G-code/es
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Esta página describe las instrucciones del Código G (G-codes) de los firmwares usados por RepRap y que hacen. El objetivo principal es la fabricación aditiva utilizando FFF / procesos FDM. Los códigos para el cabezal de impresión están en este link NIST RS274NGC G-code standard, Así firmwares RepRap también son bastante usable para el fresado CNC y aplicaciones similares.
Existen muchos firmwares diferentes y sus desarrolladores tienden a implementar nuevas funcionalidades sin discutir estrategias o mirando lo que otros hicieron antes que ellos, una gran cantidad de instrucciones para los códigos específicos de Impresoras-3D desarrollados a lo largo de los años.
Contents
- 1 Introducción
- 2 Campos de G Code RepRap
- 3 Comentarios
- 4 Individual commands
- 4.1 Checking
- 4.2 Buffered G Commands
- 4.3 Unbuffered G commands
- 4.4 Unbuffered M and T commands
- 4.4.1 M0: Stop
- 4.4.2 M1: Sleep
- 4.4.3 M3: Spindle On, Clockwise (CNC specific)
- 4.4.4 M4: Spindle On, Counter-Clockwise (CNC specific)
- 4.4.5 M5: Spindle Off (CNC specific)
- 4.4.6 M7: Mist Coolant On (CNC specific)
- 4.4.7 M8: Flood Coolant On (CNC specific)
- 4.4.8 M9: Coolant Off (CNC specific)
- 4.4.9 M10: Vacuum On (CNC specific)
- 4.4.10 M11: Vacuum Off (CNC specific)
- 4.4.11 M17: Enable/Power all stepper motors
- 4.4.12 M18: Disable all stepper motors
- 4.4.13 M20: List SD card
- 4.4.14 M21: Initialize SD card
- 4.4.15 M22: Release SD card
- 4.4.16 M23: Select SD file
- 4.4.17 M24: Start/resume SD print
- 4.4.18 M25: Pause SD print
- 4.4.19 M26: Set SD position
- 4.4.20 M27: Report SD print status
- 4.4.21 M28: Begin write to SD card
- 4.4.22 M29: Stop writing to SD card
- 4.4.23 M30: Delete a file on the SD card
- 4.4.24 M31: Output time since last M109 or SD card start to serial
- 4.4.25 M32: Select file and start SD print
- 4.4.26 M33
- 4.4.27 M34
- 4.4.28 M36: Return file information
- 4.4.29 M37: Modo Simulación
- 4.4.30 M40: Eject
- 4.4.31 M41: Loop
- 4.4.32 M42: Stop on material exhausted / Switch I/O pin
- 4.4.33 M43: Stand by on material exhausted
- 4.4.34 M80: ATX Power On
- 4.4.35 M81: ATX Power Off
- 4.4.36 M82: Set extruder to absolute mode
- 4.4.37 M83: Set extruder to relative mode
- 4.4.38 M84: Stop idle hold
- 4.4.39 M92: Set axis_steps_per_unit
- 4.4.40 M98: Call Macro/Subprogram
- 4.4.41 M99: Return from Macro/Subprogram
- 4.4.42 M98: Get axis_hysteresis_mm
- 4.4.43 M99: Set axis_hysteresis_mm
- 4.4.44 M101: Turn extruder 1 on (Forward), Undo Retraction
- 4.4.45 M102: Turn extruder 1 on (Reverse)
- 4.4.46 M103: Turn all extruders off, Extruder Retraction
- 4.4.47 M104: Set Extruder Temperature
- 4.4.48 M105: Get Extruder Temperature
- 4.4.49 M106: Fan On
- 4.4.50 M107: Fan Off
- 4.4.51 M108: Set Extruder Speed
- 4.4.52 M109: Set Extruder Temperature and Wait
- 4.4.53 M110: Set Current Line Number
- 4.4.54 M111: Set Debug Level
- 4.4.55 M112: Emergency Stop
- 4.4.56 M113: Set Extruder PWM
- 4.4.57 M114: Get Current Position
- 4.4.58 M115: Get Firmware Version and Capabilities
- 4.4.59 M116: Wait
- 4.4.60 M117: Get Zero Position
- 4.4.61 M118: Negotiate Features
- 4.4.62 M119: Get Endstop Status
- 4.4.63 M120: Push
- 4.4.64 M121: Pop
- 4.4.65 M122: Diagnose
- 4.4.66 M123: Tachometer value
- 4.4.67 M124: Immediate motor stop
- 4.4.68 M126: Open Valve
- 4.4.69 M127: Close Valve
- 4.4.70 M128: Extruder Pressure PWM
- 4.4.71 M129: Extruder pressure off
- 4.4.72 M130: Set PID P value
- 4.4.73 M131: Set PID I value
- 4.4.74 M132: Set PID D value
- 4.4.75 M133: Set PID I limit value
- 4.4.76 M134: Write PID values to EEPROM
- 4.4.77 M135: Set PID sample interval
- 4.4.78 M136: Print PID settings to host
- 4.4.79 M140: Bed Temperature (Fast)
- 4.4.80 M141: Chamber Temperature (Fast)
- 4.4.81 M142: Holding Pressure
- 4.4.82 M143: Maximum hot-end temperature
- 4.4.83 M144: Stand By Your Bed
- 4.4.84 M160: Number of mixed materials
- 4.4.85 M190: Wait for bed temperature to reach target temp
- 4.4.86 M200: Set filament diameter / Get Endstop Status
- 4.4.87 M201: Set max printing acceleration
- 4.4.88 M202: Set max travel acceleration
- 4.4.89 M203: Set maximum feedrate
- 4.4.90 M204: Set default acceleration
- 4.4.91 M205: Advanced settings
- 4.4.92 M206:
- 4.4.93 M207: Calibrate z axis by detecting z max length
- 4.4.94 M208: Set axis max travel
- 4.4.95 M209: Enable automatic retract
- 4.4.96 M210: Set homing feedrates
- 4.4.97 M211: Disable/Enable software endstops
- 4.4.98 M220: Set speed factor override percentage
- 4.4.99 M221: Set extrude factor override percentage
- 4.4.100 M226: Gcode Initiated Pause
- 4.4.101 M227: Enable Automatic Reverse and Prime
- 4.4.102 M228: Disable Automatic Reverse and Prime
- 4.4.103 M229: Enable Automatic Reverse and Prime
- 4.4.104 M230: Disable / Enable Wait for Temperature Change
- 4.4.105 M240: Start conveyor belt motor / Echo off
- 4.4.106 M241: Stop conveyor belt motor / echo on
- 4.4.107 M245: Start cooler
- 4.4.108 M246: Stop cooler
- 4.4.109 M251: Measure Z steps from homing stop (Delta printers)
- 4.4.110 M280: Set servo position
- 4.4.111 M300: Play beep sound
- 4.4.112 M301: Set PID parameters
- 4.4.113 M302: Allow cold extrudes
- 4.4.114 M303: Run PID tuning
- 4.4.115 M304: Set PID parameters - Bed
- 4.4.116 M305: Set thermistor and ADC parameters
- 4.4.117 M306: set home offset calculated from toolhead position
- 4.4.118 M320: Activate autolevel(Repetier)
- 4.4.119 M321: Deactivate autolevel(Repetier)
- 4.4.120 M322: Reset autolevel matrix
- 4.4.121 M340: Control the servos
- 4.4.122 M355: Turn case lights on/off
- 4.4.123 M360: Report firmware configuration
- 4.4.124 SCARA calibration codes (Morgan)
- 4.4.125 M360: Move to Theta 0 degree position
- 4.4.126 M361: Move to Theta 90 degree position
- 4.4.127 M362: Move to Psi 0 degree position
- 4.4.128 M363: Move to Psi 90 degree position
- 4.4.129 M364: Move to Psi + Theta 90 degree position
- 4.4.130 M365: SCARA scaling factor
- 4.4.131 M370: Morgan manual bed level - clear map
- 4.4.132 M371: Move to next calibration position
- 4.4.133 M372: Record calibration value, and move to next position
- 4.4.134 M373: End bed level calibration mode
- 4.4.135 M374: Save calibration grid
- 4.4.136 M375: Display matrix / Load Matrix
- 4.4.137 M400: Wait for current moves to finish
- 4.4.138 M420: Set RGB Colors as PWM
- 4.4.139 M420: Nivelación On/Off/Fade (Marlin)
- 4.4.140 M540: Set MAC address
- 4.4.141 M550: Set Name
- 4.4.142 M551: Set Password
- 4.4.143 M552: Set IP address
- 4.4.144 M553: Set Netmask
- 4.4.145 M554: Set Gateway
- 4.4.146 M555: Set compatibility
- 4.4.147 M556: Axis compensation
- 4.4.148 M557: Set Z probe point
- 4.4.149 M558: Set Z probe type
- 4.4.150 M559: Upload configuration file
- 4.4.151 M560: Upload web page file
- 4.4.152 M561: Set Identity Transform
- 4.4.153 M562: Reset temperature fault
- 4.4.154 M563: Define a tool
- 4.4.155 M564: Limit axes
- 4.4.156 M565: Set Z probe offset
- 4.4.157 M566: Set allowable instantaneous speed change
- 4.4.158 M567: Set tool mix ratios
- 4.4.159 M568: Turn off/on tool mix ratios
- 4.4.160 M569: Set axis direction values
- 4.4.161 M570: Set heater timeout
- 4.4.162 M571: Set output on extrude
- 4.4.163 M572: Set or report extruder elasticity compensation
- 4.4.164 M573: Report heater PWM
- 4.4.165 M574: Set endstop configuration
- 4.4.166 M575: Set serial comms parameters
- 4.4.167 M665: Set delta configuration
- 4.4.168 M666: Set delta endstop adjustment
- 4.4.169 M906: Set motor currents
- 4.4.170 M909: Set microstepping
- 4.4.171 M998: Request resend of line
- 4.4.172 M999: Restart after being stopped by error
- 4.4.173 G: List all G-codes
- 4.4.174 M: List all M-codes
- 4.4.175 T: Select Tool
- 5 Proposed EEPROM configuration codes
- 6 Replies from the RepRap machine to the host computer
- 7 Proposal for sending multiple lines of G-code
- 8 Alternatives to G-code
Introducción
Una típica parte de Codigo G que fue enviado a una máquina RepRap podría tener este aspecto:
N3 T0*57 N4 G92 E0*67 N5 G28*22 N6 G1 F1500.0*82 N7 G1 X2.0 Y2.0 F3000.0*85 N8 G1 X3.0 Y3.0*33
El significado de todos estos símbolos y números es explicado en esta pagina.
Para hacer mas facil saber que Codigo G especifico es implementado en un firmware especifico, hay pequeños cuadros que se adjuntan a las descripciones de los comandos, como éste:
Soportado | FiveD | Teacup | Sprinter | Marlin | Repetier |
---|---|---|---|---|---|
Si | Automático | Si | Si | Experimental |
Esto significa
Si Totalmente soportado.
Experimental Existe un soporte. A menudo se requiere de revisar un código de fuentes distintas de la predeterminada o voltear algunos interruptores de configuración.
