Difference between revisions of "Gcode"

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[[Category:HowTo]]
 
{| align="right"
 
| __TOC__
__NOTOC__
 
{| border="1" class="wikitable" style="float:right"
! Main Sections
|-
| [[#What_is_GCode.3F | What is GCode?]]
|-
| [[#Understanding_the_T | Understanding the T]]
|-
| [[#Most_Commonly_Edited_Gcodes | Most Commonly Edited GCodes]]
|-
| [[#Controlling_Movement | Controlling Movement]]
|-
| [[#Controlling_Temperature | Controlling Temperature]]
|-
| [[#Controlling_Material_Flow | Controlling Material Flow]]
|-
| [[#Controlling_Position_and_Offsets | Controlling Position and Offsets]]
|-
| [[#Controlling_Lasers_and_UV_Pens | Controlling Lasers and UV Pens]]
|-
| [[#Controlling_Spindles_and_Lathes | Controlling Spindles and Lathes]]
|-
| [[#Reporting_and_Diagnostics | Reporting and Diagnostics]]
|-
| [[#Controlling_Aux_Devices | Controlling Aux Devices]]
|-
| [[#Other_Commands| Other Commands]]
|-
| [[#Gcode_Header| Gcode Headers]]
|-
| [[#Gcode_Footer| Gcode Footer]]
|-
|}
|}


Everything your Hyrel 3D Printer does is done by executing GCode, whether you are aware of it or not. While most of it is specified in your gcode file, some of it is sent to the printer before the file is executed; this includes setting flow rates, prime/unprime (advance/retract) settings, and default speeds.
Note: Codes in Black are supported on version 4 and above (v4+), and most likely on version 3 as well.


Please note that there are many flavors of gcode, and while most have the same (or very similar) G0-G100 and M0-M100, codes above 100 are largely nonstandard.
<span style="color:darkorange;">Note: Codes in Orange are supported on version 5 and above (v5+) only.
 
Note that Repetrel versions prior to 4.2 can not properly process gcode with "tab" characters - tab was a reserved character.


Below, I will explain those gcodes about which we get the most questions.
== What is GCode? ==


== '''Understanding the T''' ==
'''Everything your Hyrel 3D Printer does is done by executing GCode''', whether you are aware of it or not.


The T command (lines starting with a '''T''') and the T variable in M commands (lines starting with an '''M''') use different addressing. And each address has a resistor value to identify it. Here's how they're used:
Every button you press on the screen sends a gcode to the printer.


=== '''T Commands''' ===
When you start a job (by pressing "Print"), the settings from your head are sent to the printer (including flow and prime/unprime values); then the gcode file is sent, line by line, to the printer.


A '''T command''' starts with a T, and indicates a tool change, or a change of focus from one tool position (print head) to another. A T command also invokes the variables (nozzle diameter, motor pulses per unit volume, flow multiplier, prime and unprime values, and X/Y(/Z) offsets) which were sent from Repetrel to the Motion Controller at job start. These are numbered 0-3 (or 4) from left to right. Examples:
All parameters are persistent, so once they are set, they will remain in place unless or until you (or the file) sends a new, updated value (including setting to 0).


{| border="1" class="wikitable" style="width:50%"
Please note that there are many flavors of gcode, and while most have the same (or very similar) G0-G100 and M0-M100, codes above 100 are largely nonstandard.
|
 
'''T0''' ; ''tool change to the first (far left) tool position, including variables''<br>
''It is important to remember that different variable letters can have different meanings, depending on the G- or M- code being used'' - '''''especially the T value.'''''
'''T1''' ; ''tool change to the second tool position, including variables''<br>
'''T2''' ; ''tool change to the third tool position, including variables''<br>
'''T3''' ; ''tool change to the fourth tool position, including variables''<br>
'''T4''' ; ''tool change to the fifth tool position, including variables''<br>
''*See chart below for more options''
|-
|}


=== '''T Variables''' ===
The Table of Contents to the right lists the main categories of Gcodes.


A '''T variable''' is a parameter (sometimes optional) sent as part of an '''M command''', starting with an M, and indicates which tool position these settings should be applied to. If left out, these settings are applied to the head which currently has focus (is printing). On Yoke 1, these are labeled 11-14, left to right, with 10 being a wildcard, sending this command to every head on Yoke 1. Examples:
Below is a table listing them in numerical order (click '''Expand''' to expand):


