1333 lines
56 KiB
Markdown
1333 lines
56 KiB
Markdown
# G-Codes
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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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- 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>` OR `M204 P<value> T<value>`
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- Note: If S is not specified and both P and T are specified, then
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the acceleration is set to the minimum of P and T. If only one of
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P or T is specified, the command has no effect.
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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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- Note: M109 always waits for temperature to settle at requested
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value
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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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- Note: M190 always waits for temperature to settle at requested
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value
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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"](#additional-commands). Similarly, the
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G-Code terminal output is only intended to be human readable - see the
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[API Server document](API_Server.md) if controlling Klipper from
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external software.
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If one requires a less common G-Code command then it may be possible
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to implement it with a custom
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[gcode_macro config section](Config_Reference.md#gcode_macro). For
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example, one might use this to implement: `G12`, `G29`, `G30`, `G31`,
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`M42`, `M80`, `M81`, `T1`, etc.
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## Additional 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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This section is organized by Klipper module name, which generally
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follows the section names specified in the
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[printer configuration file](Config_Reference.md). Note that some
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modules are automatically loaded.
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### [adxl345]
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The following commands are available when an
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[adxl345 config section](Config_Reference.md#adxl345) is enabled.
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#### ACCELEROMETER_MEASURE
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`ACCELEROMETER_MEASURE [CHIP=<config_name>] [NAME=<value>]`: Starts
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accelerometer measurements at the requested number of samples per
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second. If CHIP is not specified it defaults to "adxl345". The command
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works in a start-stop mode: when executed for the first time, it
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starts the measurements, next execution stops them. The results of
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measurements are written to a file named
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`/tmp/adxl345-<chip>-<name>.csv` where `<chip>` is the name of the
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accelerometer chip (`my_chip_name` from `[adxl345 my_chip_name]`) and
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`<name>` is the optional NAME parameter. If NAME is not specified it
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defaults to the current time in "YYYYMMDD_HHMMSS" format. If the
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accelerometer does not have a name in its config section (simply
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`[adxl345]`) then `<chip>` part of the name is not generated.
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#### ACCELEROMETER_QUERY
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`ACCELEROMETER_QUERY [CHIP=<config_name>] [RATE=<value>]`: queries
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accelerometer for the current value. If CHIP is not specified it
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defaults to "adxl345". If RATE is not specified, the default value is
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used. This command is useful to test the connection to the ADXL345
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accelerometer: one of the returned values should be a free-fall
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acceleration (+/- some noise of the chip).
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#### ACCELEROMETER_DEBUG_READ
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`ACCELEROMETER_DEBUG_READ [CHIP=<config_name>] REG=<register>`:
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queries ADXL345 register "register" (e.g. 44 or 0x2C). Can be useful
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for debugging purposes.
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#### ACCELEROMETER_DEBUG_WRITE
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`ACCELEROMETER_DEBUG_WRITE [CHIP=<config_name>] REG=<register>
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VAL=<value>`: Writes raw "value" into a register "register". Both
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"value" and "register" can be a decimal or a hexadecimal integer. Use
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with care, and refer to ADXL345 data sheet for the reference.
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### [angle]
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The following commands are available when an
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[angle config section](Config_Reference.md#angle) is enabled.
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#### ANGLE_CALIBRATE
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`ANGLE_CALIBRATE CHIP=<chip_name>`: Perform angle calibration on the
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given sensor (there must be an `[angle chip_name]` config section that
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has specified a `stepper` parameter). IMPORTANT - this tool will
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command the stepper motor to move without checking the normal
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kinematic boundary limits. Ideally the motor should be disconnected
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from any printer carriage before performing calibration. If the
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stepper can not be disconnected from the printer, make sure the
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carriage is near the center of its rail before starting calibration.
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(The stepper motor may move forwards or backwards two full rotations
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during this test.) After completing this test use the `SAVE_CONFIG`
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command to save the calibration data to the config file. In order to
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use this tool the Python "numpy" package must be installed (see the
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[measuring resonance document](Measuring_Resonances.md#software-installation)
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for more information).
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#### ANGLE_DEBUG_READ
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`ANGLE_DEBUG_READ CHIP=<config_name> REG=<register>`: Queries sensor
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register "register" (e.g. 44 or 0x2C). Can be useful for debugging
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purposes. This is only available for tle5012b chips.
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#### ANGLE_DEBUG_WRITE
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`ANGLE_DEBUG_WRITE CHIP=<config_name> REG=<register> VAL=<value>`:
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Writes raw "value" into register "register". Both "value" and
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"register" can be a decimal or a hexadecimal integer. Use with care,
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and refer to sensor data sheet for the reference. This is only
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available for tle5012b chips.
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### [bed_mesh]
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The following commands are available when the
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[bed_mesh config section](Config_Reference.md#bed_mesh) is enabled
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(also see the [bed mesh guide](Bed_Mesh.md)).
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#### BED_MESH_CALIBRATE
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`BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]
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[<mesh_parameter>=<value>]`: This command probes the bed using
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generated points specified by the parameters in the config. After
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probing, a mesh is generated and z-movement is adjusted according to
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the mesh. See the PROBE command for details on the optional probe
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parameters. If METHOD=manual is specified then the manual probing tool
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is activated - see the MANUAL_PROBE command above for details on the
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additional commands available while this tool is active.
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#### BED_MESH_OUTPUT
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`BED_MESH_OUTPUT PGP=[<0:1>]`: This command outputs the current probed
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z values and current mesh values to the terminal. If PGP=1 is
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specified the X, Y coordinates generated by bed_mesh, along with their
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associated indices, will be output to the terminal.
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#### BED_MESH_MAP
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`BED_MESH_MAP`: Like to BED_MESH_OUTPUT, this command prints the
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current state of the mesh to the terminal. Instead of printing the
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values in a human readable format, the state is serialized in json
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format. This allows octoprint plugins to easily capture the data and
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generate height maps approximating the bed's surface.