Automático El firmware se encarga de esta función de forma automática, así que no hay necesidad de enviar el comando, se obtiene la característica de tener en cuenta. Un ejemplo es la fuente de alimentación encendido / apagado (M80/M81) en Teacup firmware
No El firmware no soporta esta característica.
Solo por tecnicismo, al final de cada línea se caracteriza por una <nl> y opcionalmente un <cr>. Por lo tanto, los finales de línea de Unix funcionan tan bien como los de Windows.
Campos de G Code RepRap
En esta sección se explican los campos que van precedidos por una letra. Los números en los campos son representados por nnn. Los números pueden ser enteros (integers) (128) o números racionales (12.42), dependiendo del contexto. Por ejemplo, la coordenada X puede ser entera (X175) o racional (X17.62), pero seleccionar el extrusor número 2.76 no tendría sentido.
Letra | Significado |
---|---|
Gnnn | Comando GCode estándar, como moverse hasta un punto |
Mnnn | Comando definido por RepRap, como encender un ventilador |
Tnnn | Seleccionar la herramienta nnn. En RepRap, las herramientas son extrusores |
Snnn | Parámetro de comando, como la tensión enviada a un motor |
Pnnn | Parámetro de comando, como el tiempo en milisegundos |
Xnnn | Una coordenada X, normalmente para moverse a ella. Puede ser un número entero o racional. |
Ynnn | Una coordenada Y, normalmente para moverse a ella. Puede ser un número entero o racional. |
Znnn | Una coordenada Z, normalmente para moverse a ella. Puede ser un número entero o racional. |
Innn | Parámetro - Actualmente no utilizado |
Jnnn | Parámetro - Actualmente no utilizado |
Fnnn | Feedrate en mm por minuto. (Velocidad de movimiento del cabezal de impresión) |
Rnnn | Parámetro - usado para temperaturas |
Qnnn | Parámetro - Actualmente no utilizado |
Ennn | Longitud a extruir en mm. Ex exactamente como X, Y y Z, pero para la cantidad de filamento a extruir. |
Nnnn | Número de línea. Utilizado para pedir la repetición de la transmisión en caso de errores de comunicación. |
*nnn | Checksum. Usado para comprobar errores de comunicación. |
Comentarios
Los comentarios en Gcode comienzan con punto y coma y terminan al final de la línea:
N3 T0*57 ; Esto es un comentario N4 G92 E0*67 ; Esto también lo es N5 G28*22
Los comentarios y espacios en blanco serán ignorados por tu impresora RepRap. Es mejor quitarlos en el ordenador anfitrión antes de enviar el Gcode a tu impresora, ya que así se ahorra ancho de banda.
Individual commands
Checking
N and *
Example: N123 [...G Code in here...] *71
These are the line number and the checksum. The RepRap firmware checks the checksum against a locally-computed value and, if they differ, requests a repeat transmission of the line of the given number.
You can leave both of these out - RepRap will still work, but it won't do checking. You have to have both or neither though.
The checksum "cs" for a GCode string "cmd" (including its line number) is computed by exor-ing the bytes in the string up to and not including the * character as follows:
int cs = 0; for(i = 0; cmd[i] != '*' && cmd[i] != NULL; i++) cs = cs ^ cmd[i]; cs &= 0xff; // Defensive programming...
and the value is appended as a decimal integer to the command after the * character.
The RepRap firmware expects line numbers to increase by 1 each line, and if that doesn't happen it is flagged as an error. But you can reset the count using M110 (see below).
Buffered G Commands
The RepRap firmware stores these commands in a ring buffer internally for execution. This means that there is no (appreciable) delay while a command is acknowledged and the next transmitted. In turn, this means that sequences of line segments can be plotted without a dwell between one and the next. As soon as one of these buffered commands is received it is acknowledged and stored locally. If the local buffer is full, then the acknowledgment is delayed until space for storage in the buffer is available. This is how flow control is achieved.
G0 & G1: Move
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
- Usage
- G0 Xnnn Ynnn Znnn Ennn Fnnn Snnn
- G1 Xnnn Ynnn Znnn Ennn Fnnn Snnn
- Variables
- Not all variables need to be used, but at least one has to be used
- Xnnn The position to move to on the X axis
- Ynnn The position to move to on the Y axis
- Znnn The position to move to on the Z axis
- Ennn The amount to extrude between the starting point and ending point
- Fnnn The feedrate per minute of the move between the starting point and ending point (if supplied)
- Snnn Flag to check if an endstop was hit (S1 to check, S0 to ignore, S2 see note, default is S0)1
- Examples
- G0 X12 (move to 12mm on the X axis)
- G0 F1500 (Set the feedrate to 1500mm/minute)
- G1 X90.6 Y13.8 E22.4 (Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material)
The RepRap firmware spec treats G0 and G1 as the same command, since it's just as efficient as not doing so.2
Most RepRap firmwares do subtle things with feedrates.
1. G1 F1500 2. G1 X50 Y25.3 E22.4
In the above example, we set the feedrate to 1500mm/minute on line 1, then move to 50mm on the X axis and 25.3mm on the Y axis while extruding 22.4mm of filament between the two points.
1. G1 F1500 2. G1 X50 Y25.3 E22.4 F3000
However, in the above example, we set a feedrate of 1500 mm/minute on line 1, then do the move described above accelerating to a feedrate of 3000 mm/minute as it does so. The extrusion will accelerate along with the X and Y movement, so everything stays synchronized.
The RepRap spec treats the feedrate as simply another variable (like X, Y, Z, and E) to be linearly interpolated. This gives complete control over the acceleration and deceleration of the printer head in such a way that ensures that everything moves smoothly together, and the right volume of material is extruded at all points.3
To reverse the extruder by a given amount (for example to reduce its internal pressure while it does an in-air movement so that it doesn't dribble) simply use G0 or G1 to send an E value that is less than the currently extruded length.
Notes
1Some firmwares allow for the RepRap to enable or disable the "sensing" of endstops during a move. Please check with whatever firmware you are using to see if they support the S variable in this way, as damage may occur if you assume incorrectly. In Duet-dc42 firmware, using the S1 or S2 parameter on a delta printer causes the XYZ parameters to refer to the individual tower motor positions instead of the head position, and to enable endstop detection as well if the parameter is S1.
2In the RS274NGC Spec, G0 is Rapid Move, which was used to move between the current point in space and the new point as quickly and efficiently as possible, and G1 is Controlled Move, which was used to move between the current point in space and the new point as precise as possible.
3Some firmwares may not support setting the feedrate inline with a move.
4zpl fork of the Duet firmware implements an additional 'R1' parameter to tell the machine to go back to the coordinates a print was originally paused at.
Some older machines, CNC or otherwise, used to move faster if they did not move in a straight line. This is also true for some non-Cartesian printers, like delta or polar printers, which move easier and faster in a curve.
G2 & G3: Controlled Arc Move
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | yes1 | yes | yes | no |
- Usage
- G2 Xnnn Ynnn Innn Jnnn Ennn (Clockwise Arc)
- G3 Xnnn Ynnn Innn Jnnn Ennn (Counter-Clockwise Arc)
- Variables
- Xnnn The position to move to on the X axis
- Ynnn The position to move to on the Y axis
- Innn The point in X space from the current X position to maintain a constant distance from
- Jnnn The point in Y space from the current Y position to maintain a constant distance from
- Ennn The amount to extrude between the starting point and ending point
- Examples
- G2 X90.6 Y13.8 I5 J10 E22.4 (Move in a Clockwise arc from the current point to point (X=90.6,Y=13.8), with a center point at (X=current_X+5, Y=current_Y+10), extruding 22.4mm of material between starting and stopping)
- G3 X90.6 Y13.8 I5 J10 E22.4 (Move in a Counter-Clockwise arc from the current point to point (X=90.6,Y=13.8), with a center point at (X=current_X+5, Y=current_Y+10), extruding 22.4mm of material between starting and stopping)
Notes
1The Marlin Firmware can toggle support for these Gcodes. To enable support, make sure to define SCARA at compile time, or else the Gcodes will be ignored.
G28: Move to Origin (Home)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
- Usage
- G28
- Variables
- This Gcode can be used without any additional variables supplied
- X Flag to go back to the X axis origin
- Y Flag to go back to the Y axis origin
- Z Flag to go back to the Z axis origin
- Examples
- G28 (Go to origin on all axes)
- G28 X Z (Go to origin only on the X and Z axis)
When the RepRap firmware receives this command, it moves all (or the supplied) axis's back to the zero endstops as quickly as it can, then backs off by a millimeter and slowly moves back to the zero endstop activation points to increase position accuracy. This process is also known as "Homing".
If you add coordinates, these coordinates are ignored. For example, G28 Z0.00
results in the same behaviour as G28 Z
.
When Duet-dc42 firmware is used to control a delta printer, any G28 command will home all three towers, regardless of any XYZ letters.
G29: Detailed Z-Probe
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | yes | ??? | no | no |
Probes the bed at 3 or more points.
G30: Single Z Probe
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | no | ??? | yes | yes |
In its simplest form probes bed at current XY location.
Some implementations allow more general behaviour: if a Pn field is specified the probed X, Y, and Z values are saved as point n on the bed for calculating the offset plane. Generally n is 0, 1, or 2. If X, or Y, or Z values are specified (e.g. G30 P1 X20 Y50 Z0.3) then those values are used instead of the machine's current coordinates. A silly Z value (less than -9999.0) causes the machine to probe at the current point to get Z, rather than using the given value. If an S field is specified (e.g. G30 P1 Z0.3 S) the bed plane is computed for compensation and stored. The combination of these options allows for the machine to be moved to points using G1 commands, and then probe the bed, or for the user to position the nozzle interactively and use those coordinates. The user can also record those values and place them in a setup GCode file for automatic execution.
The dc42 variant of RepRapFirmware uses the value of the S parameter to specify what computation to perform. If the value is zero or there is no value following the letter S, the bed plane is computed and stored as usual. On a delta printer, if the parameter is 4 then auto-calibration is performed to determine the delta radius, endstop corrections, and homed height. The number of coordinates probed must be 4, of which the first three must be in front of the X, Y and Z towers respectively, and the fourth must be at the centre of the bed.
G31: Report Current Probe status
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | no | ??? | yes | yes |
When used on its own this reports whether the Z probe is triggered, or gives the Z probe value in some units if the probe generates height values. If combined with a Z and P field (example: G31 P312 Z0.7) this will set the Z height to 0.7mm when the Z-probe value reaches 312 when a G28 Z0 (zero Z axis) command is sent. The machine will then move a further -0.7mm in Z to place itself at Z = 0. This allows non-contact measuring probes to approach but not touch the bed, and for the gap left to be allowed for. If the probe is a touch probe and generates a simple 0/1 off/on signal, then G31 Z0.7 will tell the RepRap machine that it is at a height of 0.7mm when the probe is triggered.
In Duet-dc42 firmware, separate G31 parameters may be defined for probe types 0, 1/2, and 3 (probe types 1 and 2 share the same set of parameters). To specify which probe you are setting parameters for, send a M558 command to select the probe type before sending the G31 command.
Duet-dc42 firmware supports additional parameters S (bed temperature in degC at which the specified Z parameter is correct, default is current bed temperature) and C (temperature coefficient of Z parameter in mm/degC, default zero). This is useful for ultrasonic and other probes that are affected by temperature.
