G-commands

G0: Rapid move

G1: Controlled *(linear) move

G2: Clockwise arc move

G3: Counter-clockwise arc move

G4: Pause the machine for a period of time, in milliseconds or seconds

G10: (P parameter with R or S parameter) Sets active and standby tool temperatures

G10: (XYZUVWABC and L parameters) Sets tool offset or coordinate system origin (absolute or relative current position) for specific tool

G10: (no parameters) Retracts filament then performs any zlift/hop according to settings of M207

G11: Unretracts/recovers filament after undoing any zlift/hop according to settings of M207

G17: Sets XY as the active plane for interpreting the tool path of an arc (G2 or G3)

G18: Sets XZ as the active plane for interpreting the tool path of an arc (G2 or G3)

G19: Sets YZ as the active plane for interpreting the tool path of an arc (G2 or G3)

G20: Units from this command onwards are in inches

G21: Units from this command onwards are in millimeters

G28: Move all axes, or the specified ones, to establish a known position for them, for example by moving an axis motor until an endstop switch is triggered

G29: Uses a Z probe to measure the bed height at 4 or more points to determine its tilt and overall flatness, then enables mesh compensation so that the nozzle will remain parallel to the bed

G30: Uses a Z probe to measure bed height at a single point

G31: Sets Z probe parameters or reports status

G32: Runs macro file bed.g. This macro can be used to probe the bed and then perform auto calibration of a delta printer, perform bed levelling by moving the Z leadscrews independently, or display the manual corrections needed to the bed levelling screws.

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

G53: Causes all coordinates in movement commands on the remainder of the current line of GCode to be interpreted as machine coordinates, ignoring any coordinate offset of the workplace coordinate system currently in use, and also ignoring any tool offsets

G54: selects coordinate system 1

G55: selects coordinate system 2

G56: selects coordinate system 3

G57: selects coordinate system 4

G58: selects coordinate system 5

G59: selects coordinate system 6

G59.1: selects coordinate system 7

G59.2: selects coordinate system 8

G59.3: selects coordinate system 9

G60: Saves current position to slots 0, 1 or 2

G90: All coordinates from this command onwards are absolute, relative to the origin of the machine

G91: All coordinates from this command onwards are relative to the last position.

G92: Sets position of axes by manually specifying values for the axis positions

M0: After finishing any moves left in buffer, runs either cancel.g or stop.g, then sets motors to idle and turns heaters off (unless specified not to)

M1: After finishing any moves left in buffer, runs either cancel.g or sleep.g, then turns off all motors and heaters

M3: In CNC mode turns on spindle clockwise, in Laser mode turns on laser power

M4: Turns on spindle counterclockwise

M5: In CNC mode turns off spindle, in Laser mode turns off laser power

M17: Enables all stepper motors when used without parameters, or use axes parameters to enable selectively

M18: Disables all stepper motors when used without parameters, or use axes parameters to enable selectively

M20: Lists files on the SD card. Use parameters to list files in subdirectories or on secondary SD card

M21: 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.

M22: 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: The specified file is selected ready for printing.

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.

M25: The machine pauses printing at the current position within the file.

M26: Set the file offset in bytes from the start of the SD card file selected by M23.

M27: Reports the number of bytes processed in the format bytes processed / bytes total in file

M28: The specified file 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: File opened by M28 command is closed, and all subsequent commands sent to the machine are executed as normal.

M30: The specified file is deleted.

M32: The specified file is selected from the SD card and starts printing. Does the same as M23 and M24.

M36: Returns information for the specified SD card file in JSON format.

M37: Enters/leaves simulation mode, or runs the specified file in simulation mode allows the electronics to compute an accurate printing time, taking into account the maximum speeds, accelerations etc. that are configured.

M38: Used to compute a hash of a file on the SD card and returns a hexadecimal string which is the SHA1 of the file.

M39: Returns information about the SD card in the specified slot in the requested format.

M42: Switches a general purpose I/O pin.

M73: Generated by some slicers to inform the firmware about the state of the print so that it can provide a better estimate of the remaining print time.

