G-code
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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 GCode 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 GCode 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 GCode 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 GCode 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.
Contents
- 1 Introduction
- 2 Fields
- 3 Case sensitivity
- 4 Quoted strings
- 5 Comments
- 6 Special fields
- 7 Checking
- 8 Buffering
- 9 G-commands
- 9.1 G0 & G1: Move
- 9.2 G2 & G3: Controlled Arc Move
- 9.3 G4: Dwell
- 9.4 G6: Direct Stepper Move
- 9.5 G10: Set tool Offset and/or workplace coordinates and/or tool temperatures
- 9.6 G10: Retract
- 9.7 G11: Unretract
- 9.8 G12: Clean Tool
- 9.9 G17..19: Plane Selection (CNC specific)
- 9.10 G20: Set Units to Inches
- 9.11 G21: Set Units to Millimeters
- 9.12 G22 & G23: Firmware controlled Retract/Precharge
- 9.13 G26: Mesh Validation Pattern
- 9.14 G28: Move to Origin (Home)
- 9.15 G29: Detailed Z-Probe
- 9.16 G29.1: Set Z probe head offset
- 9.17 G29.2: Set Z probe head offset calculated from toolhead position
- 9.18 G30: Single Z-Probe
- 9.19 G31: Set or Report Current Probe status
- 9.20 G31: Dock Z Probe sled
- 9.21 G32: Probe Z and calculate Z plane
- 9.22 G32: Undock Z Probe sled
- 9.23 G33: Firmware dependent
- 9.24 G34: Set Delta Height calculated from toolhead position (only DELTA)
- 9.25 G38.x Straight Probe (CNC specific)
- 9.26 G40: Compensation Off (CNC specific)
- 9.27 G42: Move to Grid Point
- 9.28 G53..59: Coordinate System Select (CNC specific)
- 9.29 G60: save current position to slot
- 9.30 G61: Apply/restore saved coordinates to the active extruder.
- 9.31 G80: Cancel Canned Cycle (CNC specific)
- 9.32 G90: Set to Absolute Positioning
- 9.33 G91: Set to Relative Positioning
- 9.34 G92: Set Position
- 9.35 G93: Feed Rate Mode (Inverse Time Mode) (CNC specific)
- 9.36 G94: Feed Rate Mode (Units per Minute) (CNC specific)
- 9.37 G100: Calibrate floor or rod radius
- 9.38 G130: Set digital potentiometer value
- 9.39 G131: Remove offset
- 9.40 G132: Calibrate endstop offsets
- 9.41 G133: Measure steps to top
- 9.42 G161: Home axes to minimum
- 9.43 G162: Home axes to maximum
- 10 M-commands
- 10.1 M0: Stop or Unconditional stop
- 10.2 M1: Sleep or Conditional stop
- 10.3 M2: Program End
- 10.4 M3: Spindle On, Clockwise (CNC specific)
- 10.5 M4: Spindle On, Counter-Clockwise (CNC specific)
- 10.6 M5: Spindle Off (CNC specific)
- 10.7 M6: Tool change
- 10.8 M7: Mist Coolant On (CNC specific)
- 10.9 M8: Flood Coolant On (CNC specific)
- 10.10 M9: Coolant Off (CNC specific)
- 10.11 M10: Vacuum On (CNC specific)
- 10.12 M11: Vacuum Off (CNC specific)
- 10.13 M17: Enable/Power all stepper motors
- 10.14 M18: Disable all stepper motors
- 10.15 M20: List SD card
- 10.16 M21: Initialize SD card
- 10.17 M22: Release SD card
- 10.18 M23: Select SD file
- 10.19 M24: Start/resume SD print
- 10.20 M25: Pause SD print
- 10.21 M26: Set SD position
- 10.22 M27: Report SD print status
- 10.23 M28: Begin write to SD card
- 10.24 M29: Stop writing to SD card
- 10.25 M30: Delete a file on the SD card
- 10.26 M31: Output time since last M109 or SD card start to serial
- 10.27 M32: Select file and start SD print
- 10.28 M33: Get the long name for an SD card file or folder
- 10.29 M33: Stop and Close File and save restart.gcode
- 10.30 M34: Set SD file sorting options
- 10.31 M35: Upload firmware NEXTION from SD
- 10.32 M36: Return file information
- 10.33 M37: Simulation mode
- 10.34 M38 Compute SHA1 hash of target file
- 10.35 M39 Report SD card information
- 10.36 M40: Eject
- 10.37 M41: Loop
- 10.38 M42: Switch I/O pin
- 10.39 M43: Stand by on material exhausted
- 10.40 M43: Pin report and debug
- 10.41 M48: Measure Z-Probe repeatability
- 10.42 M70: Display message
- 10.43 M72: Play a tone or song
- 10.44 M73: Set build percentage
- 10.45 M80: ATX Power On
- 10.46 M81: ATX Power Off
- 10.47 M82: Set extruder to absolute mode
- 10.48 M83: Set extruder to relative mode
- 10.49 M84: Stop idle hold
- 10.50 M85: Set inactivity shutdown timer
- 10.51 M92: Set axis_steps_per_unit
- 10.52 M93: Send axis_steps_per_unit
- 10.53 M98: Call Macro/Subprogram
- 10.54 M99: Return from Macro/Subprogram
- 10.55 M98: Get axis_hysteresis_mm
- 10.56 M99: Set axis_hysteresis_mm
- 10.57 M101: Turn extruder 1 on (Forward), Undo Retraction
- 10.58 M102: Turn extruder 1 on (Reverse)
- 10.59 M103: Turn all extruders off, Extruder Retraction
- 10.60 M104: Set Extruder Temperature
- 10.61 M105: Get Extruder Temperature
- 10.62 M106: Fan On
- 10.63 M107: Fan Off
- 10.64 M108: Cancel Heating (Marlin)
- 10.65 M108: Set Extruder Speed (BFB)
- 10.66 M109: Set Extruder Temperature and Wait
- 10.67 M110: Set Current Line Number
- 10.68 M111: Set Debug Level
- 10.69 M112: Emergency Stop
- 10.70 M113: Set Extruder PWM
- 10.71 M114: Get Current Position
- 10.72 M115: Get Firmware Version and Capabilities
- 10.73 M116: Wait
- 10.74 M117: Get Zero Position
- 10.75 M117: Display Message
- 10.76 M118: Echo message on host
- 10.77 M118: Negotiate Features
- 10.78 M119: Get Endstop Status
- 10.79 M120: Push
- 10.80 M121: Pop
- 10.81 M120: Enable endstop detection
- 10.82 M121: Disable endstop detection
- 10.83 M122: Firmware dependent
- 10.84 M123: Tachometer value
- 10.85 M124: Immediate motor stop
- 10.86 M126: Open Valve
- 10.87 M127: Close Valve
- 10.88 M128: Extruder Pressure PWM
- 10.89 M129: Extruder pressure off
- 10.90 M130: Set PID P value
- 10.91 M131: Set PID I value
- 10.92 M132: Set PID D value
- 10.93 M133: Set PID I limit value
- 10.94 M134: Write PID values to EEPROM
- 10.95 M135: Set PID sample interval
- 10.96 M136: Print PID settings to host
- 10.97 M140: Set Bed Temperature (Fast)
- 10.98 M141: Set Chamber Temperature (Fast)
- 10.99 M142: Holding Pressure
- 10.100 M143: Maximum heater temperature
- 10.101 M144: Bed Standby
- 10.102 M146: Set Chamber Humidity
- 10.103 M149: Set temperature units
- 10.104 M150: Set display color
- 10.105 M155: Automatically send temperatures
- 10.106 M160: Number of mixed materials
- 10.107 M163: Set weight of mixed material
- 10.108 M164: Store weights
- 10.109 M165: Set multiple mix weights
- 10.110 M190: Wait for bed temperature to reach target temp
- 10.111 M191: Wait for chamber temperature to reach target temp
- 10.112 M200: Set filament diameter
- 10.113 M201: Set max printing acceleration
- 10.114 M202: Set max travel acceleration
- 10.115 M203: Set maximum feedrate
- 10.116 M204: Set default acceleration
- 10.117 M205: Advanced settings
- 10.118 M206: Offset axes
- 10.119 M206 in Repetier: Set eeprom value
- 10.120 M207: Calibrate z axis by detecting z max length
- 10.121 M207: Set retract length
- 10.122 M208: Set axis max travel
- 10.123 M208: Set unretract length
- 10.124 M209: Enable automatic retract
- 10.125 M210: Set homing feedrates
- 10.126 M211: Disable/Enable software endstops
- 10.127 M212: Set Bed Level Sensor Offset
- 10.128 M217: Toolchange Parameters
- 10.129 M218: Set Hotend Offset
- 10.130 M220: Set speed factor override percentage
- 10.131 M221: Set extrude factor override percentage
- 10.132 M220: Turn off AUX V1.0.5
- 10.133 M221: Turn on AUX V1.0.5
- 10.134 M222: Set speed of fast XY moves
- 10.135 M223: Set speed of fast Z moves
- 10.136 M224: Enable extruder during fast moves
- 10.137 M225: Disable on extruder during fast moves
- 10.138 M226: Gcode Initiated Pause
- 10.139 M226: Wait for pin state
- 10.140 M227: Enable Automatic Reverse and Prime
- 10.141 M228: Disable Automatic Reverse and Prime
- 10.142 M229: Enable Automatic Reverse and Prime
- 10.143 M230: Disable / Enable Wait for Temperature Change
- 10.144 M231: Set OPS parameter
- 10.145 M232: Read and reset max. advance values
- 10.146 M240: Trigger camera
- 10.147 M240: Start conveyor belt motor / Echo off
- 10.148 M241: Stop conveyor belt motor / echo on
- 10.149 M245: Start cooler
- 10.150 M246: Stop cooler
- 10.151 M250: Set LCD contrast
- 10.152 M251: Measure Z steps from homing stop (Delta printers)
- 10.153 M260: i2c Send Data
- 10.154 M261: i2c Request Data
- 10.155 M280: Set servo position
- 10.156 M290: Babystepping
- 10.157 M291: Display message and optionally wait for response
- 10.158 M292: Acknowledge message
- 10.159 M300: Play beep sound
- 10.160 M301: Set PID parameters
- 10.161 M302: Allow cold extrudes
- 10.162 M303: Run PID tuning
- 10.163 M304: Set PID parameters - Bed
- 10.164 M305: Set thermistor and ADC parameters
- 10.165 M306: Set home offset calculated from toolhead position
- 10.166 M307: Set or report heating process parameters
- 10.167 M320: Activate autolevel (Repetier)
- 10.168 M321: Deactivate autolevel (Repetier)
- 10.169 M322: Reset autolevel matrix (Repetier)
- 10.170 M323: Distortion correction on/off (Repetier)
- 10.171 M340: Control the servos
- 10.172 M350: Set microstepping mode
- 10.173 M351: Toggle MS1 MS2 pins directly
- 10.174 M355: Turn case lights on/off
- 10.175 M360: Report firmware configuration
- 10.176 SCARA calibration codes (Morgan)
- 10.177 M360: Move to Theta 0 degree position
- 10.178 M361: Move to Theta 90 degree position
- 10.179 M362: Move to Psi 0 degree position
- 10.180 M363: Move to Psi 90 degree position
- 10.181 M364: Move to Psi + Theta 90 degree position
- 10.182 M365: SCARA scaling factor
- 10.183 M366: SCARA convert trim
- 10.184 M370: Morgan manual bed level - clear map
- 10.185 M371: Move to next calibration position
- 10.186 M372: Record calibration value, and move to next position
- 10.187 M373: End bed level calibration mode
- 10.188 M374: Save calibration grid
- 10.189 M375: Display matrix / Load Matrix
- 10.190 M376: Set bed compensation taper
- 10.191 M380: Activate solenoid
- 10.192 M381: Disable all solenoids
- 10.193 M400: Wait for current moves to finish
- 10.194 M401: Lower z-probe
- 10.195 M402: Raise z-probe
- 10.196 M404: Filament width and nozzle diameter
- 10.197 M405: Filament Sensor on
- 10.198 M406: Filament Sensor off
- 10.199 M407: Display filament diameter
- 10.200 M408: Report JSON-style response
- 10.201 M420: Set RGB Colors as PWM (MachineKit)
- 10.202 M420: Leveling On/Off/Fade (Marlin)
- 10.203 M421: Set a Mesh Bed Leveling Z coordinate
- 10.204 M450: Report Printer Mode
- 10.205 M451: Select FFF Printer Mode
- 10.206 M452: Select Laser Printer Mode
- 10.207 M453: Select CNC Printer Mode
- 10.208 M460: Define temperature range for thermistor-controlled fan
- 10.209 M500: Store parameters in non-volatile storage
- 10.210 M501: Read parameters from EEPROM
- 10.211 M502: Read parameters from "configuration.h"
- 10.212 M503: Print settings
- 10.213 M504: Validate EEPROM
- 10.214 M530: Enable printing mode
- 10.215 M531: Set print name
- 10.216 M532: Set print progress
- 10.217 M540: Enable/Disable "Stop SD Print on Endstop Hit"
- 10.218 M540: Set MAC address
- 10.219 M550: Set Name
- 10.220 M551: Set Password
- 10.221 M552: Set IP address, enable/disable network interface
- 10.222 M553: Set Netmask
- 10.223 M554: Set Gateway
- 10.224 M555: Set compatibility
- 10.225 M556: Axis compensation
- 10.226 M557: Set Z probe point or define probing grid
- 10.227 M558: Set Z probe type
- 10.228 M559: Upload configuration file
- 10.229 M560: Upload web page file
- 10.230 M561: Set Identity Transform
- 10.231 M562: Reset temperature fault
- 10.232 M563: Define or remove a tool
- 10.233 M564: Limit axes
- 10.234 M565: Set Z probe offset
- 10.235 M566: Set allowable instantaneous speed change
- 10.236 M567: Set tool mix ratios
- 10.237 M568: Turn off/on tool mix ratios
- 10.238 M569: Stepper driver control
- 10.239 M570: Configure heater fault detection
- 10.240 M571: Set output on extrude
- 10.241 M572: Set or report extruder pressure advance
- 10.242 M573: Report heater PWM
- 10.243 M574: Set endstop configuration
- 10.244 M575: Set serial comms parameters
- 10.245 M577: Wait until endstop is triggered
- 10.246 M578: Fire inkjet bits
- 10.247 M579: Scale Cartesian axes
- 10.248 M580: Select Roland
- 10.249 M581: Configure external trigger
- 10.250 M582: Check external trigger
- 10.251 M584: Set drive mapping
- 10.252 M585: Probe Tool
- 10.253 M586: Configure network protocols
- 10.254 M587: Store WiFi host network in list, or list stored networks
- 10.255 M588: Forget WiFi host network
- 10.256 M589: Configure access point parameters
- 10.257 M590: Report current tool type and index
- 10.258 M591: Configure filament sensing
- 10.259 M592: Configure nonlinear extrusion
- 10.260 M593: Configure Dynamic Acceleration Adjustment
- 10.261 M600: Set line cross section
- 10.262 M600: Filament change pause
- 10.263 M605: Set dual x-carriage movement mode
- 10.264 M665: Set delta configuration
- 10.265 M666: Set delta endstop adjustment
- 10.266 M667: Select CoreXY mode
- 10.267 M668: Set Z-offset compensations polynomial
- 10.268 M669: Set kinematics type and kinematics parameters
- 10.269 M670: Set IO port bit mapping
- 10.270 M671: Define positions of Z leadscrews or bed leveling screws
- 10.271 M672: Program Z probe
- 10.272 M673: Align plane on rotary axis
- 10.273 M674: Set Z to center point
- 10.274 M675: Find center of cavity
- 10.275 M700: Level plate
- 10.276 M701: Load filament
- 10.277 M702: Unload filament
- 10.278 M703: Get Board Type / Configure Filament
- 10.279 M710: Erase the EEPROM and reset the board
- 10.280 M750: Enable 3D scanner extension
- 10.281 M751: Register 3D scanner extension over USB
- 10.282 M752: Start 3D scan
- 10.283 M753: Cancel current 3D scanner action
- 10.284 M754: Calibrate 3D scanner
- 10.285 M755: Set alignment mode for 3D scanner
- 10.286 M756: Shutdown 3D scanner
- 10.287 M800: Fire start print procedure
- 10.288 M801: Fire end print procedure
- 10.289 M851: Set Z-Probe Offset
- 10.290 M900 Set Linear Advance Scaling Factors
- 10.291 M905: Set local date and time
- 10.292 M906: Set motor currents
- 10.293 M907: Set digital trimpot motor
- 10.294 M908: Control digital trimpot directly
- 10.295 M909: Set microstepping
- 10.296 M910: Set decay mode
- 10.297 M911: Configure auto save on loss of power
- 10.298 M912: Set electronics temperature monitor adjustment
- 10.299 M913: Set motor percentage of normal current
- 10.300 M914: Set/Get Expansion Voltage Level Translator
- 10.301 M915: Configure motor stall detection
- 10.302 M916: Resume print after power failure
- 10.303 M917: Set motor standstill current reduction
- 10.304 M918: Configure direct-connect display
- 10.305 M928: Start SD logging
- 10.306 M929: Start/stop event logging to SD card
- 10.307 M997: Perform in-application firmware update
- 10.308 M998: Request resend of line
- 10.309 M999: Restart after being stopped by error
- 11 Other commands
- 12 Proposed EEPROM configuration codes
- 13 Replies from the RepRap machine to the host computer
- 14 Proposal for sending multiple lines of G-code
- 15 Alternatives to G-code
Introduction
A typical piece of Gcode 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
Gcode can also be stored in files on SD cards. A file containing RepRap Gcode usually has the extension .g
, .gco
or .gcode
.
Files for BFB/RapMan have the extension .bfb
.
Gcode 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 GCode 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 Gcode(s) are implemented in any given firmware, there are little tables attached to the command descriptions, like this one:
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Partial | ??? | ??? | ??? | ??? | Experimental | Deprecated | ??? | Partial | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | ??? | Yes | ??? | Yes | Automatic | ??? | ??? |
Here means:
- {{yes}}
- The Gcode is fully supported by the firmware.
- {{partial}} or {{experimental}}
- There is some support for the Gcode. 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 Gcode automatically, so there's no need to send the command. An example is power supply on/off Gcode (M80/M81) in the Teacup firmware.
- {{???}}
- It is unknown if the firmware supports this Gcode. You may want to test this yourself before using it in production.
- {{no}}
- The firmware does not support this Gcode.
- {{deprecated}}
- The firmware deprecated this Gcode. The firmware author(s) should amend the deprecated Gcode on this page with workarounds (if needed) and the last supported firmware version that will accept this Gcode.
For the technically minded, Gcode line endings are Unix Line Endings (\n
), but will accept Windows Line Endings (\r\n
), so you should not need to worry about converting between the two, but it is best practice to use Unix Line Endings where possible.
Fields
A RepRap Gcode 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 (X175
) or fractionals (X17.62
), but selecting extruder number 2.76 would make no sense. In this description, the numbers in the fields are represented by nnn
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.
Letter | Meaning |
---|---|
Gnnn | Standard GCode command, such as move to a point |
Mnnn | RepRap-defined command, such as turn on a cooling fan |
Tnnn | Select tool nnn. In RepRap, a tool is typically associated with a nozzle, which may be fed by one or more extruders. |
Snnn | Command parameter, such as time in seconds; temperatures; voltage to send to a motor |
Pnnn | Command parameter, such as time in milliseconds; proportional (Kp) in PID Tuning |
Xnnn | A X coordinate, usually to move to. This can be an Integer or Fractional number. |
Ynnn | A Y coordinate, usually to move to. This can be an Integer or Fractional number. |
Znnn | A Z coordinate, usually to move to. This can be an Integer or Fractional number. |
U,V,W | Additional axis coordinates (RepRapFirmware) |
Innn | Parameter - X-offset in arc move; integral (Ki) in PID Tuning |
Jnnn | Parameter - Y-offset in arc move |
Dnnn | Parameter - used for diameter; derivative (Kd) in PID Tuning |
Hnnn | Parameter - used for heater number in PID Tuning |
Fnnn | Feedrate in mm per minute. (Speed of print head movement) |
Rnnn | Parameter - used for temperatures |
Qnnn | Parameter - not currently used |
Ennn | Length of extrudate. This is exactly like X, Y and Z, but for the length of filament to consume. |
Nnnn | Line number. Used to request repeat transmission in the case of communications errors. |
*nnn | Checksum. Used to check for communications errors. |
Case sensitivity
The original NIST GCode 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-insensitive
- RepRapFirmware version 1.19 and later (except within quoted strings)
- Firmwares that are known to be case-sensitive
- RepRapFirmware version 1.18 and earlier
Quoted strings
In 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, many 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 ABCxyz;" 123
to the WiFi network list, use command:
M587 S"MYROUTER" P"ABCxyz;"" 123"
or if you can't send lowercase characters:
M587 S"MYROUTER" P"ABC'X'Y'Z;"" 123"
Comments
Gcode 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 GCode 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 Gcode to your printer, as this saves bandwidth.