Duet-dc42 firmware versions 1.00b onwards also allow the X and Y offsets of the Z probe relative to the print head (i.e. the position when the empty tool is selected) to be specified, by adding parameters X and Y. This allows you to calculate your M557 probe coordinates based on the geometry of the bed, without having to correct them for Z probe X and Y offset. It also provides more accurate bed compensation.
G32: Probe Z and calculate Z plane
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | no | ??? | yes | yes |
Probes the bed at 3 or more pre-defined points (see M557) and updates transformation matrix for bed leveling compensation. Later versions of RepRapFirmware execute macro file bed.g if present instead of using the M557 coordinates.
Unbuffered G commands
The following commands are not buffered. When one is received it is stored, but it is not acknowledged to the host until the buffer is exhausted and then the command has been executed. Thus the host will pause at one of these commands until it has been done. Short pauses between these commands and any that might follow them do not affect the performance of the machine.
Teacup Firmware buffers G20, G21, G90 and G91.
G4: Dwell
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes |
Example: G4 P200
In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.
On Marlin and Smoothie, the "S" parameter will wait for seconds, while the "P" parameter will wait for milliseconds. "G4 S2" and "G4 P2000" are equivalent.
G10: Tool Offset
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | (Retract?) | ??? | Retract | yes |
Example: G10 P3 X17.8 Y-19.3 Z0.0 R140 S205
This sets the offset for tool (or in older implementations extrude head) 3 (from the P3) to the X and Y values specified. You can put a non-zero Z value in as well, but this is usually a bad idea unless the tools are loaded and unloaded by some sort of tool changer. When all the tools are in the machine at once they should all be set to the same Z height.
Remember that any parameter that you don't specify will automatically be set to the last value for that parameter. That usually means that you want explicitly to set Z0.0.
The R value is the standby temperature in oC that will be used for the tool, and the S value is its operating temperature. If you don't want the tool to be at a different temperature when not in use, set both values the same. See the T code (select tool) below. In tools with multiple heaters the temperatures for them all are specified thus: R100.0:90.0:20.0 S185.0:200.0:150.0 .
The NIST G-code standard mentions an additional L parameter, which is ignored.
This command is subject to discussion.
Note that Marlin and Smoothie use G10/G11 for executing a retraction/unretraction move. The RepRapPro version of Marlin supports G10 for tool offset.
G20: Set Units to Inches
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
Example: G20
Units from now on are in inches.
G21: Set Units to Millimeters
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
Example: G21
Units from now on are in millimeters. (This is the RepRap default.)
G90: Set to Absolute Positioning
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
Example: G90
All coordinates from now on are absolute relative to the origin of the machine. (This is the RepRap default.)
G91: Set to Relative Positioning
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
Example: G91
All coordinates from now on are relative to the last position.
G92: Set Position
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
Example: G92 X10 E90
Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.
A G92 without coordinates will reset all axes to zero.
Unbuffered M and T commands
M0: Stop
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M0
The RepRap machine finishes any moves left in its buffer, then shuts down. All motors and heaters are turned off. It can be started again by pressing the reset button on the master microcontroller. See also M1, M112.
M1: Sleep
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M1
The RepRap machine finishes any moves left in its buffer, then shuts down. All motors and heaters are turned off. It can still be sent G and M codes, the first of which will wake it up again. See also M0, M112.
M3: Spindle On, Clockwise (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M3 S4000
The spindle is turned on with a speed of 4000 RPM.
M4: Spindle On, Counter-Clockwise (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M4 S4000
The spindle is turned on with a speed of 4000 RPM.
M5: Spindle Off (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M5
The spindle is turned off.
M7: Mist Coolant On (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M7
Mist coolant is turned on (if available)
M8: Flood Coolant On (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M8
Flood coolant is turned on (if available)
M9: Coolant Off (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M9
All coolant systems are turned off.
M10: Vacuum On (CNC specific)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M10
Dust collection vacuum system turned on.
M11: Vacuum Off (CNC specific)
Example: M11
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Dust collection vacuum system turned off.
M17: Enable/Power all stepper motors
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M17
M18: Disable all stepper motors
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M18
Disables stepper motors and allows axis to move 'freely.'
M20: List SD card
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | yes | ??? | yes | yes |
Example: M20
All files in the root folder of the SD card are listed to the serial port. This results in a line like:
ok Files: {SQUARE.G,SQCOM.G,}
The trailing comma is optional. Note that file names are returned in upper case, but - when sent to the M23 command (below) they must be in lower case. This seems to be a function of the SD software. Go figure...
Duet-dc42 firmware returns the (long) filenames in the correct case. If the S2 parameter is present, the file list is returned in JSON format, as a single array called "files". The optional P parameter specifies the directory to list, defaulting to the /gcodes directory.
M21: Initialize SD card
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M21
The SD card is initialized. If an SD card is loaded when the machine is switched on, this will happen by default. SD card must be initialized for the other SD functions to work.
M22: Release SD card
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M22
SD card is released and can be physically removed.
M23: Select SD file
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M23 filename.gco
The file specified as filename.gco (8.3 naming convention is supported) is selected ready for printing.
Duet-dc42 firmware supports long filenames as well as 8.3 format.
M24: Start/resume SD print
Example: M24
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
The machine prints from the file selected with the M23 command.
M25: Pause SD print
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M25
The machine pause printing at the current position within the file selected with the M23 command.
M26: Set SD position
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | aborts | ??? |
Example: M26
Set SD position in bytes (M26 S12345).
M27: Report SD print status
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M27
Report SD print status.
M28: Begin write to SD card
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M28 filename.gco
File specified by filename.gco is created (or overwritten if it exists) on the SD card and all subsequent commands sent to the machine are written to that file.
M29: Stop writing to SD card
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M29 filename.gco
File opened by M28 command is closed, and all subsequent commands sent to the machine are executed as normal.
M30: Delete a file on the SD card
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M30 filename.gco
filename.gco is deleted.
M31: Output time since last M109 or SD card start to serial
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M31
The response looks like:
echo:54 min, 38 sec
M32: Select file and start SD print
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
(Can be used when printing from SD card)
Example: M32 filename.gco
tba available in marlin(14/6/2014)
M33
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Used by some variants of Marlin firmware. Purpose unknown.
M34
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Used by some variants of Marlin firmware. Purpose unknown.
M36: Return file information
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | dc42 |
Example: M36 filename.gco
Returns information for the specified SD card file in JSON format. A sample response is:
{"err":0,"size":457574,"height":4.00,"layerHeight":0.25,"filament":[6556.3],"generatedBy":"Slic3r 1.1.7 on 2014-11-09 at 17:11:32"}
The "err" field is zero if successful, nonzero if the file was not found or an error occurred while processing it. The "size" field should always be present if the operation was successful. The presence or absence of other fields depends on whether the corresponding values could be found by reading the file. The "filament" field is an array of the filament lengths required from each spool. The size is in bytes, all other values are in mm. The fields may appear in any order, and additional fields may be present.
M37: Modo Simulación
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
No | dc42 | ??? | ??? | ??? | No | No | ??? | ??? | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | ??? | ??? | ??? | ??? | No | ??? | ??? |
Usado para cambiar entre el modo de impresión y el modo de simulación. El modo de simulación permite a la electrónica calcular un tiempo de impresión preciso, teniendo en cuenta las velocidades máximas, aceleraciones etc, que están configuradas.
M37 S1 entra en modo de simulación. Ningún código G o M funcionara, pero el tiempo que llevarían el ser ejecutados si será tomado en cuenta para el cálculo final.
M37 S0 Sale de modo simulación.
M37 sin el parámetro S devuelve el tiempo que ha llevado calcular la simulación, desde que se introdujo el comando M37 S1, hasta el momento actual (si el modo simulación aun permanece en ejecución) o el punto en el cual la simulación ya acabó(Si el modo simulación ya no está activo).
M40: Eject
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
If your RepRap machine can eject the parts it has built off the bed, this command executes the eject cycle. This usually involves cooling the bed and then performing a sequence of movements that remove the printed parts from it. The X, Y and Z position of the machine at the end of this cycle are undefined (though they can be found out using the M114 command, q.v.).
See also M240 and M241 below.
M41: Loop
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M41
If the RepRap machine was building a file from its own memory such as a local SD card (as opposed to a file being transmitted to it from a host computer) this goes back to the beginning of the file and runs it again. So, for example, if your RepRap is capable of ejecting parts from its build bed then you can set it printing in a loop and it will run and run. Use with caution - the only things that will stop it are:
- When you press the reset button,
- When the build material runs out (if your RepRap is set up to detect this), and
- When there's an error (such as a heater failure).
M42: Stop on material exhausted / Switch I/O pin
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
M42 in ???
Example: M42
If your RepRap can detect when its material runs out, this decides the behaviour when that happens. The X and Y axes are zeroed (but not Z), and then the machine shuts all motors and heaters off. You have to press reset to reactivate the machine. In other words, it parks itself and then executes an M0 command (q.v.).
M42 in Marlin/Sprinter
Example: M42 P7 S255
M42 switches a general purpose I/O pin. Use M42 Px Sy to set pin x to value y, when omitting Px the LEDPIN will be used.
M42 in Teacup
Not needed. General purpose devices are handled like a heater, see M104.
M43: Stand by on material exhausted
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M43
If your RepRap can detect when its material runs out, this decides the behaviour when that happens. The X and Y axes are zeroed (but not Z), and then the machine shuts all motors and heaters off except the heated bed, the temperature of which is maintained. The machine will still respond to G and M code commands in this state.
M80: ATX Power On
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | dc42 |
Example: M80
Turns on the ATX power supply from standby mode to fully operational mode. No-op on electronics without standby mode.
Note: some firmwares, like Teacup, handle power on/off automatically, so this is redundant there. Also, see RAMPS wiring for ATX on/off
M81: ATX Power Off
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | dc42 |
Example: M81
Turns off the ATX power supply. Counterpart to M80.
M82: Set extruder to absolute mode
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M82
makes the extruder interpret extrusion as absolute positions.
This is the default in repetier.
M83: Set extruder to relative mode
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M83
makes the extruder interpret extrusion values as relative positions.
M84: Stop idle hold
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | yes | ??? | yes | yes |
Example: M84
Stop the idle hold on all axis and extruder. In some cases the idle hold causes annoying noises, which can be stopped by disabling the hold. Be aware that by disabling idle hold during printing, you will get quality issues. This is recommended only in between or after printjobs.
On Marlin, M84 can also be used to configure or disable the idle timeout. For example, "M84 S10" will idle the stepper motors after 10 seconds of inactivity. "M84 S0" will disable idle timeout; steppers will remain powered up regardless of activity.
M92: Set axis_steps_per_unit
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M92 X<newsteps> Sprinter and Marlin
Allows programming of steps per unit of axis till the electronics are reset for the specified axis. Very useful for calibration.