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#### BED_MESH_CLEAR
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`BED_MESH_CLEAR`: This command clears the mesh and removes all z
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adjustment. It is recommended to put this in your end-gcode.
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#### BED_MESH_PROFILE
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`BED_MESH_PROFILE LOAD=<name> SAVE=<name> REMOVE=<name>`: This command
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provides profile management for mesh state. LOAD will restore the mesh
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state from the profile matching the supplied name. SAVE will save the
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current mesh state to a profile matching the supplied name. Remove
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will delete the profile matching the supplied name from persistent
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memory. Note that after SAVE or REMOVE operations have been run the
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SAVE_CONFIG gcode must be run to make the changes to persistent memory
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permanent.
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#### BED_MESH_OFFSET
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`BED_MESH_OFFSET [X=<value>] [Y=<value>]`: Applies X and/or Y offsets
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to the mesh lookup. This is useful for printers with independent
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extruders, as an offset is necessary to produce correct Z adjustment
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after a tool change.
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### [bed_screws]
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The following commands are available when the
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[bed_screws config section](Config_Reference.md#bed_screws) is enabled
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(also see the
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[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws)).
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#### BED_SCREWS_ADJUST
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`BED_SCREWS_ADJUST`: This command will invoke the bed screws
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adjustment tool. It will command the nozzle to different locations (as
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defined in the config file) and allow one to make adjustments to the
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bed screws so that the bed is a constant distance from the nozzle.
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### [bed_tilt]
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The following commands are available when the
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[bed_tilt config section](Config_Reference.md#bed_tilt) is enabled.
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#### BED_TILT_CALIBRATE
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`BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
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command will probe the points specified in the config and then
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recommend updated x and y tilt adjustments. See the PROBE command for
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details on the optional probe parameters. If METHOD=manual is
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specified then the manual probing tool is activated - see the
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MANUAL_PROBE command above for details on the additional commands
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available while this tool is active.
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### [bltouch]
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The following command is available when a
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[bltouch config section](Config_Reference.md#bltouch) is enabled (also
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see the [BL-Touch guide](BLTouch.md)).
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#### BLTOUCH_DEBUG
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`BLTOUCH_DEBUG COMMAND=<command>`: This sends a command to the
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BLTouch. It may be useful for debugging. Available commands are:
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`pin_down`, `touch_mode`, `pin_up`, `self_test`, `reset`. A BL-Touch
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V3.0 or V3.1 may also support `set_5V_output_mode`,
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`set_OD_output_mode`, `output_mode_store` commands.
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#### BLTOUCH_STORE
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`BLTOUCH_STORE MODE=<output_mode>`: This stores an output mode in the
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EEPROM of a BLTouch V3.1 Available output_modes are: `5V`, `OD`
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### [configfile]
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The configfile module is automatically loaded.
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#### SAVE_CONFIG
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`SAVE_CONFIG`: This command will overwrite the main printer config
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file and restart the host software. This command is used in
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conjunction with other calibration commands to store the results of
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calibration tests.
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### [delayed_gcode]
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The following command is enabled if a
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[delayed_gcode config section](Config_Reference.md#delayed_gcode) has
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been enabled (also see the
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[template guide](Command_Templates.md#delayed-gcodes)).
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#### UPDATE_DELAYED_GCODE
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`UPDATE_DELAYED_GCODE [ID=<name>] [DURATION=<seconds>]`: Updates the
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delay duration for the identified [delayed_gcode] and starts the timer
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for gcode execution. A value of 0 will cancel a pending delayed gcode
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from executing.
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### [delta_calibrate]
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The following commands are available when the
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[delta_calibrate config section](Config_Reference.md#linear-delta-kinematics)
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is enabled (also see the [delta calibrate guide](Delta_Calibrate.md)).
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#### DELTA_CALIBRATE
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`DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
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command will probe seven points on the bed and recommend updated
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endstop positions, tower angles, and radius. See the PROBE command for
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details on the optional probe parameters. If METHOD=manual is
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specified then the manual probing tool is activated - see the
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MANUAL_PROBE command above for details on the additional commands
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available while this tool is active.
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#### DELTA_ANALYZE
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`DELTA_ANALYZE`: This command is used during enhanced delta
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calibration. See [Delta Calibrate](Delta_Calibrate.md) for details.
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### [display]
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The following command is available when a
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[display config section](Config_Reference.md#gcode_macro) is enabled.
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#### SET_DISPLAY_GROUP
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`SET_DISPLAY_GROUP [DISPLAY=<display>] GROUP=<group>`: Set the active
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display group of an lcd display. This allows to define multiple
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display data groups in the config, e.g. `[display_data <group>
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<elementname>]` and switch between them using this extended gcode
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command. If DISPLAY is not specified it defaults to "display" (the
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primary display).
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### [display_status]
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The display_status module is automatically loaded if a
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[display config section](Config_Reference.md#display) is enabled. It
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provides the following standard G-Code commands:
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- Display Message: `M117 <message>`
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- Set build percentage: `M73 P<percent>`
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Also provided is the following extended G-Code command:
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- `SET_DISPLAY_TEXT MSG=<message>`: Performs the equivalent of M117,
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setting the supplied `MSG` as the current display message. If
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`MSG` is omitted the display will be cleared.
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### [dual_carriage]
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The following command is available when the
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[dual_carriage config section](Config_Reference.md#dual_carriage) is
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enabled.
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#### SET_DUAL_CARRIAGE
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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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### [endstop_phase]
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The following commands are available when an
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[endstop_phase config section](Config_Reference.md#endstop_phase) is
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enabled (also see the [endstop phase guide](Endstop_Phase.md)).