Special fields
N: Line number
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | ??? | Yes | Yes | Yes | Yes | ??? | ??? |
- Example
N123
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 M110
(see below).
Although supported, usage of N in Machinekit is discouraged as it serves no purpose.
*: Checksum
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | ??? | Yes | ??? | No | Yes | ??? | ??? |
Example: *71
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.
Checking
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | ??? | Yes | ??? | No | Yes | ??? | ??? |
- Example
N123 [...G Code in here...] *71
The RepRap firmware checks the line number and the checksum. 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 GCode 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.
Buffering
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | Yes | ??? | Yes | Yes | ??? | ??? |
If 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: G0
-G3
and G28
-G32
. The Teacup Firmware buffers also some setting commands: G20
, G21
, G90
and G91
. All other G
, M
or T
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-commands
G0 & G1: Move
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | Yes | Yes | Yes | Yes | Yes | ??? | Yes |
-
G0
: Rapid linear Move -
G1
: Linear Move
- Usage
G0 Xnnn Ynnn Znnn Ennn Fnnn Snnn
G1 Xnnn Ynnn Znnn Ennn Fnnn Snnn
- Parameters
- Not all parameters need to be used, but at least one has to be used
Xnnn
The position to move to on the X axisYnnn
The position to move to on the Y axisZnnn
The position to move to on the Z axisEnnn
The amount to extrude between the starting point and ending pointFnnn
The feedrate per minute of the move between the starting point and ending point (if supplied)Snnn
Flag to check if an endstop was hit (S1
to check,S0
to ignore,S2
see note, default isS0
)1- Examples
G0 X12 ; move to 12mm on the X axis G0 F1500 ; Set the feedrate to 1500mm/minute 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 G0
and G1
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/m G1 X50 Y25.3 E22.4 ; Move and extrude
In the above example, we first set the feedrate to 1500mm/m, 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/m G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/m
However, in the above example, we set a feedrate of 1500 mm/m, then do the same move, but accelerating to 3000 mm/m. 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 G0
or G1
to send an E
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 S
parameter in this way, as damage may occur if you assume incorrectly. In RepRapFirmware, using the S1
or S2
parameter on a delta printer causes the XYZ
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 S1.
2In the RS274NGC Spec, G0
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 G1
is Controlled Move, which was used to move between the current point in space and the new point as precise as possible.
3Some firmwares may not support setting the feedrate inline with a move.
4RepRapFirmware provides an additional 'R1' parameter to tell the machine to go back to the coordinates a print was previously paused at. If this parameter is used and the code contains axis letters, an offset will be added to the pause coordinates (e.g. G1 R1 Z5
).
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 Move
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes1 | No | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | No | No | Yes | Experimental | No | ??? | ??? |
- Usage
G2 Xnnn Ynnn Innn Jnnn Ennn Fnnn
(Clockwise Arc)G3 Xnnn Ynnn Innn Jnnn Ennn Fnnn
(Counter-Clockwise Arc)- Parameters
Xnnn
The position to move to on the X axisYnnn
The position to move to on the Y axisInnn
The point in X space from the current X position to maintain a constant distance fromJnnn
The point in Y space from the current Y position to maintain a constant distance fromEnnn
The amount to extrude between the starting point and ending pointFnnn
The feedrate per minute of the move between the starting point and ending point (if supplied)- Examples
G2 X90.6 Y13.8 I5 J10 E22.4
(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)
G3 X90.6 Y13.8 I5 J10 E22.4
(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)
- Notes
1In Marlin Firmware not implemented for DELTA and SCARA printers.
G4: Dwell
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | Yes | Yes | Yes | Yes | Yes | ??? | Yes |
Pause the machine for a period of time.
- Parameters
Pnnn
Time to wait, in milliseconds (In Teacup, P0, wait until all previous moves are finished)Snnn
Time to wait, in seconds (Only on Repetier, Marlin, Smoothieware, and RepRapFirmware 1.16 and later)- Example
G4 P200
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 Move
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use G1 S2 or G1 H2 instead | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
Perform a direct, uninterpolated, and non-kinematic synchronized move of one or more steppers directly. Units may be linear (e.g., mm or inches on DELTA
) 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
Annn
Stepper A position or angleBnnn
Stepper B position or angleCnnn
Stepper C position or angleR
Relative move flag- SCARA Examples
G6 A45 ; Move SCARA A stepper to the 45° position G6 B20 R ; Move SCARA B stepper 20° counter-clockwise
- DELTA Example
G6 C10 R ; Move DELTA C carriage up by 10mm
G10: Set tool Offset and/or workplace coordinates and/or tool temperatures
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | ??? |
- Usage
G10 Pnnn Xnnn Ynnn Znnn Rnnn Snnn
1- Parameters
Pnnn
Tool numberLnnn
Offset mode (optional)5Xnnn
X offsetYnnn
Y offsetZnnn
Z offset2U,V,W,A,B,Cnnn
other axis offsets4Rnnn
Standby temperature(s) (RepRapFirmware)Snnn
Active temperature(s) (RepRapFirmware)- Examples
G10 P2 X17.8 Y-19.3 Z0.0
(sets the offset for tool 2 to the X, Y, and Z values specified)
G10 P1 R140 S205
(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 R
value is the standby temperature in oC 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. 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 M585
.
- Notes
1Marlin uses G10/G11 for executing a retraction/unretraction move. Smoothie uses G10
for retract and G10 Ln
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 Z
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 M563
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.
5L1 (the default) sets the offsets of the current 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.
G10: Retract
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | dc42,ch | ??? | ??? | ??? | Yes: 0.92 | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
retract length (S1 = long retract, S0 = short retract = default) (Repetier only)- Example
G10
Retracts filament according to settings of M207
(Marlin, RepRapFirmware) or according to the S
value (Repetier).
RepRapFirmware recognizes G10
as a command to set tool offsets and/or temperatures if the P
parameter is present, and as a retraction command if it is absent.
G11: Unretract
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | dc42,ch | ??? | ??? | ??? | Yes: 0.92 | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
retract length (S1 = long retract, S0 = short retract = default) (Repetier only)- Example
G11
Unretracts/recovers filament according to settings of M208
(Marlin, RepRapFirmware) or according to the S
value (Repetier).
G12: Clean Tool
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | no, use a macro | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
[P<0|1>] [S<count>] [T<count>]
G12 Pnnn Snnn Tnnn
- Parameters
Pnnn
1 Pattern style selectionSnnn
Number of strokes (i.e. back-and-forth movements)Tnnn
Number of repetitions- 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
- Notes
1In 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)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes:1.1.4 | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | Yes | No | ??? | ??? | ??? |
These codes set the current plane as follows:
-
G17
: XY (default) -
G18
: ZX -
G19
: YZ
This mode applies to G2
/G3
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 G2
/G3
arcs involving the Z plane.
These commands are supported in Marlin 1.1.4 and later with ARC_SUPPORT
and CNC_WORKSPACE_PLANES
enabled.
G20: Set Units to Inches
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | No | Yes | Yes | No | Yes | ??? | ??? |
- Example
G20
Units from now on are in inches.
G21: Set Units to Millimeters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | Yes | Yes | Yes | Yes | Yes | ??? | ??? |
- Example
G21
Units from now on are in millimeters. (This is the RepRap default.)
G22 & G23: Firmware controlled Retract/Precharge
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | ??? |
- Usage
G22 ; Retract
G23 ; Unretract/Precharge
Relying on machine's firmware to execute extrusion retract/precharge move, instead of having slicer generating to E axis G1
movement. The retract/precharge length, velocity is handled by the machine firmware.
G26: Mesh Validation Pattern
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Usage
G26 C P O2.25 ; Do a typical test sequence
The G26
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 G26
command prints a single layer pattern over the entire print bed, giving a clear indication of how accurately every mesh point is defined. G26
can be used to determine which areas of the mesh are less-than-perfect and how much to adjust each mesh point.
G26
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 G26_Mesh_Validation_Tool.cpp
file in the Marlin source code for full documentation of the G26
parameter list.
G28: Move to Origin (Home)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes1 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | Yes | Yes | Yes | Yes | Yes | ??? | Yes |
- Parameters
- This command can be used without any additional parameters.
X
Flag to go back to the X axis originY
Flag to go back to the Y axis originZ
Flag to go back to the Z axis origin- Examples
G28 ; Home all axes G28 X Z ; Home the X and Z axes
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 X
, Y
, and Z
parameters act only as flags. Any coordinates given are ignored. For example, G28 Z10
results in the same behavior as G28 Z
. Delta printers cannot home individual axes, but must always home all three towers, so the X Y Z
parameters are simply ignored on these machines.
Marlin firmware (version 1.1.0 and later) provides an option called Z_SAFE_HOMING
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 homeall.g
is processed. For individual axes the homex.g
, homey.g
, or homez.g
file will be used. On Delta printers, G28
command will always home all three towers by processing the homedelta.g
file, regardless of any X
Y
Z
parameters.
Because the behavior of G28
is unspecified, it is recommended not to automatically include G28
in your ending GCode. 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 G0
or G1
.
- Notes
1 MK4duo has a B
parameter that tells the printer to return to the coordinates it was at before homing.
2 Original Prusa i3 Mk2/Mk3 supports a W
parameter to suppress mesh bed leveling. If W
is omitted, G28 will home and perform mesh bed leveling.
G29: Detailed Z-Probe
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.17 and later | ??? | ??? | ??? | Yes: 0.91.7 | No, see G32 | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | Yes | No | ??? | ??? |
This 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 G28
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.
- Usage
G29
G29 Snnn
- Parameters
Snnn
Firmware-dependent behaviorPfile.csv
Optional file name for bed height map file (RepRapFirmware only)- Examples
G29 ; Probe the bed and enable compensation G29 S2 ; Special operation - see below G29 P1 ; UBL automated probe - see below
G29 Auto Bed Leveling (Marlin)
Marlin 1.0.2 and earlier provides three options for automatic bed leveling:
- The 3-point method probes the bed at three points to produce a matrix, adjusting for a flat but tilted bed.
- The planar grid method (non-Delta) probes a grid pattern to produce a matrix by the "least-squares" method, adjusting for a flat but tilted bed.
- The bilinear grid method (Delta only) probes a grid pattern to produce a mesh, using bilinear interpolation to adjust for an uneven bed.
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 PROBE_MANUALLY
option allows all forms of Auto Bed Leveling to be used without a probe. The procedure is similar to that of MESH_BED_LEVELING
(see below). Begin the process with G29
to move the nozzle to the first point. Adjust the Z axis using G1
or your host software. Send G29
again to move to the next point and repeat until all points have been sampled.
- Parameters
P
Set the size of the grid that will be probed (P x P points). Not supported by non-linear delta printer bed leveling. Example:G29 P4
S
Set the XY travel speed between probe points (in units/min)D
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.V
Set the verbose level (0-4). Example:G29 V3
T
Generate a Bed Topology Report. Example:G29 P5 T
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.F
Set the Front limit of the probing gridB
Set the Back limit of the probing gridL
Set the Left limit of the probing gridR
Set the Right limit of the probing grid
- Global Parameters
E
By defaultG29
will engage the Z probe, test the bed, then disengage. IncludeE
orE1
to engage/disengage the Z probe for each sample. (This has no effect for fixed probes.)
G29 Unified Bed Leveling (Marlin)
Marlin firmware (version 1.1.0 and later) includes the AUTO_BED_LEVELING_UBL
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 G26
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)
A Activate Activate the Unified Bed Leveling system. (i.e., M420 S1) D Disable Disable the Unified Bed Leveling system. (i.e., M420 S0) B# Business Do Manual Probing in 'Business Card' mode. H# Height Height to raise the nozzle after each Manual Probe of the bed. C Continue Continue, Constant, or Current Location, depending on Phase. E Every Stow the probe after every sampled point. F# Fade Fade leveling compensation gradually, until it ceases at the given height. I# Invalidate Invalidate a specified number of Mesh Points (X and Y). J# Grid Do a grid (planar) leveling of the current Mesh using a grid with n points on a side. K# Kompare Compare (diff) current Mesh with stored Mesh #, replacing current Mesh with the result. L Load Load Mesh from the previously activated location in the EEPROM. L# Load Load Mesh from the specified location in the EEPROM. S Store Store the current Mesh in the Activated area of the EEPROM. Also save all settings. S # Store Store the current Mesh at the specified area in EEPROM, set as the Activated area. S -1 Store Store the current Mesh as a print-out suitable to be fed back into the system. O Map Display the Mesh Map Topology. P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. P1 Phase 1 Invalidate the Mesh and do Automatic Probing to generate new Mesh data. P2 Phase 2 Probe unpopulated areas of the Mesh (those that couldn't be auto-probed). P3 Phase 3 Fill unpopulated Mesh points with a fixed value. No 'C' for "smart fill" extrapolation. P4 Phase 4 Fine tune the Mesh. ** Delta Mesh Compensation requires an LCD panel. ** P5 Phase 5 Find Mean Mesh Height and Standard Deviation. P6 Phase 6 Shift Mesh height. All Mesh points are adjusted by the amount specified with 'C'. Q Test Load specified Test Pattern to help check system operation. R # Repeat Repeat the command the specified number of times. Default: grid points X * Y. T 3-Point Perform a 3-Point Bed Leveling on the current Mesh. U Unlevel Perform a probe of the outer perimeter to assist in physically leveling the bed. W What? Print a report of Unified Bed Leveling stored data. X # The X location for the command Y # The Y location for the command Z Zero Do a single probe to set the Z Height of the nozzle. Z # Zero Raise/lower the entire Mesh to conform with the specified difference (plus zprobe_zoffset).
G29 Manual Bed Leveling (Marlin)
Marlin firmware (version 1.0.2 and later) also provides a MESH_BED_LEVELING
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
G29 S1 ; Move to the first point and wait for a measurement G29 S2 ; Store the current Z, move to the next point G29 S3 Xn Yn Zn.nn ; Modify the Z height of a single point
- Options for the
S
parameter S0
Produces a mesh reportS1
Start probing mesh pointsS2
Probe the next mesh pointS3 Xn Yn Zn.nn
Manually modify a single pointS4 Zn.nn
Set z offset. Positive away from bed, negative closer to bed.
G29 Auto Bed Leveling (Repetier-Firmware)
Repetier firmware since v0.91 supports G29
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 G32
instead with firmware 0.92.8 and above.
S0
Default value. Z bed heights are calculated at the measured points, relative to current Z position before issuingG29
.S1
Same asS0
, except printer immediately moves to Z maximum position (Z max endstop required!), and calculates new Z maximum height. You must first issueG28 Z
to home to Z maximum position before issuingG29 Snnn
for this to work correctly, or the printer height will be invalid.S2
Same asS1
, except new calculated Z height is also stored to EEPROM.
G29 Auto Bed Compensation(RepRapFirmware)
RepRapFirmware:
S0
(default if noS
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/sys
and the default file name isheightmap.csv
.S1
Load the height map from file and activate bed compensation. The default folder and filename as forS0
.S2
Clear the currently-loaded bed height map
To define the grid, see M557.
G29.1: Set Z probe head offset
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | ??? |
- Example
G29.1 X30 Y20 Z0.5
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 position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | ??? |
- Example
G29.2 Z0.0
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 G29.2
command.
G30: Single Z-Probe
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes1 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | Yes | use G28 & G92 | ??? | ??? |
- Usage
G30 Pnnn Xnnn Ynnn Znnn Hnnn Snnn
- Parameters
Pnnn
Probe point numberXnnn
X coordinateYnnn
Y coordinateZnnn
Z coordinateHnnn
Height correctionSnnn
Set parameter- Example
G30
- Examples (RepRapFirmware)
G30 ; Probe the bed at the current XY position. When the probe is triggered, set the Z coordinate to the probe trigger height. G30 S-1 ; Probe the bed at the current XY position. When the probe is triggered, do not adjust the Z coordinate. G30 P0 X20 Y50 Z-99999 ; Probe the bed at X20 Y50 and save the XY coordinates and the height error as point 0 G30 P3 X180 Y180 Z-99999 S4 ; Probe the bed at X180 Y180, save the XY coordinates and the height error as point 3 and calculate 4-point compensation or calibration G30 P3 X180 Y180 Z-99999 S-1 ; As previous example but just report the height errors
In its simplest form probes bed at current XY location.
RepRapFirmware supports additional behaviour: if a Pn
field is specified the probed X
, Y
, and Z
values are saved as point n on the bed for calculating the offset plane or for performing delta printer calibration. If X
, Y
, or Z
values are specified (e.g. G30 P1 X20 Y50 Z0.3
) then those values are used instead of the machine's current coordinates. A silly Z
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. G30 P1 Z0.3 S
) the bed plane is computed for compensation and stored. The combination of these options allows for the machine to be moved to points using G1
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 GCode file for automatic execution.
RepRapFirmware uses the value of the S
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 H
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 Z
parameter of the G31
command in the config.g file. When you probe using G30
and the probe triggers, the firmware will assume that the nozzle is at the nominal trigger height plus the value you have in the H
parameter.
1MK4duo Firmware support an optional parameter for Autocalibration Delta.
- Usage
G30 Xnnn Ynnn Znnn Annn E R I D T S U
- Parameters
Xnnn
X coordinateYnnn
Y coordinateZnnn
Z coordinateAnnn
A Autocalibration width nnn precisionE
Adjust EndstopR
Adjust Endstop & Delta RadiusI
Adjust TowerD
Adjust Diagonal RodT
Adjust Tower RadiusSn
Stows the probe if 1 (default=1)Un
<bool> with a non-zero value will apply the result to current zprobe_zoffset
G31: Set or Report Current Probe status
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | Yes: 0.91.7 | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
G31 Pnnn Xnnn Ynnn Znnn Cnnn Snnn
- Parameters
Pnnn
Trigger valueXnnn
Probe X offset1Ynnn
Probe Y offset1Znnn
Trigger Z heightCnnn
Temperature coefficient2Snnn
Calibration temperature2Tnnn
(RepRapFirmware 1.17 and later) Z probe type to which these parameters apply, defaults to the current Z probe type as defined byM558 P
parameter- Examples
G31 P500 Z2.6 G31 X16.0 Y1.5
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: G31 P312 Z0.7
) this will set the Z height to 0.7mm when the Z-probe value reaches 312 when a G28 Z0
(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 G31 Z0.7
will tell the RepRap machine that it is at a height of 0.7mm when the probe is triggered.
In RepRapFirmware, separate G31
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 G31
command, or use the T
parameter.
In Repetier, G31
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 Z
parameter is correct, default is current bed temperature) and 'C' (temperature coefficient of Z
parameter in mm/oC, default zero) can be set for the alternative (ultrasonic) sensor. This is useful for probes that are affected by temperature. This facility is deprecated and likely to be removed in a future version of RepRapFirmware.
G31: Dock Z Probe sled
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
G32: Probe Z and calculate Z plane
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No: See G29 | Yes | ??? | ??? | ??? | Yes: 0.92.8 | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
G32 ; Probe and calculate G32 Snnn ; Each firmware has its own parameters G32 Snnn Pnnn ; Refer to their specific documentation
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 Reprapfirmware
RepRapFirmware executes macro file bed.g
in response to the G31 command. The bed.g
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 firmware
This 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, G29
) or by tilting the bed with motors.
- Parameters
Snnn
Bed leveling methodPnnn
Bed correction method
The values for Snnn and Pnnn are as follows:
S0
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.S1
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.S2
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.P0
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.P1
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 sled
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
G33: Firmware dependent
G33: Measure/List/Adjust Distortion Matrix (Repetier - Redeem)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes: v0.92.8 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
- Usage
G33
G33 Lnnn
G33 Rnnn
G33 Xnnn Ynnn Znnn
- Parameters
L0
List distortion matrix in a reportR0
Reset distortion matrixX[pos] Y[pos] Z[zCorrection]
Set correction for nearest point- Examples
G33 G33 R0
When used with no parameters, G33
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 G28
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 M323
.
G33: Delta Auto Calibration (Marlin 1.1.x or MK4duo)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use G32 | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
The z-offset is set by making a probe and a paper test at the centre (P-1) (Marlin 1.1.9);
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.
