G-code

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This page tries to describe the flavour of G-codes that the RepRap firmwares use and how they work. The main target is additive fabrication using FFF processes. Codes for print head movements follow the NIST RS274NGC G-code standard, so RepRap firmwares are quite usable for CNC milling and similar applications as well. See also on Wikipedia's G-code article.

There are a few different ways to prepare G-code for a printer. One method would be to use a slicing program such as Slic3r, Skeinforge or Cura. These programs import a CAD model, slice it into layers, and output the G-code required to print each layer. Slicers are the easiest way to go from a 3D model to a printed part, however the user sacrifices some flexibility when using them. Another option for G-code generation is to use a lower level library like mecode. Libraries like mecode give you precise control over the tool path, and thus are useful if you have a complex print that is not suitable for naive slicing. The final option is to just write the G-code yourself. This may be the best choice if you just need to run a few test lines while calibrating your printer.

As many different firmwares exist and their developers tend to implement new features without discussing strategies or looking what others did before them, a lot of different sub-flavours for the 3D-Printer specific codes developed over the years. This particular page is the master page for RepRap. Nowhere in here should the same code be used for two different things; there are always more numbers to use... The rule is: add your new code here, then implement it.

Unfortunately human nature being what it is, the best procedures aren't always followed, so some multiple uses of the same code exist. The rule which should be followed is that later appearances of a code on this page (later than the original use of a code), are deprecated and should be changed, unless there is a good technical reason (like the general G-Code standard) why a later instance should be preferred. Note that the key date is appearance here, not date of implementation.

1 Introduction
2 Fields
3 Case sensitivity
4 Quoted strings
5 Using expressions in parameters
6 Comments
7 Special fields
8 Checking
9 Conditional Execution and Loops
10 Buffering
11 G-commands
12 M-commands
13 Other commands
14 Proposed EEPROM configuration codes
15 Replies from the RepRap machine to the host computer
16 Proposal for sending multiple lines of G-code
- 16.1 Problem to solve
17 Alternatives to G-code

Introduction

A typical piece of G-code as sent to a RepRap machine might look like this:

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

G-code can also be stored in files on SD cards. A file containing RepRap G-code usually has the extension .g, .gco or .gcode. Files for BFB/RapMan have the extension .bfb. G-code stored in file or produced by a slicer might look like this:

G92 E0
G28
G1 F1500
G1 X2.0 Y2.0 F3000
G1 X3.0 Y3.0

The meaning of all those symbols and numbers (and more) is explained below.

Slicers will (optionally?) add G-code scripts to the beginning and end of their output file to perform specified actions before and/or after a print such as z-probing the build-area, heating/cooling the bed and hotend, performing ooze free "nozzle wipe" startup routine, switching system power on/off, and even "ejecting" parts. More info on the Start GCode routines and End GCode routines pages.

To find out which specific G-code(s) are implemented in any given firmware, there are little tables attached to the command descriptions, like this one:

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Partial	???	???	???	???	Experimental	???	???	Partial
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	???	Yes	???	Yes	Automatic	Yes	???

Here means:

???	Unknown if the firmware supports this G-code. You may want to test this yourself before using it in production.
Yes	The G-code is fully supported by the firmware.
1.23+	The G-code is supported by version 1.23 and above.
No	The firmware does not support the G-code at all.
Partial	There is only partial support for the full G-code specification. It may be required to rebuild the source code with extra options or flip configuration switches on the mainboard.
Experimental	The G-code is experimental and may change or be removed.
Automatic	The firmware handles this G-code automatically, so there's no need to send the command. An example is power supply on/off G-code (`M80`/`M81`) in the Teacup firmware.

For the technically-minded, G-code line endings are Unix Line Endings (\n), but will accept Windows Line Endings (\r\n), so you should not need to worry about converting between the two, but it is best practice to use Unix Line Endings where possible.

Fields

A RepRap G-code is a list of fields that are separated by white spaces or line breaks. A field can be interpreted as a command, parameter, or for any other special purpose. It consists of one letter directly followed by a number, or can be only a stand-alone letter (Flag). The letter gives information about the meaning of the field (see the list below in this section). Numbers can be integers (128) or fractional numbers (12.42), depending on context. For example, an X coordinate can take integers (X175) or fractionals (X17.62), but selecting extruder number 2.76 would make no sense. In this description, the numbers in the fields are represented by nnn as a placeholder.

In RepRapFirmware, some parameters can be followed by more than one number, with colon used to separate them. Typically this is used to specify extruder parameters, with one value provided per extruder. If only one value is provided where a value is needed for each extruder, then that value is applied to all extruders.

Letter	Meaning
Gnnn	Standard G-code command, such as move to a point
Mnnn	RepRap-defined command, such as turn on a cooling fan
Tnnn	Select tool nnn. In RepRap, a tool is typically associated with a nozzle, which may be fed by one or more extruders.
Snnn	Command parameter, such as time in seconds; temperatures; voltage to send to a motor
Pnnn	Command parameter, such as time in milliseconds; proportional (Kp) in PID Tuning
Xnnn	A X coordinate, usually to move to. This can be an Integer or Fractional number.
Ynnn	A Y coordinate, usually to move to. This can be an Integer or Fractional number.
Znnn	A Z coordinate, usually to move to. This can be an Integer or Fractional number.
U,V,W	Additional axis coordinates (RepRapFirmware)
Innn	Parameter - X-offset in arc move; integral (Ki) in PID Tuning
Jnnn	Parameter - Y-offset in arc move
Dnnn	Parameter - used for diameter; derivative (Kd) in PID Tuning
Hnnn	Parameter - used for heater number in PID Tuning
Fnnn	Feedrate in mm per minute. (Speed of print head movement)
Rnnn	Parameter - used for temperatures
Qnnn	Parameter - not currently used
Ennn	Length of extrudate. This is exactly like X, Y and Z, but for the length of filament to consume.
Nnnn	Line number. Used to request repeat transmission in the case of communications errors.
*nnn	Checksum. Used to check for communications errors.

Case sensitivity

The original NIST G-code standard requires gcode interpreters to be case-insensitive, except for characters in comments. However, not all 3D printer firmwares conform to this and some recognise uppercase command letters and parameters only.

Firmwares that are known to be case-insensitive: RepRapFirmware version 1.19 and later (except within quoted strings); Druid Firmware version 1.00 by default is case-insensitive: ( M544 S0 = case-sensitive / M544 S1 = case-insensitive )

Firmwares that are known to be case-sensitive: RepRapFirmware version 1.18 and earlier; Druid Firmware version 1.00 for case-sensitive: M544 S0 = case-sensitive

Quoted strings

In RepRapFirmware, some commands support quoted strings when providing file names and other string parameters. This allows file names, WiFi passwords etc. to contain spaces, semicolons and other characters that would otherwise not be permitted. Double-quote characters are used to delimit the string, and any double-quote character within the string must be repeated.

Unfortunately, some gcode sender programs convert all characters to uppercase and don't provide any means to disable this feature. Therefore, within a quoted-string, the single-quote character is used as a flag to force the following character to lowercase. If you want to include a single quote character in the string, use two single quote characters to represent one single quote character.

Example: to add SSID MYROUTER with password ABCxyz;" 123 to the WiFi network list, use command:

M587 S"MYROUTER" P"ABCxyz;"" 123"

or if you can't send lowercase characters:

M587 S"MYROUTER" P"ABC'X'Y'Z;"" 123"

Using expressions in parameters

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	???	No	???	No	No	No	???

RepRapFirmware 3.1 and later allow parameter values to be computed from an expression enclosed in { }. Such an expression may include constants, values from the machine object model, operators and functions. Example:

G1 X{move.axes[0].max-5} Y{move.axes[1].min+5} F6000 ; move to 5mm short of the X and Y axis limits

See https://docs.duet3d.com/en/User_manual/Reference/Gcode_meta_commands for more details.

Comments

G-code comments begin at a semicolon, and end at the end of the line:

N3 T0*57 ; This is a comment
N4 G92 E0*67
; So is this
N5 G28*22

Some firmwares also obey the CNC G-code standard, which is to enclose comments in round brackets. Comments of this form must start and end on the same line:

(Home some axes)
G28 (here come the axes to be homed) X Y

Comments and white space will be ignored by your RepRap Printer. It's better to strip these out on the host computer before sending the G-code to your printer, as this saves bandwidth.

Special fields

N: Line number

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	???	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	???	Yes	Yes	Yes	Yes	Yes	???

Example

N123

If present, the line number should be the first field in a line. For G-code stored in files on SD cards the line number is usually omitted.

If checking is supported, 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).

Although supported, usage of N in Machinekit is discouraged as it serves no purpose.

*: Checksum

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	???	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	???	Yes	???	No	Yes	No	???

Example: *71

If present, the checksum should be the last field in a line, but before a comment. For G-code stored in files on SD cards the checksum is usually omitted.

The firmware compares the checksum against a locally-computed value. If they differ, it requests a repeat transmission of the line.

*: CRC

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	???	No	???	No	No	No	???

Example: *37428

The 8-bit checksum provides insufficient protection against noise on the received data connection in some situations, for example where the cable from a display device runs close to an extruder cable. Therefore RepRapFirmware allows a CRC to be used in place of a checksum. If present, the CRC should be the last field in a line, but before the semicolon and comment if present. RepRapFirmware assumes that * followed by 5 digits is a CRC, whereas * followed by 1, 2 or 3 digits is a checksum. The polynomial used is 0x1021 as for CCITT CRC16.

Checking

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	???	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	???	Yes	???	No	Yes	No	???

Example

N123 [...G Code in here...] *71

The RepRap firmware checks the line number and the checksum (or CRC if supported). 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. If only one appears, it produces an error.

The checksum "cs" for a G-code 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.

Conditional Execution and Loops

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	???	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	???	No	???	No	No	No	???

RepRapFirmware 3.01 and later supports conditions and loops in GCode. Properties from the firmware object model (e.g. current position, current tool) can be included in controlling expressions. See https://docs.duet3d.com/en/User_manual/Reference/Gcode_meta_commands for details.

Buffering

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	???	???	???	???	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	???	???	Yes	???	Yes	Yes	Yes	???

If buffering is supported, the RepRap firmware stores some 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.

Typically, the following moving commands are buffered: G0-G3 and G28-G32. The Teacup Firmware buffers also some setting commands: G20, G21, G90 and G91. All other G, M or T commands are not buffered.

RepRapFirmware also implements an internal queue to ensure that certain codes (like M106) are executed in the right order and not when the last move has been added to the look-ahead queue.

When an unbuffered command 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.

G-commands

G0 & G1: Move

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes

G0 : Rapid Move
G1 : Linear Move

Usage: G0 Xnnn Ynnn Znnn Ennn Fnnn Snnn; G1 Xnnn Ynnn Znnn Ennn Fnnn Snnn
Parameters: Not all parameters 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); Hnnn (RepRapFirmware) Flag to check if an endstop was hit (H1 to check, H0 to ignore, other Hnnn see note, default is H0)¹; Rnnn (RepRapFirmware) Restore point number ⁴; Snnn Laser cutter/engraver power. In RepRapFirmware, when not in laser mode S in interpreted the same as H.
Examples

G0 X12               ; move to 12mm on the X axis
G0 F1500             ; Set the feedrate to 1500mm/min
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.

G1 F1500           ; Set feedrate to 1500mm/min
G1 X50 Y25.3 E22.4 ; Move and extrude

In the above example, we first set the feedrate to 1500mm/min, then move to 50mm on X and 25.3mm on Y while extruding 22.4mm of filament between the two points.

G1 F1500                 ; Feedrate 1500mm/min
G1 X50 Y25.3 E22.4 F3000 ; Accelerate to 3000mm/min

However, in the above example, we set a feedrate of 1500 mm/min, then do the same move, but accelerating to 3000 mm/min. Everything stays synchronized, so extrusion accelerates right along with X and Y movement.

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 a way that ensures 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 H parameter in this way, as damage may occur if you assume incorrectly. In RepRapFirmware, using the H1 or H2 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 H1. H3 may be used to measure axis lengths and H4 can be used to stop when an endstop is hit while updating the position only (H4 is supported in 3.2-b4 and later).

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. In RepRapFirmware, G1 is always a linear move but G0 may not be linear (e.g. on a SCARA machine); however a G0 move will never go below the lower of the initial and final Z height of the move.

³Some firmwares may not support setting the feedrate inline with a move.

⁴RepRapFirmware provides an additional 'R' parameter to tell the machine to add the coordinates of the specified restore point to all axis coordinates mentioned in the G0 or G1 command. Axes that are not mentioned in the G0 or G1 command are not moved. When a print is paused, the coordinates are saved in restore point #1. When a tool change is commenced, the coordinates are saved in restore point #2. Coordinates can also be saved in restore points explicity using the G60 command.

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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes¹	Yes	Yes³	Yes²	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	No	No	Yes	Experimental	No	Yes	No

Usage: G2 Xnnn Ynnn Innn Jnnn Ennn Fnnn (Clockwise Arc); G3 Xnnn Ynnn Innn Jnnn Ennn Fnnn (Counter-Clockwise Arc)
Parameters: 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 (optional, may not be supported in some firmwares); 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; Fnnn The feedrate per minute of the move between the starting point and ending point (if supplied); Knnn The point in Z space from the current Z position to maintain a constant distance from (used only when the current plane is YZ or ZX - see G18 and G19); Rnnn The radius of the arc (can be used in place of I and J, may not be supported in some firmwares)
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

¹In Marlin Firmware not implemented for DELTA printers.

²Prusa Firmware implements arcs only in Cartesian XY.

³On Klipper, a gcode_arcs section must be enabled in the configuration file.

G4: Dwell

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes

Pause the machine for a period of time.

Parameters: Pnnn Time to wait, in milliseconds (In Teacup, P0, wait until all previous moves are finished); Snnn Time to wait, in seconds (Only on Repetier, Marlin, Prusa, Smoothieware, and RepRapFirmware 1.16 and later)
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, Smoothie and RepRapFirmware, the "S" parameter will wait for seconds, while the "P" parameter will wait for milliseconds. "G4 S2" and "G4 P2000" are equivalent.

G6: External Motion Control (Marlin)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.1.2	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

With DIRECT_STEPPING enabled Marlin can receive low-level stepper movement commands from a host device (e.g., OctoPrint with a plugin) in a compact binary format, so all acceleration and other motion tuning can be done on the host side.

The commands are routed directly to page storage on the printer by a "page manager" system on the host side. The page manager operates in parallel with the usual G-code commands over the USB serial connection. The host is thus able to load data onto the machine quickly alongside regular G-code processing.

The G6 command triggers the movements stored in the pages by referencing the corresponding page. Depending on the format, direction arguments may also be needed in the G6 command.

Requires Step Daemon by @ColinRGodsey. See the Direct Stepping article for more information.

Parameters: I(index) Set page index; R(rate) Step rate per second. Last value is cached for future invocations.; S(rate) Number of steps to take. Defaults to max steps.; X(direction) 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats.; Y(direction) 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats.; Z(direction) 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats.; E(direction) 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats.

G6: Direct Stepper Move (Druid)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Use G1 S2 or G1 H2 instead	No	No	No	No	No	Yes	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Perform a direct, uninterpolated, and non-kinematic synchronized move of one or more steppers directly. Units may be linear (e.g., mm or inches on DELTA) or specified in degrees (SCARA). This command is useful for initialization, diagnostics, and calibration, and should be disabled on production equipment. This type of move can be potentially dangerous, especially for deltabots, so implementations should do their best to limit movement to prevent twerking and damaging the carriage assembly.

Parameters: Annn Stepper A position or angle; Bnnn Stepper B position or angle; Cnnn Stepper C position or angle; R Relative move flag
SCARA Examples

G6 A45     ; Move SCARA A stepper to the 45° position
G6 B20 R   ; Move SCARA B stepper 20° counter-clockwise

DELTA Example

G6 C10 R   ; Move DELTA C carriage up by 10mm

G10: Set tool Offset and/or workplace coordinates and/or tool temperatures

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	Yes	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	Yes	No	No	Yes	???

Usage: G10 Lnnn Pnnn Xnnn Ynnn Znnn Rnnn Snnn¹
Parameters: Pnnn Tool number; Lnnn Offset mode ⁵; Xnnn X offset; Ynnn Y offset; Znnn Z offset²; U,V,W,A,B,Cnnn other axis offsets⁴; Rnnn Standby temperature(s) (RepRapFirmware); Snnn Active temperature(s) (RepRapFirmware)
Examples

G10 L1 P2 X17.8 Y-19.3 Z0.0

(sets the offset for tool 2 to the X, Y, and Z values specified)

G10 P1 R140 S205

(RepRapFirmware only - set standby and active temperatures³ for tool 1)

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. RepRapFirmware will report the tool parameters if only the tool number is specified.