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#### ENDSTOP_PHASE_CALIBRATE
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`ENDSTOP_PHASE_CALIBRATE [STEPPER=<config_name>]`: If no STEPPER
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parameter is provided then this command will reports statistics on
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endstop stepper phases during past homing operations. When a STEPPER
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parameter is provided it arranges for the given endstop phase setting
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to be written to the config file (in conjunction with the SAVE_CONFIG
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command).
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### [exclude_object]
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The following commands are available when an
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[exclude_object config section](Config_Reference.md#exclude_object) is
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enabled (also see the [exclude object guide](Exclude_Object.md)):
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#### `EXCLUDE_OBJECT`
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`EXCLUDE_OBJECT [NAME=object_name] [CURRENT=1] [RESET=1]`:
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With no parameters, this will return a list of all currently excluded objects.
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When the `NAME` parameter is given, the named object will be excluded from
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printing.
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When the `CURRENT` parameter is given, the current object will be excluded from
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printing.
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When the `RESET` parameter is given, the list of excluded objects will be
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cleared. Additionally including `NAME` will only reset the named object. This
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**can** cause print failures, if layers were already skipped.
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#### `EXCLUDE_OBJECT_DEFINE`
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`EXCLUDE_OBJECT_DEFINE [NAME=object_name [CENTER=X,Y] [POLYGON=[[x,y],...]]
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[RESET=1] [JSON=1]`:
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Provides a summary of an object in the file.
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With no parameters provided, this will list the defined objects known to
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Klipper. Returns a list of strings, unless the `JSON` parameter is given,
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when it will return object details in json format.
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When the `NAME` parameter is included, this defines an object to be excluded.
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- `NAME`: This parameter is required. It is the identifier used by other
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commands in this module.
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- `CENTER`: An X,Y coordinate for the object.
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- `POLYGON`: An array of X,Y coordinates that provide an outline for the
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object.
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When the `RESET` parameter is provided, all defined objects will be cleared, and
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the `[exclude_object]` module will be reset.
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#### `EXCLUDE_OBJECT_START`
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`EXCLUDE_OBJECT_START NAME=object_name`:
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This command takes a `NAME` parameter and denotes the start of the gcode for an
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object on the current layer.
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#### `EXCLUDE_OBJECT_END`
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`EXCLUDE_OBJECT_END [NAME=object_name]`:
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Denotes the end of the object's gcode for the layer. It is paired with
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`EXCLUDE_OBJECT_START`. A `NAME` parameter is optional, and will only warn when
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the provided name does not match the current object.
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### [extruder]
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The following commands are available if an
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[extruder config section](Config_Reference.md#extruder) is enabled:
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#### ACTIVATE_EXTRUDER
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`ACTIVATE_EXTRUDER EXTRUDER=<config_name>`: In a printer with multiple
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[extruder](Config_Reference.md#extruder) config sections, this command
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changes the active hotend.
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#### SET_PRESSURE_ADVANCE
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`SET_PRESSURE_ADVANCE [EXTRUDER=<config_name>]
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[ADVANCE=<pressure_advance>]
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[SMOOTH_TIME=<pressure_advance_smooth_time>]`: Set pressure advance
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parameters of an extruder stepper (as defined in an
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[extruder](Config_Reference.md#extruder) or
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[extruder_stepper](Config_Reference.md#extruder_stepper) config section).
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If EXTRUDER is not specified, it defaults to the stepper defined in
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the active hotend.
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#### SET_EXTRUDER_ROTATION_DISTANCE
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`SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=<config_name>
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[DISTANCE=<distance>]`: Set a new value for the provided extruder
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stepper's "rotation distance" (as defined in an
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[extruder](Config_Reference.md#extruder) or
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[extruder_stepper](Config_Reference.md#extruder_stepper) config section).
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If the rotation distance is a negative number then the stepper motion
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will be inverted (relative to the stepper direction specified in the
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config file). Changed settings are not retained on Klipper reset. Use
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with caution as small changes can result in excessive pressure between
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extruder and hotend. Do proper calibration with filament before use.
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If 'DISTANCE' value is not provided then this command will return the
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current rotation distance.
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#### SYNC_EXTRUDER_MOTION
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`SYNC_EXTRUDER_MOTION EXTRUDER=<name> MOTION_QUEUE=<name>`: This
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command will cause the stepper specified by EXTRUDER (as defined in an
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[extruder](Config_Reference.md#extruder) or
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[extruder_stepper](Config_Reference.md#extruder_stepper) config section)
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to become synchronized to the movement of an extruder specified by
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MOTION_QUEUE (as defined in an [extruder](Config_Reference.md#extruder)
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config section). If MOTION_QUEUE is an empty string then the stepper
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will be desynchronized from all extruder movement.
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#### SET_EXTRUDER_STEP_DISTANCE
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This command is deprecated and will be removed in the near future.
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#### SYNC_STEPPER_TO_EXTRUDER
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This command is deprecated and will be removed in the near future.
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### [fan_generic]
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The following command is available when a
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[fan_generic config section](Config_Reference.md#fan_generic) is
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enabled.
