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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>]: 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).
  • 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 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.
  • 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.

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>: 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.