mirror of https://github.com/Desuuuu/klipper.git
247 lines
11 KiB
Markdown
247 lines
11 KiB
Markdown
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`
|
|
- Select tool: `T<index>`
|
|
- 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<percent>`
|
|
- Set extrude factor override percentage: `M221 S<percent>`
|
|
- Set acceleration: `M204 S<value>`
|
|
- 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`
|
|
|
|
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`
|
|
|
|
## G-Code display commands
|
|
|
|
The following standard G-Code commands are available if a "display"
|
|
config section is enabled:
|
|
- Display Message: `M117 <message>`
|
|
- Set build percentage: `M73 P<percent>`
|
|
|
|
## Other available G-Code commands
|
|
|
|
The following standard G-Code commands are currently available, but
|
|
using them is not recommended:
|
|
- Offset axes: `M206 [X<offset>] [Y<offset>] [Z<offset>]` (Use
|
|
SET_GCODE_OFFSET instead.)
|
|
- Get Endstop Status: `M119` (Use QUERY_ENDSTOPS instead.)
|
|
|
|
# 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.
|
|
- `GET_POSITION`: Return information on the current location of the
|
|
toolhead.
|
|
- `SET_GCODE_OFFSET [X=<pos>|X_ADJUST=<adjust>]
|
|
[Y=<pos>|Y_ADJUST=<adjust>] [Z=<pos>|Z_ADJUST=<adjust>]`: Set a
|
|
positional offset to apply to future G-Code commands. This is
|
|
commonly used to virtually change the Z bed offset or to set nozzle
|
|
XY offsets when switching extruders. For example, if
|
|
"SET_GCODE_OFFSET Z=0.2" is sent, then future G-Code moves will
|
|
have 0.2mm added to their Z height. If the X_ADJUST style parameters
|
|
are used, then the adjustment will be added to any existing offset
|
|
(eg, "SET_GCODE_OFFSET Z=-0.2" followed by "SET_GCODE_OFFSET
|
|
Z_ADJUST=0.3" would result in a total Z offset of 0.1).
|
|
- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
|
|
[WRITE_FILE=1]`: Perform a PID calibration test. The specified
|
|
heater will be enabled until the specified target temperature is
|
|
reached, and then the heater will be turned off and on for several
|
|
cycles. If the WRITE_FILE parameter is enabled, then the file
|
|
/tmp/heattest.txt will be created with a log of all temperature
|
|
samples taken during the test.
|
|
- `TURN_OFF_HEATERS`: Turn off all heaters.
|
|
- `SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
|
|
[ACCEL_TO_DECEL=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: Modify
|
|
the printer's velocity limits. Note that one may only set values
|
|
less than or equal to the limits specified in the config file.
|
|
- `SET_PRESSURE_ADVANCE [EXTRUDER=<config_name>] [ADVANCE=<pressure_advance>]
|
|
[ADVANCE_LOOKAHEAD_TIME=<pressure_advance_lookahead_time>]`:
|
|
Set pressure advance parameters. If EXTRUDER is not specified, it
|
|
defaults to the active extruder.
|
|
- `STEPPER_BUZZ STEPPER=<config_name>`: Move the given stepper forward
|
|
one mm and then backward one mm, repeated 10 times. This is a
|
|
diagnostic tool to help verify stepper connectivity.
|
|
- `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.
|
|
- `SAVE_CONFIG`: This command will overwrite the main printer config
|
|
file and restart the host software. This command is used in
|
|
conjunction with other calibration commands to store the results of
|
|
calibration tests.
|
|
- `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 an "output_pin" 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 [METHOD=manual]`: 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.
|
|
- `DELTA_ANALYZE`: This command is used during enhanced delta
|
|
calibration. See [Delta Calibrate](Delta_Calibrate.md) for details.
|
|
|
|
## Bed Tilt
|
|
|
|
The following commands are available when the "bed_tilt" config
|
|
section is enabled:
|
|
- `BED_TILT_CALIBRATE [METHOD=manual]`: 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.
|
|
|
|
## Mesh Bed Leveling
|
|
|
|
The following commands are available when the "bed_mesh" config
|
|
section is enabled:
|
|
- `BED_MESH_CALIBRATE [METHOD=manual]`: This command probes the bed
|
|
using generated points specified by the parameters in the
|
|
config. After probing, a mesh is generated and z-movement is
|
|
adjusted according to the mesh.
|
|
- `NEXT`: If manual bed probing is enabled, then one can use this
|
|
command to move to the next probing point during a
|
|
BED_MESH_CALIBRATE operation.
|
|
- `BED_MESH_OUTPUT`: This command outputs the current probed z values
|
|
and current mesh values to the terminal.
|
|
- `BED_MESH_MAP`: This command probes the bed in a similar fashion
|
|
to BED_MESH_CALIBRATE, however no mesh is generated. Instead,
|
|
the probed z values are serialized to json and output to the
|
|
terminal. This allows octoprint plugins to easily capture the
|
|
data and generate maps approximating the bed's surface. Note
|
|
that although no mesh is generated, any currently stored mesh
|
|
will be cleared as the process rehomes the printer.
|
|
- `BED_MESH_CLEAR`: This command clears the mesh and removes all
|
|
z adjustment. It is recommended to put this in your end-gcode.
|
|
- `BED_MESH_PROFILE LOAD=<name> SAVE=<name> REMOVE=<name>`: This
|
|
command provides profile management for mesh state. LOAD will
|
|
restore the mesh state from the profile matching the supplied name.
|
|
SAVE will save the current mesh state to a profile matching the
|
|
supplied name. Remove will delete the profile matching the
|
|
supplied name from persistent memory. Note that after SAVE or
|
|
REMOVE operations have been run the SAVE_CONFIG gcode must be run
|
|
to make the changes to peristent memory permanent.
|
|
|
|
## Z Tilt
|
|
|
|
The following commands are available when the "z_tilt" config section
|
|
is enabled:
|
|
- `Z_TILT_ADJUST`: This command will probe the points specified in the
|
|
config and then make independent adjustments to each Z stepper to
|
|
compensate for tilt.
|
|
|
|
## Dual Carriages
|
|
|
|
The following command is available when the "dual_carriage" config
|
|
section is enabled:
|
|
- `SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
|
|
carriage. It is typically invoked from the activate_gcode and
|
|
deactivate_gcode fields in a multiple extruder configuration.
|
|
|
|
## TMC2130
|
|
|
|
The following command is available when the "tmc2130" config section
|
|
is enabled:
|
|
- `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver
|
|
registers and report their values.
|
|
|
|
## Force movement
|
|
|
|
The following commands are available when the "force_move" config
|
|
section is enabled:
|
|
- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value>
|
|
VELOCITY=<value>`: This command will forcibly move the given stepper
|
|
the given distance (in mm) at the given constant velocity (in
|
|
mm/s). No acceleration is performed; no boundary checks are
|
|
performed; no kinematic updates are made; other parallel steppers on
|
|
an axis will not be moved. Use caution as an incorrect command could
|
|
cause damage! Using this command will almost certainly place the
|
|
low-level kinematics in an incorrect state; issue a G28 afterwards
|
|
to reset the kinematics. This command is intended for low-level
|
|
diagnostics and debugging.
|
|
- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
|
|
the low-level kinematic code to believe the toolhead is at the given
|
|
cartesian position. This is a diagnostic and debugging command; use
|
|
SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
|
|
axis is not specified then it will default to the position that the
|
|
head was last commanded to. Setting an incorrect or invalid position
|
|
may lead to internal software errors. This command may invalidate
|
|
future boundary checks; issue a G28 afterwards to reset the
|
|
kinematics.
|