{| border="1" class="wikitable" style="width:65%"
{| border="1" class="wikitable mw-collapsible mw-collapsed"
! style="width:20%" | M221 T11 S1.0 P.58 W1.6 Z0.3
|+ Code_Chart
| style="width:50%" | ''; apply flow settings (M221) to the head in the first slot (T11) a flow modifier of 1.0 (S1.0), pulses per 10 nanoliters of 0.58 (P0.58), nozzle width of 1.6mm (W1.6), and a layer thickness of 0.3 (Z0.3)''<br>'''''NOTE:''''' ''we declare layer thickness on each layer with the M756 command.''
! Code
! Supported
! Brief Description
|-
! [[#G0_Rapid_Move|G0]]
| Yes || Rapid Move
|-
|-
! M104 T14 S435
! [[#G1_Working_Move|G1]]
| ''; apply temperature (M104) to the head in the fourth slot (T14) to 435C (S435).'
| Yes || Working Move
|-
|-
! M106 S25
! [[#G2_Clockwise_Arc|G2]]
|''; set cooling fan (M106) to 25% power (S25); since no head is specified, this will be sent to the head currently in use.''
| Yes || Clockwise Arc
|-
|-
! M104 T10 S0
! [[#G2.1_Spiral_CW_Arc1|G2.1]]
| ''; apply temperature (M104) to all heads on yoke 1 (T10) to 0C (S0).''
| Yes || Spiral CW Arc<sup>1</sup>
|-
! [[#G2.2_Spiral_CW_Arc2|G2.2]]
| Yes || Spiral CW Arc<sup>2</sup>
|-
! [[#G2.3_3-Space_CW_Arc|G2.3]]
| Yes || 3-Space CW Spiral Arc
|-
! [[#G3_Counterclockwise_Arc|G3]]
| Yes || Counterclockwise Arc
|-
! [[#G3.1_Spiral_CCW_Arc1</sup>|G3.1]]
| Yes || Spiral CCW Arc<sup>1</sup>
|-
! [[#G3.2_Spiral_CCW_Arc2|G3.2]]
| Yes || Spiral CCW Arc<sup>2</sup>
|-
! [[#G3.3_3-Space_CCW_Arc|G3.3]]
| Yes || 3-Space CCW Spiral Arc
|-
! [[#G4_Timed_Pause|G4]]
| Yes || Timed Pause
|-
! [[#G10_UNUSED|G10]]
| ''No'' || ''Absolute E''
|-
! [[#G11_UNUSED|G11]]
| ''No'' || ''Relative E''
|-
! [[#G16_Arc_Plane:_Any|G16]]
| Yes || Arc in Any Plane
|-
! [[#G17_Arc_Plane:_XY|G17]]
| Yes || Arc in XY Plane
|-
! [[#G18_Arc_Plane:_XZ|G18]]
| Yes || Arc in XZ Plane
|-
! [[#G19_Arc_Plane:_YZ|G19]]
| Yes || Arc in YZ Plane
|-
! [[#G20_Set_Units_to_Inches|G20]]
| Yes || Set Units to Inches
|-
! [[#G21_Set_Units_to_Milimeters|G21]]
| Yes || Set Units to Milimeters
|-
! [[#G28_Send_X,_Y_to_Physical_Home|G28]]
| Yes || Send X, Y to Physical Home
|-
! [[#G53_Clear_Offsets|G53]]
| Yes || Clear Offsets
|-
! [[#G54_-_G59_-_Set_Offsets|G54-59]]
| Yes || Set Offsets
|-
! [[#G81_Peck_Drilling|G81]]
| Yes || Peck Drilling
|-
! [[#G90_Absolute_Positioning|G90]]
| Yes || Absolute Positioning
|-
! [[#G91_Relatative_Positioning|G91]]
| Yes || Relatative Positioning
|-
! [[#G92_Reset_Coordinate_Offsets|G92]]
| Yes || Reset Coordinates
|-
! [[#G93_Clear_Coordinate_Offsets|G93]]
| Yes || Reset Coordinates
|-
! [[#M0_Stop_Until_Resume|M0]]
| Yes || Stop Until Resume
|-
! [[#M3_Turn_On_Spindle_.28CW.29|M3]]
| Yes || Spindle On CW
|-
! [[#M4_Turn_On_Spindle_.28CCW.29R|M4]]
| Yes || Spindle On CCW
|-
! [[#M5_Turn_Off_Spindle|M5]]
| Yes || Spindle Off
|-
! [[#M6_Declare_Head_Offsets|M6]]
| Yes || Declare Head Offsets
|-
! [[#M7_Set_Power_On_Aux_1|M7]]
| Yes || Aux 1 On (Mist)
|-
! [[#M8_Set_Power_On_Aux_2|M8]]
| Yes || Aux 2 On (Flood)
|-
! [[#M9_Turn_Off_All_Aux|M9]]
| Yes || All Aux Off
|-
! [[#M17_Engage_Motors|M17]]
| Yes || Engage Motors
|-
! [[#M18_Disengage_Motors|M18]]
| Yes || Disengage Motors
|-
! [[#M30_End_of_Program|M30]]
| Yes || End of Program
|-
! [[#M82_Absolute_E-Values|M82]]
| Yes || Absolute E-Values
|-
! [[#M83_Relative_E-Values|M83]]
| Yes || Relative E-Values
|-
! [[#M84_Disable_Motors|M84]]
