in here...] *7174 with the optional Snnn parameter as described below. Useful to simply detect the Z bed angle so you can manually readjust your bed and get it as close to in plane as possible. If you wish to apply automatic software Z plane compensation on Repetier, use N12339 instead with firmware 0.92.8 and above. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03 Default value. Z bed heights are calculated at the measured points, relative to current Z position before issuing N123 [...G Code in here...] *7174. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04 Same as int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03, except printer immediately moves to Z maximum position (Z max endstop required!), and calculates new Z maximum height. You must first issue int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...14 to home to Z maximum position before issuing N123 [...G Code in here...] *7175 for this to work correctly, or the printer height will be invalid. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...05 Same as int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04, except new calculated Z height is also stored to EEPROM. G29 Mesh Bed Compensation (RepRapFirmware)RepRapFirmware: int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03 (default if no N123 [...G Code in here...] *7100 parameter) Probe the bed, save the height map in a file on the SD card, and activate the height map. The default folder for the height map file is int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...20 and the default file name is int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...21. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04 Load the height map from file and activate bed compensation. The default folder and filename as for int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...05 Clear the currently-loaded bed height map To define the grid, see M557. In RepRapFirmware 3.2 and later, G29 runs macro file mesh.g if it exists, otherwise it behaves like G29 S0. The mesh.g file can perform other actions (e.g. homing or tool selection) and then use G29 S0 to do the probing. NotesIn Prusa Firmware N123 [...G Code in here...] *7174 is not active by default, instead G81 is used.1 G29.1: Set Z probe head offsetExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*228 Set the offset of the Z probe head. The offset will be subtracted from all probe moves. G29.2: Set Z probe head offset calculated from toolhead positionExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*229 Set the offset of the Z probe head. The offset will be subtracted from all probe moves. The calculated value is derived from the distance of the toolhead from the current axis zero point. The user would typically place the toolhead at the zero point of the axis and issue the int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...26 command. G30: Single Z-ProbeUsageint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...27Parameters N12383 Probe point number N12351 X coordinate N12352 Y coordinate N12353 Z coordinate N12356 Height correction N12362 Set parameterExample (Home some axes) G28 (here come the axes to be homed) X Y0Examples (RepRapFirmware) (Home some axes) G28 (here come the axes to be homed) X Y1 In its simplest form probes bed at current XY location. RepRapFirmware supports additional behaviour: if a int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 field is specified the probed N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, and N123 [...G Code in here...] *7104 values are saved as point n on the bed for calculating the offset plane or for performing delta printer calibration. If N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, or N123 [...G Code in here...] *7104 values are specified (e.g. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...41) then those values are used instead of the machine's current coordinates. A silly N123 [...G Code in here...] *7104 value (less than -9999.0) causes the machine to probe at the current point to get Z, rather than using the given value. If an S field is specified (e.g. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...43) the bed plane is computed for compensation and stored. The combination of these options allows for the machine to be moved to points using N12348 commands, and then probe the bed, or for the user to position the nozzle interactively and use those coordinates. The user can also record those values and place them in a setup G-code file for automatic execution. RepRapFirmware uses the value of the N123 [...G Code in here...] *7100 parameter to specify what computation to perform. If the value is -1 then the Z offsets of all the points probed are printed, but no calibration is done. If the value is zero or not present, then this specifies that the number of factors to be calibrated is the same as the number of points probed. Otherwise, the value indicates the number of factors to be calibrated, which must be no greater than the number of points probed. In version 1.09, the number of factors may be 3, 4 or 5 when doing auto bed compensation on a Cartesian or CoreXY printer, and 3, 4, 6 or 7 when doing auto calibration of a Delta printer. RepRapFirmware supports an optional N12368 parameter, which is a height correction for that probe point. It allows for the Z probe having a trigger height that varies with XY position. The nominal trigger height of the Z probe (e.g. at bed centre) is declared in the N123 [...G Code in here...] *7104 parameter of the int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...48 command in the config.g file. When you probe using int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...49 and the probe triggers, the firmware will assume that the nozzle is at the nominal trigger height plus the value you have in the N12368 parameter. 1MK4duo Firmware support an optional parameter for Delta. Usageint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...51Parameters N12351 X coordinate N12352 Y coordinate int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...54 Stows the probe if 1 (default=1) int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...55with a non-zero value will apply the result to current delta_height int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34with a non-zero value will apply the result to current zprobe_zoffsetNotes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.2 G31: Set or Report Current Probe statusUsageint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...57Parameters N12383 Trigger value N12351 Probe X offset1 N12352 Probe Y offset1 N12353 Trigger Z height N12388 Temperature coefficient(s) of trigger height2 N12362 Calibration temperature2 N123 [...G Code in here...] *7117 (RepRapFirmware 1.17 and later) Z probe type to which these parameters apply, defaults to the current Z probe type as defined by int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...65 parameterExamples (Home some axes) G28 (here come the axes to be homed) X Y2 When used on its own this reports whether the Z probe is triggered, or gives the Z probe value in some units if the probe generates height values. If combined with a Z and P field (example: int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...66) this will set the Z height to 0.7mm when the Z-probe value reaches 312 when a int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...67 (zero Z axis) command is sent. The machine will then move a further -0.7mm in Z to place itself at Z = 0. This allows non-contact measuring probes to approach but not touch the bed, and for the gap left to be allowed for. If the probe is a touch probe and generates a simple 0/1 off/on signal, then int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...68 will tell the RepRap machine that it is at a height of 0.7mm when the probe is triggered. In RepRapFirmware, separate int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...48 parameters may be defined for different probe types (i.e. 0+4 for switches, 1+2 for IR probes and 3 for alternative sensors). To specify which probe you are setting parameters for, send a M558 command to select the probe type before sending the int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...48 command, or use the N12346 parameter. In Repetier, int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...48 supports no parameters and simply prints the high/low status of the Z probe.Notes 1X and Y offsets of the Z probe relative to the print head (i.e. the position when the empty tool is selected) can be specified in RepRapFirmware. This allows you to calculate your probe coordinates based on the geometry of the bed, without having to correct them for Z probe X and Y offset. 2In RepRapFirmware, additional parameters 'S' (bed temperature in oC at which the specified N123 [...G Code in here...] *7104 parameter is correct, default is current bed temperature) and 'C' (temperature coefficient of N123 [...G Code in here...] *7104 parameter in mm/oC, default zero) can be set for the alternative (ultrasonic) sensor. This is useful for probes that are affected by temperature such as PINDA. RepRapFirmware 3.1 and later allow both first and second order temperature coefficients to be specified, e.g. C0.015:0.001. G31: Dock Z Probe sledNotesIn Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 G32: Probe Z and calculate Z planeUsage(Home some axes) G28 (here come the axes to be homed) X Y3 This command is implemented as a more sophisticated form of bed leveling (which uses a transformation matrix or motorized correction. Smoothieware uses this code instead of `G29`. Each firmware behaves differently. For example, Repetier firmware allows for motorized rotation of the bed whilst ReprapFirmware probes the bed with a transformation matrix. Probe and calculate in ReprapfirmwareRepRapFirmware executes macro file int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...75 in response to the G31 command. The int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...75 file is typically used to probe the bed and then perform delta calibration if the printer is a delta, or to perform individual leadscrew adjustment to level the bed if the printer has multiple independently-controlled Z motors, or to advise the user on how much to adjust each bed levelling adjustment screw. Probe and calculate in Repetier firmwareThis command probes the bed at 3 or more pre-defined points and implements bed leveling compensation by either moving the A axis during printing (as with regular bed leveling, N123 [...G Code in here...] *7174) or by tilting the bed with motors.Parameters N12362 Bed leveling method N12383 Bed correction method The values for Snnn and Pnnn are as follows: int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03 This method measures at the 3 probe points and creates a plane through these points. If you have a really planar bed this gives the optimum result. The 3 points must not be in one line and have a long distance to increase numerical stability. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04 This measures a grid. Probe point 1 is the origin and points 2 and 3 span a grid. We measure BED_LEVELING_GRID_SIZE points in each direction and compute a regression plane through all points. This gives a good overall plane if you have small bumps measuring inaccuracies. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...05 Bending correcting 4 point measurement. This is for cantilevered beds that have the rotation axis not at the side but inside the bed. Here we can assume no bending on the axis and a symmetric bending to both sides of the axis. So probe points 2 and 3 build the symmetric axis and point 1 is mirrored to 1m across the axis. Using the symmetry we then remove the bending from 1 and use that as plane. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...83 Use a rotation matrix. This will make z axis go up/down while moving in x/y direction to compensate the tilt. For multiple extruders make sure the height match the tilt of the bed or one will scratch. This is the default. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...84 Motorized correction. This method needs a bed that is fixed on 3 points from which 2 have a motor to change the height. The positions are defined in firmware by BED_MOTOR_1_X, BED_MOTOR_1_Y, BED_MOTOR_2_X, BED_MOTOR_2_Y, BED_MOTOR_3_X, BED_MOTOR_3_Y Motor 2 and 3 are the one driven by motor driver 0 and 1. These can be extra motors like Felix Pro 1 uses them or a system with 3 z axis where motors can be controlled individually like the Sparkcube does. This method requires a Z max endstop. G32: Undock Z Probe sledNotesIn Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 G33: Firmware dependentG33: Measure/List/Adjust Distortion Matrix (Repetier - Redeem)Usageint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...85 int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...86 int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...87 int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...88Parameters int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...89 List distortion matrix in a report int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...90 Reset distortion matrix int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...91 Set correction for nearest pointExamples (Home some axes) G28 (here come the axes to be homed) X Y4 When used with no parameters, int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...85 will measure a grid of points and store the distortion dips and valleys in the bed surface, and then enable software distortion correction for the first few or several layers. The values will be stored in EEPROM if enabled in firmware. You must previously have N12338 homed, and your Z minimum/maximum height must be set correctly for this to work. Use the optional parameters to list, reset or modify the distortion settings. Distortion correction behavior can be later turned on or off by code int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...94. G33: Delta Auto Calibration (Marlin 1.1.x - MK4duo)End-stops and tower angle corrections are normalized (P0); Performs a 1-4-7 point calibration of delta height (P1), end-stops, delta radius (P2) and tower angle corrections (P>=3) by a least squares iteration process based on the displacement method. Usageint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...85 int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...96Parameters int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 Number of probe points: n*n (n= 0-10), when P is omitted the default set in Configuration.h is used. N12346 Do not calibrate tower angle corrections (if used with P>=3); do not use the probe points near the towers, but the probe points opposite to the towers (if used with P=2) int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...99 Force the iterations to stop when a standard deviation from the zero plane less then x.xx mm is achieved; when C is omitted the iterations go on until the best possible standard deviation is reached. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material00 Force to run at least n iterations (n=1-30) and take the best result G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material01 Verbose level: (n=0-3) 0 = dry run without calibration; 1(default) = settings at start and end; 2 = settings at all iterations; 3 = settings and probe results N12367 Engage the probe for each point G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material03 Do not probe at the required kinematic points but at positions offseted to the probe-offsets 1 N12389 Temporary reduce the size of the probe grid by the specified amount (mm) 1Notes 1 since 2.0.9.2 Examples(Home some axes) G28 (here come the axes to be homed) X Y5 (Home some axes) G28 (here come the axes to be homed) X Y6 (Home some axes) G28 (here come the axes to be homed) X Y7 (Home some axes) G28 (here come the axes to be homed) X Y8 (Home some axes) G28 (here come the axes to be homed) X Y9 note: Height = delta height; Ex, Ey, Ez = end-stop corrections; Radius = delta radius; Tx, Ty, Tz = tower angular corrections; c, x, y, z, yz, zx, xy = probe results at center, towers and opposite to towers; std dev = standard deviation of the probe results towards the zero plane. G34: Z Stepper Auto-AlignUse multiple Z steppers and a probe to align Z axis connection points. See G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material05 for other options.Example N1230 G34: Calculate Delta Height from toolhead position (DELTA)ExampleN1231 The values specified are added to the calculated end stop position when the axes are referenced. The calculated value is derived from the distance of the toolhead from the current axis zero point. The user would typically place the toolhead at the zero point of the axis and issue the G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material06 command. This value can be saved to EEPROM using the G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 command. G38.x Straight Probe (CNC specific)G38.2 probe toward workpiece, stop on contact, signal error if failureMonitors probe input while moving linearly towards the specified coordinates, stopping upon detecting contact or reaching specified coordinates. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material08Parameters N12351 target X coordinate N12352 target Y coordinate N12353 target Z coordinate N12355 Feedrate in mm/minExample N1232 G38.3 probe toward workpiece, stop on contactG38.4 probe away from workpiece, stop on loss of contact, signal error if failureG38.5 probe away from workpiece, stop on loss of contactG40: Compensation Off (CNC specific)G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material13 turns off cutter compensation. If tool compensation was on the next move must be a linear move and longer than the tool diameter. It is OK to turn compensation off when it is already off. http://www.linuxcnc.org/docs/2.5/html/gcode/tool_compensation.html G42: Move to Grid PointG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material14 does a fast move in XY to any of the intersection points in the bed calibration grid. This is useful during calibration to align the nozzle or probe.Parameters G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material15 Grid X index (zero-based). If omitted, the nearest latitude. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material16 Grid Y index (zero-based). If omitted, the nearest longitude. N123 [...G Code in here...] *7110 Probe flag. Moves the probe to the grid point (instead of the nozzle). N12355 Feedrate (mm/min)Example N1233 G53..59: Coordinate System Select (CNC specific)See linuxcnc.org for more help Not all builds of RepRapFirmware support these commands. For those that do (e.g. Duet WiFi/Ethernet and Duet 3), from firmware version 2.02 the workplace coordinate offsets are included in the data saved to config-override.g by the M500 command. G60: save current position to slotUsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material19Parameters G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material20specifies memory slot # (0-based) to save into (default 0) Implementation in RepRapFirmware:
G68: Coordinate rotationUsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material21 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material22Parameters G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material23 Centre coordinates to rotate about N12386 first centre coordinate in the selected plane (e.g. equivalent to Xnnn if the selected plane is XY) N12387 second centre coordinate in the selected plane (e.g. equivalent to Ynnn if the selected plane is XY) N12361 angle to rotate in degrees. Positive angles rotate anticlockwise when viewing the selected plane from above. N123 [...G Code in here...] *7146 if this parameter is present, the R parameter is added to the existing rotation instead of being absolute Rotates the coordinate system in the current plane as selected by G17, G18 or G19. You may either specify the coordinates of the two axes of the selected plan (e.g. X and Y if using the default XY plane or after G17) or you may specify A and B coordinates. RepRapFirmware implements G68 for the XY plane only. G69: Cancel coordinate rotationUsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material28 This cancels any coordinate rotation that was set up by G68. G75: Print temperature interpolationShow/print PINDA temperature interpolating. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material29 G76: PINDA probe temperature calibrationThis G-code is used to calibrate the temperature drift of the PINDA (inductive Sensor). The PINDAv2 sensor has a built-in thermistor which has the advantage that the calibration can be done once for all materials. The Original i3 Prusa MK2/s uses PINDAv1 and this calibration improves the temperature drift, but not as good as the PINDAv2. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material30 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material311 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material321Parameters N123 [...G Code in here...] *7167 Calibrate bed only 1 N123 [...G Code in here...] *7110 Calibrate probe only 1Example N1234Notes1 Marlin requires G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material35. This process can take a very long time. The timeout is currently set to 15min to allow the parts to fully heat up and cool down. Use G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 to save the result to EEPROM. At this moment it is only supported in Marlin bugfix-2.0.x branch. G80: Cancel Canned Cycle (CNC specific)It cancel canned cycle modal motion. G80 is part of modal group 1, so programming any other G code from modal group 1 will also cancel the canned cycle. G80: Mesh-based Z probeDefault 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid. ParametersThis command can be used without any additional parameters.G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material37 Number of mesh points on x axis. Default is 3. Valid values are 3 and 7. N12389 Probe retries. Default 3 max. 10 N123 [...G Code in here...] *7187 Verbosity level 1=low, 10=mid, 20=high.It can be only used if firmware has been compiled with SUPPORT_VERBOSITY active. Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns. N123 [...G Code in here...] *7193 Left Bed Level correct value in um. N12389 Right Bed Level correct value in um. N123 [...G Code in here...] *7191 Front Bed Level correct value in um. N123 [...G Code in here...] *7167 Back Bed Level correct value in um. G81: Mesh bed leveling statusPrints mesh bed leveling status and bed profile if activated. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material44Notes Equivalent to G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material45 in Marlin Firmware (and possibly G29 T depending on leveling system). WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen! UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material46Notes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 G83: Babystep in Z and store to EEPROMUsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material47Notes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 G84: UNDO Babystep Z (move Z axis back)UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material48Notes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 G85: Pick best babystepUsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material49Notes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 G86: Disable babystep correction after homeThis G-code will be performed at the start of a calibration script. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material50 G87: Enable babystep correction after homeThis G-code will be performed at the end of a calibration script. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material51 G88: ReservedUsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material52Notes This G-code currently does not do anything. G90: Set to Absolute PositioningExampleN1235 All coordinates from now on are absolute relative to the origin of the machine. (This is the RepRap default.) G91: Set to Relative PositioningExampleN1236 All coordinates from now on are relative to the last position. Note: RepRapFirmware latest revision firmware uses G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material53 to set the extruder to relative mode: extrusion is NOT set to relative by ReprapFirmware on N12343: only X,Y and Z are set to relative. By contrast, Marlin (for example) DOES also set extrusion to relative on a N12343 command, as well as setting X, Y and Z. G92: Set PositionParametersThis command can be used without any additional parameters.N12351 new X axis position N12352 new Y axis position N12353 new Z axis position N12354 new extruder positionExample N1237 Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur. A G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material60 without coordinates will reset all axes to zero on some firmware. This does not apply to RepRapFirmware. G92.x: Reset Coordinate System Offsets (CNC specific)UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material61 - Reset axis offsets (and parameters 5211-5219) to zero. ( G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material62) G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material63 - Reset axis offsets to zero G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material64 is Inverse Time Mode. In inverse time feed rate mode, an N123 [...G Code in here...] *7191 word means the move should be completed in (one divided by the N123 [...G Code in here...] *7191 number) minutes. For example, G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material67 means the move should be completed in a half a minute. When the inverse time feed rate mode is active, an N123 [...G Code in here...] *7191 word must appear on every line which has a N12348, N123 [...G Code in here...] *7122, or N12337 motion, and an N123 [...G Code in here...] *7191 word on a line that does not have N12348, N123 [...G Code in here...] *7122, or N12337 is ignored. Being in inverse time feed rate mode does not affect N12336 (rapid move) motions. G94: Feed Rate Mode (Units per Minute) (CNC specific)G94 is Units per Minute Mode. In units per minute feed mode, an F word is interpreted to mean the controlled point should move at a certain number of inches per minute, millimeters per minute, or degrees per minute, depending upon what length units are being used and which axis or axes are moving. G98: Activate farm modeEnable Prusa-specific Farm functions and g-code. UsageG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material77Notes Set of internal Prusa commands G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material78Parameters G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material79 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material80 Prints revision of the printer. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material81 Prints fan details. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material82 Prints farm number. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material83 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material84 Resets UVLO aka Power Panic and continues SD print. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material85 Filament sensor recover - restore print and continue. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material86 Reset MMU. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material87 Resets Printer. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material88 ??? get file version. ??? G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material89 M28 write to SD. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material90 Get serial number from 32U2 processor. Typical format of S/N is:CZPX0917X003XC13518 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material91 Prints firmware version. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material92 Prints filament size, elelectronics, nozzle type. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material93 Reset the language. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material94 ??? maybe resets Live Z values to 0 ??? G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material95 Kick farm link timer. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material96 Full factory reset. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material97 Set nozzle diameter. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material98 Check nozzle diameter. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material99 Print nozzle diameter G99: Deactivate farm modeUsageG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude00 G100: Calibrate floor or rod radiusParametersN123 [...G Code in here...] *7142 Flag to set floor for X axis N123 [...G Code in here...] *7143 Flag to set floor for Y axis N123 [...G Code in here...] *7104 Flag to set floor for Z axis N12361 Radius to addExamples N1238 G130: Set digital potentiometer valueExampleN1239 Set the digital potentiometer value for the given axes. This is used to configure the current applied to each stepper axis. The value is specified as a value from 0-127; the mapping from current to potentimeter value is machine specific. G131: Remove offsetG132: Calibrate endstop offsetsG133: Measure steps to topG161: Home axes to minimumParametersN123 [...G Code in here...] *7142 Flag to home the X axis to its minimum position N123 [...G Code in here...] *7143 Flag to home the Y axis to its minimum position N123 [...G Code in here...] *7104 Flag to home the Z axis to its minimum position N12355 Desired feedrate for this commandExample N123 [...G Code in here...] *710 Instruct the machine to home the specified axes to their minimum position. Similar to N12338, which decides on its own in which direction to search endstops. G162: Home axes to maximumParametersN123 [...G Code in here...] *7142 Flag to home the X axis to its maximum position N123 [...G Code in here...] *7143 Flag to home the Y axis to its maximum position N123 [...G Code in here...] *7104 Flag to home the Z axis to its maximum position N12355 Desired feedrate for this commandExample N123 [...G Code in here...] *711 Instruct the machine to home the specified axes to their maximum position. G425: Perform auto-calibration with calibration cubeThis performs an automatic calibration of backlash, positional errors and nozzle offset by touching the nozzle on the sides of a bed mounted, electrically conductive cube, washer or bolt. ParametersN123 [...G Code in here...] *7167 Perform calibration of backlash only. N123 [...G Code in here...] *7117 Perform calibration of toolhead only. N123 [...G Code in here...] *7187 Probe cube and print position, error, backlash and hotend offset. G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude17 Uncertainty, how far to start probe away from the cube (mm)Examples (Marlin) N123 [...G Code in here...] *712 M-commandsM0: Stop or Unconditional stopParametersThis command can be used without any additional parameters.N12383 Time to wait, in milliseconds1 N12362 Time to wait, in seconds2Example N123 [...G Code in here...] *713 The RepRap machine finishes any moves left in its buffer, then shuts down. All motors and heaters are turned off. It can be started again by pressing the reset button on the master microcontroller, although this step is not mandatory on RepRapFirmware. See also G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude20, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude21. The Marlin Firmware does wait for user to press a button on the LCD, or a specific time. "M0 P2000" waits 2000 milliseconds, "M0 S2" waits 2 seconds. RepRapFirmware executes cancel.g if this file is present, if the print is paused and if the axes are homed. Otherwise stop.g is run and the drives are put into idle mode. Also the heaters are turned off if no 'H1' parameter is specified. Notes1Not available in RepRapFirmware, but as a work-around G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude22 can be run before G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude23. 2Only available on Marlin and Prusa Firmware. 3"Wait for user ..." is shown on LCD in Prusa Firmware. M1: Sleep or Conditional stopExampleN123 [...G Code in here...] *714 The RepRap machine finishes any moves left in its buffer, then shuts down. All motors and heaters are turned off. It can still be sent G and M codes, the first of which will wake it up again. See also G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude23, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude21. The Marlin does the same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude23. In Prusa 8-bit Firmware 1 the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude20 needs at least a space behind the command to be executed correctly. It can be used the same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude28 or G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude29 but will ignore the following "message".Prusa Firmware 8-bit example N123 [...G Code in here...] *715
G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude30 is run before all heaters and drives are turned off. M2: Program EndExampleN123 [...G Code in here...] *716 Teacup firmware does the same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude31. M3: Spindle On, Clockwise (CNC specific)ParametersN12362 Spindle RPMExample N123 [...G Code in here...] *717 The spindle is turned on with a speed of 4000 RPM. Teacup firmware turn extruder on (same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude33). RepRapFirmware interprets this code only if in CNC mode ( G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude34), in laser mode ( G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude35) or if a Roland mill has been configured. You must always provide an S parameter with this command to specify the required spindle speed pr laser power. In RepRapFirmware 2.05RC2 and later, and RepRapFirmware 3.0beta13 and later, in laser mode (M452) the laser will only fire during G1/G2/G2 moves. In Repetier-Firmware in laser mode you need int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03.. G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude37 to set laser intensity. Normally you use G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude37 to turn it on full power for moves. Laser will only fire during N12348/ N123 [...G Code in here...] *7122/ N12337 moves and in laser mode ( G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude35). M4: Spindle On, Counter-Clockwise (CNC specific)ExampleN123 [...G Code in here...] *718 The spindle is turned on with a speed of 4000 RPM. M5: Spindle Off (CNC specific)ExampleN123 [...G Code in here...] *719 The spindle is turned off. Teacup firmware turn extruder off (same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude43). M6: Tool changeExampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...0 M7: Mist Coolant On (CNC specific)Exampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...1 Mist coolant is turned on (if available) Teacup firmware turn on the fan, and set fan speed (same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude44). M8: Flood Coolant On (CNC specific)Exampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...2 Flood coolant is turned on (if available) M9: Coolant Off (CNC specific)Exampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...3 All coolant systems are turned off. M10: Vacuum On (CNC specific)Exampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...4 Dust collection vacuum system turned on. M11: Vacuum Off (CNC specific)Exampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...5 Dust collection vacuum system turned off. M13: Spindle on (clockwise rotation) and coolant on (flood)This one M-code does the work of both M03 and M08. It is not unusual for specific machine models to have such combined commands, which make for shorter, more quickly written programs. Exampleint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...6 M16: Expected Printer CheckDo a case-sensitive comparison between the string argument and the configured G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude45. If the machine name doesn't match, halt the printer so that a reset is required. This safety feature is meant to prevent G-code sliced for a specific machine from being used on any other machine. In Marlin this feature is enabled with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude46.Example int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...7 M17: Enable/Power all stepper motorsParametersThis command can be used without any additional parameters.1N123 [...G Code in here...] *7142 X axis N123 [...G Code in here...] *7143 Y axis N123 [...G Code in here...] *7104 Z axis N12367 All extrudersExample int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...8 Powers on stepper motors. Notes1Ability to specify axes was added to Marlin 2.0 and may not be available on other firmware implementations. M18: Disable all stepper motorsParametersThis command can be used without any additional parameters.13N123 [...G Code in here...] *7142 X axis N123 [...G Code in here...] *7143 Y axis N123 [...G Code in here...] *7104 Z axis N12367 Extruder drive(s)2 N123 [...G Code in here...] *7100 Seconds3Examples int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...9 Disables stepper motors and allows axes to move 'freely.' On Marlin, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude56 is a synonym of G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude31, so it can also be used to configure or disable the idle timeout.Examples G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material0Notes 1Some firmware implementations do not support parameters to be passed, but at least Marlin and RepRapFirmware do. 2RepRapFirmware allows stepper motors to be disabled selectively. For example, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude58 will disable the X, extruder 0 and extruder 2 motors. 