M98: Call Macro/Subprogram
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M98 Pmymacro.g
Runs the macro in the file mymacro.g. In conventional G Codes for CNC machines the P parameter normally refers to a line number in the program itself (P2000 would run the Macro starting at line O2000, say). For RepRap, which almost always has some sort of mass storage device inbuilt, it simply refers to the name of a GCode file that is executed by the G98 call. That GCode file does not need to end with an M99 (return) as the end-of-file automatically causes a return. It is usually a good idea to start a macro with an M120 (Push) instruction and to end it with an M121 (Pop) instruction, q.v. Macro calls cannot usually be nested or be recursive; i.e. you can't call a macro from a macro (though some implementations may allow this).
M99: Return from Macro/Subprogram
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | res |
Example: M99
Returns from an M98 call.
M98: Get axis_hysteresis_mm
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Deprecated - clashes with the G Code standard M98 above
Example: M98
Report the current hysteresis values in mm for all of the axis.
Proposed for Marlin
M99: Set axis_hysteresis_mm
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Deprecated - clashes with the G Code standard M99 above
Example: M99 X<mm> Y<mm> Z<mm> E<mm>
Allows programming of axis hysteresis. Mechanical pulleys, gears and threads can have hysteresis when they change direction. That is, a certain number of steps occur before movement occurs. You can measure how many mm are lost to hysteresis and set their values with this command. Every time an axis changes direction, these extra mm will be added to compensate for the hysteresis.
Proposed for Marlin
M101: Turn extruder 1 on (Forward), Undo Retraction
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
M101 in Teacup firmware
If a DC extruder is present, turn that on. Else, undo filament retraction, which means, make the extruder ready for extrusion. Complement to M103.
M101 in other firmwares
Deprecated. Regarding filament retraction, see M227, M228, M229.
M102: Turn extruder 1 on (Reverse)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Deprecated.
M103: Turn all extruders off, Extruder Retraction
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
M103 in Teacup firmware
If a DC extruder is present, turn that off. Else, retract the filament in the hope to prevent nozzle drooling. Complement to M101.
M103 in other firmwares
Deprecated. Regarding extruder retraction, see M227, M228, M229.
M104: Set Extruder Temperature
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | yes | yes | yes |
Example: M104 S190
Set the temperature of the current extruder to 190oC and return control to the host immediately (i.e. before that temperature has been reached by the extruder). Duet-dc42 firmware also supports the optional T parameter (as generated by slic3r) to specify which tool the command applies to. See also M109.
This is deprecated because temperatures should be set using the G10 and T commands (q.v.).
Deprecation is subject to discussion. --Traumflug 11:33, 19 July 2012 (UTC)
M104 in Teacup Firmware
In Teacup Firmware, M104 can be additionally used to handle all devices using a temperature sensor. It supports the additional P parameter, which is a zero-based index into the list of sensors in config.h. For devices without a temp sensor, see M106.
Example: M104 P1 S100
Set the temperature of the device attached to the second temperature sensor to 100 °C.
M105: Get Extruder Temperature
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | yes | yes | yes | yes | yes |
Example: M105
Request the temperature of the current extruder and the build base in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command looks like:
ok T:201 B:117
Expansion/generalization of M105 to be considered using S1 parameter as noted in Pronterface I/O Monitor
In Repetier you can add X0 to get raw values as well:
M105 X0 ==> 11:05:48.910 : T:23.61 /0 @:0 T0:23.61 /0 @0:0 RAW0:3922 T1:23.89 /0 @1:0 RAW1:3920
Duet-dc42 extension
Duet-dc42 firmware returns a JSON-formatted response if parameter S2 or S3 is included. This is used by the touch-screen control panel. The response comprises a single JSON object, with no nesting of objects or arrays. It is similar to the object returned by the web interface status request, but some fields are omitted. Here is a sample response when S2 is used:
{"status":"I","heaters":[25.0,29.0,28.3],"active":[-273.1,0.0,0.0],"standby":[-273.1,0.0,0.0],"hstat":[0,2,1],"pos":[-11.00,0.00,0.00],"extr":[0.0,0.0],"sfactor":100.00, "efactor":[100.00,100.00],"tool":1,"probe":"535","fanRPM":0,"homed":[0,0,0],"fraction_printed":0.572}
The meaning of these fields is:
status: I=idle, P=printing from SD card, S=stopped (i.e. needs a reset), C=running config file heaters: current heater temperatures, numbered as per the machine (typically, heater 0 is the bed) active: active temperatures of the heaters standby: standby temperatures of the heaters hstat: status of the heaters, 0=off, 1=standby, 2=active, 3=fault pos: the X, Y and Z positions of the print head extr: the positions of the extruders sfactor: the current speed factor (see M220 command) efactor: the current extrusion factors (see M221 command) tool: the selected tool number. Zero typically means no tool selected. probe: the Z-probe reading fanRPM: the cooling fan RPM homed: the homed status of the X, Y and Z axes (or towers on a delta). 0=axis has not been homed so position is not reliable, 1=axis has been homed so position is reliable. fraction_printed: the fraction of the file currently being printed that has been read and at least partially processed.
The response when S3 is used comprises these fields plus some additional ones that do not generally change (e.g. the machine name and axis lengths) and therefore do not need to be fetched as often. In particular, the machine name is returned in variable "myName".
The fields may be in any order in the response. Other implementations may omit fields and/or add additional fields.
M106: Fan On
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | yes | yes | yes | ??? | yes | yes |
Example: M106 S127
Turn on the cooling fan at half speed.
Mandatory parameter 'S' declares the PWM value (0-255). M106 S0 turns the fan off. In some implementations the pwm is specified by a real fraction: M106 S0.7.
M106 in Duet Firmware
Duet-dc42 firmware also supports an optional I parameter. If this parameter is present and greater than zero, the cooling fan output is inverted. This makes the cooling fan output suitable for feeding the PWM input of a 4-wire fan via a diode. If the parameter is present and zero or negative, the output is not inverted. If the parameter is not present, the inverted/non-inverted state remains unchanged. The default at power up is not inverted.
If the 'R' parameter is passed when using Duet-zpl firmware (0.96g+), the last-known fan value will be set. If the 'S' parameter is passed along with 'R', the firmware will not reset the last-known fan value. This may be useful for tool change macro files.
M106 in Teacup Firmware
Additionally to the above, Teacup Firmware uses M106 to control general devices. It supports the additional P parameter, which is an zero-based index into the list of heaters/devices in config.h.
Example: M106 P2 S255
Turn on device #3 at full speed/wattage.
Note: When turning on a temperature sensor equipped heater with M106 and M104 at the same time, temperature control will override the value given in M106 quickly.
M107: Fan Off
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Deprecated. Use M106 S0 instead.
M108: Set Extruder Speed
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Sets speed of extruder motor. (Deprecated in current firmware, see M113)
M109: Set Extruder Temperature and Wait
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
(See G10) | not needed | see text | yes | ??? | yes | yes |
M109 in Teacup
Not needed. To mimic Marlin behaviour, use M104 followed by M116.
M109 in Marlin, Sprinter (ATmega port), Duet
Set extruder heater temperature in degrees celsius and wait for this temperature to be achieved.
Example: M109 S185
Duet-dc42 firmware also supports the optional T parameter (as generated by slic3r) to specify which tool the command refers to (see below).
M109 in Sprinter (4pi port)
Parameters: S (optional), set target temperature value. If not specified, waits for the temperature set by M104. R (optional), sets target temperature range maximum value.
Example: M109 S185 R240 //sets extruder temperature to 185 and waits for the temperature to be between 185 - 240.
If you have multiple extruders, use T or P parameter to specify which extruder you want to set/wait.
Another way to do this is to use G10.
M110: Set Current Line Number
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | not needed | ??? | ??? | ??? | yes | ??? |
Example: M110 N123
Set the current line number to 123. Thus the expected next line after this command will be 124.
M111: Set Debug Level
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M111 S6
Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
#define DEBUG_ECHO (1<<0) #define DEBUG_INFO (1<<1) #define DEBUG_ERRORS (1<<2)
Thus 6 means send information and errors, but don't echo commands. (This is the RepRap default.)
For firmware that supports ethernet and web interfaces M111 S9 will turn web debug information on without changing any other debug settings, and M111 S8 will turn it off. Web debugging usually means that HTTP requests will be echoed to the USB interface, as will the responses.
Example: M253
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie |
---|---|---|---|---|---|---|
Debug | different mechanism |
M112: Emergency Stop
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M112
Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off. It can be started again by pressing the reset button on the master microcontroller. See also M0 and M1.
M113: Set Extruder PWM
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M113
Set the PWM for the currently-selected extruder. On its own this command sets RepRap to use the on-board potentiometer on the extruder controller board to set the PWM for the currently-selected extruder's stepper power. With an S field:
M113 S0.7
it causes the PWM to be set to the S value (70% in this instance). M113 S0 turns the extruder off, until an M113 command other than M113 S0 is sent.
M114: Get Current Position
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | yes | ??? | yes | yes |
Example: M114
This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.
For example, the machine returns a string such as:
ok C: X:0.00 Y:0.00 Z:0.00 E:0.00
In Marlin first 3 numbers is the position for the planner. The other positions are the positions from the stepper function. This helps for debugging a previous stepper function bug.
X:0.00 Y:0.00 RZ:0.00 LZ:0.00 Count X:0.00 Y:0.00 RZ:41.02 LZ:41.02
M115: Get Firmware Version and Capabilities
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M115
Request the Firmware Version and Capabilities of the current microcontroller The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.
sample data from firmware:
ok PROTOCOL_VERSION:0.1 FIRMWARE_NAME:FiveD FIRMWARE_URL:http%3A//reprap.org MACHINE_TYPE:Mendel EXTRUDER_COUNT:1
This M115 code is inconsistently implemented, and should not be relied upon to exist, or output correctly in all cases. An initial implementation was committed to svn for the FiveD Reprap firmware on 11 Oct 2010. Work to more formally define protocol versions is currently (October 2010) being discussed. See M115_Keywords for one draft set of keywords and their meanings.
M116: Wait
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M116
Wait for all temperatures and other slowly-changing variables to arrive at their set values. See also M109.
Duet-dc42 firmware version 0.78c and later supports an optional P parameter, used to specify a tool number. If this parameter is present, then the system only waits for temperatures associated with that tool to arrive at their set values. This is useful during tool changes, to wait for the new tool to heat up without necessarily waiting for the old one to cool down fully.
M117: Get Zero Position
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | prints to LCD | ??? | prints to LCD | ??? |
Example: M117
This causes the RepRap machine to report the X, Y, Z and E coordinates in steps not mm to the host that it found when it last hit the zero stops for those axes. That is to say, when you zero X, the x coordinate of the machine when it hits the X endstop is recorded. This value should be 0, of course. But if the machine has drifted (for example by dropping steps) then it won't be. This command allows you to measure and to diagnose such problems. (E is included for completeness. It doesn't normally have an endstop.)
M117 in Marlin, Smoothie and Duet-dc42: Display Message
Example: M117 Hello World
This causes the given message to be shown in the status line on an attached LCD. The above command will display Hello World.
M118: Negotiate Features
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M118 P42
This M-code is for future proofing. NO firmware or hostware supports this at the moment. It is used in conjunction with M115's FEATURES keyword.
See Protocol_Feature_Negotiation for more info.
M119: Get Endstop Status
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | ??? |
Example: M119
Returns the current state of the configured X, Y, Z endstops. Takes into account any 'inverted endstop' settings, so one can confirm that the machine is interpreting the endstops correctly.