The precise meaning of the X, Y (and other offset) values is: with no offset this tool is at this position relative to where a tool with offset (0, 0, 0) would be. So if the tool is 10mm to the left of a zero-offset tool the X value would be -10, and so on.

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 .

G10: Retract

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	0.92	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: Snnn retract length (S1 = long retract, S0 = short retract = default) (Repetier only)
Example

G10

Retracts filament according to settings of M207 (Marlin, RepRapFirmware) or according to the S value (Repetier).

RepRapFirmware recognizes G10 as a command to set tool offsets and/or temperatures if the P parameter is present, and as a retraction command if it is absent.

G11: Unretract

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	0.92	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: Snnn retract length (S1 = long retract, S0 = short retract = default) (Repetier only)
Example

G11

Unretracts/recovers filament according to settings of M208 (Marlin, RepRapFirmware) or according to the S value (Repetier).

G12: Clean Tool

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0	Use a macro instead	???	No	No	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	No

Usage

[P<0|1>] [S<count>] [T<count>]

G12 Pnnn Snnn Tnnn
Parameters: Pnnn¹ Pattern style selection; Snnn Number of strokes (i.e. back-and-forth movements); Tnnn Number of repetitions; Ennn 0=Never 1=Always apply software endstops (Marlin 2.0.6+)
Examples

G12 ; stroke pattern (default)

To generate a three triangle zig-zag pattern which will be stroked three times time use the following command. G12 P1 S3 T2 ; zig-zag pattern with 2 triangles

Notes

¹In Marlin firmware and Derivatives Mk4duo this is implemented by hard-coded firmware behaviours As defined for variables NOZZLE_CLEAN_STROKES, NOZZLE_CLEAN_START_POINT, NOZZLE_CLEAN_END_POINT and NOZZLE_CLEAN_PARK.

With NOZZLE_CLEAN_PARK enabled, the nozzle will automatically return to the XYZ position after G12 is run.

More on this behaviour is documented inside of the code base.

The use of G12 for tool cleaning clashes with the established use of G12 for circular pocket milling on CNC machines. For this reason, RepRapFirmware does not support G12.

G17..19: Plane Selection (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.4	G18 and G19 need RRF 3.3 or later	???	No	No	???	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	???	???	???	Yes	No	???	Yes	???

These codes set the current plane as follows:

G17 : XY (default)
G18 : ZX
G19 : YZ

This mode applies to G2/G3 arc moves. Normal arc moves are in the XY plane, and for most applications that's all you need. For CNC routing it can be useful to do small "digging" moves while making cuts, so to keep the G-code compact it uses G2/G3 arcs involving the Z plane.

These commands are supported in Marlin 1.1.4 and later with ARC_SUPPORT and CNC_WORKSPACE_PLANES enabled.

G20: Set Units to Inches

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No	No	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	No	Yes	Yes	No	Yes	Yes	No

Example

G20

Units from now on are in inches. In RepRapFirmware, the inches/mm setting applies to regular printing and travel moves (G0, G1, G2 etc.) but not to configuration commands. Therefore configuration should be done in mm.

When executing a macro file, RepRapFirmware remembers the initial inches/mm setting and restores it after execution of the macro has completed.

G21: Set Units to Millimeters

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No	No	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	???

Example

G21

Units from now on are in millimeters. (This is the RepRap default.)

In RepRapFirmware, the inches/mm setting applies to regular printing and travel moves (G0, G1, G2 etc.) but not to configuration commands. Therefore configuration should be done in mm.

When executing a macro file, RepRapFirmware remembers the initial inches/mm setting and restores it after execution of the macro has completed. So a macro file such as pause.g (executed when a pause command is received) can safely use G21 at the start to switch the units to mm without affecting the job after the macro completes, regardless of whether the job was using inches or mm.

G22: Firmware Retract

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
G10	Use G10	???	No	G10	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	No	No	No	No

Usage: G22 ; Do a retract move

Use this command (along with G23) to have the firmware to do retraction moves (in contrast to generating an E axis G1 move). The retract length and speed are set in the firmware.

G23: Firmware Recover

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
G11	Use G11	???	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	No	No	No	No

Usage: G23 ; Do a recover move

Use this command (along with G22) to have the firmware to do a recover move. The recover length and speed are set in the firmware.

G26: Mesh Validation Pattern

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0	No	No	No	Yes	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage

G26 C P O2.25 ; Do a typical test sequence

The G26 Mesh Validation Pattern is designed to be used in conjunction with various Mesh Bed Leveling systems – those that adjust for an uneven —rather than just tilted— bed. The G26 command prints a single layer pattern over the entire print bed, giving a clear indication of how accurately every mesh point is defined. G26 can be used to determine which areas of the mesh are less-than-perfect and how much to adjust each mesh point.

G26 has large feature list, including a built-in test that extrudes material onto the bed. By default this is configured for PLA temperatures and a nozzle size of 0.4mm. (This will be adjustable in an upcoming version of Marlin.)

See the G26_Mesh_Validation_Tool.cpp file in the Marlin source code for full documentation of the G26 parameter list.

G27: Park toolhead

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0	No	No	No	Yes¹	No	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Park the toolhead (i.e., nozzle) at a predefined XY position, with a Z raise value that applies over 0 or over the current position depending on the P parameter.

In Marlin this G-code is enabled by NOZZLE_PARK_FEATURE and the park position is defined by NOZZLE_PARK_POINT. See G27 Park Toolhead for details.

Usage: G27 Xnnn Ynnn Znnn Pn

Parameters

Not all parameters need to be used, but at least one has to be used

Xnnn X park position ¹

Ynnn Y park position ¹

Znnn Z park position ¹

Pn [value] Z action

0 (Default) Relative raise by NOZZLE_PARK_Z_RAISE_MIN before XY parking

1 (Default) Absolute move to NOZZLE_PARK_POINT.z before XY parking. This may move the nozzle down, so use with caution!

2 Relative raise by NOZZLE_PARK_POINT.z before XY parking.

Examples

G27 P0 ; Park, raising Z by NOZZLE_PARK_Z_RAISE_MIN, using NOZZLE_PARK_POINT.z as a safe height over 0
G27 P1 ; Park, raising Z to at least NOZZLE_PARK_POINT.z over 0
G27 P2 ; Park, raising Z by NOZZLE_PARK_POINT.z over the current Z

G28: Move to Origin (Home)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes²	Yes³	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes¹	Yes

Usage

G28 Xnnn Ynnn Znnn I N O P Rnnn S W C

Parameters: This command can be used without any additional parameters.; 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; I imprecise: do not perform precise refinement ³; L Force leveling state ON (if possible) or OFF after homing (Requires RESTORE_LEVELING_AFTER_G28 or ENABLE_LEVELING_AFTER_G28) ³; N No-change mode (do not change any motion setting such as feedrate) ³; O Home only if the position is not known and trusted ³; P Do not check print sheet presence ³; R <linear> Raise by n mm/inches before homing ³; S Simulated homing only in MARLIN_DEV_MODE ³; W Suppress mesh bed leveling if `X`, `Y` or `Z` are not provided ²; C Calibrate X and Y origin (home) - Only on MK3/s ²

Examples

G28     ; Home all axes (On Prusa i3 MK2/s,MK2.5/s,MK3/s it will also perform mesh bed leveling)²
G28 X Z ; Home the X and Z axes

When the firmware receives this command, it quickly moves the specified axes (or all axes if none are given) to the endstops, backs away from each endstop by a short distance, and slowly bumps the endstop again to increase positional accuracy. This process, known as "Homing", is required to determine the position of the print carriage(s). Some firmware may even forbid movement away from endstops and other operations until the axes have been homed.

The X, Y, and Z parameters act only as flags. Any coordinates given are ignored. For example, G28 Z10 results in the same behavior as G28 Z. Delta printers cannot home individual axes, but must always home all three towers, so the X Y Z parameters are simply ignored on these machines.

Marlin firmware (version 1.1.0 and later) provides an option called Z_SAFE_HOMING for printers that use a Z probe to home Z instead of an endstop. With this option, the XY axes are homed first, then the carriage moves to a position –usually the middle of the bed– where it can safely probe downward to home Z.

RepRapFirmware uses macro files to home either all axes or individual axes. If all axes are homed, the file homeall.g is processed. For individual axes the homex.g, homey.g, or homez.g file will be used. On Delta printers, G28 command will always home all three towers by processing the homedelta.g file, regardless of any X Y Z parameters.

Because the behavior of G28 is unspecified, it is recommended not to automatically include G28 in your ending G-code. On a Cartesian this will result in damaging the printed object. If you need to move the carriage at the completion of a print, use G0 or G1.

Notes

¹ MK4duo has a B parameter that tells the printer to return to the coordinates it was at before homing.
² Original Prusa i3 MK2/s, MK2.5/s, MK3/s supports a W parameter to suppress mesh bed leveling. If W is omitted, G28 will home only and NOT perform mesh bed leveling. Original Prusa i3 MK3/s (TMC2130 drivers) supports a C parameter to calibrate the X and Y home position.

W Suppress mesh bed leveling (Prusa MK2/s, MK2.5/s and MK3/s only)²

C Calibrate X and Y home position (Prusa MK3/s only)²

G29: Detailed Z-Probe

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	1.17+	???	G81¹	Yes	0.91.7	No: see G32	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	Yes	No	No	???

This command uses a probe to measure the bed height at 3 or more points to determine its tilt and overall flatness. It then enables compensation so that the nozzle will remain parallel to the bed. The printer must be homed with G28 before using this command.

Each firmware behaves differently and depends on the type of bed leveling that's been configured. For example, Marlin 1.0.2 provides 3 different types of automatic bed leveling (probe required) and a manual bed leveling option. See your firmware's documentation for the specific options available.

Usage: G29; G29 Snnn
Parameters: Snnn Firmware-dependent behavior; Pfile.csv Optional file name for bed height map file (RepRapFirmware only)
Examples

G29    ; Probe the bed and enable compensation
G29 S2 ; Special operation - see below
G29 P1 ; UBL automated probe - see below

G29 Auto Bed Leveling (Marlin - MK4duo)

Marlin 1.0.2 and earlier provides three options for automatic bed leveling:

The 3-point method probes the bed at three points to produce a matrix, adjusting for a flat but tilted bed.
The planar grid method (non-Delta) probes a grid pattern to produce a matrix by the "least-squares" method, adjusting for a flat but tilted bed.
The bilinear grid method (Delta only) probes a grid pattern to produce a mesh, using bilinear interpolation to adjust for an uneven bed.

Marlin 1.1.0 and later allows the bilinear grid (i.e., "mesh") method to be used on all types of machines, not just deltas. This is the recommended leveling method going forward.

Also in Marlin 1.1.0 and later, the PROBE_MANUALLY option allows all forms of Auto Bed Leveling to be used without a probe. The procedure is similar to that of MESH_BED_LEVELING (see below). Begin the process with G29 to move the nozzle to the first point. Adjust the Z axis using G1 or your host software. Send G29 again to move to the next point and repeat until all points have been sampled.

Parameters: P Set the size of the grid that will be probed (P x P points). Not supported by non-linear delta printer bed leveling. Example: G29 P4; S Set the XY travel speed between probe points (in units/min); D Dry-Run mode. Just evaluate the bed Topology - Don't apply or clean the rotation Matrix. Useful to check the topology after a first run of G29.; V Set the verbose level (0-4). Example: G29 V3; T Generate a Bed Topology Report. Example: G29 P5 T for a detailed report. This is useful for manual bed leveling and finding flaws in the bed (to assist with part placement). Not supported by non-linear delta printer bed leveling.; F Set the Front limit of the probing grid; B Set the Back limit of the probing grid; L Set the Left limit of the probing grid; R Set the Right limit of the probing grid

Global Parameters: E By default G29 will engage the Z probe, test the bed, then disengage. Include E or E1 to engage/disengage the Z probe for each sample. (This has no effect for fixed probes.)

G29 Unified Bed Leveling (Marlin - MK4duo)

Marlin firmware (version 1.1.0 and later) includes the AUTO_BED_LEVELING_UBL option for Unified Bed Leveling. UBL combines mesh leveling, tilted plane adjustment, 3-point leveling, and manual editing tools all together in a single package. To accomplish so much, UBL overloads `G29` with several new parameters and provides an additional G26 Mesh Tuning feature.

See the MarlinFW website for a dedicated Unified Bed Leveling page and complete documentation on `G29` for UBL and `G26` Mesh Validation.

G29 UBL Parameters (synopsis)

A Activate Activate the Unified Bed Leveling system. (i.e., M420 S1)
D Disable Disable the Unified Bed Leveling system. (i.e., M420 S0)

B# Business Do Manual Probing in 'Business Card' mode.
H# Height Height to raise the nozzle after each Manual Probe of the bed.

C Continue Continue, Constant, or Current Location, depending on Phase.
E Every Stow the probe after every sampled point.
F# Fade Fade leveling compensation gradually, until it ceases at the given height.
I# Invalidate Invalidate a specified number of Mesh Points (X and Y).
J# Grid Do a grid (planar) leveling of the current Mesh using a grid with n points on a side.
K# Kompare Compare (diff) current Mesh with stored Mesh #, replacing current Mesh with the result.

L Load Load Mesh from the previously activated location in the EEPROM.
L# Load Load Mesh from the specified location in the EEPROM.
S Store Store the current Mesh in the Activated area of the EEPROM. Also save all settings.
S # Store Store the current Mesh at the specified area in EEPROM, set as the Activated area.
S -1 Store Store the current Mesh as a print-out suitable to be fed back into the system.

O Map Display the Mesh Map Topology.

P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System.
P1 Phase 1 Invalidate the Mesh and do Automatic Probing to generate new Mesh data.
P2 Phase 2 Probe unpopulated areas of the Mesh (those that couldn't be auto-probed).
P3 Phase 3 Fill unpopulated Mesh points with a fixed value. No 'C' for "smart fill" extrapolation.
P4 Phase 4 Fine tune the Mesh. ** Delta Mesh Compensation requires an LCD panel. **
P5 Phase 5 Find Mean Mesh Height and Standard Deviation.
P6 Phase 6 Shift Mesh height. All Mesh points are adjusted by the amount specified with 'C'.

Q Test Load specified Test Pattern to help check system operation.

R # Repeat Repeat the command the specified number of times. Default: grid points X * Y.

T 3-Point Perform a 3-Point Bed Leveling on the current Mesh.

U Unlevel Perform a probe of the outer perimeter to assist in physically leveling the bed.

W What? Print a report of Unified Bed Leveling stored data.

X # The X location for the command
Y # The Y location for the command

Z Zero Do a single probe to set the Z Height of the nozzle.
Z # Zero Raise/lower the entire Mesh to conform with the specified difference (plus zprobe_zoffset).

G29 Manual Bed Leveling (Marlin - MK4duo)

Marlin firmware (version 1.0.2 and later) also provides a MESH_BED_LEVELING feature that can be used to perform bed leveling on machines lacking a probe. This form of bed leveling compensates for uneven Z height across the surface of the bed using a mesh and bilinear interpolation.

Manual Bed Leveling Usage

G29 S1 ; Move to the first point and wait for a measurement
G29 S2 ; Store the current Z, move to the next point
G29 S3 Xn Yn Zn.nn ; Modify the Z height of a single point

Options for the S parameter: S0 Produces a mesh report; S1 Start probing mesh points; S2 Probe the next mesh point; S3 Xn Yn Zn.nn Manually modify a single point; S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.

G29 Auto Bed Leveling (Repetier-Firmware)

Repetier firmware since v0.91 supports G29 with the optional Snnn parameter as described below. Useful to simply detect the Z bed angle so you can manually readjust your bed and get it as close to in plane as possible. If you wish to apply automatic software Z plane compensation on Repetier, use G32 instead with firmware 0.92.8 and above.

S0 Default value. Z bed heights are calculated at the measured points, relative to current Z position before issuing G29.

S1 Same as S0, except printer immediately moves to Z maximum position (Z max endstop required!), and calculates new Z maximum height. You must first issue G28 Z to home to Z maximum position before issuing G29 Snnn for this to work correctly, or the printer height will be invalid.

S2 Same as S1, except new calculated Z height is also stored to EEPROM.

G29 Mesh Bed Compensation (RepRapFirmware)

RepRapFirmware:

S0 (default if no S parameter) Probe the bed, save the height map in a file on the SD card, and activate the height map. The default folder for the height map file is /sys and the default file name is heightmap.csv.

S1 Load the height map from file and activate bed compensation. The default folder and filename as for S0.

S2 Clear the currently-loaded bed height map

To define the grid, see M557.

In RepRapFirmware 3.2 and later, G29 runs macro file mesh.g if it exists, otherwise it behaves like G29 S0. The mesh.g file can perform other actions (e.g. homing or tool selection) and then use G29 S0 to do the probing.