| Yes || Disable Motors
|-
! [[#M104_Set_Temp_.28Head.29|M104]]
| Yes || Set Temp (Head)
|-
! [[#M106_Set_Cooling_.2F_Etc.|M106]]
| Yes || Set Cooling / Etc.
|-
! [[#M107_Stop_Cooling_.2F_Etc.|M107]]
| Yes || Stop Cooling / Etc.
|-
! [[#M109_Wait_for_Temp_.28Head.29|M109]]
| Yes || Wait for Temp (Head)
|-
! [[#M116 Wait for Temps (v5+)|M116]]
| <span style="color:darkorange;">v5+ || <span style="color:darkorange;">Pause for All Temps
|-
! [[#M140_Set_Temp_.28Bed.29|M140]]
| Yes || Set Temp (Bed)
|-
! [[#M141_Set_Temp_.28Chamber.29|M141]]
| Yes || Set Temp (Chamber)
|-
! [[#M190_Wait_for_Temp_.28Bed.29|M190]]
| Yes || Wait for Temp (Bed)
|-
! [[#M191_Wait_for_Temp_.28Chamber.29|M191]]
| Yes || Wait for Temp (Chamber)
|-
! [[#M203_Set_G0_Speed|M203]]
| Yes || Set G0 Speed
|-
! [[#M221_Set_Flow_Rate|M221]]
| Yes || Set Flow Rate
|-
! [[#M229_Use_E_Values|M229]]
| Yes || Use E Values
|-
! [[#M253_Turn_On_Lathe_.28CW.29|M253]]
| Yes || Turn On Lathe (CW)
|-
! [[#M254_Turn_On_Lathe_.28CCW.29|M254]]
| Yes || Turn On Lathe (CCW)
|-
! [[#M255_Turn_Off_Lathe|M255]]
| Yes || Turn Off Lathe
|-
! [[#M619_Map_Aux_Port|M619]]
| Yes || Map Aux Port
|-
! [[#M620_Enable_Device|M620]]
| Yes || Enable Device
|-
! [[#M621_Set_Laser_Power|M621]]
| Yes || Set Laser Power
|-
! [[#M623_Duration_Emit|M623]]
| Yes || Duration Emit
|-
! [[#M660_Assign_Tool_Height_Offset|M660]]
| Yes || Set Tool Offsets
|-
! [[#M670_Activate_Y-Arm_.28Gantry.29_Lights|M670]]
| Yes || Enable Y-arm (Gantry) Lights
|-
! [[#M671_Activate_X-Arm_.28Danger.29_Lights|M671]]
| Yes || Activate X-Arm (Danger) Lights
|-
! [[#M672_Set_Y-arm_Light|M672]]
| Yes || Set Y-arm Light
|-
! [[#M674_Use_Turbo_Mode|M674]]
| Yes || Rapid G1 Moves
|-
! [[#M675_Activate_Response_LEDs|M675]]
| Yes || Activate Response LEDs
|-
! [[#M676_Activate_Recirc._Fan|M676]]
| Yes || Activate Recirc. Fan
|-
! [[#M677_Activate_Buzzer|M677]]
| Yes || Activate Buzzer
|-
! [[#M678_Activate_Laser_X-hair|M678]]
| Yes || Activate Laser X-hair
|-
! [[#M679_Activate_Vacuum|M679]]
| Yes || Activate Vacuum
|-
! [[#M684_Activate_Exhaust|M684]]
| Yes || Activate Exhaust
|-
! [[#M685_Set_Power_on_Air|M685]]
| Yes || Activate Air
|-
! [[#M689_Activate_Ext._Head|M689]]
| Yes || Activate Ext. Head
|-
! [[#M701_Set_Head_Reporting|M701]]
| Yes || Set Head Reporting
|-
! [[#M702_-_M704_Cloning_Heads|M702]]
| Yes || Establish Clone Squad
|-
! [[#M702_-_M704_Cloning_Heads|M703]]
| Yes || Add to Clone Squad
|-
! [[#M702_-_M704_Cloning_Heads|M704]]
| Yes || Remove from Clone Squad
|-
! [[#M718_Stop_Logging_to_File|M718]]
| Yes || Stop Logging to File
|-
! [[#M719_Start_Logging_to_File|M719]]
| Yes || Start Logging to File
|-
! [[#M721_Set_Unprime_Values|M721]]
| Yes || Set Unprime Values
|-
! [[#M722_Set_Prime_Values|M722]]
| Yes || Set Prime Values
|-
! [[#M723_Set_Manual_Flow|M723]]
| Yes || Set Manual Flow
|-
! [[#M728_Set_Motor_Current_Boost|M728]]
| Yes || Set Motor Current Boost
|-
! [[#M756_Set_Height_for_Flow|M756]]
| Yes || Set Height for Flow
|-
! [[#M772_Reset_All_Metrics|M772]]
| Yes || Reset All Metrics
|-
! [[#M773_Generate_Basic_Report|M773]]
| Yes || Generate Basic Report
|-
! [[#M783_Tie_Aux_to_Extrusion|M783]]
| Yes || Tie Aux to Extrusion
|-
! [[#M790_New_Layer_Actions|M790]]
| Yes || New Layer Actions
|-
! [[#M791_Snap_Image|M791]]
| Yes || Snap Image
|-
! [[#M792_Execute_Action|M792]]
| Yes || Execute Action
|-
|-
|}
|}