M120: Push
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Push the state of the RepRap machine onto a stack. Exactly what variables get pushed depends on the implementation (as does the depth of the stack - a typical depth might be 5). A sensible minimum, however, might be
- Current feedrate, and
- Whether moves (and separately extrusion) are relative or absolute
M121: Pop
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Recover the last state pushed onto the stack.
M122: Diagnose
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Sending an M122 causes the RepRap to transmit diagnostic information, for eaxmple via a USB serial link.
M123: Tachometer value
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Sending an M123 causes the RepRap to transmit filament tachometer values from all extruders.
M124: Immediate motor stop
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Immediately stops all motors.
M126: Open Valve
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M126 P500
Open the extruder's valve (if it has one) and wait 500 milliseconds for it to do so.
M127: Close Valve
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M127 P400
Close the extruder's valve (if it has one) and wait 400 milliseconds for it to do so.
M128: Extruder Pressure PWM
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M128 S255
PWM value to control internal extruder pressure. S255 is full pressure.
M129: Extruder pressure off
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M129 P100
In addition to setting Extruder pressure to 0, you can turn the pressure off entirely. P400 will wait 100ms to do so.
M130: Set PID P value
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | yes | ??? | (See M30[01]) | See M301 | no |
Example: M130 P 0 S 8.0 # Sets heater 0 P factor to 8.0
Teacup can control multiple heaters with independent PID controls. For the default shown at https://github.com/Traumflug/Teacup_Firmware/blob/master/config.default.h, heater 0 is the extruder (P0), and heater 1 is the bed (P1).
Teacup's PID proportional units are in pwm/255 counts per quarter C, so to convert from counts/C, you would divide by 4. Conversely, to convert from count/qC to count/C, multiply by 4. In the above example, S=8 represents a Kp=8*4=32 counts/C.
M131: Set PID I value
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | yes | (See M30[01]) | See M301 | no |
Example: M131 P 1 S 0.5 # Sets heater 1 I factor to 0.5
Teacup's PID integral units are in pwm/255 counts per (quarter C*quarter second), so to convert from counts/qCqs, you would divide by 16. Conversely, to convert from count/qCqs to count/Cs, multiply by 16. In the above example, S=0.5 represents a Ki=0.5*16=8 counts/Cs.
M132: Set PID D value
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | yes | (See M30[01]) | See M301 | ??? |
Example: M132 P 0 S 24 # Sets heater 0 D factor to 24.0
Teacup's PID derivative units are in pwm/255 counts per (quarter degree per 2 seconds), so to convert from counts/C, you would divide by 4. Conversely, to convert from count/qC to count/C, multiply by 8. In the above example, S=24 represents a Kd=24*8=194 counts/(C/s).
M133: Set PID I limit value
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | yes | ??? | ??? | ??? | no |
Example: M133 P 1 S 264 # Sets heater 1 I limit value to 264
Teacup's PID integral limit units are in quarter-C*quarter-seconds, so to convert from C-s, you would multiply by 16. Conversely, to convert from qC*qs to C*s, divide by 16. In the above example, S=264 represents an integral limit of 16.5 C*s.
M134: Write PID values to EEPROM
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | yes | ??? | ??? | ??? | See M504 | no |
Example: M134
M135: Set PID sample interval
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M135 S300
Set the PID to measure temperatures and calculate the power to send to the heaters every 300ms.
M136: Print PID settings to host
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
Debug |
Example: M136 P1 # print heater 0 PID parameters to host
M140: Bed Temperature (Fast)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | yes | Yes | yes |
Example: M140 S55
Set the temperature of the build bed to 55oC and return control to the host immediately (i.e. before that temperature has been reached by the bed). There is an optional R field that sets the bed standby temperature: M140 S65 R40.
M141: Chamber Temperature (Fast)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M141 S30
Set the temperature of the chamber to 30oC and return control to the host immediately (i.e. before that temperature has been reached by the chamber).
M142: Holding Pressure
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M142 S1
Set the holding pressure of the bed to 1 bar.
The holding pressure is in bar. For hardware which only has on/off holding, when the holding pressure is zero, turn off holding, when the holding pressure is greater than zero, turn on holding.
M143: Maximum hot-end temperature
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M143 S275
Set the maximum temperature of the hot-end to 275C
When temperature of the hot-end exceeds this value, take countermeasures, for instance an emergency stop. This is to prevent hot-end damage.
M144: Stand By Your Bed
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M144
Switch the bed to its standby temperature. M140 turns it back to its active temperature; no need for any arguments for that use of M140.
M160: Number of mixed materials
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M160 S4
This command has been superseded by the tool definition command M563 (see below).
Set the number of materials, N, that the current extruder can handle to the number specified. The default is 1.
When N >= 2, then the E field that controls extrusion requires N values separated by colons ":" after it like this:
M160 S4 G1 X90.6 Y13.8 E2.24:2.24:2.24:15.89 G1 X70.6 E0:0:0:42.4 G1 E42.4:0:0:0
The second line moves straight to the point (90.6, 13.8) extruding a total of 22.4mm of filament. The mix ratio for the move is 0.1:0.1:0.1:0.7.
The third line moves back 20mm in X extruding 42.4mm of filament.
The fourth line has no physical effect.
M190: Wait for bed temperature to reach target temp
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | obsolete, see M116 | yes | yes | yes | yes |
Example: M190 S60
This will wait until the bed temperature reaches 60 degrees, printing out the temperature of the hot end and the bed every second.
M200: Set filament diameter / Get Endstop Status
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes |
Without parameters loads default grid, and with specified extension attempts to load the specified grid. If not available will not modify the current grid.
If Z was saved with the grid file, it will load the saved Z with the grid.
M200 Dm.mmm sets the filament diameter to m.mmm millimeters. It is used with 'volumetric calibration' and G-code generated for an ideal 1.128mm diameter filament, which has a volume of 1mm^3 per millimeter. The intention is to be able to generate filament-independent g-code. (See Triffid_Hunter's_Calibration_Guide#Optional:_Switch_to_volumetric_E_units and http://wooden-mendel.blogspot.com/2011/09/volumetric-stage-two.html for more information.)
M200 D0 or M200 D1.128 ; reset E multiplier to 1, since sqrt(1/pi)*2=1.128
See also Gcode#M119:_Get_Endstop_Status
Question: what does a firmware do with filament diameter? Has this an effect on how much an E command moves the extruder motor? --Traumflug 11:34, 14 October 2012 (UTC) Yes, Marlin uses this to set a 'volumetric_multiplier' by which the E-steps of a move are scaled in the planner. DaveX (talk) 16:44, 12 April 2014 (PDT) Smoothie implements the same thing as Marlin --Arthurwolf (talk) 05:23, 10 November 2014 (PST)
M201: Set max printing acceleration
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M201 X1000 Y1000 Z100 E2000
Sets the acceleration that axes can do in units/second^2 for print moves. For consistency with the rest of G Code movement this should be in units/(minute^2), but that gives really silly numbers and one can get lost in all the zeros. So for this we use seconds.
M202: Set max travel acceleration
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
M203: Set maximum feedrate
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M203 X6000 Y6000 Z300 E10000
Sets the maximum feedrates that your machine can do in mm/min.
M204: Set default acceleration
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
M205: Advanced settings
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
M206:
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | set homing offsets | ??? | set homing offsets | ??? |
M206 Marlin - Set home offset
Example: M206 X10.0 Y10.0 Z-0.4
The values specified are added to the endstop position when the axes are referenced. The same can be achieved with a G92 right after homing (G28, G161).
With Marlin firmware, this value can be saved to EEPROM using the M500 command.
A similar command is G10, aligning these two is subject to discussion.
With Marlin 1.0.0 RC2 a negative value for z lifts(!) your printhead.
M206 Repetier - Set eeprom value
M206 T[type] P[pos] [Sint(long] [Xfloat] Set eeprom value
Example: M206 T3 P39 X19.9
Set Jerk to 19.9
M207: Calibrate z axis by detecting z max length
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | ??? | ??? |
Example: M207
After placing the tip of the nozzle in the position you expect to be considered Z=0, issue this command to calibrate the Z axis. It will perform a z axis homing routine and calculate the distance traveled in this process. The result is stored in EEPROM as z_max_length. For using this calibration method the machine must be using a Z MAX endstop.
This procedure is usually more reliable than mechanical adjustments of a Z MIN endstop.
NOTE: Marlin and Smoothie define M207 as "set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting"
M208: Set axis max travel
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | ??? | yes |
Example: M208 X250 Y210 Z180
The values specified set the software limits for axis travel in the positive direction.
With Marlin firmware, this value can be saved to EEPROM using the M500 command.
With Duet-dc42 firmware, on a Cartesian printer you can also use this command to specify software limits for axis travel in the negative direction, by adding parameter S1. The axis limits you set are also the positions assumed when an endstop is triggered.
NOTE: Marlin/Smoothie defines M208 as "set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]"
M209: Enable automatic retract
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M209 S1
This boolean value S 1=true or 0=false enables automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
M210: Set homing feedrates
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M210 X1000 Y1500
Set the feedrates used for homing to the values specified in mm per minute.
M211: Disable/Enable software endstops
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
The boolean value S 1=enable or 0=disable controls state of software endstop.
The boolean value X, Y or Z 1=max endstop or 0=min endstop selects which endstop is controlled.
Example: M211 X1 Y1 Z1 S0
Disables X,Y,Z max endstops
Example: M211 X0 S1
Enables X min endstop
Example: M211
Prints current state of software endstops.
M220: Set speed factor override percentage
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | dc42 |
Example: M220 S80
S<factor in percent>- set speed factor override percentage
M221: Set extrude factor override percentage
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | dc42 |
Example: M221 S70
S<factor in percent>- set extrude factor override percentage
M226: Gcode Initiated Pause
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M226
Initiates a pause in the same way as if the pause button is pressed. That is, program execution is stopped and the printer waits for user interaction. This matches the behaviour of M1 in the NIST RS274NGC G-code standard and M0 in Marlin firmware.
M227: Enable Automatic Reverse and Prime
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M227 P1600 S1600
P and S are steps.
"Reverse and Prime" means, the extruder filament is retracted some distance when not in use and pushed forward the same amount before going into use again. This shall help to prevent drooling of the extruder nozzle. Teacup firmware implements this with M101/M103.
M228: Disable Automatic Reverse and Prime
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M228
See also M227.
M229: Enable Automatic Reverse and Prime
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M229 P1.0 S1.0
P and S are extruder screw rotations. See also M227.
M230: Disable / Enable Wait for Temperature Change
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M230 S1
S1 Disable wait for temperature change S0 Enable wait for temperature change
M240: Start conveyor belt motor / Echo off
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
Debug: Echo off | no |
Example: M240
The conveyor belt allows to start mass production of a part with a reprap.