Notes

In Prusa Firmware G29 is not active by default, instead G81 is used.¹

G29.1: Set Z probe head offset

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M851	No	???	M851	M851	No	No	No	M851
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	No	No	No	No

Example

G29.1 X30 Y20 Z0.5

Set the offset of the Z probe head. The offset will be subtracted from all probe moves.

G29.2: Set Z probe head offset calculated from toolhead position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	No	No	No	No

Example

G29.2 Z0.0

Set the offset of the Z probe head. The offset will be subtracted from all probe moves. 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 G29.2 command.

G30: Single Z-Probe

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No²	Yes	Yes	Yes	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	Yes	G28,G92	No¹	No

Usage: G30 Pnnn Xnnn Ynnn Znnn Hnnn Snnn
Parameters: Pnnn Probe point number; Xnnn X coordinate; Ynnn Y coordinate; Znnn Z coordinate; Hnnn Height correction; Snnn Set parameter
Example

G30

Examples (RepRapFirmware)

G30                          ; Probe the bed at the current XY position. When the probe is triggered, set the Z coordinate to the probe trigger height.
G30 S-1                      ; Probe the bed at the current XY position. When the probe is triggered, do not adjust the Z coordinate.
G30 P0 X20 Y50 Z-99999       ; Probe the bed at X20 Y50 and save the XY coordinates and the height error as point 0
G30 P3 X180 Y180 Z-99999 S4  ; Probe the bed at X180 Y180, save the XY coordinates and the height error as point 3 and calculate 4-point compensation or calibration
G30 P3 X180 Y180 Z-99999 S-1 ; As previous example but just report the height errors

In its simplest form probes bed at current XY location.

RepRapFirmware supports additional 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 or for performing delta printer calibration. If X, 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 G-code file for automatic execution.

RepRapFirmware uses the value of the S parameter to specify what computation to perform. If the value is -1 then the Z offsets of all the points probed are printed, but no calibration is done. If the value is zero or not present, then this specifies that the number of factors to be calibrated is the same as the number of points probed. Otherwise, the value indicates the number of factors to be calibrated, which must be no greater than the number of points probed. In version 1.09, the number of factors may be 3, 4 or 5 when doing auto bed compensation on a Cartesian or CoreXY printer, and 3, 4, 6 or 7 when doing auto calibration of a Delta printer.

RepRapFirmware supports an optional H parameter, which is a height correction for that probe point. It allows for the Z probe having a trigger height that varies with XY position. The nominal trigger height of the Z probe (e.g. at bed centre) is declared in the Z parameter of the G31 command in the config.g file. When you probe using G30 and the probe triggers, the firmware will assume that the nozzle is at the nominal trigger height plus the value you have in the H parameter.

¹MK4duo Firmware support an optional parameter for Delta.

Usage: G30 Xnnn Ynnn S Z P
Parameters: Xnnn X coordinate; Ynnn Y coordinate; Sn Stows the probe if 1 (default=1); Zn <bool> with a non-zero value will apply the result to current delta_height; Pn <bool> with a non-zero value will apply the result to current zprobe_zoffset

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.²

G31: Set or Report Current Probe status

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	0.91.7	Yes	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	???

Usage: G31 Pnnn Xnnn Ynnn Znnn Cnnn Snnn
Parameters: Pnnn Trigger value; Xnnn Probe X offset¹; Ynnn Probe Y offset¹; Znnn Trigger Z height; Cnnn Temperature coefficient(s) of trigger height²; Snnn Calibration temperature²; Tnnn (RepRapFirmware 1.17 and later) Z probe type to which these parameters apply, defaults to the current Z probe type as defined by M558 P parameter
Examples

G31 P500 Z2.6
G31 X16.0 Y1.5

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 RepRapFirmware, separate G31 parameters may be defined for different probe types (i.e. 0+4 for switches, 1+2 for IR probes and 3 for alternative sensors). To specify which probe you are setting parameters for, send a M558 command to select the probe type before sending the G31 command, or use the T parameter.

In Repetier, G31 supports no parameters and simply prints the high/low status of the Z probe.

Notes

¹X and Y offsets of the Z probe relative to the print head (i.e. the position when the empty tool is selected) can be specified in RepRapFirmware. This allows you to calculate your probe coordinates based on the geometry of the bed, without having to correct them for Z probe X and Y offset.

²In RepRapFirmware, additional parameters 'S' (bed temperature in ^oC at which the specified Z parameter is correct, default is current bed temperature) and 'C' (temperature coefficient of Z parameter in mm/^oC, default zero) can be set for the alternative (ultrasonic) sensor. This is useful for probes that are affected by temperature such as PINDA. RepRapFirmware 3.1 and later allow both first and second order temperature coefficients to be specified, e.g. C0.015:0.001.

G31: Dock Z Probe sled

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	No¹	???	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	Yes	No	No	No

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

G32: Probe Z and calculate Z plane

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
G29	Yes	No	G29	G29	0.92.8+	Yes	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage

G32           ; Probe and calculate
G32 Snnn      ; Each firmware has its own parameters
G32 Snnn Pnnn ; Refer to their specific documentation

This command is implemented as a more sophisticated form of bed leveling (which uses a transformation matrix or motorized correction. Smoothieware uses this code instead of `G29`.

Each firmware behaves differently. For example, Repetier firmware allows for motorized rotation of the bed whilst ReprapFirmware probes the bed with a transformation matrix.

Probe and calculate in Reprapfirmware

RepRapFirmware executes macro file bed.g in response to the G31 command. The bed.g file is typically used to probe the bed and then perform delta calibration if the printer is a delta, or to perform individual leadscrew adjustment to level the bed if the printer has multiple independently-controlled Z motors, or to advise the user on how much to adjust each bed levelling adjustment screw.

Probe and calculate in Repetier firmware

This command probes the bed at 3 or more pre-defined points and implements bed leveling compensation by either moving the A axis during printing (as with regular bed leveling, G29) or by tilting the bed with motors.

Parameters: Snnn Bed leveling method; Pnnn Bed correction method

The values for Snnn and Pnnn are as follows:

S0 This method measures at the 3 probe points and creates a plane through these points. If you have a really planar bed this gives the optimum result. The 3 points must not be in one line and have a long distance to increase numerical stability.

S1 This measures a grid. Probe point 1 is the origin and points 2 and 3 span a grid. We measure BED_LEVELING_GRID_SIZE points in each direction and compute a regression plane through all points. This gives a good overall plane if you have small bumps measuring inaccuracies.

S2 Bending correcting 4 point measurement. This is for cantilevered beds that have the rotation axis not at the side but inside the bed. Here we can assume no bending on the axis and a symmetric bending to both sides of the axis. So probe points 2 and 3 build the symmetric axis and point 1 is mirrored to 1m across the axis. Using the symmetry we then remove the bending from 1 and use that as plane.

P0 Use a rotation matrix. This will make z axis go up/down while moving in x/y direction to compensate the tilt. For multiple extruders make sure the height match the tilt of the bed or one will scratch. This is the default.

P1 Motorized correction. This method needs a bed that is fixed on 3 points from which 2 have a motor to change the height. The positions are defined in firmware by BED_MOTOR_1_X, BED_MOTOR_1_Y, BED_MOTOR_2_X, BED_MOTOR_2_Y, BED_MOTOR_3_X, BED_MOTOR_3_Y Motor 2 and 3 are the one driven by motor driver 0 and 1. These can be extra motors like Felix Pro 1 uses them or a system with 3 z axis where motors can be controlled individually like the Sparkcube does. This method requires a Z max endstop.

G32: Undock Z Probe sled

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	No¹	No	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	Yes	No	No	No

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

G33: Firmware dependent

G33: Measure/List/Adjust Distortion Matrix (Repetier - Redeem)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	0.92.8+	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	Yes	No	No	No

Usage: G33; G33 Lnnn; G33 Rnnn; G33 Xnnn Ynnn Znnn
Parameters: L0 List distortion matrix in a report; R0 Reset distortion matrix; X[pos] Y[pos] Z[zCorrection] Set correction for nearest point
Examples

G33
G33 R0

When used with no parameters, G33 will measure a grid of points and store the distortion dips and valleys in the bed surface, and then enable software distortion correction for the first few or several layers. The values will be stored in EEPROM if enabled in firmware. You must previously have G28 homed, and your Z minimum/maximum height must be set correctly for this to work. Use the optional parameters to list, reset or modify the distortion settings. Distortion correction behavior can be later turned on or off by code M323.

G33: Delta Auto Calibration (Marlin 1.1.x - MK4duo)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Use G32	???	No	No	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

End-stops and tower angle corrections are normalized (P0);

Performs a 1-4-7 point calibration of delta height (P1), end-stops, delta radius (P2) and tower angle corrections (P>=3) by a least squares iteration process based on the displacement method.

Usage: G33; G33 Pn T Cx.xx Fn Vn E O Rx.xx
Parameters: Pn Number of probe points: n*n (n= 0-10), when P is omitted the default set in Configuration.h is used.; T Do not calibrate tower angle corrections (if used with P>=3); do not use the probe points near the towers, but the probe points opposite to the towers (if used with P=2); Cx.xx Force the iterations to stop when a standard deviation from the zero plane less then x.xx mm is achieved; when C is omitted the iterations go on until the best possible standard deviation is reached.; Fn Force to run at least n iterations (n=1-30) and take the best result; Vn Verbose level: (n=0-3) 0 = dry run without calibration; 1(default) = settings at start and end; 2 = settings at all iterations; 3 = settings and probe results; E Engage the probe for each point; O Do not probe at the required kinematic points but at positions offseted to the probe-offsets ¹; R Temporary reduce the size of the probe grid by the specified amount (mm) ¹

Notes

¹ since 2.0.9.2

Examples

G33 : calibrates with the default settings.
G33 Auto Calibrate
Checking... AC
.Height:297.77    Ex:+0.00  Ey:+0.00  Ez:+0.00    Radius:100.00
.Tower angle :    Tx:+0.00  Ty:+0.00  Tz:+0.00
Iteration : 01                                    std dev:0.306
Iteration : 02                                    std dev:0.049
Iteration : 03                                    std dev:0.033
Iteration : 04                                    std dev:0.031
Calibration OK                                    rolling back.
.Height:297.69    Ex:-0.10  Ey:-0.12  Ez:+0.00    Radius:100.91
.Tower angle :    Tx:-0.03  Ty:+0.25  Tz:+0.00
Save with M500 and/or copy to Configuration.h

G33 P6 V0 : probes 36 points in dry run mode.
G33 Auto Calibrate
Checking... AC (DRY-RUN)
.Height:297.77    Ex:+0.00  Ey:+0.00  Ez:+0.00    Radius:100.00
.Tower angle :    Tx:+0.00  Ty:+0.00  Tz:+0.00
.      c:+0.03     x:+0.32   y:+0.34   z:+0.41
.                 yz:+0.37  zx:+0.32  xy:+0.17
End DRY-RUN                                       std dev:0.306

G33 P4 C0.05 T : probes 16 points and
                 stops when a standard deviation of 0.05mm is reached;
                 calibrates delta height, endstops and delta radius,
                 leaves the tower angle corrections unaltered.
G33 Auto Calibrate
Checking... AC
.Height:297.78    Ex:+0.00  Ey:+0.00  Ez:+0.00    Radius:100.00
Iteration : 01                                    std dev:0.317
Iteration : 02                                    std dev:0.059
Calibration OK                                    std dev:0.042
.Height:297.66    Ex:-0.17  Ey:-0.13  Ez:+0.00    Radius:100.91
Save with M500 and/or copy to Configuration.h

G33 P2 : probes center and tower positions and
         calibrates delta height, endstops and delta radius.
G33 Auto Calibrate
Checking... AC
.Height:297.78    Ex:+0.00  Ey:+0.00  Ez:+0.00    Radius:100.00
Iteration : 01                                    std dev:0.374
Iteration : 02                                    std dev:0.054
Iteration : 03                                    std dev:0.007
Calibration OK                                    rolling back.
.Height:297.68    Ex:-0.14  Ey:-0.14  Ez:+0.00    Radius:101.23
Save with M500 and/or copy to Configuration.h

G33 P1 : probes the center and calibrates the delta height only.
G33 Auto Calibrate
Checking... AC
.Height:261.40                                Offset:+0.30
Calibration OK                                std dev:0.000
.Height:261.58                                Offset:+0.10
Save with M500 and/or copy to Configuration.h

note: Height = delta height; Ex, Ey, Ez = end-stop corrections; Radius = delta radius; Tx, Ty, Tz = tower angular corrections; c, x, y, z, yz, zx, xy = probe results at center, towers and opposite to towers; std dev = standard deviation of the probe results towards the zero plane.

G34: Z Stepper Auto-Align

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.4+	Use M671 and G32	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Use multiple Z steppers and a probe to align Z axis connection points. See M422 for other options.

Example

G34 I3 T0.8 A1.5 ; 3 iterations, Target Accuracy 0.8, Amplification 1.5

G34: Calculate Delta Height from toolhead position (DELTA)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Example

G34

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 G34 command. This value can be saved to EEPROM using the M500 command.

G38.x Straight Probe (CNC specific)

G38.2 probe toward workpiece, stop on contact, signal error if failure

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0+	3.0+	???	No	No	???	Yes	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	Yes	No	No	No	No

Monitors probe input while moving linearly towards the specified coordinates, stopping upon detecting contact or reaching specified coordinates.

Usage: G38.2 Xnnn Ynnn Znnn Fnnn
Parameters: Xnnn target X coordinate; Ynnn target Y coordinate; Znnn target Z coordinate; Fnnn Feedrate in mm/min
Example

G38.2 Z0
G38.2 X50
G38.2 Z10 Y10

G38.3 probe toward workpiece, stop on contact

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0+	3.0+	???	No	No	???	Yes	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	Yes	No	No	No	No

G38.4 probe away from workpiece, stop on loss of contact, signal error if failure

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.0+	3.0+	???	No	No	???	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	Yes	No	No	No	No

G38.5 probe away from workpiece, stop on loss of contact

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.0+	3.0+	???	No	No	???	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	Yes	No	No	No	No

G40: Compensation Off (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	Yes	No	No	Yes	No

G40 turns off cutter compensation. If tool compensation was on the next move must be a linear move and longer than the tool diameter. It is OK to turn compensation off when it is already off. http://www.linuxcnc.org/docs/2.5/html/gcode/tool_compensation.html

G42: Move to Grid Point

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.2+	No	No	No	Yes	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

G42 does a fast move in XY to any of the intersection points in the bed calibration grid. This is useful during calibration to align the nozzle or probe.

Parameters: Inn Grid X index (zero-based). If omitted, the nearest latitude.; Jnn Grid Y index (zero-based). If omitted, the nearest longitude.; P Probe flag. Moves the probe to the grid point (instead of the nozzle).; Fnnn Feedrate (mm/min)
Example

G42 I3 J4 P F3000 ; Move the probe to grid coordinate 3, 4

G53..59: Coordinate System Select (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.0+	1.21+	No	No	No	No	Yes	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	Yes	No	No	Yes	No

See linuxcnc.org for more help

Not all builds of RepRapFirmware support these commands. For those that do (e.g. Duet WiFi/Ethernet and Duet 3), from firmware version 2.02 the workplace coordinate offsets are included in the data saved to config-override.g by the M500 command.

G60: Save / Restore position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.2+	1.21+	No	No	No	No	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Use this command to save the current position to a memory slot, restore (and move to) a saved position, or delete a previously-saved position. When moving to a saved position, you can choose which axes to move, and some firmwares allow you to specify an offset distance for each axis. See usage notes for each firmware below.

G60 S Usage: G60 Snn
Parameters: Snn <nn> specifies a memory slot # (0-based) to save into (default 0)

RepRapFirmware: RRF 1.21 has 3 slots (0..2). RRF 2.02 adds two more slots (4..5) skipping slot index 3. When a print is paused the coordinates are saved to slot 1 automatically, and at the start of a tool change the coordinates are saved to slot 2 automatically. Use G0 or G1 with the R0, R1 or R2 parameter to move the current tool to a saved position.

Marlin: The number of save slots is defined with SAVED_POSITIONS.

Druid: This firmware always has 64 slots (0..63).

G60 Q Usage: G60 Qnnn Fnnn X Y Z ... E

Move back to a saved position. Specify one or more axes to restore unless all axes should be restored.

Parameters: Qnnn - From slot # 0-63 (required); Fnnn - Feedrate (units/min); X - Flag to restore X; Y - Flag to restore Y; Z - Flag to restore Z; E - Flag to restore E

Other axis letters may be included for fancier robots. If no axes are specified with G60 Qnn then all axes are restored.

Marlin: Put a value next to an axis letter to specify an offset to add to the position before moving. The E axis is restored but never actually moved by this command.

