/** * MK4duo Firmware for 3D Printer, Laser and CNC * * Based on Marlin, Sprinter and grbl * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * Copyright (C) 2013 Alberto Cotronei @MagoKimbra * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . */ /** * Help to document MK4duo's G-codes online: * - http://reprap.org/wiki/G-code * - https://github.com/MagoKimbra/MK4duo/blob/master/Documentation/GCodes.md * * ----------------- * Implemented Codes * ----------------- * * "G" Codes * * G0 -> G1 except for laser where G0 is "move without firing" * G1 - Coordinated Movement X Y Z E F(feedrate) P(Purge), for laser move by firing * G2 - CW ARC * G3 - CCW ARC * G4 - Dwell S[seconds] or P[milliseconds], delay in Second or Millisecond * G5 - Bezier curve - from http://forums.reprap.org/read.php?147,93577 * G7 - Laser raster base64 * G10 - Retract filament according to settings of M207 * G11 - Retract recover filament according to settings of M208 * G12 - Clean tool * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES) * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES) * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES) * G20 - Set input units to inches * G21 - Set input units to millimeters * G26 - Mesh Validation Pattern (Requires G26_MESH_VALIDATION) * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE) * G28 - X Y Z Home all Axis. M for bed manual setting with LCD. B return to back point. O Home only if position is unknown. * G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet. * Fyyy Lxxx Rxxx Byyy for customer grid. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) * G30 [X#] [Y#] [S#] [Z#] [P#] * X = Probe X position (default=current probe position) * Y = Probe Y position (default=current probe position) * S = [bool] Stows the probe if 1 (default=1) * Z = [bool] with a non-zero value will apply the result to current delta_height (ONLY DELTA) * P = [bool] with a non-zero value will apply the result to current probe_offset_Z (ONLY DELTA) * G31 - Dock sled (Z_PROBE_SLED only) * G32 - Undock sled (Z_PROBE_SLED only) * G33 - Delta geometry Autocalibration (Requires DELTA_AUTO_CALIBRATION_?) * F[nfactor] p[npoint] Q[debugging] (Requires DELTA_AUTO_CALIBRATION_1) * P[points] [F] [O] [T] V[verbose] (Requires DELTA_AUTO_CALIBRATION_2) * G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes * G42 - Coordinated move to a mesh point. (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_BILINEAR) * G60 - Save current position coordinates (all axes, for active extruder). * S[SLOT] - specifies memory slot # (0-based) to save into (default 0). * G61 - Apply/restore saved coordinates. * X Y Z E - Value to add at stored coordinates. * F[speed] - Set Feedrate. * S[SLOT] - specifies memory slot # (0-based) to restore from (default 0). * G90 - Use Absolute Coordinates * G91 - Use Relative Coordinates * G92 - Set current position to coordinates given * * "M" Codes * * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled) * M1 -> M0 * M3 - S[value] L[duration] P[ppm] D[diagnostic] B[set mode] in laser beam control. (Requires LASER) * S[value] CNC clockwise speed. (Requires CNCROUTERS) * M4 - S[value] CNC counter clockwise speed. (Requires CNCROUTERS) * M5 - Turn laser/spindle off. (Requires LASER or Requires CNCROUTERS) * M6 - Tool change CNC. (Requires CNCROUTERS) * M17 - Enable/Power all stepper motors * M18 - Disable all stepper motors; same as M84 * M20 - List SD card. (Requires SDSUPPORT) * M21 - Init SD card. (Requires SDSUPPORT) * M22 - Release SD card. (Requires SDSUPPORT) * M23 - Select SD file (M23 filename.g). (Requires SDSUPPORT) * M24 - Start/resume SD print. (Requires SDSUPPORT) * M25 - Pause SD print. (Requires SDSUPPORT) * M26 - Set SD position in bytes (M26 S12345). (Requires SDSUPPORT) * M27 - Report SD print status. With S[bool] set the SD status auto-report. (Requires SDSUPPORT) * M28 - Start SD write (M28 filename.g). (Requires SDSUPPORT) * M29 - Stop SD write. (Requires SDSUPPORT) * M30 - Delete file