Echoing may be controlled in some firmwares with M111
M241: Stop conveyor belt motor / echo on
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
Debug: Echo on | no |
Example: M241
Echoing may be controlled in some firmwares with M111
M245: Start cooler
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M245
used to cool parts/heated-bed down after printing for easy remove of the parts after print
M246: Stop cooler
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M246
M251: Measure Z steps from homing stop (Delta printers)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | yes | no | ??? |
M251 S0 - Reset, S1 - Print, S2 - Store to Z length (also EEPROM if enabled)
(This is a Repetier-Firmware only feature)
M280: Set servo position
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
(Marlin, Repetier M340)
M280 - set servo position absolute. P: servo index, S: angle or microseconds (Marlin)
M300: Play beep sound
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Usage: M300 S<frequency Hz> P<duration ms>
Example: M300 S300 P1000
Play beep sound, use to notify important events like the end of printing. See working example on R2C2 electronics. Also supported by duet-dc42 firmware via the sounder on the add-on touch screen control panel.
M301: Set PID parameters
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | (See M13[0-3]) | ??? | yes | yes | yes | yes |
Example: M301 P1 I2 D3 ; Marlin (hot end only; see M304 for bed PID) Example: M301 P1 I2 D3 C5 H1 B20 W127 ; RepRapFirmware Example: M301 P1 I2 D3 T0.2 H1 B20 W127 S0.8 ; Duet-dc42 Example: M301 S0 P30 I10 D10 ; Smoothie ( S0 is 0 for the hotend, and 1 for the bed, other numbers may apply to your configuration, depending on the order in which you declare temperaturecontrol modules )
Sets Proportional, Integral and Derivative values for hot end. The value C refers to an extrusion rate. The value T is the approximate additional PWM (on a scale of 0 to 255) needed to maintain each additional 1C temperature, used to preset the I-accumulator when switching from heater fully on/off to PID. H is the heater number, default 1 (i.e. first extruder heater).
Duet-dc42 firmware interprets a negative P term as indicating that bang-bag control should be used instead of PID (not recommended for the hot end, but OK for H0 which is the bed heater). The S factor is designed to allow a correction to be made for a change in heater power and/or power supply voltage without having to change all the other parameters. For example, an S factor of 0.8 means that the final output of the PID controller should be scaled to 0.8 times the standard value, which would compensate for a heater that is 25% more powerful than the standard one or a supply voltage that is 12.5% higher than standard.
See also PID Tuning.
Alternate implementation
Example: M301 W125
See M130, M131, M132, M133 for Teacup's codes for setting the PID parameters.
M302: Allow cold extrudes
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | 0.92 | no | Yes |
This tells the printer to allow movement of the extruder motor, when the hotend is not at printing temperature
Example: M302
When using Duet-zpl or Duet-dc42 firmwares, running M302 will only report the current cold extrusion state. To allow or deny cold extrudes/retracts, run either "M302 P1" or "M302 P0".
M303: Run PID tuning
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | yes | yes | no |
PID Tuning refers to a control algorithm used in some repraps to tune heating behavior for hot ends and heated beds. This command generates Proportional (Kp), Integral (Ki), and Derivative (Kd) values for the hotend or bed (E-1). Send the appropriate code and wait for the output to update the firmware.
Hot end usage:
M303 S<temperature> C<cycles>
Bed usage:
M303 E-1 C<cycles> S<temperature>
Example:
M303 C8 S175
Smoothie's syntax, where E0 is the first temperature control module (usually the hot end) and E1 is the second temperature control module (usually the bed):
M303 E0 S190
M304: Set PID parameters - Bed
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
yes | See M301 | dc42 |
Example: M304 P1 I2 D3 ; set kP=3, kI=2, kD=3 Example: M301 P1 I2 D3 T0.7 H0 B20 W127 ; Duet-dc42 firmware Example: M304 ; Report parameters
Sets Proportional, Integral and Derivative values for bed. Duet-dc42 firmware interprets a negative P term as indicating that bang-bag control should be used instead of PID. In Duet-dc42 firmware, this command is identical to M301 except that the H parameter (heater number) defaults to zero.
See also PID Tuning.
M305: Set thermistor and ADC parameters
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Sets the parameters for temperature measurement. Supported by RepRapPro version of Marlin, RepRapFirmware from 0.78c, and Duet-dc42 firmware.
Example: M305 P1 T100000 R1000 B4200
This tells the firmware that for heater 1 (P parameter: 0 = heated bed, 1 = first extruder) the thermistor 25C resistance (T parameter) is 100Kohms, the thermistor series resistance (R parameter) is 1Kohms, the thermistor beta (B parameter) is 4200. All parameters other than P are optional. If only the P parameter is given, the existing values are displayed.
Additionally, Duet-dc42 firmware supports an ADC correction functionality and a thermistor selection facility.
Example: M305 P1 T100000 R1000 B4200 H14 L-11 X2
Here the ADC high end correction (H parameter) is 14, the ADC low end correction (L parameter) is -11, and thermistor input #2 is used to measure the temperature of heater #1.
M306: set home offset calculated from toolhead position
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Example: M306 Z0
The values specified are added to the calculated end stop position when the axes are referenced. The calculated value is derived from the distance of the toolhead from the current axis zero point.
The user would typically place the toolhead at the zero point of the axis and issue the M306 command.
This value can be saved to EEPROM using the M500 command (as M206 value).
Implemented in Smoothieware
M320: Activate autolevel(Repetier)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | yes | no | ??? |
(Repetier only)
M321: Deactivate autolevel(Repetier)
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | yes | no | ??? |
(Repetier only)
M322: Reset autolevel matrix
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | yes | no | ??? |
Example: M322 S1
Parameter S1 is mandatory
(Repetier only)
M340: Control the servos
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | yes | no | ??? |
(Repetier only ,Marlin see M280)
M340 P<servoId> S<pulseInUS> / ServoID = 0..3 pulseInUs = 500..2500
Servos are controlled by a pulse width normally between 500 and 2500 with 1500ms in center position. 0 turns servo off.
M355: Turn case lights on/off
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | no | 0.92.2 | no | no |
- Enable lights
M355 S1
- Disable lights
M355 S0
- Report status
M355
Every call or change over LCD menu sends a state change for connected hosting software like
Case lights on Case lights off No case lights
M360: Report firmware configuration
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | no | 0.92.2 | no |
- Target
This command helps hosting software to detect configuration details, which the user would need to enter otherwise. It should reduce configuration time considerably if supported.
- Example
M360
- Response
Config:Baudrate:250000 Config:InputBuffer:127 Config:NumExtruder:2 Config:MixingExtruder:0 Config:HeatedBed:0 Config:SDCard:1 Config:Fan:1 Config:LCD:1 Config:SoftwarePowerSwitch:1 Config:XHomeDir:-1 Config:YHomeDir:-1 Config:ZHomeDir:-1 Config:SupportG10G11:1 Config:SupportLocalFilamentchange:1 Config:CaseLights:0 Config:ZProbe:1 Config:Autolevel:0 Config:EEPROM:1 Config:PrintlineCache:24 Config:JerkXY:30.00 Config:JerkZ:0.30 Config:RetractionLength:3.00 Config:RetractionLongLength:13.00 Config:RetractionSpeed:40.00 Config:RetractionZLift:0.00 Config:RetractionUndoExtraLength:0.00 Config:RetractionUndoExtraLongLength:0.00 Config:RetractionUndoSpeed:0.00 Config:XMin:0.00 Config:YMin:0.00 Config:ZMin:0.00 Config:XMax:250.00 Config:YMax:150.00 Config:ZMax:90.00 Config:XSize:250.00 Config:YSize:150.00 Config:ZSize:90.00 Config:XPrintAccel:250.00 Config:YPrintAccel:250.00 Config:ZPrintAccel:100.00 Config:XTravelAccel:250.00 Config:YTravelAccel:250.00 Config:ZTravelAccel:100.00 Config:PrinterType:Cartesian Config:MaxBedTemp:120 Config:Extr.1:Jerk:50.00 Config:Extr.1:MaxSpeed:100.00 Config:Extr.1:Acceleration:10000.00 Config:Extr.1:Diameter:0.00 Config:Extr.1:MaxTemp:220 Config:Extr.2:Jerk:50.00 Config:Extr.2:MaxSpeed:100.00 Config:Extr.2:Acceleration:10000.00 Config:Extr.2:Diameter:0.00 Config:Extr.2:MaxTemp:220
SCARA calibration codes (Morgan)
In order to ease calibration of Reprap Morgan, the following M-codes are used to set the machine up
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
no | no | no | partial | no | yes | no |
M360: Move to Theta 0 degree position
The arms move into a position where the Theta steering arm is parallel to the top platform edge. The user then calibrates the position by moving the arms with the jog buttons in software like pronterface until it is perfectly parallel. Using M114 will then display the calibration offset that can then be programmed into the unit using M206 (Home offset) X represents Theta.
Smoothieware: M360 P0 will take the current position as parallel to the platform edge, and store the offset in the homing trim offset (M666) No further user interaction is needed.
M361: Move to Theta 90 degree position
Theta move to 90 degrees with platform edge. User calibrates by using jog arms to place exactly 90 degrees. Steps per degree can then be read out by using M114, and programmed using M92. X represents Theta. Program Y (Psi) to the same value initially. Remember to repeat M360 after adjusting steps per degree.
Smoothieware: M360 P0 will accept the current position as 90deg to platform edge. New steps per angle is calculated and entered into memory (M92) No further user interaction is required, except to redo M360.
M362: Move to Psi 0 degree position
Arms move to Psi 0 degree. Check only after other Theta calibrations
M363: Move to Psi 90 degree position
Arms move to Psi 90 degree. Check only after other Theta calibrations
M364: Move to Psi + Theta 90 degree position
Move arms to form a 90 degree angle between the inner and outer Psi arms. Calibrate by moving until angle is exactly 90 degree. Read out with M114, and calibrate value into Home offset M206. Psi is represented by Y.
Smoothieware: M364 P0 will accept the current position as 90deg between arms. The offset is stored as a trim offset (M666) and no further user interaction is required except to save all changes via M500
M365: SCARA scaling factor
Adjust X Y and Z scaling by entering the factor. 100% scaling (default) is represented by 1
M370: Morgan manual bed level - clear map
Clear the map and prepare for calibration Usage:
M370 M370 X<divisions> Y<divisions>
Without parameters is defaults to X5 Y5 (25 calibration points) When specifying parameters, uneven numbers are recommended.
M371: Move to next calibration position
Move to the next position for calibration. User moves the bed towards the hotend until it just touches
M372: Record calibration value, and move to next position
The position of the bed is recorded and the machine moves to the next position. Repeat until all positions programmed
M373: End bed level calibration mode
End calibration mode and enable z correction matrix. Does not save current matrix
M374: Save calibration grid
Saves the calibration grid. (Smoothieware) Usage:
M374
M374 <file extension> Z
Without parameters safes the grid into the default grid file that gets loaded at boot Parameter specifies the extension of the grid file - useful for special grid files such as for a special print surface like a removable print plate. Addition of Z will additionally save the M206 Z homing offset into the grid file
M375: Display matrix / Load Matrix
Display the bed level calibration matrix (Marlin) Load Grid matrix file (Smoothieware) Usage:
M375
M375 <file extension>
Without parameters loads default grid, and with specified extension attempts to load the specified grid. If not available will not modify the current grid. If Z was saved with the grid file, it will load the saved Z with the grid.
M400: Wait for current moves to finish
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | ??? |
Finishes all current moves and and thus clears the buffer. That's identical to G4 P0
.