G60 D Usage: G60 Dnnn - Delete content of slot number nnn (0...63); G60 D - if D is provided without a slot number, all 64 slots will be deleted.

Notes: Only one of S, Q, or D may be used in the command. If more than one is present, the whole command will be ignored.

Examples

G60 S0                 ; Save current position to slot #0
G60 S63                ; Save current position to slot #63
G60 Q55                ; Move to the position stored in slot #55 
G60 Q10 F20000 X Y     ; Move XY to the position stored in slot #10, with feedrate 20000 units/min. 
G60 Q0 X               ; Move X to the position saved in slot #0
G60 D0                 ; Delete the position saved in slot #0
G60 D                  ; Delete all saved positions from all slots
G60                    ; List all saved positions

G61: Restore saved position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.2+	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Use this command to restore (and move to) a saved position, optionally specifying which axes to restore, with an optional offset for each axis.

Usage: G61 Snn
Parameters: Snn <nn> specifies memory slot # (0-based) to restore from (default 0)

Move back to the position that was saved in the given slot. If nothing was saved in the slot, do nothing.

G61 Snn Fnnn X Y Z E

Move back to a saved position, specifying one or more axes to restore, with optional offset. The E axis is restored but never actually moved by this command.

Parameters: Snnn - From slot # 0-63 (required); Fnnn - Feedrate (units/min); X - Flag to restore X axis, with optional X offset; Y - Flag to restore Y axis, with optional Y offset; Z - Flag to restore Z axis, with optional Z offset; E - Flag to restore E axis, with optional E offset

Other axis letters may be included for fancier robots. If no axes are specified then all axes are restored.

Put a value next to an axis letter to specify the offset to add to the position before moving / restoring.

Examples

G61 S15                ; Move to the position from slot #15
G61 S10 F20000 X3 Y    ; Move XY to the XY position from slot #10, shifting X by 3, with feedrate 20000 units/min
G61 S0 X               ; Move X to the X position from slot #0

G68: Coordinate rotation

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	3.4 and later	???	???	???	???	???	No	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

Usage: G68 Xnnn Ynnn Rnnnn [I]; G68 Annn Bnnn Rnnnn [I]
Parameters: Xnnn, Ynnn... Centre coordinates to rotate about; Annn first centre coordinate in the selected plane (e.g. equivalent to Xnnn if the selected plane is XY); Bnnn second centre coordinate in the selected plane (e.g. equivalent to Ynnn if the selected plane is XY); Rnnn angle to rotate in degrees. Positive angles rotate anticlockwise when viewing the selected plane from above.; I if this parameter is present, the R parameter is added to the existing rotation instead of being absolute

Rotates the coordinate system in the current plane as selected by G17, G18 or G19. You may either specify the coordinates of the two axes of the selected plan (e.g. X and Y if using the default XY plane or after G17) or you may specify A and B coordinates.

RepRapFirmware implements G68 for the XY plane only.

G69: Cancel coordinate rotation

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	3.4 and later	???	???	???	???	???	No	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

Usage: G69

This cancels any coordinate rotation that was set up by G68.

G75: Print temperature interpolation

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Show/print PINDA temperature interpolating.

Usage: G75

G76: PINDA probe temperature calibration

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes¹	Use G31	No	Yes	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

This G-code is used to calibrate the temperature drift of the PINDA (inductive Sensor).

The PINDAv2 sensor has a built-in thermistor which has the advantage that the calibration can be done once for all materials.

The Original i3 Prusa MK2/s uses PINDAv1 and this calibration improves the temperature drift, but not as good as the PINDAv2.

Usage: G76; G76 B¹; G76 P¹

Parameters: B Calibrate bed only ¹; P Calibrate probe only ¹

Example

G76

echo PINDA probe calibration start
echo start temperature: 35.0°
echo ...
echo PINDA temperature -- Z shift (mm): 0.---

Notes¹

Marlin requires PROBE_TEMP_COMPENSATION.

This process can take a very long time. The timeout is currently set to 15min to allow the parts to fully heat up and cool down.

Use M500 to save the result to EEPROM.

At this moment it is only supported in Marlin bugfix-2.0.x branch.

G80: Cancel Canned Cycle (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	???	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	???	???	???	???	No	???	No	???

It cancel canned cycle modal motion. G80 is part of modal group 1, so programming any other G code from modal group 1 will also cancel the canned cycle.

G80: Mesh-based Z probe

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
G29	No	No	Yes	Yes³	No	No	No	G29
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Default 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid.

Parameters: This command can be used without any additional parameters.; N Number of mesh points on x axis. Default is 3. Valid values are 3 and 7.; C Probe retry counts. Default is value stored in EEPROM. Valid values are 1 to 10.; O Return to origin. Default is 1. Valid values are 0 (false) and 1 (true). ²; M Use magnet compensation. Will only be used if number of mesh points is set to 7. Default is value stored in EEPROM. Valid values are 0 (false) and 1 (true). ²

Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns.

L Left Bed Level correct value in um.

R Right Bed Level correct value in um.

F Front Bed Level correct value in um.

B Back Bed Level correct value in um.

The following parameters are used to define the area used by the print:

X area lower left point X coordinate ²

Y area lower left point Y coordinate ²

W area width (on X axis) ²

H area height (on Y axis) ²

¹Prusa Firmware till version 3.13.3

R Probe retries. Default 3 max. 10 ¹

V Verbosity level 1=low, 10=mid, 20=high.It can be only used if firmware has been compiled with SUPPORT_VERBOSITY active. ¹

²Prusa Firmware from version 3.14.0

³Prusa MK3.5, MK3.9 and MK4

G81: Mesh bed leveling status

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M420	No	No	Yes	M420	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Prints mesh bed leveling status and bed profile if activated.

Usage: G81

Notes

Equivalent to M420 V in Marlin Firmware (and possibly G29 T depending on leveling system).

G82: Single Z probe at current location

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
G30	G30	No	Yes¹	G30	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!

Usage: G82

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

G83: Babystep in Z and store to EEPROM

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes¹	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: G83

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

G84: UNDO Babystep Z (move Z axis back)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes ¹	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: G84

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

G85: Pick best babystep

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes¹	???	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: G85

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

G86: Disable babystep correction after home

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

This G-code will be performed at the start of a calibration script.

Usage: G86

G87: Enable babystep correction after home

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

This G-code will be performed at the end of a calibration script.

Usage: G87

G88: Reserved

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes¹	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: G88

Notes

This G-code currently does not do anything.

G90: Set to Absolute Positioning

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	No	Yes	Yes	Yes	Yes	Yes	Yes

Example

G91

All coordinates from now on are relative to the last position. Note: RepRapFirmware latest revision firmware uses M83 to set the extruder to relative mode: extrusion is NOT set to relative by ReprapFirmware on G91: only X,Y and Z are set to relative. By contrast, Marlin (for example) DOES also set extrusion to relative on a G91 command, as well as setting X, Y and Z.

G92: Set Position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes

Parameters: This command can be used without any additional parameters.; Xnnn new X axis position; Ynnn new Y axis position; Znnn new Z axis position; Ennn new extruder position
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 on some firmware. This does not apply to RepRapFirmware.

G92.x: Reset Coordinate System Offsets (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.6+	No	No	No	No	No	Yes	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	No	No	No

Usage: G92.1 - Reset axis offsets (and parameters 5211-5219) to zero. (X Y Z A B C U V W); G92.2 - Reset axis offsets to zero

G93: Feed Rate Mode (Inverse Time Mode) (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	3.5+	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	No	Yes	No

G93 is Inverse Time Mode. In inverse time feed rate mode, an F word means the move should be completed in (one divided by the F number) minutes. For example, F2.0 means the move should be completed in a half a minute.

When the inverse time feed rate mode is active, an F word must appear on every line which has a G1, G2, or G3 motion, and an F word on a line that does not have G1, G2, or G3 is ignored. Being in inverse time feed rate mode does not affect G0 (rapid move) motions.

G94: Feed Rate Mode (Units per Minute) (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	3.5+	???	???	???	???	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	???	???	???	???	No	???	Yes	???

G94 is Units per Minute Mode. In units per minute feed mode, an F word is interpreted to mean the controlled point should move at a certain number of inches per minute, millimeters per minute, or degrees per minute, depending upon what length units are being used and which axis or axes are moving.

G98: Activate farm mode

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Enable Prusa-specific Farm functions and g-code.

Usage

G98

Notes

Set of internal Prusa commands

PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | fsensor_recover | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]

Parameters: Ping; PRN Prints revision of the printer.; FAN Prints fan details.; fn Prints farm number.; thx; uvlo Resets UVLO aka Power Panic and continues SD print.; fsensor_recover Filament sensor recover - restore print and continue.; MMURES Reset MMU.; Reset Resets Printer.; fv ??? get file version. ???; M28 M28 write to SD.; SN Get serial number from 32U2 processor. Typical format of S/N is:CZPX0917X003XC13518; Fir Prints firmware version.; Rev Prints filament size, elelectronics, nozzle type.; Lang Reset the language.; Lz ??? maybe resets Live Z values to 0 ???; Beat Kick farm link timer.; FR Full factory reset.; nozzle set 'diameter' Set nozzle diameter.; nozzle D'diameter' Check nozzle diameter.; nozzle Print nozzle diameter

G99: Deactivate farm mode

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage

G99

G100: Calibrate floor or rod radius

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	0.92+	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: X Flag to set floor for X axis; Y Flag to set floor for Y axis; Z Flag to set floor for Z axis; Rnnn Radius to add
Examples

G100 X Y Z ; set floor for argument passed in. Number ignored and may be absent.
G100 R5    ; Add 5 to radius. Adjust to be above floor if necessary
G100 R0    ; Set radius based on current z measurement. Moves all axes to zero

G130: Set digital potentiometer value

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	Yes

Example

G130 X10 Y18 Z15 A20 B12

Set the digital potentiometer value for the given axes. This is used to configure the current applied to each stepper axis. The value is specified as a value from 0-127; the mapping from current to potentimeter value is machine specific.

G131: Remove offset

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	0.91+	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

G132: Calibrate endstop offsets

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	0.91+	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

G133: Measure steps to top

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	0.91+	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

G161: Home axes to minimum

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	Yes	No	Yes

Parameters: X Flag to home the X axis to its minimum position; Y Flag to home the Y axis to its minimum position; Z Flag to home the Z axis to its minimum position; Fnnn Desired feedrate for this command
Example

G161 X Y Z F1800

Instruct the machine to home the specified axes to their minimum position. Similar to G28, which decides on its own in which direction to search endstops.

G162: Home axes to maximum

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	Yes	No	Yes

Parameters: X Flag to home the X axis to its maximum position; Y Flag to home the Y axis to its maximum position; Z Flag to home the Z axis to its maximum position; Fnnn Desired feedrate for this command
Example

G162 X Y Z F1800

Instruct the machine to home the specified axes to their maximum position.

G425: Perform auto-calibration with calibration cube

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.0+	No	No	No	Yes	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

This performs an automatic calibration of backlash, positional errors and nozzle offset by touching the nozzle on the sides of a bed mounted, electrically conductive cube, washer or bolt.

Parameters: B Perform calibration of backlash only.; Tnnn Perform calibration of toolhead only.; V Probe cube and print position, error, backlash and hotend offset.; Unnn Uncertainty, how far to start probe away from the cube (mm)

Examples (Marlin)

G425                ; Perform full calibration sequence
T1                  ; Switch to second nozzle
G425 V              ; Validate by showing report for T1
T0                  ; Switch to second nozzle
G425 V              ; Validate by showing report for T0

M-commands

M0: Stop or Unconditional stop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	No	Yes³	Yes	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	Yes	Yes	No	Yes	Yes	No

Parameters: This command can be used without any additional parameters.; Pnnn Time to wait, in milliseconds¹; Snnn Time to wait, in seconds²
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, although this step is not mandatory on RepRapFirmware. See also M1, M112.

The Marlin Firmware does wait for user to press a button on the LCD, or a specific time. "M0 P2000" waits 2000 milliseconds, "M0 S2" waits 2 seconds.

RepRapFirmware executes cancel.g if this file is present, if the print is paused and if the axes are homed. Otherwise stop.g is run and the drives are put into idle mode. Also the heaters are turned off if no 'H1' parameter is specified.

Notes

¹Not available in RepRapFirmware, but as a work-around G4 can be run before M0.

²Only available on Marlin and Prusa Firmware.

³"Wait for user ..." is shown on LCD in Prusa Firmware.

M1: Sleep or Conditional stop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes¹	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	No	Yes	No

Example

M1
M1 Hello world ¹

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.

The Marlin does the same as M0.

In Prusa 8-bit Firmware ¹ the M1 needs at least a space behind the command to be executed correctly. It can be used the same as M0 P<ms> or M0 S<seconds> but will ignore the following "message".

Prusa Firmware 8-bit example

M1 S5 will wait for 5 seconds and show in the LCD status line "Waiting for user..." the same as M0 S5
M1 Hello world will show in the LCD status line "Hello world" and wait until the user press the LCD knob.

If Marlin is emulated in RepRapFirmware, this does the same as M25 if the code was read from a serial or Telnet connection, else the macro file sleep.g is run before all heaters and drives are turned off.

M2: Program End

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	Yes	Yes	Yes

Example

M2

Teacup firmware does the same as M84.

M3: Spindle On, Clockwise (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	No	No	No	Yes	Yes	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	Yes	Yes	No

Parameters: Snnn Spindle RPM
Example

M3 S4000

The spindle is turned on with a speed of 4000 RPM.

Teacup firmware turn extruder on (same as M101).

RepRapFirmware interprets this code only if in CNC mode (M453), in laser mode (M452) or if a Roland mill has been configured. You must always provide an S parameter with this command to specify the required spindle speed pr laser power. In RepRapFirmware 2.05RC2 and later, and RepRapFirmware 3.0beta13 and later, in laser mode (M452) the laser will only fire during G1/G2/G2 moves.

In Repetier-Firmware in laser mode you need S0..S255 to set laser intensity. Normally you use S255 to turn it on full power for moves. Laser will only fire during G1/G2/G3 moves and in laser mode (M452).

M4: Spindle On, Counter-Clockwise (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	No	No	Yes	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	No	Yes	No

Example

M4 S4000

The spindle is turned on with a speed of 4000 RPM.

M5: Spindle Off (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No	No	Yes	Yes	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	Yes	Yes	???

Example

M5

The spindle is turned off.

Teacup firmware turn extruder off (same as M103).

M6: Tool change

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	???	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	Yes	Yes	???

Example

M6

M7: Mist Coolant On (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	Yes: Use M106	Yes	???

Example

M7

Mist coolant is turned on (if available)

Teacup firmware turn on the fan, and set fan speed (same as M106).

M8: Flood Coolant On (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	Yes: Use M106	Yes	???

Example

M8

Flood coolant is turned on (if available)

M9: Coolant Off (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	Yes: Use M106	Yes	???

Example

M9

All coolant systems are turned off.

M10: Vacuum On (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	Yes: Use M106	Yes	???

Example

M10

Dust collection vacuum system turned on.

M11: Vacuum Off (CNC specific)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	Yes: Use M106	Yes	???

Example

M11

Dust collection vacuum system turned off.

M13: Spindle on (clockwise rotation) and coolant on (flood)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	???	???	No	No	???	???	???	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	Yes	???

This one M-code does the work of both M03 and M08. It is not unusual for specific machine models to have such combined commands, which make for shorter, more quickly written programs.

Example

M13

M16: Expected Printer Check

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
(2.0+)	No	???	No	No	No	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Do a case-sensitive comparison between the string argument and the configured MACHINE_NAME. If the machine name doesn't match, halt the printer so that a reset is required. This safety feature is meant to prevent G-code sliced for a specific machine from being used on any other machine. In Marlin this feature is enabled with EXPECTED_PRINTER_CHECK.

Example

M16 Cookie Monster

M17: Enable/Power all stepper motors

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	3.3 and later	???	Yes	Yes	No	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	Yes	(automatic)	No	???

Parameters: This command can be used without any additional parameters.¹; X X axis; Y Y axis; Z Z axis; E All extruders

Example

M17
M17 X E0

Powers on stepper motors.

Notes

¹Ability to specify axes was added to Marlin 2.0 and may not be available on other firmware implementations.

M18: Disable all stepper motors

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M84	Yes	Yes	M84³	Yes	No	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	Yes	Yes: Use M2	No	Yes

Parameters: This command can be used without any additional parameters.¹³; X X axis; Y Y axis; Z Z axis; E Extruder drive(s)²; S Seconds³
Examples

M18
M18 X E0

Disables stepper motors and allows axes to move 'freely.'

On Marlin, M18 is a synonym of M84, so it can also be used to configure or disable the idle timeout.