=== '''Chart - Standard Heads''' ===
=== '''Header Explained''' ===
 
Please visit [[GCode Header]] for a detailed description of our standard GCode headers.
 
 
== '''Understanding the T''' ==
 
A '''T Command''' changes which head has the focus of the motion controller and is executing the gcode. Each of our printers have at least four tool positions.
 
The use of T commands and variables changes greatly (for the better) with the jump to version 5 from the previous versions.
 
Please see '''[[T_v4]]''' for the old way (v4 and earlier), where the nomenclature for '''T Commands''' and the '''T Variables''' were not the same.
 
<span style="color:darkorange;">Please see '''[[T_v5]]''' for the new way (v5 and later), where the nomenclature for '''T Commands''' and the '''T Variables''' are the same.
 
We will use a '''T#''' in the descriptions below to avoid confusion; please find the correct designation for your version by following the links above.
 
== '''Most Commonly Edited Gcodes''' ==
 
Below are the gcodes users should first become familiar with.
 
=== Tool Changes ===
 
'''T0''' tells the printer to perform extrusion (or emission) from the tool in the far left position<br>
'''T1''' tells the printer to perform extrusion (or emission) from the tool in the second-from-left position<br>
'''T2''' tells the printer to perform extrusion (or emission) from the tool in the third-from-left position<br>
'''T3''' tells the printer to perform extrusion (or emission) from the tool in the fourth-from-left position<br>
'''T4''' tells the printer to perform extrusion (or emission) from the tool in the fifth-from-left position (if available)
 
=== Movement ===
 
'''G0''' for "rapid", non-printing moves<br>
'''G1''' for "working speed" moves, which may be printing (with E value) or non-printing (no E value)
 
=== Temperature ===
 
'''M104''' to set head temp<br>
'''M109''' to set and wait for head temp<br>
'''M140''' to set bed temp<br>
'''M190''' to set and wait for bed temp
 
=== Others ===
 
Which commands to learn from here will depend on what the user intends to do with the equipment.


{| border="1" class="wikitable" style="width: 75%; text-align: center;"
== '''Controlling Movement''' ==
|+ T Commands and T Variables for Standard Heads
 
! rowspan="2" style="width: 10%;" | Tool Position
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Primary Yoke
! colspan="3" | Controlling Movement
! colspan="3" | Secondary Yoke ''*if present''
|-
|-
| style="width: 10%;" | '''T Command''' <br> ''for toolchanges''
! Code
| style="width: 10%;" | '''T Variable''' <br> ''to assign values''
! Supported
| style="width: 10%;" | '''Resistance''' <br> ''in Ω''
! Brief Description
| style="width: 10%;" | '''T Command''' <br> ''for toolchanges''
| style="width: 10%;" | '''T Variable''' <br> ''to assign values''
| style="width: 10%;" | '''Resistance''' <br> ''in Ω''
|-
|-
! All Slots
! [[#G0_Rapid_Move|G0]]
| n/a
| Yes || Rapid Move
| M# T10
| n/a
| n/a
| M# T20
| n/a
|-
|-
! First Slot
! [[#G1_Working_Move|G1]]
| T0
| Yes || Working Move
| M# T11
| 2,200
| T5
| M# T21
| 1,500
|-
|-
! Second Slot
! [[#G2_Clockwise_Arc|G2]]
| T1
| Yes || Clockwise Arc
| M# T12
| 3,300
| T6
| M# T22
| 2,700
|-
|-
! Third Slot
! [[#G2.1_Spiral_CW_Arc1|G2.1]]
| T2
| Yes || Spiral CW Arc<sup>1</sup>
| M# T13
| 6,800
| T7
| M# T23
| 3,900
|-
|-
! Fourth Slot
! [[#G2.2_Spiral_CW_Arc2|G2.2]]
| T3
| Yes || Spiral CW Arc<sup>2</sup>
| M# T14
| 4,700
| T8
| M# T24
| 5,600
|-
|-
! Fifth Slot <br> ''*if present''
! [[#G2.3_3-Space_CW_Arc|G2.3]]
| T4
| Yes || 3-Space CW Spiral Arc
| M# T15
| 10,000
| T9
| M# T25
| 8,200
|-
|-
|}
! [[#G3_Counterclockwise_Arc|G3]]
 
| Yes || Counterclockwise Arc
=== '''Chart - Special Addresses''' ===
|-
 
! [[#G3.1_Spiral_CCW_Arc1</sup>|G3.1]]
{| border="1" class="wikitable" style="width: 40%; text-align: center;"
| Yes || Spiral CCW Arc<sup>1</sup>
|+ T Commands and T Variables for Special Addresses
|-
! rowspan="2" style="width: 20%;" | Tool
! [[#G3.2_Spiral_CCW_Arc2|G3.2]]
! colspan="3" | Yoke Not Applicable
| Yes || Spiral CCW Arc<sup>2</sup>
|-
! [[#G3.3_3-Space_CCW_Arc|G3.3]]
| Yes || 3-Space CCW Spiral Arc
|-
! [[#G4_Timed_Pause|G4]]
| Yes || Timed Pause
|-
|-
| style="width: 20%;" | '''T Command''' <br> ''for toolchanges''
! [[#G16_Arc_Plane:_Any|G16]]
| style="width: 20%;" | '''T Variable''' <br> ''to assign values''
| Yes || Arc in Any Plane
| style="width: 20%;" | '''Resistance''' <br> ''in Ω''
|-
|-
| ''Presently Unused''
! [[#G17_Arc_Plane:_XY|G17]]
| T10
| Yes || Arc in XY Plane
| M# T16
| 1,000
|-
|-
! 3 Phase Spindle
! [[#G18_Arc_Plane:_XZ|G18]]
| T11
| Yes || Arc in XZ Plane
| M# T26
| 560
|-
|-
! CO2 Laser
! [[#G19_Arc_Plane:_YZ|G19]]
| T12
| Yes || Arc in YZ Plane
| M# T41
| 22,000
|-
|-
! Bed 1
! [[#M0_Stop_Until_Resume|M0]]
| T91
| Yes || Stop Until Resume
| M140
| 0
|-
|-
! Bed 2
! [[#M203_Set_G0_Speed|M203]]
| T92
| Yes || Set G0 Speed
| M?
| 12,000
|-
|-
! Chamber
! [[#M674_Use_Turbo_Mode|M674]]
| n/a
| Yes || Rapid G1 Moves
| M141
| ?
|-
|-
|}
|}


== '''Controlling Movement''' ==
=== G0 Rapid Move ===
 
G0 is a rapid positioning move. It is not a ''working'' move, meaning that your equipment will not be printing, milling, lasering, or doing any other active work during a G0 move. G0 is intended to move your tool to a new position, where the work will happen. Accordingly, G0 movement speeds are set in your configuration settings, rather than being specified in your gcode file.
 