Example: M400
M420: Set RGB Colors as PWM
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Usage: M420 R<Red PWM (0-255)> E<Green PWM (0-255)> B<Blue PWM (0-255)>
Example: M420 R255 E255 B255
Set the color of your RGB LEDs that are connected to PWM-enabled pins. Note, the Green color is controlled by the E value instead of the G value due to the G code being a primary code that cannot be overridden.
M420: Nivelación On/Off/Fade (Marlin)
Support | Marlin | RepRapFirmware | Klipper | Prusa | Buddy | Repetier | Smoothie | Druid | MK4duo |
---|---|---|---|---|---|---|---|---|---|
Yes | Use G29 and M376 | ??? | ??? | ??? | No | No | No | Yes | |
grbl | Sprinter | BFB | FiveD | Machinekit | Redeem | Teacup | Yaskawa | MakerBot | |
??? | No | No | No | No | ??? | No | No | ??? |
Activar/desactivar la nivelación de la cama (utilice la cuadrícula o malla almacenada actualmente).
- Añada
M420 S[bool] Z[float]
- Ejemplo
M420 S1 ; Habilitar compensación usando la cuadrícula/malla actual M420 Z10 ; Reduzca gradualmente la compensación hasta Z=10
Marlin 1.1.0 agrega el parámetro Z
para establecer la altura del "desvanecimiento". Esto requiere la opción ENABLE_LEVELING_FADE_HEIGHT
.
Cuando el valor de altura de desvanecimiento Z
se establece en un valor distinto de cero, la compensación del nivel se reducirá gradualmente hasta la altura dada y cesará por completo por encima de esa altura.
M540: Set MAC address
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M540 P0xBE:0xEF:0xDE:0xAD:0xFE:0xED
Sets the MAC address of the RepRap. This should be done before any other network commands. The MAC address is six one-byte hexadecimal numbers separated by colons. The 0x prefix is optional in later firmware revisions.
M550: Set Name
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M550 PGodzilla
Sets the name of the RepRap to (in this case) Godzilla. The name can be any string of printable characters except ';', which still means start comment.
M551: Set Password
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M551 Pmy-very-secret-word
On machines that need a password to activate them, set that password. The code 'P' is not part of the password. Note that as this is sent in clear it does not (nor is it intended to) offer a very high level of security. But on machines that are (say) on a network, it prevents idle messing about by the unauthorised. The password can contain any printable characters except ';', which still means start comment.
M552: Set IP address
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M552 P192.168.1.14
Sets the IP address of the RepRap machine to (in this case) 192.168.1.14. A restart may be required before the new IP address is used. If no P field is specified, this echoes the existing IP address configured. If S0 is added thus: M552 S0 P192.168.1.14 networking is disabled.
M553: Set Netmask
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M553 P255.255.255.0
Sets the network mask of the RepRap machine to (in this case) 255.255.255.0. A restart may be required before the new network mask is used. If no P field is specified, this echoes the existing network mask configured.
M554: Set Gateway
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M554 P192.168.1.1
Sets the Gateway IP address of the RepRap machine to (in this case) 192.168.1.1. A restart may be required before the new gateway IP address is used. If no P field is specified, this echoes the existing Gateway IP address configured.
M555: Set compatibility
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M555 P1
For firmware that can do it, sets the firmware to a mode where its input and (especially) output behaves exactly like other established firmware. The value of the P argument is:
P value | Firmware |
0 | Native (i.e. whatever the firmware actually is) |
1 | RepRap_Firmware |
2 | Marlin |
3 | Teacup |
4 | Sprinter |
5 | Repetier |
M556: Axis compensation
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M556 S100 X0.7 Y-0.2 Z0.6
Though with care and adjustment a RepRap can be set up with its axes at right-angles to each other within the accuracy of the machine, who wants to bother with care and adjustment when the problem can be solved by software? This tells software the tangents of the angles between the axes of the machine obtained by printing then measuring a test part. The S parameter (100 here) is the length of a triangle along each axis in mm. The X, Y and Z figures are the number of millimeters of the short side of the triangle that represents how out of true a pair of axes is. The X figure is the error between X and Y, the Y figure is the error between Y and Z, and the Z figure is the error between X and Z. Positive values indicate that the angle between the axis pair is obtuse, negative acute.
M557: Set Z probe point
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M557 P1 X30 Y40.5
Set the points at which the bed will be probed to compensate for its plane being slightly out of horizontal. The P value is the index of the point (indices start at 0) and the X and Y values are the position to move extruder 0 to to probe the bed. An implementation should allow a minimum of three points (P0, P1 and P2). This just records the point coordinates; it does not actually do the probing. See G32.
M558: Set Z probe type
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M558 P0 X1 Y0 Z1
A Z probe may be a switch, an IR proximity sensor, or some other device. This selects which to use. P0 indicates that no Z probe is present. P1 gives an unmodulated IR probe, or any other probe type that emulates an unmodulated IR probe (probe output is an analog signal that rises with decreasing nozzle height above the bed). If there is a control signal to the probe, it is driven high when the probe type is P1. P2 specifies a modulated IR probe, where the modulation is commanded directly by the main board firmware using the control signal to the probe. P3 selects an alternative Z probe by driving the control signal to the probe low. P4 selects a switch (on the Duet, this must be connected to the E0 endstop pins).
The X, Y and Z parameters specify whether each axis uses the Z probe for homing or not. If the parameter is nonzero, the Z probe is used for homing that axis. if the parameter is zero, the endstop switch for that axis is used for homing instead. See also G31 and G32.
Duet-dc42 firmware supports an additional R parameter, which specifies the modulation channel. Channel 0 (the default) uses the standard Z probe modulation pin on the Duet 0.6. Channel 1 selects the alternative Z probe modulation pin on the Duet 0.7.
Duet-dc42 firmware versions 1.00e onwards supports additional parameter H. This specifies the dive height from which probing is done in response to a G30 command when the P parameter is present, or a G32 command.
M559: Upload configuration file
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M559
If the RepRap supports it, this uploads a file that is run on re-boot to configure the machine. This file usually is a special G Code file. After sending M559, the file should be sent, ending with an M29 (q.v.).
M560: Upload web page file
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M560
For RepRaps that have web support and that can be driven by a web browser, this uploads the file that is the control page for the RepRap. After sending M560 the file (usually an HTML file) should be sent, terminated by the string<!-- **EoF** -->. Clearly that string cannot exist in the body of the file, but can be put on the end to facilitate this process. This should not be too serious a restriction...
M561: Set Identity Transform
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | yes |
Example: M561
This cancels any bed-plane fitting as the result of probing (or anything else) and returns the machine to moving in the user's coordinate system.
M562: Reset temperature fault
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M562 P2
Reset a temperature fault on heater/sensor 2. If the RepRap has switched off and locked a heater because it has detected a fault, this will reset the fault condition and allow you to use the heater again. Obviously to be used with caution. If the fault persists it will lock out again after you have issued this command. P0 is the bed; P1 the first extruder, and so on.
M563: Define a tool
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M563 P3 D0:5:6 H1:3
Tools are usually (though not necessarily) extruders. The P field specifies the tool number. Tool numbers can have any positive integer value and 0. The D field specifies the drive(s) used by the tool - in this case drives 0, 5 and 6. Drive 0 is the first drive in the machine after the movement drives (usually X, Y and Z). If there is no D field the tool has no drives. The H field specifies the tool's heaters - in this case heaters 1 and 3. Heater 0 is usually the hot bed (if any) so the first extruder heater is usually 1. If there is no H field the tool has no heaters.
Tools are driven using multiple values in the E field of G1 commands, each controlling the corresponding drive in the D field above, as follows:
G1 X90.6 Y13.8 E2.24:2.24:15.89 G1 X70.6 E0:0:42.4
The first line moves straight to the point (90.6, 13.8) extruding a total of 2.24mm of filament from both drives 0 and 5 and 15.98mm of filament from drive 6.
The second line moves back 20mm in X extruding 42.4mm of filament from drive 6.
Normally an M563 command is immediately followed by a G10 command to set the tool's offsets and temperatures.
It is permissible for different tools to share some (or all) of their drives and heaters. So, for example, you can define two tools with identical hardware, but that just operate at different temperatures.
If you use the M563 command with a P value for a tool that has already been defined, that tool is redefined using the new values you provide.
Duet-dc42 firmware supports an additional form of the M563 command. The command:
M563 S1
means add 1 (the value of the S parameter) to all tool numbers found in the remainder of the current input stream (e.g. the current file if the command is read from a file on the SD card), or until a new M563 command of this form is executed. The purpose of this is to provide compatibility between the Duet firmware, in which tool numbers typically start at 1, and programs such as slic3r that assume tools are numbered from zero.
M564: Limit axes
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M564 S0
Allow moves outside the print volume, or not. If the S parameter is 0, then you can send G codes to drive the RepRap outside its normal working volume, and it will attempt to do so. User beware... If you set the S parameter to 1 then the RepRap will not think outside the box. The default behaviour is S = 1.
M565: Set Z probe offset
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | no - see G31 |
Example: M565 X3 Y4.5 Z-2.37
Set the offset from the extruder tip to the probe position. The X, Y and Z values are the delta between the extruder and the actual trigger position of the probe. If the probe trigger point is below the extruder (typical) the Z offset will be negative. This just records the point offset; it does not actually do the probing. See G32.
M566: Set allowable instantaneous speed change
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M566 X20 Y20 Z2 E10
Work around an algorithm limitation of some firmwares, which can't calculate step timings for a standing start. Teacup Firmware and Smoothieware don't have this limitation, so M566 is obsolete there.
M566 sets the speeds in mm/minute that axes can do from a standing start. If an accelerating algorithm starts a move with a zero velocity on other firmwares and then accelerates from that, it can give problems when the zero initial velocity is used to calculate a timestep between stepper pulses at the beginning: the timestep ends up being infinite... So these systems have initial small velocities to start at. This sets them.
The dc42 variant of RepRapFirmware doesn't have the limitation, but instead it uses this parameter to determine the maximum allowable speed change of each motor when cornering.
M567: Set tool mix ratios
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M567 P2 E0.1:0.2:0.1:0.6
The example sets the mix ratio for tool 2 (the P value). When mixing is then turned on (see M568), only single E values need to be sent on a G1 command (any extra E values will be ignored, but are not illegal):
G1 X20 E1.3
This will move to X=20 extruding a total length of filament of 1.3mm. The first drive of tool 2 will extrude 0.1*1.3mm, the second 0.2*1.3mm and so on. The ratios don't have to add up to 1.0 - the calculation done is as just described. But it is best if they do.
See also M568.
M568: Turn off/on tool mix ratios
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M568 P2 S0
Turn on/off automatic mix ratios for tool 2. If the S parameter is 0 mixing is turned off; if it is non-zero it is turned on.
After turning off command G1 instructions must send as many E values as the tool has drives:
G1 X20 E0.2:0.4:0.166:0.3
The off state is the default.
M569: Set axis direction values
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M569 P0 S1
Set the control value for the drive specified by P that sends it forwards to the given value in the S field. After sending the example, sending a 1 to X (drive 0) will make it go forwards, sending a 0 will make it go backwards. Obviously to be used with extreme caution...