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|
|
#### SET_FAN_SPEED
|
|
`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.
|
|
|
|
### [filament_switch_sensor]
|
|
|
|
The following command is available when a
|
|
[filament_switch_sensor](Config_Reference.md#filament_switch_sensor)
|
|
or
|
|
[filament_motion_sensor](Config_Reference.md#filament_motion_sensor)
|
|
config section is enabled.
|
|
|
|
#### QUERY_FILAMENT_SENSOR
|
|
`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 configuration.
|
|
|
|
#### SET_FILAMENT_SENSOR
|
|
`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 standard G-Code commands are available when the
|
|
[firmware_retraction config section](Config_Reference.md#firmware_retraction)
|
|
is enabled. These commands allow you to utilize 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.
|
|
- `G10`: Retracts the extruder using the currently configured
|
|
parameters.
|
|
- `G11`: Unretracts the extruder using the currently configured
|
|
parameters.
|
|
|
|
The following additional commands are also available.
|
|
|
|
#### SET_RETRACTION
|
|
`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
|
|
`GET_RETRACTION`: Queries the current parameters used by firmware
|
|
retraction and displays them on the terminal.
|
|
|
|
### [force_move]
|
|
|
|
The force_move module is automatically loaded, however some commands
|
|
require setting `enable_force_move` in the
|
|
[printer config](Config_Reference.md#force_move).
|
|
|
|
#### STEPPER_BUZZ
|
|
`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.
|
|
|
|
#### FORCE_MOVE
|
|
`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
|
|
`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.
|
|
|
|
### [gcode]
|
|
|
|
The gcode module is automatically loaded.
|
|
|
|
#### RESTART
|
|
`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
|
|
`FIRMWARE_RESTART`: This is similar to a RESTART command, but it also
|
|
clears any error state from the micro-controller.
|
|
|
|
#### STATUS
|
|
`STATUS`: Report the Klipper host software status.
|
|
|
|
#### HELP
|
|
`HELP`: Report the list of available extended G-Code commands.
|
|
|
|
### [gcode_arcs]
|
|
|
|
The following standard G-Code commands are available if a
|
|
[gcode_arcs config section](Config_Reference.md#gcode_arcs) is
|
|
enabled:
|
|
- Arc Move Clockwise (G2), Arc Move Counter-clockwise (G3): `G2|G3 [X<pos>] [Y<pos>] [Z<pos>]
|
|
[E<pos>] [F<speed>] I<value> J<value>|I<value> K<value>|J<value> K<value>`
|
|
- Arc Plane Select: G17 (XY plane), G18 (XZ plane), G19 (YZ plane)
|
|
|
|
### [gcode_macro]
|
|
|
|
The following command is available when a
|
|
[gcode_macro config section](Config_Reference.md#gcode_macro) is
|
|
enabled (also see the
|
|
[command templates guide](Command_Templates.md)).
|
|
|
|
#### SET_GCODE_VARIABLE
|
|
`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.
|
|
|
|
### [gcode_move]
|
|
|
|
The gcode_move module is automatically loaded.
|
|
|
|
#### GET_POSITION
|
|
`GET_POSITION`: Return information on the current location of the
|
|
toolhead. See the developer documentation of
|
|
[GET_POSITION output](Code_Overview.md#coordinate-systems) for more
|
|
information.
|
|
|
|
#### SET_GCODE_OFFSET
|
|
`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
|
|
`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
|
|
`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.
|
|
|
|
### [hall_filament_width_sensor]
|
|
|
|
The following commands are available when the
|
|
[tsl1401cl filament width sensor config section](Config_Reference.md#tsl1401cl_filament_width_sensor)
|
|
or [hall filament width sensor config section](Config_Reference.md#hall_filament_width_sensor)
|
|
is enabled (also see [TSLl401CL Filament Width Sensor](TSL1401CL_Filament_Width_Sensor.md)
|
|
and [Hall Filament Width Sensor](Hall_Filament_Width_Sensor.md)):
|
|
|
|
#### QUERY_FILAMENT_WIDTH
|
|
`QUERY_FILAMENT_WIDTH`: Return the current measured filament width.
|
|
|
|
#### RESET_FILAMENT_WIDTH_SENSOR
|
|
`RESET_FILAMENT_WIDTH_SENSOR`: Clear all sensor readings. Helpful
|
|
after filament change.
|
|
|
|
#### DISABLE_FILAMENT_WIDTH_SENSOR
|
|
`DISABLE_FILAMENT_WIDTH_SENSOR`: Turn off the filament width sensor
|
|
and stop using it for flow control.
|
|
|
|
#### ENABLE_FILAMENT_WIDTH_SENSOR
|
|
`ENABLE_FILAMENT_WIDTH_SENSOR`: Turn on the filament width sensor and
|
|
start using it for flow control.
|
|
|
|
#### QUERY_RAW_FILAMENT_WIDTH
|
|
`QUERY_RAW_FILAMENT_WIDTH`: Return the current ADC channel readings
|
|
and RAW sensor value for calibration points.
|
|
|
|
#### ENABLE_FILAMENT_WIDTH_LOG
|
|
`ENABLE_FILAMENT_WIDTH_LOG`: Turn on diameter logging.
|
|
|
|
#### DISABLE_FILAMENT_WIDTH_LOG
|
|
`DISABLE_FILAMENT_WIDTH_LOG`: Turn off diameter logging.
|
|
|
|
### [heaters]
|
|
|
|
The heaters module is automatically loaded if a heater is defined in
|
|
the config file.
|
|
|
|
#### TURN_OFF_HEATERS
|
|
`TURN_OFF_HEATERS`: Turn off all heaters.
|
|
|
|
#### TEMPERATURE_WAIT
|
|
`TEMPERATURE_WAIT SENSOR=<config_name> [MINIMUM=<target>]
|
|
[MAXIMUM=<target>]`: Wait until the given temperature sensor is at or
|
|
above the supplied MINIMUM and/or at or below the supplied MAXIMUM.
|
|
|
|
#### SET_HEATER_TEMPERATURE
|
|
`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.
|
|
|
|
### [idle_timeout]
|
|
|
|
The idle_timeout module is automatically loaded.
|
|
|
|
#### SET_IDLE_TIMEOUT
|
|
`SET_IDLE_TIMEOUT [TIMEOUT=<timeout>]`: Allows the user to set the
|
|
idle timeout (in seconds).