3In Prusa Firmware this command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`) M20: List SD cardParametersThis command can be used without any additional parameters.N12362 Output style1 N12361 File number to start at1 G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude61 Directory to list2 N123 [...G Code in here...] *7193 Reports long filenames instead of just short filenames. Requires host software parsing (Cap:EXTENDED_M20).4 N12346 Report timestamps as well. The value is one uint32_t encoded as hex. Requires host software parsing (Cap:EXTENDED_M20).4Examples G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material1 This code lists all files in the root folder or G-code directory of the SD card to the serial port. One name per line, like: G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material2 Please note that a file list response is usually encapsulated. Standard configurations of RepRapFirmware mimic this style in emulation mode: G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material3 The file size may be appended as an integer representing the size in bytes: G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material4 At least OctoPrint also supports an additional format showing the file's long name (see also M33) after the size: G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material5 If RepRapFirmware emulates no firmware compatibility, a typical response looks like: G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material6 Note that some firmwares list file names in upper case, but - when sent to the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude64 command (below) they must be in lower case. Teacup and RepRapFirmware have no such trouble and accept both. RepRapFirmware always returns long filenames in the case in which they are stored.Notes 1If the S2 parameter is used on RepRapFirmware, then the file list (or as much as can be fitted in the output buffer) is returned in JSON format as a single array called "files" with each name that corresponds to a subdirectory preceded by an asterisk, and the directory is returned in variable "dir". The optional R parameter is the file number to start at, default 0. The JSON response also returns value "next" which is the number of the first file that wasn't returned, or 0 if all files were returned. The caller can enumerate all files even if there are very many by making successive M20 S2 calls with each call using R from the "next" value in the previous response, util "next" is zero. ExampleG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material7Example for G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude654 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material8Example for G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude664 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material9Example for G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude674 G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude0 2This parameter is only supported by RepRapFirmware and defaults to the 0:/gcodes directory, which is the directory that printable gcode files are normally stored in. 3On Klipper, a virtual SD card is required for this to work. 4The timestamp is a combination of both the date and time into a single integer and printed as a hex. M21: Initialize SD cardParametersN12383 SD card number (RepRapFirmware only, default 0)Examples G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude1 The specified SD card is initialized. If an SD card is loaded when the machine is switched on, this will happen by default. SD card must be initialized for the other SD functions to work. Marlin 2.0.9.4 added N123 [...G Code in here...] *7100 and G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude70 parameters to mount the SD Card or USB drive, respectively. Hosts can look for " G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude71".Notes 1On Klipper, a virtual SD card is required for this to work. M22: Release SD cardParametersN12383 SD card number (RepRapFirmware only, default 0)Examples G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude2 The specified SD card is released, so further (accidental) attempts to read from it are guaranteed to fail. Helpful, but not mandatory before removing the card physically. M23: Select SD fileExampleG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude3 The file specified as filename.gco (8.3 naming convention is supported) is selected ready for printing. RepRapFirmware supports long filenames as well as 8.3 format. Notes1On Klipper, a virtual SD card is required for this to work. M24: Start/resume SD printExampleG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude4 The machine prints from the file selected with the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude64 command. If the print was previously paused with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude74, printing is resumed from that point. To restart a file from the beginning, use G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude64 to reset it, then G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude76. When this command is used to resume a print that was paused, RepRapFirmware runs macro file G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude77 prior to resuming the print.Notes 1On Klipper, a virtual SD card is required for this to work. M25: Pause SD printExampleG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude5 The machine pauses printing at the current position within the file. To resume printing, use M24. Do not use this code within a GCode file to pause the print at that point, use M226 instead. Prior to pausing, RepRapFirmware runs macro file G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude78. This allows the head to be moved away from the print, filament to be retracted, etc. RepRapFirmware 1.20 and later also save the current state of the print to file /sys/resurrect.g. This is so that if the printer is turned off after pausing, the print can subsequently be resumed. Notes1On Klipper, a virtual SD card is required for this to work. M26: Set SD positionParametersN12362 File position from start of file in bytes N12383 (Optional, RepRapFirmware only) Proportion of the first move to be skipped, default 0.0, must be less than 1.0ExampleM26 S49315 Set the file offset in bytes from the start of the SD card file selected by M23. The offset must correspond to the start of a G-code command. Notes1On Klipper, a virtual SD card is required for this to work. M27: Report SD print statusParametersC Report the open file's name and long name (Marlin 1.1.9 and up)Sn Set the auto-report interval (Marlin 1.1.9 and up)ExampleG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude6 Report SD print status. Marlin and RepRapFirmware report the number of bytes processed in this format, which can be processed by Pronterface: G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude7 If no file is being printed, only this message is reported: G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude8 In Marlin 1.1.9 and up G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude81 reports the open file's DOS 8.3 name and long filename, if any.Example G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude9 G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min0 In Marlin 1.1.9 and up G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude82 sets the auto-report interval. This requires the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude83 configuration option to be enabled. Marlin reports this capability in G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude85 when this option is available.Example G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min1Notes 1On Klipper, a virtual SD card is required for this to work. M28: Begin write to SD cardExampleG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min2 File specified by filename.gco is created (or overwritten if it exists) on the SD card and all subsequent commands sent to the machine are written to that file. M29: Stop writing to SD cardExampleG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min3 File opened by G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material89 command is closed, and all subsequent commands sent to the machine are executed as normal. M30: Delete a file on the SD cardExampleG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min4 M30: Program Stop- For Yaskawa and in grbl - Same as M2 in Yaskawa G-code ExampleM30 ; Exchange pallet shuttles and end the program. Pressing cycle start will start the program at the beginning of the file. ExampleG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min5 The response looks like: G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min6 M32: Select file and start SD printExampleG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min7 It can be used when printing from SD card and does the same as G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude64 and G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude76. tba available in marlin(14/6/2014) M33: Get the long name for an SD card file or folderGet the long name for a file or folder on the SD card from a dos path. Introduced in Marlin firmware 1.1.0 September 2015. Example input: G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min8 Example output: G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min9 M33: Stop and Close File and save restart.gcodeStop the printing from SD and save all position in restart.gcode for restart printing in future M34: Set SD file sorting optionsEnable and disable SD card file-sorting, and/or set the folder sorting order. Proposed by Marlin firmware, May 2015. M35: Upload firmware NEXTION from SDM36: Return file informationExampleM36 filename.gcoM36Returns information in JSON format for the specified SD card file (if a filename was provided) or for the file currently being printed. A sample response is: {"err":0,"size":436831,"fileName":"EscherLizardModified.gcode","lastModified":"2017-09-21T16:58:07","height":5.20,"layerHeight":0.20,"printTime":660,"simulatedTime":1586,"filament":[1280.7],"generatedBy":"Simplify3D(R) Version 4.0.0"}The "err" field is zero if successful, nonzero if the file was not found or an error occurred while processing it. The "size" field should always be present if the operation was successful. The presence or absence of other fields depends on whether the corresponding values could be found by reading the file. The "filament" field is an array of the filament lengths required from each spool. The size is in bytes, the times are in seconds, all other values are in mm. "printTime" is the printing time estimated by the slicer, "simulationTime" is the time measured when the print was simulated by the firmware. The fields may appear in any order, and additional fields may be present. Versions of RepRapFirmware prior to 3.4 do not provide the "fileName" field if information for a specific file was requested. RepRapFirmware 3.4 and later also return information about thumbnail imaged embedded in the GCode file via an additional JSON field "thumbnails". A sample value for this field is: "thumbnails":[{"width":32,"height":32,"fmt":"qoi","offset":103,"size":2140},{"width":220,"height":220,"fmt":"qoi","offset":2384,"size":25464}]The "fmt" field denotes the encoding of the thumbnail and is either "png" or "qoi". The "thumbnails" field is omitted entirely if there are no thumbnails embedded in the GCode file. M36.1: Return embedded thumbnail dataParametersP"filename" Name of the GCode file from which thumbnail data is to be retrievedSnnnn Byte offset into the file at which thumbnail data is to be fetchedThis command is used to return the data for an thumbnail image in a GCode file. The offset value should be either the offset of the start of data for a thumbnail as returned by the M36 command, or the value returned in the "next" field by a previous M36.1 command. The response is in JSON format. Here is a sample response: {fileName":"EscherLizardModified.gcode","offset":103,"data":"cW9pZgAAACA....AAAAB","next":0,err": 0}The "fileName" and "offset" values are as given in the command. "data" is part or all of the base64-encoded thumbnail data starting at that offset. "next" is zero if there is no more data for that thumbnail, otherwise not all the thumbnail data was returned and "next" is the byte offset in the file of the rest of the thumbnail data. "err" is 0 if the command was successful, otherwise "err" is nonzero and the other fields may or may not be present. M37: Simulation modeParametersS1 Enter simulation modeS0 Leave simulation modeP"filename" (optional) Simulate printing a file from SD cardExamplesM37 S1M37 P"MyModel.g"Used to switch between printing mode and simulation mode. Simulation mode allows the electronics to compute an accurate printing time, taking into account the maximum speeds, accelerations etc. that are configured. M37 S1 enters simulation mode. All G and M codes will not be acted on, but the time they would take to execute will be calculated. M37 S0 leaves simulation mode and prints the total time taken by simulated moves since entering simulation mode. M37 with no S parameter prints the time taken by the simulation, from the time it was first entered using M37 S1, up to the current point (if simulation mode is still active) or the point that the simulation was ended (if simulation mode is no longer active). M37 P"filename" enters simulation mode, prints the specified file, exits simulation mode, reports the print time, and appends it to the G-code file as a comment for later retrieval. M38 Compute SHA1 hash of target fileUsed to compute a hash of a file on the SD card. Examples: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.000 Returns a hexadecimal string which is the SHA1 of the file. If the file cannot be found, then the string "Cannot find file" is returned instead. M39 Report SD card informationParametersPn SD slot number, default 0Sn Response format. S0 returns a plain text response, S2 returns a response in JSON format.ExamplesM39 ; report information for SD card 0 in plain text formatM39 P1 S2 ; report information for SD card 1 in JSON formatThis command returns information about the SD card in the specified slot in the requested format. At least the following is returned:
The JSON response has the following format (more fields may be added in future): G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.001 The capacity, free space and cluster size are in bytes, and the interface speed is in bytes/second. M40: EjectIf your RepRap machine can eject the parts it has built off the bed, this command executes the eject cycle. This usually involves cooling the bed and then performing a sequence of movements that remove the printed parts from it. The X, Y and Z position of the machine at the end of this cycle are undefined (though they can be found out using the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude89 command, q.v.). See also G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude90 and G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude91 below. M41: LoopExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.002 If the RepRap machine was building a file from its own memory such as a local SD card (as opposed to a file being transmitted to it from a host computer) this goes back to the beginning of the file and runs it again. So, for example, if your RepRap is capable of ejecting parts from its build bed then you can set it printing in a loop and it will run and run. Use with caution - the only things that will stop it are:
M42: Switch I/O pinParametersN12383 Pin number N12362 Pin valueExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.003 G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude94 switches a general purpose I/O pin. Use G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude95 to set pin x to value y, when omitting Px the LEDPIN will be used. In Teacup, general purpose devices are handled like a heater, see M104. In Marlin Firmware, pin numbers for 32-bit processors are in the form PORT * 100 + PIN. So pin P1_02 on LPC1768 can be set with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude96. Marlin 1.x includes an N123 [...G Code in here...] *7146 parameter to permit setting "volatile" pins that Marlin is using. Marlin 2.0.5.2 - 2.0.9.3 uses the N12345 parameter to set the pin mode: 0=INPUT, 1=OUTPUT, 2=INPUT_PULLUP, 3=INPUT_PULLDOWN. In Marlin 2.0.9.4 and up the N12346 parameter is used instead. In RepRapFirmware, the S field may be in the range 0..1 or 0..255. The pin reference is an internal firmware reference named "digital pin", see Duet pinout. It maps on different connector pins depending the hardware. On Duet 0.6 and 0.8.5 hardware using pre-1.16 firmware, the supported pin numbers and their names on the expansion connector are: Duet M42 P value to Expansion Port Pin MappingPNameExpansion Port Pin16TXD11117RXD11218TXD01319RXD01420TWD13521TWCK13623PA141036PC41852AD144167PB1632In firmware 1.16, the pin numbering has changed. Duet 0.6 and 0.8.5 v1.16+ M42 P value to Expansion Port Pin MappingPNameExpansion Port Pin60PA10/RXD01461PA11/TXD01362PA12/RXD11263PA13/TXD11164PA14/RTS11065PB12/TWD13566PB13/TWCK13667PB16/DAC1*3268PB21/AD144169PC418
See Using servos and controlling unused I/O pins for all pin definitions. Pre-1.16 example: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.004 On RADDS hardware running RepRapFirmware-dc42, the supported Arduino Due pin numbers and their names are: 5 TIOA6, 6 PWML7, 39 PWMH2, 58 AD3, 59 AD2, 66 DAC0, 67 DAC1, 68 CANRX0, 69 CANTX0, 70 SDA1, 71 SCL1, 72 RX LED, 73 TX LED. See also G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min00. M43: Stand by on material exhaustedExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.005 If your RepRap can detect when its material runs out, this decides the behaviour when that happens. The X and Y axes are zeroed (but not Z), and then the machine shuts all motors and heaters off except the heated bed, the temperature of which is maintained. The machine will still respond to G and M code commands in this state. M43: Pin report and debugUsageG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min01Parameters G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min02 Enable / disable background endstop monitoring N12383 Pin to read or watch. If omitted, read/watch all pins G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min04 bool watch pins -reporting changes- until reset, click, or G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min05 G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min06 bool Flag to ignore pin protectionNoteYou must have G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min07 uncommented in your G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min08 file for M43 to work. M44: Codes debug - report codes availableIn MK4duo you must enable G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min09 to get this G-code.Parameters G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min06 G-code list G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min11 M-code list M44: Reset the bed skew and offset calibrationResets the bed skew and offset calibration on Prusa i3 MK2/s,MK2.5/s,MK3/s. M45: Bed skew and offset with manual Z upRuns the xyz calibration on Prusa i3 MK2/s,MK2.5/s,MK3/s. ParametersG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min12 Verbosity level 1, 10 and 20 (low, mid, high). Only when SUPPORT_VERBOSITY is defined. This parameter is optional. M46: Show the assigned IP addressReports the assigned IP address of a Toshiba FlashAir on Prusa i3 MK2/s,MK2.5/s,MK3/s. At this moment it is deactivated. M47: Show end stops dialog on the displayShow end stops dialog on the display on Prusa i3 MK2/s,MK2.5/s,MK3/s. M48: Measure Z-Probe repeatabilityParametersN12383 number of points N12351 position on the X axis N12352 position on the Y axis G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min16 verbosity N12367 engage N12392 legs of travel N123 [...G Code in here...] *7100 schizoid As with N123 [...G Code in here...] *7174, the E flag causes the probe to stow after each probe. The S flag will result is a random sized, 5 pointed star, being traced (X and Y axis) between each sample. Usually a user will get worse repeat-ability numbers with S specified because the X axis and Y axis movements will add to the machine's positioning errors. Prusa specific 1This function assumes the bed has been homed. Specifically, that a G28 command as been issued prior to invoking the M48 Z-Probe repeatability measurement function. Any information generated by a prior G29 Bed leveling command will be lost and need to be regenerated. The number of samples will default to 10 if not specified. You can use upper or lower case letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital N for its communication protocol and will get horribly confused if you send it a capital N. UsageG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min21Parameters G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min22 number(AA) of samples, default=10 (valid values between 4 and 50) N12351 X position for samples N12352 Y position for samples G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material01 Verbosity level 1-4 (low to highest) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min26 Legs of travel 1-15 M49: Set G26 debug flagUsageM49 S1 ; Enable G26 verbose debug outputM70: Display messageExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.006 Display a message on the LCD. N123 [...G Code in here...] *7110 is the time to display message for. M72: Play a tone or songExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.007 Instruct the machine to play a preset song. Acceptable song IDs are machine specific. P is the ID of the song to play. M73: Set/Get build percentageExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.008 Tell the firmware the current build progress percentage. The machine is expected to display this on its display. If the percentage is exactly 0 a "Build Start" notification is sent to the host. If the percentage is exactly 100 a "Build End" notification is sent to the host. Use "M73" by itself to get a report of the current print progress. Prusa specific1Prusa firmware shows percent done, time remaining and time to change/pause/user interaction. UsageG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min28ParametersThis command can be used without any additional parameters. N123 [...G Code in here...] *7110 Percent in normal mode N12389 Time remaining in normal mode (minutes) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 Percent in silent mode N123 [...G Code in here...] *7100 Time remaining in silent mode (minutes) N123 [...G Code in here...] *7170 Time to change/pause/user interaction in normal mode (minutes)1 N123 [...G Code in here...] *7186 Time to change/pause/user interaction in silent mode (minutes)1Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.009 M78: Show statistical information about the print jobsM80: ATX Power OnParametersG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min35 (RepRapFirmware 3.4 and later only) Name of the pin used to control the power supply, default "pson"Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.010 Turns on the ATX power supply from standby mode to fully operational mode. No-op on electronics without standby mode. Notes
M81: ATX Power OffParametersP quit the daemon (redeem only)R restart the daemon (redeem only)Sn n=0 turn power off immediately (default), n=1 turn power off when all thermostatic fans have turned off (RepRapFirmware 1.20 and later only)ExamplesM81 ; turn power off immediatelyM81 S1 ; turn power off when everything has cooled down (RepRapFirmware)Turns off the ATX power supply. Counterpart to G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min37.Notes
M82: Set extruder to absolute modeExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.011 Makes the extruder interpret extrusion as absolute positions. This is the default in repetier and for Yaskawa controllers. M83: Set extruder to relative modeExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.012 Makes the extruder interpret extrusion values as relative positions. Note that the Ultimaker 3 will revert back to absolute extrusion after each tool change. M84: Stop idle holdParametersThis command can be used without any additional parameters.N12378 Reset flags1Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.013 Stop the idle hold on all axis and extruder. In some cases the idle hold causes annoying noises, which can be stopped by disabling the hold. Be aware that by disabling idle hold during printing, you will get quality issues. This is recommended only in between or after printjobs. On Marlin, Repetier and RepRapFirmware, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude31 can also be used to configure or disable the idle timeout. For example, "M84 S10" will idle the stepper motors after 10 seconds of inactivity. "M84 S0" will disable idle timeout; steppers will remain powered up regardless of activity. For Yaskawa systems M84 is not applicable due to servo motors not producing the annoying noises.Notes 1RepRapFirmware-dc42 and other firmware may not support this parameter. 2Prusa firmware uses G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude31 similar to G-code#M18:_Disable_all_stepper_motors 3On Klipper G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude31 is equivalent to G-code#M18:_Disable_all_stepper_motorsPrusa Usage G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min47Prusa ParametersThis command can be used without any additional parameters.2 N12367 Extruder drive(s)2 N123 [...G Code in here...] *7100 Seconds N123 [...G Code in here...] *7142 X axis N123 [...G Code in here...] *7143 Y axis N123 [...G Code in here...] *7104 Z axisExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.014 Set Inactivity Shutdown Timer with parameter S. "M85 S0" will disable the inactivity shutdown time (default) UsageG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min53Parameters N123 [...G Code in here...] *7100 Seconds Similar to G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min55 but applies to the "safety timer" in Prusa Firmware. Sets the safety timer expiration time in seconds. M86 S0 will disable safety timer. When safety timer expires, heatbed and nozzle target temperatures are set to zero. UsageG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min56 Cancels the safety timer. Equivalent to G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min57. M92: Set axis_steps_per_unitParametersN12351 Steps per unit for the X drive N12352 Steps per unit for the Y drive N12353 Steps per unit for the Z drive N12354 Steps per unit for the extruder drive(s) N12362 Defines in which microstepping the above steps per unit are given. If omitted it will use the microstepping currently set by M350.1Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.015 Allows programming of steps per unit (usually mm) for motor drives. These values are reset to firmware defaults on power on, unless saved to EEPROM if available ( G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 in Marlin) or in the configuration file (config.g in RepRapFirmware). Very useful for calibration. RepRapFirmware will report the current steps/mm if you send G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min64 without any parameters. For Yaskawa systems M92/M93 is not applicable due to use of servo motors.Notes 1 Only available in RepRapFirmware >=2.03 M93: Send axis_steps_per_unitM98: Call Macro/SubprogramParametersN12383 Macro filename. In RepRapFirmware 3 this must be enclosed in double-quote characters. In RepRapFirmware 2 the double-quote characters are optional.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.016 Runs the macro in the file mymacro.g. In conventional G Codes for CNC machines the N123 [...G Code in here...] *7110 parameter normally refers to a line number in the program itself (P2000 would run the Macro starting at line O2000, say). For RepRap, which almost always has some sort of mass storage device inbuilt, it simply refers to the name of a G-code file that is executed by the G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material77 call. That G-code file does not need to end with an G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min68 (return) as the end-of-file automatically causes a return. RepRapFirmware supports nested macro calls up to a depth of 5. Certain machine parameters are saved at the start of the macro call and restored at the end. For RepRapFirmware these are: axis movement relative/absolute mode, extruder movement absolute/relative mode, feed rate, inches/mm setting, and whether or not volumetric extrusion is selected. This allows the macro to change these settings without affecting the subsequent behaviour of the calling file. RepRapFirmware also allows the filename to include a path to a subdirectory. For relative paths, the default folder is /sys, but some implementations may check the /macros directory too. Absolute file paths are supported by RepRapFirmware too. M99: Return from Macro/SubprogramExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.017 Returns from an G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min69 call. RepRapFirmware closes the currently active macro file. If a nested macro is being run, RepRapFirmware goes up one stack level. M101: Turn extruder 1 on (Forward), Undo RetractionIn Teacup firmware: If a DC extruder is present, turn that on. Else, undo filament retraction, which means, make the extruder ready for extrusion. Complement to G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude43. In BFB/RapMan: Turn extruder on (forward/filament in). In RepRapFirmware: undo filament retraction. The length and speed are set by the N123 [...G Code in here...] *7107 command. RepRapFirmware supports this command for compatibility with Simplify3D. In other firmwares: Deprecated. Regarding filament retraction, see N123 [...G Code in here...] *7102, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min73, N123 [...G Code in here...] *7107, N123 [...G Code in here...] *7112, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min76, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min77, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min78. M102: Turn extruder 1 on (Reverse)In BFB/RapMan firmware: Turn extruder on Reverse (Still to add) M102: Configure Distance SensorFor Marlin's G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min79 option, configure the sensor. G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min80 : Set adjustable Z height in 10ths of a mm (e.g., ' G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min81' enables adjusting for Z <= 0.4mm.) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min82 : Disable adjustable Z height.Negative S values are commands G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min83 : Read sensor information G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min84 : Read raw Calibration data G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min85 : Start Calibration M103: Turn all extruders off, Extruder RetractionIn Teacup firmware: If a DC extruder is present, turn that off. Else, retract the filament in the hope to prevent nozzle drooling. Complement to G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude33. In BFB/RapMan firmware: Turn extruder off. In RepRapFirmware: retract filament. The length and speed are set by the N123 [...G Code in here...] *7107 command. RepRapFirmware supports this command for compatibility with Simplify3D. In other firmwares: Deprecated. Regarding filament retraction, see N123 [...G Code in here...] *7102, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min73, N123 [...G Code in here...] *7107, N123 [...G Code in here...] *7112, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min76, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min77, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min78. M104: Set Extruder TemperatureParametersN123 [...G Code in here...] *7170 Use fan for cooling (Only Prusa) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Display temperature (Only Prusa) N12362 Target temperature N12361 Idle temperature (Only MK4duo)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.018 Set the temperature of the current extruder to 190oC and return control to the host immediately (i.e. before that temperature has been reached by the extruder). See also M109. See also using G10. Deprecation of G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min99 is subject to discussion. --Traumflug 11:33, 19 July 2012 (UTC) M104 in Marlin FirmwareSee Marlin Wiki. In Marlin Firmware, using G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min99 with no parameters will turn off the heater for the current extruder. This is also the case for G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0001 without a number after the N123 [...G Code in here...] *7100 parameter. M104 in Teacup FirmwareIn Teacup Firmware, G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min99 can be additionally used to handle all devices using a temperature sensor. It supports the additional N123 [...G Code in here...] *7110 parameter, which is a zero-based index into the list of sensors in config.h. For devices without a temp sensor, see M106.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.019 Set the temperature of the device attached to the second temperature sensor to 100°C. M104 in RepRapFirmware and KlipperRepRapFirmware and some other firmwares support the optional N12346 parameter (as generated by slic3r) to specify which tool the command applies to. M105: Get Extruder TemperatureParametersThis command can be used without any additional parameters.ExamplesG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.020 Request the temperature of the current extruder, the build base and the build chamber in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command can look like: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.021 The parameters mean the following:
A temperature report will usually include actual and target temperature for all available heaters, with the format being "actual/target" or - for some firmware variants - "actual /target". During a blocking heatup some firmware variants only report the temperature tuple for the heater that is currently in blocking heatup state. Note that temperatures can be reported as integers or floats. There sadly are a lot of interpretations of how an M105 response should look like across firmware variants, making parsing them potentially tricky. Expansion/generalization of G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0006 to be considered using S1 parameter as noted in Pronterface I/O Monitor In Repetier and MK4duo you can add X0 (X1 MK4duo) to get raw values as well: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.022 Recent versions of RepRapFirmware also report the current and target temperatures of all active heaters. M106: Fan OnParametersN12383 Fan number (optional, defaults to 0)2 N12362 Fan speed (0 to 255; RepRapFirmware also accepts 0.0 to 1.0))Extra Parameters N12378 Invert signal, or disable fan1 3 N12355 Set fan PWM frequency, in Hz1 3 N12392 Set minimum fan speed (0 to 255 or 0.0 to 1.0)1 3 N12351 Set maximum fan speed (0 to 255 or 0.0 to 1.0)1 3 N12387 Blip time - fan will be run at full PWM for this number of seconds when started from standstill1 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0014 Select heaters monitored when in thermostatic mode1 3 N12361 Restore fan speed to the value it has when the print was paused1 N123 [...G Code in here...] *7117 Set thermostatic mode trigger temperature N12388 Set custom name (RRF > 2.01 only)1Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.023Examples (RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.024 The first example turns on the default cooling fan at half speed. The second one inverts the cooling fan signal of the second fan and sets its value to 1/3 of its maximum. The third one sets the second fan to a thermostatic fan for heaters 1 and 2 (e.g. the extruder heaters in a dual-nozzle machine) such that the fan will be on when either hot end is at or above 45C. Mandatory parameter 'S' declares the PWM value (0-255). G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0018 turns the fan off. In some implementations like RepRapFirmware the PWM value may alternatively be specified as a real fraction: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0019.Notes 1These parameters are only available in RepRapFirmware. 2Marlin 1.0 to 1.1.6 only supports a single fan. Marlin 1.1.7 and up supports up to 3 fans. 3These parameters are only available in MK4duo. M106 in RepRapFirmwareIf an N123 [...G Code in here...] *7100 parameter is provided but no other parameter is present, then the speeds of the print cooling fans associated with the current tool will be set (see the N123 [...G Code in here...] *7191 parameter in the N123 [...G Code in here...] *7105 command). If no tool is active then the speed of Fan 0 will be set. Either way, the speed is remembered so that it can be recalled using the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0023 parameter (see below). If no N123 [...G Code in here...] *7100 parameter is given but the R1 parameter is used, the fan speed when the print was last paused will be set. If the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0023 parameter is used, then the speeds of the print cooling fans associated with the current tool will be set to the remembered value (see above). The N12346 and N12368 parameters allow a fan to be configured to operate in thermostatic mode, for example to use one of the fan channels to control the hot end fan. In this mode the fan will be fully on when the temperature of any of the heaters listed in the N12368 parameter is at or above the trigger temperature set by the N12346 parameter, and off otherwise. Thermostatic mode can be disabled using parameter H-1. The N123 [...G Code in here...] *7167 parameter sets the time for which the fan will be operated at full PWM when started from cold, to allow low fan speeds t be used. A value of 0.1 seconds is usually sufficient. The N123 [...G Code in here...] *7193 parameter defines the minimum PWM value that is usable with this fan. If a lower value is commanded that is not zero, it will be rounded up to this value. The N123 [...G Code in here...] *7142 parameter defines the maximum PWM value that is allowed for this fan. If a higher value is commanded, it will be rounded down to this value. The N123 [...G Code in here...] *7146 parameter causes the fan output signal to be inverted if its value is greater than zero. This makes the cooling fan output suitable for feeding the PWM input of a 4-wire fan via a diode. If the parameter is present and zero, the output is not inverted. If the N123 [...G Code in here...] *7146 parameter is negative then in RRF 1.16 and later the fan is disabled, which frees up the pin for use as a general purpose I/O pin that can be controlled using G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude94. M106 in Teacup FirmwareAdditionally to the above, Teacup Firmware uses G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude44 to control general devices. It supports the additional N123 [...G Code in here...] *7110 parameter, which is an zero-based index into the list of heaters/devices in config.h.