mirror of https://github.com/Desuuuu/klipper.git
227 lines
9.8 KiB
Markdown
227 lines
9.8 KiB
Markdown
This document describes the commands that Klipper supports. These are
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commands that one may enter into the OctoPrint terminal tab.
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# G-Code commands
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Klipper supports the following standard G-Code commands:
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- Move (G0 or G1): `G1 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>] [F<speed>]`
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- Dwell: `G4 P<milliseconds>`
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- Move to origin: `G28 [X] [Y] [Z]`
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- Turn off motors: `M18` or `M84`
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- Wait for current moves to finish: `M400`
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- Select tool: `T<index>`
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- Use absolute/relative distances for extrusion: `M82`, `M83`
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- Use absolute/relative coordinates: `G90`, `G91`
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- Set position: `G92 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>]`
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- Set speed factor override percentage: `M220 S<percent>`
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- Set extrude factor override percentage: `M221 S<percent>`
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- Set acceleration: `M204 S<value>`
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- Get extruder temperature: `M105`
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- Set extruder temperature: `M104 [T<index>] [S<temperature>]`
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- Set extruder temperature and wait: `M109 [T<index>] S<temperature>`
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- Set bed temperature: `M140 [S<temperature>]`
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- Set bed temperature and wait: `M190 S<temperature>`
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- Set fan speed: `M106 S<value>`
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- Turn fan off: `M107`
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- Emergency stop: `M112`
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- Get current position: `M114`
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- Get firmware version: `M115`
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For further details on the above commands see the
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[RepRap G-Code documentation](http://reprap.org/wiki/G-code).
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Klipper's goal is to support the G-Code commands produced by common
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3rd party software (eg, OctoPrint, Printrun, Slic3r, Cura, etc.) in
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their standard configurations. It is not a goal to support every
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possible G-Code command. Instead, Klipper prefers human readable
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["extended G-Code commands"](#extended-g-code-commands).
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## G-Code SD card commands
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Klipper also supports the following standard G-Code commands if the
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"virtual_sdcard" config section is enabled:
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- List SD card: `M20`
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- Initialize SD card: `M21`
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- Select SD file: `M23 <filename>`
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- Start/resume SD print: `M24`
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- Pause SD print: `M25`
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- Set SD position: `M26 S<offset>`
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- Report SD print status: `M27`
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## G-Code display commands
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The following standard G-Code commands are available if a "display"
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config section is enabled:
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- Display Message: `M117 <message>`
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- Set build percentage: `M73 P<percent>`
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## Other available G-Code commands
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The following standard G-Code commands are currently available, but
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using them is not recommended:
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- Offset axes: `M206 [X<offset>] [Y<offset>] [Z<offset>]` (Use
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SET_GCODE_OFFSET instead.)
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- Get Endstop Status: `M119` (Use QUERY_ENDSTOPS instead.)
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# Extended G-Code Commands
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Klipper uses "extended" G-Code commands for general configuration and
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status. These extended commands all follow a similar format - they
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start with a command name and may be followed by one or more
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parameters. For example: `SET_SERVO SERVO=myservo ANGLE=5.3`. In this
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document, the commands and parameters are shown in uppercase, however
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they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run
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the same command.)
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The following standard commands are supported:
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- `QUERY_ENDSTOPS`: Probe the axis endstops and report if they are
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"triggered" or in an "open" state. This command is typically used to
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verify that an endstop is working correctly.
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- `GET_POSITION`: Return information on the current location of the
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toolhead.
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- `SET_GCODE_OFFSET [X=<pos>|X_ADJUST=<adjust>]
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[Y=<pos>|Y_ADJUST=<adjust>] [Z=<pos>|Z_ADJUST=<adjust>]`: Set a
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positional offset to apply to future G-Code commands. This is
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commonly used to virtually change the Z bed offset or to set nozzle
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XY offsets when switching extruders. For example, if
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"SET_GCODE_OFFSET Z=0.2" is sent, then future G-Code moves will
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have 0.2mm added to their Z height. If the X_ADJUST style parameters
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are used, then the adjustment will be added to any existing offset
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(eg, "SET_GCODE_OFFSET Z=-0.2" followed by "SET_GCODE_OFFSET
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Z_ADJUST=0.3" would result in a total Z offset of 0.1).
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- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
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[WRITE_FILE=1]`: Perform a PID calibration test. The specified
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heater will be enabled until the specified target temperature is
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reached, and then the heater will be turned off and on for several
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cycles. If the WRITE_FILE parameter is enabled, then the file
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/tmp/heattest.txt will be created with a log of all temperature
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samples taken during the test.
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- `TURN_OFF_HEATERS`: Turn off all heaters.
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- `SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
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[ACCEL_TO_DECEL=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: Modify
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the printer's velocity limits. Note that one may only set values
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less than or equal to the limits specified in the config file.
