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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`
- 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>` OR `M204 P<value> T<value>`
- Note: If S is not specified and both P and T are specified, then
the acceleration is set to the minimum of P and T. If only one of
P or T is specified, the command has no effect.
- 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](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).
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](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
for details). For example, one might use this to implement: `G12`,
`G29`, `G30`, `G31`, `M42`, `M80`, `M81`, `T1`, 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`
In addition, the following extended commands are availble when the
"virtual_sdcard" config section is enabled.
- Load a file and start SD print: `SDCARD_PRINT_FILE FILENAME=<filename>`
- Unload file and clear SD state: `SDCARD_RESET_FILE`
## G-Code arcs
The following standard G-Code commands are available if a "gcode_arcs"
config section is enabled:
- Controlled Arc Move (G2 or G3): `G2 [X<pos>] [Y<pos>] [Z<pos>]
[E<pos>] [F<speed>] I<value> J<value>`
## G-Code firmware retraction
The following standard G-Code commands are available if a
"firmware_retraction" config section is enabled:
- Retract: `G10`
- Unretract: `G11`
## 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:
- 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.
- `QUERY_ADC [NAME=<config_name>] [PULLUP=<value>]`: Report the last
analog value received for a configured analog pin. If NAME is not
provided, the list of available adc names are reported. If PULLUP is
provided (as a value in Ohms), the raw analog value along with the
equivalent resistance given that pullup is reported.
- `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.
- `ACTIVATE_EXTRUDER EXTRUDER=<config_name>`: In a printer with
multiple extruders this command is used to change the active
extruder.
- `SET_PRESSURE_ADVANCE [EXTRUDER=<config_name>] [ADVANCE=<pressure_advance>]
[SMOOTH_TIME=<pressure_advance_smooth_time>]`: Set pressure advance
parameters. If EXTRUDER is not specified, it defaults to the active
extruder.
- `SET_EXTRUDER_STEP_DISTANCE [EXTRUDER=<config_name>] [DISTANCE=<distance>]`:
Set a new value for the provided extruder's step_distance. Value is
not retained on Klipper reset. Use with caution, small changes can
result in excessive pressure between extruder and hot end. Do proper
calibration steps with filament before use. If 'DISTANCE' value is
not included command will return current step distance.
- `SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or
disable only the given stepper. This is a diagnostic and debugging
tool and must be used with care. Disabling an axis motor does not
reset the homing information. Manually moving a disabled stepper may
cause the machine to operate the motor outside of safe limits. This
can lead to damage to axis components, hot ends, and print surface.
- `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.
- `TUNING_TOWER COMMAND=<command> PARAMETER=<name> START=<value>
FACTOR=<value> [BAND=<value>]`: A tool for tuning a parameter on
each Z height during a print. The tool will run the given COMMAND
with the given PARAMETER assigned to the value using the formula
`value = start + factor * z_height`. If BAND is provided then the
adjustment will only be made every BAND millimeters of z height - in
that case the formula used is `value = start + factor *
((floor(z_height / band) + .5) * band)`.
- `SET_DISPLAY_GROUP [DISPLAY=<display>] GROUP=<group>`: Set the
active display group of an lcd display. This allows to define
multiple display data groups in the config,
e.g. `[display_data <group> <elementname>]` and switch between them
using this extended gcode command. If DISPLAY is not specified it
defaults to "display" (the primary display).
- `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](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.
## 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>`
## Manually Controlled Fans Commands
The following command is available when a "fan_generic" config section
is enabled:
- `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets
the speed of a fan. <speed> must be between 0.0 and 1.0.
## Neopixel and Dotstar Commands
The following command is available when "neopixel" or "dotstar" config
sections are enabled:
- `SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
[INDEX=<index>] [TRANSMIT=0]`: This sets the LED output. Each color
<value> must be between 0.0 and 1.0. If multiple LED chips are
daisy-chained then one may specify INDEX to alter the color of just
the given chip (1 for the first chip, 2 for the second, etc.). If
INDEX is not provided then all LEDs in the daisy-chain will be set
to the provided color. If TRANSMIT=0 is specified then the color
change will only be made on the next SET_LED command that does not
specify TRANSMIT=0; this may be useful in combination with the INDEX
parameter to batch multiple updates in a daisy-chain.
## Servo Commands
The following commands are available when a "servo" config section is
enabled:
- `SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`:
Set the servo position to the given angle (in degrees) or pulse
width (in seconds). Use `WIDTH=0` to disable the servo output.