M80: Turns on the ATX power supply from standby mode to fully operational mode using the power supply control pin on the External 5V header.

M81: Turns off the ATX power supply. Counterpart to M80.

M82: Makes the extruder interpret extrusion as absolute positions.

M83: Makes the extruder interpret extrusion values as relative positions.

M84: Stop the stepper motor idle hold on all axes and extruder.

M92: Allows programming of steps per mm for motor drives.

M98: Runs the macro in the specified file.

M99: Returns from an M98 call. This is not required to return from the end of a macro and the macro naturally returns at the end of file.

M101: Same behaviour as G11 (unretract). Supported for compatibility with Simplify3D.

M102: Command ignored as it is unnecessary in RRF. Supported for compatibility with Simplify3D.

M103: Same behaviour as G10 without parameters (retract). Supported for compatibility with Simplify3D.

M104: Sets the active and standby temperature of the current or specified tool to the temperature specified, and returns control to the host immediately (i.e. before that temperature has been reached by the extruder).

M105: Reports the current and target temperatures of all active heaters.

M106: Sets fan parameters and turns them on and off.

M107: Deprecated in RepRapFirmware. Use M106 S0 instead.

M108: Breaks out of an M109 or M190 wait-for-temperature loop, continuing the print job.

M109: Sets extruder temperature and waits until within 2.5°C of target.

M110: Sets the current line number in the running Gcode file.

M111: Enables or disables debugging features, for the module number specified by the P parameter.

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 or power cycling the board.

M114: Reports the X, Y, Z and E (and U, V, W, A, B, C if configured) coordinates to the host. The coordinates reported are those at the end of the last completed move.

M115: Request the Firmware Version and Capabilities of the current microcontroller.

M116: waits for all temperatures, or a specified tool or heater's temperature, and other slowly-changing variables to arrive at their set values.

M117: Causes the given message to be shown in the status line on an attached LCD or if no LCD is attached, this message will be reported on the web interface.

M118: Used to send messages to a specific target: USB, PanelDue/UART, HTTP or Telnet

M119: Returns the current state of the configured endstops.

M120: Push the state of the machine onto a stack. Called automatically when a macro file is run.

M121: Recover the last state pushed onto the stack.

M122: Reports firmware diagnostic information.

M135: Deprecated. Sets the PID to measure temperatures and calculate the power to send to the heaters

M140: Configures heaters as bed heaters and sets active and standby temperatures, turns heaters on and returns control to the host immediately.

M141: Configures heaters as chamber heaters and sets active and standby temperatures, turns heaters on and returns control to the host immediately.

M143: Configures heater maximum temperatures. When the temperature of the heater exceeds this value a heater error will be triggered.

M144: Switch the bed to its standby temperature.

M150: Sets RGB colours and brightness for Dotstar and NeoPixel LEDs.

M190: Sets the temperature of the bed and waits for the temperature to be reached.

M191: Set the temperature of the build chamber and waits for the temperature to be reached.

M200: Enables or disables volumetric extrusion per extruder, and sets the filament diameter.

M201: Sets the acceleration that axes can do in mm/second^2 for print moves.

M203: Sets the maximum feedrates that axes can do in mm/min.

M204: Sets the maximum acceleration for printing and/or travel moves as a whole.

M205: Sets the maximum allowable speed change (sometimes called 'jerk speed') of each motor when changing direction, in mm/sec.

M206: Deprecated. The specified values will be subtracted from the coordinates given in G0, G1 and related commands.

M207: Sets the retract length used by the G10 and G11 firmware retraction and reprime commands.

M208: The specified values set the software limits for axis travel in the specified direction. The axis limits are also the positions assumed when an endstop is triggered.

M220: Sets the speed factor override percentage.

M221: Sets extrude factor override percentage for the specified extruder.

M226: Initiates a pause in the same way as if the pause button is pressed, except that execution of all prior GCode commands in the same input stream is completed first.

M260: Send and/or receive data over the i2c bus.

M261: Deprecated. Requests data over the i2c bus.

M280: Set absolute servo position.

M290: Applies the specified additional offset to the Z coordinate for all future moves, and to apply the offset to moves that have already been queued if this can be done.