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- `SET_PRESSURE_ADVANCE [EXTRUDER=<config_name>] [ADVANCE=<pressure_advance>]
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[ADVANCE_LOOKAHEAD_TIME=<pressure_advance_lookahead_time>]`:
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Set pressure advance parameters. If EXTRUDER is not specified, it
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defaults to the active extruder.
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- `STEPPER_BUZZ STEPPER=<config_name>`: Move the given stepper forward
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one mm and then backward one mm, repeated 10 times. This is a
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diagnostic tool to help verify stepper connectivity.
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- `RESTART`: This will cause the host software to reload its config
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and perform an internal reset. This command will not clear error
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state from the micro-controller (see FIRMWARE_RESTART) nor will it
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load new software (see
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[the FAQ](FAQ.md#how-do-i-upgrade-to-the-latest-software)).
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- `FIRMWARE_RESTART`: This is similar to a RESTART command, but it
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also clears any error state from the micro-controller.
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- `STATUS`: Report the Klipper host software status.
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- `HELP`: Report the list of available extended G-Code commands.
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## Custom Pin Commands
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The following command is available when an "output_pin" config section
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is enabled:
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- `SET_PIN PIN=config_name VALUE=<value>`
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## Servo Commands
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The following commands are available when a "servo" config section is
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enabled:
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- `SET_SERVO SERVO=config_name WIDTH=<seconds>`
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- `SET_SERVO SERVO=config_name ANGLE=<degrees>`
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## Probe
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The following commands are available when a "probe" config section is
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enabled:
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- `PROBE`: Move the nozzle downwards until the probe triggers.
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- `QUERY_PROBE`: Report the current status of the probe ("triggered"
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or "open").
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## Delta Calibration
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The following commands are available when the "delta_calibrate" config
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section is enabled:
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- `DELTA_CALIBRATE`: This command will probe seven points on the bed
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and recommend updated endstop positions, tower angles, and radius.
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- `NEXT`: If manual bed probing is enabled, then one can use this
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command to move to the next probing point during a DELTA_CALIBRATE
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operation.
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## Bed Tilt
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The following commands are available when the "bed_tilt" config
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section is enabled:
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- `BED_TILT_CALIBRATE`: This command will probe the points specified
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in the config and then recommend updated x and y tilt adjustments.
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- `NEXT`: If manual bed probing is enabled, then one can use this
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command to move to the next probing point during a
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BED_TILT_CALIBRATE operation.
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## Mesh Bed Leveling
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The following commands are available when the "bed_mesh" config
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section is enabled:
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- `BED_MESH_CALIBRATE`: This command probes the bed using generated
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points specified by the parameters in the config. After probing,
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a mesh is generated and z-movement is adjusted according to the mesh.
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- `BED_MESH_OUTPUT`: This command outputs the current probed z values
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and current mesh values to the terminal.
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- `BED_MESH_MAP`: This command probes the bed in a similar fashion
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to BED_MESH_CALIBRATE, however no mesh is generated. Instead,
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the probed z values are serialized to json and output to the
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terminal. This allows octoprint plugins to easily capture the
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data and generate maps approximating the bed's surface. Note
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that although no mesh is generated, any currently stored mesh
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will be cleared as the process rehomes the printer.
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- `BED_MESH_CLEAR`: This command clears the mesh and removes all
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z adjustment. It is recommended to put this in your end-gcode.
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## Z Tilt
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The following commands are available when the "z_tilt" config section
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is enabled:
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- `Z_TILT_ADJUST`: This command will probe the points specified in the
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config and then make independent adjustments to each Z stepper to
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compensate for tilt.
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## Dual Carriages
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The following command is available when the "dual_carriage" config
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section is enabled:
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- `SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
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carriage. It is typically invoked from the activate_gcode and
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deactivate_gcode fields in a multiple extruder configuration.
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## TMC2130
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The following command is available when the "tmc2130" config section
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is enabled:
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- `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver
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registers and report their values.
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## Force movement
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The following commands are available when the "force_move" config
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section is enabled:
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- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value>
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VELOCITY=<value>`: This command will forcibly move the given stepper
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the given distance (in mm) at the given constant velocity (in
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mm/s). No acceleration is performed; no boundary checks are
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performed; no kinematic updates are made; other parallel steppers on
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an axis will not be moved. Use caution as an incorrect command could
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cause damage! Using this command will almost certainly place the
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low-level kinematics in an incorrect state; issue a G28 afterwards
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to reset the kinematics. This command is intended for low-level
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diagnostics and debugging.
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- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
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the low-level kinematic code to believe the toolhead is at the given
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cartesian position. This is a diagnostic and debugging command; use
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SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
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axis is not specified then it will default to the position that the
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head was last commanded to. Setting an incorrect or invalid position
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may lead to internal software errors. This command may invalidate
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future boundary checks; issue a G28 afterwards to reset the
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kinematics.
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