|
|
|
|
### [input_shaper]
|
|
|
|
The following command is enabled if an
|
|
[input_shaper config section](Config_Reference.md#input_shaper) has
|
|
been enabled (also see the
|
|
[resonance compensation guide](Resonance_Compensation.md)).
|
|
|
|
#### SET_INPUT_SHAPER
|
|
`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 [config reference](Config_Reference.md#input_shaper) for more
|
|
details on each of these parameters.
|
|
|
|
### [manual_probe]
|
|
|
|
The manual_probe module is automatically loaded.
|
|
|
|
#### MANUAL_PROBE
|
|
`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
|
|
`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.
|
|
|
|
#### Z_OFFSET_APPLY_ENDSTOP
|
|
`Z_OFFSET_APPLY_ENDSTOP`: Take the current Z Gcode offset (aka,
|
|
babystepping), and subtract it from the stepper_z endstop_position.
|
|
This acts to take a frequently used babystepping value, and "make it
|
|
permanent". Requires a `SAVE_CONFIG` to take effect.
|
|
|
|
### [manual_stepper]
|
|
|
|
The following command is available when a
|
|
[manual_stepper config section](Config_Reference.md#manual_stepper) is
|
|
enabled.
|
|
|
|
#### MANUAL_STEPPER
|
|
`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.
|
|
|
|
### [mcp4018]
|
|
|
|
The following command is available when a
|
|
[mcp4018 config section](Config_Reference.md#mcp4018) is
|
|
enabled.
|
|
|
|
#### SET_DIGIPOT
|
|
|
|
`SET_DIGIPOT DIGIPOT=config_name WIPER=<value>`: This command will
|
|
change the current value of the digipot. This value should typically
|
|
be between 0.0 and 1.0, unless a 'scale' is defined in the config.
|
|
When 'scale' is defined, then this value should be between 0.0 and
|
|
'scale'.
|
|
|
|
### [led]
|
|
|
|
The following command is available when any of the
|
|
[led config sections](Config_Reference.md#leds) are enabled.
|
|
|
|
#### SET_LED
|
|
`SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
|
|
WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the
|
|
LED output. Each color `<value>` must be between 0.0 and 1.0. The
|
|
WHITE option is only valid on RGBW LEDs. If the LED supports multiple
|
|
chips in a daisy-chain 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. By
|
|
default, the SET_LED command will sync it's changes with other ongoing
|
|
gcode commands. This can lead to undesirable behavior if LEDs are
|
|
being set while the printer is not printing as it will reset the idle
|
|
timeout. If careful timing is not needed, the optional SYNC=0
|
|
parameter can be specified to apply the changes without resetting the
|
|
idle timeout.
|
|
|
|
#### SET_LED_TEMPLATE
|
|
`SET_LED_TEMPLATE LED=<led_name> TEMPLATE=<template_name>
|
|
[<param_x>=<literal>] [INDEX=<index>]`: Assign a
|
|
[display_template](Config_Reference.md#display_template) to a given
|
|
[LED](Config_Reference.md#leds). For example, if one defined a
|
|
`[display_template my_led_template]` config section then one could
|
|
assign `TEMPLATE=my_led_template` here. The display_template should
|
|
produce a comma separated string containing four floating point
|
|
numbers corresponding to red, green, blue, and white color settings.
|
|
The template will be continuously evaluated and the LED will be
|
|
automatically set to the resulting colors. One may set
|
|
display_template parameters to use during template evaluation
|
|
(parameters will be parsed as Python literals). If INDEX is not
|
|
specified then all chips in the LED's daisy-chain will be set to the
|
|
template, otherwise only the chip with the given index will be
|
|
updated. If TEMPLATE is an empty string then this command will clear
|
|
any previous template assigned to the LED (one can then use `SET_LED`
|
|
commands to manage the LED's color settings).
|
|
|
|
### [output_pin]
|
|
|
|
The following command is available when an
|
|
[output_pin config section](Config_Reference.md#output_pin) is
|
|
enabled.
|
|
|
|
#### SET_PIN
|
|
`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`: Set
|
|
the pin to the given output `VALUE`. VALUE should be 0 or 1 for
|
|
"digital" output pins. For PWM pins, set to a value between 0.0 and
|
|
1.0, or between 0.0 and `scale` if a scale is configured in the
|
|
output_pin config section.
|
|
|
|
Some pins (currently only "soft PWM" pins) support setting an explicit
|
|
cycle time using the CYCLE_TIME parameter (specified in seconds). Note
|
|
that the CYCLE_TIME parameter is not stored between SET_PIN commands
|
|
(any SET_PIN command without an explicit CYCLE_TIME parameter will use
|
|
the `cycle_time` specified in the output_pin config section).
|
|
|
|
### [palette2]
|
|
|
|
The following commands are available when the
|
|
[palette2 config section](Config_Reference.md#palette2) is enabled.
|
|
|
|
Palette prints work by embedding special OCodes (Omega Codes) in the
|
|
GCode file:
|
|
- `O1`...`O32`: These codes are read from the GCode stream and processed
|
|
by this module and passed to the Palette 2 device.
|
|
|
|
The following additional commands are also available.
|
|
|
|
#### PALETTE_CONNECT
|
|
`PALETTE_CONNECT`: This command initializes the connection with the
|
|
Palette 2.
|
|
|
|
#### PALETTE_DISCONNECT
|
|
`PALETTE_DISCONNECT`: This command disconnects from the Palette 2.
|
|
|
|
#### PALETTE_CLEAR
|
|
`PALETTE_CLEAR`: This command instructs the Palette 2 to clear all of
|
|
the input and output paths of filament.
|
|
|
|
#### PALETTE_CUT
|
|
`PALETTE_CUT`: This command instructs the Palette 2 to cut the
|
|
filament currently loaded in the splice core.
