124 lines
4.8 KiB
Markdown
124 lines
4.8 KiB
Markdown
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](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).
|
|
|
|
## 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.
|
|
- `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.
|
|
- `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.
|