M291: Provides a more flexible alternative to M117, in particular messages that time out, messages that suspend execution until the user acknowledges them, and messages that allow the user to adjust axis positions before acknowledging them.

M292: Sent by the user interface when the user acknowledges a message that was displayed because of a blocking M291 command.

M300: Play beep sound via connected LCD, or if no LCD, via web interface.

M301: Sets Proportional (P), Integral (I) and Derivative (D) values for hot end.

M302: Disables temperature restrictions on extrusion and retraction, or sets these temperatures.

M303: This command computes the process model parameters (see M307), which are in turn used to calculate the PID constants.

M304: Sets Proportional, Integral and Derivative values for bed.

M305: Sets or reports the parameters for each temperature sensor. If using RRF 3, use M308 instead.

M307: Sets or reports the parameters for the heating process model, for each heater.

M308: Sets or reports the parameters for each connected sensor. If using RRF 2, use M305 instead.

M309: Sets or reports the feedforward PWM setting for a specified tool. Supported in RepRapFirmware v3.4 and later

M350: Sets or reports the microstepping mode for each defined axis.

M374: Saves the mesh grid parameters and height map into the specified file, or the default file heightmap.csv if no filename was specified.

M375: Loads the default grid (without parameters), or grid specified by filename. Equivalent to G29 S1.

M376: When using bed mesh compensation, specifies the height over which bed compensation tapers. Full bed compensation is applied at Z=0, tapering down to no bed compensation by the specified height.

M400: Finishes all current moves and and thus clears the buffer. Same as G4 P0.

M401: Runs macro file sys/deployprobe#.g (where # is the specified probe number) if it exists, otherwise sys/deployprobe.g if it exists.

M402: Runs macro file sys/retractprobe#.g (where # is the specified probe number) if it exists, otherwise sys/retractprobe.g if it exists.

M404: Sets filament width and nozzle diameter. Used for slicers that report filament volume, from which RRF calculates length for job status reporting.

M408: Reports system parameters in a JSON-style response. Different levels of reporting are available.

M409: Reports parameters from the Object Model of RepRapFirmware, which includes firmware configuration, Duet hardware information, and the state of the machine that RRF is controlling.

M450: Report mode the machine is running; FFF (ie 3D printer), Laser or CNC.

M451: Switches to Fused Filament Fabrication mode for filament printing.

M452: Switches to laser mode and configures laser parameters.

M453: Switches to CNC mode.

M470: Creates a new directory on the SD-Card, using the specified (or default) path.

M471: Rename or move a file or directory.

M486: Used to identify objects on the print bed and selectively cancel them if necessary.

M500: Saves current parameters to the sys/config-override.g on the SD card.

M501: Set the active parameters to those stored in sys/config-override.g on the SD card.

M502: Sets all machine parameters to the values defined in config.g, ignoring the config-override.g file so that any changes that were saved by M500 are not applied.

M503: Reports the current print settings stored in sys/config.g.

M505: Following this command, files that would normally be fetched from /sys/ (for example, homing files and system macro files in RepRapFirmware) are fetched from the specified folder instead. This command can be used to allow multiple configurations to be maintained easily.

M540: Sets the MAC address of the machine, creating a unique identifier for the Duet on the network.

M550: Sets the name of the machine. Also used for mDNS local network discovery.

M551: Sets the password for network access to the machine.

M552: Sets the IP address of the machine and enables/disables network access.

M553: Sets the network mask of the machine.

M554: Sets the Gateway IP address of the machine.

M555: Sets the firmware to a mode where its input and (especially) output behaves similar to other established firmware.

M556: This tells firmware the tangents of the angles between the axes of the machine. Obtained by printing then measuring a test part.

M557: Defines the grid used by G29 to create a bed height mesh.

M558: Defines the Z probe type and parameters of operation.

M559: Upload file, with parameters for file size and CRC-32 check. Was used in RRF 3.1 and earlier to upload files to /sys.

M560: Upload file, as M559, with terminating string. Was used in RRF 3.1 and earlier to upload files to /www.