|
|
|
|
#### PALETTE_SMART_LOAD
|
|
`PALETTE_SMART_LOAD`: This command start the smart load sequence on
|
|
the Palette 2. Filament is loaded automatically by extruding it the
|
|
distance calibrated on the device for the printer, and instructs the
|
|
Palette 2 once the loading has been completed. This command is the
|
|
same as pressing **Smart Load** directly on the Palette 2 screen after
|
|
the filament load is complete.
|
|
|
|
### [pid_calibrate]
|
|
|
|
The pid_calibrate module is automatically loaded if a heater is defined
|
|
in the config file.
|
|
|
|
#### PID_CALIBRATE
|
|
`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.
|
|
|
|
### [pause_resume]
|
|
|
|
The following commands are available when the
|
|
[pause_resume config section](Config_Reference.md#pause_resume) is
|
|
enabled:
|
|
|
|
#### PAUSE
|
|
`PAUSE`: Pauses the current print. The current position is captured
|
|
for restoration upon resume.
|
|
|
|
#### 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
|
|
`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.
|
|
|
|
#### CANCEL_PRINT
|
|
`CANCEL_PRINT`: Cancels the current print.
|
|
|
|
### [print_stats]
|
|
|
|
The print_stats module is automatically loaded.
|
|
|
|
#### SET_PRINT_STATS_INFO
|
|
`SET_PRINT_STATS_INFO [TOTAL_LAYER=<total_layer_count>] [CURRENT_LAYER=
|
|
<current_layer>]`: Pass slicer info like layer act and total to Klipper.
|
|
Add `SET_PRINT_STATS_INFO [TOTAL_LAYER=<total_layer_count>]` to your
|
|
slicer start gcode section and `SET_PRINT_STATS_INFO [CURRENT_LAYER=
|
|
<current_layer>]` at the layer change gcode section to pass layer
|
|
information from your slicer to Klipper.
|
|
|
|
### [probe]
|
|
|
|
The following commands are available when a
|
|
[probe config section](Config_Reference.md#probe) or
|
|
[bltouch config section](Config_Reference.md#bltouch) is enabled (also
|
|
see the [probe calibrate guide](Probe_Calibrate.md)).
|
|
|
|
#### PROBE
|
|
`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](Config_Reference.md#probe).
|
|
|
|
#### QUERY_PROBE
|
|
`QUERY_PROBE`: Report the current status of the probe ("triggered" or
|
|
"open").
|
|
|
|
#### PROBE_ACCURACY
|
|
`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
|
|
`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.
|
|
|
|
#### Z_OFFSET_APPLY_PROBE
|
|
`Z_OFFSET_APPLY_PROBE`: Take the current Z Gcode offset (aka,
|
|
babystepping), and subtract if from the probe's z_offset. This acts
|
|
to take a frequently used babystepping value, and "make it permanent".
|
|
Requires a `SAVE_CONFIG` to take effect.
|
|
|
|
### [query_adc]
|
|
|
|
The query_adc module is automatically loaded.
|
|
|
|
#### QUERY_ADC
|
|
`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.
|
|
|
|
### [query_endstops]
|
|
|
|
The query_endstops module is automatically loaded. The following
|
|
standard G-Code commands are currently available, but using them is
|
|
not recommended:
|
|
- Get Endstop Status: `M119` (Use QUERY_ENDSTOPS instead.)
|
|
|
|
#### QUERY_ENDSTOPS
|
|
`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.
|
|
|
|
### [resonance_tester]
|
|
|
|
The following commands are available when a
|
|
[resonance_tester config section](Config_Reference.md#resonance_tester)
|
|
is enabled (also see the
|
|
[measuring resonances guide](Measuring_Resonances.md)).
|
|
|
|
#### MEASURE_AXES_NOISE
|
|
`MEASURE_AXES_NOISE`: Measures and outputs the noise for all axes of
|
|
all enabled accelerometer chips.
|
|
|
|
#### TEST_RESONANCES
|
|
`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
|
|
[NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
|
|
[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
|
|
[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
|
|
test in all configured probe points for the requested "axis" and
|
|
measures the acceleration using the accelerometer chips configured for
|
|
the respective axis. "axis" can either be X or Y, or specify an
|
|
arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
|
|
point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
|
|
`AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
|
|
and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
|
|
more configured adxl345 chip,delimited with comma, for example
|
|
`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
|
|
named adxl345 chips. If POINT is specified it will override the point(s)
|
|
configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
|
|
disables input shaping for the resonance testing, because
|
|
it is not valid to run the resonance testing with the input shaper
|
|
enabled. `OUTPUT` parameter is a comma-separated list of which outputs
|
|
will be written. If `raw_data` is requested, then the raw
|
|
accelerometer data is written into a file or a series of files
|
|
`/tmp/raw_data_<axis>_[<chip_name>_][<point>_]<name>.csv` with
|
|
(`<point>_` part of the name generated only if more than 1 probe point
|
|
is configured or POINT is specified). If `resonances` is specified, the
|
|
frequency response is calculated (across all probe points) and written into
|
|
`/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults to
|
|
`resonances`, and NAME defaults to the current time in
|
|
"YYYYMMDD_HHMMSS" format.
|
|
|
|
#### SHAPER_CALIBRATE
|
|
`SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
|
|
[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]
|
|
[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
|
|
the resonance test as configured, and tries to find the optimal
|
|
parameters for the input shaper for the requested axis (or both X and
|
|
Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
|
|
value is taken from `[resonance_tester]` section, with the default
|
|
being unset. See the
|
|
[Max smoothing](Measuring_Resonances.md#max-smoothing) of the
|
|
measuring resonances guide for more information on the use of this
|
|
feature. The results of the tuning are printed to the console, and the
|
|
frequency responses and the different input shapers values are written
|
|
to a CSV file(s) `/tmp/calibration_data_<axis>_<name>.csv`. Unless
|
|
specified, NAME defaults to the current time in "YYYYMMDD_HHMMSS"
|
|
format. Note that the suggested input shaper parameters can be
|
|
persisted in the config by issuing `SAVE_CONFIG` command.
