klipper-dgus/docs/G-Codes.md

This document describes the commands that Klipper supports. These are
commands that one may enter into the OctoPrint terminal tab.

# G-Code commands

Klipper supports the following standard G-Code commands:
- Move (G0 or G1): `G1 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>] [F<speed>]`
- Dwell: `G4 P<milliseconds>`
- Move to origin: `G28 [X] [Y] [Z]`
- Turn off motors: `M18` or `M84`
- Wait for current moves to finish: `M400`
- Use absolute/relative distances for extrusion: `M82`, `M83`
- Use absolute/relative coordinates: `G90`, `G91`
- Set position: `G92 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>]`
- Set speed factor override percentage: `M220 S<speed>`
- Set extrude factor override percentage: `M221 S<percent>`
- Get extruder temperature: `M105`
- Set extruder temperature: `M104 [T<index>] [S<temperature>]`
- Set extruder temperature and wait: `M109 [T<index>] S<temperature>`
- Set bed temperature: `M140 [S<temperature>]`
- Set bed temperature and wait: `M190 S<temperature>`
- Set fan speed: `M106 S<value>`
- Turn fan off: `M107`
- Emergency stop: `M112`
- Get current position: `M114`
- Get firmware version: `M115`
- Set home offset: `M206 [X<pos>] [Y<pos>] [Z<pos>]`
- Run PID tuning: `M303 [E<index>] S<temperature>`

For further details on the above commands see the
[RepRap G-Code documentation](http://reprap.org/wiki/G-code).

Klipper's goal is to support the G-Code commands produced by common
3rd party software (eg, OctoPrint, Printrun, Slic3r, Cura, etc.) in
their standard configurations. It is not a goal to support every
possible G-Code command. Instead, Klipper prefers human readable
["extended G-Code commands"](#extended-g-code-commands).

## G-Code SD card commands

Klipper also supports the following standard G-Code commands if the
"virtual_sdcard" config section is enabled:
- List SD card: `M20`
- Initialize SD card: `M21`
- Select SD file: `M23 <filename>`
- Start/resume SD print: `M24`
- Pause SD print: `M25`
- Set SD position: `M26 S<offset>`
- Report SD print status: `M27`

# Extended G-Code Commands

Klipper uses "extended" G-Code commands for general configuration and
status.  These extended commands all follow a similar format - they
start with a command name and may be followed by one or more
parameters. For example: `SET_SERVO SERVO=myservo ANGLE=5.3`. In this
document, the commands and parameters are shown in uppercase, however
they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run
the same command.)

The following standard commands are supported:
- `QUERY_ENDSTOPS`: Probe the axis endstops and report if they are
  "triggered" or in an "open" state. This command is typically used to
  verify that an endstop is working correctly.
- `RESTART`: This will cause the host software to reload its config
  and perform an internal reset. This command will not clear error
  state from the micro-controller (see FIRMWARE_RESTART) nor will it
  load new software (see
  [the FAQ](FAQ.md#how-do-i-upgrade-to-the-latest-software)).
- `FIRMWARE_RESTART`: This is similar to a RESTART command, but it
  also clears any error state from the micro-controller.
- `STATUS`: Report the Klipper host software status.
- `HELP`: Report the list of available extended G-Code commands.

## Custom Pin Commands

The following command is available when a "digital_output" or
"pwm_output" config section is enabled:
- `SET_PIN PIN=config_name VALUE=<value>`

## Servo Commands

The following commands are available when a "servo" config section is
enabled:
- `SET_SERVO SERVO=config_name WIDTH=<seconds>`
- `SET_SERVO SERVO=config_name ANGLE=<degrees>`

## Probe

The following commands are available when a "probe" config section is
enabled:
- `PROBE`: Move the nozzle downwards until the probe triggers.
- `QUERY_PROBE`: Report the current status of the probe ("triggered"
  or "open").

## Delta Calibration

The following commands are available when the "delta_calibrate" config
section is enabled:
- `DELTA_CALIBRATE`: This command will probe seven points on the bed
  and recommend updated endstop positions, tower angles, and radius.
  - `NEXT`: If manual bed probing is enabled, then one can use this
    command to move to the next probing point during a DELTA_CALIBRATE
    operation.

## Bed Tilt

The following commands are available when the "bed_tilt" config
section is enabled:
- `BED_TILT_CALIBRATE`: This command will probe the points specified
  in the config and then recommend updated x and y tilt adjustments.
  - `NEXT`: If manual bed probing is enabled, then one can use this
    command to move to the next probing point during a
    BED_TILT_CALIBRATE operation.