Examples

M18 S10  ; Idle steppers after 10 seconds of inactivity
M18 S0   ; Disable idle timeout

Notes

¹Some firmware implementations do not support parameters to be passed, but at least Marlin and RepRapFirmware do.

²RepRapFirmware allows stepper motors to be disabled selectively. For example, M18 X E0:2 will disable the X, extruder 0 and extruder 2 motors.

³In Prusa Firmware this command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)

M20: List SD card

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes⁴	Yes^1,2	Yes³	Yes⁴	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	Yes	No	???

Parameters: This command can be used without any additional parameters.; Snnn Output style¹; Rnnn File number to start at¹; P"ddd" Directory to list²; L Reports long filenames instead of just short filenames. Requires host software parsing (Cap:EXTENDED_M20).⁴; T Report timestamps as well. The value is one uint32_t encoded as hex. Requires host software parsing (Cap:EXTENDED_M20).⁴

Examples

M20
M20 S2 P"/gcodes/subdir"
M20 L ⁴
M20 T ⁴

This code lists all files in the root folder or G-code directory of the SD card to the serial port. One name per line, like:

SQUARE.G
SQCOM.G
ZCARRI~2.GCO
CARRIA~1.GCO

Please note that a file list response is usually encapsulated. Standard configurations of RepRapFirmware mimic this style in emulation mode:

Begin file list:
SQUARE.G
ZCARRI~2.GCO
End file list
ok

The file size may be appended as an integer representing the size in bytes:

Begin file list:
SQUARE.G 1234
ZCARRI~2.GCO 234
End file list 
ok

At least OctoPrint also supports an additional format showing the file's long name (see also M33) after the size:

Begin file list:
SQUARE.G 1234 SQUARE.G
ZCARRI~2.GCO 234 ZCARRIAGE_V2.GCO
End file list 
ok

If RepRapFirmware emulates no firmware compatibility, a typical response looks like:

G-code files:
"Traffic cone.g","frog.gcode","calibration piece.g"

Note that some firmwares list file names in upper case, but - when sent to the M23 command (below) they must be in lower case. Teacup and RepRapFirmware have no such trouble and accept both. RepRapFirmware always returns long filenames in the case in which they are stored.

Notes

¹If the S2 parameter is used on RepRapFirmware, then the file list (or as much as can be fitted in the output buffer) is returned in JSON format as a single array called "files" with each name that corresponds to a subdirectory preceded by an asterisk, and the directory is returned in variable "dir". The optional R parameter is the file number to start at, default 0. The JSON response also returns value "next" which is the number of the first file that wasn't returned, or 0 if all files were returned. The caller can enumerate all files even if there are very many by making successive M20 S2 calls with each call using R from the "next" value in the previous response, util "next" is zero.

Example

M20 S2 P/gcodes
{"dir":"\/gcodes","first":0,"files":["4-piece-1-2-3-4.gcode","Hinged_Box.gcode","Hollow_Dodecahedron_190.gcode","*Calibration pieces"],"next":0}

Example for M20 L⁴

Begin file list
TEST1.GCO 1234 "TEST1.GCO"
DIR_ENTER: /TESTFO~1/ "test folder"
DIR_EXIT
LFNFIL~1.GCO 56789 "LFN file.gcode"
End file list

Example for M20 L T⁴

Begin file list
TEST1.GCO 1234 0x52936b00 "TEST1.GCO"
DIR_ENTER: /TESTFO~1/ "test folder"
DIR_EXIT
LFNFIL~1.GCO 56789 0x52936b08 "LFN file.gcode"
End file list

Example for M20 T⁴

Begin file list
TEST1.GCO 1234 0x52936b00
DIR_ENTER: /TESTFO~1/ "test folder"
DIR_EXIT
LFNFIL~1.GCO 56789 0x52936b08
End file list

²This parameter is only supported by RepRapFirmware and defaults to the 0:/gcodes directory, which is the directory that printable gcode files are normally stored in.

³On Klipper, a virtual SD card is required for this to work.

⁴The timestamp is a combination of both the date and time into a single integer and printed as a hex.

M21: Initialize SD card

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes¹	Yes	Yes	Yes	Yes	Yes²	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	Yes	No	???

Parameters: Pnnn SD card number (RepRapFirmware only, default 0)
Examples

M21
M21 P1

The specified 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.

Marlin 2.0.9.4 added S and U parameters to mount the SD Card or USB drive, respectively. Hosts can look for "Cap:MULTI_VOLUME:1".

Notes

¹On Klipper, a virtual SD card is required for this to work.

²On Druid:

 M21 is named "Mount Media"
 M21 P0 or S = Mount external SD CARD 
 M21 P1 or M = Mount onboard Micro Sd-Card
 M21 P2 or U = Mount USB Flash Drive
 M21         = Mount current volume

M22: Release SD card

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	Yes	No	???

Parameters: Pnnn SD card number (RepRapFirmware only, default 0)
Examples

M22
M22 P1

The specified SD card is released, so further (accidental) attempts to read from it are guaranteed to fail. Helpful, but not mandatory before removing the card physically.

M23: Select SD file

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes¹	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	Yes	No	???

Example

M23 filename.gco

The file specified as filename.gco (8.3 naming convention is supported) is selected ready for printing. RepRapFirmware supports long filenames as well as 8.3 format.

Notes

¹On Klipper, a virtual SD card is required for this to work.

M24: Start/resume SD print

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes¹	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	Yes	No	No	No	Yes	Yes	No	No

Example

M24

The machine prints from the file selected with the M23 command. If the print was previously paused with M25, printing is resumed from that point. To restart a file from the beginning, use M23 to reset it, then M24.

When this command is used to resume a print that was paused, RepRapFirmware runs macro file resume.g prior to resuming the print.

Notes

¹On Klipper, a virtual SD card is required for this to work.

M25: Pause SD print

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes¹	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	Yes	No	No	No	Yes	Yes	No	No

Example

M25

The machine pauses printing at the current position within the file. To resume printing, use M24. Do not use this code within a GCode file to pause the print at that point, use M226 instead.

Prior to pausing, RepRapFirmware runs macro file pause.g. This allows the head to be moved away from the print, filament to be retracted, etc.

RepRapFirmware 1.20 and later also save the current state of the print to file /sys/resurrect.g. This is so that if the printer is turned off after pausing, the print can subsequently be resumed.

Without any parameters it will park the extruder to default or last set position. The default pause position will be set during power up and a reset, the new pause positions aren't permanent.

Usage: M25 [ X | Y | Z | S ] ²

Parameters: X X position to park ²; Y Y position to park ²; Z Z raise before park ²; S Set values [S0 = set to default values | S1 = set values] without pausing ²

Notes

¹On Klipper, a virtual SD card is required for this to work.

²Prusa Firmware equivalent to M125 and M601

M26: Set SD position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes¹	Yes	Yes	Yes	aborts	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	No	???

Parameters: Snnn File position from start of file in bytes; Pnnn (Optional, RepRapFirmware only) Proportion of the first move to be skipped, default 0.0, must be less than 1.0
Example: M26 S49315

Set the file offset in bytes from the start of the SD card file selected by M23. The offset must correspond to the start of a G-code command.

Notes

¹On Klipper, a virtual SD card is required for this to work.

M27: Report SD print status

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes¹	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	No	???

Parameters: C Report the open file's name and long name (Marlin 1.1.9 and up); Sn Set the auto-report interval (Marlin 1.1.9 and up)

Example

M27

Report SD print status.

Marlin and RepRapFirmware report the number of bytes processed in this format, which can be processed by Pronterface:

SD printing byte 2134/235422

If no file is being printed, only this message is reported:

Not SD printing.

In Marlin 1.1.9 and up M27 C reports the open file's DOS 8.3 name and long filename, if any.

Example

M27 C

Current file: filena~1.gco Filenagotcha.gcode

In Marlin 1.1.9 and up M27 Sn sets the auto-report interval. This requires the AUTO_REPORT_SD_STATUS configuration option to be enabled. Marlin reports this capability in M115 as Cap: AUTO_REPORT_SD_STATUS 1 when this option is available.

Example

M27 S2 ; Report the SD card status every 2 seconds

Notes

¹On Klipper, a virtual SD card is required for this to work.

M28: Begin write to SD card

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	No	???

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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	Yes	No	No	No	No	No	No	???

Example

> M30 filename.gco
> filename.gco is deleted.

M30: Program Stop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
Yes	No	No	No	No	No	No	Yes	???

- For Yaskawa and in grbl - Same as M2 in Yaskawa G-code

Example

M30 ; Exchange pallet shuttles and end the program. Pressing cycle start will start the program at the beginning of the file.

M31: Output time since last `M109` or SD card start to serial

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	Yes	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Example

M31

The response looks like:

 echo:54 min, 38 sec

M32: Select file and start SD print

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	No	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Example

M32 filename.gco

It can be used when printing from SD card and does the same as M23 and M24.

tba available in marlin(14/6/2014)

M33: Get the long name for an SD card file or folder

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Not required	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Get the long name for a file or folder on the SD card from a dos path. Introduced in Marlin firmware 1.1.0 September 2015.

Example input:

M33 miscel~1/armchair/armcha~1.gco

Example output:

/Miscellaneous/Armchair/Armchair.gcode

M33: Stop and Close File and save restart.gcode

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No: Use M25	???	No	No	???	???	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	No	???

Stop the printing from SD and save all position in restart.gcode for restart printing in future

M34: Set SD file sorting options

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	No	No	No	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: S1 Enable sorting; S0 Disable sorting; F-1 Folders first, followed by the files (both group, alphabetically); F0 Folders and files together, listed alphabetically; F1 Files first, followed by folders (both group, alphabetically)

Enable and disable SD card file-sorting, and/or set the folder sorting order. Proposed by Marlin firmware, May 2015.

M35: Upload firmware NEXTION from SD

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	???	???	No	No	???	???	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

M36: Return file information

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	No

Example: M36 filename.gco; M36

Returns information in JSON format for the specified SD card file (if a filename was provided) or for the file currently being printed. A sample response is:

{"err":0,"size":436831,"fileName":"EscherLizardModified.gcode","lastModified":"2017-09-21T16:58:07","height":5.20,"layerHeight":0.20,"printTime":660,"simulatedTime":1586,"filament":[1280.7],"generatedBy":"Simplify3D(R) Version 4.0.0"}

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, the times are in seconds, all other values are in mm. "printTime" is the printing time estimated by the slicer, "simulationTime" is the time measured when the print was simulated by the firmware. The fields may appear in any order, and additional fields may be present. Versions of RepRapFirmware prior to 3.4 do not provide the "fileName" field if information for a specific file was requested.

RepRapFirmware 3.4 and later also return information about thumbnail imaged embedded in the GCode file via an additional JSON field "thumbnails". A sample value for this field is:

"thumbnails":[{"width":32,"height":32,"fmt":"qoi","offset":103,"size":2140},{"width":220,"height":220,"fmt":"qoi","offset":2384,"size":25464}]

The "fmt" field denotes the encoding of the thumbnail and is either "png" or "qoi". The "thumbnails" field is omitted entirely if there are no thumbnails embedded in the GCode file.

M36.1: Return embedded thumbnail data

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	3.4 and later	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	No

Parameters: P"filename" Name of the GCode file from which thumbnail data is to be retrieved; Snnnn Byte offset into the file at which thumbnail data is to be fetched

This command is used to return the data for an thumbnail image in a GCode file. The offset value should be either the offset of the start of data for a thumbnail as returned by the M36 command, or the value returned in the "next" field by a previous M36.1 command. The response is in JSON format. Here is a sample response:

{fileName":"EscherLizardModified.gcode","offset":103,"data":"cW9pZgAAACA....AAAAB","next":0,err": 0}

The "fileName" and "offset" values are as given in the command. "data" is part or all of the base64-encoded thumbnail data starting at that offset. "next" is zero if there is no more data for that thumbnail, otherwise not all the thumbnail data was returned and "next" is the byte offset in the file of the rest of the thumbnail data. "err" is 0 if the command was successful, otherwise "err" is nonzero and the other fields may or may not be present.

M37: Simulation mode

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: S1 Enter simulation mode; S0 Leave simulation mode; P"filename" (optional) Simulate printing a file from SD card
Examples: M37 S1; M37 P"MyModel.g"

Used to switch between printing mode and simulation mode. Simulation mode allows the electronics to compute an accurate printing time, taking into account the maximum speeds, accelerations etc. that are configured.

M37 S1 enters simulation mode. All G and M codes will not be acted on, but the time they would take to execute will be calculated.

M37 S0 leaves simulation mode and prints the total time taken by simulated moves since entering simulation mode.

M37 with no S parameter prints the time taken by the simulation, from the time it was first entered using M37 S1, up to the current point (if simulation mode is still active) or the point that the simulation was ended (if simulation mode is no longer active).

M37 P"filename" enters simulation mode, prints the specified file, exits simulation mode, reports the print time, and appends it to the G-code file as a comment for later retrieval.

M38 Compute SHA1 hash of target file

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Used to compute a hash of a file on the SD card. Examples:

> M38 gcodes/myfile.g
> Cannot find file
> M38 www/reprap.htm
> 91199139dbfadac15a18cfb962dfd4853db83999

Returns a hexadecimal string which is the SHA1 of the file. If the file cannot be found, then the string "Cannot find file" is returned instead.

M39 Report SD card information

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes: 1.20.1 and later	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: Pn SD slot number, default 0; Sn Response format. S0 returns a plain text response, S2 returns a response in JSON format.
Examples: M39 ; report information for SD card 0 in plain text format; M39 P1 S2 ; report information for SD card 1 in JSON format

This command returns information about the SD card in the specified slot in the requested format. At least the following is returned:

Whether or not a usable card is present in the slot
The capacity of the card in bytes (if a card is present)
The amount of free space on the card in bytes (if a card is present)

The JSON response has the following format (more fields may be added in future):

{"SDinfo":{"slot":0,"present":1,"capacity":4294967296,"free":2147485184,"speed":20971520,"clsize":32768}}

The capacity, free space and cluster size are in bytes, and the interface speed is in bytes/second.

M40: Eject

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Use macro file M40.g	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	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.).

M41: Loop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No, use 'while' command	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	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: Switch I/O pin

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	No	No

Parameters: Pnnn Pin number; Snnn Pin value
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.

In Teacup, general purpose devices are handled like a heater, see M104.

In Marlin Firmware, pin numbers for 32-bit processors are in the form PORT * 100 + PIN. So pin P1_02 on LPC1768 can be set with M42 P102 S1.

Marlin 1.x includes an I parameter to permit setting "volatile" pins that Marlin is using.

Marlin 2.0.5.2 - 2.0.9.3 uses the M parameter to set the pin mode: 0=INPUT, 1=OUTPUT, 2=INPUT_PULLUP, 3=INPUT_PULLDOWN. In Marlin 2.0.9.4 and up the T parameter is used instead.

In RepRapFirmware, the S field may be in the range 0..1 or 0..255. The pin reference is an internal firmware reference named "digital pin", see Duet pinout. It maps on different connector pins depending the hardware. On Duet 0.6 and 0.8.5 hardware using pre-1.16 firmware, the supported pin numbers and their names on the expansion connector are:

Duet M42 P value to Expansion Port Pin Mapping
P	Name	Expansion Port Pin
16	TXD1	11
17	RXD1	12
18	TXD0	13
19	RXD0	14
20	TWD1	35
21	TWCK1	36
23	PA14	10
36	PC4	18
52	AD14	41
67	PB16	32

In firmware 1.16, the pin numbering has changed.

Duet 0.6 and 0.8.5 v1.16+ M42 P value to Expansion Port Pin Mapping
P	Name	Expansion Port Pin
60	PA10/RXD0	14
61	PA11/TXD0	13
62	PA12/RXD1	12
63	PA13/TXD1	11
64	PA14/RTS1	10
65	PB12/TWD1	35
66	PB13/TWCK1	36
67	PB16/DAC1*	32
68	PB21/AD14	41
69	PC4	18

Also used as CS signal on external SD card socket

Duet WiFi v1.16+ M42 P value to Expansion Port Pin Mapping
P	Signal Name	Expansion Connector Label	Expansion Pin
60	CS5	CS5	50
61	CS6	E3_STOP	9
62	CS7	E4_STOP	14
63	CS8	E5_STOP	19

See Using servos and controlling unused I/O pins for all pin definitions.

Pre-1.16 example:

M42 P20 S1 ;set the connector pin 35 to high.

On RADDS hardware running RepRapFirmware-dc42, the supported Arduino Due pin numbers and their names are:

5 TIOA6, 6 PWML7, 39 PWMH2, 58 AD3, 59 AD2, 66 DAC0, 67 DAC1, 68 CANRX0, 69 CANTX0, 70 SDA1, 71 SCL1, 72 RX LED, 73 TX LED.

M43: Stand by on material exhausted

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M600	No	No	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	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.