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.025 Turn on device #3 at full speed/wattage. Note: When turning on a temperature sensor equipped heater with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude44 and G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min99 at the same time, temperature control will override the value given in G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude44 quickly. Note well: The ambiguous text in the note above needs to be reworded by someone who knows the actual functioning. Below is my interpretation based on language use, not practical experience or code inspection. Note: If G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min99 is (or becomes) active on a heater (or other device) with a feedback sensor it will correct any G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude44 initiated control output value change in the time it takes for the PID (of other feedback) loop to adjust it back to minimum error. It may not be easy to observe a change in the temperature (process value) due to this brief change in the control value M107: Fan OffDeprecated in Teacup firmware and in RepRapFirmware. Use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0018 instead. M108: Cancel HeatingBreaks out of an G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0044 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0045 wait-for-temperature loop, continuing the print job. Use this command with caution! If cold extrusion prevention is enabled (see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0046) and the temperature is too low, this will start "printing" without extrusion. If cold extrusion prevention is disabled and the hot-end temperature is too low, the extruder may jam. This command was introduced in Marlin 1.1.0. As with other emergency commands [e.g., G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude21] this requires the host to leave space in the command buffer, or the command won't be executed until later. Recent versions of Marlin introduce G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0048, which overcomes the buffer limitation by watching the incoming serial stream. Commands M108, M112, M410, and M876 can all be intercepted by the emergency parser, so it is recommended to enable this feature. M108: Set Extruder Speed (BFB)Sets speed of extruder motor. (Deprecated in FiveD firmware, see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0049) M109: Set Extruder Temperature and WaitParametersN123 [...G Code in here...] *7170 Use fan for cooling (Only Prusa) N12362 minimum target temperature, waits until heating N12361 maximum target temperature, waits until cooling (Sprinter) N12361 accurate target temperature, waits until heating and cooling (Marlin and MK4duo) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0054 tool number (RepRapFirmware and Klipper), optional N123 [...G Code in here...] *7191 use extruder fan to speed up cooling (if not heating)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.026 M109 in TeacupNot needed. To mimic Marlin behaviour, use M104 followed by M116. M109 in Marlin, MK4duo, Sprinter (ATmega port), RepRapFirmware, PrusaSet extruder heater temperature in degrees celsius and wait for this temperature to be achieved. ExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.027 RepRapFirmware also supports the optional N12346 parameter (as generated by slic3r) to specify which tool the command refers to (see below). M109 in Sprinter (4pi port)Parameters: N123 [...G Code in here...] *7100 (optional), set target temperature value. If not specified, waits for the temperature set by M104. N12389 (optional), sets target temperature range maximum value.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.028 If you have multiple extruders, use N12346 or N123 [...G Code in here...] *7110 parameter to specify which extruder you want to set/wait. Another way to do this is to use G10. M109 in MakerBotExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.029 Sets the target temperature for the current build platform. S is the temperature to set the platform to, in degrees Celsius. T is the platform to heat. M109 in KlipperAccording to the documentation, Klipper will wait for the specified temperature to settle, i.e. it will wait until it goes back down in case it overshoots. Klipper also supports the optional N12346 parameter to specify which tool the command refers to (see above). M110: Set Current Line NumberParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0062 Line numberExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.030 This example sets the current line number to 123. Thus the expected next line after this command will be 124. M111: Set Debug LevelParametersN12383 Debug module1 N12362 Debug on/offExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.031 Enable or disable debugging features in the firmware. The implementation may look different per firmware. Notes1This parameter is only available in RepRapFirmware. 2Prusa fimrware use D-codes/commands for debugging. M111 in RepRapFirmwareRepRapFirmware allows debugging to be set for each module. If the optional 'P' parameter is not specified, debugging will be enabled for all modules. For a list of modules, send G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0065. M111 in RepetierSet the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.032 Thus 6 means send information and errors, but don't echo commands. (This is the RepRap default.) For firmware that supports ethernet and web interfaces G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0066 will turn web debug information on without changing any other debug settings, and G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0067 will turn it off. Web debugging usually means that HTTP requests will be echoed to the USB interface, as will the responses. M112: Full (Emergency) StopExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.033 Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off. It can be started again by pressing the reset button on the master microcontroller. See also G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude23 and G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude20. Please note while many systems termed this an Emergency Stop, this terminology is regulated in many regions with specific requirements behind its use. Marlin 2.0.x has renamed this to Full Stop. RepRapFirmware has indicated an intention to make a similar change as well. This stop function is NOT implemented in a Category 0 or 1 stop fashion or with fail-safe hardware compliying with PLd or better. The function as implemented is a category 2 software stop with no redundancies. M113: Set Extruder PWMExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.034 Set the PWM for the currently-selected extruder. On its own this command sets RepRap to use the on-board potentiometer on the extruder controller board to set the PWM for the currently-selected extruder's stepper power. With an S field: M113 S0.7 it causes the PWM to be set to the N123 [...G Code in here...] *7100 value (70% in this instance). G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0071 turns the extruder off, until an G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0049 command other than G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0071 is sent. M113: Host KeepaliveDuring some lengthy processes, such as G29, Marlin may appear to the host to have “gone away.” The “host keepalive” feature will send messages to the host when Marlin is busy or waiting for user response so the host won’t try to reconnect. UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0074Parameters N12362 keepalive interval to setExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.035 M114: Get Current PositionExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.036 This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host. For example, the machine returns a string such as: ok C: X:0.00 Y:0.00 Z:0.00 E:0.00 In Marlin first 3 numbers is the position for the planner. The other positions are the positions from the stepper function. This helps for debugging a previous stepper function bug. X:0.00 Y:0.00 RZ:0.00 LZ:0.00 Count X:0.00 Y:0.00 RZ:41.02 LZ:41.02 M115: Get Firmware Version and CapabilitiesParametersThis command can be used without any additional parameters.N12387 (RepRapFirmware 3 only) Expansion board number (typically the CAN address) for which the firmware version is requested, default 0 (i.e. main board) N12383 Electronics type1 N123 [...G Code in here...] *7187 Report the Prusa version number2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0079 Check the firmware version provided2Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.037 Request the Firmware Version and Capabilities of the current microcontroller The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed. sample data from firmware: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.038 This G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 code is inconsistently implemented, and should not be relied upon to exist, or output correctly in all cases. An initial implementation was committed to svn for the FiveD Reprap firmware on 11 Oct 2010. Work to more formally define protocol versions is currently (October 2010) being discussed. See M115_Keywords for one draft set of keywords and their meanings. See the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0081 command for a more comprehensive report on machine capabilities supported by RepRapFirmware.Notes 1This parameter is supported only in RepRapFirmware and can be used tell the firmware about the hardware on which it is running. If the N123 [...G Code in here...] *7110 parameter is present then the integer argument specifies the hardware being used. The following are currently supported: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.039 2These parameters are only supported in Prusa Firmware. Parameter G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0079 will check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware, it will pause the print for 30s and ask the user to upgrade the firmware. sample data G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.040 sample data G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0085 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.041 sample data on display for 30s or user interaction G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0086 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.042 M116: WaitParametersThis command can be used without any additional parameters.1N12383 Tool number N12356 Heater number N12388 Chamber numberExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.043 Wait for all temperatures and other slowly-changing variables to arrive at their set values if no parameters are specified. See also G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0044.Notes 1Most implementations don't support any parameters, but RepRapFirmware version 1.04 and later supports an optional 'P' parameter that is used to specify a tool number. If this parameter is present, then the system only waits for temperatures associated with that tool to arrive at their set values. This is useful during tool changes, to wait for the new tool to heat up without necessarily waiting for the old one to cool down fully. Recent versions of RepRapFirmware also allow a list of the heaters to be specified using the 'H' parameter, and if the 'C' parameter is present, this will indicate that the chamber heater should be waited for. M117: Get Zero PositionExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.044 This causes the RepRap machine to report the X, Y, Z and E coordinates in steps not mm to the host that it found when it last hit the zero stops for those axes. That is to say, when you zero X, the x coordinate of the machine when it hits the X endstop is recorded. This value should be 0, of course. But if the machine has drifted (for example by dropping steps) then it won't be. This command allows you to measure and to diagnose such problems. (E is included for completeness. It doesn't normally have an endstop.) M117: Display MessageExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.045 This causes the given message to be shown in the status line on an attached LCD. The above command will display Hello World. If RepRapFirmware is used and no LCD is attached, this message will be reported on the web interface. NotesIn Prusa Firmware it is also used to display internal messages on LCD.1 M118: Echo message on hostUse this code to print a visible message to the host console, preceded by 'echo:'. Parametersint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 (RepRapFirmware only) Message targets(s): 0 = generic [default], 1 = USB, 2 = LCD, 3 = HTTP, 4 = Telnet G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0092 (RepRepFirmware only) Message to sendExample (Marlin) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.046Example (RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.047 M118: Negotiate FeaturesExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.048 This M-code is for future proofing. NO firmware or hostware supports this at the moment. It is used in conjunction with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84's FEATURES keyword. See Protocol_Feature_Negotiation for more info. M119: Get Endstop StatusExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.049 Returns the current state of the configured X, Y, Z endstops. Takes into account any 'inverted endstop' settings, so one can confirm that the machine is interpreting the endstops correctly. In redeem, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0094 can also be used to invert end stops.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.050 This will invert end stop X1 (Inverted means switch is connected in Normally Open state (NO)) M120: PushExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.051 Push the state of the RepRap machine onto a stack. Exactly what variables get pushed depends on the implementation (as does the depth of the stack - a typical depth might be 5). A sensible minimum, however, might be
RepRapFirmware calls this automatically when a macro file is run. In addition to the variables above, it pushes the following values on the stack:
M121: PopExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.052 Recover the last state pushed onto the stack. M120: Enable endstop detectionM121: Disable endstop detectionM122: Firmware dependentM122: Diagnose (RepRapFirmware)ParametersBmmm Expansion board number for which diagnostics are requested, default 0 which means main boardPnnn Optional parameter to specify what diagnostics are required. Caution: some values of P will crash the firmware deliberately to test error handling! See the Duet3D wiki for more details."DSF" Immediate DSF diagnostics (RRF3/Duet3 only with attached SBC)G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0095 - LPC and STM32 Port Only Outputs the configuration of all the pins allocated by the firmware and board.txtExampleM122 Sending an G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0096 causes the RepRap to transmit diagnostic information, for example via a USB serial link. If RepRapFirmware is used and debugging is enabled for the Network module, this will also print LWIP stats to the host via USB. M122: Set Software Endstop (MK4duo)Disabled or Enabled Software Endstop M122 S<0/1> M122: Debug Stepper drivers (Marlin)Get diagnostic info about L6470 or Trinamic stepper drivers having a UART or SPI interface. With Trinamic drivers there are some extra parameters, and depending on the configuration either basic or detailed information will be reported. Use parameters N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, N123 [...G Code in here...] *7104, etc. to limit the report only to the specified steppers, otherwise all steppers are reported. Pass N123 [...G Code in here...] *7146 to re-initialize the drivers. Use parameter N123 [...G Code in here...] *7100 to sample at regular intervals. The N123 [...G Code in here...] *7110 parameter can be used to set the sample interval in milliseconds.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.053 M123: Firmware dependentM123: Tachometer value (RepRap, Prusa & Marlin)Sending a G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0103 causes the RepRap to transmit filament tachometer values from all extruders. Sending a G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0103 is used in Prusa firmware to report fan speeds and fan pwm values.1 Sending a G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0103 is used in Marlin firmware to report only extruders fans speeds and pwm values.2Usage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.054Parameters2 int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...54 autoreport every n seconds (0 to disable)Prusa firmware output1 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0107 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0108 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0109 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0110Examples1 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.055Examples2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.056 M123: Endstop Logic (MK4duo)ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0111 X Logic G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0112 Y Logic int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...55 Z Logic G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min06 X2 Logic G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min11 Y2 Logic G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0116 Z2 Logic int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 Probe Logic G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0118 Door LogicExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.057 M124: Firmware dependentM124: Immediate motor stopImmediately stops all motors. M124: Set Endstop PullupParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0111 X Pullup on/off G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0112 Y Pullup on/off int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...55 Z Pullup on/off G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min06 X2 Pullup on/off G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min11 Y2 Pullup on/off G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0116 Z2 Pullup on/off int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 Probe Pullup on/off G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0118 Door Pullup on/offExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.058 M126: Open ValveExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.059 Open the extruder's valve (if it has one) and wait 500 milliseconds for it to do so. M126 in MakerBotExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.060 Enables an extra output attached to a specific toolhead (e.g. fan) M127: Close ValveExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.061 Close the extruder's valve (if it has one) and wait 400 milliseconds for it to do so. M127 in MakerBotExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.062 Disables an extra output attached to a specific toolhead (e.g. fan) M128: Extruder Pressure PWMExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.063 PWM value to control internal extruder pressure. G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude37 is full pressure. M129: Extruder pressure offExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.064 In addition to setting Extruder pressure to 0, you can turn the pressure off entirely. P400 will wait 100ms to do so. M130: Set PID P valueParametersN12383 heater number N12362 proportional (Kp)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.065 Teacup can control multiple heaters with independent PID controls. For the default shown at https://github.com/Traumflug/Teacup_Firmware/blob/master/config.default.h, heater 0 is the extruder (P0), and heater 1 is the bed (P1). Teacup's PID proportional units are in pwm/255 counts per quarter C, so to convert from counts/C, you would divide by 4. Conversely, to convert from count/qC to count/C, multiply by 4. In the above example, S=8 represents a Kp=8*4=32 counts/C. M131: Set PID I valueParametersN12383 heater number N12362 integral (Ki)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.066 Teacup's PID integral units are in pwm/255 counts per (quarter C*quarter second), so to convert from counts/qCqs, you would divide by 16. Conversely, to convert from count/qCqs to count/Cs, multiply by 16. In the above example, S=0.5 represents a Ki=0.5*16=8 counts/Cs. M132: Set PID D valueParametersN12383 heater number N12362 derivative (Kd)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.067 Teacup's PID derivative units are in pwm/255 counts per (quarter degree per 2 seconds), so to convert from counts/C, you would divide by 4. Conversely, to convert from count/qC to count/C, multiply by 8. In the above example, S=24 represents a Kd=24*8=194 counts/(C/s). M132 in MakerBotExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.068 Loads the axis offset of the current home position from the EEPROM and waits for the buffer to empty. M133: Set PID I limit valueParametersN12383 heater number N12362 integral limit (Ki)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.069 Teacup's PID integral limit units are in quarter-C*quarter-seconds, so to convert from C-s, you would multiply by 16. Conversely, to convert from qC*qs to C*s, divide by 16. In the above example, S=264 represents an integral limit of 16.5 C*s. M133 in MakerBotWait for the toolhead to reach its target temperature. ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0136 : Extruder to wait for G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0137 : Time limit, in secondsExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.070 M134: Write PID values to EEPROMExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.071 M134 in MakerBotExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.072 Instruct the machine to wait for the platform to reach its target temperature. T is the platform to wait for. P if present, sets the time limit. M135: Set PID sample intervalParametersN12362 Heat sample time in secondsExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.073 Set the PID to measure temperatures and calculate the power to send to the heaters every 300ms. M135 in MakerBotExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.074 Instructs the machine to change its toolhead. Also updates the State Machine's current tool_index. T is the toolhead for the machine to switch to and the new tool_index for the state machine to use. M136: Print PID settings to hostExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.075 M140: Set Bed Temperature (Fast)ParametersN12383 Bed heater index1 N12356 Heater number1 N123 [...G Code in here...] *7117 Tool number2 N12362 Active/Target temperature N12361 Standby temperature1 2Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.076 Set the temperature of the build bed to 55oC and return control to the host immediately (i.e. before that temperature has been reached by the bed). Notes1 These parameters are only supported in RepRapFirmware. RepRapFirmware allows the bed heater to be switched off if the absolute negative temperature (-273.15) is passed as target temperature. In this case the current bed temperature is not affected: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.077 2 These parameters are only supported in MK4duo for Idle temperature G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.078 There is an optional R field that sets the bed standby temperature: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0144. Recent versions of RepRapFirmware also provide an optional 'H' parameter to set the hot bed heater number. If no heated bed is present, a negative value may be specified to disable it. M141: Set Chamber Temperature (Fast)ParametersN12383 Chamber index1 N12356 Heater number1 N123 [...G Code in here...] *7117 Tool number2 N12362 Active/Target temperature N12361 Standby temperature1 2Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.079 Set the temperature of the chamber to 30oC and return control to the host immediately (i.e. before that temperature has been reached by the chamber). Notes1 These parameters are only supported in RepRapFirmware and work just like in M140. 2 These parameters are only supported in MK4duo and work just like in M140. M142: Firmware dependentM142: Holding PressureExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.080 Set the holding pressure of the bed to 1 bar. The holding pressure is in bar. For hardware which only has on/off holding, when the holding pressure is zero, turn off holding, when the holding pressure is greater than zero, turn on holding. M142: Set Cooler Temperature (Fast)ParametersN123 [...G Code in here...] *7117 Tool number N12362 Active/Target temperature N12361 Standby temperatureExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.081 Set the temperature of the cooler M143: Maximum heater temperatureParametersN12368 Heater number (RepRapFirmware 1.17 and later, default 1 which is normally the first hot end) N123 [...G Code in here...] *7100 Maximum temperatureExamples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.082 The default maximum temperature for all heaters was 300°C prior to RepRapFirmware version 1.13, and 262°C from 1.13 onwards. From RepRapFirmware 1.17 onwards, the default maximum temperatures are 262C for extruders and 125C for the bed. When the temperature of the heater exceeds this value, countermeasures will be taken. M144: Bed StandbyParametersPnn Bed heater number, default 0Sn 0 = set bed heater to standby (default), 1 = set bad heater activeExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.083 Switch the bed heater to its standby temperature. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0155 turns it back to its active temperature. M146: Set Chamber HumidityParametersN12361 Relative humidity in percentExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.084 Set the relative humidity of the chamber to 60% and return control to the host immediately (i.e. before that humidity has been reached by the chamber). M149: Set temperature unitsParametersN123 [...G Code in here...] *7170 Flag to treat temperature as degrees Celsius G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0158 Flag to treat temperature as KelvinExample G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.085 It affects the N123 [...G Code in here...] *7100 or N12389 values in the codes G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min99, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0044, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0163, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0164, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0165, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0045 and G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0167 The default is G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0168. M150: Set LED colorParametersN12361 Red component G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude17 Green component N12387 Blue component G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0172 White component (Marlin) N12383 Brightness (0-255) (Marlin, also RepRapFirmware 2.03 and later) N123 [...G Code in here...] *7110 Set full brightness (Marlin) N12362 (RepRapFirmware) Number of individual LEDs to set to these colours G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material00 (RepRapFirmware) Following command action. F0 (default) means this is the last command for the LED strip, so the next M150 command starts at the beginning of the strip. F1 means further M150 commands for the remainder of the strip follow this one. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0111 (RepRapFirmware) LED type: X0 (default) = DotStar, X1 = NeoPixel. This parameter is remembered from one call to the next, so it only needs to be given once. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0178 (RepRapFirmware) Brightness, 0-31 (alternative to P 0-255) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0179 (RepRapFirmware) Use specified SPI frequency (in Hz) instead of default frequency. This parameter is only processed if X parameter also present. When using NeoPixels, only frequencies between about 2.5MHz and 4MHz will work.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.086Example (RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.087 Set BlinkM, Neopixel, and/or other LED light color and intensity with RGBW component values from 0 to 255. Some LCD controllers use this interface for a backlight. Firmware may override the set color to indicate the current printer status. RepRapFirmware uses this command to control DotStar or NeoPixel LED strips on controllers that provide a connector for this purpose. When using NeoPixel strips there is a firmware-dependent maximum number of LEDs in the strip supported determined by the size of the DMA buffer. NotesIn Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 M154: Auto Report PositionHosts normally monitor printer position by sending G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude89 every couple of seconds. This adds more serial traffic and fails if the command queue is full. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0181 reduces traffic by setting the firmware to report the 'projected' position at regular intervals. This behavior is disabled by default for best compatibility with existing hosts. If the firmware supports G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0181 the output of G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 will report the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0184 capability.Usage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0185 : Set the auto-report interval in seconds. Set the interval to 0 to disable. M155: Automatically send temperaturesParametersN12362 enable sending temperatures = 1, disable = 0 N12362 Interval in seconds between auto-reports. S0 to disable. (Marlin) Prusa has a Maximum: 2551 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0188 Activate auto-report function (bit mask). Default is temperature.1C bitmap1 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0189 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0190 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0191 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0192 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0193 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0194 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0195 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0196Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.088 Hosts normally monitor printer temperatures by sending G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0006 every couple of seconds. This not only adds serial traffic but it will fail whenever the command queue is full. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0198 addresses these problems by telling the firmware to automatically report temperatures at regular intervals. This behavior is disabled by default for best compatibility with existing hosts. If the firmware supports G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0198 the output of G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 will report the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0201 capability: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.089 Prusa Firmware 3.10.0+ also adds capabilities: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.090 M160: Number of mixed materialsExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.091 This command has been superseded by the tool definition command N123 [...G Code in here...] *7105 (see below). Set the number of materials, N, that the current extruder can handle to the number specified. The default is 1. When N >= 2, then the E field that controls extrusion requires N values separated by colons ":" after it like this: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.092 The second line moves straight to the point (90.6, 13.8) extruding a total of 22.4mm of filament. The mix ratio for the move is 0.1:0.1:0.1:0.7. The third line moves back 20mm in X extruding 42.4mm of filament. The fourth line has no physical effect. M163: Set weight of mixed materialParametersN12362 extruder number N12383 weight Set weight for this mixing extruder drive. M164: Store weightsParametersN12362 virtual extruder number N12383 store to eeprom (P0 = no, P1 = yes) Store weights as virtual extruder S. M165: Set multiple mix weightsParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0207 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0208 Mix factor for extruder stepper 1 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0209 Mix factor for extruder stepper 2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0210 Mix factor for extruder stepper 3 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0211 Mix factor for extruder stepper 4 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0212 Mix factor for extruder stepper 5 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0213 Mix factor for extruder stepper 6
M190: Wait for bed temperature to reach target tempParametersN12362 minimum target temperature, waits until heating N12361 accurate target temperature, waits until heating and cooling (Marlin and Prusa)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.093 Wait for the bed temperature to reach 60 degrees, printing out the temperatures once per second. M191: Wait for chamber temperature to reach target tempExampleG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.094 Set the temperature of the build chamber to 60 °C and wait for the temperature to be reached. ParametersN12362 minimum target temperature, waits until heating N12361 accurate target temperature, waits until heating and cooling (Marlin) M192: Wait for Probe TemperatureUse G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0218 to dwell until the probe is at or above a given temperature. M200: Set filament diameterVolumetric Extrusion is a firmware mode (and an option you can set in some slicers) wherein all extrusion amounts are specified as a volume —using cubic millimeters or inches (i.e., mm3 or in3)— instead of a linear distance. This makes it possible to use the same G-code with any filament diameter. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0219 tells the firmware what the filament diameter is, and (if non-zero) to enable Volumetric Extrusion. Send G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0219 without parameters to get the current Volumetric Extrusion state and filament diameters. Note that slicer-commanded retraction amounts must also be specified in mm3 since the E axis is interpreted as a volume. However, when using Firmware Retraction ( N123 [...G Code in here...] *7102 / G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min73) the retractions specified by N123 [...G Code in here...] *7107 are still set in linear units.Parameters (Marlin) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0224 Set the filament diameter in current units. If non-zero, enable Volumetric Extrusion. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0225 Select the target extruder. If omitted, the active extruder. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0226 Enable or Disable Volumetric Extrusion (without modifying the filament diameter). G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0227 Set the Maximum Extrusion Volume in mm3 per second. (Ignores units set by N12340.) Use int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...89 for no limit.Examples (Marlin) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.095Parameters (RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0230 Set filament diameter to aaa for extruder 1, bbb for extruder 2, etc. In RepRapFirmware 3.4 and earlier, if any of aaa, bbb etc. are zero then Volumetric Extrusion is disabled for that extruder. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0231 Set filament diameter for all extruders. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0226 Enable or disable volumetric extrusion for this input channel (RepRapFirmware 3.5 and later)Examples (RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.096 M201: Set max accelerationParametersN12351 Acceleration for X axis in units/s2 N12352 Acceleration for Y axis in units/s2 N12353 Acceleration for Z axis in units/s2 N12354 Acceleration for the active or specified extruder in units/s2Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.097 Set the acceleration that axes can do in units/s2. The G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0237 command is intended to define the machine's physical limits. Slicers should use the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0238 command to define accelerations for a job and leave G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0237 settings to the user. RepRapFirmware specific: Multiple colon-separated E values can be provided, so that different extruders can use different accelerations. If a single E value is provided, that value is applied to all extruders. The values must be provided in mm/sec^2 even if G20 has been used to set units to inches. M201 without parameters reports the current settings. M201.1: Set reduced acceleration for special move typesParametersN12351 Acceleration for X axis in units/s2 N12352 Acceleration for Y axis in units/s2 N12353 Acceleration for Z axis in units/s2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0243 Acceleration for the extruders in units/s2Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.098 Set the acceleration that axes should use for special types of move that should be done using reduced acceleration. RepRapFirmware specific: these values are used for probing moves (because some types of Z probe can be triggered by high acceleration at the start of the move) and for moves that involve stall detection endstops (because high acceleration can bring the motor close to stalling). If a single E value is provided, that value is applied to all extruders. The values must be provided in mm/sec^2 even if G20 has been used to set units to inches. M201.1 without parameters reports the current settings. M202: Set max travel accelerationSet max travel acceleration in units/s^2 for travel moves ( G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0244). Unused in Marlin!! M203: Firmware dependentM203: Set maximum feedrateParametersN12351 Maximum feedrate for X axis N12352 Maximum feedrate for Y axis N12353 Maximum feedrate for Z axis N12354 Maximum feedrate for extruder drives N12378 (RepRapFirmware) Minimum feed rate (optional)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.099 Sets the maximum feedrates that your machine can do in mm/min. (Marlin uses mm/sec). This command is intended to define the machine limits. Slicers should not generate M203 commands, instead they should use the F parameter on G0, G1 etc. command to specify the requested speeds. M203 (Repetier): Set temperature monitorSet temperature monitor to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0250. Repetier Firmware only. M204: Firmware dependentM204: Set default accelerationParameters (RepRapFimware)N12383 Acceleration for printing moves N123 [...G Code in here...] *7117 Acceleration for travel movesExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2200 Accelerations set with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0238 apply to the move as a whole based on the type of move. Use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0237 to set limits for each axis individually. Both of these limits will be applied during printing.Parameters (MK4duo) N12383 Acceleration for printing moves G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min16 Acceleration for travel moves N12361 Acceleration for Retraction for Tools with T codeExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2201 Other firmwares: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0258 Set Acceleration for normal moves in units/s2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0259 Set Acceleration for retract/recover moves in units/s2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0260 Set Minimum Segment Time to prevent planner starvation. Marlin notes: Since version 1.0.2-1 the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0238 options are: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0262 Set Acceleration for Printing moves. (i.e., Any XYZ motion plus E.) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0263 Set Acceleration for Retract moves. (i.e., E-axis only moves.) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0259 Set Acceleration for Travel moves. (i.e., without E movement)Example Set the acceleration for printing movements to 800mm/s^2, for travels to 3000mm/s^2 and for retracts to 9000mm/s^2. N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2202 M204 (Repetier): Set PID valuesUsageN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2203 Set one or more PID parameters. Values are 100 * real value. M205: Firmware dependentM205: Advanced settingsSprinter / MarlinMinimum travel speed =G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0265 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0266 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0267Sprinter / Marlin Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2204 Smoothieware uses a different algorithm: [1] X[xy junction deviation] Z[z junction deviation] S[minimum planner speed].Z junction deviation only applies to z only moves0 disables junction deviation for Z-1 uses global junction deviationSmoothie exampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2205 M205 (Repetier): EEPROM ReportOutput EEPROM settings. Repetier Firmware only. M206: Firmware dependentM206: Offset axesParametersN12351 X axis offset N12352 Y axis offset N12353 Z axis offsetExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2206 The values specified are added to the endstop position when the axes are referenced. The same can be achieved with a G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material60 right after homing ( N12338, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0273). With Marlin firmware, the current values can read from the machine with a bare G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0274 command and be saved to EEPROM using the G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 command. (See also G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0276: Babystepping) A similar command is N123 [...G Code in here...] *7102, aligning these two is subject to discussion. With Marlin 1.0.0 RC2 a negative value for z lifts(!) your printhead. In builds of RepRapFirmware that support CNC workplace coordinates, using this command is equivalent to using G10 L2 P1 to set the coordinate offsets for workplace 1. M206 (Repetier): Set EEPROM valueSet a Repetier Firmware EEPROM value. ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0278 Value type G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0279 Value position G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0280 An integer value G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0281 A float valueExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2207 M207: Firmware dependentM207: Set retract lengthParametersN12362 positive length to retract, in mm N12361 positive or negative additional length to un-retract, in mm (RepRapFirmware only) N12355 retraction feedrate, in mm/min N123 [...G Code in here...] *7117 feedrate for un-retraction if different from retraction, mm/min (RepRapFirmware 1.16 and later only) N12353 additional zlift/hopExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2208 Set the retract length used by the N123 [...G Code in here...] *7102 and G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min73 commands. Units are in mm regardless of G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0219 setting. Machinekit uses different parameters and speed units for N123 [...G Code in here...] *7107. Use N123 [...G Code in here...] *7110 to set retract length in mm. Use G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 to set retract velocity in mm/s. For firmware retraction Machinekit uses N123 [...G Code in here...] *7132 and N123 [...G Code in here...] *7129 in place of N123 [...G Code in here...] *7102 and G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min73. M207 Calibrate Z axis with Z max endstopExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2209 After placing the tip of the nozzle in the position you expect to be considered Z=0, issue this command to calibrate the Z axis. It will perform a z axis homing routine and calculate the distance traveled in this process. The result is stored in EEPROM as z_max_length. For using this calibration method the machine must be using a Z MAX endstop. This procedure is usually more reliable than mechanical adjustments of a Z MIN endstop. M207 (Repetier): Set jerk without saving to EEPROMRepetier Firmware only. Change the maximum instantaneous speed change ("jerk") values, but don't store the change in EEPROM. Since Repetier 0.91 December 2013 [2] (if not earlier) ParametersN12351 Temporarily set XY jerk in mm/s N12353 Temporarily set Z jerk in mm/s N12354 Temporarily set Extruder jerk in mm/sExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2210 M208: Firmware dependentM208: Set unretract lengthParametersN12362 positive length surplus to the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0301, in mm N12355 feedrate, in mm/sec Sets the "recover" (aka "unretract") length. M208 (RepRapFirmware): Set axis max travelParametersN12362 0 = set axis maximum (default), 1 = set axis minimum N12351 X axis limit N12352 Y axis limit N12353 Z axis limitExampleM208 X200 Y200 Z90 ; set axis maximaM208 X-5 Y0 Z0 S1 ; set axis minima The values specified set the software limits for axis travel in the specified direction. The axis limits you set are also the positions assumed when an endstop is triggered. M209: Enable automatic retractWith automatic retract detection, G-code generated by slicers without N123 [...G Code in here...] *7102/ G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min73 support can take advantage of Firmware Retraction. The firmware converts E-only moves into retract/recover moves, using the firmware's tuned lengths and feedrates in place of the original E moves.Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2211 The N123 [...G Code in here...] *7100 parameter turns Automatic Retract Detection on (1) or off (0). M210: Set homing feedratesExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2212 Set the feedrates used for homing to the values specified in mm per minute. M211: Disable/Enable software endstopsThe boolean value S 1=enable or 0=disable controls state of software endstop. The boolean value X, Y or Z 1=max endstop or 0=min endstop selects which endstop is controlled. ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2213 Disables X,Y,Z max endstops ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2214 Enables X min endstop ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2215 Prints current state of software endstops. M212: Set Bed Level Sensor OffsetThis G-Code command is known to be available in the newer versions of PrintrBot's branch of Marlin. It may not be available in other firmware. ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2216 Set the Z home to 0.2 mm lower than where the sensor says Z home is. This is extremely useful when working with printers with hard-to-move sensors, like the PrintrBot Metal Plus. PrintrBot suggests that the user make minor (0.1-0.2) adjustments between attempts and immediately executes G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 & G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0311 after setting this. M217: Toolchange ParametersIf arguments are given, sets tool-change retract and prime length (mm), prime feedrate (mm/min), retract feedrate (mm/min), and park position/raise (mm) or Z raise (mm): SPRXYZ. XY arguments require SINGLENOZZLE_SWAP_PARK. If no arguments are given, reports current values. Currently used to set the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0312 tool-change options in Marlin 2.0 and up. May be extended for other tool-changing systems in the future. M218: Set Hotend OffsetSets hotend offset (in mm): TXY. ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2217Notes In Prusa Firmware this G-code is only active if G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0313 is higher then 1 in the source code. On Original i3 Prusa MK2/s MK2.5/s MK3/s it is not active.1 M220: Set speed factor override percentageParametersN12362 Speed factor override percentage (0..100 or higher)Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2218 Sets the speed factor override percentage. M221: Set extrude factor override percentageParametersN12362 Extrude factor override percentage (0..100 or higher), default 100% G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Extruder drive number (RepRapFirmware only), default 0 N123 [...G Code in here...] *7117 Extruder drive number (Prusa Firmware only), default 0 if not set.1Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2219 Sets extrude factor override percentage. In the case of RepRapFirmware and Prusa Firmware, sets the extrusion factor percentage for the specified extruder drive only. M220: Turn off AUX V1.0.5M221: Turn on AUX V1.0.5M222: Set speed of fast XY movesM223: Set speed of fast Z movesM224: Enable extruder during fast movesM225: Disable on extruder during fast movesM226: G-code Initiated PauseExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2220 Initiates a synchronous pause (pauses after all previous commands from the same stream have been completed). That is, program execution is stopped and the printer waits for user interaction. This matches the behaviour of G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude20 in the NIST RS274NGC G-code standard and G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude23 in Marlin firmware. M226: Wait for pin stateParametersN12383 pin number N12362 pin stateExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2221 Wait for a pin to be in some state. M227: Enable Automatic Reverse and PrimeExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2222 P and S are steps. "Reverse and Prime" means, the extruder filament is retracted some distance when not in use and pushed forward the same amount before going into use again. This shall help to prevent drooling of the extruder nozzle. Teacup firmware implements this with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude33/ G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude43. M228: Disable Automatic Reverse and PrimeExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2223 See also G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min76. M229: Enable Automatic Reverse and PrimeExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2224 N123 [...G Code in here...] *7110 and N123 [...G Code in here...] *7100 are extruder screw rotations. See also G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min76. M230: Disable / Enable Wait for Temperature ChangeExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2225 int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04 Disable wait for temperature change int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03 Enable wait for temperature change M231: Set OPS parameterN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2226 M232: Read and reset max. advance valuesM240: Trigger cameraExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2227 Triggers a camera to take a photograph. (Add to your per-layer G-code.) NotesIn Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 M240: Start conveyor belt motor / Echo offExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2227 The conveyor belt allows to start mass production of a part with a reprap. Echoing may be controlled in some firmwares with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0330. M241: Stop conveyor belt motor / echo onExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2229 Echoing may be controlled in some firmwares with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0330. M245: Start coolerExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2230 used to cool parts/heated-bed down after printing for easy remove of the parts after print M246: Stop coolerExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2231 M250: Set LCD contrastExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2232 Sets LCD contrast C(value 0..63), if available. M256: Set LCD brightnessExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2233 Set the LCD brightness B(value 0..255), if available. M251: Measure Z steps from homing stop (Delta printers)ExamplesN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2234 (This is a Repetier-Firmware only feature.) M260: i2c Send DataBuffer and send data over the i2c bus. Use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0332 to set the address from 0-127. Add up to 32 bytes to the buffer with each N123 [...G Code in here...] *7167. Send and reset the buffer with N123 [...G Code in here...] *7100.Parameters (Marlin, MK4duo)Ann I2C addressBnn Byte to buffer or sendS If present, sends the bytes that have been bufferedExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2235Parameters (RepRapFirmware)Ann I2C addressBnn:nn:nn... Bytes to sendSnn Number of bytes to receive (optional, RepRapFirmware 2.02 and later)Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2236 RepRapFirmware does not use the S parameter, instead the address and all the bytes to send are specified in a single command. M261: i2c Request DataRequest data (synchronously) from an i2c slave device. This command in basic form simply relays the received data to the host. ParametersAnn I2C addressBnn How many bytes to requestSnn (Marlin 2.0.9.3) Style of output: 0 = Raw (default), 1 = Bytes (hex), 2 = 1-2 byte (integer), 3 = Bytes (decimal)ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2237 Both G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0335 and G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0336 are commands demonstrating use of the i2c bus (TWIBus class) in Marlin Firmware. Developers and vendors can make Marlin an i2c master device by enabling G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0337, and Marlin can act as a slave device by setting G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0338 from 8-127. This class can be used to divide up processing responsibilities between multiple instances of Marlin running on multiple boards. For example, one board might control a Z axis with 4 independent steppers to create a self-leveling system, or a second board could drive the graphical display while the first board handles printing. M280: Set servo positionSet servo position absolute. ParametersN12383 Servo index N12362 Angle or microseconds G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0341 Invert polarity (RepRapFirmware only)Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2238 Marlin and RepRapFirmware treat N123 [...G Code in here...] *7100 values below 200 as angles, and 200 or greater as the pulse width in microseconds. In RepRapFirmware, the servo index is the same as the pin number for the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude94 command. See https://duet3d.com/wiki/Using_servos_and_controlling_unused_I/O_pins for details. RepRapFirmware supports the optional I1 parameter, which if present causes the polarity of the servo pulses to be inverted compared to normal for that output pin. The N123 [...G Code in here...] *7146 parameter is not remembered between G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0345 commands (unlike the N123 [...G Code in here...] *7146 parameter in G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude44 commands), so if you need inverted polarity then you must include I1 in every G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0345 command you send.Duet 0.8.5 M280 P value to Expansion Port Pin MappingPNameExpansion Port PinUse M307 H# A-1 C-1 D-1 before using these pins3PC23_PWML6214PC22_PWML5225PC21_PWML423 On the Duet 0.6, pin 18 is controlled by heater 2. On the 0.8.5, pin 18 is controlled by heater 6, but is also shared with fan1. In order to use this pin, the fan must be disabled ( G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0349). See Using servos and controlling unused I/O pinsNotes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 M281: Set Servo AnglesSet the angles for a servo's deployed (or selected) and stowed (or unselected) states. To activate this command in Marlin enable the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0350 option.Parameters G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0351 - Servo Index G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0352 - Deployed / Selected Angle G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0353 - Stowed / Unselected AngleExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2239 M282: Detach ServoDetach servo. This disables the servo until its next move. To activate this command in Marlin enable the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0354 option.Parameters N12383 Servo indexExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2240 M290: BabysteppingParameters (RepRapFirmware)N12362 Amount to baby step Z in mm. Positive values raise the head, negative values lower it. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0357 Amount to baby step other axes in mm (optional, supported in later RepRapFirmware versions) N12353 Synonym for S (RepRapFirmware 1.21 and later) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0359 (Optional, RepRapFirmware 1.21 and later) R1 = relative (add to any existing babystep amount, the default), R0 = absolute (set babystepping offset to the specified amount)Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2241Parameters (Repetier) N12353 Amount to baby step in mm. Positive values raise the head, negative values lower it.Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2242Additional Parameters (Marlin 1.1.7 and later) N12351 Amount to babystep X in current units. (Requires G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0362) N12352 Amount to babystep Y in current units. (Requires G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0362) N12353 Amount to babystep Z in current units. Synonym for ' N123 [...G Code in here...] *7100' parameter.Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2243 This command tells the printer to move the axis (or axes) transparently to the motion system. This is like physically moving the axes by force, but much nicer to the machine. In RepRapFirmware G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0276 with no parameters reports the accumulated baby stepping offset. Marlin doesn't track accumulated babysteps. In RepRapFirmware 1.19 and earlier, the babystepping offset is reset to zero when the printer is homed or the bed is probed. In RepRapFirmware 1.21 and later, homing and bed probing don't reset babystepping, but you can reset it explicitly using M290 R0 S0. Note: If the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0368 option is used in Marlin, this command also affects the Z probe offset (as set by G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0369) and that offset will be saved to EEPROM. M291: Display message and optionally wait for responseParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0370 The message to display, which must be enclosed in double quotation marks. If the message itself contains a double quotation mark, use two double quotation marks to represent it. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0371 Optional title for the message box. Must be enclosed in double quotation marks too. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...54 Message box mode (defaults to 1) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0054 Timeout in seconds, only legal for S=0 and S=1. The message will be cancelled after this amount of time, if the user does not cancel it before then. A zero or negative value means that the message does not time out (it may still be cancelled by the user if it has a Close button). In RepRapFirmware, the default timeout for messages that do not require acknowledgement is 10 seconds. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...55 0 = no special action, 1 = display Z jog buttons alongside the message to allow the user to adjust the height of the print headExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2244 This command provides a more flexible alternative to M117, in particular messages that time out, messages that suspend execution until the user acknowledges them, and messages that allow the user to adjust the height of the print head before acknowledging them. Allowed message box modes include: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2245 The combination S0 T0 is not permitted, because that would generate a message box with no close button and that never times out, which would lock up the user interface. Duet Web Control 2.0.3 and later supports HTML in the message body. M292: Acknowledge messageParametersint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 Whether the current operation shall be cancelled. Only legal if M291 was called with S=3 (optional) This command is sent by the user interface when the user acknowledges a message that was displayed because of a M291 command with parameter S=2 or S=3. M300: Play beep soundParametersN12362 frequency in Hz N12383 duration in milliseconds G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min16 volume in rage 0 - 1Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2246 Play beep sound, use to notify important events like the end of printing. R2C2 electronics. If an LCD device is attached to RepRapFirmware, a sound is played via the add-on touch screen control panel. Else the web interface will play a beep sound. Notes1In Prusa Firmware the defaults are 100Hz and 1000ms, so that G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0379 without parameters will beep for a second. 2Klipper does not support G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0379 by default, however it can be easily added as a G-code macro M301: Set PID parametersParametersN12356 heater number (Smoothie uses 'S', Redeem uses 'E') N12383 proportional (Kp) N12378 integral (Ki) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 derivative (Kd)Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2247 Sets Proportional (P), Integral (I) and Derivative (D) values for hot end. See also PID Tuning. MK4duoH[heaters] H = 0-5 Hotend, H = -1 BED, H = -2 CHAMBER, H = -3 COOLER MarlinHot end only; see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0385 for bed PID. H is the heater number, default 1 (i.e. first extruder heater). RepRapFirmware 1.15 onwardsIn RepRapFirmware 1.15 and later the M301 is supported as described above, but it is not normally used. Instead the heater model is defined by M307 or found by auto tuning, and the firmware calculates the PID parameters from the model. An M301 command can be used in config.g after the M307 command for that heater to override the firmware-computed PID parameters. RepRapFirmware 1.09 to 1.14 inclusive
An example using all of these would be: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2248 Smoothieint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03 is 0 for the hotend, and 1 for the bed, other numbers may apply to your configuration, depending on the order in which you declare temperature control modules. Other implementationsW: Wind-up. Sets the maximum value of I-term, so it does not overwhelm other PID values, and the heater stays on. (Check firmware support - Sprinter, Marlin?) ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2249 TeacupSee G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0395, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0396, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0397, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0398 for Teacup's codes for setting the PID parameters. M302: Allow cold extrudesParametersN12362 Cold extrude minimum temperature (also in RepRapFirmware 2.02 and later) N12383 Cold extrude allow state (RepRapFirmware) N12361 Cold retraction minimum temperature (RepRapFirmware 2.02 and later)Examples (RepRapFirmwre) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2250Examples (Others) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2251 This tells the printer to allow movement of the extruder motor above a certain temperature, or if disabled, to allow extruder movement when the hotend is below a safe printing temperature. Notes1RepRapFirmware uses the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0402 parameter instead of G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0403, and for G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0046 with no parameters it will report the current cold extrusion state. M303: Run PID tuningPID Tuning refers to a control algorithm used in some repraps to tune heating behavior for hot ends and heated beds. This command generates Proportional (Kp), Integral (Ki), and Derivative (Kd) values for the hotend or bed (E-1). Send the appropriate code and wait for the output to update the firmware. Hot end usage: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2252 Bed usage (repetier, not sure whether cycles work here): N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2253 Bed usage (others): N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2254Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2255 Smoothie's syntax, where G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0405 is the first temperature control module (usually the hot end) and N123 [...G Code in here...] *7198 is the second temperature control module (usually the bed): N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2256 In RepRapFirmware, this command computes the process model parameters (see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0407), which are in turn used to calculate the PID constants. H is the heater number, P is the PWM to use (default 0.5), and S is the maximum allowable temperature (default 225). Tuning is performed asynchronously. Run G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0408 with no parameters to see the current tuning state or the last tuning result.Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2257Notes In Marlin Firmware you can add the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0409 parameter to apply the PID results to current settings upon completion. M304: Set PID parameters - BedParametersN12383 proportional (Kp) N12378 integral (Ki) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 derivative (Kd)Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2258 Sets Proportional, Integral and Derivative values for bed. RepRapFirmware interprets a negative P term as indicating that bang-bang control should be used instead of PID. In RepRapFirmware, this command is identical to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0413 except that the N12368 parameter (heater number) defaults to zero. See also PID Tuning. M304 in RepRapPro version of Marlin: Set thermistor valuesIn the RepRapPro version of Marlin ( https://github.com/reprappro/Marlin ) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0385 is used to set thermistor values (as G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0416 is in later firmwares). RRP Marlin calculates temperatures on the fly, rather than using a temperature table. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0385 Sets the parameters for temperature measurement.Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2259 This tells the firmware that for heater 1 ( N12368 parameter: 0 = heated bed, H = first extruder), the thermistor beta ( N123 [...G Code in here...] *7167 parameter) is 4200, the thermistor series resistance ( N12389 parameter) is 4.8Kohms, the thermistor 25C resistance ( N12346 parameter) is 100Kohms. All parameters other than H are optional. If only the N12368 parameter is given, the currently-used values are displayed. They are also displayed within the response to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0423. M305: Set thermistor and ADC parametersParametersN12383 Heater number, or virtual heater number G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0425 Heater name (optional, RepRapFirmware only) N123 [...G Code in here...] *7117 (for thermistor sensors) Thermistor resistance at 25oC G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0427 (for MAX31856-based thermocouple sensors) The thermistor type letter, default K N12387 Beta value, or the reciprocal of the Steinhart-Hart thermistor model B coefficient N12388 Steinhart-Hart C coefficient (MK4duo and RepRapFirmware 1.17 and later), default 0 N12361 Series resistor value N12392 ADC low offset correction, default 0 N12356 ADC high offset correction, default 0 N12351 Heater ADC channel, or thermocouple or PT100 or current loop adapter channel, defaults to the same value as the N123 [...G Code in here...] *7110 parameter G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0435 (where nn is 50 or 60) If the sensor interface uses a MAX31856 thermocouple chip or MAX31865 PT100 chip, this is the local mains frequency. Readings will be timed to optimise rejection of interference at this frequency.Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2260 Sets the parameters for temperature measurement. The example above tells the firmware that for heater 1 ( N123 [...G Code in here...] *7110 parameter: 0 = heated bed, 1 = first extruder) the thermistor 25C resistance ( N12346 parameter) is 100Kohms, the thermistor series resistance ( N12389 parameter) is 1Kohms, the thermistor beta ( N123 [...G Code in here...] *7167 parameter) is 4200. All parameters other than P are optional. If only the N123 [...G Code in here...] *7110 parameter is given, the existing values are displayed.Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2261 The H correction affects the reading at high ADC input voltages, so it has the greatest effect at low temperatures. The L correction affects the reading at low input voltages, which correspond to high temperatures. The N123 [...G Code in here...] *7142 parameter tells the firmware to use the thermistor input corresponding to a different heating channel. RepRapFirmware also allow an external SPI thermocouple interface (such as the MAX31855) or PT100 interface (MAX31865) to be configured. MAX31855 thermocouple channels are numbered from 100, MAX31856 thermocouple channels are numbered from 150, PT100 channels from 200 and current loop channels from 300. Channel 1000 is the CPU temperature indication, 1001 is the temperature of the hottest stepper motor driver on the main board, and 1001 is the temperature of the hottest drivers on the expansion board. In the above example, the ADC high end correction ( N12368 parameter) is 14, the ADC low end correction ( N123 [...G Code in here...] *7193 parameter) is -11, and thermistor input #2 is used to measure the temperature of heater #1. M306: Set home offset calculated from toolhead positionExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2262 The values specified are added to the calculated end stop position when the axes are referenced. The calculated value is derived from the distance of the toolhead from the current axis zero point. The user would typically place the toolhead at the zero point of the axis and issue the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0444 command. This value can be saved to EEPROM using the G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 command (as G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0274 value). Implemented in Smoothieware M307: Set or report heating process parametersParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0447 Heater number (0 is usually the bed heater) N12386 gAin, expressed as ultimate temperature rise obtained in degC divided by the PWM fraction. For example, if G=180 then at 50% PWM the ultimate temperature rise would be 90C. N12388 dominant time Constant of the heating process in seconds G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Dead time in secondsFour optional additional parameters help control the heating process N12355 PWM frequency to use (not supported in RepRapFirmware 3, use M950 instead). G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0452 selects Bang-bang control instead of PID if non-zero. Default at power-up is 0 for extruder heaters, 1 for bed and chamber heaters. N12362 maximum PWM to be used used with this heater on a scale of 0 to 1. Default 1.0. G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min16 VIN supply voltage at which the A parameter was calibrated (RepRapFirmware 1.20 and later). This allows the PID controller to compensate for changes in supply voltage. A value of zero (the default) disables compensation for changes in supply voltage.Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2263 Each heater and its corresponding load may be approximated as a first order process with dead time, which is characterised by the gain, time constant and dead time parameters. The model can used to calculate optimum PID parameters, using different values for the heating or cooling phase and the steady state phase. It is also used to better detect heater faults. In future it may be used to calculate feed-forward terms to better respond to changes in the load. Normally these model parameters are found by auto tuning - see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0408. RepRapFirmware 1.16 and later allow the PID controller for a heater to be disabled by setting the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0332, N123 [...G Code in here...] *7170, and N123 [...G Code in here...] *7186 parameters to -1. This frees up the corresponding heater control pin for use as a general purpose I/O pin to use with the M42 or M280 command. In RepRapFirmware 3, M950 should be used to free up the pin instead. M308: Set or report sensor parametersCommon Parametersint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...54 Sensor number G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0460 The name of the control board pin that this sensor uses. For thermistors it is the thermistor input pin name. For sensors connected to the SPI bus it is the name of the output pin used as the chip select. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0461 The sensor and interface type, e.g. "thermistor", "pt1000", "rtdmax31865", "max31855", "max31856", "linear-analog", "dht22-temp", "dht22-humidity", "current-loop-pyro" G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0462 Sensor name (optional), displayed in the web interfaceAdditional parameters for thermistors N123 [...G Code in here...] *7117 (for thermistor sensors) Thermistor resistance at 25oC N12387 Beta value, or the reciprocal of the Steinhart-Hart thermistor model B coefficient N12388 Steinhart-Hart C coefficient, default 0 N12361 Series resistor value N12392 ADC low offset correction, default 0 (ignored if the hardware supports automatic ADC gain and offset calibration) N12356 ADC high offset correction, default 0 (ignored if the hardware supports automatic ADC gain and offset calibration)Additional parameters for PT1000 sensors N12361 Series resistor value N12392 ADC low offset correction, default 0 (ignored if the hardware supports automatic ADC gain and offset calibration) N12356 ADC high offset correction, default 0 (ignored if the hardware supports automatic ADC gain and offset calibration)Additional parameters for MAX31856-based thermocouple sensors G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0427 The thermistor type letter, default K G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0435 (where nn is 50 or 60) The local mains frequency. Readings will be timed to optimise rejection of interference at this frequency.Additional parameters for MAX31865-based PT100 sensors N12361 Series resistor value G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0435 (where nn is 50 or 60) The local mains frequency. Readings will be timed to optimise rejection of interference at this frequency.Additional parameters for linear analog sensors G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material00 F0 = unfiltered (fast response), F1 = filtered (slower response, but noise reduced and ADC oversampling used to increase resolution) N12392 The temperature or other value when the ADC output is zero N12356 The temperature or other value when the ADC output is full scale This code replaces M305 in RepRapFirmware 3. In earlier versions of RepRapFirmware, sensors only existed in combination with heaters, which necessitated the concept of a "virtual heater" to represent a sensor with no associated heater (e.g. MCU temperature sensor). RepRapFirmware 3 allows sensors to be defined independently of heaters. The association between heaters and sensors is defined using M950. M308 can be used in the following ways: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2264 Sensor type names obey the same rules as pin names, i.e. case is not significant, neither are hyphen and underscore characters. M309: Set or report heater feedforwardParametersPn Tool numberSaaa:bbb:ccc... Feedforward coefficients. The number of coefficients provided must equal the number of heaters configured for the tool when it was created (see M563).If the P parameter is not provided, the current tool is assumed. If the S parameter is not provided, the existing coefficients are reported. The units of S are PWM fraction (on a scale of 0 to 1) per mm/sec of filament forward movement. M310: Temperature model settingsUsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0479 ; report values G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0480 ; autotune C+R values G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0481 ; force model self-test state G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0482 ; set 0=disable 1=enable G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0483 ; set resistance at index G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0484 ; set power, capacitance G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0485 ; set beeper, warning and error threshold G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0486 ; set ambient temperature correctionParameters G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0332 autotune C+R values N123 [...G Code in here...] *7191 force model self-test state (0=off 1=on) during autotune using current values N12362 set 0=disable 1=enable N12378 resistance index position (0-15) N12361 resistance value at index (K/W; requires : N12378) N12383 power (W) N12388 capacitance (J/K) N12387 beep and warn when reaching warning threshold 0=disable 1=enable (default: 1) N12354 error threshold (K/s; default in variant) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0172' warning threshold (K/s; default in variant) N123 [...G Code in here...] *7117 ambient temperature correction (K; default in variant) Prusa Firmware for MK3S/+, MK2.5/S only! M320: Activate autolevel (Repetier)UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0499 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0500Parameters N12362 if greater than 0, activate and store persistently in EEPROMExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2265 Parameter N12362 is optional. (Repetier only) M321: Deactivate autolevel (Repetier)UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0503 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0504Parameters N12362 if greater than 0, deactivate and store persistently in EEPROMExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2266 Parameter N12362 is optional. (Repetier only) M322: Reset autolevel matrix (Repetier)UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0507 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0508Parameters N12362 if greater than 0, also reset the matrix values saved EEPROMExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2267 Parameter N12362 is optional. (Repetier only) M323: Distortion correction on/off (Repetier)Usageint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...94 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0512 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0513Parameters N12362 0 (disable correction) or 1 (enable correction) N12383 1 (store correction state persistently in EEPROM)Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2268 (Repetier only) Controls distortion correction feature after having set it up using G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0516 M340: Control the servos(Repetier only ,Marlin see M280) M340 PS/ ServoID = 0..3 pulseInUs = 500..2500 Servos are controlled by a pulse width normally between 500 and 2500 with 1500ms in center position. 0 turns servo off. M350: Set microstepping modeSets microstepping mode. Warning: Steps per unit remains unchanged; except that in RepRapFirmware the steps/mm will be adjusted automatically. UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0517ParametersNot all parameters need to be used, but at least one should be used. As with other commands, RepRapFirmware reports the current settings if no parameters are used. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material20 Set stepping mode for all drivers (not supported by RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0519 Set stepping mode for the X axis G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0178 Set stepping mode for the Y axis G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0521 Set stepping mode for the Z axis G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0522 Set stepping mode for Extruder 0 (for RepRapFirmware use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0523 etc. for multiple extruders) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0524 Set stepping mode for Extruder 1 (not supported by RepRapFirmware, see above) G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material15 Enable (nn=1) or disable (nn=0) microstep interpolation mode for the specified drivers, if they support it (RepRapFirmware only)Modes (nn)1 = full step2 = half step4 = quarter step8 = 1/8 step16 = 1/16 step64 = 1/64 step128 = 1/128 step256 = 1/256 stepExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2269 M351: Toggle MS1 MS2 pins directlyExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2270 M355: Turn case lights on/offExamplesN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2271