- Usage
G33
G33 S Pn T Cx.xx Fn Vn E
- Parameters
S
Setup mode (Marlin 1.1.9) warning: disables probe protectionPn
Number of probe points: n*n (n= -1 -> 10), when P is omitted the default set in Configuration.h is used.T
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)Cx.xx
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.Fn
Force to run at least n iterations (n=1-30) and take the best resultVn
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 resultsE
Engage the probe for each point- Examples
G33 : calibrates with the default settings. G33 Auto Calibrate Checking... AC .Height:297.77 Ex:+0.00 Ey:+0.00 Ez:+0.00 Radius:100.00 .Tower angle : Tx:+0.00 Ty:+0.00 Tz:+0.00 Iteration : 01 std dev:0.306 Iteration : 02 std dev:0.049 Iteration : 03 std dev:0.033 Iteration : 04 std dev:0.031 Calibration OK rolling back. .Height:297.69 Ex:-0.10 Ey:-0.12 Ez:+0.00 Radius:100.91 .Tower angle : Tx:-0.03 Ty:+0.25 Tz:+0.00 Save with M500 and/or copy to Configuration.h
G33 P6 V0 : probes 36 points in dry run mode. G33 Auto Calibrate Checking... AC (DRY-RUN) .Height:297.77 Ex:+0.00 Ey:+0.00 Ez:+0.00 Radius:100.00 .Tower angle : Tx:+0.00 Ty:+0.00 Tz:+0.00 . c:+0.03 x:+0.32 y:+0.34 z:+0.41 . yz:+0.37 zx:+0.32 xy:+0.17 End DRY-RUN std dev:0.306
G33 P4 C0.05 T : probes 16 points and stops when a standard deviation of 0.05mm is reached; calibrates delta height, endstops and delta radius, leaves the tower angle corrections unaltered. G33 Auto Calibrate Checking... AC .Height:297.78 Ex:+0.00 Ey:+0.00 Ez:+0.00 Radius:100.00 Iteration : 01 std dev:0.317 Iteration : 02 std dev:0.059 Calibration OK std dev:0.042 .Height:297.66 Ex:-0.17 Ey:-0.13 Ez:+0.00 Radius:100.91 Save with M500 and/or copy to Configuration.h
G33 P2 : probes center and tower positions and calibrates delta height, endstops and delta radius. G33 Auto Calibrate Checking... AC .Height:297.78 Ex:+0.00 Ey:+0.00 Ez:+0.00 Radius:100.00 Iteration : 01 std dev:0.374 Iteration : 02 std dev:0.054 Iteration : 03 std dev:0.007 Calibration OK rolling back. .Height:297.68 Ex:-0.14 Ey:-0.14 Ez:+0.00 Radius:101.23 Save with M500 and/or copy to Configuration.h
G33 P1 : probes the center and calibrates the delta height only. G33 Auto Calibrate Checking... AC .Height:261.40 Offset:+0.30 Calibration OK std dev:0.000 .Height:261.58 Offset:+0.10 Save with M500 and/or copy to Configuration.h
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: Set Delta Height calculated from toolhead position (only DELTA)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
- Example
G34
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 G34
command.
This value can be saved to EEPROM using the M500
command.
G38.x Straight Probe (CNC specific)
G38.2 probe toward workpiece, stop on contact, signal error if failure
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | No | ??? | ??? | ??? | ??? | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
G38.3 probe toward workpiece, stop on contact
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | No | ??? | ??? | ??? | ??? | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
G38.4 probe away from workpiece, stop on loss of contact, signal error if failure
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
G38.5 probe away from workpiece, stop on loss of contact
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
G40: Compensation Off (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | Yes | No | ??? | ??? | ??? |
G40
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.
G42: Move to Grid Point
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.2 | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
G42
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
Inn
Grid X index (zero-based). If omitted, the nearest latitude.Jnn
Grid Y index (zero-based). If omitted, the nearest longitude.P
Probe flag. Moves the probe to the grid point (instead of the nozzle).Fnnn
Feedrate (mm/m)- Example
G42 I3 J4 P F3000 ; Move the probe to grid coordinate 3, 4
G53..59: Coordinate System Select (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.21 and later | ??? | ??? | ??? | ??? | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | Yes | No | ??? | ??? | ??? |
See linuxcnc.org for more help
G60: save current position to slot
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | 1.21 and later | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? |
- Usage
G60 Snn
- Parameters
Snn
<nn> specifies memory slot # (0-based) to save into (default 0)
Implementation in RepRapFirmware:
- Only slots 0, 1 and 2 are available. When a print is paused the coordinates are saved to slot 1 automatically, and at the start of a tool change the coordinates are saved to slot 2 automatically. Use G0 or G1 with the R0, R1 or R2 parameter to move the current tool to a saved position.
G61: Apply/restore saved coordinates to the active extruder.
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | Use G0 or G1 with R parameter | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? |
- Usage
G61 Xnnn Ynnn Znnn Ennn Fnnn Snn
- Parameters
Xnnn
X coordinateYnnn
Y coordinateZnnn
Z coordinateEnnn
E coordinateFnnn
F Set FeedrateSnn
S specifies memory slot # (0-based)
G80: Cancel Canned Cycle (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
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.
G90: Set to Absolute Positioning
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | Yes | Yes | Yes | Yes | Yes | ??? | Yes |
- Example
G90
All coordinates from now on are absolute relative to the origin of the machine. (This is the RepRap default.)
G91: Set to Relative Positioning
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | No | Yes | Yes | Yes | Yes | ??? | Yes |
- Example
G91
All coordinates from now on are relative to the last position. Note: RepRapFirmware latest revision firmware uses M83
to set the extruder to relative mode: extrusion is NOT set to relative by ReprapFirmware on G91
: only X,Y and Z are set to relative. By contrast, Marlin (for example) DOES also set extrusion to relative on a G91
command, as well as setting X, Y and Z.
G92: Set Position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | Yes | Yes | Yes | Yes | Yes | ??? | Yes |
- Parameters
- This command can be used without any additional parameters.
Xnnn
new X axis positionYnnn
new Y axis positionZnnn
new Z axis positionEnnn
new extruder position- Example
G92 X10 E90
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 G92
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)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | No | ??? | ??? | ??? | ??? | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
-
G92.1
- reset axis offsets to zero and set parameters 5211 - 5219 to zero. (X Y Z A B C U V W) -
G92.2
- reset axis offsets to zero.
G93: Feed Rate Mode (Inverse Time Mode) (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
G93 is Inverse Time Mode. In inverse time feed rate mode, an F word means the move should be completed in (one divided by the F number) minutes. For example, if the F number is 2.0, the move should be completed in half a minute.
When the inverse time feed rate mode is active, an F word must appear on every line which has a G1
, G2
, or G3
motion, and an F word on a line that does not have G1
, G2
, or G3
is ignored. Being in inverse time feed rate mode does not affect G0
(rapid move) motions.
G94: Feed Rate Mode (Units per Minute) (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | ??? | ??? | ??? | ??? | No | ??? | ??? | ??? |
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.
G100: Calibrate floor or rod radius
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes: 0.92 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
X
Flag to set floor for X axisY
Flag to set floor for Y axisZ
Flag to set floor for Z axisRnnn
Radius to add- Examples
G100 X Y Z ; set floor for argument passed in. Number ignored and may be absent. G100 R5 ; Add 5 to radius. Adjust to be above floor if necessary G100 R0 ; Set radius based on current z measurement. Moves all axes to zero
G130: Set digital potentiometer value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | Yes |
- Example
G130 X10 Y18 Z15 A20 B12
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 offset
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes: 0.91 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
G132: Calibrate endstop offsets
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes: 0.91 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
G133: Measure steps to top
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes: 0.91 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
G161: Home axes to minimum
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Yes | ??? | Yes |
- Parameters
X
Flag to home the X axis to its minimum positionY
Flag to home the Y axis to its minimum positionZ
Flag to home the Z axis to its minimum positionFnnn
Desired feedrate for this command- Example
G161 X Y Z F1800
Instruct the machine to home the specified axes to their minimum position. Similar to G28
, which decides on its own in which direction to search endstops.
G162: Home axes to maximum
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Yes | ??? | Yes |
- Parameters
X
Flag to home the X axis to its maximum positionY
Flag to home the Y axis to its maximum positionZ
Flag to home the Z axis to its maximum positionFnnn
Desired feedrate for this command- Example
G162 X Y Z F1800
Instruct the machine to home the specified axes to their maximum position.
M-commands
M0: Stop or Unconditional stop
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | Yes | Yes | No | Yes | ??? | ??? |
- Parameters
- This command can be used without any additional parameters.
Pnnn
Time to wait, in milliseconds1Snnn
Time to wait, in seconds2- Example
M0
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 M1
, M112
.
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 macro file stop.g
before everything is turned off. Apart from that, RepRapFirmware (v1.09n-ch) accepts an extra 'H' parameter, whose value must be non-zero, to keep all heaters active. This is what Duet Web Control v1.07 sends to cancel a paused print.
- Notes
1Not available in RepRapFirmware, but as a work-around G4
can be run before M0
.
2Only available on Marlin.
M1: Sleep or Conditional stop
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | ??? | ??? | ??? |
- Example
M1
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 M0
, M112
.
The Marlin Firmware does the same as M0
.
If Marlin is emulated in RepRapFirmware, this does the same as M25 if the code was read from a serial or Telnet connection, else the macro file sleep.g
is run before all heaters and drives are turned off.
M2: Program End
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | Yes | ??? | Yes |
- Example
M2
Teacup firmware does the same as M84
.
M3: Spindle On, Clockwise (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | Yes | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | Yes | ??? | ??? |
- Parameters
Snnn
Spindle RPM- Example
M3 S4000
The spindle is turned on with a speed of 4000 RPM.
Teacup firmware turn extruder on (same as M101
).
RepRapFirmware interprets this code only if a Roland mill has been configured.
In Repetier-Firmware in laser mode you need S0
..S255
to set laser intensity. Normally you use S255
to turn it on full power for moves. Laser will only fire during G1
/G2
/G3
moves and in laser mode (M452
).
M4: Spindle On, Counter-Clockwise (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | No | ??? | ??? |
- Example
M4 S4000
The spindle is turned on with a speed of 4000 RPM.
M5: Spindle Off (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | Yes | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | Yes | ??? | ??? |
- Example
M5
The spindle is turned off.
Teacup firmware turn extruder off (same as M103
).
M6: Tool change
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Yes | ??? | ??? |
- Example
M6
M7: Mist Coolant On (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | use M106 | ??? | ??? |
- Example
M7
Mist coolant is turned on (if available)
Teacup firmware turn on the fan, and set fan speed (same as M106
).
M8: Flood Coolant On (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | use M106 | ??? | ??? |
- Example
M8
Flood coolant is turned on (if available)
M9: Coolant Off (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | No | No | No | No | No | use M106 | ??? | ??? |
- Example
M9
All coolant systems are turned off.
M10: Vacuum On (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | use M106 | ??? | ??? |
- Example
M10
Dust collection vacuum system turned on.
M11: Vacuum Off (CNC specific)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | use M106 | ??? | ??? |
- Example
M11
Dust collection vacuum system turned off.
M17: Enable/Power all stepper motors
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | (automatic) | ??? | ??? |
- Example
M17
M18: Disable all stepper motors
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
call M84 | Yes | ??? | ??? | ??? | No | Yes | ??? | call M84 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | use M2 | ??? | Yes |
- Parameters
- This command can be used without any additional parameters.1
X
X axisY
Y axisZ
Z axisE
Extruder drive(s)2- Examples
M18 M18 X E0
Disables stepper motors and allows axes to move 'freely.'
On Marlin, M18
is a synonym of M84
, so it can also be used to configure or disable the idle timeout.
- Examples
M18 S10 ; Idle steppers after 10 seconds of inactivity M18 S0 ; Disable idle timeout
- Notes
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, M18 X E0:2
will disable the X, extruder 0 and extruder 2 motors.
M20: List SD card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | Yes | ??? | ??? |
- Parameters
- This command can be used without any additional parameters.
Snnn
Output style1Pnnn
Directory to list2- Examples
M20 M20 S2 P/gcodes/subdir
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:
ok SQUARE.G SQCOM.G ZCARRI~2.GCO CARRIA~1.GCO
On Marlin, a file list response is usually encapsulated. Standard configurations of RepRapFirmware mimic this style in emulation mode:
Begin file list: SQUARE.G ZCARRI~2.GCO End file list ok
If RepRapFirmware emulates no firmware compatibility, a typical response looks like:
GCode files: "Traffic cone.g","frog.gcode","calibration piece.g"
Note that some firmwares list file names in upper case, but - when sent to the M23
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 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".
- Example
M20 S2 P/gcodes {"dir":"\/gcodes","files":["4-piece-1-2-3-4.gcode","Hinged_Box.gcode","Hollow_Dodecahedron_190.gcode","*Calibration pieces"]}
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.
M21: Initialize SD card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | Yes | ??? | ??? |
- Parameters
Pnnn
SD card number (RepRapFirmware only, default 0)- Examples
M21 M21 P1
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.
M22: Release SD card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | Yes | ??? | ??? |
- Parameters
Pnnn
SD card number (RepRapFirmware only, default 0)- Examples
M22 M22 P1
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 file
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | Yes | ??? | ??? |
- Example
M23 filename.gco
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.
M24: Start/resume SD print
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | Yes | ??? | ??? |
- Example
M24
The machine prints from the file selected with the M23
command. If the print was previously paused with M25
, printing is resumed from that point. To restart a file from the beginning, use M23
to reset it, then M24
.
When this command is used to resume a print that was paused, RepRapFirmware runs macro file resume.g
prior to resuming the print.
M25: Pause SD print
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | Yes | ??? | ??? |
- Example
M25
The machine pauses printing at the current position within the file. To resume printing, use M24. Do not use this code to pause the print in a G-code file, use M226 instead.
Prior to pausing, RepRapFirmware runs macro file pause.g
. 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.
M26: Set SD position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | aborts | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
File position from start of file in bytesPnnn
(Optional, RepRapFirmware only) Proportion of the first move to be skipped, default 0.0, must be less than 1.0- Example
- M26 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 GCode command.
M27: Report SD print status
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | ??? |
- Parameters
- C 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)
- Example
M27
Report SD print status.
Marlin and recent forks of RepRapFirmware report the number of bytes processed in this format, which can be processed by Pronterface:
SD printing byte 2134/235422
If no file is being printed, only this message is reported:
Not SD printing.
In Marlin 1.1.9 and up M27 C
reports the open file's DOS 8.3 name and long filename, if any.
- Example
M27 C
Current file: filena~1.gco Filenagotcha.gcode
In Marlin 1.1.9 and up M27 Sn
sets the auto-report interval. This requires the AUTO_REPORT_SD_STATUS
configuration option to be enabled. Marlin reports this capability in M115
as Cap: AUTO_REPORT_SD_STATUS 1
when this option is available.
- Example
M27 S2 ; Report the SD card status every 2 seconds
M28: Begin write to SD card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | ??? |
- Example
M28 filename.gco
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 card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | ??? |
- Example
M29 filename.gco
File opened by M28
command is closed, and all subsequent commands sent to the machine are executed as normal.
M30: Delete a file on the SD card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
Yes | Yes | No | No | No | No | No | ??? | ??? |
- Example
> M30 filename.gco > filename.gco is deleted.
M30 in grbl
M30 exchange pallet shuttles and end the program. Pressing cycle start will start the program at the beginning of the file.
M31: Output time since last M109
or SD card start to serial
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M31
The response looks like:
echo:54 min, 38 sec
M32: Select file and start SD print
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M32 filename.gco
It can be used when printing from SD card and does the same as M23
and M24
.
tba available in marlin(14/6/2014)
M33: Get the long name for an SD card file or folder
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Not required | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Get 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.
M33: Stop and Close File and save restart.gcode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | Use M25 | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? |
Stop the printing from SD and save all position in restart.gcode for restart printing in future
M34: Set SD file sorting options
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Enable and disable SD card file-sorting, and/or set the folder sorting order. Proposed by Marlin firmware, May 2015.
M35: Upload firmware NEXTION from SD
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? |
M36: Return file information
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Example
M36 filename.gco
Returns information for the specified SD card file in JSON format. A sample response is:
{"err":0,"size":457574,"height":4.00,"layerHeight":0.25,"filament":[6556.3],"generatedBy":"Slic3r 1.1.7 on 2014-11-09 at 17:11:32"}
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, all other values are in mm. The fields may appear in any order, and additional fields may be present.
If the file name parameter is not supplied and a file on the SD card is currently being printed, then information for that file is returned including additional field "fileName". This feature is used by the web interface and by PanelDue, so that if a connection is made when a file is already being printed, the name and other information about that file can be shown.
M37: Simulation mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
- S1 Enter simulation mode
- S0 Leave simulation mode
- P"filename" (optional) Simulate printing a file from SD card
- Examples
- M37 S1
- M37 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, and reports the print time.
M38 Compute SHA1 hash of target file
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Used to compute a hash of a file on the SD card. Examples:
> M38 gcodes/myfile.g > Cannot find file > M38 www/reprap.htm > 91199139dbfadac15a18cfb962dfd4853db83999
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 information
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20.1 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
- Pn SD slot number, default 0
- Sn Response format. S0 returns a plain text response, S2 returns a response in JSON format.
- Examples
- M39 ; report information for SD card 0 in plain text format
- M39 P1 S2 ; report information for SD card 1 in JSON format
This command returns information about the SD card in the specified slot in the requested format. At least the following is returned:
- Whether or not a usable card is present in the slot
- The capacity of the card in bytes (if a card is present)
- The amount of free space on the card in bytes (if a card is present)
The JSON response has the following format (this is provisional):
{"SDinfo":{"slot":0,"present":1,"capacity":4294967296,"free":2147485184,"speed":20971520}}
The capacity and free space are in bytes and the interface speed is in bytes/second.
M40: Eject
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
If 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 M114
command, q.v.).
See also M240
and M241
below.
M41: Loop
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M41
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:
- When you press the reset button,
- When the build material runs out (if your RepRap is set up to detect this), and
- When there's an error (such as a heater failure).
M42: Switch I/O pin
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | No |
- Parameters
Pnnn
Pin numberSnnn
Pin value- Example
M42 P7 S255
M42 switches a general purpose I/O pin. Use M42 Px Sy
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 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:
P | Name | Expansion Port Pin |
---|---|---|
16 | TXD1 | 11 |
17 | RXD1 | 12 |
18 | TXD0 | 13 |
19 | RXD0 | 14 |
20 | TWD1 | 35 |
21 | TWCK1 | 36 |
23 | PA14 | 10 |
36 | PC4 | 18 |
52 | AD14 | 41 |
67 | PB16 | 32 |
In firmware 1.16, the pin numbering has changed.
P | Name | Expansion Port Pin |
---|---|---|
60 | PA10/RXD0 | 14 |
61 | PA11/TXD0 | 13 |
62 | PA12/RXD1 | 12 |
63 | PA13/TXD1 | 11 |
64 | PA14/RTS1 | 10 |
65 | PB12/TWD1 | 35 |
66 | PB13/TWCK1 | 36 |
67 | PB16/DAC1* | 32 |
68 | PB21/AD14 | 41 |
69 | PC4 | 18 |
- Also used as CS signal on external SD card socket
P | Signal Name | Expansion Connector Label | Expansion Pin |
---|---|---|---|
60 | CS5 | CS5 | 50 |
61 | CS6 | E3_STOP | 9 |
62 | CS7 | E4_STOP | 14 |
63 | CS8 | E5_STOP | 19 |
See Using servos and controlling unused I/O pins for all pin definitions.
Pre-1.16 example:
M42 P20 S1 ;set the connector pin 35 to high.
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 M583
.
M43: Stand by on material exhausted
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M43
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 debug
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
M43 En Pnnn Wn In
- Parameters
En
Enable / disable background endstop monitoringPnnn
Pin to read or watch. If omitted, read/watch all pinsWn
bool watch pins -reporting changes- until reset, click, orM108
In
bool Flag to ignore pin protection
- Note
- You must have
PINS_DEBUGGING
uncommented in yourConfiguration_adv.h
file for M43 to work.
M48: Measure Z-Probe repeatability
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Pnnn
number of pointsXnnn
position on the X axisYnnn
position on the Y axisVnnn
verbosityE
engageLnnn
legs of travelS
schizoid
As with G29
, 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.
M70: Display message
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
see M117 | see M117 | ??? | ??? | ??? | see M117 | see M117 | ??? | see M117 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | see M117 | No | ??? | Yes |
- Example
M70 P200 Message
Instruct the machine to display a message on its interface LCD. P
is the time to display message for.
M72: Play a tone or song
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
see M300 | see M300 | ??? | ??? | ??? | No | No | ??? | see M300 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | Yes |
- Example
M72 P2
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 build percentage
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | Yes |
- Example
M73 P50
Instruct the machine that the build has progressed to the specified percentage. The machine is expected to display this on it's interface board. If the percentage is exactly 0, then a Build Start Notification is sent. If the percentage is exactly 100, then a Build End notification is sent.
M80: ATX Power On
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | automatic | ??? | ??? |
- Examples
M80 ; Turn on the power supply M80 S ; Report power supply state (Marlin 1.1.1)
Turns on the ATX power supply from standby mode to fully operational mode. No-op on electronics without standby mode.