## 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|2|-1|-2]] [SYNC=0]]`: 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 performed. If
STOP_ON_ENDSTOP=1 is specified then the move will end early should
the endstop report as triggered (use STOP_ON_ENDSTOP=2 to complete
the move without error even if the endstop does not trigger, use -1
or -2 to stop when the endstop reports not triggered). Normally
future G-Code commands will be scheduled to run after the stepper
move completes, however if a manual stepper move uses SYNC=0 then
future G-Code movement commands may run in parallel with the stepper
movement.
## Extruder stepper Commands
The following command is available when an "extruder_stepper" config
section is enabled:
- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name>
[EXTRUDER=<extruder config_name>]`: This command will cause the given
STEPPER to become synchronized to the given EXTRUDER, overriding
the extruder defined in the "extruder_stepper" config section.
## Probe
The following commands are available when a "probe" config section is
enabled:
- `PROBE [PROBE_SPEED=<mm/s>] [LIFT_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](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
for details).
- `QUERY_PROBE`: Report the current status of the probe ("triggered"
or "open").
- `PROBE_ACCURACY [PROBE_SPEED=<mm/s>] [SAMPLES=<count>]
[SAMPLE_RETRACT_DIST=<mm>]`: Calculate the maximum, minimum,
average, median, and standard deviation of multiple probe
samples. By default, 10 SAMPLES are taken. Otherwise the optional
parameters default to their equivalent setting in the probe config
section.
- `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. Please note,
the PROBE_CALIBRATE command uses the speed variable to move in XY direction
as well as Z.
## 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`,
(*1): `set_5V_output_mode`, `set_OD_output_mode`, `output_mode_store`
*** Note that the commands marked by (*1) are solely supported
by a BL-Touch V3.0 or V3.1(+)
- `BLTOUCH_STORE MODE=<output_mode>`: This stores an output mode in the
EEPROM of a BLTouch V3.1 Available output_modes are: `5V`, `OD`
See [Working with the BL-Touch](BLTouch.md) 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](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] [<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 PGP=[<0:1>]`: This command outputs the current probed
z values and current mesh values to the terminal. If PGP=1 is specified
the x,y coordinates generated by bed_mesh, along with their associated
indices, will be output to the terminal.
- `BED_MESH_MAP`: Like to BED_MESH_OUTPUT, this command prints the current
state of the mesh to the terminal. Instead of printing the values in a
human readable format, the state is serialized in json format. This allows
octoprint plugins to easily capture the data and generate height maps
approximating the bed's surface.
- `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, TMC2208, TMC2209 and TMC5160
The following commands are available when any of the "tmcXXXX" config sections 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, tmc2208, tmc2209 and tmc5160.
- `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. If acceleration is not performed then it
can lead to the micro-controller reporting "No next step" errors
(avoid these errors by specifying an ACCEL value or use a very low
VELOCITY). 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>]`: 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. 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.
## Resonance compensation
The following command is enabled if an [input_shaper] config section has
been enabled:
- `SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
[SHAPER_FREQ_Y=<shaper_freq_y>] [DAMPING_RATIO_X=<damping_ratio_x>]
[DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
[SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`: Modify
input shaper parameters. Note that SHAPER_TYPE parameter resets input shaper
for both X and Y axes even if different shaper types have been configured
in [input_shaper] section. SHAPER_TYPE cannot be used together with either
of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters. See
[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
for more details on each of these parameters.
## Temperature Fan Commands
The following command is available when a "temperature_fan" config
section is enabled:
- `SET_TEMPERATURE_FAN_TARGET temperature_fan=<temperature_fan_name>
[target=<target_temperature>]`: Sets the target temperature for a
temperature_fan. If a target is not supplied, it is set to the
specified temperature in the config file.
## Adxl345 Accelerometer Commands
The following command is available when an "adxl345" config section is
enabled:
- `ACCELEROMETER_MEASURE [CHIP=<config_name>] [RATE=<value>]
[NAME=<value>]`: Starts accelerometer measurements at the requested
number of samples per second. If CHIP is not specified it defaults
to "default". Valid rates are 25, 50, 100, 200, 400, 800, 1600,
and 3200. If RATE is zero (or not specified) then the current series
of measurements are stopped and the results are written to a file
named `/tmp/adxl345-<name>.csv` where "<name>" is the optional NAME
parameter. If NAME is not specified it defaults to the current time
in "YYYYMMDD_HHMMSS" format.
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