N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2272 M360: Report firmware configurationTargetThis command helps hosting software to detect configuration details, which the user would need to enter otherwise. It should reduce configuration time considerably if supported. ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2273Response N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2274 SCARA calibration codes (Morgan)In order to ease calibration of Reprap Morgan, the following M-codes are used to set the machine up M360: Move to Theta 0 degree positionThe arms move into a position where the Theta steering arm is parallel to the top platform edge. The user then calibrates the position by moving the arms with the jog buttons in software like pronterface until it is perfectly parallel. Using G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude89 will then display the calibration offset that can then be programmed into the unit using G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0274 (Home offset) X represents Theta. Smoothieware: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0528 will take the current position as parallel to the platform edge, and store the offset in the homing trim offset (M666) No further user interaction is needed. M361: Move to Theta 90 degree positionTheta move to 90 degrees with platform edge. User calibrates by using jog arms to place exactly 90 degrees. Steps per degree can then be read out by using G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude89, and programmed using G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min64. X represents Theta. Program Y (Psi) to the same value initially. Remember to repeat G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0531 after adjusting steps per degree. Smoothieware: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0528 will accept the current position as 90deg to platform edge. New steps per angle is calculated and entered into memory (M92) No further user interaction is required, except to redo G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0531. M362: Move to Psi 0 degree positionArms move to Psi 0 degree. Check only after other Theta calibrations M363: Move to Psi 90 degree positionArms move to Psi 90 degree. Check only after other Theta calibrations M364: Move to Psi + Theta 90 degree positionMove arms to form a 90 degree angle between the inner and outer Psi arms. Calibrate by moving until angle is exactly 90 degree. Read out with G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude89, and calibrate value into Home offset G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0274. Psi is represented by Y. Smoothieware: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0536 will accept the current position as 90deg between arms. The offset is stored as a trim offset (M666) and no further user interaction is required except to save all changes via G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07. M365: SCARA scaling factorAdjust X Y and Z scaling by entering the factor. 100% scaling (default) is represented by 1 M366: SCARA convert trimExecuting this command translates the calculated trim values of the SCARA calibration to real home offsets. This prevents the home and trim movement after calibration. M370: Morgan manual bed level - clear mapClear the map and prepare for calibration UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0538 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0539 Without parameters is defaults to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0540 (25 calibration points) When specifying parameters, uneven numbers are recommended. M371: Move to next calibration positionMove to the next position for calibration. User moves the bed towards the hotend until it just touches M372: Record calibration value, and move to next positionThe position of the bed is recorded and the machine moves to the next position. Repeat until all positions programmed M373: End bed level calibration modeEnd calibration mode and enable z correction matrix. Does not save current matrix M374: Save calibration gridSaves the calibration grid. ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0541 (Smoothieware only) Extension of the grid file G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0542 (RepRapFirmware only) Name of the file to save to N123 [...G Code in here...] *7104 (Smoothieware only) Also save the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0274 Z homing offset into the grid fileUsage (Smoothieware) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2275Usage (RepRapFirmware) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2276 In Smoothieware, without parameters this saves the grid into the default grid file that gets loaded at boot. The optional parameter specifies the extension of the grid file - useful for special grid files such as for a special print surface like a removable print plate. Addition of Z will additionally save the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0545 homing offset into the grid file. In RepRapFirmware, this saves the grid parameters and height map into the specified file, or the default file int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...21 if no filename was specified. To load the height map automatically at startup, use command G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0547 in the config.g file. M375: Display matrix / Load MatrixDisplays the bed level calibration matrix (Marlin), or loads the grid matrix file (Smoothieware and RepRapFirmware) ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0541 (Smoothieware only) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0542 (RepRapFirmware only)Usage N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2277 Without parameters loads default grid, and with specified extension or specified filename attempts to load the specified grid. If not available will not modify the current grid. In Smoothieware, if Z was saved with the grid file, it will load the saved Z with the grid. M376: Set bed compensation taperParametersN12356 Height (mm) over which to taper off the bed compensationExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2278 This command specifies that bed compensation should be tapered off over the specified height, so that no bed compensation is applied at and above that height. If H is zero or negative then no tapering is applied, so compensation is performed throughout the entire print. If the firmware does not adjust the extrusion amount to compensate for the changing layer height while tapering is being applied, you will get under- or over-extrusion. Using a large taper height will reduce this effect. For example, if the taper height is 50 times the largest bed height error, then under- or over-extrusion will be limited to 2%. M380: Activate solenoidExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2279 Activates solenoid on active extruder. M381: Disable all solenoidsExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2280 M400: Wait for current moves to finishExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2281 Finishes all current moves and and thus clears the buffer. That's identical to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0551 for Teacup printers. M401: Deploy Z ProbeParametersP Probe number, default 0 (RepRapFirmware)S Set BLTouch HS Mode (Marlin 2.0.9.3+ withG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0552 enabled.)H Report current BLTouch HS Mode (Marlin 2.0.9.4+ with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0552 enabled.)Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2282 Deploy the z-probe (if present). In RepRapFirmware this command runs the macro file sys/deployprobe#.g (where # is the probe number) if it exists, otherwise it runs sys/deployprobe.g if it exists. M402: Stow Z ProbeParametersP (RepRapFirmware only) Probe number, default 0ExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2283 Raise z-probe if present. In RepRapFirmware this runs macro file sys/retractprobe#.g (where # is the probe number) if it exists, otherwise sys/retractprobe.g if it exists. M403: Set filament type (material) for particular extruder and notify the MMUParametersN12367 Extruder number N123 [...G Code in here...] *7191 Filament type Currently three different materials are needed (default, flex and PVA). And storing this information for different load/unload profiles etc. in the future firmware does not have to wait for "ok" from MMU. M404: Filament width and nozzle diameterParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0062 Filament width (in mm) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Nozzle diameter (in mm)1Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2284 Enter the nominal filament width (3mm, 1.75mm) or will display nominal filament width without parameters. Notes1While Marlin only accepts the 'N' parameter, RepRapFirmware further allows to specify the nozzle diameter (in mm) via the 'D 'parameter. This value is used to properly detect the first layer height when files are parsed or a new print is being started. M405: Filament Sensor onExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2285 Turn on Filament Sensor extrusion control. Optional Dto set delay in centimeters between sensor and extruder. M406: Filament Sensor offExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2286 Turn off Filament Sensor extrusion control. M407: Display filament diameterExampleN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2287 Displays measured filament diameter. In RepRapFirmware, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0558 does the same as G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0559. M408: Report JSON-style responseParametersN12362 Response type N12361 Response sequence numberExample N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2288 Report a JSON-style response by specifying the desired type using the 'S' parameter. The following response types are supported:
Here is an example of a typical type 0 response: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2289 The response is set as a single line with a newline character at the end. The meaning of the fields is: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2290 The type 1 response comprises these fields plus some additional ones that do not generally change and therefore do not need to be fetched as often. The extra fields include: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2291 The fields may be in any order in the response. Other implementations may omit fields and/or add additional fields. For a more detailed comparison of type 2 - 5, see RepRap_Firmware_Status_responses. PanelDue currently uses only G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0562 and G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0563. M409: Query object modelParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0564 Key string, default empty G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0565 Flags string, default emptyExamples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2292 The key string is just the path to the Object Model (OM) variables wanted, with the following extensions:
An empty key string selects the entire object model. The flags string may include one or more of the following: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2293 The response is a JSON object of the following form: {"key":"key","flag'":"flags","result":object-value} The key and flags fields are as provided in the M409 command. If the key string is malformed or refers to a property that does not exist in the object model, the result field is null. RepRapFirmware on network-enabled electronics also provides the same functionality via the rr_model call to the HTTP API. M410: Quick-StopThis command does a quick stop of all stepper motors and aborts all moves in the planner. This command is only intended for emergency situations, and due to the instant stop the actual stepper positions may be shifted. Note that if `EMERGENCY_PARSER` is disabled, the response may be delayed while the command buffer is being queued. If a print job is in progress, it will continue, so it is important to suspend the print job before using this command. M412: Disable Filament Runout DetectionEnable or disable filament runout detection. When filament sensors are enabled, the firmware responds to a filament runout by running the configured G-code (usually G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0566 Filament Change). When filament runout detection is disabled, no action will be taken on filament runout. Usage: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0567 If no 'S' parameter is given, this command reports the current state of filament runout detection. ExamplesG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0568 Enable filament runout detection G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0569 Disable filament runout detection G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0570 Report the current filament runout detection state M413: Power-Loss RecoveryEnable or disable the Power-loss Recovery feature. When this feature is enabled, the state of the current print job (SD card only) will be saved to a file on the SD card. If the machine crashes or a power outage occurs, the firmware will present an option to Resume the interrupted print job. In Marlin 2.0 the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0571 option must be enabled. This feature operates without a power-loss detection circuit by writing to the recovery file periodically (e.g., once per layer), or if a G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0572 is configured then it will write the recovery info only when a power-loss is detected. The latter option is preferred, since constant writing to the SD card can shorten its life, and the print will be resumed where it was interrupted rather than repeating the last layer. (Future implementations may allow use of the EEPROM or the on-board SD card.) Usage: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0573 If no 'S' parameter is given, this command reports the current state of Power-loss Recovery. ExamplesG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0574 Enable power-loss recovery G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0575 Disable power-loss recovery G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0576 Report the current power-loss recovery state M415: Host RescueThe host rescue G-code is essential to enabling host software to recover from a lost connection or power loss. With this solution the firmware stores the last received coordinate and current position in EEPROM. Once the host reconnects, the firmware reports this recovery information. From the last-received coordinate the host can determine the last line that was processed. Firmware should move the extruder to a parking position if commands stop arriving during an active print job (with heaters still on). Once the host starts sending new commands the firmware should restore the last position. Host and firmware developers can work together to optimize this solution. If the firmware supports this solution it should announce it with the capability: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0577Examples G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0578 Enable host rescue system G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0579 Disable host rescue system G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0580 Set Z position as if homed G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0581 Report rescue state Every call to M415 reports the state. Answers are RESCUE_STATE: OFF Nothing stored. Print finished. RESCUE_STATE: LX:121.97 LY:143.33 LZ:3.30 LE:1.84 LT:0 X:0.00 Y:240.00 Z:13.30 E:1.84 Print was interrupted. Coordinates with leading L are last received positions, LT is active extruder. Normal coordinates are current position and can be omitted, if the move did not finish due to power loss. On a power loss the firmware should respond with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0582 as early as possible to give host time to flush log as it is likely host will also go down very soon. Support is available in Repetier-Firmware 1.0.4 or higher. Repetier-Server 0.91.0 is the first to use this concept and can be used to validate implementation. M416: Power lossHost tells firmware that it will loose power. This is the solution in case a connected host has a power loss detection and firmware does not. Firmware should return the message G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0582 and do whatever firmware is supposed to do in that case. In combination with host rescue it should store positions, disable heaters, go to park position. M420: Set RGB Colors as PWM (MachineKit)Usage: G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0584Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2294 Set the color of your RGB LEDs that are connected to PWM-enabled pins. Note, the Green color is controlled by the N12367 value instead of the G value due to the G code being a primary code that cannot be overridden. In Marlin G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0586 is Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable M420: Leveling On/Off/Fade (Marlin)Enable/Disable Bed Leveling (using the current stored grid or mesh). UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0587Examples N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2295 Marlin 1.1.0 adds the N123 [...G Code in here...] *7104 parameter to set the "fade" height. This requires the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0589 option. When the N123 [...G Code in here...] *7104 fade height value is set non-zero, bed compensation will gradually reduce up to the given height, and cease completely above that height. M421: Set a Mesh Bed Leveling Z coordinateSet a single Z coordinate in the Mesh, Bilinear or UBL Leveling grid. Requires N123 [...G Code in here...] *7179 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0592 or N123 [...G Code in here...] *7199. I & J are the index for the X and Y axis respectively. UsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0594 to set an absolute value to a mesh point or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0595 to offset a mesh point by a specified value M422: Set a G34 PointSet a single XY coordinate to be used by G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material06 for Z Stepper Alignment.Usage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0597 M423: X-Axis Twist CompensationReset, set, or report X-Axis Twist Compensation data that will be used by subsequent N123 [...G Code in here...] *7174 commands to compensate for a twisted X-axis.Parameters N12389 Flag to reset the X-twist data to configured defaults. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0600 Zero-based index into the X-twist data array. ( N123 [...G Code in here...] *7104 is also required) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0602 An offset value to set. ( N123 [...G Code in here...] *7142 is also required) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0604 Set the starting X position. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0605 Set the X spacing distance.Usage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0606 to report the current X-twist data to the host console. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0607 to reset X-twist data to the configured defaults. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0608 to set an offset value. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0609 to set the X-start position and X-spacing distance. M424: Global Z OffsetSet or report the global Z offset for the leveling mesh. The command N123 [...G Code in here...] *7174 will set this automatically to an average mesh value to allow for "leveling fade" with a biased mesh. In Marlin this feature requires the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0611 option.Parameters N123 [...G Code in here...] *7104 New global offset value to apply.Usage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0613 to report the current global mesh Z offset. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0614 to set the global mesh Z offset. M425: Backlash CorrectionParametersN12355 Enable/disable/fade-out backlash correction (0.0 = none to 1.0 = 100%) N12362 Distance over which backlash correction is spread1 (mm) N12351 Set the backlash distance on X (mm; 0 to disable) N12352 Set the backlash distance on Y (mm; 0 to disable) N12353 Set the backlash distance on Z (mm; 0 to disable) N123 [...G Code in here...] *7142 Use measured value for backlash on X (if available) N123 [...G Code in here...] *7143 Use measured value for backlash on Y (if available) N123 [...G Code in here...] *7104 Use measured value for backlash on Z (if available)Examples (Marlin) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2296Notes 1 In Marlin, backlash compensation works by adding extra steps to one or more segments after a motor direction reversal. With smoothing off, this can cause blemishes on the print. Enabling smoothing will cause those extra steps to be spread over multiple segments, minimizing artifacts. M450: Report Printer ModeUsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0623Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2297 Printers can be used for different task by exchanging the toolhead. Depending on the tool, a different behavior of some commands can be expected. This command reports the current working mode. Possible answers are: PrinterMode:FFFPrinterMode:LaserPrinterMode:CNCM451: Select FFF Printer ModeUsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0624Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2298 Switches to FFF mode for filament printing. M452: Select Laser Printer ModeUsageG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude35Example N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*2299 Switches to laser mode. This mode enables handling of a laser pin and makes sure that the laser is only activated during N12348 moves if laser was enabled or E is increasing. N12336 moves should never enable the laser. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0628/ G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0629 can be used to enable/disable the laser for moves. M453: Select CNC Printer ModeUsageG1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude34Parameters (RepRapFirmware only)
(Home some axes) G28 (here come the axes to be homed) X Y00 Switches to CNC mode. In this mode G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0628/ G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0632/ G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0629 control the pins defined for the milling device. Notes for RepRapFirmware: By default, no output is assigned to the spindle motor. Logical pin numbers for the P parameters are as defined for the M42 and M208 commands. If you wish to assign a heater or fan output to control the spindle motor as in the above example, you must first disable the corresponding heater (see M307) or fan (see M106). M460: Define temperature range for thermistor-controlled fanUsageG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0634Example (Home some axes) G28 (here come the axes to be homed) X Y01 If the firmware has a thermistor controlled fan defined, you can set at which temperature the fan starts and from which temperature on it should run with maximum speed. M470: Create Directory on SD-CardParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0635 Name of directory to createUsage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0636Example (Home some axes) G28 (here come the axes to be homed) X Y02 This will create a new directory on the SD-Card. If not otherwise specified the default root should be the first/internal SD-Card. M471: Rename File/Directory on SD-CardParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0425 Name of existing file/directory G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0638 New name of file/directory G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Setting this to 1 will delete an existing file that matches the T parameter valueUsage G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0640Example (Home some axes) G28 (here come the axes to be homed) X Y03 Rename or move a file or directory. Using the D parameter can delete a file with the target name. Renaming or moving across directories is possible though not from one SD-Card to another. M486: Cancel ObjectThe G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0641 G-code provides an interface to identify objects on the print bed and cancel them. Basic usage: Use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0642 to tell the firmware how many objects there are, so it can provide an LCD interface. (Otherwise the firmware counts them up in the first layer.) In every layer of your G-code, you must preface each object's layer slice with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0643 to indicate which object is being printed. The index should be zero-based. To cancel the first object, use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0644; to cancel the 5th object use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0645; and so on. The "current" object is canceled with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0646. G-codes associated with the canceled objects are no longer printed. Firmware supports this feature by ignoring G0-G3/G5 moves in XYZ while updating F and keeping the E coordinate up-to-date without extruding. Slicers should number purge towers and other global features with a negative index (or other flag) to distinguish them from regular print objects, since it is important to preserve color changes, purge towers, and brims. Host software (such as OctoPrint) may be able to cancel individual objects through a plugin, and in this case they should not use M486 P to cancel objects (although doing so should cause no harm). Usage(Home some axes) G28 (here come the axes to be homed) X Y04M486 implementation in RepRapFirmwareIf the GCode file being printed contains object label comments (e.g. using the "Label objects" option in PrusaSlicer) then it is not necessary to use M486 S commands to indicate which object is being printed. Objects on the build plate will be numbered from 0 in the order in which their labels first appear in the file.If you do use M486 S commands in the GCode file instead of object label comments, then RepRapFirmware provides an optional A parameter to the M486 S command to allow objects to be named. The name of each object need only be specified once.M486 without parameters lists the names and approximate locations of known objects on the build plate. For the benefit of user interfaces, this information may also be retrieved from the object model using M409. M500: Store parameters in non-volatile storageExample(Home some axes) G28 (here come the axes to be homed) X Y05 Save current parameters to EEPROM, SD card or other non-volatile storage. In Redeem any parameters set through G/M-codes which is different than what is read from the config files, are stored back to the local config. For instance setting stepper current and microstepping through G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0647 and G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0648 followed by G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 will update /etc/redeem/local.cfg. M501: Read parameters from EEPROMParametersN12362 Enable auto-save (only RepRapFirmware)Example (Home some axes) G28 (here come the axes to be homed) X Y06 Set the active parameters to those stored in the EEPROM, SD card or other non-volatile storage. This is useful to revert parameters after experimenting with them. RepRapFirmware versions prior to 1.17 allows "S1" to be passed, which forces parameters to be automatically saved to EEPROM when they are changed. In RepRapFirmware 1.17 and later, the parameters are saved in file sys/config-override.g on the SD card. M502: Restore Default SettingsExample(Home some axes) G28 (here come the axes to be homed) X Y07 This command resets all tunable parameters to their default values, as set in the firmware's configuration files. This doesn't reset any parameters stored in the EEPROM, so it must be followed with G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 to reboot with default settings. M503: Report Current SettingsExamples(Home some axes) G28 (here come the axes to be homed) X Y08 This command asks the firmware to reply with the current print settings as set in memory. Settings will differ from EEPROM contents if changed since the last load / save. The reply output includes the G-Code commands to produce each setting. For example, Steps-Per-Unit values are displayed as an G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min64 command. RepRapFirmware outputs the content of the configuration file, but note that it may be truncated if it is too long. Examples(Home some axes) G28 (here come the axes to be homed) X Y09 This command checks the contents of EEPROM for correct version, size, and checksum and reports the result. M505: Firmware dependentM505: Clear EEPROM and RESET PrinterThis command erase all EEPROM and reset the board. M505: Set configuration file folderParametersP"name" ; name of folder, default path is /sys/ if it is a relative pathExampleM505 P"experimental" ; change config file path from /sys/ to /sys/experimental/Following this command, files that would normally be fetched from /sys/ (for example, homing files and system macro files in RepRapFirmware) are fetched from the specified folder instead. Any such files that are already being executed will continue to run. This command can be used to allow multiple configurations to be maintained easily. In RepRapFirmware the file /sys/config/g can contain just these two lines: (Home some axes) G28 (here come the axes to be homed) X Y10 The first line changes the config file folder to /sys/config1 and the second one executes file config.g in that folder. To select an alternative configuration, only the first line needs to be edited. M509: Force language selectionResets the language to English. Only on Original Prusa i3 MK2.5/s and MK3/s with multiple languages. M510: Lock MachineLock the machine. When the machine is locked a passcode is required to unlock it. Use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0653 with your passcode to unlock the machine. In Marlin this feature is enabled with the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0654 option. M511: Unlock Machine with PasscodeCheck the given passcode and unlock the machine if it is correct. Otherwise, delay for a period of time before allowing another attempt. In Marlin this feature is enabled with the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0654 option.ParametersP"passcode" ; a numeric passcode to try M512: Set PasscodeCheck the given passcode ( N123 [...G Code in here...] *7110) and if it is correct clear the passcode. If N123 [...G Code in here...] *7100 is given, set a new passcode. In Marlin this feature is enabled with the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0658 option.ParametersP"oldpass" ; the current numeric passcodeS"newpass" ; a new numeric passcode M524: Abort SD PrintingExample(Home some axes) G28 (here come the axes to be homed) X Y11 If an SD print is in progress, this command aborts the print, just as if you had selected "Stop print" from the LCD menu. M530: Enable printing modeExample(Home some axes) G28 (here come the axes to be homed) X Y12 This command tells the firmware that a print has started ( int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...04) or ended ( int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...03). The N123 [...G Code in here...] *7193 parameter sets the number of layers. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...89 denotes unknown layer count. This enables the firmware to switch into a special print display mode to show print progress. Firmware should indicate the presence of this feature by responding to G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 with an additional line: (Home some axes) G28 (here come the axes to be homed) X Y13Notes 1In MK4duo this command starts print counters for statistics. It also turns off a 30-minute timer for the heaters. If the timer reaches 30, turn off all the heaters. M531: Set print nameExample(Home some axes) G28 (here come the axes to be homed) X Y14 Sets the name of the currently printed object. Should follow G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0664 for correct display. M532: Set print progressExample(Home some axes) G28 (here come the axes to be homed) X Y15 Sets the print progress (X = 0..100) and currently printed layer (L). Should be send every 0.1% progress change on every layer change. M540: Set MAC addressParametersN12383 The MAC addressExamples (Home some axes) G28 (here come the axes to be homed) X Y16 Sets the MAC address of the RepRap. This should be done before any other network commands. The MAC address is six one-byte hexadecimal numbers separated by colons. The 0x prefix is optional in later firmware revisions. All devices running on the same network shall all have different MAC addresses. For your printers, changing the last digit is sufficient. This command is only needed when using older electronics that doesn't provide a unique MAC address, for example Duet 0.6 and Duet 0.8.5. M540 in Marlin: Enable/Disable "Stop SD Print on Endstop Hit"ParametersN12362 state, S1=enable, S0=disableExample (Home some axes) G28 (here come the axes to be homed) X Y17Notes In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 M550: Set NameParametersN12383 Machine nameExample (Home some axes) G28 (here come the axes to be homed) X Y18 Sets the name of the RepRap to (in this case) Godzilla. The name can be any string of printable characters except ';', which still means start comment. M551: Set PasswordParametersN12383 PasswordExample (Home some axes) G28 (here come the axes to be homed) X Y19 On machines that need a password to activate them, set that password. The code 'P' is not part of the password. Note that as this is sent in clear it does not (nor is it intended to) offer a very high level of security. But on machines that are (say) on a network, it prevents idle messing about by the unauthorised. The password can contain any printable characters except ';', which still means start comment. Note for RepRapFirmware: If the specified password differs from the default one (i.e. reprap), the user will be asked to enter it when a connection is established via HTTP or Telnet. For FTP, the password must always be passed explicitly. M552: Set IP address, enable/disable network interfaceParametersN12378 (Optional) Number of the network interface to manage (defaults to 0) N12383 IP address, 0.0.0.0 means acquire an IP address using DHCP N12362 (optional) -1 = reset network interface, 0 = disable networking, 1 = enable networking as a client, 2 = enable networking as an access point (WiFi-enabled electronics only) N12361 (optional, RepRapFirmware 1.17 and earlier only) HTTP port, default 80Example (Home some axes) G28 (here come the axes to be homed) X Y20 Sets the IP address of the machine to (in this case) 192.168.1.14. If the N123 [...G Code in here...] *7100 parameter is not present then the enable/disable state of the network interface is not changed. In RepRapFirmware 1.18 and later the HTTP port address is set using the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0674 command, so the N12389 parameter of this command is no longer supported. M552 with no parameters reports the current network state and IP address. M553: Set NetmaskParametersN12378 (Optional) Number of the network interface to manage (defaults to 0) N12383 Net maskExample (Home some axes) G28 (here come the axes to be homed) X Y21 Sets the network mask of the RepRap machine to (in this case) 255.255.255.0. A restart may be required before the new network mask is used. If no 'P' field is specified, this echoes the existing network mask configured. Recent RepRapFirmware versions allow the IP configuration to be changed without a restart. M554: Set Gateway and/or DNS serverParametersN12378 (Optional) Number of the network interface to manage (defaults to 0) N12383 Gateway N12362 (Optional) DNS server (only supported by DSF 3.3 with DuetPi system config plugin)Example (Home some axes) G28 (here come the axes to be homed) X Y22 Sets the Gateway IP address of the RepRap machine to (in this case) 192.168.1.1. A restart may be required before the new gateway IP address is used. If no 'P' field is specified, this echoes the existing Gateway IP address configured. Recent RepRapFirmware versions allow the IP configuration to be changed without a restart. M555: Set compatibilityParametersN12383 Emulation typeExample (Home some axes) G28 (here come the axes to be homed) X Y23 For firmware that can do it, the firmware is set to a mode where its input and (especially) output behaves exactly like other established firmware. The value of the 'P' argument is: M556: Axis compensationParametersN12362 Height of the measured distances N12351 Deviation in X direction N12352 Deviation in Y direction N12353 Deviation in Z direction N12383 Apply XY compensation to Y axis instead of X (defaults to 0, requires RRF 3.2-b4 or newer)Example (Home some axes) G28 (here come the axes to be homed) X Y24 Image denoting how to determine the S parameter for G-code M556 Though with care and adjustment a RepRap can be set up with its axes at right-angles to each other within the accuracy of the machine, who wants to bother with care and adjustment when the problem can be solved by software? This tells software the tangents of the angles between the axes of the machine obtained by printing then measuring a test part. The N123 [...G Code in here...] *7100 parameter (100 here) is the length of a triangle along each axis in mm. The X, Y and Z figures are the number of millimeters of the short side of the triangle that represents how out of true a pair of axes is. The X figure is the error between X and Y, the Y figure is the error between Y and Z, and the Z figure is the error between X and Z. Positive values indicate that the angle between the axis pair is obtuse, negative acute. M557: Set Z probe point or define probing gridParameters to defineN12339 probe points (Cartesian/CoreXY printers only, no longer supported in RepRapFirmware) N12383 Probe point number N12351 X coordinate N12352 Y coordinateExample (Home some axes) G28 (here come the axes to be homed) X Y25Parameters to define N123 [...G Code in here...] *7174 probe grid (all values in mm) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0693 Minimum and maximum X coordinates to probe G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0694 Minimum and maximum Y coordinates to probe N12361 Radius to probe G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material20 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0697 Probe point spacing G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0137 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0699 Number of probe points in each direction (RepRapFirmware 2.02 and later) - use instead of specifying the spacingExamples (Home some axes) G28 (here come the axes to be homed) X Y26 Set the points at which the bed will be probed to compensate for its plane being slightly out of horizontal. The first form defines the points for for N12339 bed probing. The N123 [...G Code in here...] *7110 value is the index of the point (indices start at 0) and the N123 [...G Code in here...] *7142 and N123 [...G Code in here...] *7143 values are the position to move extruder 0 to to probe the bed. An implementation should allow a minimum of three points (P0, P1 and P2). This just records the point coordinates; it does not actually do the probing. See G32. Defining the probe points in this way is no longer supported by RepRapFirmware, you should define them in a bed.g file instead. The second form defines the grid for N123 [...G Code in here...] *7174 bed probing. For Cartesian printers, specify minimum and maximum N123 [...G Code in here...] *7142 and N123 [...G Code in here...] *7143 values to probe and the probing interval. For Delta printers, specify the probing radius. If you define both, the probing area will be the intersection of the rectangular area and the circle. There is a firmware-dependent maximum number of probe points supported, which may be as low as 100. M558: Set Z probe typeParametersN12383 Z probe type N12355 Feed rate (i.e. probing speed, mm/min) N12356 Dive height (mm) N12378 Invert (I1) or do not invert (I0) the Z probe reading (RepRapFirmware 1.16 and later) N12361 Z probe recovery time after triggering, default zero (seconds) (RepRapFirmware 1.17 and later)1 N123 [...G Code in here...] *7117 Travel speed to and between probe points (mm/min) N12386 Maximum number of times to probe each point, default 1 (RepRapFirmware 1.21 and later) N12362 Tolerance when probing multiple times, default 0.03 (RepRapFirmware 1.21 and later) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0452 B1 turns off all heaters during probing moves and during the probe recovery time (RepRapFirmware 1.21 and later)Obsolete parameters N12351 If nonzero, use probe for homing X axis (RepRapFirmware 1.19 and earlier only) N12352 If nonzero, use probe for homing Y axis (RepRapFirmware 1.19 and earlier only) N12353 If nonzero, use probe for homing Z axis (RepRapFirmware 1.19 and earlier only)Example (Home some axes) G28 (here come the axes to be homed) X Y27 A Z probe may be a switch, an IR proximity sensor, or some other device. This selects which to use: P0 indicates that no Z probe is presentP1 indicates an unmodulated IR probe, or any other probe type that emulates an unmodulated IR probe (probe output is an analog signal that rises with decreasing nozzle height above the bed). If there is a control signal to the probe, it is driven high when the probe type is P1P2 specifies a modulated IR probe, where the modulation is commanded directly by the main board firmware using the control signal to the probeP3 selects an alternative Z probe similar to P1 but the control signal to the probe lowP4 selects a switch for bed probing (on the Duet, this must be connected to the E0 endstop pins)P5 (from RepRapFirmware 1.14) selects a switch or a digital output device to the In pin of the Z-probe connectorP6 is as P4 but the switch is connected to and alternative connector (on the Duet series, the E1 endstop connector)P7 is as P4 but the switch is connected to and alternative connector (on the Duet series, the Z endstop connector)P8 is as P5 but the signal is unfiltered for faster responseP9 is as P5 but the probe is deployed and retracted at every probe point. This is intended for BLTouch.Related codes: G29, G30, G31, G32, M401, M402. M559: Upload configuration fileExample(Home some axes) G28 (here come the axes to be homed) X Y28 If the RepRap supports it, this uploads a file that is run on re-boot to configure the machine. This file usually is a special G Code file. After sending G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0719, the file should be sent, ending with an G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0720 (q.v.). M560: Upload web page fileExample(Home some axes) G28 (here come the axes to be homed) X Y29For RepRaps that have web support and that can be driven by a web browser, this uploads the file that is the control page for the RepRap. After sending G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0721 the file (usually an HTML file) should be sent, terminated by the string. Clearly that string cannot exist in the body of the file, but can be put on the end to facilitate this process. This should not be too serious a restriction... M561: Set Identity TransformExample(Home some axes) G28 (here come the axes to be homed) X Y30 This cancels any bed-plane fitting as the result of probing (or anything else) and returns the machine to moving in the user's coordinate system. M562: Reset temperature faultParametersN12383 Heater numberExample (Home some axes) G28 (here come the axes to be homed) X Y31 Reset a temperature fault on heater/sensor 2. If the RepRap has switched off and locked a heater because it has detected a fault, this will reset the fault condition and allow you to use the heater again. Obviously to be used with caution. If the fault persists it will lock out again after you have issued this command. P0 is the bed; P1 the first extruder, and so on. Later versions of RepRapFirmware support M562 without the P parameter, which will reset all heater faults. M563: Define or remove a toolParametersN12383 Tool number G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0425 Tool name (optional) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Extruder drive(s) N12356 Heater(s) N12355 Fan(s) to map the print cooling fan to (RepRapFirmware 1.16 and later) N12351 Axis or axes to map X movement to (RepRapFirmware 1.16 and later) N12352 Axis or axes to map Y movement to N12392 Drive to use for filament mapping. By default RRF will use the first and only extruder drive if this parameter is not specified (supported by RRF >= 2.02)Examples (Home some axes) G28 (here come the axes to be homed) X Y32 Tools are usually (though not necessarily) extruders. The 'P' field specifies the tool number. Tool numbers can have any positive integer value and 0. The 'D' field specifies the drive(s) used by the tool - in the first example drives 0, 2 and 3. Drive 0 is the first drive in the machine after the movement drives (usually X, Y and Z). If there is no 'D' field the tool has no drives. The 'H' field specifies the tool's heaters - in the first example heaters 1 and 3. Heater 0 is usually the hot bed (if any) so the first extruder heater is usually 1. If there is no H field the tool has no heaters. Tools are driven using multiple values in the 'E' field of N12348 commands, each controlling the corresponding drive in the 'D' field above, as follows: (Home some axes) G28 (here come the axes to be homed) X Y33 The first line moves straight to the point (90.6, 13.8) extruding a total of 2.24mm of filament from both drives 0 and 2 and 15.98mm of filament from drive 3. The second line moves back 20mm in X extruding 42.4mm of filament from drive 3. Alternatively, if the slicer does not support generating N12348 commands with multiple values for the extrusion amount, the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0733 command can be used to define a tool mix ratio. Normally an N123 [...G Code in here...] *7105 command is immediately followed by a N123 [...G Code in here...] *7102 command to set the tool's offsets and temperatures. It is permissible for different tools to share some (or all) of their drives and heaters. So, for example, you can define two tools with identical hardware, but that just operate at different temperatures. The X mapping option is used to create tools on machines with multiple independent X carriages. The additional carriages are set up as axes U, V etc. (see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0736) and the X mapping option in N123 [...G Code in here...] *7105 defines which carriage or carriages are used. If you use the N123 [...G Code in here...] *7105 command with a N123 [...G Code in here...] *7110 value for a tool that has already been defined, that tool is redefined using the new values you provide. RepRapFirmware supports an additional form of the N123 [...G Code in here...] *7105 command. The command: (Home some axes) G28 (here come the axes to be homed) X Y34 means add 1 (the value of the N123 [...G Code in here...] *7100 parameter) to all tool numbers found in the remainder of the current input stream (e.g. the current file if the command is read from a file on the SD card), or until a new N123 [...G Code in here...] *7105 command of this form is executed. The purpose of this is to provide compatibility between systems in which tool numbers start at 1, and programs such as slic3r that assume tools are numbered from zero. Recent versions of RepRapFirmware allow the deletion of existing tools if N123 [...G Code in here...] *7105 is called in this way: (Home some axes) G28 (here come the axes to be homed) X Y35 M564: Limit axesParametersN12356 H1 = forbid movement of axes that have not been homed, H0 = allow movement of axes that have not been homed (RepRapFirmware 1.21 and later) N12362 S1 = limit movement within axis boundaries, S0 = allow movement outside boundariesExampleM564 S0 H0 Allow moves outside the print volume and before homing, or not. If the S parameter is 0, then you can send G codes to drive the RepRap outside its normal working volume, and it will attempt to do so. Likewise if the H parameter is 0 you can move the head or bed along axes that have not been homed. The default behaviour is S1 H1. On some types of printer (e.g. Delta and SCARA), movement before homing is prohibited regardless of the H parameter. M565: Set Z probe offsetExample(Home some axes) G28 (here come the axes to be homed) X Y36 Set the offset from the extruder tip to the probe position. The N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, and N123 [...G Code in here...] *7104 values are the delta between the extruder and the actual trigger position of the probe. If the probe trigger point is below the extruder (typical) the Z offset will be negative. This just records the point offset; it does not actually do the probing. See N12339. M566: Set allowable instantaneous speed changeParametersN12351 Maximum instantaneous speed change of the X axis (mm/min) N12352 Maximum instantaneous speed change of the Y axis N12353 Maximum instantaneous speed change of the Z axis N12354 Maximum instantaneous speed change of the extruder drivesExample (Home some axes) G28 (here come the axes to be homed) X Y37 Sets the maximum allowable speed change (sometimes called 'jerk speed') of each motor when changing direction. The model files and gcode files used by repraps generally render circles and other curves shapes as a sequence of straight line segments. If the motors were not allowed any instantaneous speed change, they would have to come to a stop at the junction between each pair of line segments. By allowing a certain amount of instantaneous speed change, printing speed can be maintained when the angle between the two line segments is small enough. If you set these N123 [...G Code in here...] *7142 and N123 [...G Code in here...] *7143 values too low, then the printer will be slow at printing curves. If they are too high then the printer may be noisy when cornering and you may suffer ringing and other print artefacts, or even missed steps. On very old versions of RepRapFirmware (prior to 1.09), these were also the minimum speeds of each axis. M567: Set tool mix ratiosParametersN12383 Tool number N12354 Mix ratiosExample (Home some axes) G28 (here come the axes to be homed) X Y38 This example sets the mix ratio for tool 2 (the N123 [...G Code in here...] *7110 value). When mixing is then turned on (see G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0759), only single N12367 values need to be sent on a N12348 command (any extra N12367 values will be ignored, but are not illegal): (Home some axes) G28 (here come the axes to be homed) X Y39 This will move to X=20 extruding a total length of filament of 1.3mm. The first drive of tool 2 will extrude 0.1*1.3mm, the second 0.2*1.3mm and so on. The ratios don't have to add up to 1.0 - the calculation done is as just described. But it is best if they do. See also G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0759. M568: Tool settingsParametersPnnn Tool number. If this parameter is not provided, the current tool is assumed.Rnnn Standby temperature(s)Snnn Active temperature(s)Fnnn Spindle RPM, always positiveAn Required heater state: 0 = off, 1 = standby temperature(s), 2 = active temperature(s)ExamplesM568 P1 R140 S205 ; set standby and active temperatures for tool 1M568 P0 F5200 ; set spindle RPM for tool 0M568 P2 A1 ; set tool 2 heaters to their standby temperaturesRepRapFirmware will report the tool parameters if only the tool number is specified. The R value is the standby temperature in °C that will be used for the tool, and the S value is its operating temperature. If you don't want the tool to be at a different temperature when not in use, set both values the same. Temperatures set with M568 do not wait for the heaters to reach temp before proceeding. In order to wait for the temp use a M116 command after the M568 to wait for temps to be reached. M568: Turn off/on tool mix ratios (obsolete meaning in old RepRapFirmware versions)This command is obsolete. When using a tool defined as a mixing extruder, RepRapFirmware applies the mix ratio defined by M567 whenever only one E parameter is provided in G1 commands. When multiple colon-separated E values are provided in the G1 command, they will be used as the individual amounts to extrude. M569: Stepper driver controlParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0137 Motor driver number int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...54 Direction of movement of the motor(s) attached to this driver: 0 = backwards, 1 = forwards (default 1) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0359 Driver enable polarity: 0 = active low, 1 = active high (default 0) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0136 Minimum driver step pulse width and interval in microseconds (RepRapFirmware 1.14 and later) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0768 Minimum driver step pulse width, step pulse interval, direction-to-step setup time and step-to-direction hold time, in microseconds (RepRapFirmware 1.21 and later) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0769 Stepper driver mode (RepRapFirmware 2.0 and later): 0=constant off time, 1=random off time, 2=spread cycle, 3=stealthChop, 4=closed loop G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0435 (firmware 2.02 and later) Off-time in the chopper control register, 1 to 15 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0524 (firmware 2.02 and later) Blanking time (tbl) in the chopper control register, 0 to 3. See the TMC driver datasheet. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0772 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0773 (firmware 2.02 and later) Hysteresis start, end and decrement values in the chopper control register. See the TMC driver datasheet for the meaning. N12388 Custom chopper control register value (RepRapFirmware 2.0 and later). Do not change this value without having a good understanding of the stepper driver driver chip! G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0775 (firmware 2.02 and later) t_high parameter for those stepper driver chips that support it (e.g. TMC2208, 2224). Send M569 P# (where # is the driver number) with no additional parameters to see how this translates into mm/sec. See also the V parameter. G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min16 (firmware 2.02 and later) tpwmthrs parameter for those stepper driver chips that support it (e.g. TMC2208, 2224). This is the interval in clock cycles between 1/256 microsteps below which the drivers will switch from stealthChop to to spreadCycle mode. Only applies when the driver is configured in stealthChop mode. Typical value are from 100 (high speed) to 4000 (low speed). Send M569 P# (where # is the driver number) with no additional parameters to see how this translates into axis speed in mm/sec.Example (Home some axes) G28 (here come the axes to be homed) X Y40Notes All parameters except P are optional. For any parameter that is not provided, the corresponding value will not be changed. The T parameters are intended for use with external stepper drivers. Currently, RepRapFirmware only remembers the highest N12346 parameters seen in any M569 command, and applies those values to all drivers for which any nonzero N12346 parameters were specified. The modes (D parameter) supported by various stepper driver chips are: TMC2130, TMC2160, TMC5160: modes 0,1,2,3 (Duet 3 EXP1HCL board also supports mode 4)TMC2660: modes 0,1,2TMC2208/2209/2224: modes 2,3 (mode 3 is stealthChop2)Some versions of RepRapFirmware prior to 1.14 also provided N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, N123 [...G Code in here...] *7104 and N12367 parameters to allow the mapping from axes and extruders to stepper driver numbers to be changed. From 1.14 onward, this functionality is provided by M584 instead. M569.1: Stepper driver closed loop configurationParametersint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor driver number, or board address and driver number int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...54 Mode: 0=open loop (default), 1=closed loop (requires an encoder to be selected, see the T parameter) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0054 Encoder type: 0=none, 1=linear quadrature encoder on axis, 2=quadrature encoder on motor shaft, 3=AS5047D encoder on motor shaft, 4=TLI5012B encoder on motor shaft G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0787 Encoder counts per mm (linear encoder) or per rotation (rotary encoder). Only used if the encoder type is 1 or 2. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0788 Proportional constant G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0789 Integral constant G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0790 Derivative constant G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0447 Minimum holding current as a percentage of the configured current when operating in closed loop mode Supported by RepRapFirmware on boards using closed loop drivers. Switching between open loop and closed loop modes is done using M569. M569.2: Read or write any stepper driver registerParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0137 Motor driver number G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0793 Register number, 0-127 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0794 Value to write (optional)Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0795 If the V parameter is not provided, this command reads the specified register and returns the value of that register. If the V parameter is provided, that value is written to the specified register. WARNING! Use of M569.2 to write stepper driver registers may result in damage to the stepper drivers, for example from excessive motor current or insufficient blanking time. M569.3: Read Motor Driver EncoderThis causes the RepRap machine to report its current motor encoder positions to the host in units of arc degrees (1/360'ths of turns), relative to some reference position that you set with the N123 [...G Code in here...] *7100 parameter. Before the first call with the N123 [...G Code in here...] *7100 parameter, the reference is unknown and arbitrary.Parameters int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor driver number, or board address and driver number. Several (remote) drivers may be specified, separated by colon. No more than number of visible axes, as specified by G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0800 parameter, are allowed. N123 [...G Code in here...] *7100 Sets an encoder reference point. Current and subsequent G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0802 calls returns numbers that are relative to the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0803 call. If N123 [...G Code in here...] *7110 is not supplied, an error is returned. A maximum of four CAN-connected drivers can be reached with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0805 counting from machine boot. CAN addresses that fail to respond don't count towards this maximum.Examples (Home some axes) G28 (here come the axes to be homed) X Y41 Error: M569: missing parameter 'P' (Home some axes) G28 (here come the axes to be homed) X Y42 Error: M569.3: Message not received (Home some axes) G28 (here come the axes to be homed) X Y43 [-155.28, -4089.60, 6842.04, 0.00, ], (Home some axes) G28 (here come the axes to be homed) X Y44 [0.00, -4089.60, 6842.04, -155.28, ], (Home some axes) G28 (here come the axes to be homed) X Y45 [0.00, 0.00, 0.00, 0.00, ], (Home some axes) G28 (here come the axes to be homed) X Y46 Error: M569.3: Max CAN addresses we can reference is 4. Can't reference board 49. Notes1 Planned for RepRapFirmware 3.4. M569.4: Set Motor Driver Torque ModeTell one or more motor drivers to apply a specified torque regardless of position. Parametersint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor driver number, or board address and driver number. Can also be a colon separated list of driver numbers. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0054 Where n is the mode/torque to apply in units of Nm. Newer Hangprinters might use units of N. If N123 [...G Code in here...] *7110 or N12346 parameter is missing, then no action is taken. The driver is put back into position mode by requesting a torque smaller than 0.0001 Nm.Examples (Home some axes) G28 (here come the axes to be homed) X Y47 Error: M569: missing parameter 'P' (Home some axes) G28 (here come the axes to be homed) X Y48 Error: M569: missing parameter 'T' (Home some axes) G28 (here come the axes to be homed) X Y49 0.001000 Nm, (Home some axes) G28 (here come the axes to be homed) X Y50 pos_mode, pos_mode, NotesHangprinter's "torque mode" is implemented as a ReprapFirmware macro that depends on M569.4. Practical torques for tightening lines in daily use tend to lie between 0.1 Nm and 0.001 Nm for a Hangprinter. 1 Planned for RepRapFirmware 3.4. M569.5: Collect Data from Closed-loop DriverParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor CAN board address and driver number Remaining details TBD. M569.6: Execute Closed-loop Driver Tuning MoveParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor CAN board address and driver number Remaining details TBD. M569.7: Configure motor brake portParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor CAN board address (if applicable) and driver number G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0814 Port name of the brake control port. The port must be on the same CAN board as the driver. The CAN address does not need to be specified in the port name, but if it is then it must be the same as the driver address.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0815 When the motor driver is enabled, the specified output port will be turned on at the same time to release the brake. When the motor driver is disabled, the output port will be turned off. Idle current mode does not count as disabled. M569.8: Read Axis ForceParametersint cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...34 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0784 Motor driver number, or board address and driver number. Can also be a colon separated list of driver numbers. The readouts are in units of Newtons. ExampleM569.8 P40.0:41.0:42.0:43.0 [3.52, -0.60, 7.24, -5.84, ], M569.9: Sets the driver sense resistor and maximum currentParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0137 or G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0819 Motor driver number. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0820 Driver sense resistor value in Ohms. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0821 Driver max current value in Amps.Example G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0822 M570: Configure heater fault detectionParameters for RepRapFirmware 1.14 and earlierN12362 Heater timeout (in seconds)Example (Home some axes) G28 (here come the axes to be homed) X Y51 After a heater has been switched on, wait 120 seconds for it to get close to the set temperature. If it takes longer than this, raise a heater fault. Parameters for RepRapFirmware 1.15e and laterN12356 Heater number N12383 Time in seconds for which a temperature anomaly must persist on this heater before raising a heater fault (default 5 seconds) N123 [...G Code in here...] *7117 Permitted temperature excursion from the setpoint for this heater (default 10C) N12362 Time in seconds after a heater fault is raised after which the print will be abandoned, default 10 minutes (RepRapFirmware 1.20 and later)Example (Home some axes) G28 (here come the axes to be homed) X Y52 Warning! Heating fault detection is provided to reduce the risk of starting a fire if a dangerous fault occurs, for example if the heater cartridge or thermistor falls out of the heater block. You should not increase the detection time or permitted temperature excursion without good reason, because doing so will reduce the protection. M571: Set output on extrudeParametersN12362 Output value N12355 Output PWM frequency (RepRapFirmware 1.17 and later) N12383 Logical pin number (RepRapFirmware 1.17 and later), defaults to the FAN0 output until G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0831 with a N123 [...G Code in here...] *7110 parameter has been seenExample (Home some axes) G28 (here come the axes to be homed) X Y53 This turns the controlled pin output on whenever extrusion is being done, and turns it off when the extrusion is finished. The output could control a fan or a stirrer or anything else that needs to work just when extrusion is happening. It also can be used to control a laser beam. The N123 [...G Code in here...] *7100 parameter sets the value of the PWM to the output. 0.0 is off; 1.0 is fully on. In RepRapFirmware 1.17 and later you can use the N123 [...G Code in here...] *7110 parameter to change the pin used and you can also set the PWM frequency. Pin numbers are the same as in the M42 and G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0345 commands. The pin you specify must not be in use for anything else, so if it is normally used as a heater you must disable the heater first using G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0407, or if it is used for a fan you must disable the fan using M106 with the I-1 parameter. M572: Set or report extruder pressure advanceParametersG1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Extruder number N12362 Pressure advance amount (in seconds)Example (Home some axes) G28 (here come the axes to be homed) X Y54 This sets the pressure advance coefficient ( N123 [...G Code in here...] *7100 parameter) for the specified extruder ( N123 [...G Code in here...] *7186 parameter). Pressure advance causes the extruder drive position to be advanced or retarded during printing moves by an additional amount proportional to the rate of extrusion. At the end of a move when the extrusion rate is decreasing, this may result in the extruder drive moving backwards (i.e. retracting). Therefore, if you enable this feature, you may need to reduce the amount of retraction you use in your slicing program to avoid over-retraction. With Bowden extruders, an N123 [...G Code in here...] *7100 value between 0.1 and 0.5 usually gives the best print quality. Direct drive extruders typically work best with lower values such as 0.05. Older versions of RepRapFirmware used the N123 [...G Code in here...] *7110 parameter to specify the drive number, instead of using D to specify the extruder number. M573: Report heater PWMParametersN12383 Heater numberExample (Home some axes) G28 (here come the axes to be homed) X Y55 This gives a running average (usually taken over about five seconds) of the PWM to the heater specified by the P field. If you know the voltage of the supply and the resistance of the heater this allows you to work out the power going to the heater. Scale: 0 to 1. In RepRapFirmware 3.3.0 and later the heater PWM can be queried from the Object Model instead. M574: Set endstop configurationParametersXnnn Switch position for X axisYnnn Switch position for Y axisZnnn Switch position for Z axisSnnn Endstop type: 0 = active low endstop input, 1 = active high endstop input, 2 = Z probe, 3 = motor load detectionExampleM574 X1 Y2 Z0 S1 ; X endstop at low end, Y endstop at high end, no Z endstop, all active highThis defines the position of endstop sensor that the printer has for each axis: 0 = none, 1 = low end, 2 = high end. The optional S parameter defines whether the endstop input is active high (S1, the default), low (S0), or the axes listed use the Z probe for homing that axis (S2), or motor stall detection (S3). A normally-closed endstop switch wired in the usual way produces an active high output (S1). If different axes use different types of endstop sensing, you can use more than one M574 command. On delta printers the XYZ parameters refer to the towers, and the endstops should normally all be high end (i.e. at the top of the towers). The S2 and S3 options are supported in RepRapFirmware 1.20 and later. In RepRapFirmware 1.16 and earlier, the M574 command with E parameter was used to specify whether a Z probe connected to the E0 endstop input produces an active high (S1) or active low (S0) output. In RepRapFirmware 1.17 and later, use the I parameter of the M558 command instead. M575: Set serial comms parametersParametersN12383 Serial channel number N12387 Baud rate (optional) N12362 Protocol (optional)Example (Home some axes) G28 (here come the axes to be homed) X Y56 This sets the communications parameters of the serial comms channel specified by the N123 [...G Code in here...] *7110 parameter. int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...83 specifies the main serial interface (typically a USB port, or serial-over-USB), while int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...84 specifies an auxiliary serial port (for example, the port used to connect a PanelDue) and P2 specifies a second auxiliary port if there is one. The N123 [...G Code in here...] *7167 parameter is the required baud rate (this parameter is typically ignored if the port is a true USB port). The N123 [...G Code in here...] *7100 parameter is a bitmap of protocol features. Bit 0 if set specifies that only commands that include a valid checksum or CRC should be accepted from this comms channel. Bit 1 if set specifies that responses should be sent in raw mode (default is to send them as JSON). Bit 2 if set specifies that only commands with a valid CRC should be accepted (this overrides bit 0). If either the B or the S parameter is missing, the previous value will be retained, or a default used if the port has not previously been configured using M575. If both are missing then the existing values are reported. M576: Set SPI comms parametersParametersN12362 Maximum delay between full SPI transfers (in ms, defaults to 25ms) N12355 Maximum delay between full SPI transfers when a file is open (in ms, defaults to 5ms) N12383 Number of events required to skip the delay (defaults to 4)Example (Home some axes) G28 (here come the axes to be homed) X Y57 This sets the communications parameters of the SPI channel. Supported in RRF 3.4 and later in SBC mode. M577: Wait until endstop is triggeredParametersN12362 Desired endstop level N12351 Select X axis endstop N12352 Select Y axis endstop N12353 Select Z axis endstop N12354 Select extruder drive endstopExample (Home some axes) G28 (here come the axes to be homed) X Y58 Wait for an endstop switch to be pressed. The example above will wait until the first extruder endstop is triggered. The following trigger types may be used using the 'S' parameter: 0: Endstop not hit 1: Low endstop hit 2: High endstop hit 3: Near endstop (only Z probe) M578: Fire inkjet bitsParametersN12383 Inkjet head number N12362 Bit patternExample (Home some axes) G28 (here come the axes to be homed) X Y59 This fires inkjet head 3 (the P field) using the bit pattern specified by the S field. The example shown would fire bits 101. If the N123 [...G Code in here...] *7110 parameter is ommitted inkjet 0 is assumed. This is a version of the M700 command used by the Inkshield, but unfortunately M700 is already taken so cannot be used for that in the standard. M579: Scale Cartesian axesParametersN12351 Scale factor for X axis N12352 Scale factor for Y axis N12353 Scale factor for Z axisExample (Home some axes) G28 (here come the axes to be homed) X Y60 On a Cartesian RepRap you can get prints exactly the right size by tweaking the axis steps/mm using the M92 G Code above. But this does not work so easily for Delta and other RepRaps for which there is cross-talk between the axes. This command allows you to adjust the X, Y, and Z axis scales directly. So, if you print a part for which the Y length should be 100mm and measure it and find that it is 100.3mm long then you set Y0.997 (= 100/100.3). M580: Select RolandParametersN12361 Whether Roland mode should be activated N12383 Initial text to send to the Roland controllerExample (Home some axes) G28 (here come the axes to be homed) X Y61 This is not really anything to do with RepRap, but it is convenient. The little Roland mills are very widely available in hackerspaces and maker groups, but annoyingly they don't speak G Codes. As all RepRap firmware includes a G-Code interpreter, it is often easy to add functions to convert G Codes to Roland RML language. M580 selects a Roland device for output if the R field is 1, and returns to native mode if the N12389 field is 0. The optional N123 [...G Code in here...] *7110 string is sent to the Roland if N12389 is 1. It is permissible to call this repeatedly with N12389 set to 1 and different strings in the N123 [...G Code in here...] *7110 field to communicate directly with a Roland. M581: Configure external triggerParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0136 Logical trigger number to associate the endstop input(s) with, from zero up to a firmware-specific maximum (e.g. 9 for RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0874 Selects endstop input(s) to monitor N123 [...G Code in here...] *7110 Reserved, may be used in future to allow general I/O pins to cause triggers N123 [...G Code in here...] *7100 Whether trigger occurs on a rising edge of that input (S1, default), falling edge (S0), or ignores that input (S-1). By default, all triggers ignore all inputs. N123 [...G Code in here...] *7170 Condition: whether to trigger at any time (C0, default) or only when printing a file from SD card (C1)Example (Home some axes) G28 (here come the axes to be homed) X Y62 When G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0878 is executed, if the N12346 parameter is present but the other parameters are omitted, the trigger inputs and edge polarities for that trigger number are reported. Otherwise, the specified inputs and their polarities are added to the conditions that cause that trigger. Using G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0880 with no N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, N123 [...G Code in here...] *7104 or N12367 parameters sets the trigger back to ignoring all inputs. In RepRapFirmware, trigger number 0 causes a full (emergency) stop as if G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude21 had been received. Trigger number 1 causes the print to be paused as if G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude74 had been received. Any trigger number # greater then 1 causes the macro file G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0887 to be executed. Polling for further trigger conditions is suspended until the trigger macro file has been completed. RepRapFirmware does not wait for all queued moves to be completed before executing the macro, so you may wish to use the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0888 command at the start of your macro file. If several triggers are pending, the one with the lowest trigger number takes priority. M582: Check external triggerParametersT Trigger number to pollExample(Home some axes) G28 (here come the axes to be homed) X Y63 Triggers set up by the M581 command are normally activated only when the specified inputs change state. This command provides a way of causing the trigger to be executed if the input is at a certain level. For each of the inputs associated with the trigger, the trigger condition will be checked as if the input had just changed from the opposite state to the current state. For example, if you use M581 to support an out-of-filament sensor, then M582 allows you to check for out-of-filament just before starting a print. M584: Set drive mappingParametersN12351 Driver number(s) for X motor(s) N12352 Driver number(s) for Y motor(s) N12353 Driver number(s) for Z motor(s) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0892 Driver number(s) for additional axes U, V, W, A, B and C (UVW RepRapFirmware 1.16 and later; ABC RepRapFirmware 1.19 and later) N12354 Driver number(s) for E motor(s) N12383 Number of visible axes, defaults to the total number of axes configured.ExampleM584 X0 Y1 Z2:3 E4:5:6 ; Driver 0 controls the X motor, 1 controls Y, 2 and 3 control Z motors, 4 and 5 control E motors Assigning a drive using G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0736 does not remove its old assignment. Therefore, if you assign a drive that defaults to being an extruder drive, you should also assign the extruder drives explicitly as in the above example. Failure to do so may result in unexpected behaviour. You can use G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0736 to create additional axes - for example, to represent additional carriages on a machine with multiple independent X carriages. Additional axes must be created in the order UVWABC. You can hide some of the last axes you create using the P parameter. Hidden axes have no homing buttons or jog controls in the user interface. On the Duet WiFi and Duet Ethernet, if you configure multiple drivers for an axis, either all of them must be TMC2660 drivers on the Duet or a Duet expansion board, or none of them must be. This is to facilitate dynamic microstepping and other features of the TMC2660. M585: Probe ToolIn machines with a tool probe this probes the currently selected tool against it and corrects the offsets set by the G10 command (q.v.). Parameter must be only one ofN12351 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0898 N12353 Where the absolute value of N12328 is the radius of the tool plus the radius of the probe in that direction. So G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0901 will set the X offset of a 1mm diameter tool against a 2mm diameter probe, etc. If the value of N12328 is positive the tool is moved in the positive direction towards the probe until it touches. If it is negative, the tool moves the other way. So the process should be: Set the values as closely as known in theN123 [...G Code in here...] *7102 command.Move to a position slightly offset from the probe then execute N123 [...G Code in here...] *7101s in X, Y and Z in the tool selection macro to set them precisely. After this, the N123 [...G Code in here...] *7102 command on its own can be used to report the values. M586: Configure network protocolsParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0137 Protocol: 0 = HTTP or HTTPS, 1 = FTP or SFTP, 2 = Telnet or SSH (which of the two choices depends on the N12346 parameter) G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material20 0 = disable this protocol, 1 = enable this protocol G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0793 TCP port number to use for the specified protocol. Ignored unless S = 1. If this parameter is not provided then the default port for that protocol and TLS setting is used. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0136 0 = don't use TLS, 1 = use TLS. Ignored unless N123 [...G Code in here...] *7100 = 1. If this parameter is not provided, then TLS will be used if the firmware supports it and a security certificate has been configured. If G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0912 is given but the firmware does not support TLS or no certificate is available, then the protocol will not be enabled and an error message will be returned. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0913 Set or reset allowed site for cross-orgin HTTP requests (RRF > 3.2-b4.1) M586 with no N123 [...G Code in here...] *7100 parameter reports the current support for the available protocols. RepRapFirmware 1.18 and later enable only HTTP (or HTTPS if supported) protocol by default. If you wish to enable FTP and/or Telnet, enable them using this command once or twice in config.g. M587: Store WiFi host network in list, or list stored networksParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0915 Network SSID G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0916 Network password G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0917 (optional) IP address to use when connected to this network. If zero or not specified then an IP address will be acquired via DHCP. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0918 (optional) Gateway IP address to use when connected to this network. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0919 (optional) Netmask to use when connected to this network G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0920 (optional, supported only by DuetPi + DSF v3.3 or newer) DNS server to use N12388 (supported only by DuetPi + DSF v3.3 or newer) Country code for the WiFi adapter, only required if not set before If a password or SSID includes space or semicolon characters then it must be enclosed in double quotation marks. For security, do not use this command in the config.g file, or if you do then remove it after running it once so that the network password is not visible in the file. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0922 with no parameters lists all stored SSIDs, but not the stored passwords. M588: Forget WiFi host networkParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0915 SSID to remove from the networks list The specified SSID will be removed from the networks list and the associated password cleared out of EEPROM. If the SSID is given as * then all stored networks will be forgotten. M589: Configure access point parametersParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0915 The SSID that the WiFi interface should use when it is commanded to run as an access point G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0916 The WiFi password G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0917 The IP address to use Note: WPA2 security will be used by default. M590: Report current tool type and indexReport the current tool type, which may be "Extruder," "Picker," "Laser," "Foam Cutter," "Milling," or any others implemented by the machine. Also report the tool index, such as "0x01" for the second extruder. Example(Home some axes) G28 (here come the axes to be homed) X Y64 M591: Configure filament monitoringThis configures filament sensing for the specified extruder. The sensor may be a simple filament presence detector, or a device that measures movement of filament, or both. The action on detecting a filament error is firmware-dependent, but would typically be to run a macro and/or to pause the print and display a message. ParametersCnn Which input the filament sensor is connected to. On Duet electronics: 0=X endstop input, 1=Y endstop input, 2=Z endstop input, 3=E0 endstop input etc.Dnn Extruder drive number (0, 1, 2...),Pnn Type of sensor: 0=none, 1=simple sensor (low signal when filament present), 2=simple sensor (high signal when filament present), 3=Duet3D rotating magnet sensor, 4=Duet3D rotating magnet sensor with microswitch, :Snn S0 = disable filament monitoring, S1 = enable filament monitoring. Calibration data may be collected while printing even when filament monitoring is disabled.5=Duet3D laser filament monitor, 6=Duet3D laser filament monitor with microswitch, 7=pulse-generating sensor Additional parameters for Duet3D laser filament monitorRaa:bb Allow the filament movement reported by the sensor to be between aa% and bb% of the commanded values; if it is outside these values and filament monitoring is enabled, the print will be pausedEnn minimum extrusion length before a commanded/measured comparison is done, default 3mmAdditional parameters for Duet3D rotating magnet filament monitorLnn Filament movement per complete rotation of the sense wheel, in mmR, E As for Duet3D laser filament monitorAdditional parameters for a pulse generating filament monitorLnn Filament movement per pulse in mmR, E As for Duet3D laser filament monitorExamplesM591 D0 C3 P5 S1 R70:130 L24.8 E6.0 ; Duet3D laser sensor for extruder drive 0 is connected to E0 endstop input, 24.8mm/rev, 70% to 130% tolerance, 6mm detection lengthM591 D1 ; display filament sensor parameters for extruder drive 1Note: RepRapFirmware 1.19 and 1.20 also supported filament monitors via M591, but some of the parameters were different. M592: Configure nonlinear extrusionParametersDnn Extruder drive number (0, 1, 2...)Annn A coefficient in the extrusion formula, default zeroBnnn B coefficient in the extrusion formula, default zeroLnnn Upper limit of the nonlinear extrusion compensation, default 0.2T nnn Reserved for future use, for the temperature at which these values are validExampleM592 D0 A0.01 B0.0005 ; set parameters for extruder drive 0M592 D0 ; report parameters for drive 0Most extruder drives use toothed shafts to grip the filament and drive it through the hot end. As the extrusion speed increases, so does the back pressure from the hot end, and the increased back pressure causes the amount of filament extruded per step taken by the extruder stepper motor to reduce. This may be because at high back pressures, each tooth compresses and skates over the surface of the filament for longer before it manages to bite. See forum post http://forums.reprap.org/read.php?262,802277 and the graph at http://forums.reprap.org/file.php?262,file=100851,filename=graph.JPG for an example. Nonlinear extrusion compensates for this effect. The amount of extrusion requested is multiplied by (1 + MIN(L, A*v + B*v^2)) where v is the requested extrusion speed (calculated from the actual speed at which the move will take place) in mm/sec. Nonlinear extrusion is not applied to extruder-only movements such as retractions and filament loading. M593: Configure Dynamic Acceleration AdjustmentParametersFnnn Frequency of ringing to cancel in Hz. Zero or negative values disable the feature.ExampleM593 F40.5This is an experimental feature of RepRapFirmware. By default, Dynamic Acceleration Adjustment (DAA) is disabled. If it is enabled, then acceleration and deceleration rates will be adjusted separately per-move to cancel out ringing at the specified frequency. Any acceleration values set using M204 will be saved but ignored until DAA is disabled, but acceleration limits set by M201 will still be honoured. DAA is most useful to avoid exciting low-frequency ringing, for which S-curve acceleration is ineffective and may make the ringing worse. High-frequency ringing is better countered by using S-curve acceleration. To measure the ringing frequency, take a print that exhibits ringing on the perimeters (for example a cube), preferably printed single-wall or external-perimeters-first. Divide the speed at which the outer perimeter was printed (in mm/sec) by the distance between adjacent ringing peaks (in mm), measured away from the corner so that the head has reached the full printing speed. Cartesian and CoreXY printers will typically have different frequencies of ringing for the X and Y axes. In this case it is is usually best to aim to cancel the lower ringing frequency, because the higher frequency will be less strongly excited. If the frequencies are not much different, in a moving-bed cartesian printer you could reduce the higher ringing frequency by adding mass to that axis. Note that X axis ringing causes artefacts predominantly on the Y face of the test cube, and vice versa. M594: Enter/Leave Height Following modeParametersPn P1 = enter height following mode, P0 = leave height following modeHeight following mode allows the Z position of the tool to be controlled by a PID controller using feedback from a sensor. See also M951. If a movement command (e.g. G1) explicitly mentions the Z axis while height following mode is active, existing moves in the pipeline will be allowed to complete and the machine allowed to come to a standstill. Then height following mode will be terminated and the new move executed. M595: Set movement queue lengthParametersPnn Maximum number of moves held in the movement queue. RepRapFirmware uses this value to determine how many DDA objects to allocate.Snn (optional) Number of pre-allocated per-motor movement objects. If the number of pre-allocated objects is insufficient, RepRapFirmware will attempt to allocate additional omnes dynamically when they are needed.Different features of motion control firmware may have competing demands on microcontroller RAM. In particular, operations that use many short segments (e.g. laser rastering) need longer movement queues than typical 3D printing, but have fewer motors to control. This command allows the movement queue parameters to be adjusted so that the queue can be lengthened if necessary, or kept short if a long movement queue is not needed and there are other demands on RAM. M595 without any parameters reports the length of the movement queue and the number of per-motor movement objects allocated. M596: Select movement queue numberParametersPnn Movement queue number. Queues are numbered 0 (the default queue), 1, ...This command is supported in RepRapFirmware builds that can execute moves on different axis systems asynchronously, for example for concurrent printing of two or more different objects. It specifies that subsequent GCode commands from this input channel should be routed to the specified movement queue and the tool associated with that queue. The number of available queues is firmware-dependent but will typically be 2. Before using a movement queue other than queue 0 it may be necessary to use M595 to increase the length of that queue, because the default length of movement queues other than the primary one may be quite short. At the start of a file print, queue 0 is selected automatically. If M596 is used without the P parameter, it reports the current motion system number for the input channel that the command was received on. M597: Collision avoidanceParametersX,Y...aaa First axis identifier and valueU,V...bbb Second axis identifier and valueExampleM597 V0 Y23.5This configuration command is intended for use in systems having multiple tool heads that can be moved independently and asynchronously. The axis letters must be different from each other, so must the values of aaa and bbb. Normally, aaa will be zero and bbb will be positive. The command specifies that the machine position of the axis with the higher value must always be at least the difference in values greater than the position of the other axis. In the above example, the position of the Y axis must always be at least 23.5mm greater than the position of the V axis. When Y and V are driven by independent motion systems and executing moves independently, in any block of GCode between synchronisation points, using this example the minimum of all Y coordinates inside the block (including the initial Y coordinate) must be at least 23.5mm greater than the maximum of the all V coordinates inside the block. If this is not the case, the job will be aborted prior to starting the first move that would cause the conflict. M600: Set line cross sectionExample(Home some axes) G28 (here come the axes to be homed) X Y65 Sets the cross section for a line to extrude in velocity extrusion mode. When the extruder is enabled and movement is executed the amount of extruded filament will be calculated to match the specified line cross section. M600: Filament change pausePause for filament change. ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0927 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0928 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0929 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0930 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0931 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0932 Automatically (only Prusa Firmware with MMU connected)1 G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material37 (no return) Don't return to the previous position after filament changeExample (Home some axes) G28 (here come the axes to be homed) X Y66 In SmoothieWare: The variable "after_suspend_gcode" is run after G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0566. For example: after_suspend_gcode G91_G0E-5_G0Z10_G90_G0X-50Y-50 # gcode to run after suspend, retract then get head out of way In RepRapFirmware, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0566 causes macro file filament-change.g to be run if it exists, otherwise it falls back to pause.g. The parameters in the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0566 command are ignored.Notes In Prusa Firmware this command is also used when the Filament Runout Sensor triggers. To prevent filament blobs it will raise to 25 mm if it has been triggered below 25 mm layer height. Default are X=211 mm, Y=0 mm, Z=2 mm, E=-2 mm, L=-80 mm1 M601: Pause printPauses print on Prusa i3 MK2/s,MK2.5/s,MK3/s. M602: Resume printResumes print on Prusa i3 MK2/s,MK2.5/s,MK3/s. M603: Stop print (Prusa i3)Stop print on Prusa i3 MK2/s, MK2.5/s, and MK3/s. M603: Configure Filament ChangeThis command configures Filament Change behavior in Marlin Firmware and in Prusa mini firmware under development. ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0937 Select extruder to configure, active extruder if not specified (not used yet) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0938 Retract distance for removal, for the specified extruder. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0939 Extrude distance for insertion, for the specified extruder. M605: Set dual x-carriage movement modeSet Dual X-Carriage movement mode. ParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0940 Mode (see below) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0941 Optional X offset for Mode 2 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0942 Optional temperature difference for Mode 2Example (Home some axes) G28 (here come the axes to be homed) X Y67 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0943: Full control mode. The slicer has full control over x-carriage movement G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0944: Auto-park mode. The inactive head will auto park/unpark without slicer involvement G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0945: Duplication mode. The second extruder will duplicate the first with nnn millimeters x-offset and an optional differential hotend temperature of G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0946 degrees. E.g., with " G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0947" the second extruder will duplicate the first with a spacing of 100mm in the x direction and 2 degrees hotter. RepRapFirmware does not implement M605 because it supports dual carriage mode, duplication mode, auto park, different temperatures etc. using the N123 [...G Code in here...] *7105 tool definition command and the tool change macro files. M650: Set peel move parametersThis command is sent by nanoDLP to set the parameters for the peel move used after curing a layer. RepRapFirmware 2.02 ignores it. If using RepRapFirmware 2.03 or later you can create a empty file M650.g to cause it to be ignored. M651: Execute peel moveThis command is sent by nanoDLP to execute a peel move after curing a layer. RepRapFirmware 2.02 executes macro /sys/peel-move.g in response to this command. For RepRapFirmware 2.03 and later, create a macro file M651.g containing the commands required to execute the peel move. M665: Set delta configurationParametersN12392 Diagonal rod length N12361 Delta radius N12362 Segments per second1 N12387 Safe probing radius2,3 N12356 Delta height defined as nozzle height above the bed when homed after allowing for endstop corrections 2 N12351 X tower position correction2,4 N12352 Y tower position correction2,4 N12353 Z tower position correction2,4 N12386 X tower diagonal rod trim.1 (Marlin 2.0.6+) N12387 Y tower diagonal rod trim.1 (Marlin 2.0.6+) N12388 Z tower diagonal rod trim.1 (Marlin 2.0.6+)Examples (Home some axes) G28 (here come the axes to be homed) X Y68 Set the delta calibration variables. (See the discussion page for notes on this implementation.) Notes1Only supported on Marlin. 2Only supported in RepRapFirmware and Marlin 1.1.0. 3 In Marlin 1.1.0 sets the radius on which the probe points are taken for the delta auto calibration routine G33 as well as for the manual LCD calibration menu. 4X, Y and Z tower angular offsets from the ideal (i.e. equilateral triangle) positions, in degrees, measured anti-clockwise looking down on the printer. In Marlin 1.1.0 X,Y and Z tower angular offsets will be rotated so the Z tower angular offset is zero. M666: Set delta endstop adjustmentParametersN12351 X axis endstop adjustment N12352 Y axis endstop adjustment N12353 Z axis endstop adjustment N12386 X bed tilt in percent1 N12387 Y bed tilt in percent1Example (Home some axes) G28 (here come the axes to be homed) X Y69 Sets delta endstops adjustments. In RepRapFirmware and Repetier, positive endstop adjustments move the head closer to the bed when it is near the corresponding tower. In Marlin and Smoothieware, negative endstop corrections move the head closer to the bed when it is near the corresponding tower. In Marlin, only negative endstop corrections are allowed. From version 1.1.0 onward positive endstops are allowed to be entered but the endstops will be normalized to zero or negative and the residue will be subtracted from the delta height defined in M665. In Repetier the endstop corrections are expressed in motor steps. In other firmwares they are expressed in mm. 1RepRapFirmware 1.16 and later. M667: Select CoreXY modeParametersN12362 CoreXY mode N12351 X axis scale factor (RepRapFirmware 2.02 and earlier) N12352 Y axis scale factor (RepRapFirmware 2.02 and earlier) N12353 Z axis scale factor (RepRapFirmware 2.02 and earlier)Example (Home some axes) G28 (here come the axes to be homed) X Y70 G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0969 selects Cartesian mode (unless the printer is configured as a delta using the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0970 command). Forward motion of the X motor moves the head in the +X direction. Similarly for the Y motor and Y axis, and the Z motor and Z axis. This is the default state of the firmware on power up. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0971 selects CoreXY mode. Forward movement of the X motor moves the head in the +X and +Y directions. Forward movement of the Y motor moves the head in the -X and +Y directions. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0972 selects CoreXZ mode. Forward movement of the X motor moves the head in the +X and +Z directions. Forward movement of the Z motor moves the head in the -X and +Z directions. RepRapFirmware 2.03 and earlier support additional parameters X, Y and Z may be given to specify factors to scale the motor movements by for the corresponding axes. For example, to specify a CoreXZ machine in which the Z axis moves 1/3 of the distance of the X axis for the same motor movement, use M667 S2 Z3. The default scaling factor after power up is 1.0 for all axes. In RepRapFirmware 2.03 and later, this functionality is moved to the movement matrix that you can define or alter using the M669 command. To change the motor directions, see the M569 command. M668: Set Z-offset compensations polynomialPolynomial compensation is an experimental method to compensate for geometric distortion of a delta machine Z-plane. After the bed is compensated with the set of G30 points, there remains error. This method fits a 6th degree polynomial with independent origins for each order to the residual error data (using a simulated annealing technique on the host). The polynomial is communicated and controlled through G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0973. Because the polynomial takes many floating point operations to compute each point, the firmware builds a grid of values, and used bi-linear interpolation to adjust the actual Z-axis offset error estimate. For the polynomial used, 40 parameters are specified. The N123 [...G Code in here...] *7146 parameter allows the coefficients to be loaded a few at a time, which limits the size of the G-code string. The index starts with 1, not with 0. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0975 sets the polynomial parameters starting at index x, if index present and != 0. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0976 recomputes the grid based on the current parameters. G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0977 turns off or on the polynomial compensation.Typical usage (Home some axes) G28 (here come the axes to be homed) X Y71 Which sets the list, computes the interpolation grid, and then enables compensation. M669: Set kinematics type and kinematics parametersParametersKnnn Kinematics type: 0 = Cartesian, 1 = CoreXY, 2 = CoreXZ, 3 = linear delta, 4 = serial SCARA, 5 = CoreXYU, 6 = Hangprinter, 7 = polar, 8 = CoreXYUV, 9 = linear delta + Z axis, 10 = rotary delta, 11 = MarkForged, 12 = reserved for Collinear TripteronSelects the specified kinematics, then uses the other parameters to configure it. If the K parameter is missing then the other parameters are used to update the configuration data for the current kinematics. If no parameters are given then the current kinematics and configuration parameters are reported Parameters for generalised Cartesian kinematics (including CoreXY, CoreXZ, MarkForged, CoreXYU etc.)Xnnn, Ynnn, Znnn, Unnn etc. (optional) Movement matrix coefficients. For example.G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0978 tells the firmware that to move the X axis one unit, the first motor must be moved 1 unit in the forwards direction, the second motor 1 unit in the reverse direction, and the third motor not at all. Using these coefficients, you can specify the kinematics equations for any printer with up to 10 axes for which the movement of each axis is a linear combination of the movements of the individual motors. If these parameters are omitted, the defaults for the specified kinematics (K parameter) will be used.Parameters for serial SCARA kinematicsPnnn Proximal arm length (mm)Dnnn Distal arm length (mm)Annn:nnn Proximal arm joint movement minimum and maximum angles, in degrees anticlockwise seen from above relative to the X axisBnnn:nnn Proximal-to-distal arm joint movement minimum and maximum angles, in degrees anticlockwise seen from above relative to both arms in lineCnnn:nnn:nnn Crosstalk factors. The first component is the proximal motor steps to equivalent distal steps factor, the second is the proximal motor steps to equivalent Z motor steps factor, and the third component is the distal motor steps to equivalent Z motor steps factor.Snnn Segments per second if smooth XY motion is approximated by means of segmentationTnnn Minimum segment length (mm) if smooth XY motion is approximated by means of segmentationXnnn X offset of bed origin from proximal jointYnnn Y offset of bed origin from proximal jointExamples (Home some axes) G28 (here come the axes to be homed) X Y72 The minimum and maximum arm angles are also the arm angles assumed by the firmware when the homing switches are triggered. The P, D, A and B parameters are mandatory. The C and F parameters default to zero, and the segmentation parameters default to firmware-dependent values. Parameters for Polar kinematicsRaaa:bbb Minimum and maximum radius in mm. If only one value it given it will be used as the maximum radius, and the minimum radius will be assumed to be zero.Hnnn Radius in mm at which the homing switch is triggered during a homing move. If this parameter is not present, the homing switch is assumed to trigger at the minimum radius. Fnnn Maximum turntable speed in degrees per secondAnnn Maximum turntable acceleration in degrees per second per secondSnnn, Tnnn As for serial SCARA kinematics M670: Set IO port bit mappingParametersPnn:nn:nn... List of logical port numbers that bits 0, 1, 2... controlTnnn port switching time advance in millisecondsRepRapFirmware 1.19 and later provides an optional P parameter on the G1 command to allow I/O ports to be set to specified states for the duration of the move. The argument to the P parameter is a bitmap giving the required state of each port. The M669 command specifies the mapping between the bits of that argument and logical port numbers. Optionally, the T parameter can be used to advance the I/O port switching a short time before the corresponding move begins. M671: Define positions of Z leadscrews or bed leveling screwsParametersXnn:nn:nn... List of between 2 and 4 X coordinates of the leadscrews that drive the Z axis or the bed leveling screwsYnn:nn:nn... List of between 2 and 4 Y coordinates of the leadscrews that drive the Z axis or the bed leveling screwsSnn Maximum correction to apply to each leadscrew in mm (optional, default 1.0)Pnnn Pitch of the bed leveling screws (not used when bed leveling using independently-driven leadscrews). Defaults to 0.5mm which is correct for M3 bed leveling screws.ExampleM671 X-15.0:100.0:215.0 Y220.0:-20.0:220.0 ; Z leadscrews are at (-15,220), (100,-20) and (215,220)Informs the firmware of the positions of the leadscrews used to raise/lower the bed or gantry. The numbers of X and Y coordinates must both be equal to the number of drivers used for the Z axis (see the M584 command). This allows the firmware to perform bed leveling by adjusting the leadscrew motors individually after bed probing. For machines without multiple independently-driven Z leadscrews, this command can be used to define the positions of the bed leveling screws instead. Then bed probing can be used to calculate and display the adjustment required to each screw to level the bed. The thread pitch (P parameter) is used to translate the height adjustment needed to the number of turns of the leveling screws. M672: Program Z probeParametersSnn:nn:nn... Sequence of 8-bit unsigned values to send to the currently-selected Z probeExampleM671 S50:205This command is for sending configuration data to programmable Z probes such as the Duet3D delta effector. The specified command bytes are sent to the probe. The Duet3D probe stores the configuration data in non-volatile memory, so there is no need to send this command every time the probe is used. M673: Align plane on rotary axisParametersU,V,W,A,B,C Rotary axis letter on which the plane is mountedPnnn Factor to multiply the correction angle (degrees) with (defaults to 1)ExampleM673 AThis code is intended to align a plane that is mounted on a rotary axis. To make use of this code it is required to take two probe points via G30 P first. Supported in RepRapFirmware 2.02 and later. M674: Set Z to center pointThis code is intended to determine the Z center point of a stash that is mounted on a rotary axis. This code is yet to be implemented. M675: Find center of cavityParametersX,Y,Z Axis to probe onFnnnn Probing feedrateRnnn Distance to move away from the lower endstop before the next probing move startsExampleM675 X R2 F1200This code is intended to find the center of a cavity that can be measured using the configured axis endstop. If using a Z probe for this purpose, make sure the endstop type for the corresponding axis is updated before this code is run. Once this code starts, RepRapFirmware will move to the lower end looking for an endstop to be triggered. Once it is triggered, the lower position is saved and the axis maximum is probed. As soon as both triggers have been hit, the center point is calculated and the machine moves to the calculated point. M700: Level plateExample(Home some axes) G28 (here come the axes to be homed) X Y73 Script to adjust the plate level. M701: Load filamentInitiate a filament load. This command can be used without any additional parameters. ParametersG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material20 Filament to load (RepRapFirmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0136 Tool to load (Marlin) G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min26 Length to use for load (Marlin) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0521 Z raise to perform (Marlin)With no parameters
(Home some axes) G28 (here come the axes to be homed) X Y74 RepRapFirmware 1.19 and later implement a filament management mechanism to load and unload different materials. This code may be used to load a material for the active tool, however be aware that this code will work only for tools that have exactly one extruder assigned. When called RepRapFirmware will...
M702: Unload filamentInitiate a filament unload. This command can be used without any additional parameters. In contrast to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0983 this code is intended to unload the previously loaded filament from the selected tool.Parameters G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0188 Unload the (current) filament only if the MMU is used (Prusa Firmware) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0136 Tool to load (Marlin) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0986 Length to use for unload (Marlin) G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0521 Z raise to perform (Marlin) In response to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0988 RepRapFirmware will do the following:
(Home some axes) G28 (here come the axes to be homed) X Y75 M703: Configure Filament
If the filaments feature is used, it is recommended to put this code into G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0991 to ensure the right filament parameters are set. Supported in RepRapFirmware 2.02 and newer. This gcode is in development by Prusa Research related to Filament and MMU settings/operations and will be updated as soon as possible. This gcode is in development by Prusa Research related to Filament and MMU settings/operations and will be updated as soon as possible. This gcode is in development by Prusa Research related to Filament and MMU settings/operations and will be updated as soon as possible. This gcode is in development by Prusa Research related to Filament and MMU settings/operations and will be updated as soon as possible. This gcode is in development by Prusa Research related to Filament and MMU settings/operations and will be updated as soon as possible. This gcode is in development by Prusa Research related to Filament and MMU settings/operations and will be updated as soon as possible. M710: Firmware dependentM710: Controller Fan settingsParametersWith no parameters, report current settings.G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0992 Turn Auto Mode on or off. N12362 Set the Active Speed (0-255) used when motors are enabled. N12378 Set the Idle Speed (0-255) used when motors are disabled. G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min96 Set the Idle Duration (seconds) to keep the fan running after motors are disabled. N12389 Reset to defaults.Example (Home some axes) G28 (here come the axes to be homed) X Y76 M710: Erase the EEPROM and reset the boardThis command only exists in a defunct bq fork of Marlin Firmware. Example(Home some axes) G28 (here come the axes to be homed) X Y77 M750: Enable 3D scanner extensionExample(Home some axes) G28 (here come the axes to be homed) X Y78 This code may be used as an OEM extension to enable scanner functionality in the firmware. After a regular start of RepRapFirmware, the 3D scan extension is disabled by default, but if additional scanner components are attached, this code may be used to enable certain OEM functions. M751: Register 3D scanner extension over USBExample(Home some axes) G28 (here come the axes to be homed) X Y79 When a 3D scanner board is attached to the USB port, this code is used to turn on communication between the 3D printing and the scanner board. If the USB connection is removed while the 3D scanner configuration is active, the firmware will disable it again and restore the default communication parameters. M752: Start 3D scanParametersN12362: Length/degrees of the scan N12361: Resolution (new in RRF 2.0) [optional, defaults to 100] G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0062: Scanner mode (new in RRF 2.0) [optional, 0=Linear (default), 1=Rotary] N12383: Filename for the scanExample (Home some axes) G28 (here come the axes to be homed) X Y80 Instruct the attached 3D scanner to initiate a new 3D scan and to upload it to the board's SD card (i.e. in the "scans" directory). Before the SCAN command is sent to the scanner, the macro file "scan_pre.g" is executed and when the scan has finished, the macro file "scan_post.g" is run. Be aware that both files must exist to avoid error messages. M753: Cancel current 3D scanner actionExample(Home some axes) G28 (here come the axes to be homed) X Y81 Instruct the attached 3D scanner to cancel the current operation. Cancelling uploads is not supported. M754: Calibrate 3D scannerParametersNnnn Calibration mode (0=linear [default], 1=rotary)Example(Home some axes) G28 (here come the axes to be homed) X Y82 Calibrates the attached 3D scanner. Before the calibration is performed by the external scanner, "calibrate_pre.g" is run and when it is complete, "calibrate_post.g" is executed. M755: Set alignment mode for 3D scannerParametersN12383 Whether to turn on (> 0) or off (<= 0) the alignment featureExamples (Home some axes) G28 (here come the axes to be homed) X Y83 Sends the ALIGN ON/OFF command the attached 3D scanner. Some devices turn on a laser when this command is received. If the 'P' parameter is missing, equal to, or less than 0, the alignment feature is turned off. Depending on whether the alignment is turned on or off, either align_on.g or align_off.g is executed before the ALIGN command is sent to the scanner. M756: Shutdown 3D scannerExample(Home some axes) G28 (here come the axes to be homed) X Y84 Sends the SHUTDOWN command the attached 3D scanner. M800: Fire start print procedure1 only in bq-Marlin Firmware Example(Home some axes) G28 (here come the axes to be homed) X Y85 M801: Fire end print procedure1 only in bq-Marlin Firmware Example(Home some axes) G28 (here come the axes to be homed) X Y86 M808: Set or Goto Repeat MarkerThe N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22002 command is used in a G-code file to set a Repeat Marker beginning at the start of the following line. For an SD print, the firmware will save a marker with the file's byte position and the count given by the N123 [...G Code in here...] *7193 parameter. To set an infinite loop use int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...89. To terminate an infinite loop from the host, N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22005 will cancel all current loops. The N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22006 command (no parameters) will cause G-code processing to loop back to the previous Repeat Marker as many times as specified. Ideally, each instance of N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22007 should have a corresponding N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22006. The number of nested N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22007 commands is limited to the depth set in the firmware. To enable this feature in Marlin, define N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22010. Hosts should look for N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22011. At this time the feature only applies to printing direct from media and otherwise N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22006 is ignored, so host developers are free to come up with their own approach to these codes with no nesting limit and make it work with any old firmware.Example (Home some axes) G28 (here come the axes to be homed) X Y87 RepRapFirmware processes M808 as follows: - M808 S{ccc} translates into while ccc followed by block begin. ccc must yield true or false. For more on while-loops and expressions in RepRapFirmware, see https://duet3d.dozuki.com/Wiki/GCode_Meta_Commands.- M808 Lnn is equivalent to M808 S{nn == 0 || iterations < nn}.- M808 without S or L parameter ends the block.- As usual, predefined constant iterations reports the number of completed iterations of the innermost loop.- M808 without S or L parameter when not inside a loop, or any M808 command in an input stream other than a SD print file, gives rise to an error message.M808 in Marlin 2.0.8(Home some axes) G28 (here come the axes to be homed) X Y88 M810-M819: G-code macros stored in memory or flash not filenameUse the M810-M819 commands to set and execute 10 distinct G-code “macros.” Put anything after the command to define its macro. To run the macro just send M810-M819 by itself. Multiple commands in one macro are separated by the pipe character (‘|’).1 only in bq-Marlin Firmware. to run macro type M810-M819 with no comments.