- Notes
- Marlin requires the
POWER_SUPPLY
configuration option to be set to a non-zero value to enableM80
. - Some firmwares (e.g., Teacup) handle power on/off automatically, so this is redundant there. Also, see RAMPS wiring for ATX on/off.
M81: ATX Power Off
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | automatic | ??? | ??? |
- Parameters
- P 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)
- Examples
- M81 ; turn power off immediately
- M81 S1 ; turn power off when everything has cooled down (RepRapFirmware)
Turns off the ATX power supply. Counterpart to M80
.
M82: Set extruder to absolute mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | Yes | ??? | ??? |
- Example
M82
Makes the extruder interpret extrusion as absolute positions.
This is the default in repetier.
M83: Set extruder to relative mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | Yes | ??? | ??? |
- Example
M83
Makes the extruder interpret extrusion values as relative positions.
M84: Stop idle hold
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | Yes | ??? | ??? |
- Parameters
- This command can be used without any additional parameters.
Innn
Reset flags1- Example
M84
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, M84
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.
- Notes
1RepRapFirmware-dc42 and other firmware may not support this parameter.
M85: Set inactivity shutdown timer
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | ??? |
- Example
M85 S30
Set inactivity shutdown timer with parameter S<seconds>. "M85 S0" will disable the inactivity shutdown time (default)
M92: Set axis_steps_per_unit
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | No | ??? | ??? |
- Parameters
Xnnn
Steps per unit for the X driveYnnn
Steps per unit for the Y driveZnnn
Steps per unit for the Z driveEnnn
Steps per unit for the extruder drive(s)- Examples
M92 X87.489 Y87.489 Z87.489 M92 E420:420
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 (M500
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 M92
without any parameters.
M93: Send axis_steps_per_unit
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use M92 | ??? | ??? | ??? | ??? | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | No | No | ??? | ??? |
M98: Call Macro/Subprogram
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Parameters
Pnnn
Macro filename- Example
M98 Pmymacro.g
Runs the macro in the file mymacro.g. In conventional G Codes for CNC machines the P
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 GCode file that is executed by the G98
call. That GCode file does not need to end with an M99
(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.
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 on RepRapFirmware too.
M99: Return from Macro/Subprogram
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Example
M99
Returns from an M98
call.
RepRapFirmware closes the currently active macro file. If a nested macro is being run, RepRapFirmware goes up one stack level.
M98: Get axis_hysteresis_mm
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Deprecated - clashes with the G Code standard M98
above
- Example
M98
Report the current hysteresis values in mm for all of the axis.
Proposed for Marlin
M99: Set axis_hysteresis_mm
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Deprecated - clashes with the G Code standard M99
above
- Example
M99 X<mm> Y<mm> Z<mm> E<mm>
Allows programming of axis hysteresis. Mechanical pulleys, gears and threads can have hysteresis when they change direction. That is, a certain number of steps occur before movement occurs. You can measure how many mm are lost to hysteresis and set their values with this command. Every time an axis changes direction, these extra mm will be added to compensate for the hysteresis.
Proposed for Marlin
M101: Turn extruder 1 on (Forward), Undo Retraction
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.17c and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | Yes | ??? | ??? |
in 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 M103
.
in BFB/RapMan: Turn extruder on (forward/filament in).
in RepRapFirmware: undo filament retraction. The length and speed are set by the M207
command. RepRapFirmware supports this command for compatibility with Simplify3D.
in other firmwares:
Deprecated. Regarding filament retraction, see G10
, G11
, M207
, M208
, M227
, M228
, M229
.
M102: Turn extruder 1 on (Reverse)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
In BFB/RapMan firmware: Turn extruder on Reverse (Still to add)
In other firmwares: Deprecated.
M103: Turn all extruders off, Extruder Retraction
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.17c and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | Yes | ??? | ??? |
In Teacup firmware:
If a DC extruder is present, turn that off. Else, retract the filament in the hope to prevent nozzle drooling. Complement to M101
.
In BFB/RapMan firmware: Turn extruder off.
In RepRapFirmware: retract filament. The length and speed are set by the M207
command. RepRapFirmware supports this command for compatibility with Simplify3D.
in other firmwares: Deprecated. Regarding filament retraction, see G10
, G11
, M207
, M208
, M227
, M228
, M229
.
M104: Set Extruder Temperature
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | Yes | Yes | Yes | Yes | Yes | ??? | Yes |
- Parameters
Snnn
Target temperature- Example
M104 S190
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). Duet-dc42 and other firmware also supports the optional T
parameter (as generated by slic3r) to specify which tool the command applies to. See also M109
.
This is deprecated because temperatures should be set using the G10
and T
commands (q.v.).
Deprecation is subject to discussion. --Traumflug 11:33, 19 July 2012 (UTC)
M104 in Teacup Firmware
In Teacup Firmware, M104
can be additionally used to handle all devices using a temperature sensor. It supports the additional P
parameter, which is a zero-based index into the list of sensors in config.h. For devices without a temp sensor, see M106.
- Example
M104 P1 S100
Set the temperature of the device attached to the second temperature sensor to 100°C.
M105: Get Extruder Temperature
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | Yes | No | Yes | Yes | ??? | Yes |
- Parameters
- This command can be used without any additional parameters.
Rnnn
Response sequence number1Snnn
Response type1- Examples
M105 M105 S2
Request the temperature of the current extruder and the build base in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command looks like:
ok T:201 B:117
Expansion/generalization of M105
to be considered using S1 parameter as noted in Pronterface I/O Monitor
In Repetier you can add X0 to get raw values as well:
M105 X0 ==> 11:05:48.910 : T:23.61 /0 @:0 T0:23.61 /0 @0:0 RAW0:3922 T1:23.89 /0 @1:0 RAW1:3920
Recent versions of RepRapFirmware also report the current and target temperatures of all active heaters.
- Notes
1These parameters are only supported by RepRapFirmware, which returns a JSON-formatted response if parameter S2 or S3 is specified. Additionally, parameter Rnn may be provided, where nn is the sequence number of the most recent G-code response that the client has already received. M105 S2
is equivalent to M408 S0
, and M105 S3
is equivalent to M408 S2.
Usage of these forms of M105
is deprecated, please use M408
instead.
M106: Fan On
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | Yes | Yes | Yes | Yes | Yes | ??? | ??? |
- Parameters
Pnnn
Fan number (optional, defaults to 0)2Snnn
Fan speed (0 to 255; RepRapFirmware also accepts 0.0 to 1.0))- Extra Parameters
Innn
Invert signal, or disable fan1Fnnn
Set fan PWM frequency, in Hz1Lnnn
Set minimum fan speed (0 to 255 or 0.0 to 1.0)1Xnnn
Set maximum fan speed (0 to 255 or 0.0 to 1.0)1Bnnn
Blip time - fan will be run at full PWM for this number of seconds when started from standstill1Hnn:nn:nn...
Select heaters monitored when in thermostatic mode1Rnnn
Restore fan speed to the value it has when the print was paused1Tnnn
Set thermostatic mode trigger temperatureCnnn
Set custom name (RRF > 2.01 only)1- Example
M106 S127
- Examples (RepRapFirmware)
M106 P1 I1 S87 M106 P1 T45 H1:2 M106 P2 B0.1 L0.05
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). M106 S0
turns the fan off. In some implementations like RepRapFirmware the PWM value may alternatively be specified as a real fraction: M106 S0.7
.
- 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.
M106 in RepRapFirmware
If an S
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 F
parameter in the M563
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 R2
parameter (see below).
If no S
parameter is given but the R1 parameter is used, the fan speed when the print was last paused will be set. If the R2
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 T
and H
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 H
parameter is at or above the trigger temperature set by the T
parameter, and off otherwise. Thermostatic mode can be disabled using parameter H-1.
The B
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 L
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 X
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 I
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 I
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 M42
.
M106 in Teacup Firmware
Additionally to the above, Teacup Firmware uses M106
to control general devices. It supports the additional P
parameter, which is an zero-based index into the list of heaters/devices in config.h.
- Example
M106 P2 S255
Turn on device #3 at full speed/wattage.
Note: When turning on a temperature sensor equipped heater with M106
and M104
at the same time, temperature control will override the value given in M106
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 M104
is (or becomes) active on a heater (or other device) with a feedback sensor it will correct any M106
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 Off
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | Yes | Yes | Yes | Yes | No | ??? | ??? |
Deprecated in Teacup firmware and in RepRapFirmware. Use M106 S0
instead.
M108: Cancel Heating (Marlin)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
Breaks out of an M109
or M190
wait-for-temperature loop, continuing the print job. Use this command with caution! If cold extrusion prevention is enabled (see M302
) 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., M112
] this requires the host to leave space in the command buffer, or the command won't be executed until later.
M108: Set Extruder Speed (BFB)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
Sets speed of extruder motor.
(Deprecated in FiveD firmware, see M113
)
M109: Set Extruder Temperature and Wait
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | Yes | Yes | Yes | not needed | ??? | Yes |
- Parameters
Snnn
minimum target temperature, waits until heatingRnnn
maximum target temperature, waits until cooling (Sprinter)Rnnn
accurate target temperature, waits until heating and cooling (Marlin)- Example
M109 S215
M109 in Teacup
Not needed. To mimic Marlin behaviour, use M104 followed by M116.
M109 in Marlin, Sprinter (ATmega port), RepRapFirmware
Set extruder heater temperature in degrees celsius and wait for this temperature to be achieved.
- Example
M109 S185
RepRapFirmware also supports the optional T
parameter (as generated by slic3r) to specify which tool the command refers to (see below).
M109 in Sprinter (4pi port)
Parameters: S
(optional), set target temperature value. If not specified, waits for the temperature set by M104. R
(optional), sets target temperature range maximum value.
- Example
M109 S185 R240 ; set extruder temperature to 185 and wait for the temperature to be between 185 - 240.
If you have multiple extruders, use T
or P
parameter to specify which extruder you want to set/wait.
Another way to do this is to use G10.
M109 in MakerBot
- Example
M109 S70 T0
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.
M110: Set Current Line Number
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | Yes | not needed | ??? | ??? |
- Parameters
Nnnn
Line number- Example
M110 N123
This example sets the current line number to 123. Thus the expected next line after this command will be 124.
M111: Set Debug Level
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | Yes | Debug | ??? | ??? |
- Parameters
Pnnn
Debug module1Snnn
Debug on/off- Examples
M111 S6 M111 P1 S1
Enable or disable debugging features in the firmware. The implementation may look different per firmware.
- Notes
1This parameter is only available in RepRapFirmware.
M111 in RepRapFirmware
RepRapFirmware 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 M111 S1 P15
.
M111 in Repetier
Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
#define DEBUG_ECHO (1<<0) #define DEBUG_INFO (1<<1) #define DEBUG_ERRORS (1<<2) #define DEBUG_DRYRUN (1<<3) // repetier-firmware #define DEBUG_COMMUNICATION (1<<4) // repetier-firmware
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 M111 S9
will turn web debug information on without changing any other debug settings, and M111 S8
will turn it off. Web debugging usually means that HTTP requests will be echoed to the USB interface, as will the responses.
M112: Emergency Stop
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | Yes | Yes | ??? | ??? |
- Example
M112
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 M0
and M1
.
M113: Set Extruder PWM
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | No | No | ??? | ??? |
- Example
M113
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 S
value (70% in this instance). M113 S0
turns the extruder off, until an M113
command other than M113 S0
is sent.
M114: Get Current Position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | Yes | No | Yes | Yes | ??? | Yes |
- Example
M114
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 Capabilities
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | Yes | No | Yes | Yes | ??? | No |
- Parameters
- This command can be used without any additional parameters.
Pnnn
Electronics type1- Examples
M115 M115 P2
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:
ok PROTOCOL_VERSION:0.1 FIRMWARE_NAME:FiveD FIRMWARE_URL:http%3A//reprap.org MACHINE_TYPE:Mendel EXTRUDER_COUNT:1
This M115
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 M408
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 P
parameter is present then the integer argument specifies the hardware being used. The following are currently supported:
M115 P0 Automatic board type selection if supported, or default if not M115 P1 Duet 0.6 M115 P2 Duet 0.7 M115 P3 Duet 0.85
M116: Wait
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | Yes | Yes | ??? | Yes |
- Parameters
- This command can be used without any additional parameters.1
Pnnn
Tool numberHnnn
Heater numberCnnn
Chamber number- Examples
M116 M116 P1
Wait for all temperatures and other slowly-changing variables to arrive at their set values if no parameters are specified. See also M109
.
- 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 Position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | No | No | ??? | see M70 |
- Example
M117
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 Message
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | No |
- Example
M117 Hello World
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.
M118: Echo message on host
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes:1.1.4 | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Use this code to print a visible message to the host console, preceded by 'echo:'.
- Example
M118 Color changing to blue
M118: Negotiate Features
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M118 P42
This M-code is for future proofing. NO firmware or hostware supports this at the moment. It is used in conjunction with M115
's FEATURES keyword.
See Protocol_Feature_Negotiation for more info.
M119: Get Endstop Status
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | Yes | ??? | ??? |
- Example
M119
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, M119
can also be used to invert end stops.
- Example
M119 X1 1
This will invert end stop X1 (Inverted means switch is connected in Normally Open state (NO))
M120: Push
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M120
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
- Current feedrate, and
- Whether moves (and separately extrusion) are relative or absolute
RepRapFirmware calls this automatically when a macro file is run. In addition to the variables above, it pushes the following values on the stack:
- Current feedrate
- Extruder positions
M121: Pop
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M121
Recover the last state pushed onto the stack.
M120: Enable endstop detection
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
M121: Disable endstop detection
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
M122: Firmware dependent
M122: Diagnose (RepRapFirmware)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M122
Sending an M122
causes the RepRap to transmit diagnostic information, for eaxmple 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)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Disabled or Enabled Software Endstop M122 S<0/1>
M123: Tachometer value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Sending an M123
causes the RepRap to transmit filament tachometer values from all extruders.
M124: Immediate motor stop
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Immediately stops all motors.
M126: Open Valve
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | No | No | ??? | Yes |
- Example
M126 P500
Open the extruder's valve (if it has one) and wait 500 milliseconds for it to do so.
M126 in MakerBot
- Example
M126 T0
Enables an extra output attached to a specific toolhead (e.g. fan)
M127: Close Valve
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | Yes | No | No | No | ??? | Yes |
- Example
M127 P400
Close the extruder's valve (if it has one) and wait 400 milliseconds for it to do so.
M127 in MakerBot
- Example
M127 T0
Disables an extra output attached to a specific toolhead (e.g. fan)
M128: Extruder Pressure PWM
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M128 S255
PWM value to control internal extruder pressure. S255
is full pressure.
M129: Extruder pressure off
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M129 P100
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 value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
see M301 | No | ??? | ??? | ??? | No | see M301 | ??? | see M301 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | see M301 | Yes | ??? | ??? |
- Parameters
Pnnn
heater numberSnnn
proportional (Kp)- Example
M130 P0 S8.0 ; Sets heater 0 P factor to 8.0
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 value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
see M301 | No | ??? | ??? | ??? | No | see M301 | ??? | see M301 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | see M301 | Yes | ??? | ??? |
- Parameters
Pnnn
heater numberSnnn
integral (Ki)- Example
M131 P1 S0.5 ; Sets heater 1 I factor to 0.5
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 value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
see M301 | see M301 | ??? | ??? | ??? | No | See M301 | ??? | see M301 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | see M301 | Yes | ??? | Yes |
- Parameters
Pnnn
heater numberSnnn
derivative (Kd)- Example
M132 P0 S24 ; Sets heater 0 D factor to 24.0
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 MakerBot
- Example
M132 X Y Z A B
Loads the axis offset of the current home position from the EEPROM and waits for the buffer to empty.
M133: Set PID I limit value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
see M301 | No | ??? | ??? | ??? | No | No | ??? | see M301 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | see M301 | Yes | ??? | Yes |
- Parameters
Pnnn
heater numberSnnn
integral limit (Ki)- Example
M133 P1 S264 ; Sets heater 1 I limit value to 264
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 MakerBot
- Example
M133 T0 P500
Instruct the machine to wait for the toolhead to reach its target temperature. T is the extruder to wait for. P if present, sets the time limit.
M134: Write PID values to EEPROM
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | see M500 | ??? | ??? | ??? | No | See M504 | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Yes | ??? | Yes |
- Example
M134
M134 in MakerBot
- Example
M134 T0 P500
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 interval
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | Yes |
- Parameters
Snnn
Heat sample time in seconds- Example
M135 S300
Set the PID to measure temperatures and calculate the power to send to the heaters every 300ms.
M135 in MakerBot
- Example
M135 T0
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 host
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | see M301 | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Debug | ??? | ??? |
- Example
M136 P1 ; print heater 0 PID parameters to host
M140: Set Bed Temperature (Fast)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | Yes | Yes | Yes | Yes | ??? | Yes |
- Parameters
Snnn
Target temperatureHnnn
Heater number1- Example
M140 S55
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). There is an optional R field that sets the bed standby temperature: M140 S65 R40
.
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 affected1:
M140 S-273.15
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)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | uses M104 | ??? | ??? |
- Parameters
Snnn
Target temperatureHnnn
Heater number1- Examples
M141 S30 M141 H0
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).
- Notes
1This parameter is only available in RepRapFirmware.
M142: Holding Pressure
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M142 S1
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.
M143: Maximum heater temperature
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
H
Heater number (RepRapFirmware 1.17 and later, default 1 which is normally the first hot end)S
Maximum temperature- Examples
M143 S275 ; set the maximum temperature of the hot-end to 275°C M143 H0 S125 ; set the maximum bed temperature to 125C
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 Standby
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M144
Switch the bed to its standby temperature. M140
turns it back to its active temperature; no need for any arguments for that use of M140
.
M146: Set Chamber Humidity
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Rnnn
Relative humidity in percent- Example
M146 R60
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 units
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
C
Flag to treat temperature as degrees CelsiusK
Flag to treat temperature as Kelvin- Example
M149 K
It affects the S
or R
values in the codes M104
, M109
, M140
, M141
, M143
, M190
and G10.
The default is M149 C
.
M150: Set display color
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | See below | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Rnnn
redUnnn
greenBnnn
blueSnnn
number of LEDs in strip to set, default 1 (RepRapFirmware only)- Example
M150 R255 U128 B192
Set BlinkM Color via I2C. Range for values: 0-255
RepRapFirmware uses this command to control DotStar LED strips, on controllers that provides a connector for this purpose.
Marlin also appears to use parameters P and W in some configurations.
M155: Automatically send temperatures
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | No | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
enable sending temperatures = 1, disable = 0- Example
M155 S1
Hosts normally monitor printer temperatures by sending M105
every x seconds. This not only adds traffic, but also only works while printer is not blocked by waiting commands. So frequency more depends on frequency you can send new commands and creates extra traffic. As a solution, firmware can be told to automatically send temperatures every second. This function is disabled by default for best compatibility with existing hosts. To indicate the availability of this function, M115
will add an extra line:
Cap:AUTOREPORT_TEMP:1
so hosts know about the presence of the function.
M160: Number of mixed materials
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M160 S4
This command has been superseded by the tool definition command M563
(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:
M160 S4 G1 X90.6 Y13.8 E2.24:2.24:2.24:15.89 G1 X70.6 E0:0:0:42.4 G1 E42.4:0:0:0
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 material
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: RC7 | Use M567 | ??? | ??? | ??? | Yes: 0.92 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
extruder numberPnnn
weight
Set weight for this mixing extruder drive.
See Repetier Color Mixing for more informations.
M164: Store weights
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: RC7 | No | ??? | ??? | ??? | Yes: 0.92 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
virtual extruder numberPnnn
store to eeprom (P0 = no, P1 = yes)
Store weights as virtual extruder S.
M165: Set multiple mix weights
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: RC7 | No | ??? | ??? | ??? | No: | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
A B C D H I
A[factor]
Mix factor for extruder stepper 1B[factor]
Mix factor for extruder stepper 2C[factor]
Mix factor for extruder stepper 3D[factor]
Mix factor for extruder stepper 4H[factor]
Mix factor for extruder stepper 5I[factor]
Mix factor for extruder stepper 6
- Set multiple mix factors for a mixing extruder.
- Factors that are left out will be set to 0.
- All factors together must add up to 1.0.
M190: Wait for bed temperature to reach target temp
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | Yes | Yes | See M116 | ??? | ??? |
- Parameters
Snnn
minimum target temperature, waits until heatingRnnn
accurate target temperature, waits until heating and cooling (Marlin)- Example
M190 S60
This will wait until the bed temperature reaches 60 degrees, printing out the temperature of the hot end and the bed every second.
M191: Wait for chamber temperature to reach target temp
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.17 and later | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | ??? |
- Example
M191 P60
Set the temperature of the build chamber to 60 °C and wait for the temperature to be reached.