M561: Cancels any bed-plane fitting as the result of probing (or anything else) and returns the machine to moving in the user's coordinate system.

M562: If the heater has switched off and locked because it has detected a fault, this will reset the fault condition and allow you to use the heater again.

M563: Defines a tool with the specified parameters.

M564: Allows or forbids movement of axes that have not been homed and/or limits movement to within axis boundaries.

M566: Sets the maximum allowable speed change (sometimes called 'jerk speed') of each motor when changing direction.

M567: Sets the mix ratio for a tool. When a move command contains a single E value but the current tool uses multiple extruders, each extruder will extrude the amount specified in the E parameter times the mix value for that tool.

M568: Set tool parameters to values specified. Active and standby temperatures, spindle RPM and heater state.

M569: Sets stepper driver parameters to values specified. Parameters include motor direction, enable, minimum step pulse width, interval, direction setup and hold time, and other stepper driver features.

M569.1: Set the configuration parameters of a closed loop driver. Supported for drivers attached to Duet 3 Expansion 1HCL board.

M569.2: Reads the specified register and returns the value of that register, or if a value is specified, that value is written to the specified register.

M569.3: Report a current motors encoder position to the host in units of arc degrees (1/360'ths of turns), relative to set reference position.

M569.4: Tell one or more motor drivers to apply a specified torque regardless of position.

M569.5: Collect performance data from a drive whilst in closed loop mode.

M569.6: Perform a runtime tuning manoeuvre with a closed loop drive.

M569.7: Specifies the output port that controls a brake.

M570: Sets time and temperature parameters for the detection of heater anomalies.

M571: Turns on the defined output pin whenever extrusion is being done, and turns it off when the extrusion is finished.

M572: Sets the pressure advance coefficient for the specified extruder.

M573: Gives a running average (usually taken over about five seconds) of the PWM to the specified heater.

M574: Defines the pin name, position and type of endstop or sensor that the machine has for an axis.

M575: Sets the communications parameters of the serial comms channel specified.

M576: Sets the communications parameters of the SPI channel.

M577:Wait for a specified endstop switch or input to be triggered.

M578: Fires specified inkjet head using the specified bit pattern. Not enabled in firmware by default.

M579: Scales the specified axes by the given amount, to get prints exactly the right size.

M580: Enables/disables Roland mode, which changes output to Roland Machine Language (RML).

M581: Defines parameters for external triggers.

M582: Checks state of specified trigger.

M584: Assigns stepper driver numbers to axes, and defines axes as linear or rotational.

M585: Allows the current tool's offset to be updated by driving it into a given endstop, on machines with at least one tool probe.

M586: Enables/disables network protocols (HTTP, HTTPS, FTP, Telnet, SSH) and configures parameters.

M587: Adds WiFi network SSID and password to the remembered networks list. Optionally sets IP address, gateway, netmask, DNS server and country code.

M588: Removes the specified network SSID from the remembered networks list.

M589: Configures the Duet to allow WiFi devices to connect directly, as an access point. Settings for SSID, password, IP address and optionally the WiFi channel.

M591: Configures filament sensing for the specified extruder. The sensor may be a simple filament presence detector, a device that measures movement of filament, or both.

M592: Nonlinear extrusion is a feature that compensates for the increased back pressure from the hot end as extrusion speed increases.

M593: Configures the parameters for input shaping, which is used to reduce ringing (also called ghosting).

M594: Height following mode allows the Z position of the tool to be controlled by a PID controller using feedback from a sensor. See also M951.

M595: Allows the movement queue parameters to be adjusted so that the queue can be lengthened if necessary, or kept short if a long movement queue is not needed and there are other demands on RAM.

M600: Behaves like M226 except that if macro file filament-change.g exists in /sys on the SD card, it is run in preference to pause.g.

M650: Sent by nanoDLP to execute a peel move after exposing a layer.

M651: Sent by nanoDLP to execute a peel move after exposing a layer.

M665: Set the delta calibration variables, including diagonal rod length, delta radius, printing radius, homed nozzle height and tower postion correction.

M666: Sets delta endstops and bed tilt adjustments.