from SD (M30 filename.g). (Requires SDSUPPORT) * M31 - Output time since last M109 or SD card start to serial * M32 - Open file and start print * M33 - Stop printing, close file and save restart.gcode * M34 - Set SD Card Sorting Options * M35 - Upload Firmware to Nextion from SD * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins * * M43 - report name and state of pin(s) * P[pin] Pin to read or watch. If omitted, reads all pins. * I Flag to ignore MK4duo's pin protection. * * M43 W - Watch pins -reporting changes- until reset, click, or M108. * P[pin] Pin to read or watch. If omitted, read/watch all pins. * I Flag to ignore MK4duo's pin protection. * * M43 E[bool] - Enable / disable background endstop monitoring * - Machine continues to operate * - Reports changes to endstops * - Toggles LED when an endstop changes * - Can not reliably catch the 5mS pulse from BLTouch type probes * * M43 T - Toggle pin(s) and report which pin is being toggled * S[pin] - Start Pin number. If not given, will default to 0 * L[pin] - End Pin number. If not given, will default to last pin defined for this board * I - Flag to ignore MK4duo's pin protection. Use with caution!!!! * R - Repeat pulses on each pin this number of times before continueing to next pin * W - Wait time (in miliseconds) between pulses. If not given will default to 500 * * M43 S - Servo probe test * P[index] - Probe index (optional - defaults to 0 * M44 - Codes debug - report codes available (and how many of them there are) * I G-code list, J M-code list * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel] * M49 - Turn on or off G26 debug flag for verbose output (Requires G26_MESH_VALIDATION) * M70 - Power consumption sensor calibration * M75 - Start the print job timer * M76 - Pause the print job timer * M77 - Stop the print job timer * M78 - Show statistical information about the print jobs * M80 - Turn on Power Supply * M81 - Turn off Power Supply * M82 - Set E codes absolute (default) * M83 - Set E codes relative while in Absolute Coordinates (G90) mode * M84 - Disable steppers until next move, * or use S[seconds] to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. * M85 - Set inactivity shutdown timer with parameter S[seconds]. To disable set zero (default) * M92 - Set axis_steps_per_unit - same syntax as G92 * M99 - Set Hysteresis parameter X[in mm] Y[in mm] Z[in mm] E[in mm] F[float] Enable/disable/fade-out hysteresis correction (0.0 to 1.0) * M100 - Watch Free Memory (For Debugging Only) * M104 - Set hotend target temp * M105 - Read current temp * M106 - P[fan] S[speed] F[frequency] U[pin] L[min speed] I[inverted logic] H[int] Set Auto mode - H=7 for controller - H-1 for disabled * M107 - P[fan] Fan off * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER) * M109 - Sxxx Wait for hotend current temp to reach target temp. Waits only when heating * Rxxx Wait for hotend current temp to reach target temp. Waits when heating and cooling * IF AUTOTEMP is enabled, S[mintemp] B[maxtemp] F[factor]. Exit autotemp by any M109 without F * M110 - Set the current line number * M111 - Set debug flags with S[mask]. * M112 - Emergency stop * M114 - Output current position to serial port * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT) * M117 - Display a message on the controller screen * M118 - Display a message in the host console. * M119 - Output Endstop status to serial port * M120 - Enable endstop detection * M121 - Disable endstop detection * M122 - S[1=true|0=false] Enable or disable check software endstop. (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS) * M123 - Set Endstop Logic X[bool] Y[bool] Z[bool] I[X2 bool] J[Y2 bool] K[Z2 bool] P[Probe bool] D[Door bool] F[Filrunout bool] W[Power Check bool] * M124 - Set Endstop Pullup X[bool] Y[bool] Z[bool] I[X2 bool] J[Y2 bool] K[Z2 bool] P[Probe bool] D[Door bool] F[Filrunout bool] W[Power Check bool] * M125 - Save current position and move to pause park position. (Requires PARK_HEAD_ON_PAUSE) * M126 - Solenoid Air Valve Open (BariCUDA support by jmil) * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil) * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil) * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil) * M140 - Set hot bed target temp * M141 - Set hot chamber target temp * M142 - Set cooler target temp * M145 - Set the heatup state H[hotend] B[bed] F[fan speed] for S[material] (0=PLA, 1=ABS) * M149 - Set temperature units * M150 - Set Status LED Color as R[red] U[green] B[blue]. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632) * M155 - S[1/0] Enable/disable auto report temperatures. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER) * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS) * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER) * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling * M191 - Sxxx Wait for chamber current temp to reach target temp. Waits only when heating * Rxxx Wait for chamber current temp to reach target temp. Waits when heating and cooling * M192 - Sxxx Wait for cooler current temp to reach target temp. Waits only when heating * Rxxx Wait for cooler current temp to reach target temp. Waits when heating and cooling * M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D[millimeters]- * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and V for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2 * M205 - Set advanced settings: 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, J=Junction mm * M206 - Set additional homing offset * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min] * M209 - S[1/0] enable 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. * M218 - Set hotend offset (in mm): H[hotend_number] X[offset_on_X] Y[offset_on_Y] Z[offset_on_Z] * M220 - Set speed factor override percentage: S[factor in percent] * M221 - T[extruder] S[factor in percent] - set extrude factor override percentage * M222 - T[extruder] S[factor in percent] - set density extrude factor percentage for purge * M226 - Wait until the specified pin reaches the state required: P[pin number] S[pin state] * M240 - Trigger a camera to take a photograph * M250 - Set LCD contrast C[contrast value] (value 0..63) * M280 - Set servo position absolute. P S. (Requires servos) * M281 - Set servo low|up angles position. P L U. (Requires servos) * M290 - Babystepping (Requires BABYSTEPPING) * M300 - Play beep sound S[frequency Hz] P[duration ms] * M301 - Set PID parameters P I D and C. H[heaters] H = 0-3 Hotend, H = -1 BED, H = -2 CHAMBER, H = -3 COOLER, * P[float] Kp term, I[float] Ki term, D[float] Kd term * With PID_ADD_EXTRUSION_RATE: C[float] Kc term, L[int] LPQ length * M302 - Allow cold extrudes, or set the minimum extrude S[temperature]. * M303 - PID relay autotune: H[heaters] H = 0-3 Hotend, H = -1 BED, H = -2 CHAMBER, H = -3 COOLER, * S[temperature] sets the target temperature (default target temperature = 150C), C[cycles], U[Apply result], * R[Method] 0 = Classic Pid, 1 = Some overshoot, 2 = No Overshoot, 3 = Pessen Pid * M305 - Set thermistor and ADC parameters: H[heaters] H = 0-3 Hotend, H = -1 BED, H = -2 CHAMBER, H = -3 COOLER, * A[float] Thermistor resistance at 25°C, B[float] BetaK, C[float] Steinhart-Hart C coefficien, R[float] Pullup resistor value, * L[int] ADC low offset correction, O[int] ADC high offset correction, P[int] Sensor Pin * Set DHT sensor parameter: D0 P[int] Sensor Pin, S[int] Sensor Type (11, 21, 22). * M306 - Set Heaters parameters: H[heaters] H = 0-3 Hotend, H = -1 BED, H = -2 CHAMBER, H = -3 COOLER, * A[int] Pid Drive Min, B[int] Pid Drive Max, C[int] Pid Max, * L[int] Min temperature, O[int] Max temperature, U[bool] Use Pid/bang bang, I[bool] Hardware Inverted, P[int] Pin * M350 - Set microstepping mode. (Requires digital microstepping pins.) * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) * M355 - Turn case lights on/off * M380 - Activate solenoid on active extruder * M381 - Disable all solenoids * M400 - Finish all moves * M401 - Lower