M570: Set heater timeout
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | yes |
Example: M570 S120
After a heater has been switched on, wait 120 seconds for it to get close to the set temperature. If it takes longer than this, flag a heater fault.
M571: Set output on extrude
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M571 S0.5
This turns an output on whenever extrusion is being done, and turns it off when the extrusion is finished. The output could control a fan or a stirrer or anything else that needs to work just when extrusion is happening. The S parameter sets the value of the PWM to the output. 0.0 is off; 1.0 is fully on.
M572: Set or report extruder elasticity compensation
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | dc42 |
Example: M572 P3 S0.06
This sets the compensation time in seconds (S parameter) for Bowden extruder elasticity for the specified drive (P parameter). Supported by Duet-dc42 firmware. It has an effect similar to the EXTRUDER_ADVANCE_K factor in Marlin firmware. Normally, compensation should be applied to extruder drives only (drives 3 and higher).
M573: Report heater PWM
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M573 P1
This gives a running average (usually taken over about five seconds) of the PWM to the heater specified by the P field. If you know the voltage of the supply and the resistance of the heater this allows you to work out the power going to the heater.
M574: Set endstop configuration
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | dc42 |
Example: M574 X1 Y2 Z0 S1
This defines the type of endstop switch or opto sensor that the printer has for each axis: 0 = none, 1 = low end, 2 = high end. The optional S parameter defines whether the endstop input is active high (S1, the default) or low (S0). Intended for use with boards that provide a single endstop input for each axis that may be used for either a high or a low end endstop, such as the Duet. Supported by Duet-dc42 firmware. On delta printers, the XYZ parameters refer to the towers and the endstops should normally all be high end.
M575: Set serial comms parameters
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | dc42 |
Example: M575 P1 B57600 S1
This sets the communications parameters of the serial comms channel specified by the P parameter. P0 specifies the main serial interface (typically a USB port, or serial-over-USB), while P1 specifies an auxiliary serial port (for example, the port used to connect a PanelDue). The B parameter is the required baud rate (this parameter is typically ignored if the port is a true USB port). The S parameter is a bitmap of features. The lowest bit, if set, specifies that only commands that include a valid checksum should be accepted from this comms channel.
M665: Set delta configuration
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | yes | ??? | yes | dc42 |
Example: M660 L250 R160 S200 (Marlin), M660 L250 R160 B80 H200 (Duet-dc42)
Set the delta calibration variables. L = diagonal rod length, R = delta radius, S = segments per second, B = print bed radius, H = nozzle height above bed when homed after allowing for the endstop corrections.
- I don't think it's a good idea to have two different implementations for the same G-code, and I also question the practical value of specifying the print bed radius when defining a delta configuration, since many delta printers use a square or rectangular print bed. So perhaps we should stick to the Marlin-defined command as the definition for this command, and use a different command or set of commands to define print bed shape and size. --AndrewBCN (talk) 23:10, 31 January 2015 (PST)
M666: Set delta endstop adjustment
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | yes | ??? | yes | dc42 |
Example M666 X-0.1 Y+0.2 Z0
Sets delta endstops adjustments.
M906: Set motor currents
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | M907? | yes |
Example: M906 X300 Y500 Z200 E350
Sets the currents to send to the stepper motors for each axis. The values are in milliamps.
M909: Set microstepping
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M909 X3 Y5 Z2 E3
Set the microstepping value for each of the steppers.
In Redeem this is implemented as 2^value, so
M909 X2 sets microstepping on X-axis to 2^2 = 4,
M909 Y3 sets microstepping on Y-axis to 2^3 = 8 etc.
M998: Request resend of line
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | no | ??? |
Example: M998 P34
Request a resend of line 34. In some implementations the input-handling code overwrites the incoming G Code with this when it detects, for example, a checksum error. Then it leaves it up to the GCode interpreter actually to request the resend.
M999: Restart after being stopped by error
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | yes | dc42 |
Example: M999
G: List all G-codes
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | ??? | ??? |
Example: G
This lists all implemeted G-codes in the firmware with description and sends it back to the host.
(Note: this has been implemented in Redeem, and so is only a proposition)
M: List all M-codes
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | ??? | ??? |
Example: M
This lists all implemeted M-codes in the firmware with description and sends it back to the host.
(Note: this has been implemented in Redeem, and so is only a proposition)
T: Select Tool
Support | FiveD | Teacup | Sprinter | Marlin | Repetier | Smoothie | RepRapFirmware |
---|---|---|---|---|---|---|---|
??? | ??? | ??? | ??? | ??? | ??? | yes |
Example: T1
Select tool (or in older implementations extruder) number 1 to build with.
The sequence followed is:
- Set the current tool to its standby temperatures specified by G10 (see above),
- Set the new tool to its operating temperatures specified by G10 and wait for all temperatures to stabilise,
- Apply any X, Y, Z offset for the new tool specified by G10,
- Use the new tool.
Selecting a non-existent tool (100, say) just does Step 1. above. That is to say it leaves all tools in their standby state. You can, of course, use the G10 command beforehand to set that standby temperature to anything you like.
Note that you may wish to move to a parking position before executing a T command in order to allow the new extruder to reach temperature while not in contact with the print. It is acceptable for the firmware to apply a small offset [by convention (-1mm x tool-number) in Y] to the current position when the above sequence is entered to allow temperature changes to take effect just away from the parking position. Any such offset must, of course, be undone when the procedure finishes.
If the Z value changes in the offsets and the tool moves up, then the Z move is made before the X and Y moves. If Z moves down, X and Y are done first.
Some implementations (e.g. RepRapFirmware) allow you to specify tool-change G Code macros. There are normally three specified (any of which can contain no commands if desired) that execute in this order:
- Actions to do with the old tool before it is released - macro name: tfreeN.g where N is the tool number;
- (Old tool is released);
- Actions to do with the new tool before it is selected - macro name: tpreN.g where N is the tool number;
- (New tool is selected); and
- Actions to do with the new tool after it is selected - macro name: tpostN.g where N is the tool number.
With such implementations there is no wait for temperature stabilisation. That can be achieved by an M116 in any of the macros, of course.
After a reset tools will not start heating until they are selected. You can either put them all at their standby temperature by selecting them in turn, or leave them off so they only come on if/when you first use them. The M0, M1 and M112 commands turn them all off. You can, of course, turn them all off with the M1 command, then turn some back on again. Don't forget also to turn on the heated bed (if any) if you use that trick.
Tool numbering may start at 0 or 1, depending on the implementation. Some implementations (those that use the M563 command to define tools) allow the user to specify tool numbers, so with them you can have tools 17, 99 and 203 if you want. Negative numbers are not allowed.
Proposed EEPROM configuration codes
BRIEFLY: each RepRap has a number of physical parameters that should be persistent, but easily configurable, such as extrusion steps/mm, various max values, etc. Those parameters are currently hardcoded in the firmware, so that a user has to modify, recompile and re-flash the firmware for any adjustments. These configs can be stored in MCU's EEPROM and modified via some M-codes. Please see the detailed proposal at M-codes for EEPROM config. (This is proposed by --AlexRa on 11-March-2011. There is currently no working implementation of the proposed commands).
Marlin uses these codes to manipulate EEPROM values.
Sprinter has implemented the following commands to manipulate EEPROM Commit message.
Teacup uses codes M130-M136 to set, read, and save some parameters.
M500: store parameters in EEPROM
Save current parameters to EEPROM. zpl fork of the Duet firmware implements this and allows "S1" to be passed, so changed parameters can be automatically saved to EEPROM.
In Redeem any parameters set through G/M-codes which is different than what is read from the config files, are stored back to the local config. For instance setting stepper current and microstepping through M906 and M907 followed by M500 will update /etc/redeem/local.cfg.
M501: read parameters from EEPROM
Set the active parameters to those stored in the EEPROM. This is useful to revert parameters after experimenting with them.
M502: revert to the default "factory settings."
This command resets all tunable parameters to their default values, as set in the firmware. This doesn't reset any parameters stored in the EEPROM, so it must be followed with M501 if you want to do that.
M503: Print settings
This command asks the firmware to reply with the current print settings stored in EEPROM. The reply output includes the G-Code commands to produce each setting. For example, the Steps Per Unit values are displayed as an M92 command.
Replies from the RepRap machine to the host computer
All communication is in printable ASCII characters. Messages sent back to the host computer are terminated by a newline and look like this:
xx [line number to resend] [T:93.2 B:22.9] [C: X:9.2 Y:125.4 Z:3.7 E:1902.5] [Some debugging or other information may be here]
xx can be one of:
ok
rs
!!
ok means that no error has been detected.
rs means resend, and is followed by the line number to resend.
!! means that a hardware fault has been detected. The RepRap machine will shut down immediately after it has sent this message.
The T: and B: values are the temperature of the currently-selected extruder and the bed respectively, and are only sent in response to M105. If such temperatures don't exist (for example for an extruder that works at room temperature and doesn't have a sensor) then a value below absolute zero (-273oC) is returned.
C: means that coordinates follow. Those are the X: Y: etc values. These are only sent in response to M114 and M117.
The RepRap machine may also send lines that look like this:
// This is some debugging or other information on a line on its own. It may be sent at any time.
Such lines will always be preceded by //.
On the latest version of Pronterface and soon Octoprint a special comment of the form:
// action:command
is allowed to be sent from the firmware, the command can currently be pause, resume or disconnect which will execute those commands on the host. As this is also a comment other hosts will just ignore these commands.
The most common response is simply:
ok
When the machine boots up it sends the string
start
once to the host before sending anything else. This should not be replaced or augmented by version numbers and the like. M115 (see above) requests those.
All this means that every line sent by RepRap to the host computer except the start line has a two-character prefix (one of ok, rs, !! or //). The machine should never send a line without such a prefix.
Exceptions:
1. Marlin 1.0.0 Gen6 Firmware does not follow the two character rule. 'rs' is actually 'Resend' and '!!' is 'Error'. Example Lines:
- Error: Line Number is not current line + 1. Last Line: 7
- Resend: 8
- Writing to File: print.gco
- Done saving file.
- File opened:print.gco Size:22992
- File selected
When in the code base did this change take place and what other firmwares are affected?
2. Duet-dc42 firmware responds to some commands with a reply string in JSON format, terminated by a newline. This allows for later firmware revisions to include additional information without upsetting clients (e.g. touch-screen control panels) that do not expect it, and to make responses self-describing so that the client will not be confused if responses are delayed or lost. The commands affected are:
- M105 S2
- M105 S3
- M20 S2
- M36
Proposal for sending multiple lines of G-code
So far, this is a proposal, open for discussion.
Problem to solve
Each line of G-code sent from the host to the controller is answered with an ok before the next line can be sent without locking communications up. This slows down communication and limits the number of commands that can be sent per second to the printer controller, as the USB stack on the host and the serial interface driver on the Arduino add their own latencies (up to 10 milliseconds). This is a problem for controllers using native USB as well, because a current technology printer can never print as fast as commands come in.
For more details on this proposal, some suggested solutions and comments, please see GCODE_buffer_multiline_proposal
Alternatives to G-code
- Main article: Firmware/Alternative#alternatives to G-code
Several people have suggested using STEP-NC or some other control language; or perhaps designing a completely new control language.