Special note: a G0 command will take an F variable as a nonpersistent, one-time velocity setting.
 
'''Usage'''
  G0 Xn Yn Zn An Bn Fn
 
'''Parameters'''
 
  '''Xn''' is the new X position to move to
  '''Yn''' is the new Y position to move to
  '''Zn''' is the new Z position to move to
  '''An''' is the new A position to move to
  '''Bn''' is the new B position to move to
  '''Fn''' is the feed rate or travel speed to use. Only on '''G0''' is it not persistent
 
''Any values not stipulated remain unchanged.''
 
Note: These positioning values can be absolute or relative to the last position; which depends on whether you are running on '''G90''' absolute positioning or '''G91''' relative positioning. Absolute is the default and should be used in the majority of cases.
 
Note: All Hyrel printers have built-in support for three axes. Hyrel model 16A and EHR printers may be expanded to five; an additional axis on each machine is reserved for E values.
 
'''Example'''


=== G0 Rapid Move ===
  G0 X50 Y75 Z10


G0 is a rapid positioning move. It is not a ''working'' move, meaning that your equipment will not be printing, milling, lasering, or doing any other active work during a G0 move. G0 is intended to move your tool to a new position, where the work will happen. Accordingly, G0 movement speeds are set in your configuration settings, rather than being specified in your gcode file (although you ''could'' specify this with the [[#M203 Set G0 Speed|M203]] command). A G0 command will not make use of an F (feed rate, or movement speed) value, even if specified.
This command is decoded and executed by the printer as follows:


* X is the new X position to move to;
* '''G0''' (rapid (nonprinting) straight line move from the current location to)
* Y is the new Y position to move to; and
** '''X50''' (50mm in the X)
* Z is the new Z position to move to.
** '''Y75''' (75mm in the Y)
** '''Z10''' (10mm in the Z)
** (no change in A)
** (no change in B)
** (no change in F, use settings-specified feed rate)
<br>
<hr>


=== G1 Working Move ===
=== G1 Working Move ===


G1 is a working move, during which you may be printing, milling, lasering, or doing other active work - provided an E (extrude) value is given; the value of Extrusion rate E will be ignored, but E will trigger a working or printing move. G1 moves are made at the rate indicated by the F (feed rate) value; if no F value is specified, the last F value set will be used. Small non-working moves are often generated by a G1 move with no E value; these will use the specified (or inherited) F value, rather than using the G0 speed.
G1 is a working move, during which you may be printing, milling, lasering, or doing other active work - provided an E (extrude) value is given. In native mode (if you don't add '''M229 E1 Dn''', the value of Extrusion rate E will be ignored, but E will trigger a working or printing move. In E-value mode (by adding '''M229 E1 Dn''', the slicer-determined E value will be used to control material flow. G1 moves are made at the rate indicated by the F (feed rate) value; if no F value is specified, the last F value set will be used. See '''[[#M229_Use_E_Values|M229]]''' for more details.


* X is the new X position to move to;
'''Usage'''
* Y is the new Y position to move to;
  G1 Xn Yn Zn An Bn Fn Sn
* Z is the new Z position to move to; and
* F is the Feed rate (travel speed) at which to execute this move.
* E indicates a working or printing move; ''<span style="color: maroon;">E values are not interpreted.</span>''


If the X, Y, Z, or F values are not stipulated, they are inherited.
'''Parameters'''
 
  '''Xn''' is the new X position to move to
  '''Yn''' is the new Y position to move to
  '''Zn''' is the new Z position to move to
  '''An''' is the new A position to move to
  '''Bn''' is the new B position to move to
  '''Hn''' is the stored head offset to apply (see '''M660''' to store offsets)
  '''Fn''' is the feed rate or travel speed to use. Only on '''G0''' is it not persistent
  '''Sn''' is a one-time (non-persistent) material flow rate multiplier (rarely used) applied to this move only
 
''Any values not stipulated remain unchanged.''
 
Note: These positioning values can be absolute or relative to the last position; which depends on whether you are running on '''G90''' absolute positioning or '''G91''' relative positioning. Absolute is the default and should be used in the majority of cases; there will be problems with an entire model sliced in relative mode. Relative is intended for special operations like drilling holes.
 
Note: All Hyrel printers have built-in support for three axes. Hyrel model 16A and EHR printers may be expanded to five; an additional axis on each machine is reserved for E values.
 
'''Example'''
 
  G1 X50 Y75 E1 F1800 H2
 
This command is decoded and executed by the printer as follows:
 
* '''G1''' (working speed straight line move from the current location to)
** '''X50''' (50mm in the X)
** '''Y75''' (75mm in the Y)
** (no change in A)
** (no change in B)
** '''E1''' (while extruding)
** '''F1800''' (moving at 1800mm/min)
** '''H2''' (invoking offsets stored in register H2)
** (no temporary scaling)
 
<br>
<hr>


=== G2 Clockwise Arc ===
=== G2 Clockwise Arc ===


A G2 move specifies a clockwise arc (or complete circle) from the current position to position X, Y by following an arc about the center point I (X position), J (Y position). As with a G1 move, a Feed rate F may be specified. ''<span style="color: maroon;">As with a G1 move, the value of Extrusion rate E will be ignored, but E will trigger a working or printing move.</span>''
A G2 move specifies a clockwise arc (or complete circle) from the current position to position (X,Y,Z)<sub>curr</sub> by following an arc about the center point (X<sub>curr</sub>+I, Y<sub>curr</sub>+J).
 