M667: Deprecated. Selects CoreXY or CoreXZ mode. Use M669.

M669: Sets kinematic type (cartesian, CoreXY, CoreXZ, Delta, SCARA, Hangprinter, polar etc) and any extra kinematic parameters.

M670: Sets the port switching time advance for the specified pins.

M671: Sets the positions of 2 to 4 leadscrews or bed levelling screws used to raise/lower the bed or gantry. This allows the firmware to perform bed levelling by probing the bed and either automatically moving the leadscrews, or reporting the adjustment to be made. See the G32 command.

M672: Sends configuration data to programmable Z probes such as the Duet3D Smart Effector, for example to set the sensitivity.

M673: Aligns a plane that is mounted on a rotary axis. To make use of this code it is required to take two probe points via G30 P first.

M674: Determines the Z center point of a stash that is mounted on a rotary axis. This code is yet to be implemented.

M675: Finds the center of a cavity that can be measured using the configured axis endstop.

M701: Loads the specified material in the current active tool.

M702: Unloads the previously loaded filament from the current tool.

M703: After assigning a filament to a tool, this command may be used to run /filaments/<filament name>/config.g to set parameters like temperatures, extrusion factor, retract distance.

M750: Used as an OEM extension to enable scanner functionality in the firmware.

M751: Used to turn on communication between the 3D printing and a 3D scanner board, when attached to the USB port.

M752: Initiates a new 3D scan and uploads it to the board's SD card

M753: Instruct the attached 3D scanner to cancel the current operation.

M754: Calibrates the attached 3D scanner.

M755: Sends the ALIGN ON/OFF command the attached 3D scanner.

M756: Sends the SHUTDOWN command the attached 3D scanner.

M851: Implemented for backwards compatibility with other firmware. It sets the Z probe trigger in the same way as G31 Z-nn (note the sign reversal).

M905: Updates the machine's local date and time or reports them if no parameters are specified.

M906: Sets the peak currents to send to the stepper motors for each axis.

M911: When the supply voltage falls below the auto save threshold while a print from SD card is in progress, all heaters will be turned off, printing will be stopped immediately (probably in the middle of a move), the position saved, and the specified command string executed.

M912: Adjusts the temperature reading offset of the MCU's on-chip temperature sensor.

M913: Sets motor currents to a specified percentage of their normal values.

M914: This command is supported in the Alligator build of RepRapFirmware only.

M915: Sets the stall detection parameters and optionally the low-load current reduction parameters for TMC2660, TMC2130 or similar driver chips.

M916: If the last print was not completed and resume information has been saved (either because the print was paused or because of a power failure), then the heater temperatures, tool selection, head position, mix ratio, mesh bed compensation height map etc. are restored from the saved values and printing is resumed.

M917: Sets the percentage of the current set by M906 that is to be used when the motor is stationary but not idle, or moving very slowly.

M918: Configures RepRapFirmware for a directly-connected LCD such as a 12864 or compatible display.

M929: When event logging is enabled, important events such as power up, start/finish printing and (if possible) power down will be logged to the SD card.

M950: Used to create heaters, fans, spindles and GPIO ports, and to configure parameters.

M951: Height following mode allows the Z position of the tool to be controlled by a PID controller using feedback from a sensor. See also M594.

M952: Expansion boards without address selection switches use a default address. This command can change the address, and the default data rate.

M953: Allows the bandwidth of the CAN bus to be optimised, by increasing the data rate during transmission of CAN-FD data packets by means of the BRS (bit rate switch) feature.

M954: Used to reconfigure the board it is executed on as a CAN-connected expansion board.

M955: Configures an accelerometer with specified parameters such as pins, orientation, sample rate, resolution, SPI clock frequency.

M956: Causes the specified number of accelerometer samples to be collected and saved to a .csv file on the internal SD card.

M997: Triggers a firmware update if the necessary files are present on the SD card. Can update firmware on Duet mainboards, Duet 3 CAN-connected expansion boards, WiFi modules and PanelDue.

M998: Request a resend of the specified line of Gcode.

M999: Restarts the firmware using a software reset. Can also reboot attached SBC.