|
|
|
|
### [respond]
|
|
|
|
The following standard G-Code commands are available when the
|
|
[respond config section](Config_Reference.md#respond) is enabled:
|
|
- `M118 <message>`: echo the message prepended with the configured
|
|
default prefix (or `echo: ` if no prefix is configured).
|
|
|
|
The following additional commands are also available.
|
|
|
|
#### RESPOND
|
|
- `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=echo_no_space MSG="<message>"`: echo the message prepended with
|
|
`echo:` without a space between prefix and message, helpful for compatibility with some octoprint plugins that expect very specific formatting.
|
|
- `RESPOND TYPE=command MSG="<message>"`: echo the message prepended
|
|
with `// `. OctoPrint 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)
|
|
|
|
### [save_variables]
|
|
|
|
The following command is enabled if a
|
|
[save_variables config section](Config_Reference.md#save_variables)
|
|
has been enabled.
|
|
|
|
#### SAVE_VARIABLE
|
|
`SAVE_VARIABLE VARIABLE=<name> VALUE=<value>`: Saves the variable to
|
|
disk so that it can be used across restarts. All stored variables are
|
|
loaded into the `printer.save_variables.variables` dict at startup and
|
|
can be used in gcode macros. The provided VALUE is parsed as a Python
|
|
literal.
|
|
|
|
### [screws_tilt_adjust]
|
|
|
|
The following commands are available when the
|
|
[screws_tilt_adjust config section](Config_Reference.md#screws_tilt_adjust)
|
|
is enabled (also see the
|
|
[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws-using-the-bed-probe)).
|
|
|
|
#### SCREWS_TILT_CALCULATE
|
|
`SCREWS_TILT_CALCULATE [DIRECTION=CW|CCW] [MAX_DEVIATION=<value>]
|
|
[<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. If DIRECTION is
|
|
specified, the knob turns will all be in the same direction, clockwise
|
|
(CW) or counterclockwise (CCW). See the PROBE command for details on
|
|
the optional probe parameters. IMPORTANT: You MUST always do a G28
|
|
before using this command. If MAX_DEVIATION is specified, the command
|
|
will raise a gcode error if any difference in the screw height
|
|
relative to the base screw height is greater than the value provided.
|
|
|
|
### [sdcard_loop]
|
|
|
|
When the [sdcard_loop config section](Config_Reference.md#sdcard_loop)
|
|
is enabled, the following extended commands are available.
|
|
|
|
#### SDCARD_LOOP_BEGIN
|
|
`SDCARD_LOOP_BEGIN COUNT=<count>`: Begin a looped section in the SD
|
|
print. A count of 0 indicates that the section should be looped
|
|
indefinitely.
|
|
|
|
#### SDCARD_LOOP_END
|
|
`SDCARD_LOOP_END`: End a looped section in the SD print.
|
|
|
|
#### SDCARD_LOOP_DESIST
|
|
`SDCARD_LOOP_DESIST`: Complete existing loops without further
|
|
iterations.
|
|
|
|
### [servo]
|
|
|
|
The following commands are available when a
|
|
[servo config section](Config_Reference.md#servo) is enabled.
|
|
|
|
#### SET_SERVO
|
|
`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.
|
|
|
|
### [skew_correction]
|
|
|
|
The following commands are available when the
|
|
[skew_correction config section](Config_Reference.md#skew_correction)
|
|
is enabled (also see the [Skew Correction](Skew_Correction.md) guide).
|
|
|
|
#### SET_SKEW
|
|
`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
|
|
`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
|
|
`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](Skew_Correction.md) for
|
|
details on skew calibration objects and measurements.
|
|
|
|
#### SKEW_PROFILE
|
|
`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 persistent memory permanent.
|
|
|
|
### [smart_effector]
|
|
|
|
Several commands are available when a
|
|
[smart_effector config section](Config_Reference.md#smart_effector) is enabled.
|
|
Be sure to check the official documentation for the Smart Effector on the
|
|
[Duet3D Wiki](https://duet3d.dozuki.com/Wiki/Smart_effector_and_carriage_adapters_for_delta_printer)
|
|
before changing the Smart Effector parameters. Also check the
|
|
[probe calibration guide](Probe_Calibrate.md).
|
|
|
|
#### SET_SMART_EFFECTOR
|
|
`SET_SMART_EFFECTOR [SENSITIVITY=<sensitivity>] [ACCEL=<accel>]
|
|
[RECOVERY_TIME=<time>]`: Set the Smart Effector parameters. When
|
|
`SENSITIVITY` is specified, the respective value is written to the
|
|
SmartEffector EEPROM (requires `control_pin` to be provided).
|
|
Acceptable `<sensitivity>` values are 0..255, the default is 50. Lower
|
|
values require less nozzle contact force to trigger (but there is a
|
|
higher risk of false triggering due to vibrations during probing), and
|
|
higher values reduce false triggering (but require larger contact
|
|
force to trigger). Since the sensitivity is written to EEPROM, it is
|
|
preserved after the shutdown, and so it does not need to be configured
|
|
on every printer startup. `ACCEL` and `RECOVERY_TIME` allow to
|
|
override the corresponding parameters at run-time, see the
|
|
[config section](Config_Reference.md#smart_effector) of Smart Effector
|
|
for more info on those parameters.
|
|
|
|
#### RESET_SMART_EFFECTOR
|
|
`RESET_SMART_EFFECTOR`: Resets Smart Effector sensitivity to its factory
|
|
settings. Requires `control_pin` to be provided in the config section.