'''Usage'''
 
  G2 Xn Yn Zn In Jn Fn En Sn
 
'''Parameters'''
 
  '''Xn''' is the new X position to move to
  '''Yn''' is the new Y position to move to
  '''Zn''' is the new Z position to end at (optional and usually not stipulated)
  '''In''' is the '''''relative''''' distance from the current X position to the center position about which to arc (default 0)
  '''Jn''' is the '''''relative''''' distance from the current Y position to the center position about which to arc (default 0)
  '''Fn''' is the Feed rate (travel speed) at which to execute this move.
  '''En''' indicates a working or printing move
  '''Sn''' dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
    ''S values less than 3.0 dictate the length in mm of each segment for this element''
    ''S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°''
 
Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.
 
'''Example'''
 
  G2 X50 Y75 I15 J20 E1 F1800
 
This command is decoded and executed by the printer as follows:
 
* '''G2''' (working speed clockwise arc/circle move from the current location to)
** '''X50''' (50mm in the X)
** '''Y75''' (75mm in the Y)
** (centered about a point located)
** '''I15''' (15mm further in the X)
** '''J20''' (20mm further in the Y)
** '''E1''' (while extruding)
** '''F1800''' (moving at 1800mm/min)
 
'''Example'''
 
  G2 X50 Y75 I15 J20 E1 S6
 
This command is decoded and executed by the printer as follows:
 
* '''G2''' (working speed clockwise arc/circle move from the current location to)
** '''X50''' (50mm in the X)
** '''Y75''' (75mm in the Y)
** (centered about a point located)
** '''I15''' (15mm further in the X)
** '''J20''' (20mm further in the Y)
** '''E1''' (while extruding)
** (using previously established F rate)
** '''S6''' (made up of six sides - resulting in a hexagon with one point at the origin, with all corners inscribed on the circle)
 
<br>
<hr>
 
=== G2.1 Spiral CW Arc<sup>1</sup> ===
 
A G2.1 makes a spiral circular move (only supports full 360 arcs, or '''Ln''' * 360). This arc is CW if spiraling in and CCW if spiraling out. Effective ending X/Y is always the same as the current XY and is not specified (though the actual final position is a function of the number of laps, the pitch, and the reverse code. An end Z can be supplied to have a uniform displacement during the move. The number of full 360 arcs can be specified as well as the pitch (centerline between arcs).  An important feature is the "reverse code" to allow the creation of frog toes without having to jump over the frog toe once it's made.
 
'''Usage'''
 
  G2.1 Zn In Jn Pn Ln En Sn Rn Fn
 
'''Parameters'''
 
  '''Zn''' is the new Z position to end at (optional and usually not stipulated; will be relative or absolute, depending on current mode)
  '''In''' is the '''''relative''''' distance from the current X position to the center position about which to arc (default 0)
  '''Jn''' is the '''''relative''''' distance from the current Y position to the center position about which to arc (default 0)
    ''Note: '''In''' and '''Jn''' both default to 0, but at least one of them must be explicitly declared with a non-zero value.''
  '''Pn''' is the pitch (how close the laps are) in mm (required)
  '''Ln''' is the number of laps to complete (must be a positive integer; you don't need to finish the spiral)
  '''En''' indicates a working or printing move
  '''Sn''' dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
    ''S values less than 3.0 dictate the length in mm of each segment for this element''
    ''S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°''
  '''Rn''' is a flag; 0 to spiral in (default), 1 to spiral out (after inward jump), 2 spiral out from current position
  '''Fn''' is the Feed rate (travel speed) at which to execute this move.
 
Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.
 
'''Example 1'''
 
  G2.1 I15 J20 P1.2 E1


* X is the new X position to move to;
This command is decoded and executed by the printer as follows:
* Y is the new Y position to move to;
* I is the '''RELATIVE''' X position of the center about which to arc;
* J is the '''RELATIVE''' Y position of the center about which to arc; and
* F is the Feed rate (travel speed) at which to execute this move.
* E indicates a working or printing move; ''<span style="color: maroon;">E values are not interpreted.</span>''


If the X, Y, Z, or F values are not stipulated, they are inherited. Note that as all STL models are, by definition, a series of triangles, your slicer will not generate G2 commands.
* '''G2.1''' (working speed clockwise spiral move from the current location)
** (no change in Z)
** (centered about a point located)
** '''I15''' (15mm further in the X)
** '''J20''' (20mm further in the Y)
** (complete all laps)
** '''P1.2''' (1.2 mm between centers of travel of adjacent laps)
** '''E1''' (while extruding)
** (use default S of 0.33333 mm segments)
** (use default R of 0, spiral in toward center from current location)
** (moving at established G1 F speed)


=== G3 Counter-Clockwise Arc ===
'''Example 2'''


A G3 move specifies a counter-clockwise or anti-clockwise arc (or complete circle) from the current position to position X, Y by following an arc about the center point I (X position), J (Y position). As with a G1 move, a Feed rate F may be specified. ''<span style="color: maroon;">As with a G1 move, the value of Extrusion rate E will be ignored, but E will trigger a working or printing move.</span>''
  G2.1 Z10 I15 J20 P0.5 L50 E1 S9 R1 F1200


