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klipper/docs/G-Codes.md

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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>
    • Note: M109 always waits for temperature to settle at requested value
  • Set bed temperature: M140 [S<temperature>]
  • Set bed temperature and wait: M190 S<temperature>
    • Note: M190 always waits for temperature to settle at requested value
  • 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.

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".

If one requires a less common G-Code command then it may be possible to implement it with a custom Klipper gcode_macro (see example-extras.cfg for details). For example, one might use this to implement: G10, G11, G12, G29, G30, G31, M42, M80, M81, etc.

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>] [MOVE=1 [MOVE_SPEED=<speed>]]: 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). If "MOVE=1" is specified then a toolhead move will be issued to apply the given offset (otherwise the offset will take effect on the next absolute G-Code move that specifies the given axis). If "MOVE_SPEED" is specified then the toolhead move will be performed with the given speed (in mm/s); otherwise the toolhead move will use the last specified G-Code speed.
  • SAVE_GCODE_STATE [NAME=<state_name>]: Save the current g-code coordinate parsing state. Saving and restoring the g-code state is useful in scripts and macros. This command saves the current g-code absolute coordinate mode (G90/G91), absolute extrude mode (M82/M83), origin (G92), offset (SET_GCODE_OFFSET), speed override (M220), extruder override (M221), move speed, current XYZ position, and relative extruder "E" position. If NAME is provided it allows one to name the saved state to the given string. If NAME is not provided it defaults to "default".
  • RESTORE_GCODE_STATE [NAME=<state_name>] [MOVE=1 [MOVE_SPEED=<speed>]]: Restore a state previously saved via SAVE_GCODE_STATE. If "MOVE=1" is specified then a toolhead move will be issued to move back to the previous XYZ position. If "MOVE_SPEED" is specified then the toolhead move will be performed with the given speed (in mm/s); otherwise the toolhead move will use the restored g-code speed.
  • 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_HEATER_TEMPERATURE HEATER=<heater_name> [TARGET=<target_temperature>]: Sets the target temperature for a heater. If a target temperature is not supplied, the target is 0.
  • 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.
  • MANUAL_PROBE [SPEED=<speed>]: Run a helper script useful for measuring the height of the nozzle at a given location. If SPEED is specified, it sets the speed of TESTZ commands (the default is 5mm/s). During a manual probe, the following additional commands are available:
    • ACCEPT: This command accepts the current Z position and concludes the manual probing tool.
    • ABORT: This command terminates the manual probing tool.
    • TESTZ Z=<value>: This command moves the nozzle up or down by the amount specified in "value". For example, TESTZ Z=-.1 would move the nozzle down .1mm while TESTZ Z=.1 would move the nozzle up .1mm. The value may also be +, -, ++, or -- to move the nozzle up or down an amount relative to previous attempts.
  • Z_ENDSTOP_CALIBRATE [SPEED=<speed>]: Run a helper script useful for calibrating a Z position_endstop config setting. See the MANUAL_PROBE command for details on the parameters and the additional commands available while the tool is active.
  • SET_IDLE_TIMEOUT [TIMEOUT=<timeout>]: Allows the user to set the idle timeout (in seconds).
  • 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).
  • 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.

G-Code Macro Commands

The following command is available when a "gcode_macro" config section is enabled:

  • SET_GCODE_VARIABLE MACRO=<macro_name> VARIABLE=<name> VALUE=<value>: This command allows one to change the value of a gcode_macro variable at run-time. The provided VALUE is parsed as a Python literal.

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>] [ENABLE=<0|1>]
  • SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]

Manual stepper Commands

The following command is available when a "manual_stepper" config section is enabled:

  • MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]] [SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>] [MOVE=<pos> [STOP_ON_ENDSTOP=1]]: This command will alter the state of the stepper. Use the ENABLE parameter to enable/disable the stepper. Use the SET_POSITION parameter to force the stepper to think it is at the given position. Use the MOVE parameter to request a movement to the given position. If SPEED and/or ACCEL is specified then the given values will be used instead of the defaults specified in the config file. If an ACCEL of zero is specified then no acceleration will be preformed. If STOP_ON_ENDSTOP is specified then the move will end early should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to stop early should the endstop report not triggered).