In MK4duo:
- Parameters
Snnn
minimum target temperature, waits until heatingRnnn
accurate target temperature, waits until heating and cooling (Marlin)- Example
M191 S60
M200: Set filament diameter
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.19 and later | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | ??? |
RepRapFirmware:
- Parameters
- Daaa:bbb:ccc... Sets filament diameter to aaa for extruder 0, bbb for extruder 1 and so on. If any of aaa, bbb etc. are zero then volumetric extrusion is disabled for that extruder.
- Daaa Sets filament diameter (or disables volumetric extrusion) for all extruders
- Examples
- M200 D0 ; disable volumetric extrusion on all extruders
- M200 D1.75 ; set al extruder filament diameters to 1.75mm
- M200 D1.75:3.0:1.75 ; set extruder 0 to 1.75mm, extruder 1 to 3.0mm and all remaining extruders to 1.75mm
Volumetric extrusion is an option you can set in some slicers whereby all extrusion amounts are specified in mm3 (cubic millimetres) of filament instead of mm of filament. This makes the gcode independent of the filament diameter, potentially allowing the same gcode to run on different printers. The purpose of the M200 command is to inform the firmware that the gcode input files have been sliced for volumetric extrusion, and to provide the filament diameter so that the firmware can adjust the requested extrusion amount accordingly.
Sending M200 without parameters reports the current volumetric extrusion state and (where appropriate) filament diameter for each extruder.
Note that if you use slicer-commanded retraction, the retraction amounts must be specified in mm3 too. If instead you use firmware retraction, then the firmware retraction amounts specified using the M207 command are still interpreted as mm.
Other firmwares:
Without parameters loads default grid, and with specified extension attempts to load the specified grid. If not available will not modify the current grid. If Z was saved with the grid file, it will load the saved Z with the grid.
M200 Dm.mmm
sets the filament diameter to m.mmm millimeters. It is used with 'volumetric calibration' and G-code generated for an ideal 1.128mm diameter filament, which has a volume of 1mm^3 per millimeter. The intention is to be able to generate filament-independent g-code. (See Triffid_Hunter's_Calibration_Guide#Optional:_Switch_to_volumetric_E_units and http://wooden-mendel.blogspot.com/2011/09/volumetric-stage-two.html for more information.)
M200 D0
or M200 D1.128
; reset E multiplier to 1, since sqrt(1 / pi) * 2 = 1.128
See also Gcode#M119:_Get_Endstop_Status
Question: what does a firmware do with filament diameter? Has this an effect on how much an E command moves the extruder motor? --Traumflug 11:34, 14 October 2012 (UTC) Yes, Marlin uses this to set a 'volumetric_multiplier' by which the E-steps of a move are scaled in the planner. DaveX (talk) 16:44, 12 April 2014 (PDT) Smoothie implements the same thing as Marlin --Arthurwolf (talk) 05:23, 10 November 2014 (PST)
M201: Set max printing acceleration
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | No | ??? | ??? |
- Parameters
Xnnn
Acceleration for X axisYnnn
Acceleration for Y axisZnnn
Acceleration for Z axisEnnn
Acceleration for extruder drives- Example
M201 X1000 Y1000 Z100 E2000
Sets the acceleration that axes can do in units/second^2 for print moves. For consistency with the rest of G Code movement this should be in units/(minute^2), but that gives really silly numbers and one can get lost in all the zeros. So for this we use seconds.
RepRapFirmware expects these values to be in mm/s².
M202: Set max travel acceleration
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | No | No | No | ??? | No | ??? | ??? |
Set max travel acceleration in units/s^2 for travel moves (M202 X1000 Y1000
). Unused in Marlin!!
M203: Set maximum feedrate
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | No | No | No | ??? | No | ??? | ??? |
- Parameters
Xnnn
Maximum feedrate for X axisYnnn
Maximum feedrate for Y axisZnnn
Maximum feedrate for Z axisEnnn
Maximum feedrate for extruder drives- Example
M203 X6000 Y6000 Z300 E10000
Sets the maximum feedrates that your machine can do in mm/min (Marlin uses mm/sec).
M203 Repetier
Set temperature monitor to Sx
.
M204: Set default acceleration
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.18 and later | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | ??? | No | ??? | ??? |
- Parameters (RepRapFimware)
Pnnn
Acceleration for printing movesTnnn
Acceleration for travel moves- Example
M204 P500 T2000
Use M201
to set per-axis accelerations and extruder accelerations. RepRapFirmware applies the M204
accelerations to the move as a whole, and also applies the limits set by M201
to each axis and extruder.
Other firmwares:
S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20
minimum feedrate
Marlin notes: After Mar11-2015, the M204
options have changed in Marlin:
P = Printing moves
R = Retract only (no X, Y, Z) moves
T = Travel (non printing) moves
The command M204 P800 T3000 R9000
sets the acceleration for printing movements to 800mm/s^2, for travels to 3000mm/s^2 and for retracts to 9000mm/s^2.
M204 Repetier
- Usage
M204 X[Kp] Y[Ki] Z[Kd]
Set PID parameter. Values are 100*real value.
M205: Advanced settings
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use M566 | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | ??? | No | ??? | ??? |
- Sprinter / Marlin
- Minimum travel speed =
S[printing]
T[travel]
B[min segment time] X[max XY jerk] Z[max Z jerk] E[max E jerk]
- Sprinter / Marlin Example
M205 X30 Z5 ; Set X/Y Jerk to 30mm/s, Z jerk to 5mm/s
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 moves
- 0 disables junction deviation for Z
- -1 uses global junction deviation
- Smoothie example
M205 X0.05 ; set X/Y Junction Deviation
M205 Repetier
Output EEPROM settings.
M206: Offset axes
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | No | ??? | ??? |
- Parameters
Xnnn
X axis offsetYnnn
Y axis offsetZnnn
Z axis offset- Example
M206 X10.0 Y10.0 Z-0.4
The values specified are added to the endstop position when the axes are referenced. The same can be achieved with a G92
right after homing (G28
, G161
).
With Marlin firmware, this value can be saved to EEPROM using the M500
command.
A similar command is G10
, aligning these two is subject to discussion.
With Marlin 1.0.0 RC2 a negative value for z lifts(!) your printhead.
M206 in Repetier: Set eeprom value
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
M206 T[type] P[pos] [Sint(long] [Xfloat] Set eeprom value
- Example
M206 T3 P39 X19.9
Set Jerk to 19.9
M207: Calibrate z axis by detecting z max length
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M207
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: Set retract length
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
positive length to retract, in mmRnnn
positive or negative additional length to un-retract, in mm (RepRapFirmware only)Fnnn
retraction feedrate, in mm/minTnnn
feedrate for un-retraction if different from retraction, mm/min (RepRapFirmware 1.16 and later only)Znnn
additional zlift/hop- Example
M207 S4.0 F2400 Z0.075
Sets the retract length used by the G10
and G11
commands, stays in mm regardless of M200
setting
M208: Set axis max travel
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
0 = set axis maximum (default), 1 = set axis minimumXnnn
X axis limitYnnn
Y axis limitZnnn
Z axis limit- Example
- M208 X200 Y200 Z90 ; set axis maxima
- M208 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.
M208: Set unretract length
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | See M207 | ??? | ??? | ??? | No | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
positive length surplus to theM207 Snnn
, in mmFnnn
feedrate, in mm/sec
Sets recover=unretract length.
M209: Enable automatic retract
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Example
M209 S1
This boolean value S 1=true or 0=false enables automatic retract detect if the slicer did not support G10
/G11
: every normal extrude-only move will be classified as retract depending on the direction.
M210: Set homing feedrates
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M210 X1000 Y1500
Set the feedrates used for homing to the values specified in mm per minute.
M211: Disable/Enable software endstops
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use M564 | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
The 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.
- Example
M211 X1 Y1 Z1 S0
Disables X,Y,Z max endstops
- Example
M211 X0 S1
Enables X min endstop
- Example
M211
Prints current state of software endstops.
M212: Set Bed Level Sensor Offset
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes* | Use G31 | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
This 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.
- Example
M212 Z-0.2
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 M500
& M501
after setting this.
M217: Toolchange Parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
If arguments are given, sets tool-change retract and prime length (mm), prime feedrate (mm/m), retract feedrate (mm/m), and park position/raise (mm) or Z raise (mm): S<length> P<prime_speed> R<retract_speed> X<xpos> Y<ypos> Z<zraise>. XY arguments require SINGLENOZZLE_SWAP_PARK. If no arguments are given, reports current values. Currently used to set the SINGLENOZZLE
tool-change options in Marlin 2.0 and up. May be extended for other tool-changing systems in the future.
M218: Set Hotend Offset
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use G10 | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Sets hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>.
- Example
M218 T1 X50 Y0.5
M220: Set speed factor override percentage
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | Yes | ??? | ??? |
- Parameters
Snnn
Speed factor override percentage (0..100 or higher)- Example
M220 S80
Sets the speed factor override percentage.
M221: Set extrude factor override percentage
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | Yes | ??? | ??? |
- Parameters
Snnn
Extrude factor override percentage (0..100 or higher), default 100%Dnnn
Extruder drive number (RepRapFirmware only), default 0- Example
M221 S70 M221 S95 D1
Sets extrude factor override percentage. In the case of RepRapFirmware, sets the extrusion factor percentage for the specified extruder drive only.
M220: Turn off AUX V1.0.5
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
M221: Turn on AUX V1.0.5
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
M222: Set speed of fast XY moves
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
M223: Set speed of fast Z moves
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
M224: Enable extruder during fast moves
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
M225: Disable on extruder during fast moves
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | No | No | No | ??? | ??? |
M226: Gcode Initiated Pause
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | Yes | No | Yes | No | No | ??? | ??? |
- Example
M226
Initiates a pause in the same way as if the pause button is pressed. That is, program execution is stopped and the printer waits for user interaction. This matches the behaviour of M1
in the NIST RS274NGC G-code standard and M0
in Marlin firmware.
M226: Wait for pin state
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | see M577 | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Pnnn
pin numberSnnn
pin state- Example
M226 P2 S1
Wait for a pin to be in some state.
M227: Enable Automatic Reverse and Prime
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M227 P1600 S1600
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 M101
/M103
.
M228: Disable Automatic Reverse and Prime
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M228
See also M227
.
M229: Enable Automatic Reverse and Prime
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M229 P1.0 S1.0
P
and S
are extruder screw rotations. See also M227
.
M230: Disable / Enable Wait for Temperature Change
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M230 S1
S1
Disable wait for temperature change
S0
Enable wait for temperature change
M231: Set OPS parameter
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
M231 S[OPS_MODE] X[Min_Distance] Y[Retract] Z[Backslash] F[RetractMove]
M232: Read and reset max. advance values
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
M240: Trigger camera
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M240
Triggers a camera to take a photograph. (Add to your per-layer GCode.)
M240: Start conveyor belt motor / Echo off
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Debug: Echo off | ??? | ??? |
- Example
M240
The conveyor belt allows to start mass production of a part with a reprap.
Echoing may be controlled in some firmwares with M111
.
M241: Stop conveyor belt motor / echo on
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | Debug: Echo on | ??? | ??? |
- Example
M241
Echoing may be controlled in some firmwares with M111
.
M245: Start cooler
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use M106 | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M245
used to cool parts/heated-bed down after printing for easy remove of the parts after print
M246: Stop cooler
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use M106 | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M246
M250: Set LCD contrast
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Example
M250 C20
Sets LCD contrast C<contrast value> (value 0..63), if available.
M251: Measure Z steps from homing stop (Delta printers)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Examples
M251 S0 ; Reset M251 S1 ; Print M251 S2 ; Store to Z length (also EEPROM if enabled)
(This is a Repetier-Firmware only feature.)
M260: i2c Send Data
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | 1.21 and later | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
Buffer and send data over the i2c bus. Use A
to set the address from 0-127. Add up to 32 bytes to the buffer with each B
. Send and reset the buffer with S
.
- Parameters (Marlin, MK4duo)
- Ann I2C address
- Bnn Byte to buffer or send
- S If present, sends the bytes that have been buffered
- Examples
M260 A5 B65 S ; Send 'A' to Address 5 now M260 A0 ; Set address to 0 (broadcast) M260 B77 ; M M260 B97 ; a M260 B114 ; r M260 B108 ; l M260 B105 ; i M260 B110 ; n M260 S1 ; Send the current buffer
- Parameters (RepRapFirmware)
- Ann I2C address
- Bnn:nn:nn... Bytes to send
- Examples
M260 A5 B65 ; Send 'A' to address 5 M260 A0x7F B0x41 ; Send 'A' to address 7F (hex) M260 A0 B82:101:112:82:97:112 ; Send 'RepRap' to address 0
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 Data
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | 1.21 and later | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
Request data from an i2c slave device. This command simply relays the received data to the host.
- Parameters
- Ann I2 address
- Bnn How many bytes to request
- Example
M261 A99 B5 ; Request 5 bytes from Address 99
Both M260
and M261
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 EXPERIMENTAL_I2CBUS
, and Marlin can act as a slave device by setting I2C_SLAVE_ADDRESS
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 position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.16 and later | ??? | ??? | ??? | Use M340 | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | Yes | No | ??? | ??? |
Set servo position absolute.
- Parameters
Pnnn
Servo indexSnnn
Angle or microsecondsI1
Invert polarity (RepRapFirmware only)- Example
M280 P1 S50
Marlin and RepRapFirmware treat S
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 M42
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 I
parameter is not remembered between M280
commands (unlike the I
parameter in M106
commands), so if you need inverted polarity then you must include I1 in every M280
command you send.
P | Name | Expansion Port Pin |
---|---|---|
Use M307 H# A-1 C-1 D-1 before using these pins | ||
3 | PC23_PWML6 | 21 |
4 | PC22_PWML5 | 22 |
5 | PC21_PWML4 | 23 |
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 (M106 P1 I-1
). See Using servos and controlling unused I/O pins
M290: Babystepping
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
1.1.7 and later | 1.18 and later | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Parameters (RepRapFirmware)
Snnn
Amount to baby step in mm. Positive values raise the head, negative values lower it.Znnn
Synonym for S (RepRapFirmware 1.21 and later)Rn
(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
M290 S0.05 ; babystep the head up 0.05mm M290 R0 S0 ; clear babystepping (RepRapFirmware 1.21 and later only)
- Parameters (Repetier)
Znnn
Amount to baby step in mm. Positive values raise the head, negative values lower it.- Examples
M290 S0.05 ; babystep the head up 0.05mm
- Additional Parameters (Marlin 1.1.7 and later)
Xnnn
Amount to babystep X in current units. (RequiresBABYSTEP_XY
)Ynnn
Amount to babystep Y in current units. (RequiresBABYSTEP_XY
)Znnn
Amount to babystep Z in current units. Synonym for 'S
' parameter.- Example
M290 X0.2 Z0.05 ; Babystep X by 0.2mm, Z by 0.05mm
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 M290
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 BABYSTEP_ZPROBE_OFFSET
option is used in Marlin, this command also affects the Z probe offset (as set by M851
) and that offset will be saved to EEPROM.
M291: Display message and optionally wait for response
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Parameters
P"message"
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.R"message"
Optional title for the message box. Must be enclosed in double quotation marks too.Sn
Message box mode (defaults to 1)Tn
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). In RepRapFirmware, the default timeout for messages that do not require acknowledgement is 10 seconds.Zn
0 = no special action, 1 = display Z jog buttons alongside the message to allow the user to adjust the height of the print head- Examples
M291 P"Please do something and press OK when done" S2 M291 P"This message will be closed after 10 seconds" T10
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:
0. No buttons are displayed (non-blocking) 1. Only "Close" is displayed (non-blocking) 2. Only "OK" is displayed (blocking, send M292 to resume the execution) 3. "OK" and "Cancel" are displayed (blocking, send M292 to resume the execution or M292 P1 to cancel the operation in progress)
M292: Acknowledge message
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Parameters
-
Pn
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 sound
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | No | No | ??? | Yes |
- Parameters
Snnn
frequency in HzPnnn
duration in milliseconds- Example
M300 S300 P1000
Play beep sound, use to notify important events like the end of printing. See working example on 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.
M301: Set PID parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | See M130-M133 | ??? | ??? |
- Parameters
Hnnn
heater number (Smoothie uses 'S', Redeem uses 'E')Pnnn
proportional (Kp)Innn
integral (Ki)Dnnn
derivative (Kd)- Examples
M301 H1 P1 I2 D3 ; Marlin, RepRapFirmware M301 S0 P30 I10 D10 ; Smoothie M301 E0 P30 I10 D10 ; Redeem (E = Extruder, -1=Bed, 0=E, 1=H, 2=A, 3=B, 4=C, default = 0)
Sets Proportional (P), Integral (I) and Derivative (D) values for hot end. See also PID Tuning.
Marlin
Hot end only; see M304
for bed PID. H is the heater number, default 1 (i.e. first extruder heater).
RepRapFirmware 1.15 onwards
In 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
-
H
Is the heater number, and is compulsory. H0 is the bed, H1 is the first hot end, H2 the second etc. -
P
Interprets a negative P term as indicating that bang-bang control should be used instead of PID (not recommended for the hot end, but OK for the bed heater). -
I
Integral value -
D
Derivative value -
T
Is the approximate additional PWM (on a scale of 0 to 255) needed to maintain temperature, per degree C above room temperature. Used to preset the I-accumulator when switching from heater fully on/off to PID. -
S
PWM scaling factor, to allow for variation in heater power and supply voltage. Is designed to allow a correction to be made for a change in heater power and/or power supply voltage without having to change all the other parameters. For example, an S factor of 0.8 means that the final output of the PID controller should be scaled to 0.8 times the standard value, which would compensate for a heater that is 25% more powerful than the standard one or a supply voltage that is 12.5% higher than standard. -
W
Wind-up. Sets the maximum value of I-term, must be high enough to reach 245C for ABS printing. -
B
PID Band. Errors larger than this cause heater to be on or off.
An example using all of these would be:
M301 H1 P20 I0.5 D100 T0.4 S1 W180 B30
Smoothie
S0<code> 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 implementations
W: 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?)
- Example
M301 W125
Teacup
See <code>M130, M131
, M132
, M133
for Teacup's codes for setting the PID parameters.
M302: Allow cold extrudes
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes1 | ??? | ??? | ??? | 0.92 and later | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Snnn
Cold extrude minimum temperature (also in RepRapFirmware 2.02 and later)Pnnn
Cold extrude allow state (RepRapFirmware)Rnnn
Cold retraction minimum temperature (RepRapFirmware 2.02 and later)
- Examples (RepRapFirmwre)
M302 ; Report current state M302 P1 ; Allow cold extrusion M302 S120 R110 ; Allow extrusion starting from 120°C and retractions already from 110°C
- Examples (Others)
M302 S0 ; Allow extrusion at any temperature M302 S170 ; Allow extrusion above 170
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.
- Notes
1RepRapFirmware uses the P[0|1]
parameter instead of S[temperature]
, and for M302
with no parameters it will report the current cold extrusion state.
M303: Run PID tuning
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.15 and later | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | Yes | No | ??? | ??? |
PID 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:
M303 S<temperature> C<cycles>
Bed usage (repetier, not sure whether cycles work here):
M303 P1 S<temperature>
Bed usage (others):
M303 E-1 C<cycles> S<temperature>
- Example
M303 C8 S175
Smoothie's syntax, where E0
is the first temperature control module (usually the hot end) and E1
is the second temperature control module (usually the bed):
M303 E0 S190
In RepRapFirmware, this command computes the process model parameters (see M307
), 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 M303
with no parameters to see the current tuning state or the last tuning result.
- Example
M303 H1 P0.4 S240 ; tune heater 1 using 40% PWM, quit if temperature exceeds 240C
- Notes
In Marlin Firmware you can add the U1
parameter to apply the PID results to current settings upon completion.
M304: Set PID parameters - Bed
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | ??? | see M301 | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Pnnn
proportional (Kp)Innn
integral (Ki)Dnnn
derivative (Kd)- Examples
M304 P1 I2 D3 ; set kP=3, kI=2, kD=3 M304 P1 I2 D3 T0.7 B20 W127 ; RepRapFirmware M304 ; Report parameters
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 M301
except that the H
parameter (heater number) defaults to zero.
See also PID Tuning.
M304 in RepRapPro version of Marlin: Set thermistor values
In the RepRapPro version of Marlin ( https://github.com/reprappro/Marlin ) M304
is used to set thermistor values (as M305
is in later firmwares). RRP Marlin calculates temperatures on the fly, rather than using a temperature table. M304
Sets the parameters for temperature measurement.
- Example
M304 H1 B4200 R4800 T100000
This tells the firmware that for heater 1 (H
parameter: 0 = heated bed, H = first extruder), the thermistor beta (B
parameter) is 4200, the thermistor series resistance (R
parameter) is 4.8Kohms, the thermistor 25C resistance (T
parameter) is 100Kohms. All parameters other than H are optional. If only the H
parameter is given, the currently-used values are displayed. They are also displayed within the response to M503
.