* X is the new X position to move to;
This command is decoded and executed by the printer as follows:
* Y is the new Y position to move to;
* I is the X position of the center about which to arc;
* J is the Y position of the center about which to arc; and
* F is the Feed rate (travel speed) at which to execute this move.
* E indicates a working or printing move; ''<span style="color: maroon;">E values are not interpreted.</span>''


If the X, Y, Z, or F values are not stipulated, they are inherited. Note that as all STL models are, by definition, a series of triangles, your slicer will not generate G3 commands.
* '''G2.1''' (working speed clockwise spiral move from the current location)
** '''Z10''' (change Z position incrementally during move to end at Z10 (relative or absolute, depending on current mode))
** (centered about a point located)
** '''I15''' (15mm further in the X)
** '''J20''' (20mm further in the Y)
** '''L50''' (complete no more than 50 laps)
** '''P0.5''' (0.5 mm between centers of travel of adjacent laps)
** '''E1''' (while extruding)
** '''S9''' (each 360 degrees composted of a total of 9 segments)
** '''R1''' (spiral out from center to current location)
** '''F1200''' (at a speed of 1200 mm/min)


=== G4 Pause (Timed) ===
'''Example 3'''


G4 is a pause for a set number of seconds (S) or milliseconds (P). Please note, if you pause after a printing move, material will still be flowing. It is recommended that you pause after a non-printing move for this reason.
  G0 X0 Y25                  ; start location for outer spiral
  G0 Z1                      ; go to print layer height
  G2.1 I25 J0 P4 L3 E1        ; spiral in 3 laps, 4mm pitch
  G1 X14 E1                  ; add connector for the arcs
  G2.1 I11 J0 P4 L3 E1 R2    ; spiral out 3 laps, 4mm pitch


* S is the number of Seconds to pause; OR
This gcode generates the following:
* P is the number of Milliseconds to pause.
 
[[File:Spiral.png|250px]]
 
<br>
<hr>
 
=== G2.2 Spiral CW Arc<sup>2</sup> ===
 
A G2.2 makes a spiral circular move (only supports full 360 arcs, or '''Ln''' * 360). This arc is CW if spiraling in and CCW if spiraling out. Unlike G2.1, G2.2 specifies final X/Y (and Z) location. An end Z can be supplied to have a uniform displacement during the move. The number of full 360 arcs can be specified as well as the pitch (centerline between arcs).  Unlike G2.1, G2.2 does not require a reverse code as the direction of spiral is determined by the positional relationship of the current position, final position, and center position.
 
'''Usage'''
 
  G2.2 Xn Yn Zn In Jn Pn Ln En Sn Rn Fn
 
'''Parameters'''
 
  '''Xn''' is the new X position to move to
  '''Yn''' is the new Y position to move to
  '''Zn''' is the new Z position to end at (optional and usually not stipulated; will be relative or absolute, depending on current mode)
  '''In''' is the '''''relative''''' distance from the current X position to the center position about which to arc (default 0)
  '''Jn''' is the '''''relative''''' distance from the current Y position to the center position about which to arc (default 0)
    ''Starting with Motion Controller firmware 4.203a:''
    ''If I and J are both zero (center = start), path will spiral outward CCW from current to final position.''
    ''If I and J match the end (center = end), path will spiral inward CW from current to final position."
  '''Pn''' is the pitch (how close the laps are) in mm (optional)
  '''Ln''' is the number of laps (or paths) to complete (you don't need to finish the spiral)
    ''Note, if P and L values conflict, L will be modified to match what P will allow; at least one must be specified
  '''En''' indicates a working or printing move
  '''Sn''' dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
    ''S values less than 3.0 dictate the length in mm of each segment for this element''
    ''S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°''
  '''Fn''' is the Feed rate (travel speed) at which to execute this move.
 
Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.
 
'''Example 1'''
 
  G2.2 I15 J20 P1 E1
 
This command is decoded and executed by the printer as follows:
 
* '''G2.2''' (working speed clockwise spiral move from the current location)
** (no change in Z)
** (centered about a point located)
** '''I15''' (15mm further in the X)
** '''J20''' (20mm further in the Y)
** '''P2''' (1mm between centers of travel of adjacent laps)
** (complete all laps)
** '''E1''' (while extruding)
** (use default S of 0.33333 mm segments)
** (moving at established G1 F speed)
 
'''Example 2'''
 
  G2.2 Z10 I15 J20 P2 L50 E1 S9 F1200
 
This command is decoded and executed by the printer as follows:
 
* '''G2.2''' (working speed clockwise spiral move from the current location)
** '''Z10''' (change Z position incrementally during move to end at Z10 (relative or absolute, depending on current mode))
** (centered about a point located)
** '''I15''' (15mm further in the X)
** '''J20''' (20mm further in the Y)
** '''P2''' (2mm between centers of travel of adjacent laps)
** '''L50''' (complete no more than 50 laps)
** '''E1''' (while extruding)
** '''S9''' (each 360 degrees composted of a total of 9 segments)
** '''F1200''' (at a speed of 1200 mm/min)
 
'''Example 3'''
 