N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22013To run macro N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22014 M851: Set Z-Probe OffsetSets the Z-probe Z offset. This offset is used to determine the actual Z position of the nozzle when using a probe to home Z with N12338. This value may also be used by N123 [...G Code in here...] *7174 to apply correction to the Z position. This value represents the distance from nozzle to the bed surface at the point where the probe is triggered. This value will be negative for typical switch probes, inductive probes, and setups where the nozzle makes a circuit with a raised metal contact. This setting will be greater than zero on machines where the nozzle itself is used as the probe, pressing down on the bed to press a switch (this is a common setup on Delta machines). This setting is saved in the EEPROM by M500 and restored by G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0311. The default (as reset by N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22018) is set by the N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22019 setting in Configuration.h. Note that in Marlin 1.1.0 and later G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0369 sets the value literally as given, while Marlin 1.0.2 negates the absolute value. The examples below will set the Z-probe Z offset to -4 mm (below the nozzle): M851 in Marlin 1.0.2(Home some axes) G28 (here come the axes to be homed) X Y89 M851 in Marlin 1.1.0(Home some axes) G28 (here come the axes to be homed) X Y90 M851 in Marlin 2.0.0(Home some axes) G28 (here come the axes to be homed) X Y91 M851 in MK4duo 4.3.25(Home some axes) G28 (here come the axes to be homed) X Y92 M851 in RepRapFirmware 2.02 and laterM851 Znn is implemented for backwards compatibility with other firmwares. It sets the Z probe trigger in the same way as G31 Z-nn (note the sign reversal). It also flags the Z-probe G31 parameters as to be saved in config-override.g if the M500 command is used. M860 Wait for Probe TemperatureParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0821 Target temperatureNotes In Prusa Firmware this command will wait for the PINDA thermistor to reach a target temperature. M861 Set Probe Thermal CompensationParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22022 Print current EEPROM offset values N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22023 Set factory default values N123 [...G Code in here...] *7104 Set all values to 0 (effectively disabling PINDA temperature compensation) N123 [...G Code in here...] *7100 Microsteps N123 [...G Code in here...] *7146 Table indexExample (Home some axes) G28 (here come the axes to be homed) X Y93 Results (Home some axes) G28 (here come the axes to be homed) X Y94Notes In Prusa Firmware this command will set / read the PINDA temperature compensation offsets. M862: Print checkingChecks the parameters of the printer and gcode and performs compatibility check M862.1: Check nozzle diameterParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22027 nnnn = Nozzle diameter 0.25 /0.40 /0.60 G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 Current nozzle diameter When run with P<> argument, the check is performed against the input value. When run with Q argument, the current value is shown. Example messagesN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22029 Printer nozzle diameter differs from the G-code. Continue? N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22030 Printer nozzle diameter differs from the G-code. Please check the value in settings. Print cancelled. M862.2: Check model codeParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22027 nnnn = Prusa model G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 Current model When run with P<> argument, the check is performed against the input value. When run with Q argument, the current value is shown. Accepted printer type identifiers and their numeric counterparts: (Home some axes) G28 (here come the axes to be homed) X Y95Example messages N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22029 G-code sliced for a different printer type. Continue? N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22030 G-code sliced for a different printer type. Please re-slice the model again. Print cancelled. M862.3: Model nameParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22035 nnnn = Prusa model name G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 Current model name When run with P<> argument, the check is performed against the input value. When run with Q argument, the current value is shown. It accepts text identifiers of printer types too. The syntax of M862.3 is (note the quotes around the type): N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22037Example messages N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22029 G-code sliced for a different printer type. Continue? N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22030 G-code sliced for a different printer type. Please re-slice the model again. Print cancelled. M862.4: Firmware versionParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22027 nnnn = Prusa firmware version G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 Current firmware version When run with P<> argument, the check is performed against the input value. When run with Q argument, the current value is shown. Example messagesN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22029 G-code sliced for a newer firmware. Continue? N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22030 G-code sliced for a newer firmware. Please update the firmware. Print cancelled. M862.5: Gcode levelParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22027 nnnn = Gcode level G1 F1500 ; Feedrate 1500mm/min G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min31 Current Gcode level When run with P<> argument, the check is performed against the input value. When run with Q argument, the current value is shown. Example messagesN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22029 G-code sliced for a different level. Continue? N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22030 G-code sliced for a different level. Please re-slice the model again. Print cancelled. M871: PTC ConfigurationN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22048 allows you to modify the Z adjustments corresponding to temperatures.Parameters N123 [...G Code in here...] *7167 Set the Z adjustment for bed temperature N123 [...G Code in here...] *7110 Set the Z adjustment for probe temperature N12367 Set the Z adjustment for extruder temperatureExamples (Home some axes) G28 (here come the axes to be homed) X Y96 M876: Dialog handlingParametersN12383 signal support for dialog creation on the host = 1, disable = 0 N12362 select dialog option nnn (0 based)Example (Home some axes) G28 (here come the axes to be homed) X Y97 N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22054 allows selecting an option of a prompt on a connected host created by the firmware through the corresponding action commands, see G-code#Action_commands. The S parameter is the 0-based index of the chosen option - 0 for the first option provided by the firmware, 1 for the second and so on. Example: A prompt with three options defined via the firmware and completed by the host by selecting the second option ("Home X/Y and pause print") (Home some axes) G28 (here come the axes to be homed) X Y98 To indicate the availability of this function, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 will add an extra line: (Home some axes) G28 (here come the axes to be homed) X Y99 so hosts know about the presence of the function. M890 Run User GcodeParametersN12362 select 1 - 5 User Gcode defined in configuration.Example N12300 M900 Set Linear Advance Scaling FactorsSets the advance extrusion factors for Linear Advance. If any of the N12389, N123 [...G Code in here...] *7168, N12368, or N123 [...G Code in here...] *7186 parameters are set to zero the ratio will be computed dynamically during printing.Parameters N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22061 Advance K factor N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22062 Set ratio directly (overrides WH/D) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22063 N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22064 N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22065 Set ratio from WH/DExamples N12301 Requires enabling the N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22066 feature in Marlin 1.1. The K factor in the M900 command supported by early versions of Marlin is related to the S factor in the long-established M572 command supported by RepRapFirmware by the following formula: N12302 More recent versions of Marlin appear to have removed the steps/mm dependency, so now K = S. M905: Set local date and timeParametersN12383 Current date in the format YYYY-MM-DD N12362 Current time in the format HH:MM:SSExample N12303 Updates the machine's local date and time or reports them if no parameters are specified. The time should be specified in 24-hours format as in "13:45" instead of 1:45PM. M906: Set motor currentsParametersN12351 X drive motor current N12352 Y drive motor current N12353 Z drive motor current N12354 E drive(s) motor current(s) N12378 Motor idle current in percent (0..100)Example N12304 Sets the currents to send to the stepper motors for each axis. The values are the peak current per phase in milliamps. The N123 [...G Code in here...] *7146 parameter is the percentage of normal that the motor currents should be reduced to when the printer becomes idle but the motors have not been switched off. The default value is 30%. On delta printers in particular you may need to increase it to e.g. 60% to prevent the carriages from dropping when the current is reduced to the idle value. M907: Set digital trimpot motorSet digital trimpot motor current using axis codes ( N123 [...G Code in here...] *7142, N123 [...G Code in here...] *7143, N123 [...G Code in here...] *7104, N12367, N123 [...G Code in here...] *7167, N123 [...G Code in here...] *7100). In Repetier, it sets the current in Percent. In Redeem, it sets the current in Amps (whereas G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0647 uses milliamps). M908: Control digital trimpot directlyM908 PS NotesIn Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.1 M909: Set microsteppingExampleN12305 Set the microstepping value for each of the steppers. In Redeem this is implemented as powers of 2 so… N12306 M910: Set decay modeExampleN12307 Set the decay mode for each stepper controller The decay mode controls how the current is reduced and recycled by the H-bridge in the stepper motor controller. It varies how the implementations are done in silicone between controllers. Typically you have an on phase where the current flows in the target current, then an off phase where the current is reversed and then a slow decay phase where the current is recycled. M910: TMC2130 initNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M911: Configure auto save on loss of power ("power panic")ParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22082 Auto save threshold in volts. The print will be stopped automatically and resume parameters saved if the voltage falls below this value. Set to around 1V to 2V lower than the voltage that appears at the Duet VIN terminals at full load. A negative or zero value disables auto save. N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22083 Resume threshold in volts. Must be greater than the auto save voltage. Set to a high value to disable auto resume. N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22084 G-Code commands to run when the print is stopped.ExampleM911 S19.8 R22.0 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" When the supply voltage falls below the auto save threshold while a print from SD card is in progress, all heaters will be turned off, printing will be stopped immediately (probably in the middle of a move), the position saved, and the specified command string executed. You should typically do the following in the command string:
M911 with no parameters displays the current enable/disable state, and the threshold voltages if enabled. Note: RepRapFirmware 1.19 used different parameters. You are recommended to upgrade to version 1.20 or later if you wish to use this "power panic" functionality. M911: Set TMC2130 holding currentsNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M912: Set electronics temperature monitor adjustmentParametersN12383 Temperature monitor channel, default 0 N12362 Value to be added to the temperature reading in degCExample N12308 Many microcontrollers used to control 3D printers have built-in temperature monitors, but they normally need to be calibrated for temperature reading offset. The N123 [...G Code in here...] *7100 parameter specifies the value that should be added to the raw temperature reading to provide a more accurate result. M912: Set TMC2130 running currentsNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M913: Set motor percentage of normal currentParametersG92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0874 Percentage of normal current to use for the specified axis or extruder motor(s)Example N12309 This allows motor currents to be set to a specified percentage of their normal values as set by G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0647. It can be used (for example) to reduce motor current during course homing, to make homing quieter or to reduce the risk of damage to endstops, to reduce motor current when using sensorless endstops (motor stall detection), and to reduce current while loading filament to guard against the possibility of feeding too much filament. Use N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22090 again with the appropriate parameters set to 100 to restore the normal currents. M913: Print TMC2130 currentsNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M914: Set/Get Expansion Voltage Level TranslatorParametersN123 [...G Code in here...] *7100 Expansion voltage signal level, must be 3 or 5Example N12310 M914: Set TMC2130 normal modeNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M915: Configure motor stall detectionParametersPnnn:nnn:... Drive number(s) to configureX,Y,Z,U,V,W,A,B,C Axes to configure (alternative to using the P parameter)Snnn Stall detection threshold (-64 to +63, values below -10 not recommended)Fn Stall detection filter mode, 1 = filtered (one reading per 4 full steps), 0 = unfiltered (default, 1 reading per full step)Hnnn (optional) Minimum motor full steps per second for stall detection to be considered reliable, default 200Tnnn (optional) Coolstep control register, 16-bit unsigned integerRn Action to take on detecting a stall from any of these drivers: 0 = no action (default), 1 = just log it, 2 = pause print, 3 = pause print, execute macro file /sys/rehome.g, and resume printExamplesM915 P0:2:3 S10 F1 R0M915 X Y S5 R2This sets the stall detection parameters and optionally the low-load current reduction parameters for TMC2660, TMC2130 or similar driver chips. Use either the P parameter to specify which driver number(s) you want to configure, or the axis names of the axes that those motors drive (the parameters will then be applied to all the drivers associated with any of those axes). If any of the S, F, T and R parameters are absent, the previous values for those parameters associated with the specified drivers will continue to be used. If all the parameters are absent, the existing settings for the specified drives will be reported. See the Trinamic TMC2660 and TMC2130 datasheets for more information about the operation and limitations of motor stall detection. M915: Set TMC2130 silent modeNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M916: Resume print after power failureParametersnoneExampleM916If the last print was not completed and resume information has been saved (either because the print was paused or because of a power failure), then the heater temperatures, tool selection, head position, mix ratio, mesh bed compensation height map etc. are restored from the saved values and printing is resumed. RepRapFirmware also requires macro file /sys/resurrect-prologue.g to be present on the SD card before you can use M915. This file is executed after the heater temperatures have been set, but before waiting for them to reach the assigned temperatures. You should put commands in this file to home the printer as best as you can without disturbing the print on the bed. To wait for the heaters to reach operating temperature first, use command M116 at the start of the file. M916: Set TMC2130 Stallguard sensitivity thresholdNot active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M917: Set motor standstill current reductionParametersX,Y,Z,E Percentage of normal current to use when the motor is standing still or moving slowly, default 100ExampleM917 X70 Y70 Z80 E70:70Some motor drivers (e.g. TMC2660) allow higher motor currents to be used while the motor is moving than when it is at standstill. This command sets the percentage of the current set by M906 that is to be used when the motor is stationary but not idle, or moving very slowly. Standstill current reduction is not the same as idle current reduction. The standstill current must be high enough to produce accurate motion at low speeds; whereas the idle current (set using the I parameter in the M906 command) needs only to be high enough to hold the motor position sufficiently so that when the current is restored to normal, the position is the same as it was before the current was reduced to idle. M917: Set TMC2130 PWM amplitude offset (pwm_ampl)Not active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M918: Configure direct-connect displayThis command is used to tell RepRapFirmware about a directly-connected dumb LCD or similar display. ParametersP Directly-connected display type: 0 = none (default), 1 = 128x64 pixel mono graphics display using ST7920 controller, 2 = 128x64 mono display using ST7567 controllerE The number of pulses generated by the rotary encoder per detent. Typical values are 2 and 4. Negative values (e.g. -2 and -4) reverse the encoder direction.F (optional, supported in RRF 2.03 and later) SPI clock frequency in Hz, default 2000000 (i.e. 2MHz)C (optional, supported in RRF 3.2 and later) Display contrast, in range 0 to 100. Only used with ST7567-based displays. ST7920-based displays usually have a contrast potentiometer instead.R (optional, supported in RRF 3.2 and later) Display resistor ratio, in range 1 to 7. Only used with ST7567-based displays. The default value of 6 is suitable for the Fysetc Mini 12864 display. Some other displays need 3.ExampleM918 P1 E2M918: Set TMC2130 PWM amplitude gradient (pwm_grad)Not active in default, only if TMC2130_SERVICE_CODES_M910_M918 is defined in source code.M928: Start SD loggingExampleN12311 Stop SD logging with G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0720. M929: Start/stop event logging to SD cardParametersP"filename" The name of the file to log to. Only used if the S1 parameter is used. A default filename will be used if this parameter is missing.Sn S1 = start logging, S0 = stop loggingExampleM929 P"eventlog.txt" S1 ; start logging to file eventlog.txtM929 S0 ; stop loggingWhen event logging is enabled, important events such as power up, start/finish printing, most error messages and (if possible) power down will be logged to the SD card. Each log entry is a single line of text, starting with the date and time if available, or the elapsed time since power up if not. If the log file already exists, new log entries will be appended to the existing file. M950: Create heater, fan or GPIO/servo deviceParametersDn SD card slot number (RRF 3.4 on Duet 3 MB6HC only - the only value supported is 1)Enn LED strip number (RRF 3.5 and later)Fnn Fan numberHnn Heater numberJnn GP input numberPnn or Snn GPIO or Servo number (the only difference is the default PWM frequency)Rnn Spindle number *RRF 3.3 and later)C"name" Pin name(s) and optional inversion status. Pin name "nil" frees up the pin. A leading '!' character inverts the output. A leading '^' character enables the pullup resistor. The '^' and '!' characters may be placed in either order.Qnn (optional) For fans and heaters: PWM frequency in Hz. For LED strips: clock frequency in Hz.Tnn Temperature sensor number, required when creating a heater; or LED strip type when creating an LED portKaaa:bbb:ccc (optional, for spindles only, RRF 3.5 and later) Optional PWM values (0..1) for spindle control (max [aaa] - or - min, max [aaa:bbb] - or - min, max, idle [aaa:bbb:ccc])ExamplesM950 H1 C"out1" Q100 T1 ; create heater 1 using temperature sensor 1M950 H2 C"nil" ; disable heater 2 and free up the associated pinM950 H2 C"1.out0" T2 ; create heater 2 using pin out0 on expansion board 1 and temperature sensor 2M950 F3 C"heater2" Q100 ; Fan 3 is connected to heater 2 pin, PWM at 100HzM950 P0 C"exp.heater3" ; create GPIO port 0 attached to heater 3 pin on expansion connectorM950 F2 C"!fan2+^pb6" ; Fan 2 uses the Fan2 output, but we are using a PWM fan so the output needs to be inverted, also we are using PB6 as a tacho input with pullup resistor enabledM950 D1 C"spi.cs0+spi.cs2" ; on Duet 3 MB6HC support external SD card using pins spi.cs0 and spi.cs2 for the CS and Card Detect pins respectivelyM950 is used to create heaters, fans, LED strip ports and GP in and out ports and to assign pins to them. Each M950 command assigns a pin or pins to a single device. So every M950 command must have exactly one of the D, E, F, H, J, P or S parameters. If a M950 command has C and/or Q parameters, then the pin allocation and/or frequency of any existing device will be changed accordingly. Otherwise, the current configuration will be reported. When using M950 to create a heater, you must first use M308 to define a temperature sensor to control that heater, and specify its number in the T parameter of the M950 command. M951: Set height following mode parametersParametersSnn or Hnn Sensor numberPnn.n Proportional factor, in mm per sensor unitInn.n Integral factor, in mm per sensor unit per secondDnn.n Derivative factor, in mm per rate of change of sensor units (change in sensor unit per second)Fnn.n (optional) Sample and correction frequency (Hz), default 5HzZnn.n:nn.n Minimum and maximum permitted Z valuesHeight following mode allows the Z position of the tool to be controlled by a PID controller using feedback from a sensor. See also M594. If commanding the motors to increase Z causes the sensor value to increase, then all of P, I and D must be positive. If commanding the motors to increase Z causes the sensor value to decrease, then all of P, I and D must be negative. M952: Set CAN expansion board address and/or normal data rateParametersBn Existing CAN address of expansion board to be changed, 1 to 125.An New CAN address of that expansion board, 1 to 125.Sn.n Requested bit rate in Kbits/second (1K = 1000)T0.n Fraction of the bit time between the bit start and the sample point (optional)J0.n Maximum jump time as a fraction of the bit time (optional)ExampleM952 B120 A11 ; change the CAN address of expansion board 101 to 11M952 B11 S500 ; change the CAN bit rate or expansion board 11 to 500kbpsSome CAN-connected expansion boards are too small to carry address selection switches. Such boards default to a standard address, which can be changed using this command. This command can also be used to change the normal data rate, for example if the printer has CAN bus cables that are too long to support the standard data rate (1Mbits/sec in RepRapFirmware). All boards in the system on the same CAN bus must use the same CAN data rate. The procedure for changing the data rate is:
M953: Set CAN-FD bus fast data rateParametersSn.n Requested bit rate in Kbits/second (1K = 1000). Ignored if it is lower than the bit rate for the negotiation phase.T0.n Fraction of the bit time between the bit start and the sample point (optional)J0.n Maximum jump time as a fraction of the bit time (optional)Caa:bb Transceiver delay compensation offset and minimum, in nanoseconds (optional)ExampleM953 S4000 T0.6 J0.2This command allows the bandwidth of the CAN bus to be optimised, by increasing the data rate during transmission of CAN-FD data packets using the BRS (bit rate switch) feature. The maximum speed supported by CAN-FD is 8Mbits/sec but the practical limit depends on the cable length, cable quality, number of devices on the bus and CAN interface hardware used. The rate specified will be rounded down to the nearest achievable rate. The optional C parameter allows fine-tuning of the transmitter delay compensation. The first parameter is the offset added to the measured transmitter delay. The optional second value, which must be greater than the first, is the minimum delay compensation applied. Glitches seen by the receiver while the transceiver delay is being measured will be ignored if they would result in a transceiver delay compensation lower than this value. When CAN is implemented on Microchip SAME5x and SAMC21 processors, these values are converted from nanoseconds into time quanta and stored in the TDCO and TDCF fields of the transceiver delay compensation register. M954: Configure as CAN expansion boardParametersAnn CAN address to use (required)This command is used to reconfigure the board it is executed on as a CAN-connected expansion board. It would typically be the only command in the config.g file. When it is executed, the board changes its CAN address to the one specified in the A parameter, stops sending CAN time sync messages, and responds to requests received via CAN just like a regular expansion board. A few GCode commands can still be executed locally for diagnostic purposes, for example M111 and M122. M955: Configure AccelerometerParameters (provisional)Pnn or Pbb.nn Accelerometer to use (required)Inn Accelerometer orientationSnnn Sample rate (Hz)Rnn Resolution (bits), typically 8, 10 or 12This command configures an accelerometer. The P parameter selects which accelerometer to use and is mandatory. To use an accelerometer on a CAN-connected expansion board, use the form Pboard-address.device-number for example P22.0. If none of the other parameters are provided, the current configuration of the specified accelerometer is reported. Otherwise the configuration of that accelerometer is adjusted according to the I, S, and R parameters. These configuration settings persist until they are changed. The I (orientation) parameter tells the firmware which of the 24 possible orientations the accelerometer chip is in relative to the printer axes. It is expressed as a 2-digit number. The first digit specifies which machine direction the Z axis of the accelerometer chip (usually the top face of the chip) faces, as follows: 0 = +X, 1 = +Y, 2 = +Z, 4 = -X, 5 = -Y, 6 = -Z. The second digit expresses which direction the X axis of the accelerometer chip faces, using the same code. If the accelerometer chip axes line up with the machine axis, the orientation is 21. This is the default orientation if no orientation has been specified. The S and R parameters control how the accelerometer is programmed. The R parameter is ignored unless the S parameter is also provided. If S is provided but R is missing, a default resolution is used. The sensor resolution will be adjusted to be no greater than the value of the R parameter (or the minimum supported resolution if greater), then the sensor sampling rate will be adjusted to a value supported at that resolution that is close to the S parameter. The actual rate and resolution selected can be found by using M955 with just the P parameter. M956: Collect accelerometer data and write to fileParametersPnn or Pbb.nn Accelerometer to use (required)Snnn Number of samples to collect (required)X and/or Y and/or Z Machine axes to collect data for. If no axes are specified, data is collected for all three axes.An (required) 0 = activate immediately, 1 = activate just before the start of the next move, 2 = activate just before the start of the deceleration segment of the next moveKn (optional, default 0) Skip the specified number of moves before activating (use with A1 or A2)This command causes the specified number of accelerometer samples to be collected and saved to a .csv file on the SD card. The P parameter selects which accelerometer to use and is mandatory. To use an accelerometer on a CAN-connected expansion board, use the form Pboard-address.device-number for example P22.0. M957: Raise eventParametersE"type" Event type nameDnn Device number to which the event relates, optionally including the CAN address of the board concernedPnn (optional) additional data about the event (unsigned integer)Bnn (optional) CAN address that the event should appear to originate fromS"text" (optional) Short text string to be appended to the event messageThis command is used to raise an event internally as if the event had actually occurred, and execute any related handler macro for that event. Its main use is to test event handler macros. The event type names are firmware-dependent. In RepRapFirmware they are: heater_fault, driver_error, filament_error, driver_warning, driver_stall and mcu_temperature_warning. The meaning of the device number depends on the event type. For a driver error it is the local driver number. For a heater fault it is the heater number. For a filament error it is the extruder number. The meaning of the optional additional parameter also depends on the event type. For example, for a driver error it is the driver status. M995: Calibrate Touch ScreenParametersN12362 Firmware module number(s), default 0 N12387 Expansion board address, default 0 (i.e. main controller board)Example N12312 This command triggers a firmware update if the necessary files are present on the SD card. In RepRapFirmware on the Duet series, module numbers are as follows: 0 - main firmware. The firmware filename depends on the controller electronics, e.g.sys/RepRapFirmware.bin (Duet 06/085), sys/Duet2CombinedFirmware (Duet WiFi/Ethernet), sys/DuetMaestroFirmware.bin (Duet Maestro). File sys/iap.bin (Duet), sys/iap4e.bin (Duet WiFi/Ethernet) or sys/iap4s.bin (Duet Maestro) must also be present. 1 - WiFi module firmware, filename sys/DuetWiFiServer.bin 2 - Reserved (on Duet WiFi running RepRapFirmware 1.18 and earlier, was web server file system) 3 - Duet WiFi main boards: put the WiFi module into bootloader mode so that firmware can be uploaded directly via its serial port. Duet 3 expansion boards: update the bootloader (RepRapFirmware 3.2 and later). 4 - Updates the firmware on an attached PanelDue v3 or later touch screen (supported in RRF 3.2 and later) M998: Request resend of lineParametersN12383 Line numberExample N12313 Request a resend of line 34. In some implementations the input-handling code overwrites the incoming G Code with this when it detects, for example, a checksum error. Then it leaves it up to the G-code interpreter to request the resend. M999: Restart after being stopped by errorParametersThis command can be used without any additional parameters.N12383 Reset flags1 N12387 CAN address of the board to reset (RRF only)2Example N12314 Restarts the firmware using a software reset. Notes1The dc42 fork of RepRapFirmware not only resets the board but also puts the board into firmware upload mode if parameter PERASE is present. 2Starting from RRF 3.3 this parameter may be set to -1 to reboot the attached SBC (DuetPi + SBC) Other commandsG: List all G-codesExampleN12315 Print a list of all implemented G-codes in the firmware with description to the host. M: List all M-codesExampleN12316 Print a list of all implemented M-codes in the firmware with description to the host. T: Select ToolParametersThis command can be used without any additional parameters.N12383: Bitmap of all the macros to be run (only RRF 1.17b or later)Tool numberExample N12317 Select tool (or in older implementations extruder) number 1 to build with. The sequence followed is:
Selecting a non-existent tool (100, say) just does Step 1 above1. That is to say it leaves all tools in their standby state. You can, of course, use the N123 [...G Code in here...] *7102 command beforehand to set that standby temperature to anything you like. Note that you may wish to move to a parking position before executing a T command in order to allow the new extruder to reach temperature while not in contact with the print. It is acceptable for the firmware to apply a small offset [by convention (-1mm x tool-number) in Y] to the current position when the above sequence is entered to allow temperature changes to take effect just away from the parking position. Any such offset must, of course, be undone when the procedure finishes. If the Z value changes in the offsets and the tool moves up, then the Z move is made before the X and Y moves. If Z moves down, X and Y are done first. Some firmware (Such as Prusa i3 Printers with MMU) also support the N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22103 (recommended) and N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22104(depricated)2 commands to prompt the user to select a tool (or a filament in the case of the MultiMaterial Unit) on the printer's menu. Then the N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22105 command actually loads the selected filament. Some implementations (e.g. RepRapFirmware) allow you to specify tool-change G Code macros3. There are normally three specified (any of which can contain no commands if desired) that execute in this order:
With such implementations there is no wait for temperature stabilisation. That can be achieved by an N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22109 in any of the macros, of course. However be aware that recent RepRapFirmware versions does NOT run any tool change macros if the axes are not homed. After a reset tools will not start heating until they are selected. You can either put them all at their standby temperature by selecting them in turn, or leave them off so they only come on if/when you first use them. The G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude23, G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude20, and G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude21 commands turn them all off. You can, of course, turn them all off with the G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude20 command, then turn some back on again. Don't forget also to turn on the heated bed (if any) if you use that trick. Tool numbering may start at 0 or 1, depending on the implementation. Some implementations (those that use the N123 [...G Code in here...] *7105 command to define tools) allow the user to specify tool numbers, so with them you can have tools 17, 99 and 203 if you want. Negative numbers are not allowed.Notes 1 For RepRapFirmware, selecting a non-existent tool also removes any X/Y/Z offset applied for the old tool. 2 N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22104 was the original form of the command, but it was changed to N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22103 when it was realized that the question mark character caused problems when printing through octoprint. This change was implemented in Prusa firmware 3.5.0. 3 Under special circumstances, the execution of those macro files may not be desired. RepRapFirmware 1.17b or later supports an optional N123 [...G Code in here...] *7110 parameter to specify which macros shall be run. If absent then all the above macros will be run. Otherwise pass a bitmap of all the macros to be executed. The bitmap of this value consists of tfree=1, tpre=2 and tpost=4. D: Debug codesNOTE: These D codes are not compatible with the Gcode spec ( NIST Gcode spec, initially written for CNC, which Reprap initially messed up, after what the CNC side of Reprap has spent years trying to get Reprap back to respecting it ), and will make life hell for those building machines that do more than just 3D printing, or controllers that support this, as well as possibly cause other issues. I see this is from Prusa, and I know these guys are really cool about Open-Source, so I'm sure they care a lot about respecting standards and other projects as well, so I'm certain they'll fix this as soon as they see there is an issue. Thankfully this is very easy to fix, just change from D1 to Mxxx D1, where you find a Mxxx Gcode that is currently free and start using it. In Gcode, only M, G and T are keywords, D is a parameter, you can't make it a keyword without messing everything up. I'm sure for your subset of using Gcode, that's probably just fine, but it's not for the rest of us, and the whole point of adding things to this page, is for others to use it if they want/can/need, and the way it currently is ( breaking a standard ), this can't be used by others. Links: This note by: -- [email protected] Debug codes are not active by defalut and must be defined in source code. D-1: Endless Loop---D0: ResetThis command will reset the boardN123 [...G Code in here...] *7167: Bootloader D1: Clear EEPROM and RESETThis command will clear the EEPROM and reset the boardD2: Read/Write RAMParametersThis command can be used without any additional parameters. It will read the entire RAM.N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22119: Address (x0000-x1fff) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22120: Count (1-8192) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22121: Data (hex)NotesThe hex address needs to be lowercase without the 0 before the xCount is decimalThe hex data needs to be lowercase D3: Read/Write EEPROMParametersThis command can be used without any additional parameters. It will read the entire EEPROM.N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22119: Address (x0000-x0fff) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22120: Count (1-4096) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22121: Data (hex)NotesThe hex address needs to be lowercase without the 0 before the xCount is decimalThe hex data needs to be lowercase D4: Read/Write PINTo read the digital value of a pin you need only to define the pin number.ParametersN12383: Pin (0-255) G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material00: Function in/out (0/1) G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material01: Value (0/1) D5: Read/Write FLASHParametersThis command can be used without any additional parameters. It will read the 1kb FLASH.N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22119: Address (x00000-x3ffff) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22120: Count (1-8192) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22121: Data (hex) N12367: EraseNotesThe hex address needs to be lowercase without the 0 before the xCount is decimalThe hex data needs to be lowercase D6: Read/Write external FLASHReservedD7: Read/Write BootloaderReservedD8: Read/Write PINDAParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22022: Read PINDA temperature shift values N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22023: Reset PINDA temperature shift values to default N12383: Pinda temperature [C] N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22135: Z Offset [mm] D9: Read/Write ADCParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22136: ADC channel index N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22137: Heater 0 temperature G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0341: Heater 1 temperature N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22139: Bed temperature N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22140: PINDA temperature N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22141: PWR voltage N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22142: Ambient temperature N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22143: BED voltage N123 [...G Code in here...] *7187: Value to be written as simulated D10: Set XYZ calibration = OKWrites current time in the log file.D20: Generate an offline crash dumpGenerate a crash dump for later retrival.UsageN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22145Parameters N12367: Perform an emergency crash dump (resets the printer).NotesA crash dump can be later recovered with D21, or cleared with D22.An emergency crash dump includes register data, but will cause the printer to reset after the dump is completed. D21: Print crash dump to serialOutput the complete crash dump (if present) to the serial.UsageN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22147NotesThe starting address can vary between builds, but it's always at the beginning of the data section. D22: Clear crash dump stateClear an existing internal crash dump.UsageN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22148 D23: Request emergency dump on serialOn boards without offline dump support, request online dumps to the serial port on firmware faults.When online dumps are enabled, the FW will dump memory on the serial before resetting.UsageN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22149Parameters N12367: Perform an emergency crash dump (resets the printer). N12389: Disable online dumps. D80: Bed checkThis command will log data to SD card file "mesh.txt".ParametersN12367: Dimension X (default 40) N123 [...G Code in here...] *7191: Dimension Y (default 40) N12344: Points X (default 40) N12368: Points Y (default 40) N123 [...G Code in here...] *7146: Offset X (default 74) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22157: Offset Y (default 34) D81: Bed analysisThis command will log data to SD card file "wldsd.txt".ParametersN12367: Dimension X (default 40) N123 [...G Code in here...] *7191: Dimension Y (default 40) N12344: Points X (default 40) N12368: Points Y (default 40) N123 [...G Code in here...] *7146: Offset X (default 74) N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22157: Offset Y (default 34) D106: Print measured fan speed for different pwm valuesD2130: Trinamic stepper controllerReservedD9125: PAT9125 filament sensorThis command can be used without any additional parameters. It will read the PAT9125 values.ParametersN3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22022: Print values N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22023: Print values N12389: Resolution. Not active in code N123 [...G Code in here...] *7142: X values N123 [...G Code in here...] *7143: Y values N123 [...G Code in here...] *7193: Activate filament sensor log Proposed EEPROM configuration codesBackground: Every 3D printer has parameters that need to be persistent but also easily tunable, such as extrusion steps-per-mm and various planner values. Some of these parameters are hardcoded in firmware so that a user has to modify, recompile, and re-flash the firmware for certain adjustments, while others can be modified with an M-code and stored to the EEPROM or other persistent storage. Current implementations: Marlin and Sprinter use G-codesG0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07- G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0423 to save, load, reset, and report the settings mirrored in EEPROM. Note that the G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0423 command reports settings that may not have been saved to EEPROM yet.Teacup uses G-codes G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0395- N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22174 to set, read, and save PID values.Repetier Firmware uses G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0274 to set a stored value (using an ID number) and N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22176 to report settings.RepRapFirmware uses the N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22177 file on the SD card for settings storage. G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/min G1 X90.6 Y13.8 E22.4 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material07 saves some values to that file, G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0311 re-loads settings from this file, and N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22018 loads the "factory settings" values from N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22181, ignoring N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22177. Please see the RFC M-codes for EEPROM config proposed by AlexRa in March of 2011. There is currently no working implementation of the proposed commands. Replies from the RepRap machine to the host computerAll communication is in printable ASCII characters. Messages sent back to the host computer are terminated by a newline. The basic protocol responses look like this: xx [line number to resend] [T:93.2 B:22.9] [C: X:9.2 Y:125.4 Z:3.7 E:1902.5] [Some debugging or other information may be here] N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22183 can be one of:
The T: and B: values are the temperature of the currently-selected extruder and the bed respectively, and are only sent in response to G92 E0 G28 G1 F1500 G1 X2.0 Y2.0 F3000 G1 X3.0 Y3.0006. If such temperatures don't exist (for example for an extruder that works at room temperature and doesn't have a sensor) then a value below absolute zero (-273oC) is returned. C: means that coordinates follow. Those are the X: Y: etc values. These are only sent in response to G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude89 and N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22219. The RepRap machine may also send lines that look like this: // This is some debugging or other information on a line on its own. It may be sent at any time. Such lines will always be preceded by //. The most common response is simply: N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22184 When the machine boots up it sends the string N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22221 once to the host before sending anything else. This should not be replaced or augmented by version numbers and the like. G1 F1500 ; Set feedrate to 1500mm/min G1 X50 Y25.3 E22.4 ; Move and extrude84 (see above) requests those. Originally, every line sent by RepRap to the host computer except the start line was supposed to have a two-character prefix (one of N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22184, N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22185, N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22192 or N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22226). The machine should never send a line without such a prefix. These days, firmwares generally do not adhere to this rule and thus it should be considered obsolete. N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22227 are lines sent from the host to the RepRap machine, N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22228 are lines sent from the RepRap machine to the host. N12318 Action commandsThe current versions of Pronterface and OctoPrint can interpret special commands sent by the firmware of the form: N12319 Other hosts simply ignore or echo this output from the firmware. The available Host Action Commands are:
Action commands can also be sent by the firmware to have the host show alerts and prompts for user feedback. The following commands are supported by OctoPrint 1.3.9 or later with the "Action Command Prompt support" plugin enabled.
After showing a user dialog the host should wait for feedback and send the user's selection back to the firmware with N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22253 as described in G-Code#M876:_Dialog_handling. On connection (or whenever the functionality is enabled in the host) the host can tell the firmware that it supports host dialogs by sending N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22254. For more detailed examples of N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22255 action command dialogs, see OctoPrint's documentation. Further notesRepRapFirmware responds to some commands with a reply string in JSON format, terminated by a newline. This allows later firmware revisions to include additional information without confusing clients (e.g. PanelDue) that do not expect it, and to make responses self-describing so that the client will not be confused if responses are delayed or lost. The commands affected are:
Proposal for sending multiple lines of G-codeSo far, this is a proposal, open for discussion. Problem to solveWhen using Marlin firmware or emulating Marlin, each line of G-code sent from the host to the controller is answered with an N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22184 before the next line can be sent without locking communications up. This slows down communication and limits the number of commands-per-second that can be sent to the control board, and the USB stack on the host and the serial interface driver on the Arduino also add their own latencies (up to 10 milliseconds). This is not a problem for other controller electronics using native USB such as the Duet, because the standard serial-over-USB drivers provide flow control, so the host software can be configured not to wait for the N3 T0*57 ; This is a comment N4 G92 E0*67 ; So is this N5 G28*22184. For more details on this proposal, some suggested solutions and comments, please see GCODE_buffer_multiline_proposal Alternatives to G-codeMain article: Firmware/Alternative#alternatives to G-codeSeveral people have suggested using STEP-NC or some other control language; or perhaps designing a completely new control language. How to convert C Program into software?Steps in Converting C Program to Executable Program. Create / Edit : First of all, we need to create a C program for execution. ... . Compile : After creating or editing source code we need to compile it by using compiler. ... . Link : Object files are not executable file so in order to make executable file we use linker.. Does C compile to machine code?The C programming language is what is referred to as a compiled language. In other words, C programs are implemented by compilers, which translate source code into machine-readable code (more on that later).
What are three 3 ways to convert a highA high level language to machine code can be done by. A. Interpreter Coding.. B. Chip.. C. Linker.. D. Compiler.. What converts program code into machine language?A compiler is a special program that translates a programming language's source code into machine code, bytecode or another programming language. The source code is typically written in a high-level, human-readable language such as Java or C++.
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