M305: Set thermistor and ADC parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | ??? | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Pnnn
Heater number, or virtual heater numberS"name"
Heater name (optional, RepRapFirmware only)Tnnn
(for thermistor sensors) Thermistor resistance at 25oCT"c"
(for MAX31856-based thermocouple sensors) The thermistor type letter, default KBnnn
Beta value, or the reciprocal of the Steinhart-Hart thermistor model B coefficientCnnn
Steinhart-Hart C coefficient (RepRapFirmware 1.17 and later), default 0Rnnn
Series resistor valueLnnn
ADC low offset correction, default 0Hnnn
ADC high offset correction, default 0Xnnn
Heater ADC channel, or thermocouple or PT100 or current loop adapter channel, defaults to the same value as theP
parameterFnn
(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
M305 P1 T100000 R1000 B4200
Sets the parameters for temperature measurement. The example above tells the firmware that for heater 1 (P
parameter: 0 = heated bed, 1 = first extruder) the thermistor 25C resistance (T
parameter) is 100Kohms, the thermistor series resistance (R
parameter) is 1Kohms, the thermistor beta (B
parameter) is 4200. All parameters other than P are optional. If only the P
parameter is given, the existing values are displayed.
- Example
M305 P1 T100000 R1000 B4200 H14 L-11 X2
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 X
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 (H
parameter) is 14, the ADC low end correction (L
parameter) is -11, and thermistor input #2 is used to measure the temperature of heater #1.
M306: Set home offset calculated from toolhead position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M306 Z0
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 M306
command.
This value can be saved to EEPROM using the M500
command (as M206
value).
Implemented in Smoothieware
M307: Set or report heating process parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.15 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Hn
Heater number (0 is usually the bed heater)Annn
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.Cnnn
dominant time Constant of the heating process in secondsDnnn
Dead time in seconds- Four optional additional parameters help control the heating process
Fnnn
PWM frequency to use.Bn
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.Snnn
maximum PWM to be used used with this heater on a scale of 0 to 1. Default 1.0.Vnnn
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 disables compensation for changes in supply voltage.- Examples
M307 H0 ; report the process parameters for heater 0 M307 H1 A346.2 C140 D5.3 B0 S0.8 V23.8 ; set process parameters for heater 1, use PID, and limit heater 1 PWM to 80%
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 (including using different values for the heating or cooling phase and the steady state phase), to better detect heater faults, and to calculate feed-forward terms to better respond to changes in the load. Normally these model parameters are found by auto tuning - see M303
.
RepRapFirmware 1.16 and later allow the PID controller for a heater to be disabled by setting the A
, C
, and D
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.
M320: Activate autolevel (Repetier)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
M320
M320 S1
- Parameters
Snnn
if greater than 0, activate and store persistently in EEPROM- Examples
M320 ; temporarily activate auto leveling M320 S1 ; permanently activate auto leveling
Parameter Snnn
is optional.
(Repetier only)
M321: Deactivate autolevel (Repetier)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
M321
M321 S1
- Parameters
Snnn
if greater than 0, deactivate and store persistently in EEPROM- Examples
M321 ; temporarily deactivate auto leveling M321 S1 ; permanently deactivate auto leveling
Parameter Snnn
is optional.
(Repetier only)
M322: Reset autolevel matrix (Repetier)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
M322
M322 S1
- Parameters
Snnn
if greater than 0, also reset the matrix values saved EEPROM- Examples
M322 ; temporarily reset auto level matrix M322 S1 ; permanently reset auto level matrix
Parameter Snnn
is optional.
(Repetier only)
M323: Distortion correction on/off (Repetier)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Usage
M323
M323 Snnn
M323 Snnn Pnnn
- Parameters
Snnn
0 (disable correction) or 1 (enable correction)Pnnn
1 (store correction state persistently in EEPROM)- Examples
M323 ; Show if distortion correction is enabled M323 S0 ; Disable distortion correction temporarily M323 S1 P1 ; Enable distortion correction permanently
(Repetier only)
Controls distortion correction feature after having set it up using G33.
M340: Control the servos
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
(Repetier only ,Marlin see M280)
M340 P<servoId> S<pulseInUS> / 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 mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
Sets microstepping mode.
Warning: Steps per unit remains unchanged; except that in RepRapFirmware the steps/mm will be adjusted automatically.
- Usage
M350 Snn Xnn Ynn Znn Enn Bnn
- Parameters
- Not 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.
Snn
Set stepping mode for all drivers (not supported by RepRapFirmware)Xnn
Set stepping mode for the X axisYnn
Set stepping mode for the Y axisZnn
Set stepping mode for the Z axisEnn
Set stepping mode for Extruder 0 (for RepRapFirmware useEnn:nn:nn
etc. for multiple extruders)Bnn
Set stepping mode for Extruder 1 (not supported by RepRapFirmware, see above)Inn
Enable (nn=1) or disable (nn=0) microstep interpolation mode for the specified drivers, if they support it (RepRapFirmware only)- Modes (nn)
- 1 = full step
- 2 = half step
- 4 = quarter step
- 8 = 1/8 step
- 16 = 1/16 step
- 64 = 1/64 step
- 128 = 1/128 step
- 256 = 1/256 step
- Examples
M350 S16 ; reset all drivers to the default 1/16 micro-stepping - not supported by RepRapFirmware M350 Z1 ; set the Z-axis' driver to use full steps M350 E4 B4 ; set both extruders to use quarter steps - Marlin/Repetier M350 E4:4:4 ; set extruders 0-2 to use quarter steps - RepRapFirmware
M351: Toggle MS1 MS2 pins directly
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Example
M351
M355: Turn case lights on/off
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes: 1.1.0 | No | ??? | ??? | ??? | Yes: 0.92.2 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | use M106 | ??? | ??? |
- Examples
M355 S1 ; Enable lights M355 S0 ; Disable lights M355 ; Report status
Every call or change over LCD menu sends a state change for connected hosting software like:
Case lights on Case lights off No case lights
M360: Report firmware configuration
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes: 0.92.2 | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Target
This command helps hosting software to detect configuration details, which the user would need to enter otherwise. It should reduce configuration time considerably if supported.
- Example
M360
- Response
Config:Baudrate:250000 Config:InputBuffer:127 Config:NumExtruder:2 Config:MixingExtruder:0 Config:HeatedBed:0 Config:SDCard:1 Config:Fan:1 Config:LCD:1 Config:SoftwarePowerSwitch:1 Config:XHomeDir:-1 Config:YHomeDir:-1 Config:ZHomeDir:-1 Config:SupportG10G11:1 Config:SupportLocalFilamentchange:1 Config:CaseLights:0 Config:ZProbe:1 Config:Autolevel:0 Config:EEPROM:1 Config:PrintlineCache:24 Config:JerkXY:30.00 Config:JerkZ:0.30 Config:RetractionLength:3.00 Config:RetractionLongLength:13.00 Config:RetractionSpeed:40.00 Config:RetractionZLift:0.00 Config:RetractionUndoExtraLength:0.00 Config:RetractionUndoExtraLongLength:0.00 Config:RetractionUndoSpeed:0.00 Config:XMin:0.00 Config:YMin:0.00 Config:ZMin:0.00 Config:XMax:250.00 Config:YMax:150.00 Config:ZMax:90.00 Config:XSize:250.00 Config:YSize:150.00 Config:ZSize:90.00 Config:XPrintAccel:250.00 Config:YPrintAccel:250.00 Config:ZPrintAccel:100.00 Config:XTravelAccel:250.00 Config:YTravelAccel:250.00 Config:ZTravelAccel:100.00 Config:PrinterType:Cartesian Config:MaxBedTemp:120 Config:Extr.1:Jerk:50.00 Config:Extr.1:MaxSpeed:100.00 Config:Extr.1:Acceleration:10000.00 Config:Extr.1:Diameter:0.00 Config:Extr.1:MaxTemp:220 Config:Extr.2:Jerk:50.00 Config:Extr.2:MaxSpeed:100.00 Config:Extr.2:Acceleration:10000.00 Config:Extr.2:Diameter:0.00 Config:Extr.2:MaxTemp:220
SCARA calibration codes (Morgan)
In order to ease calibration of Reprap Morgan, the following M-codes are used to set the machine up
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Partial | No | ??? | ??? | ??? | No | Yes | ??? | Partial | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
M360: Move to Theta 0 degree position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Experimental | No | ??? | ??? | ??? | No | Yes | ??? | Experimental | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
The 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 M114
will then display the calibration offset that can then be programmed into the unit using M206
(Home offset) X represents Theta.
Smoothieware: M360 P0
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 position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Experimental | No | ??? | ??? | ??? | No | Yes | ??? | Experimental | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Theta 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 M114
, and programmed using M92
. X represents Theta. Program Y (Psi) to the same value initially. Remember to repeat M360
after adjusting steps per degree.
Smoothieware: M360 P0
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 M360
.
M362: Move to Psi 0 degree position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Experimental | No | ??? | ??? | ??? | No | Yes | ??? | Experimental | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Arms move to Psi 0 degree. Check only after other Theta calibrations
M363: Move to Psi 90 degree position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Experimental | No | ??? | ??? | ??? | No | Yes | ??? | Experimental | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Arms move to Psi 90 degree. Check only after other Theta calibrations
M364: Move to Psi + Theta 90 degree position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Experimental | No | ??? | ??? | ??? | No | Yes | ??? | Experimental | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Move 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 M114
, and calibrate value into Home offset M206
. Psi is represented by Y.
Smoothieware: M364 P0
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 M500
.
M365: SCARA scaling factor
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Experimental | No | ??? | ??? | ??? | No | Yes | ??? | Experimental | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Adjust X Y and Z scaling by entering the factor. 100% scaling (default) is represented by 1
M366: SCARA convert trim
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Executing 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 map
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use M557 | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
Clear the map and prepare for calibration
- Usage
M370
M370 X[divisions] Y[divisions]
Without parameters is defaults to X5 Y5
(25 calibration points)
When specifying parameters, uneven numbers are recommended.
M371: Move to next calibration position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Move 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 position
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
The position of the bed is recorded and the machine moves to the next position. Repeat until all positions programmed
M373: End bed level calibration mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
End calibration mode and enable z correction matrix. Does not save current matrix
M374: Save calibration grid
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.17 and later | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Saves the calibration grid.
- Parameters
extension
(Smoothieware only) Extension of the grid filePfilename
(RepRapFirmware only) Name of the file to save toZ
(Smoothieware only) Also save theM206
Z homing offset into the grid file- Usage (Smoothieware)
M374 M374 <file extension> Z
- Usage (RepRapFirmware)
M374 M374 PMyAlternateHeightMap.csv
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 M206 Z
homing offset into the grid file.
In RepRapFirmware, this saves the grid parameters and height map into the specified file, or the default file heightmap.csv
if no filename was specified. To load the height map automatically at startup, use command M375
in the config.g file.
M375: Display matrix / Load Matrix
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.17 and later | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Displays the bed level calibration matrix (Marlin), or loads the grid matrix file (Smoothieware and RepRapFirmware)
- Parameters
extension
(Smoothieware only)Pfilename
(RepRapFirmware only)- Usage
M375 M375 [file extension] ; (Smoothieware only) M375 PMyAlternateHeightMap.csv ; (RepRapFirmware only)
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 taper
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.17 and later | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Hnnn
Height (mm) over which to taper off the bed compensation- Example
M376 H10
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 solenoid
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M380
Activates solenoid on active extruder.
M381: Disable all solenoids
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M381
M400: Wait for current moves to finish
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | Yes | ??? | use G4 | ??? | ??? |
- Example
M400
Finishes all current moves and and thus clears the buffer. That's identical to G4 P0
for Teacup printers.
M401: Lower z-probe
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.17 and later | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M401
Lower z-probe if present. In RepRapFirmware this runs macro file sys/deployprobe.g.
M402: Raise z-probe
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 1.17 and later | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M402
Raise z-probe if present. In RepRapFirmware this runs macro file sys/retractprobe.g.
M404: Filament width and nozzle diameter
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Nnnn
Filament width (in mm)Dnnn
Nozzle diameter (in mm)1- Examples
M404 N1.75 M404 N3.0 D1.0
Enter the nominal filament width (3mm, 1.75mm) or will display nominal filament width without parameters.
- Notes
1While 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 on
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M405
Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder.
M406: Filament Sensor off
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M406
Turn off Filament Sensor extrusion control.
M407: Display filament diameter
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M407
Displays measured filament diameter. In RepRapFirmware, M407
does the same as M404
.
M408: Report JSON-style response
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Snnn
Response typeRnnn
Response sequence number- Example
M408 S0
Report a JSON-style response by specifying the desired type using the 'S' parameter.
The following response types are supported:
- Type 0 is a short-form response, similar to the response used by older versions of the web interface.
- Type 1 is like type 0 except that static values are also included.
- Type 2 is similar to the response provided by the web server for Duet Web Control.
- Type 3 is an extended version of type 2 which includes some additional parameters that aren't expected to change very frequently.
- Type 4 is an extended version of type 2 which may be used to poll for current printer statistics.
- Type 5 reports the current machine configuration.
Here is an example of a typical type 0 response:
{"status":"I","heaters":[25.0,29.0,28.3],"active":[-273.1,0.0,0.0],"standby":[-273.1,0.0,0.0],"hstat":[0,2,1],"pos":[-11.00,0.00,0.00],"extr":[0.0,0.0], "sfactor":100.00, "efactor":[100.00,100.00],"tool":1,"probe":"535","fanPercent":[75.0,0.0],"fanRPM":0,"homed":[0,0,0],"fraction_printed":0.572}
The response is set as a single line with a newline character at the end. The meaning of the fields is:
status: I=idle, P=printing from SD card, S=stopped (i.e. needs a reset), C=running config file (i.e starting up), A=paused, D=pausing, R=resuming from a pause, B=busy (e.g. running a macro), F=performing firmware update heaters: current heater temperatures, numbered as per the machine (typically, heater 0 is the bed) active: active temperatures of the heaters standby: standby temperatures of the heaters hstat: status of the heaters, 0=off, 1=standby, 2=active, 3=heater fault. Heater 0 is normally the bed heater, heaters 1, 2.. are the extruder heaters. pos: the X, Y and Z (and U, V, W if present) axis positions of the current tool (if a tool is selected), or of the print head reference point if no tool is selected extr: the positions of the extruders sfactor: the current speed factor (seeM220
command) efactor: the current extrusion factors (seeM221
command), one value per extruder tool: the selected tool number. A negative number typically means no tool selected. probe: the Z-probe reading fanPercent: the speeds of the controllable fans, in percent of maximum fanRPM: the print cooling fan RPM homed: the homed status of the X, Y and Z axes (and U, V, W if they exist), or towers on a delta. 0=axis has not been homed so position is not reliable, 1=axis has been homed so position is reliable. fraction_printed: the fraction of the file currently being printed that has been read and at least partially processed. message: the message to be displayed on the screen (only present if there is a message to display) timesLeft: an array of the estimated remaining print times (in seconds) calculated by different methods. These are currently based on the proportion of the file read, the proportion of the total filament consumed, and the proportion of the total layers already printed. Only present if a print from SD card is in progress. seq: the sequence number of the most recent non-trivial G-code response or error message. Only present if theR
parameter was provided and the current sequence number is greater than that. resp: the most recent non-trivial G-code response or error message. Only present if theR
parameter was provided and the current sequence number is greater.
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:
myName: the name of the printer firmwareName: the name of the firmware, e.g. "RepRapFirmware", "Smoothieware" or "Repetier" geometry: one of "cartesian", "delta", "corexy, "corexz" etc. axes: the number of axes volumes: the number of SD card slots available numTools: the number of available tools numbered contiguously starting from 0
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 M408 S0
and M408 S1
.
M420: Set RGB Colors as PWM (MachineKit)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | ??? | No | ??? | ??? |
Usage: M420 R[Red PWM (0-255)] E[Green PWM (0-255)] B[Blue PWM (0-255)]
- Example
M420 R255 E255 B255
Set the color of your RGB LEDs that are connected to PWM-enabled pins. Note, the Green color is controlled by the <code>E value instead of the G value due to the G code being a primary code that cannot be overridden.
In Marlin M420
is Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
M420: Leveling On/Off/Fade (Marlin)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use G29 and M376 | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Enable/Disable Bed Leveling (using the current stored grid or mesh).
- Usage
M420 S[bool] Z[float]
- Examples
M420 S1 ; Enable compensation using current grid/mesh M420 Z10 ; Gradually reduce compensation until Z=10
Marlin 1.1.0 adds the Z
parameter to set the "fade" height. This requires the ENABLE_LEVELING_FADE_HEIGHT
option.
When the Z
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 coordinate
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
Set a single Z coordinate in the Mesh, Bilinear or UBL Leveling grid. Requires MESH_BED_LEVELING
or AUTO_BED_LEVELING_BILINEAR
or AUTO_BED_LEVELING_UBL
.
I & J are the index for the X and Y axis respectively.
- Usage
M421 I[index] J[index] Z[float]
to set an absolute value to a mesh point
or
M421 I[index] J[index] Q[float]
to offset a mesh point by a specified value
M450: Report Printer Mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Usage
M450
- Example
> M450 > PrinterMode:FFF
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:FFF
- PrinterMode:Laser
- PrinterMode:CNC
M451: Select FFF Printer Mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Usage
M451
- Example
> M451 > PrinterMode:FFF
Switches to FFF mode for filament printing.
M452: Select Laser Printer Mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Usage
M452
- Example
> M452 > PrinterMode:Laser
Switches to laser mode. This mode enables handling of a laser pin and makes sure that the laser is only activated during G1
moves if laser was enabled or E is increasing. G0
moves should never enable the laser. M3
/M5
can be used to enable/disable the laser for moves.
M453: Select CNC Printer Mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Usage
M453
- Example
> M453 > PrinterMode:CNC
Switches to CNC mode. In this mode M3
/M4
/M5
control the pins defined for the milling device.
M460: Define temperature range for thermistor-controlled fan
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Use M106 | ??? | ??? | ??? | Yes | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Usage
M460 X[minTemp] Y[maxTemp]
- Example
M460 X50 Y60
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.
M500: Store parameters in non-volatile storage
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | ??? | No | ??? | ??? |
- Example
M500
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 M906
and M907
followed by M500
will update /etc/redeem/local.cfg.
M501: Read parameters from EEPROM
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | ??? | No | ??? | ??? |
- Parameters
Snnn
Enable auto-save (only RepRapFirmware)
- Example
M501
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: Read parameters from "configuration.h"
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | ??? | No | ??? | ??? |
- Example
M502
This command resets all tunable parameters to their default values, as set in the firmware. This doesn't reset any parameters stored in the EEPROM, so it must be followed with M500
if you want to do that.
M503: Print settings
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | Yes | No | No | No | ??? | No | ??? | ??? |
- Examples
M503 ; Output current settings M503 S0 ; Settings as G-code only (Marlin 1.1)
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 M92
command.
RepRapFirmware outputs the content of the configuration file, but note that it may be truncated if it is too long.
M504: Validate EEPROM
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes:1.1.9 | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Examples
M504 ; Check EEPROM
This command checks the contents of EEPROM for correct version, size, and checksum and reports the result.
M530: Enable printing mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M530 S1 L270
This command tells the firmware that a print has started (S1
) or ended (S0
). The L
parameter sets the number of layers. L0
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 M115
with an additional line:
Cap:PROGRESS:1
M531: Set print name
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M531 Demo Model
Sets the name of the currently printed object. Should follow M530 S1
for correct display.
M532: Set print progress
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | Yes | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M532 X23.7 L56
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: Enable/Disable "Stop SD Print on Endstop Hit"
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Snnn
state, S1=enable, S0=disable- Example
M540 S1
M540: Set MAC address
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
The MAC address- Examples
M540 P0xBE:0xEF:0xDE:0xAD:0xFE:0xED M540 PDE:AD:BE:EF:CA:FE
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.
M550: Set Name
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Machine name- Example
M550 PGodzilla
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 Password
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Password- Example
M551 Pmy-very-secret-word
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 interface
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
IP address, 0.0.0.0 means acquire an IP address using DHCPSnnn
(optional) 0 = disable networking, 1 = enable networking as a client, 2 = enable networking as an access point (WiFi-enabled electronics only)Rnnn
(optional, RepRapFirmware 1.17 and earlier only) HTTP port, default 80- Example
M552 P192.168.1.14
Sets the IP address of the machine to (in this case) 192.168.1.14. If the S
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 M586
command, so the R
parameter of this command is no longer supported.
M552 with no parameters reports the current network state and IP address.