|
|
|
|
### [stepper_enable]
|
|
|
|
The stepper_enable module is automatically loaded.
|
|
|
|
#### SET_STEPPER_ENABLE
|
|
`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.
|
|
|
|
### [temperature_fan]
|
|
|
|
The following command is available when a
|
|
[temperature_fan config section](Config_Reference.md#temperature_fan)
|
|
is enabled.
|
|
|
|
#### SET_TEMPERATURE_FAN_TARGET
|
|
`SET_TEMPERATURE_FAN_TARGET temperature_fan=<temperature_fan_name>
|
|
[target=<target_temperature>] [min_speed=<min_speed>]
|
|
[max_speed=<max_speed>]`: 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. If speeds are not supplied,
|
|
no change is applied.
|
|
|
|
### [tmcXXXX]
|
|
|
|
The following commands are available when any of the
|
|
[tmcXXXX config sections](Config_Reference.md#tmc-stepper-driver-configuration)
|
|
are enabled.
|
|
|
|
#### DUMP_TMC
|
|
`DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
|
|
registers and report their values.
|
|
|
|
#### INIT_TMC
|
|
`INIT_TMC STEPPER=<name>`: This command will initialize the TMC
|
|
registers. Needed to re-enable the driver if power to the chip is
|
|
turned off then back on.
|
|
|
|
#### SET_TMC_CURRENT
|
|
`SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`:
|
|
This will adjust the run and hold currents of the TMC driver.
|
|
(HOLDCURRENT is not applicable to tmc2660 drivers.)
|
|
|
|
#### SET_TMC_FIELD
|
|
`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.
|
|
|
|
### [toolhead]
|
|
|
|
The toolhead module is automatically loaded.
|
|
|
|
#### SET_VELOCITY_LIMIT
|
|
`SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
|
|
[ACCEL_TO_DECEL=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: Modify the
|
|
printer's velocity limits.
|
|
|
|
### [tuning_tower]
|
|
|
|
The tuning_tower module is automatically loaded.
|
|
|
|
#### TUNING_TOWER
|
|
`TUNING_TOWER COMMAND=<command> PARAMETER=<name> START=<value>
|
|
[SKIP=<value>] [FACTOR=<value> [BAND=<value>]] | [STEP_DELTA=<value>
|
|
STEP_HEIGHT=<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 a value that varies with `Z` according to a
|
|
formula. Use `FACTOR` if you will use a ruler or calipers to measure
|
|
the Z height of the optimum value, or `STEP_DELTA` and `STEP_HEIGHT`
|
|
if the tuning tower model has bands of discrete values as is common
|
|
with temperature towers. If `SKIP=<value>` is specified, the tuning
|
|
process doesn't begin until Z height `<value>` is reached, and below
|
|
that the value will be set to `START`; in this case, the `z_height`
|
|
used in the formulas below is actually `max(z - skip, 0)`. There are
|
|
three possible combinations of options:
|
|
- `FACTOR`: The value changes at a rate of `factor` per millimeter.
|
|
The formula used is: `value = start + factor * z_height`. You can
|
|
plug the optimum Z height directly into the formula to determine the
|
|
optimum parameter value.
|
|
- `FACTOR` and `BAND`: The value changes at an average rate of
|
|
`factor` per millimeter, but in discrete bands where the adjustment
|
|
will only be made every `BAND` millimeters of Z height.
|
|
The formula used is:
|
|
`value = start + factor * ((floor(z_height / band) + .5) * band)`.
|
|
- `STEP_DELTA` and `STEP_HEIGHT`: The value changes by `STEP_DELTA`
|
|
every `STEP_HEIGHT` millimeters. The formula used is:
|
|
`value = start + step_delta * floor(z_height / step_height)`.
|
|
You can simply count bands or read tuning tower labels to determine
|
|
the optimum value.
|
|
|
|
### [virtual_sdcard]
|
|
|
|
Klipper supports the following standard G-Code commands if the
|
|
[virtual_sdcard config section](Config_Reference.md#virtual_sdcard) 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 available when the
|
|
"virtual_sdcard" config section is enabled.
|
|
|
|
#### SDCARD_PRINT_FILE
|
|
`SDCARD_PRINT_FILE FILENAME=<filename>`: Load a file and start SD
|
|
print.
|
|
|
|
#### SDCARD_RESET_FILE
|
|
`SDCARD_RESET_FILE`: Unload file and clear SD state.
|
|
|
|
### [z_thermal_adjust]
|
|
|
|
The following commands are available when the
|
|
[z_thermal_adjust config section](Config_Reference.md#z_thermal_adjust)
|
|
is enabled.
|
|
|
|
#### SET_Z_THERMAL_ADJUST
|
|
`SET_Z_THERMAL_ADJUST [ENABLE=<0:1>] [TEMP_COEFF=<value>] [REF_TEMP=<value>]`:
|
|
Enable or disable the Z thermal adjustment with `ENABLE`. Disabling does not
|
|
remove any adjustment already applied, but will freeze the current adjustment
|
|
value - this prevents potentially unsafe downward Z movement. Re-enabling can
|
|
potentially cause upward tool movement as the adjustment is updated and applied.
|
|
`TEMP_COEFF` allows run-time tuning of the adjustment temperature coefficient
|
|
(i.e. the `TEMP_COEFF` config parameter). `TEMP_COEFF` values are not saved to
|
|
the config. `REF_TEMP` manually overrides the reference temperature typically
|
|
set during homing (for use in e.g. non-standard homing routines) - will be reset
|
|
automatically upon homing.
|
|
|
|
### [z_tilt]
|
|
|
|
The following commands are available when the
|
|
[z_tilt config section](Config_Reference.md#z_tilt) is enabled.
|
|
|
|
#### Z_TILT_ADJUST
|
|
`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.
|