Probe

The following commands are available when a "probe" config section is enabled:

  • PROBE [PROBE_SPEED=<mm/s>] [SAMPLES=<count>] [SAMPLE_RETRACT_DIST=<mm>] [SAMPLES_TOLERANCE=<mm>] [SAMPLES_TOLERANCE_RETRIES=<count>] [SAMPLES_RESULT=median|average]: Move the nozzle downwards until the probe triggers. If any of the optional parameters are provided they override their equivalent setting in the probe config section (see example-extras.cfg for details).
  • QUERY_PROBE: Report the current status of the probe ("triggered" or "open").
  • PROBE_ACCURACY [REPEAT=<times>] [SPEED=<speed mm/s>] [X=<x pos>] [Y=<y pos>] [Z=<z height>]: Calculate the maximum, minimum, average, median and standard deviation. The default values are: REPEAT=10, SPEED=probe config speed, X=current X, Y=current Y and Z=10.
  • PROBE_CALIBRATE [SPEED=<speed>] [<probe_parameter>=<value>]: Run a helper script useful for calibrating the probe's z_offset. See the PROBE command for details on the optional probe parameters. See the MANUAL_PROBE command for details on the SPEED parameter and the additional commands available while the tool is active.

BLTouch

The following command is available when a "bltouch" config section is enabled:

  • BLTOUCH_DEBUG COMMAND=<command>: This sends a command to the BLTouch. It may be useful for debugging. Available commands are: pin_down, touch_mode, pin_up, self_test, reset.

See Working with the BL-Touch for more details.

Delta Calibration

The following commands are available when the "delta_calibrate" config section is enabled:

  • DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]: This command will probe seven points on the bed and recommend updated endstop positions, tower angles, and radius. See the PROBE command for details on the optional probe parameters. If METHOD=manual is specified then the manual probing tool is activated - see the MANUAL_PROBE command above for details on the additional commands available while this tool is active.
  • DELTA_ANALYZE: This command is used during enhanced delta calibration. See Delta Calibrate for details.

Bed Tilt

The following commands are available when the "bed_tilt" config section is enabled:

  • BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]: This command will probe the points specified in the config and then recommend updated x and y tilt adjustments. See the PROBE command for details on the optional probe parameters. If METHOD=manual is specified then the manual probing tool is activated - see the MANUAL_PROBE command above for details on the additional commands available while this tool is active.

Mesh Bed Leveling

The following commands are available when the "bed_mesh" config section is enabled:

  • BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]: 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. See the PROBE command for details on the optional probe parameters. If METHOD=manual is specified then the manual probing tool is activated - see the MANUAL_PROBE command above for details on the additional commands available while this tool is active.
  • 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.
  • 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.

Bed Screws Helper

The following commands are available when the "bed_screws" config section is enabled:

  • BED_SCREWS_ADJUST: This command will invoke the bed screws adjustment tool. It will command the nozzle to different locations (as defined in the config file) and allow one to make adjustments to the bed screws so that the bed is a constant distance from the nozzle.

Bed Screws Tilt adjust Helper

The following commands are available when the "screws_tilt_adjust" config section is enabled:

  • SCREWS_TILT_CALCULATE [<probe_parameter>=<value>]: This command will invoke the bed screws adjustment tool. It will command the nozzle to different locations (as defined in the config file) probing the z height and calculate the number of knob turns to adjust the bed level. See the PROBE command for details on the optional probe parameters. IMPORTANT: You MUST always do a G28 before using this command.

Z Tilt

The following commands are available when the "z_tilt" config section is enabled:

  • Z_TILT_ADJUST [<probe_parameter>=<value>]: This command will probe the points specified in the config and then make independent adjustments to each Z stepper to compensate for tilt. See the PROBE command for details on the optional probe parameters.

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, TMC2660 and TMC2208

The following commands are available when the "tmc2130", "tmc2660" or "tmc2208" config section is enabled:

  • DUMP_TMC STEPPER=<name>: This command will read the TMC driver registers and report their values.
  • INIT_TMC STEPPER=<name>: This command will intitialize the TMC registers. Needed to re-enable the driver if power to the chip is turned off then back on.
  • SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>: This will adjust the run and hold currents of the TMC driver. HOLDCURRENT is applicable only to the tmc2130 and tmc2208.
  • SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>: This will alter the value of the specified register field of the TMC driver. This command is intended for low-level diagnostics and debugging only because changing the fields during run-time can lead to undesired and potentially dangerous behavior of your printer. Permanent changes should be made using the printer configuration file instead. No sanity checks are performed for the given values.

Endstop adjustments by stepper phase

The following commands are available when an "endstop_phase" config section is enabled:

  • ENDSTOP_PHASE_CALIBRATE [STEPPER=<config_name>]: If no STEPPER parameter is provided then this command will reports statistics on endstop stepper phases during past homing operations. When a STEPPER parameter is provided it arranges for the given endstop phase setting to be written to the config file (in conjunction with the SAVE_CONFIG command).

Force movement

The following commands are available when the "force_move" config section is enabled:

  • FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value> [ACCEL=<value>]: This command will forcibly move the given stepper the given distance (in mm) at the given constant velocity (in mm/s). If ACCEL is specified and is greater than zero, then the given acceleration (in mm/s^2) will be used; otherwise 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.