M553: Set Netmask
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Net mask- Example
M553 P255.255.255.0
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
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Gateway- Example
M554 P192.168.1.1
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 compatibility
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Emulation type- Example
M555 P1
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:
P value | Firmware |
0 | Native (i.e. whatever the firmware actually is) |
1 | RepRap_Firmware |
2 | Marlin |
3 | Teacup |
4 | Sprinter |
5 | Repetier |
M556: Axis compensation
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Snnn
Height of the measured distancesXnnn
Deviation in X directionYnnn
Deviation in Y directionZnnn
Deviation in Z direction- Example
M556 S100 X0.7 Y-0.2 Z0.6
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 S
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 grid
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters to define
G32
probe points (Cartesian/CoreXY printers only, deprecated in RepRapFirmware) Pnnn
Probe point numberXnnn
X coordinateYnnn
Y coordinate- Example
M557 P1 X30 Y40.5
- Parameters to define
G29
probe grid (all values in mm) Xaaa:bbb
Minimum and maximum X coordinates to probeYaaa:bbb
Minimum and maximum Y coordinates to probeR
Radius to probeS
Probe point spacing- Examples
M557 X0:200 Y0:220 S20 M557 R150 S15
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 G32
bed probing. The P
value is the index of the point (indices start at 0) and the X
and Y
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 deprecated in RepRapFirmware, you should define them in a bed.g file instead.
The second form defines the grid for G29
bed probing. For Cartesian printers, specify minimum and maximum X
and Y
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 type
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Z probe typeFnnn
Feed rate (i.e. probing speed, mm/min)Hnnn
Dive height (mm)Innn
Invert (I1) or do not invert (I0) the Z probe reading (RepRapFirmware 1.16 and later)Rnnn
Z probe recovery time after triggering, default zero (seconds) (RepRapFirmware 1.17 and later)1Tnnn
Travel speed to and between probe points (mm/min)Annn
Maximum number of times to probe each point, default 1 (RepRapFirmware 1.21 and later)Snnn
Tolerance when probing multiple times, default 0.03 (RepRapFirmware 1.21 and later)Bn
B1 turns off all heaters during probing moves and during the probe recovery time (RepRapFirmware 1.21 and later)- Obsolete parameters
Xnnn
If nonzero, use probe for homing X axis (RepRapFirmware 1.19 and earlier only)Ynnn
If nonzero, use probe for homing Y axis (RepRapFirmware 1.19 and earlier only)Znnn
If nonzero, use probe for homing Z axis (RepRapFirmware 1.19 and earlier only)- Example
M558 P1 F500 T5000 H3
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 present
- P1 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 P1
- P2 specifies a modulated IR probe, where the modulation is commanded directly by the main board firmware using the control signal to the probe
- P3 selects an alternative Z probe similar to P1 but the control signal to the probe low
- P4 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 connector
- P6 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 response
- P9 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 file
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M559
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 M559
, the file should be sent, ending with an M29
(q.v.).
M560: Upload web page file
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M560For 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
M560
the file (usually an HTML file) should be sent, terminated by the string <!-- **EoF** -->. 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 Transform
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
- Example
M561
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 fault
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
- Parameters
Pnnn
Heater number- Example
M562 P2
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.
M563: Define or remove a tool
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Tool numberS"name"
Tool name (optional)Dnnn
Extruder drive(s)Hnnn
Heater(s)Fnnn
Fan(s) to map fan 0 to (RepRapFirmware 1.16 and later)Xnnn
Axis or axes to map X movement to (RepRapFirmware 1.16 and later)Lnnn
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
M563 P0 D0:2:3 H1:3 ; create a tool using extruder drives 0, 2 and 3 and heaters 1 and 3 M563 P1 D1 H2 X3 ; create a tool using extruder drive 1 and heater 2 with X movement mapped to the U axis M563 P2 D0:1 H1:2 X0:3 F0:2 ; create a tool using extruder drives 0 and 1, heaters 1 and 2, ; with X movement mapped to both X and U axes and fan 0 mapped to fan 0 and fan 2 M563 P3 D0 H1 S"Chocolate extruder" ; create a named tool using extruder drive 0 and heater 1
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 G1
commands, each controlling the corresponding drive in the 'D' field above, as follows:
G1 X90.6 Y13.8 E2.24:2.24:15.89 G1 X70.6 E0:0:42.4
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 G1
commands with multiple values for the extrusion amount, the M567
command can be used to define a tool mix ratio.
Normally an M563
command is immediately followed by a G10
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 M584
) and the X mapping option in M563
defines which carriage or carriages are used.
If you use the M563
command with a P
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 M563
command. The command:
M563 S1
means add 1 (the value of the S
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 M563
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 M563
is called in this way:
M563 P1 D-1 H-1
M564: Limit axes
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters;
Hnnn
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)Snnn
S1 = limit movement within axis boundaries, S0 = allow movement outside boundaries- Example
- M564 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 offset
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | see G31 | ??? | ??? | ??? | No | Yes | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M565 X3 Y4.5 Z-2.37
Set the offset from the extruder tip to the probe position. The X
, Y
, and Z
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 G32
.
M566: Set allowable instantaneous speed change
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Xnnn
Maximum instantaneous speed change of the X axis (mm/min)Ynnn
Maximum instantaneous speed change of the Y axisZnnn
Maximum instantaneous speed change of the Z axisEnnn
Maximum instantaneous speed change of the extruder drives- Example
M566 X20 Y20 Z2 E10
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 X
and Y
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 ratios
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Tool numberEnnn
Mix ratios- Example
M567 P2 E0.1:0.2:0.1:0.6
This example sets the mix ratio for tool 2 (the P
value). When mixing is then turned on (see M568
), only single E
values need to be sent on a G1
command (any extra E
values will be ignored, but are not illegal):
G1 X20 E1.3
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 M568
.
M568: Turn off/on tool mix ratios
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Tool numberSnnn
Whether mix ratios should be activated- Example
M568 P2 S0
Turn on/off automatic mix ratios for tool 2. If the S
parameter is 0 mixing is turned off; if it is non-zero it is turned on.
After turning off command G1 instructions must send as many E
values as the tool has drives:
G1 X20 E0.2:0.4:0.166:0.3
The off state is the default.
M569: Stepper driver control
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnn
Motor driver numberSn
Direction of movement of the motor(s) attached to this driver: 0 = backwards, 1 = forwards (default 1)Rn
Driver enable polarity: 0 = active low, 1 = active high (default 0)Tnn
Minimum driver step pulse width and interval in microseconds (RepRapFirmware 1.14 and later)Taa:bb:cc:dd
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)Dnn
Stepper driver mode (RepRapFirmware 2.0 and later): 0=constant off time, 1=random off time, 2=spread cycle, 3=stealthChopCnnn
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!- Example
M569 P0 S0 ; reverse the direction of the motor attached to driver 0 M569 P5 R1 T2.5:2.5:5:0 ; driver 5 requires an active high enable, 2.5us minimum step pulse, 2.5us minimum step interval, 5us DIR setup time and no hold time
- Notes
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 T
parameters seen in any M569 command, and applies those values to all drivers for which any nonzero T
parameters were specified.
The modes (D parameter) supported by various stepper driver chips are:
- TMC2130: modes 0,1,2,3
- TMC2660: modes 0,1,2
- TMC2208/2224: modes 2,3 (mode 3 is stealthChop 2)
Some versions of RepRapFirmware prior to 1.14 also provided X
, Y
, Z
and E
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.
M570: Configure heater fault detection
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters for RepRapFirmware 1.14 and earlier
Snnn
Heater timeout (in seconds)- Example
M570 S120
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 later
Hnnn
Heater numberPnnn
Time in seconds for which a temperature anomaly must persist on this heater before raising a heater fault (default 5 seconds)Tnnn
Permitted temperature excursion from the setpoint for this heater (default 10C)Snnn
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
M570 H1 P4 T15
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 extrude
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Snnn
Output valueFnnn
Output PWM frequency (RepRapFirmware 1.17 and later)Pnnn
Logical pin number (RepRapFirmware 1.17 and later), defaults to the FAN0 output untilM571
with aP
parameter has been seen- Example
M571 P3 F200 M571 S0.5
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 S
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 P
parameter to change the pin used and you can also set the PWM frequency. Pin numbers are the same as in the M42 and M280
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 M307
, 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 advance
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | dc42, ch, dn | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Dnnn
Extruder numberSnnn
Pressure advance amount (in seconds)- Example
M572 D0 S0.1
This sets the pressure advance coefficient (S
parameter) for the specified extruder (D
parameter). Supported by RepRapFirmware-dc42, -ch and -dn.
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 S
value between 0.1 and 0.2 usually gives the best print quality.
Older versions of RepRapFirmware used the P
parameter to specify the drive number, instead of using D to specify the extruder number.
M573: Report heater PWM
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Heater number- Example
M573 P1
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.
M574: Set endstop configuration
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- Xnnn Switch position for X axis
- Ynnn Switch position for Y axis
- Znnn Switch position for Z axis
- Snnn Endstop type: 0 = active low endstop input, 1 = active high endstop input, 2 = Z probe, 3 = motor load detection
- Example
- M574 X1 Y2 Z0 S1 ; X endstop at low end, Y endstop at high end, no Z endstop, all active high
This 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 parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Serial channel numberBnnn
Baud rateSnnn
Whether checksums should be used- Example
M575 P1 B57600 S1
This sets the communications parameters of the serial comms channel specified by the P
parameter. P0
specifies the main serial interface (typically a USB port, or serial-over-USB), while P1
specifies an auxiliary serial port (for example, the port used to connect a PanelDue). The B
parameter is the required baud rate (this parameter is typically ignored if the port is a true USB port). The S
parameter is a bitmap of features. The lowest bit, if set, specifies that only commands that include a valid checksum should be accepted from this comms channel.
M577: Wait until endstop is triggered
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Snnn
Desired endstop levelXnnn
Select X axis endstopYnnn
Select Y axis endstopZnnn
Select Z axis endstopEnnn
Select extruder drive endstop- Example
M577 E0 S1
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 bits
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Pnnn
Inkjet head numberSnnn
Bit pattern- Example
M578 P3 S5
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 P
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 axes
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Xnnn
Scale factor for X axisYnnn
Scale factor for Y axisZnnn
Scale factor for Z axis- Example
M579 X1.0127 Y0.998
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 Roland
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Rnnn
Whether Roland mode should be activatedPnnn
Initial text to send to the Roland controller- Example
M580 R1 PVS4;!VZ2;!MC1;
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 R
field is 0. The optional P
string is sent to the Roland if R
is 1. It is permissible to call this repeatedly with R
set to 1 and different strings in the P
field to communicate directly with a Roland.
M581: Configure external trigger
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Tnn
Logical trigger number to associate the endstop input(s) with, from zero up to a firmware-specific maximum (e.g. 9 for RepRapFirmware)X, Y, Z, E
Selects endstop input(s) to monitorP
Reserved, may be used in future to allow general I/O pins to cause triggersS
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.C
Condition: whether to trigger at any time (C0, default) or only when printing a file from SD card (C1)- Example
M581 E1:2 S1 T2 C1 ; invoke trigger 2 when a rising edge is detected on the E1 or E2 endstop input and a file is being printed from SD card
When M581
is executed, if the T
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 S-1
with no X
, Y
, Z
or E
parameters sets the trigger back to ignoring all inputs.
In RepRapFirmware, trigger number 0 causes an emergency stop as if M112
had been received. Trigger number 1 causes the print to be paused as if M25
had been received. Any trigger number # greater then 1 causes the macro file sys/trigger#.g
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 M400
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 trigger
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
- T Trigger number to poll
- Example
M582 T2 ; check levels of inputs that give rise to trigger #2
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 mapping
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.14 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Xnnn
Driver number(s) for X motor(s)Ynnn
Driver number(s) for Y motor(s)Znnn
Driver number(s) for Z motor(s)U,V,W, A, B, Cnnn
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)Ennn
Driver number(s) for E motor(s)Pnnn
Number of visible axes, defaults to the total number of axes configured.- Example
- M584 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 M584
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 M584
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 Tool
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
In 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 of
Xnnn
Y-nnn
Znnn
Where the absolute value of nnn
is the radius of the tool plus the radius of the probe in that direction. So M585 X1.5
will set the X offset of a 1mm diameter tool against a 2mm diameter probe, etc. If the value of nnn
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 the
G10
command. - Move to a position slightly offset from the probe then execute
M585
s in X, Y and Z in the tool selection macro to set them precisely.
After this, the G10
command on its own can be used to report the values.
M586: Configure network protocols
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Pnn
Protocol: 0 = HTTP or HTTPS, 1 = FTP or SFTP, 2 = Telnet or SSH (which of the two choices depends on theT
parameter)Snn
0 = disable this protocol, 1 = enable this protocolRnn
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.Tnn
0 = don't use TLS, 1 = use TLS. Ignored unlessS
= 1. If this parameter is not provided, then TLS will be used if the firmware supports it and a security certificate has been configured. IfT1
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.
M586 with no S
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 networks
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Sccc
Network SSIDPccc
Network passwordInn.nn.nn.nn
(optional) IP address to use when connected to this network. If zero or not specified then an IP address will be acquired via DHCP.Jnn.nn.nn.nn
(optional) Gateway IP address to use when connected to this network.Knn.nn.nn.nn
(optional) Netmask to use when connected to this network
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.
M587
with no parameters lists all stored SSIDs, but not the stored passwords.
M588: Forget WiFi host network
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Sccc
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 parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | No |
- Parameters
Sccc
The SSID that the WiFi interface should use when it is commanded to run as an access pointPccc
The WiFi passwordInn.nn.nn.nn
The IP address to use
Note: WPA2 security will be used by default.
M590: Report current tool type and index
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
Report 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
> M590 > echo: Extruder 0x00
M591: Configure filament sensing
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters (RepRapFirmware 1.21 and later)
- Cnn 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, 5=Duet3D laser sensor, 6=Duet3D laser sensor with microswitch, 7=pulse-generating sensor
- Additional parameters for Duet3D laser filament monitor
- Snn S0 = disable filament monitoring, S1 = enable filament monitoring. Calibration data will be collected even when filament monitoring is disabled.
- Raa: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 paused
- Enn minimum extrusion length before a commanded/measured comparison is done, default 3mm
- Additional parameters for Duet3D rotating magnet filament monitor
- Lnn Filament movement per complete rotation of the sense wheel, in mm
- S, R, E As for Duet3D laser filament monitor
- Additional parameters for a pulse generating filament monitor
- Lnn Filament movement per pulse in mm
- S, R, E As for Duet3D laser filament monitor
- Examples
- M591 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 length
- M591 D1 ; display filament sensor parameters for extruder drive 1
- Parameters (RepRapFirmware 1.20 and earlier)
- Dnn Extruder drive number (0, 1, 2...),
- Pnn Type of sensor: 0=none, 1=simple sensor (high signal when filament present), 2=simple sensor (low signal when filament present), 3=Duet3D rotating magnet sensor, 4=Duet3D rotating magnet sensor with microswitch, 5 = Duet3D laser sensor, 6 = Duet3D laser sensor with microswitch, 7 = pulse-generating sensor
- Cnn 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.
- Snn Sensitivity, for those sensor types that need it. For the Duet3D rotating magnet sensor this is the mm of filament movement per complete rotation of the sense wheel. For the Duet3D laser sensor this is a constant close to +1.0 or -1.0. For a pulse-generating sensor it is the amount of filament movement in mm per pulse.
- Rnn Tolerance as a percentage of the commanded extrusion amount. A negative value puts the firmware in calibration mode.
- Enn minimum extrusion length before a commanded/measured comparison is done, default 3mm
- Examples
- M591 D0 C3 P5 S1.05 R30 E6.0 ; Duet3D laser sensor for extruder drive 0 is connected to E0 endstop input, sensitivity 1.05, 30% error detection tolerance, 6mm detection length
- M591 D1 ; display filament sensor parameters for extruder drive 1
This 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.
M592: Configure nonlinear extrusion
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20.1 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
- Dnn Extruder drive number (0, 1, 2...)
- Annn A coefficient in the extrusion formula, default zero
- Bnnn B coefficient in the extrusion formula, default zero
- Lnnn Upper limit of the nonlinear extrusion compensation, default 0.2
- T nnn Reserved for future use, for the temperature at which these values are valid
- Example
- M592 D0 A0.01 B0.0005 ; set parameters for extruder drive 0
- M592 D0 ; report parameters for drive 0
Most 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 Adjustment
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 2.02 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
- Fnnn Frequency of ringing to cancel in Hz. Zero or negative values disable the feature.
- Example
- M593 F40.5
This 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.
M600: Set line cross section
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | Yes | ??? | No | ??? | ??? |
- Example
M600 P0.061
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 pause
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | 2.02RC3 and later | ??? | ??? | ??? | ??? | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Pause for filament change.
- Parameters
X[pos]
Y[pos]
Z[relative lift]
E[initial retract
L[later retract distance for removal]
- Example
M600
In SmoothieWare:
The variable "after_suspend_gcode" is run after M600
.
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, M600 causes macro file filament-change.g to be run. The parameters in the M600 command are ignored.
M605: Set dual x-carriage movement mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use M563 | ??? | ??? | ??? | ??? | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Set Dual X-Carriage movement mode.
- Parameters
S[mode]
Mode (see below)X[duplication x-offset]
Optional X offset for Mode 2R[duplication temp offset]
Optional temperature difference for Mode 2
- Example
M605 S1 ; Set mode to auto-park
M605 S0
: Full control mode. The slicer has full control over x-carriage movement
M605 S1
: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
M605 S2 [Xnnn] [Rmmm]
: Duplication mode. The second extruder will duplicate the first with nnn millimeters x-offset and an optional differential hotend temperature of mmm
degrees. E.g., with "M605 S2 X100 R2
" the second extruder will duplicate the first with a spacing of 100mm in the x direction and 2 degrees hotter.
M665: Set delta configuration
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Lnnn
Diagonal rod lengthRnnn
Delta radiusSnnn
Segments per second1Bnnn
Safe probing radius2,3Hnnn
Delta height defined as nozzle height above the bed when homed after allowing for endstop corrections 2Xnnn
X tower position correction2,4Ynnn
Y tower position correction2,4Znnn
Z tower position correction2,4- Examples
M665 L250 R160 S200 ; (Marlin) M665 L250 R160 B80 H240 X0 Y0 Z0 ; (RepRapFirmware and Marlin 1.1.0)
Set the delta calibration variables. (See the discussion page for notes on this implementation.)
- Notes
1Only 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 adjustment
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Xnnn
X axis endstop adjustmentYnnn
Y axis endstop adjustmentZnnn
Z axis endstop adjustmentAnnn
X bed tilt in percent1Bnnn
Y bed tilt in percent1- Example
M666 X-0.1 Y+0.2 Z0
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 mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Snnn
CoreXY modeXnnn
X axis scale factorYnnn
Y axis scale factorZnnn
Z axis scale factor- Example
M667 S1
M667 S0
selects Cartesian mode (unless the printer is configured as a delta using the M665
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.
M667 S1
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.
M667 S2
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.
M667 S3
selects CoreYZ mode. Forward movement of the Y motor moves the head in the +Y and +Z directions. Forward movement of the Z motor moves the head in the -Y and +Z directions.
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.
To change the motor directions, see the M569 command.
M668: Set Z-offset compensations polynomial
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | dc42-cmm | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
Polynomial 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 M668
. 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 I
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.
M668 Ix S[list of values]
sets the polynomial parameters starting at index x, if index present and != 0.
M668 R
recomputes the grid based on the current parameters.
M668 P[0|1]
turns off or on the polynomial compensation.
- Typical usage
M668 I1 S4.882E-17:0.0 M668 I3 ... ... M668 R P1
Which sets the list, computes the interpolation grid, and then enables compensation.
M669: Set kinematics type and kinematics parameters
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- Knnn Kinematics type: 0 = Cartesian, 1 = CoreXY, 2 = CoreXZ, 3 = linear delta, 4 = serial SCARA, 5 = CoreXYU, 6 = Hangprinter, 7 = polar, 8 = CoreXYUV
Selects 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 serial SCARA kinematics
- Pnnn 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 axis
- Bnnn:nnn Proximal-to-distal arm joint movement minimum and maximum angles, in degrees anticlockwise seen from above relative to both arms in line
- Cnnn: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 segmentation
- Tnnn Minimum segment length (mm) if smooth XY motion is approximated by means of segmentation
- Xnnn X offset of bed origin from proximal joint
- Ynnn Y offset of bed origin from proximal joint
- Examples
M669 K4 P300 D250 A-90:90 B-135:135 C0:0:0 S200 X300 Y0
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 kinematics
- Raaa: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 second
- Annn Maximum turntable acceleration in degrees per second per second
M670: Set IO port bit mapping
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- Pnn:nn:nn... List of logical port numbers that bits 0, 1, 2... control
- Tnnn port switching time advance in milliseconds
RepRapFirmware 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 screws
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- Xnn:nn:nn... List of between 2 and 4 X coordinates of the leadscrews that drive the Z axis or the bed leveling screws
- Ynn:nn:nn... List of between 2 and 4 Y coordinates of the leadscrews that drive the Z axis or the bed leveling screws
- Snn 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.