M43: Pin report and debug

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: M43 En Pnnn Wn In
Parameters: En Enable / disable background endstop monitoring; Pnnn Pin to read or watch. If omitted, read/watch all pins; Wn bool watch pins -reporting changes- until reset, click, or M108; In bool Flag to ignore pin protection

Note: You must have PINS_DEBUGGING uncommented in your Configuration_adv.h file for M43 to work.

M44: Codes debug - report codes available

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

In MK4duo you must enable FASTER_GCODE_EXECUTE to get this G-code.

Parameters: In G-code list; Jn M-code list

M44: Reset the bed skew and offset calibration

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	???	???	Yes	???	???	???	???	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

Resets the bed skew and offset calibration on Prusa i3 MK2/s,MK2.5/s,MK3/s.

M45: Bed skew and offset with manual Z up

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	???	???	Yes	???	???	???	???	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

Runs the xyz calibration on Prusa i3 MK2/s,MK2.5/s,MK3/s.

Parameters: Vnn Verbosity level 1, 10 and 20 (low, mid, high). Only when SUPPORT_VERBOSITY is defined. This parameter is optional.

M46: Show the assigned IP address

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	Use M552	???	Yes	Yes	???	???	???	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

Reports the assigned IP address of a Toshiba FlashAir on Prusa i3 MK2/s,MK2.5/s,MK3/s. At this moment it is deactivated.

M47: Show end stops dialog on the display

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
???	???	???	Yes	???	???	???	???	???
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	???	???	???	???	???	???	???	???

Show end stops dialog on the display on Prusa i3 MK2/s,MK2.5/s,MK3/s.

M48: Measure Z-Probe repeatability

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Use macro M48.g	???	Yes¹	No	No	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Pnnn number of points; Xnnn position on the X axis; Ynnn position on the Y axis; Vnnn verbosity; E engage; Lnnn legs of travel; S schizoid

As with G29, the E flag causes the probe to stow after each probe.

The S flag will result is a random sized, 5 pointed star, being traced (X and Y axis) between each sample. Usually a user will get worse repeat-ability numbers with S specified because the X axis and Y axis movements will add to the machine's positioning errors.

Prusa specific ¹

This function assumes the bed has been homed. Specifically, that a G28 command as been issued prior to invoking the M48 Z-Probe repeatability measurement function. Any information generated by a prior G29 Bed leveling command will be lost and need to be regenerated.

The number of samples will default to 10 if not specified. You can use upper or lower case letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital N for its communication protocol and will get horribly confused if you send it a capital N.

Usage

M48 nAA Xnnnn Ynnnn Vn Lnn

Parameters: nAA number(AA) of samples, default=10 (valid values between 4 and 50); Xnnn X position for samples; Ynnn Y position for samples; Vn Verbosity level 1-4 (low to highest); Lnn Legs of travel 1-15

M49: Set G26 debug flag

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: M49 S1 ; Enable G26 verbose debug output

M70: Display message

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M117	M117	M117	No	No	M117	M117	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	M117	No	M117	Yes

Example

M70 P200 Message

Display a message on the LCD. P is the time to display message for.

M72: Firmware dependent

M72: Play a tone or song

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M300	M300	No	M300	M300	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No: See M300	Yes

Example

M72 P2

Instruct the machine to play a preset song. Acceptable song IDs are machine specific. P is the ID of the song to play.

M72: Set/get Printer State

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Without any parameter get printer state

0 NotReady Used by PrusaConnect

1 IsReady Used by PrusaConnect

2 Idle

3 SD printing finished

4 Host printing finished

5 SD printing

6 Host printing

Usage: M72 [ S ]

Parameters: S Set printer state 0 = not_ready, 1 = ready

M73: Set/Get build percentage

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	3.3 and later	???	Yes¹	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	Yes

Example

M73 P50

Tell the firmware the current build progress percentage. The machine is expected to display this on its display. If the percentage is exactly 0 a "Build Start" notification is sent to the host. If the percentage is exactly 100 a "Build End" notification is sent to the host.

Use "M73" by itself to get a report of the current print progress.

Prusa specific¹

Prusa firmware shows percent done, time remaining and time to change/pause/user interaction.

Usage

M73 P R Q S C¹ D¹

Parameters: This command can be used without any additional parameters.; P Percent in normal mode; R Time remaining in normal mode (minutes); Q Percent in silent mode; S Time remaining in silent mode (minutes); C Time to change/pause/user interaction in normal mode (minutes)¹; D Time to change/pause/user interaction in silent mode (minutes)¹
Examples

M73
echo NORMAL MODE: Percent done: ---%; print time remaining in mins: -----"
echo SILENT MODE: Percent done: ---%; print time remaining in mins: -----"

Prusa Firmware 3.10.0+¹
echo NORMAL MODE: Percent done: ---%; print time remaining in mins: -----; Change in mins: -----"¹
echo SILENT MODE: Percent done: ---%; print time remaining in mins: -----; Change in mins: -----"¹

M74: Set weight on print bed

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	Yes	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: W Set the total mass in grams of everything that is currently on the bed.

Example

M74 W100

Tell the firmware the current weight of 100g on the bed.

M75: Start the print job timer

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	Yes	Yes	No	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

M76: Pause the print job timer

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	Yes	Yes	No	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

M77: Stop the print job timer

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	Yes	Yes	No	No	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

M78: Show statistical information about the print jobs

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	No	Yes	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

M79: Start host timer

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	Yes	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Start the printer-host enable keep-alive timer. While the timer has not expired, the printer will enable host specific features.

Usage: M79 [ S ]

Parameters: S Quoted string containing two characters e.g. "PL"

M80: ATX Power On

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes¹	Yes	Yes	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	Yes	No	No	No	No	automatic	No	???

Parameters: C"port_name" (RepRapFirmware 3.4 and later only) Name of the pin used to control the power supply, default "pson"

Examples

M80           ; Turn on the power supply
M80 S         ; Report power supply state (Marlin 1.1.1)
M80 C"!pson"  ; invert the PS_ON output for Meanwell power supplies

Turns on the ATX power supply from standby mode to fully operational mode. No-op on electronics without standby mode.

Notes

Marlin requires the POWER_SUPPLY configuration option to be set to a non-zero value to enable M80.
Some firmwares (e.g., Teacup) handle power on/off automatically, so this is redundant there. Also, see RAMPS wiring for ATX on/off.
Prusa requires defined (PS_ON_PIN) and PS_ON_PIN must be set.¹

M81: ATX Power Off

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes¹	Yes	Yes	No	No	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	Yes	No	No	No	Yes	automatic	No	???

Parameters: P quit the daemon (redeem only); R restart the daemon (redeem only); Sn n=0 turn power off immediately (default), n=1 turn power off when all thermostatic fans have turned off (RepRapFirmware 1.20 and later only)
Examples: M81 ; turn power off immediately; M81 S1 ; turn power off when everything has cooled down (RepRapFirmware)

Turns off the ATX power supply. Counterpart to M80.

Notes

Prusa requires defined (PS_ON_PIN) and PS_ON_PIN must be set to Power off.¹

M82: Set extruder to absolute mode

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	Yes	Yes	???

Example

M82

Makes the extruder interpret extrusion as absolute positions.

This is the default in repetier and for Yaskawa controllers.

M83: Set extruder to relative mode

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	Yes	Yes	???

Example

M83

Makes the extruder interpret extrusion values as relative positions.

Note that the Ultimaker 3 will revert back to absolute extrusion after each tool change.

M84: Stop idle hold

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes³	Yes²	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	Yes	Yes	No	???

Parameters: This command can be used without any additional parameters.; Innn Reset flags¹
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, Repetier and RepRapFirmware, 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. For Yaskawa systems M84 is not applicable due to servo motors not producing the annoying noises.

Notes

¹RepRapFirmware-dc42 and other firmware may not support this parameter.

²Prusa firmware uses M84 similar to G-code#M18:_Disable_all_stepper_motors

³On Klipper M84 is equivalent to G-code#M18:_Disable_all_stepper_motors

Prusa Usage: M84 E S X Y Z

Prusa Parameters: This command can be used without any additional parameters.²; E Extruder drive(s)²; S Seconds; X X axis; Y Y axis; Z Z axis

M85: Set Inactivity Shutdown Timer

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	Yes	Yes	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	No	???

Example

M85 S30

Set Inactivity Shutdown Timer with parameter S<seconds>. "M85 S0" will disable the inactivity shutdown time (default)

M86: Set Safety Timeout

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.1.3	No	???	Yes	Yes	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: M86 Snnnn
Parameters: S Seconds; T Trigger Temperature (Marlin); E Extruder Idle Temperature (Marlin); B Bed Idle Temperature (Marlin)

Similar to M85 but applies to the "safety timer" in Prusa and Marlin Firmware.

Set the Safety Timeout in seconds. M86 S0 will disable the safety timer.

When the safety timer expires, heatbed and nozzle target temperatures are set to zero (Prusa Firmware) or idle temperatures (Marlin).

In Marlin Firmware the Hotend Idle Timeout is active whenever the hotend temperature goes above the trigger value and the timer gets reset whenever the extruder or other axes move. So if the machine is sitting idle for the timeout period (set by M86 T) the machine will reduce the hotend and bed temperatures to those set by M86 E and M86 B. These settings are saved to the EEPROM by M500 and reset to configuration defaults by M502.

M87: Cancel Safety Timer

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.1.3	No	No	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Usage: M87

Cancels the safety timer. Equivalent to M86 S0.

M92: Set axis_steps_per_unit

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	Yes	No	No	???

Parameters: Xnnn Steps per unit for the X drive; Ynnn Steps per unit for the Y drive; Znnn Steps per unit for the Z drive; Ennn Steps per unit for the extruder drive(s); Snnn Defines in which microstepping the above steps per unit are given. If omitted it will use the microstepping currently set by M350.¹
Examples

M92 X87.489 Y87.489 Z87.489
M92 E420:420

Allows programming of steps per unit (usually mm) for motor drives. These values are reset to firmware defaults on power on, unless saved to EEPROM if available (M500 in Marlin) or in the configuration file (config.g in RepRapFirmware). Very useful for calibration.

RepRapFirmware will report the current steps/mm if you send M92 without any parameters. For Yaskawa systems M92/M93 is not applicable due to use of servo motors.

Notes

¹ Only available in RepRapFirmware >=2.03

M93: Send axis_steps_per_unit

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Use M92	???	???	???	???	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	No	No	No	???

M98: Call Macro/Subprogram

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	Yes	No

Parameters: Pnnn Macro filename. In RepRapFirmware 3 this must be enclosed in double-quote characters. In RepRapFirmware 2 the double-quote characters are optional.
Example

M98 Pmymacro.g
M98 P"mymacro.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 G-code file that is executed by the G98 call. That G-code file does not need to end with an M99 (return) as the end-of-file automatically causes a return. RepRapFirmware supports nested macro calls up to a depth of 5.

Certain machine parameters are saved at the start of the macro call and restored at the end. For RepRapFirmware these are: axis movement relative/absolute mode, extruder movement absolute/relative mode, feed rate, inches/mm setting, and whether or not volumetric extrusion is selected. This allows the macro to change these settings without affecting the subsequent behaviour of the calling file.

RepRapFirmware also allows the filename to include a path to a subdirectory. For relative paths, the default folder is /sys, but some implementations may check the /macros directory too. Absolute file paths are supported by RepRapFirmware too.

M99: Return from Macro/Subprogram

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	Yes	No

Example

M99

Returns from an M98 call.

RepRapFirmware closes the currently active macro file. If a nested macro is being run, RepRapFirmware goes up one stack level.

M101: Turn extruder 1 on (Forward), Undo Retraction

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes: 1.17c and later	???	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	Yes	No	No	No	Yes	No	???

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.

In BFB/RapMan: Turn extruder on (forward/filament in).

In RepRapFirmware: undo filament retraction. The length and speed are set by the M207 command. RepRapFirmware supports this command for compatibility with Simplify3D.

In other firmwares: Deprecated. Regarding filament retraction, see G10, G11, M207, M208, M227, M228, M229.

M102: Turn extruder 1 on (Reverse)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	Yes	No	No	No	No	No	No

In BFB/RapMan firmware: Turn extruder on Reverse (Still to add)

M102: Configure Distance Sensor

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.1.1	No	No	No	No	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

For Marlin's BD_SENSOR option, configure the sensor.

M102 S<10ths> : Set adjustable Z height in 10ths of a mm (e.g., 'M102 S4' enables adjusting for Z <= 0.4mm.)

M102 S0 : Disable adjustable Z height.

Negative S values are commands: M102 S-1 : Read sensor information; M102 S-5 : Read raw Calibration data; M102 S-6 : Start Calibration

M103: Turn all extruders off, Extruder Retraction

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes: 1.17c and later	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	Yes	No	No	No	Yes	No	???

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.

In BFB/RapMan firmware: Turn extruder off.

In RepRapFirmware: retract filament. The length and speed are set by the M207 command. RepRapFirmware supports this command for compatibility with Simplify3D.

In other firmwares: Deprecated. Regarding filament retraction, see G10, G11, M207, M208, M227, M228, M229.

M104: Set Extruder Temperature

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes

Parameters: C Use fan for cooling (Buddy only); Dnnn Display temperature (Buddy only); Snnn Target temperature; Rnnn Idle temperature (Only MK4duo)

Example

M104 S190
M104 S190 R170

Set the temperature of the current extruder to 190^oC and return control to the host immediately (i.e. before that temperature has been reached by the extruder). See also M109.

See also using G10. Deprecation of M104 is subject to discussion. --Traumflug 11:33, 19 July 2012 (UTC)

M104 in Marlin Firmware

See Marlin Wiki. In Marlin Firmware, using M104 with no parameters will turn off the heater for the current extruder. This is also the case for M104 S without a number after the S parameter.

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.

M104 in RepRapFirmware and Klipper

RepRapFirmware and some other firmwares support the optional T parameter (as generated by slic3r) to specify which tool the command applies to.

M105: Get Extruder Temperature

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes¹	Yes	Yes	Yes	Yes²	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	Yes	No	Yes	Yes	No	Yes

Parameters: This command can be used without any additional parameters.
Examples

M105

Request the temperature of the current extruder, the build base and the build chamber in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command can look like:

ok T:201 B:117
ok T:201 /202 B:117 /120
ok T:201 /202 B:117 /120 C:49.3 /50
ok T:201 /202 T0:110 /110 T1:23 /0 B:117 /120 C:49.3 /50
ok T0:110 /110 T1:23 /0 B:117 /120
ok T:20.2 /0.0 B:19.1 /0.0 T0:20.2 /0.0 @:0 B@:0 P:19.8 A:26.4

The parameters mean the following:

T, T0, ..., Tn - extruder temperature. In a single extruder setup, only T will be reported. Some firmware variants will report no T0 in multi extruder setups - in that case T is to be considered the temperature of the first tool. Otherwise, T should be considered the temperature of the currently selected tool (which will be repeated in one of the Tn entries)
B - bed temperature
C - chamber temperature
@ - Hotend power
B@ - Bed power
P - PINDAv2 actual (Prusa MK2.5/s MK3/s only)¹
A - Ambient actual (Prusa MK3/s only)¹

A temperature report will usually include actual and target temperature for all available heaters, with the format being "actual/target" or - for some firmware variants - "actual /target". During a blocking heatup some firmware variants only report the temperature tuple for the heater that is currently in blocking heatup state.

Note that temperatures can be reported as integers or floats. There sadly are a lot of interpretations of how an M105 response should look like across firmware variants, making parsing them potentially tricky.

Expansion/generalization of M105 to be considered using S1 parameter as noted in Pronterface I/O Monitor

In Repetier and MK4duo you can add X0 (X1 MK4duo) 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

Recent versions of RepRapFirmware also report the current and target temperatures of all active heaters.

¹Druid firmware

Temperature actual/target in Celcius (actual with one decimal , target is integer)

T0: in a single extruder systems,
T0: and T1: in dual extruder systems.
B: for Heated bed
C: for Heated chamber

Power applied (PWM value 0-255)

@0: and @1: for Hotends
B@: for Heated bed
C@: for Heated chamber

Active or not, the values for all available heaters on the system are sent.

Examples

T0:27.8/0 @0:0

T0:27.7/0 B:21.6/0 @0:0 B@:0

T0:27.8/0 T1:27.8/210 B:21.6/0 C:85.0/0 @0:0 @1:255 B@:0 C@:0

M106: Fan On

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	Yes	Yes	Yes	Yes	Yes	Yes	???