z-probe if present * M402 - Raise z-probe if present * M404 - N[dia in mm] Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters * M405 - Turn on Filament Sensor extrusion control. Optional D[delay in cm] to set delay in centimeters between sensor and extruder * M406 - Turn off Filament Sensor extrusion control * M407 - Display measured filament diameter * M408 - Report JSON-style response * M410 - Quickstop. Abort all the planned moves * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MBL, UBL or ABL) * Z[height] for leveling fade height (Requires ENABLE_LEVELING_FADE_HEIGHT) * M421 - Set a single Z coordinate in the Mesh Leveling grid. X[units] Y[units] Z[units] (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL) * M428 - Set the home_offset logically based on the current_position * M450 - Report Printer Mode * M451 - Select FFF Printer Mode * M452 - Select Laser Printer Mode * M453 - Select CNC Printer Mode * M500 - Store parameters in EEPROM * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily). * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings. * M512 - Print Extruder Encoder status Pin. (Requires Extruder Encoder) * M522 - Read or Write on card. M522 T[extruders] R[read] or W[write] L[list] * M530 - Enables explicit printing mode (S1) or disables it (S0). L can set layer count * M531 - filename - Define filename being printed * M532 - X[percent] L[curLayer] - update current print state progress (X=0..100) and layer L * M540 - Use S[0|1] to enable or disable the stop print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) * M569 - Stepper driver control X[bool] Y[bool] Z[bool] T[extruders] E[bool] set direction, D[long] set direction delay, P[int] set minimum pulse, R[long] set maximum rate. * M595 - Set AD595 or AD8495 O[offset] and S[gain] * M600 - Pause for filament change T[toolhead] X[pos] Y[pos] Z[relative lift] * E[initial retract] U[Retract distance] L[Extrude distance] S[new temp] B[Number of beep] * M603 - Set filament change T[toolhead] U[Retract distance] L[Extrude distance] * M604 - Set data Extruder Encoder S[Error steps] (requires EXTRUDER ENCODER) * M605 - Set dual x-carriage movement mode: S[mode] [ X[duplication x-offset] R[duplication temp offset] ] * M649 - Set laser options. S[intensity] L[duration] P[ppm] B[set mode] R[raster mm per pulse] F[feedrate] * M666 - Delta geometry adjustment * M666 - Set Two Endstops offsets for X, Y, and/or Z (requires TWO ENDSTOPS) * M701 - Load Filament T[toolhead] Z[distance] L[Extrude distance] * M702 - Unload Filament T[toolhead] Z[distance] U[Retract distance] * M851 - Set X Y Z Probe Offset in current units. (Requires Probe) * M900 - Set Linear Advance K-factor. (Requires LIN_ADVANCE) * M906 - Set motor currents XYZ T0-4 E (Requires ALLIGATOR) * Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires TRINAMIC) * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) * M908 - Control digital trimpot directly. (Requires DIGIPOTSS_PIN) * M911 - Report stepper driver overtemperature pre-warn condition. (Requires TRINAMIC) * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires TRINAMIC) * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING) * M915 - TMC Z axis calibration routine. (Requires TMC) * M922 - S[1/0] Enable/disable TMC debug. * * ************ SCARA Specific - This can change to suit future G-code regulations * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration) * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) * M364 - SCARA calibration: Move to cal-position PsIC (90 deg to Theta calibration position) * ************* SCARA End *************** * * M928 - Start SD logging (M928 filename.g) - ended by M29 * M995 - X Y Z Set origin for graphic in NEXTION * M996 - S[scale] Set scale for graphic in NEXTION * M999 - Restart after being stopped by error * * "T" Codes * * T0-T5 - Select a tool by index (usually an extruder) F[mm/min] * */ #include "MK4duo.h" void setup() { printer.setup(); } void loop() { printer.loop(); }