- Example
- M671 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 also 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 probe
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- Snn:nn:nn... Sequence of 8-bit unsigned values to send to the currently-selected Z probe
- Example
- M671 S50:205
This 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 axis
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 2.02 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- U,V,W,A,B,C Rotary axis letter on which the plane is mounted
- Pnnn Factor to multiply the correction angle (degrees) with (defaults to 1)
- Example
- M673 A
This 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 point
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | TBD | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
This 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 cavity
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 2.02 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- X,Y,Z Axis to probe on
- Fnnnn Probing feedrate
- Rnnn Distance to move away from the lower endstop before the next probing move starts
- Example
- M675 X R2 F1200
This 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 plate
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | Use M671 and G32 | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Example
M700
Script to adjust the plate level.
M701: Load filament
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | 1.19 and later | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
- This command can be used without any additional parameters.
Snn
Filament to load1- Examples
- M701 2
- M701 S"PLA"
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 the firmware does the following:
1) Run the macro file "load.g" in the subdirectory of the given material (e.g. /filaments/PLA/load.g)
2) Change the filament name of the associated tool, so it can be reported back to Duet Web Control
If this code is called without any parameters, RepRapFirmware will report the name of the loaded filament (if any).
1 only supported in RepRapFirmware
2 standard call for bq-Marlin Firmware
M702: Unload filament
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | 1.19 and later | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
- This command can be used without any additional parameters.
- Example
- M702
In contrast to M701 this code is intended to unload the previously loaded filament from the selected tool. RepRapFirmware will do the following when called:
1) Run the macro file "unload.g" in the subdirectory of the given material (e.g. /filaments/PLA/unload.g)
2) Change the filament name of the current tool, so it can be reported back to Duet Web Control
M703: Get Board Type / Configure Filament
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | Yes | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
1. In bq-Marlin Firmware this M-code reports the board type. Use M115 for this in RepRapFirmware.
2. In RepRapFirmware this code is used to apply the configuration of a previously loaded filament (see M701). All it does is run /filaments/<loaded filament>/config.g which may contain codes to set parameters like extrusion factor, retraction distances and temperatures. If no filament is assigned to the current tool, this code will not generate a warning.
If the filaments feature is used, it is recommended to put this code into tpost*.g to ensure the right filament parameters are set. Supported in RepRapFirmware 2.02 and newer.
M710: Erase the EEPROM and reset the board
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | see M999 | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
1 only in bq-Marlin Firmware
- Example
M710
M750: Enable 3D scanner extension
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Example
M750
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 USB
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Example
M751
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 scan
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
Snnn
: Length/degrees of the scanRnnn
: Resolution (new in RRF 2.0) [optional, defaults to 100]Nnnn
: Scanner mode (new in RRF 2.0) [optional, 0=Linear (default), 1=Rotary]Pnnn
: Filename for the scan- Example
M752 S300 Pmyscan
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 action
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Example
M753
Instruct the attached 3D scanner to cancel the current operation. Cancelling uploads is not supported.
M754: Calibrate 3D scanner
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
- Nnnn Calibration mode (0=linear [default], 1=rotary)
- Example
M754
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 scanner
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
Pnnn
Whether to turn on (> 0) or off (<= 0) the alignment feature- Examples
M755 P1 M755 P0
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 scanner
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.18 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Example
M756
Sends the SHUTDOWN command the attached 3D scanner.
M800: Fire start print procedure
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | No | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
1 only in bq-Marlin Firmware
- Example
M800
M801: Fire end print procedure
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
bq | No | ??? | ??? | ??? | No | No | ??? | bq | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
1 only in bq-Marlin Firmware
- Example
M801
M851: Set Z-Probe Offset
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use G31 | ??? | ??? | ??? | ??? | ??? | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? | ??? |
Sets 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 G28. This value may also be used by G29 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 M501
. The default (as reset by M502) is set by the Z_PROBE_OFFSET_FROM_EXTRUDER setting in Configuration.h.
Note that in Marlin 1.1.0 and later M851
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 -4mm (below the nozzle):
M851 in Marlin 1.0.2
M851 Z4 ; Set the Z probe offset to -4
M851 in Marlin 1.1.0
M851 Z-4 ; Set the Z probe offset to -4
M851 in MK4duo 4.3.25
M851 X2 Y-5 Z-4 ; Set the probe offset to X=2, Y=-5 and Z=-4
M900 Set Linear Advance Scaling Factors
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
1.1.0 | use M572 | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
Sets the advance extrusion factors for Linear Advance. If any of the R
, W
, H
, or D
parameters are set to zero the ratio will be computed dynamically during printing.
- Parameters
K[factor]
Advance K factorR[ratio]
Set ratio directly (overrides WH/D)W[width]
H[height]
D[diam]
Set ratio from WH/D- Examples
M900 K0.7 W0.4 H0.1 D1.75 ; Set K and WH/D ratio M900 R0.025 ; Set the WH/D ratio directly M900 R0 ; Set to "auto ratio"
Requires enabling the LIN_ADVANCE
feature in Marlin 1.1.
The K factor in the M900 command is related to the S factor in the M572 command by the following formula:
K = S * extruder_steps_per_mm
M905: Set local date and time
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.16 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
No | No | No | No | No | No | No | ??? | No |
- Parameters
Pnnn
Current date in the format YYYY-MM-DDSnnn
Current time in the format HH:MM:SS- Example
M905 P2016-10-26 S00:23:12
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 currents
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | M907? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
- Parameters
Xnnn
X drive motor currentYnnn
Y drive motor currentZnnn
Z drive motor currentEnnn
E drive(s) motor current(s)Innn
Motor current idle factor (0..100)1H1
Set/Get Motor currents used for the downward Z-probe homing movement 2- Example
M906 X300 Y500 Z200 E350:350
Sets the currents to send to the stepper motors for each axis. The values are in milliamps.
- Notes
1RepRapFirmware supports an additional I
parameter. This 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%.
2RepRapFirmware, DC42 version, cmm sub-version supports "H1", which sets the XYZ motor currents used during Z-probing temporarily to different (typically lower) value. If "H1" is specified, the homing current is set, otherwise it operates normally. The homing current should be specified after the main current is set. The actual motor current is not changed until the next Z-probe operation. Lower motor currents reduce vibration during Z-probe motions.
M907: Set digital trimpot motor
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use M906 | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
Set digital trimpot motor current using axis codes (X
, Y
, Z
, E
, B
, S
). In Repetier, it sets the current in Percent. In Redeem, it sets the current in Amps (whereas M906
uses milliamps).
M908: Control digital trimpot directly
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | Yes: 0.92 | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
M908 P<pin> S<current>
M909: Set microstepping
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Use M350 | Use M350 | ??? | ??? | ??? | Use M350 | No | ??? | Use M350 | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
- Example
M909 X3 Y5 Z2 E3
Set the microstepping value for each of the steppers. In Redeem this is implemented as powers of 2 so…
M909 X2 ; set microstepping on X-axis to 2^2 = 4 M909 Y3 ; set microstepping on Y-axis to 2^3 = 8 etc.
M910: Set decay mode
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | Yes | No | ??? | ??? |
- Example
M910 X3 Y5 Z2 E3
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.
M911: Configure auto save on loss of power
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.19 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
RepRapFirmware 1.20beta2 and later:
- Parameters
Saaa
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.Raaa
Resume threshold in volts. Must be greater than the auto save voltage. Set to a high value to disable auto resume.P"command string"
G-Code commands to run when the print is stopped.- Example
- M911 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:
- If possible, use M913 to reduce the motor current in order to conserve power. For example, on most printers except deltas you can probably set the X and Y motor currents to zero.
- Retract a little filament and raise the head a little. Ideally the retraction should happen first, but depending on the power reserve when low voltage is detected, it may be best to do both simultaneously.
M911 with no parameters displays the current enable/disable state, and the threshold voltages if enabled.
RepRapFirmware 1.19:
- Parameters
Saaa:bbb:ccc
Shutdown threshold (aaa), pause threshold (bbb) and resume threshold (ccc) all in volts, with aaa < bbb < ccc- Example
- M911 S12.0:19.5:22.0
Enables auto-pause if the power voltage drops below the pause threshold. The firmware records the current state of the print so that it can be resumed when power is restored and executes the pause procedure to attempt to park the print head using the residual energy in the power supply capacitors. If the supply voltage continues to drop below the shutdown threshold, the firmware disables all heaters and motors and goes into the shutdown state until either the voltage exceeds the resume threshold or the board is reset. In either case, it may be possible to resume the paused print. If the supply voltage does not fall below the shutdown threshold but recovers and exceeds the resume threshold, then the print is resumed automatically.
If any of the three values is zero or negative, or the three values are not in ascending order, then auto-save is disabled.
M911 with no parameters displays the current enable/disable state, and the threshold voltages if enabled.
M912: Set electronics temperature monitor adjustment
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
Pnnn
Temperature monitor channel, default 0Snnn
Value to be added to the temperature reading in degC
- Example
M912 P0 S10.5
Many microcontrollers used to control 3D printers have built-in temperature monitors, but they normally need to be calibrated for temperature reading offset. The S
parameter specifies the value that should be added to the raw temperature reading to provide a more accurate result.
M913: Set motor percentage of normal current
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
X, Y, Z, E
Percentage of normal current to use for the specified axis or extruder motor(s)
- Example
M913 X50 Y50 Z50 ; set X Y Z motors to 50% of their normal current M913 E30:30 ; set extruders 0 and 1 to 30% of their normal current
This allows motor currents to be set to a specified percentage of their normal values as set by M906
. 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, and to reduce current while loading filament to guard against the possibility of feeding too much filament. Use M913
again with the appropriate parameters set to 100 to restore the normal currents.
M914: Set/Get Expansion Voltage Level Translator
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Alligator build only | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | ??? |
- Parameters
S
Expansion voltage signal level, must be 3 or 5
- Example
M914 S5 ; set expansion signal level to 5V M913 ; report expansion signal voltage level
M915: Configure motor stall detection
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- Pnnn:nnn:... Drive number(s) to configure
- X,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 200
- Tnnn (optional) Coolstep control register, 16-bit unsigned integer
- Rn 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 print
- Examples
- M915 P0:2:3 S10 F1 R0
- M915 X Y S5 R2
This 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.
M916: Resume print after power failure
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- none
- Example
- M916
If 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.
Version 1.19 of RepRapFirmware does not support M916 but you can achieve the same effect using command M98 P/sys/resurrect.g.
M917: Set motor standstill current reduction
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- X,Y,Z,E Percentage of normal current to use when the motor is standing still or moving slowly, default 100
- Example
- M917 X70 Y70 Z80 E70:70
Some 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.
M918: Configure direct-connect display
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.21 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
This command is used to tell RepRapFirmware about a directly-connected dumb LCD or similar display.
- Parameters
- P Directly-connected display type: 0 = none (default), 1 = 128x64 pixel mono graphics display
- E 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.
- Example
- M918 P1 E2
M928: Start SD logging
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | No | ??? | ??? | ??? | No | No | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Example
M928 filename.g
Stop SD logging with M29
.
M929: Start/stop event logging to SD card
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | 1.20 and later | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- P"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 logging
- Example
- M929 P"eventlog.txt" S1 ; start logging to file eventlog.txt
- M929 S0 ; stop logging
When event logging is enabled, important events such as power up, start/finish printing 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.
M997: Perform in-application firmware update
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | No | No | ??? | No |
- Parameters
Snnn
Firmware module number(s), default 0- Example
M997 S0:1 - update firmware modules 0 and 1
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, filename sys/RepRapFirmware.bin (Duet) or sys/DuetWiFiFirmware (Duet WiFi). File sys/iap.bin (Duet) or sys/iap4e.bin (Duet WiFi) must also be present.
1 - web server firmware, filename sys/DuetWiFiServer.bin
2 - web server file system, filename sys/DuetWebControl.bin
3 - put the WiFi module into bootloader mode, so that firmware can be uploaded directly via its serial port
M998: Request resend of line
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | Yes | ??? | ??? | ??? | No | No | ??? | ??? | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
Pnnn
Line number- Example
M998 P34
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 GCode interpreter to request the resend.
M999: Restart after being stopped by error
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | No | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | ??? | ??? |
- Parameters
- This command can be used without any additional parameters.
Pnnn
Reset flags1- Example
M999
Restarts the firmware using a software reset.
- Notes
1The dc42 fork of RepRapFirmware not only resets the board but also puts the board into firmware upload mode if parameter PERASE is present.
Other commands
G: List all G-codes
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | Yes | ??? | ??? | ??? |
- Example
G
This lists all implemeted G-codes in the firmware with description and sends it back to the host.
(Note: this has been implemented in Redeem, and so is only a proposal.)
M: List all M-codes
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | No | ??? | ??? | ??? | ??? | ??? | ??? | No | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | ??? | ??? | ??? | ??? | Yes | ??? | ??? | ??? |
- Example
M
This lists all implemeted M-codes in the firmware with description and sends it back to the host.
(Note: this has been implemented in Redeem, and so is only a proposition)
T: Select Tool
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Yes | ??? | ??? | ??? | Yes | Yes | ??? | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | ??? | Yes | ??? | Yes | Yes | ??? | ??? |
- Parameters
- This command can be used without any additional parameters.
Pnnn
: Bitmap of all the macros to be run (only RRF 1.17b or later)- Tool number
- Example
T1
Select tool (or in older implementations extruder) number 1 to build with.
The sequence followed is:
- Set the current tool to its standby temperatures specified by
G10
(see above), - Set the new tool to its operating temperatures specified by
G10
and wait for all temperatures to stabilise, - Apply any X, Y, Z offset for the new tool specified by
G10
, - Use the new tool.
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 G10
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 implementations (e.g. RepRapFirmware) allow you to specify tool-change G Code macros2. There are normally three specified (any of which can contain no commands if desired) that execute in this order:
- Actions to do with the old tool before it is released - macro name:
tfreeN.g
where N is the tool number; - (Old tool is released);
- Actions to do with the new tool before it is selected - macro name:
tpreN.g
where N is the tool number; - (New tool is selected); and
- Actions to do with the new tool after it is selected - macro name:
tpostN.g
where N is the tool number.
With such implementations there is no wait for temperature stabilisation. That can be achieved by an M116
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 M0
, M1
, and M112
commands turn them all off. You can, of course, turn them all off with the M1
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 M563
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 Under special circumstances, the execution of those macro files may not be desired. RepRapFirmware 1.17b or later supports an optional P
parameter to specify which macros shall be run. If it is abscent then all of the macros above will be run, else you can pass a bitmap of all the macros to be executed. The bitmap of this value consists of tfree=1, tpre=2 and tpost=4.
Proposed EEPROM configuration codes
BRIEFLY: each RepRap has a number of physical parameters that should be persistent, but easily configurable, such as extrusion steps/mm, various max values, etc. Those parameters are currently hardcoded in the firmware, so that a user has to modify, recompile and re-flash the firmware for any adjustments. These configs can be stored in MCU's EEPROM and modified via some M-codes. Please see the detailed proposal at M-codes for EEPROM config. (This is proposed by --AlexRa on 11-March-2011. There is currently no working implementation of the proposed commands).
Marlin uses codes M500
-M503
to manipulate EEPROM values.
RepRapFirmware uses the config-override.g file on the SD card instead of EEPROM. M500 saves certain values to that file, M501 re-loads them, and M502 loads the values from config.g, ignoring config-override.g.
Sprinter has implemented the following commands to manipulate EEPROM Commit message.
Teacup uses codes M130
-M136
to set, read, and save some parameters.
Replies from the RepRap machine to the host computer
All 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]
xx
can be one of:
-
ok
- The RepRap machine is ready to receive the next line from the host. -
rs
orResend
- There was a communication error and the RepRap machine is requesting a resend of the line in question. The line is specified either asN<linenumber>
orN:<linenumber>
. Examples:Resend: 123
,Resend: N123
,rs:123
-
!!
orError:
orfatal:
(Repetier Firmware) - There was an error. Common communication errors such aschecksum mismatch, Last Line: <number>
orWrong checksum
,No Checksum with line number, Last Line: <number>
orMissing checksum
,Line Number is not Last Line Number+1, Last Line: <number>
orexpected line <number1> got <number2>
are recoverable and should immediately be followed by a resend. Other non-fatal errors commonly includeUnknown command: "<command>"
and several SD related errors such asCannot open subdir <dir>
,SD init fail
,volume.init failed
,openRoot failed
,workDir open failed
,open failed, File: <name>
,error writing to file
,Cannot enter subdir: <dir>
andSD read error
. Any other errors indicate a hardware fault that will make the RepRap machine shut down immediately after it has sent this message. They should be considered fatal by hosts. -
wait
- The RepRap machine's command buffers are empty and it is waiting for the next line from the host. -
busy:<reason>
- The RepRap machine is busy for some reason and currently cannot receive or process commands through the serial interface from a connected host. Possible reasons are: `processing` (the RepRap machine is busy with processing some lengthy command, like homing, heatup or auto leveling),paused for user
(the RepRap machine is paused and awaiting an action by the user via its built in controller unit, e.g. clicking the button),paused for input
(the RepRap machine is paused and waiting for input from the user via its built in controller unit, e.g. selecting a menu option). Examples:busy: processing
,busy: paused for user
.
The T: and B: values are the temperature of the currently-selected extruder
and the bed respectively, and are only sent in response to M105
. 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 M114
and M117
.
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:
ok
When the machine boots up it sends the string
start
once to the host before sending anything else. This should not be replaced or augmented
by version numbers and the like. M115
(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 ok
, rs
, !!
or //
). 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.
Example of a communication error with resend request
>>>
are lines sent from the host to the RepRap machine, <<<
are lines sent from the RepRap machine to the host.
>>> N66555 G1 X131.338 Y133.349 E0.0091*91 <<< ok >>> N66556 G1 X131.574 Y133.428 E0.0046*92 <<< Error:checksum mismatch, Last Line: 66555 <<< Resend: 66556 <<< ok >>> N66556 G1 X131.574 Y133.428 E0.0046*92 <<< ok
Action commands
On the current versions of Pronterface and OctoPrint a special comment of the form:
// action:<command>
is allowed to be sent from the firmware.
As this is also a comment other hosts will just ignore these commands.
Supported commands currently are:
- pause: Instructs the host to pause the print job
- resume: Instructs the host to resume the print job
- disconnect: Instructs the host to disconnect from the printer
Additional commands supported by a subset of hosts:
- paused: Instructs the host that a print job under control of the printer was paused. (support: OctoPrint 1.3.9+)
- resumed: Instructs the host that a print job under control of the printer was resumed. (support: OctoPrint 1.3.9+)
- prompt_begin <message>: Starts the definition of a prompt dialog. <message> is the message to display to the user. (support: OctoPrint 1.3.9+ w/ enabled Action Command Prompt support plugin)
- prompt_choice <text>: Defines a dialog choice with the associated <text>. (support: OctoPrint 1.3.9+ w/ enabled Action Command Prompt support plugin)
- prompt_button <text>: Same as prompt_choice. (support: OctoPrint 1.3.9+ w/ enabled Action Command Prompt support plugin)
- prompt_show: Tells the host to prompt the user with the defined dialog. (support: OctoPrint 1.3.9+ w/ enabled Action Command Prompt support plugin)
- prompt_end: Tells the host to close the dialog (e.g. the user made the choice through the printer directly instead of through the host). (support: OctoPrint 1.3.9+ w/ enabled Action Command Prompt support plugin)
For a more detailed example of the dialog functionality enabled through the prompt_* set of action commands, see OctoPrint's documentation.
Further notes
1. Marlin 1.0.0 Gen6 Firmware does not follow the two character rule. 'rs' is actually 'Resend' and '!!' is 'Error'. Example Lines:
- Error: Line Number is not current line + 1. Last Line: 7
- Resend: 8
- Writing to File: print.gco
- Done saving file.
- File opened:print.gco Size:22992
- File selected
When in the code base did this change take place and what other firmwares are affected?
2. RepRapFirmware 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:
-
M105 S2
(now deprecated in favour of M408) -
M105 S3
(now deprecated in favour of M408) -
M20 S2
-
M36
-
M408
Proposal for sending multiple lines of G-code
So far, this is a proposal, open for discussion.
Problem to solve
When using Marlin firmware or emulating Marlin, each line of G-code sent from the host to the controller is answered with an ok
before the next line can be sent without locking communications up. This slows down communication and limits the number of commands that can be sent per second to the printer controller, as the USB stack on the host and the serial interface driver on the Arduino 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 so as not to wait for the ok
.
For more details on this proposal, some suggested solutions and comments, please see GCODE_buffer_multiline_proposal
Alternatives to G-code
- Main article: Firmware/Alternative#alternatives to G-code
Several people have suggested using STEP-NC or some other control language; or perhaps designing a completely new control language.