Parameters: Pnnn Fan number (optional, defaults to 0)²; Snnn Fan speed (0 to 255; RepRapFirmware also accepts 0.0 to 1.0))
Extra Parameters: Innn Invert signal, or disable fan¹ ³; Fnnn Set fan PWM frequency, in Hz¹ ³; Lnnn Set minimum fan speed (0 to 255 or 0.0 to 1.0)¹ ³; Xnnn Set maximum fan speed (0 to 255 or 0.0 to 1.0)¹ ³; Bnnn Blip time - fan will be run at full PWM for this number of seconds when started from standstill¹; Hnn:nn:nn... Select heaters monitored when in thermostatic mode¹ ³; Rnnn Restore fan speed to the value it has when the print was paused¹; Tnnn Set thermostatic mode trigger temperature; Cnnn Set custom name (RRF > 2.01 only)¹
Example

M106 S127

Examples (RepRapFirmware)

M106 P1 I1 S87
M106 P1 T45 H1:2
M106 P2 B0.1 L0.05

The first example turns on the default cooling fan at half speed. The second one inverts the cooling fan signal of the second fan and sets its value to 1/3 of its maximum. The third one sets the second fan to a thermostatic fan for heaters 1 and 2 (e.g. the extruder heaters in a dual-nozzle machine) such that the fan will be on when either hot end is at or above 45C.

Mandatory parameter 'S' declares the PWM value (0-255). M106 S0 turns the fan off. In some implementations like RepRapFirmware the PWM value may alternatively be specified as a real fraction: M106 S0.7.

Notes

¹These parameters are only available in RepRapFirmware.

²Marlin 1.0 to 1.1.6 only supports a single fan. Marlin 1.1.7 and up supports up to 3 fans.

³These parameters are only available in MK4duo.

M106 in RepRapFirmware

If an S parameter is provided but no other parameter is present, then the speeds of the print cooling fans associated with the current tool will be set (see the F parameter in the M563 command). If no tool is active then the speed of Fan 0 will be set. Either way, the speed is remembered so that it can be recalled using the R2 parameter (see below).

If no S parameter is given but the R1 parameter is used, the fan speed when the print was last paused will be set. If the R2 parameter is used, then the speeds of the print cooling fans associated with the current tool will be set to the remembered value (see above).

The T and H parameters allow a fan to be configured to operate in thermostatic mode, for example to use one of the fan channels to control the hot end fan. In this mode the fan will be fully on when the temperature of any of the heaters listed in the H parameter is at or above the trigger temperature set by the T parameter, and off otherwise. Thermostatic mode can be disabled using parameter H-1.

The B parameter sets the time for which the fan will be operated at full PWM when started from cold, to allow low fan speeds t be used. A value of 0.1 seconds is usually sufficient.

The L parameter defines the minimum PWM value that is usable with this fan. If a lower value is commanded that is not zero, it will be rounded up to this value. The X parameter defines the maximum PWM value that is allowed for this fan. If a higher value is commanded, it will be rounded down to this value.

The I parameter causes the fan output signal to be inverted if its value is greater than zero. 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, the output is not inverted. If the I parameter is negative then in RRF 1.16 and later the fan is disabled, which frees up the pin for use as a general purpose I/O pin that can be controlled using M42.

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.

Note well: The ambiguous text in the note above needs to be reworded by someone who knows the actual functioning. Below is my interpretation based on language use, not practical experience or code inspection.

Note: If M104 is (or becomes) active on a heater (or other device) with a feedback sensor it will correct any M106 initiated control output value change in the time it takes for the PID (of other feedback) loop to adjust it back to minimum error. It may not be easy to observe a change in the temperature (process value) due to this brief change in the control value

M107: Fan Off

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	Yes	Yes	Yes	Yes	No	Yes	???

Deprecated in Teacup firmware and in RepRapFirmware. Use M106 S0 instead.

M108: Cancel Heating

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	Yes	No	No	Yes	No	No	???

Breaks out of an M109 or M190 wait-for-temperature loop, continuing the print job. Use this command with caution! If cold extrusion prevention is enabled (see M302) and the temperature is too low, this will start "printing" without extrusion. If cold extrusion prevention is disabled and the hot-end temperature is too low, the extruder may jam.

This command was introduced in Marlin 1.1.0. As with other emergency commands [e.g., M112] this requires the host to leave space in the command buffer, or the command won't be executed until later.

Recent versions of Marlin introduce EMERGENCY_PARSER, which overcomes the buffer limitation by watching the incoming serial stream. Commands M108, M112, M410, and M876 can all be intercepted by the emergency parser, so it is recommended to enable this feature.

M108: Set Extruder Speed (BFB)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	Yes	No	No	No	No	No	???

Sets speed of extruder motor. (Deprecated in FiveD firmware, see M113)

M109: Set Extruder Temperature and Wait

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	Yes	Yes	Yes	not needed	Yes	Yes

Parameters: C Use fan for cooling (Buddy only); Snnn minimum target temperature, waits until heating; Rnnn maximum target temperature, waits until cooling (Sprinter); Rnnn accurate target temperature, waits until heating and cooling (Marlin and MK4duo); Tn tool number (RepRapFirmware and Klipper), optional
Example

M109 S215

M109 in Teacup

Not needed. To mimic Marlin behaviour, use M104 followed by M116.

M109 in Marlin, MK4duo, Sprinter (ATmega port), RepRapFirmware, Prusa

Set extruder heater temperature in degrees celsius and wait for this temperature to be achieved.

Example

M109 S185

RepRapFirmware 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 ; set extruder temperature to 185 and wait 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.

M109 in MakerBot

Example

M109 S70 T0

Sets the target temperature for the current build platform. S is the temperature to set the platform to, in degrees Celsius. T is the platform to heat.

M109 in Klipper

According to the documentation, Klipper will wait for the specified temperature to settle, i.e. it will wait until it goes back down in case it overshoots. Klipper also supports the optional T parameter to specify which tool the command refers to (see above).

M110: Set Current Line Number

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	Yes	not needed	No	???

This command is used for host handshaking, error detection, and resend requests in host-driven print jobs when line numbers are used. See the G-code protocol described above.

Parameters: Nnnn Line number
Example

M110 N123

This example sets the current command line number to 123. Thus the expected next line after this command will be 124.

In Marlin 2.1.3 and up M110 with no parameter reports the current command line number.

M111: Set Debug Level

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No²	Yes	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	Yes	Debug	No	???

Parameters: Pnnn Debug module¹; Snnn Debug on/off
Examples

M111 S6
M111 P1 S1

Enable or disable debugging features in the firmware. The implementation may look different per firmware.

Notes

¹This parameter is only available in RepRapFirmware.

²Prusa fimrware use D-codes/commands for debugging.

M111 in RepRapFirmware

RepRapFirmware allows debugging to be set for each module. If the optional 'P' parameter is not specified, debugging will be enabled for all modules. For a list of modules, send M111 S1 P15.

M111 in Repetier

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)
#define DEBUG_DRYRUN (1<<3) // repetier-firmware
#define DEBUG_COMMUNICATION (1<<4) // repetier-firmware

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.

M112: Full (Emergency) Stop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	Yes	Yes	No	???

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.

Please note while many systems termed this an Emergency Stop, this terminology is regulated in many regions with specific requirements behind its use. Marlin 2.0.x has renamed this to Full Stop. RepRapFirmware has indicated an intention to make a similar change as well. This stop function is NOT implemented in a Category 0 or 1 stop fashion or with fail-safe hardware compliying with PLd or better. The function as implemented is a category 2 software stop with no redundancies.

M113: Set Extruder PWM

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	No	No	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.

M113: Host Keepalive

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.9+	No	???	Yes	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

During some lengthy processes, such as G29, Marlin may appear to the host to have “gone away.” The “host keepalive” feature will send messages to the host when Marlin is busy or waiting for user response so the host won’t try to reconnect.

Usage: M113 Snnn
Parameters: Snnn keepalive interval to set
Examples

M113 S2

M114: Get Current Position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	Yes	No	Yes	Yes	No	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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes²	Yes	Yes	Yes	Yes	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	Yes	No	Yes	Yes	No	No

Parameters: This command can be used without any additional parameters.; Bnnn (RepRapFirmware 3 only) Expansion board number (typically the CAN address) for which the firmware version is requested, default 0 (i.e. main board); Pnnn Electronics type¹; V Report the Prusa version number²; Unnnnnn Check the firmware version provided²
Examples

M115
M115 P2

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. See the M408 command for a more comprehensive report on machine capabilities supported by RepRapFirmware.

Notes

¹This parameter is supported only in RepRapFirmware and can be used tell the firmware about the hardware on which it is running. If the P parameter is present then the integer argument specifies the hardware being used. The following are currently supported:

M115 P0   Automatic board type selection if supported, or default if not
M115 P1   Duet 0.6
M115 P2   Duet 0.7
M115 P3   Duet 0.85

²These parameters are only supported in Prusa Firmware. Parameter Unnnnnn will check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware, it will pause the print for 30s and ask the user to upgrade the firmware.

sample data M115:

FIRMWARE_NAME:Prusa-Firmware 3.8.1 based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:1.0 MACHINE_TYPE:Prusa i3 MK3S EXTRUDER_COUNT:1 UUID:00000000-0000-0000-0000-000000000000

sample data M115 V

3.8.1

sample data on display for 30s or user interactionM115 U3.8.2-RC1

New firmware version availible:
3.8.2-RC1
Please upgrade.

M116: Wait

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	Yes	Yes	No	Yes

Parameters: This command can be used without any additional parameters.¹; Pnnn Tool number; Hnnn Heater number; Cnnn Chamber number
Examples

M116
M116 P1

Wait for all temperatures and other slowly-changing variables to arrive at their set values if no parameters are specified. See also M109.

Notes

¹Most implementations don't support any parameters, but RepRapFirmware version 1.04 and later supports an optional 'P' parameter that is 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.

Recent versions of RepRapFirmware also allow a list of the heaters to be specified using the 'H' parameter, and if the 'C' parameter is present, this will indicate that the chamber heater should be waited for.

M117: Get Zero Position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	No	No	No	No: See M70

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: Display Message

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes¹	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	Yes	No	No	No

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. If RepRapFirmware is used and no LCD is attached, this message will be reported on the web interface.

Notes

In Prusa Firmware it is also used to display internal messages on LCD.¹

In RepRapFirmware the message may optionally be enclosed in double-quotation marks. Doing this is recommended, to clarify the extent of the text to be displayed.

M118: Echo message on host

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.4+	Yes	Yes	No	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Use this code to print a visible message to the host console, preceded by 'echo:'.

Parameters: Pn (RepRapFirmware only) Message targets(s): 0 = generic [default], 1 = USB, 2 = LCD, 3 = HTTP, 4 = Telnet; S"msg" (RepRepFirmware only) Message to send
Example (Marlin)

M118 Color changing to blue

Example (RepRapFirmware)

M118 P2 S"Color changing to blue"

M118: Negotiate Features

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	No	Yes	Yes	No	???

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.

In redeem, M119 can also be used to invert end stops.

Example

M119 X1 1

This will invert end stop X1 (Inverted means switch is connected in Normally Open state (NO))

M120: Push

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	Yes	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Example

M120

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
Whether moves are relative or absolute
Whether extrusion is relative or absolute

RepRapFirmware calls this automatically when a macro file is run. In addition to the variables above, it pushes the following values on the stack:

Whether the units are inches or mm
Whether or not volumetric extrusion is in use
The selected plane (see G17/G18/G19) for G2/G3 moves

M121: Pop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	Yes	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Example

M121

Recover the last state pushed onto the stack. RepRapFirmware calls this automatically when execution of a macro file terminates.

M120: Enable endstop detection

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	M121	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

M121: Disable endstop detection

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	M120	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

M122: Firmware dependent

M122: Diagnose (RepRapFirmware)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: Bmmm Expansion board number for which diagnostics are requested, default 0 which means main board; Pnnn Optional parameter to specify what diagnostics are required. Caution: some values of P will crash the firmware deliberately to test error handling! See the Duet3D wiki for more details.; "DSF" Immediate DSF diagnostics (RRF3/Duet3 only with attached SBC); P200 - LPC and STM32 Port Only Outputs the configuration of all the pins allocated by the firmware and board.txt

Example: M122

Sending an M122 causes the RepRap to transmit diagnostic information, for example via a USB serial link.

If RepRapFirmware is used and debugging is enabled for the Network module, this will also print LWIP stats to the host via USB.

M122: Set Software Endstop (MK4duo)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Disabled or Enabled Software Endstop M122 S<0/1>

M122: Debug Stepper drivers (Marlin)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	No	Yes	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Get diagnostic info about L6470 or Trinamic stepper drivers having a UART or SPI interface.

With Trinamic drivers there are some extra parameters, and depending on the configuration either basic or detailed information will be reported. Use parameters X, Y, Z, etc. to limit the report only to the specified steppers, otherwise all steppers are reported. Pass I to re-initialize the drivers. Use parameter S to sample at regular intervals. The P parameter can be used to set the sample interval in milliseconds.

Example

M122

M123: Firmware dependent

M123: Tachometer value (RepRap, Prusa & Marlin)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes²	No	???	Yes¹	Yes	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Sending a M123 causes the RepRap to transmit filament tachometer values from all extruders.

Sending a M123 is used in Prusa firmware to report fan speeds and fan pwm values.¹

Sending a M123 is used in Marlin firmware to report only extruders fans speeds and pwm values.²

Usage

M123

Parameters²: Sn autoreport every n seconds (0 to disable)

Prusa firmware output¹: E0: - Hotend fan speed in RPM; PRN1: - Part cooling fans speed in RPM; E0@: - Hotend fan PWM value; PRN1@: - Part cooling fan PWM value

Examples¹

echo E0:3240 RPM PRN1:4560 RPM E0@:255 PRN1@:255

Examples²

echo E0:7040 RPM E0@:255

M123: Endstop Logic (MK4duo)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: Xn X Logic; Yn Y Logic; Zn Z Logic; In X2 Logic; Jn Y2 Logic; Kn Z2 Logic; Pn Probe Logic; Dn Door Logic

Examples

M123 ; Print Status
M123 X1 Y1 Z0 P0

M124: Firmware dependent

M124: Immediate motor stop

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Immediately stops all motors.

M124: Set Endstop Pullup

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Parameters: Xn X Pullup on/off; Yn Y Pullup on/off; Zn Z Pullup on/off; In X2 Pullup on/off; Jn Y2 Pullup on/off; Kn Z2 Pullup on/off; Pn Probe Pullup on/off; Dn Door Pullup on/off

Examples

M124 ; Print Status
M124 X1 Y1 Z0 P0

M125: Firmware dependent

M125: Park Head

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	No	Yes	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	???	No	No	???

Save the current nozzle position and move to the configured park position.

Usage: M125 [L | P | X | Y |Z ]

Parameters: L Retract length; P Always show a prompt and await a response ¹; X X position to park; Y Y position to park; Z Z raise before park

¹ Not in Prusa Buddy firmware

M125: Pause print

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	Yes	Yes	No	No	No	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	???	No	No	???

Without any parameters it will park the extruder to default or last set position. The default pause position will be set during power up and a reset, the new pause positions aren't permanent.

Usage: M125 [ X | Y | Z | S ]

Parameters: X X position to park; Y Y position to park; Z Z raise before park; S Set values [S0 = set to default values | S1 = set values] without pausing

Equivalent to M601 and M25 in Prusa Firmware

M126: Open Valve

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	???	???	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	No	No	No	Yes

Example

M126 P500

Open the extruder's valve (if it has one) and wait 500 milliseconds for it to do so.

M126 in MakerBot

Example

M126 T0

Enables an extra output attached to a specific toolhead (e.g. fan)

M127: Close Valve

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	???	???	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	Yes	No	No	No	No	Yes

Example

M127 P400

Close the extruder's valve (if it has one) and wait 400 milliseconds for it to do so.

M127 in MakerBot

Example

M127 T0

Disables an extra output attached to a specific toolhead (e.g. fan)

M128: Extruder Pressure PWM

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	???	???	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	???

Example

M128 S255

PWM value to control internal extruder pressure. S255 is full pressure.

M129: Extruder pressure off

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	???	???	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M301	M301	???	M301	M301	No	M301	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	M301	Yes	M301	No

Parameters: Pnnn heater number; Snnn proportional (Kp)
Example

M130 P0 S8.0  ; 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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M301	M301	???	M301	M301	No	M301	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	M301	Yes	M301	No

Parameters: Pnnn heater number; Snnn integral (Ki)
Example

M131 P1 S0.5  ; 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

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M301	M301	???	M301	M301	No	M301	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	M301	Yes	M301	Yes

Parameters: Pnnn heater number; Snnn derivative (Kd)
Example

M132 P0 S24  ; 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).

M132 in MakerBot

Example

M132 X Y Z A B

Loads the axis offset of the current home position from the EEPROM and waits for the buffer to empty.

M133: Set PID I limit value

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
M301	M301	???	M301	M301	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	M301	Yes	M301	Yes

Parameters: Pnnn heater number; Snnn integral limit (Ki)
Example

M133 P1 S264  ; 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.