Send message (respond) to host

The following commands are availabe when the "respond" config section is enabled.

  • M118 <message>: echo the message prepended with the configured default prefix (or echo: if no prefix is configured).
  • RESPOND MSG="<message>": echo the message prepended with the configured default prefix (or echo: if no prefix is configured).
  • RESPOND TYPE=echo MSG="<message>": echo the message prepended with echo: .
  • RESPOND TYPE=command MSG="<message>": echo the message prepended with // . Octopint can be configured to respond to these messages (e.g. RESPOND TYPE=command MSG=action:pause).
  • RESPOND TYPE=error MSG="<message>": echo the message prepended with !! .
  • RESPOND PREFIX=<prefix> MSG="<message>": echo the message prepended with <prefix> (The PREFIX parameter will take priority over the TYPE parameter)

Pause Resume

The following commands are available when the "pause_resume" config section is enabled:

  • PAUSE: Pauses the current print. The current position is captured for restoration upon resume.
  • RESUME [VELOCITY=<value>]: Resumes the print from a pause, first restoring the previously captured position. The VELOCITY parameter determines the speed at which the tool should return to the original captured position.
  • CLEAR_PAUSE: Clears the current paused state without resuming the print. This is useful if one decides to cancel a print after a PAUSE. It is recommended to add this to your start gcode to make sure the paused state is fresh for each print.

Filament Sensor

The following command is available when the "filament_switch_sensor" config section is enabled.

  • QUERY_FILAMENT_SENSOR SENSOR=<sensor_name>: Queries the current status of the filament sensor. The data displayed on the terminal will depend on the sensor type defined in the confguration.
  • SET_FILAMENT_SENSOR SENSOR=<sensor_name> ENABLE=[0|1]: Sets the filament sensor on/off. If ENABLE is set to 0, the filament sensor will be disabled, if set to 1 it is enabled.

Firmware Retraction

The following commands are available when the "firmware_retraction" config section is enabled. These commands allow you to utilise the firmware retraction feature available in many slicers, to reduce stringing during non-extrusion moves from one part of the print to another. Appropriately configuring pressure advance reduces the length of retraction required.

  • SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>] [UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>] [Z_HOP=<mm>]: Adjust the parameters used by firmware retraction. RETRACT_LENGTH determines the length of filament to retract and unretract. The speed of retraction is adjusted via RETRACT_SPEED, and is typically set relatively high. The speed of unretraction is adjusted via UNRETRACT_SPEED, and is not particularly critical, although often lower than RETRACT_SPEED. In some cases it is useful to add a small amount of additional length on unretraction, and this is set via UNRETRACT_EXTRA_LENGTH. It is possible to lift the Z axis by a small amount when in retracted state by setting Z_HOP, although this is more commonly used for printers where fast Z movements are supported, such as delta printers. SET_RETRACTION is commonly set as part of slicer per-filament configuration, as different filaments require different parameter settings.
  • GET_RETRACTION: Queries the current parameters used by firmware retraction and displays them on the terminal.
  • G10: Retracts the extruder using the currently configured parameters.
  • G11: Unretracts the extruder using the currently configured parameters.

Skew Correction

The following commands are available when the "skew_correction" config section is enabled.

  • SET_SKEW [XY=<ac_length,bd_length,ad_length>] [XZ=<ac,bd,ad>] [YZ=<ac,bd,ad>] [CLEAR=<0|1>]: Configures the [skew_correction] module with measurements (in mm) taken from a calibration print. One may enter measurements for any combination of planes, planes not entered will retain their current value. If CLEAR=1 is entered then all skew correction will be disabled.
  • GET_CURRENT_SKEW: Reports the current printer skew for each plane in both radians and degrees. The skew is calculated based on parameters provided via the SET_SKEW gcode.
  • CALC_MEASURED_SKEW [AC=<ac_length>] [BD=<bd_length>] [AD=<ad_length>]: Calculates and reports the skew (in radians and degrees) based on a measured print. This can be useful for determining the printer's current skew after correction has been applied. It may also be useful before correction is applied to determine if skew correction is necessary. See skew_correction.md for details on skew calibration objects and measurements.
  • SKEW_PROFILE [LOAD=<name>] [SAVE=<name>] [REMOVE=<name>]: Profile management for skew_correction. LOAD will restore skew state from the profile matching the supplied name. SAVE will save the current skew 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.

Delayed GCode

The following command is enabled if a [delayed_gcode] config section has been enabled:

  • UPDATE_DELAYED_GCODE [ID=<name>] [DURATION=<seconds>]: Updates the delay duration for the identified [delayed_gcode] and starts the timer for gcode execution. A value of 0 will cancel a pending delayed gcode from executing.