klipper/docs/G-Codes.md

This document describes the commands that Klipper supports. These are commands that one may enter into the OctoPrint terminal tab.

G-Code commands

Klipper supports the following standard G-Code commands:

• Move (G0 or G1): G1 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>] [F<speed>]
• Dwell: G4 P<milliseconds>
• Move to origin: G28 [X] [Y] [Z]
• Turn off motors: M18 or M84
• Wait for current moves to finish: M400
• Select tool: T<index>
• Use absolute/relative distances for extrusion: M82, M83
• Use absolute/relative coordinates: G90, G91
• Set position: G92 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>]
• Set speed factor override percentage: M220 S<speed>
• Set extrude factor override percentage: M221 S<percent>
• Get extruder temperature: M105
• Set extruder temperature: M104 [T<index>] [S<temperature>]
• Set extruder temperature and wait: M109 [T<index>] S<temperature>
• Set bed temperature: M140 [S<temperature>]
• Set bed temperature and wait: M190 S<temperature>
• Set fan speed: M106 S<value>
• Turn fan off: M107
• Emergency stop: M112
• Get current position: M114
• Get firmware version: M115
• Set home offset: M206 [X<pos>] [Y<pos>] [Z<pos>]
• Run PID tuning: M303 [E<index>] S<temperature>

For further details on the above commands see the RepRap G-Code documentation.

Klipper's goal is to support the G-Code commands produced by common 3rd party software (eg, OctoPrint, Printrun, Slic3r, Cura, etc.) in their standard configurations. It is not a goal to support every possible G-Code command. Instead, Klipper prefers human readable "extended G-Code commands".

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

Extended G-Code Commands

Klipper uses "extended" G-Code commands for general configuration and status. These extended commands all follow a similar format - they start with a command name and may be followed by one or more parameters. For example: SET_SERVO SERVO=myservo ANGLE=5.3. In this document, the commands and parameters are shown in uppercase, however they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run the same command.)

The following standard commands are supported:

• QUERY_ENDSTOPS: Probe the axis endstops and report if they are "triggered" or in an "open" state. This command is typically used to verify that an endstop is working correctly.
• GET_POSITION: Return information on the current location of the toolhead.
• RESTART: This will cause the host software to reload its config and perform an internal reset. This command will not clear error state from the micro-controller (see FIRMWARE_RESTART) nor will it load new software (see the FAQ).
• FIRMWARE_RESTART: This is similar to a RESTART command, but it also clears any error state from the micro-controller.
• STATUS: Report the Klipper host software status.
• HELP: Report the list of available extended G-Code commands.

Custom Pin Commands

The following command is available when a "digital_output" or "pwm_output" config section is enabled:

• SET_PIN PIN=config_name VALUE=<value>

Servo Commands

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

• SET_SERVO SERVO=config_name WIDTH=<seconds>
• SET_SERVO SERVO=config_name ANGLE=<degrees>

Probe

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

• PROBE: Move the nozzle downwards until the probe triggers.
• QUERY_PROBE: Report the current status of the probe ("triggered" or "open").

Delta Calibration

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

• DELTA_CALIBRATE: This command will probe seven points on the bed and recommend updated endstop positions, tower angles, and radius.
  • NEXT: If manual bed probing is enabled, then one can use this command to move to the next probing point during a DELTA_CALIBRATE operation.

Bed Tilt

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

• BED_TILT_CALIBRATE: This command will probe the points specified in the config and then recommend updated x and y tilt adjustments.
  • NEXT: If manual bed probing is enabled, then one can use this command to move to the next probing point during a BED_TILT_CALIBRATE operation.

Dual Carriages

The following commands are 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.