M133 in MakerBot

Wait for the toolhead to reach its target temperature.

Parameters: Tnn : Extruder to wait for; Pnn : Time limit, in seconds

Example

M133 T0 P500 ; Wait for Tool 0 to reach target. Fail after 8:20.

M134: Write PID values to EEPROM

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No: See M500	???	No	No	No	No: See M504	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	Yes	No	Yes

Example

M134

M134 in MakerBot

Example

M134 T0 P500

Instruct the machine to wait for the platform to reach its target temperature. T is the platform to wait for. P if present, sets the time limit.

M135: Set PID sample interval

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	No	Yes

Parameters: Snnn Heat sample time in seconds
Example

M135 S300

Set the PID to measure temperatures and calculate the power to send to the heaters every 300ms.

M135 in MakerBot

Example

M135 T0

Instructs the machine to change its toolhead. Also updates the State Machine's current tool_index. T is the toolhead for the machine to switch to and the new tool_index for the state machine to use.

M136: Print PID settings to host

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	M301	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	Debug	No	???

Example

M136 P1  ; print heater 0 PID parameters to host

M140: Set Bed Temperature (Fast)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	Yes	Yes	Yes	Yes	Yes	Yes

Parameters: Pnnn Bed heater index¹; Hnnn Heater number¹; Tnnn Tool number²; Snnn Active/Target temperature; Rnnn Standby temperature¹ ²
Example

M140 S55

Set the temperature of the build bed to 55^oC and return control to the host immediately (i.e. before that temperature has been reached by the bed).

Notes

¹ These parameters are only supported in RepRapFirmware. RepRapFirmware allows the bed heater to be switched off if the absolute negative temperature (-273.15) is passed as target temperature. In this case the current bed temperature is not affected:

M140 S-273.15

² These parameters are only supported in MK4duo for Idle temperature

M140 S60 R30
M140 T1 S60 R30

There is an optional R field that sets the bed standby temperature: M140 S65 R40.

Recent versions of RepRapFirmware also provide an optional 'H' parameter to set the hot bed heater number. If no heated bed is present, a negative value may be specified to disable it.

M141: Set Chamber Temperature (Fast)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	Yes	No	uses M104	No	???

Parameters: Pnnn Chamber index¹; Hnnn Heater number¹; Tnnn Tool number²; Snnn Active/Target temperature; Rnnn Standby temperature¹ ²
Examples

M141 S30
M141 H0

Set the temperature of the chamber to 30^oC and return control to the host immediately (i.e. before that temperature has been reached by the chamber).

Notes

¹ These parameters are only supported in RepRapFirmware and work just like in M140.

² These parameters are only supported in MK4duo and work just like in M140.

M142: Firmware dependent

M142: Holding Pressure

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	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.

M142: Set Cooler Temperature (Fast)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Tnnn Tool number; Snnn Active/Target temperature; Rnnn Standby temperature
Examples

M142 S60
M142 S60 R30
M141 T1 S60 R30

Set the temperature of the cooler

M143: Firmware dependent

M143: Set Laser Cooler Temperature (Fast)

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.8+	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Snnn Target temperature
Examples

M143 S80

Set the target temperature of the laser cooler and return immediately. Use M193 to set and wait for the temperature to be reached.

M143: Maximum heater temperature

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: H Heater number (RepRapFirmware 1.17 and later, default 1 which is normally the first hot end); S Maximum temperature
Examples

M143 S275      ; set the maximum temperature of the hot-end to 275°C
M143 H0 S125   ; set the maximum bed temperature to 125C

The default maximum temperature for all heaters was 300°C prior to RepRapFirmware version 1.13, and 262°C from 1.13 onwards. From RepRapFirmware 1.17 onwards, the default maximum temperatures are 262C for extruders and 125C for the bed.

When the temperature of the heater exceeds this value, countermeasures will be taken.

M144: Bed Standby

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	Yes	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Pnn Bed heater number, default 0; Sn 0 = set bed heater to standby (default), 1 = set bad heater active
Example

M144

Switch the bed heater to its standby temperature. M140 S1 turns it back to its active temperature.

M146: Set Chamber Humidity

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Rnnn Relative humidity in percent
Example

M146 R60

Set the relative humidity of the chamber to 60% and return control to the host immediately (i.e. before that humidity has been reached by the chamber).

M149: Set temperature units

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: C Flag to treat temperature as degrees Celsius; K Flag to treat temperature as Kelvin
Example

M149 K

It affects the S or R values in the codes M104, M109, M140, M141, M143, M190 and G10. The default is M149 C.

M150: Set LED color

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	See below	???	No¹	Yes	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Rnnn Red component; Unnn Green component; Bnnn Blue component; Wnnn White component (Marlin); Pnnn Brightness (0-255) (Marlin, also RepRapFirmware 2.03 and later); P Set full brightness (Marlin); Snnn (RepRapFirmware) Number of individual LEDs to set to these colours; Fn (RepRapFirmware) Following command action. F0 (default) means this is the last command for the LED strip, so the next M150 command starts at the beginning of the strip. F1 means further M150 commands for the remainder of the strip follow this one.; Xn (RepRapFirmware) LED type: X0 (default) = DotStar, X1 = NeoPixel. This parameter is remembered from one call to the next, so it only needs to be given once.; Ynn (RepRapFirmware) Brightness, 0-31 (alternative to P 0-255); Qnnn (RepRapFirmware) Use specified SPI frequency (in Hz) instead of default frequency. This parameter is only processed if X parameter also present. When using NeoPixels, only frequencies between about 2.5MHz and 4MHz will work.
Example

M150 R255 U128 B192

Example (RepRapFirmware)

M150 X1 F3000000         ; set LED type to NeoPixel and set SPI frequency to 3MHz
M150 R255 P128 S20 F1    ; set first 20 LEDs to red, half brightness, more commands for the strip follow
M150 U255 B255 P255 S20  ; set next 20 LEDs to cyan, full brightness, finished programming LED strip

Set BlinkM, Neopixel, and/or other LED light color and intensity with RGBW component values from 0 to 255. Some LCD controllers use this interface for a backlight. Firmware may override the set color to indicate the current printer status.

RepRapFirmware uses this command to control DotStar or NeoPixel LED strips on controllers that provide a connector for this purpose. When using NeoPixel strips there is a firmware-dependent maximum number of LEDs in the strip supported determined by the size of the DMA buffer.

Notes

In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.¹

M154: Auto Report Position

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.8.1	No	No	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Hosts normally monitor printer position by sending M114 every couple of seconds. This adds more serial traffic and fails if the command queue is full. M154 reduces traffic by setting the firmware to report the 'projected' position at regular intervals. This behavior is disabled by default for best compatibility with existing hosts. If the firmware supports M154 the output of M115 will report the AUTOREPORT_POS capability.

Usage: M154 Snnn : Set the auto-report interval in seconds. Set the interval to 0 to disable.

M155: Automatically send temperatures

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0+	No	???	Yes¹	Yes	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Snnn enable sending temperatures = 1, disable = 0; Snnn Interval in seconds between auto-reports. S0 to disable. (Marlin) Prusa has a Maximum: 255¹; Cnn Activate auto-report function (bit mask). Default is temperature.¹

C bitmap¹: bit 0 = Auto-report temperatures; bit 1 = Auto-report fans; bit 2 = Auto-report position; bit 3 = free; bit 4 = free; bit 5 = free; bit 6 = free; bit 7 = free

Examples

M155 S1 ; Enable temperature report (Marlin: every 1 second)
M155 S0 ; Stop reporting temperatures
M155 S4 ; Report temperatures every 4 seconds (Marlin)
M155 S4 C7; Reports temperatures, fans and position every 4 seconds (Prusa)¹

Hosts normally monitor printer temperatures by sending M105 every couple of seconds. This not only adds serial traffic but it will fail whenever the command queue is full. M155 addresses these problems by telling the firmware to automatically report temperatures at regular intervals. This behavior is disabled by default for best compatibility with existing hosts. If the firmware supports M155 the output of M115 will report the AUTOREPORT_TEMP capability:

Cap:AUTOREPORT_TEMP:1

Prusa Firmware 3.10.0+ also adds capabilities:

Cap:AUTOREPORT_FANS:1
Cap:AUTOREPORT_POSITION:1
Cap:EXTENDED_M20:1

M160: Number of mixed materials

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
No	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	No	No	No	No	No	No	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.

M163: Set weight of mixed material

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0+	M567	???	No	No	0.92+	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Snnn extruder number; Pnnn weight

Set weight for this mixing extruder drive.
See Repetier Color Mixing for more informations.

M164: Store weights

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0+	No	???	No	No	0.92	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Snnn virtual extruder number; Pnnn store to eeprom (P0 = no, P1 = yes)

Store weights as virtual extruder S.

M165: Set multiple mix weights

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
1.1.0+	M567	???	No	No	No:	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters A B C D H I: A[factor] Mix factor for extruder stepper 1; B[factor] Mix factor for extruder stepper 2; C[factor] Mix factor for extruder stepper 3; D[factor] Mix factor for extruder stepper 4; H[factor] Mix factor for extruder stepper 5; I[factor] Mix factor for extruder stepper 6

Set multiple mix factors for a mixing extruder.
Factors that are left out will be set to 0.
All factors together must add up to 1.0.

M190: Wait for bed temperature to reach target temp

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	Yes	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
???	Yes	No	No	Yes	Yes	M116	Yes	???

Parameters: Snnn minimum target temperature, waits until heating; Rnnn accurate target temperature, waits until heating and cooling (Marlin and Prusa)
Example

M190 S60

Wait for the bed temperature to reach 60 degrees, printing out the temperatures once per second.

M191: Wait for chamber temperature to reach target temp

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.0+	1.17+	???	No	No	No	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	No	No	No	No

Example

M191 S60

Set the temperature of the build chamber to 60 °C and wait for the temperature to be reached.

Parameters: Snnn minimum target temperature, waits until heating; Rnnn accurate target temperature, waits until heating and cooling (Marlin)

M192: Wait for Probe Temperature

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Use M192 to dwell until the probe is at or above a given temperature.

M193: Set Laser Cooler Temperature

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
2.0.8+	No	???	No	No	No	No	???	No
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	No	No	No	No	No

Parameters: Snnn Target temperature
Examples

M193 S65

Set the target temperature of the laser cooler and wait for the temperature to be reached. Use M143 to set the temperature and return immediately. If the Emergency Parser is enabled you can use M108 to break out of the wait loop.

M200: Set filament diameter

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	1.19+	???	Yes	Yes	Yes	Yes	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	No	No	No	Yes	No	No	No	No

Volumetric Extrusion is a firmware mode (and an option you can set in some slicers) wherein all extrusion amounts are specified as a volume —using cubic millimeters or inches (i.e., mm³ or in³)— instead of a linear distance. This makes it possible to use the same G-code with any filament diameter.

M200 tells the firmware what the filament diameter is, and (if non-zero) to enable Volumetric Extrusion.

Send M200 without parameters to get the current Volumetric Extrusion state and filament diameters.

Note that slicer-commanded retraction amounts must also be specified in mm³ since the E axis is interpreted as a volume. However, when using Firmware Retraction (G10 / G11) the retractions specified by M207 are still set in linear units.

Parameters (Marlin): D[linear] Set the filament diameter in current units. If non-zero, enable Volumetric Extrusion.; T[index] Select the target extruder. If omitted, the active extruder.; S[bool] Enable or Disable Volumetric Extrusion (without modifying the filament diameter).; L[limit] Set the Maximum Extrusion Volume in mm³ per second. (Ignores units set by G20.) Use L0 for no limit.
Examples (Marlin)

M200 D0       ; Disable Volumetric Extrusion on all extruders
M200 D1.75    ; Set filament diameter for the current extruder to 1.75mm
M200 T1 D2.85 ; Set filament diameter for E2 to 1.75mm
M200 T1 L12   ; Set Maximum Extrusion Volume for E2 to 12mm³
M200 S1       ; Enable Volumetric Extrusion using the last-set diameters

Parameters (RepRapFirmware): Daaa:bbb:ccc... Set filament diameter to aaa for extruder 1, bbb for extruder 2, etc. In RepRapFirmware 3.4 and earlier, if any of aaa, bbb etc. are zero then Volumetric Extrusion is disabled for that extruder.; Daaa Set filament diameter for all extruders.; S[bool] Enable or disable volumetric extrusion for this input channel (RepRapFirmware 3.5 and later)
Examples (RepRapFirmware)

M200 D0               ; Disable volumetric extrusion on all extruders (RRF 3.4 and earlier)
M200 S0               ; Disable volumetric extrusion for tis input channel (RRF 3.5 and later)
M200 D1.75            ; Set all extruder filament diameters to 1.75mm
M200 D1.75:3.0:1.75   ; Set extruder 0 to 1.75mm, E1 to 3.0mm and the rest to 1.75mm

M201: Set max acceleration

Marlin	RepRapFirmware	Klipper	Prusa	Buddy	Repetier	Smoothie	Druid	MK4duo
Yes	Yes	No	Yes	Yes	Yes	No	???	Yes
grbl	Sprinter	BFB	FiveD	Machinekit	Redeem	Teacup	Yaskawa	MakerBot
No	Yes	No	No	No	Yes	No	No	No

Parameters: Xnnn Acceleration for X axis in units/s²; Ynnn Acceleration for Y axis in units/s²; Znnn Acceleration for Z axis in units/s²; Ennn Acceleration for the active or specified extruder in units/s²
Example

M201 X1000 Y1000 Z100 E2000

Set the acceleration that axes can do in units/s².

The M201 command is intended to define the machine's physical limits. Slicers should use the M204 command to define accelerations for a job and leave M201 settings to the user.

RepRapFirmware specific: Multiple colon-separated E values can be provided, so that different extruders can use different accelerations. If a single E value is provided, that value is applied to all extruders. The values must be provided i

G-code

Contents

Introduction

Fields

Case sensitivity

Quoted strings

Using expressions in parameters

Comments

Special fields

N: Line number

*: Checksum

*: CRC

Checking

Conditional Execution and Loops

Buffering

G-commands

G0 & G1: Move

G2 & G3: Controlled Arc Move

G4: Dwell

G6: External Motion Control (Marlin)

G6: Direct Stepper Move (Druid)

G10: Set tool Offset and/or workplace coordinates and/or tool temperatures

G10: Retract

G11: Unretract

G12: Clean Tool

G17..19: Plane Selection (CNC specific)

G20: Set Units to Inches

G21: Set Units to Millimeters

G22: Firmware Retract

G23: Firmware Recover

G26: Mesh Validation Pattern

G27: Park toolhead

G28: Move to Origin (Home)

G29: Detailed Z-Probe

G29 Auto Bed Leveling (Marlin - MK4duo)

G29 Unified Bed Leveling (Marlin - MK4duo)

G29 Manual Bed Leveling (Marlin - MK4duo)

G29 Auto Bed Leveling (Repetier-Firmware)

G29 Mesh Bed Compensation (RepRapFirmware)

G29.1: Set Z probe head offset

G29.2: Set Z probe head offset calculated from toolhead position

G30: Single Z-Probe

G31: Set or Report Current Probe status

G31: Dock Z Probe sled

G32: Probe Z and calculate Z plane

Probe and calculate in Reprapfirmware

Probe and calculate in Repetier firmware

G32: Undock Z Probe sled

G33: Firmware dependent

G33: Measure/List/Adjust Distortion Matrix (Repetier - Redeem)

G33: Delta Auto Calibration (Marlin 1.1.x - MK4duo)

G34: Z Stepper Auto-Align

G34: Calculate Delta Height from toolhead position (DELTA)

G38.x Straight Probe (CNC specific)

G38.2 probe toward workpiece, stop on contact, signal error if failure

G38.3 probe toward workpiece, stop on contact

G38.4 probe away from workpiece, stop on loss of contact, signal error if failure

G38.5 probe away from workpiece, stop on loss of contact

G40: Compensation Off (CNC specific)

G42: Move to Grid Point

G53..59: Coordinate System Select (CNC specific)

G60: Save / Restore position

G61: Restore saved position

G68: Coordinate rotation

G69: Cancel coordinate rotation

G75: Print temperature interpolation

G76: PINDA probe temperature calibration

G80: Cancel Canned Cycle (CNC specific)

G80: Mesh-based Z probe

G81: Mesh bed leveling status

G82: Single Z probe at current location

G83: Babystep in Z and store to EEPROM

G84: UNDO Babystep Z (move Z axis back)

G85: Pick best babystep

G86: Disable babystep correction after home

G87: Enable babystep correction after home

G88: Reserved

G90: Set to Absolute Positioning

G91: Set to Relative Positioning

G92: Set Position

M31: Output time since last `M109` or SD card start to serial