  G0 X0 Y25                  ; start location for outer spiral
  G0 Z1                      ; go to print layer height
  G2.2 X12 I25 P4 E1          ; spiral in 3 laps, 4mm pitch
  G1 X14 E1                  ; add connector to next spiral
  G2.2 X2 I11 P4 E1          ; spiral out 3 laps, 4mm pitch
 
This gcode also generates the following:
 
[[File:Spiral.png|250px]]
 
<br>
<hr>
 
=== G2.3 3-Space CW Arc ===
 
A G2.3 move specifies a clockwise arc (or complete circle(s) from the current position to position (X,Y,Z)<sub>curr</sub> following a circular arc about the center point (X<sub>curr</sub>+I, Y<sub>curr</sub>+J, Z<sub>curr</sub>+K). Unlike G2, G2.1 and G2.2, G2.3 is not bound to the X/Y plane. The number of full 360 arcs can be specified as well as the pitch (centerline between arcs). 
'''Usage'''
 
  G2.3 Xn Yn Zn An Bn In Jn Kn Un Vn Wn Dn Pn En Sn Fn
 
Note: If we are in G16 mode, Un, Vn, Wn define the vector normal to the work plane. If we are in G17 (X/Y plane) or G18 (X/Z plane) or G19 (Y/Z plane) mode, these are ignored.
 
'''Parameters'''
 
  '''Xn''' is the new X position to end at
  '''Yn''' is the new Y position to end at
  '''Zn''' is the new Z position to end at
  '''An''' is the new A position to end at (4th axis)
  '''Bn''' is the new B position to end at (5th axis)
  '''In''' is the '''''relative''''' distance from the current X position to the center position about which to arc (default 0)
  '''Jn''' is the '''''relative''''' distance from the current Y position to the center position about which to arc (default 0)
  '''Kn''' is the '''''relative''''' distance from the current Z position to the center position about which to arc (default 0)
    ''Note: '''In''', '''Jn''', and '''Kn''' all default to 0, but at least one of them must be explicitly declared with a non-zero value.''
  '''Un''' is the X component of a vector normal to the working plane (default 0)
  '''Vn''' is the Y component of a vector normal to the working plane (default 0)
  '''Wn''' is the Z component of a vector normal to the working plane (default 0)
  '''Dn''' is the overall displacement normal to the working plane for this element
  '''Pn''' is the pitch (how close the laps are normal to the working plane) in mm (default 0; one path, no incremental displacement)
  '''En''' indicates a working or printing move
  '''Sn''' dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
    ''S values less than 3.0 dictate the length in mm of each segment for this element''
    ''S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°''
  '''Fn''' is the Feed rate (travel speed) at which to execute this move.
 
Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.
 
<br>
<hr>
 
=== G3 Counterclockwise Arc ===
 
Please refer to G2, above, for details. All options are identical, with the exception of direction (CCW).
 
<br>
<hr>
 
=== G3.1 Spiral CCW Arc<sup>1</sup> ===
 
Please refer to G2.1, above, for details. All options are identical, with the exception of direction (CCW if spiraling in and CW if spiraling out).
 
<br>
<hr>
 
=== G3.2 Spiral CCW Arc<sup>2</sup> ===
 
Please refer to G2.2, above, for details. All options are identical, with the exception of direction (CCW if spiraling in and CW if spiraling out).
 
<br>
<hr>
 
=== G3.3 3-Space CCW Arc ===
 
Please refer to G2.3, above, for details. All options are identical, with the exception of direction (CCW).
 
<br>
<hr>
 
=== G4 Timed Pause ===
 
G4 is a pause for a set number of seconds (S) or milliseconds (P).
 
'''Usage'''
 
  G4 Sn Pn
 
'''Parameters'''
 
  '''Sn''' is the number of Seconds to pause
  '''Pn''' is the number of Milliseconds to pause
 
You may use '''S''' or '''P''', or if you use both, the total value will be the pause duration.
 
'''Example'''
 
  G4 S0.5
 
This command is decoded and executed by the printer as follows:
 
* '''G4''' (Timed pause)
** '''S0.5''' (0.5 seconds)
 
'''Example'''
 
  G4 P500
 
This command is decoded and executed by the printer as follows:
 
* '''G4''' (Timed pause)
** '''P500''' (500 milliseconds)
 
<br>
<hr>
 
=== G16 Arc Plane: Any ===
 
G16 permits free-form designation of points in space, without limiting them to an axial plane.
 
''G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.''
 
'''Usage'''
 
  G16
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  G16
 
This command is decoded and executed by the printer as follows:
 
* '''G16''' (allow element in any orientation)
 
<br>
<hr>
 
=== G17 Arc Plane: XY ===
 
G17 restricts this element to the X/Y plane.
 
''G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.''
 
'''Usage'''
 
  G17
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  G17
 
This command is decoded and executed by the printer as follows:
 
* '''G17''' (restrict element to X/Y plane)
 
<br>
<hr>
 
=== G18 Arc Plane: XZ ===
 
G18 restricts this element to the X/Z plane.
 
''G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.''
 
'''Usage'''
 
  G18
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  G18
 
This command is decoded and executed by the printer as follows:
 
* '''G18''' (restrict element to X/Z plane)
 
<br>
<hr>
 
=== G19 Arc Plane: YZ ===
 
G19 restricts this element to the Y/Z plane.
 
''G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.''
 
'''Usage'''
 
  G19
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  G19
 
This command is decoded and executed by the printer as follows:
 
* '''G19''' (restrict element to Y/Z plane)
 
<br>
<hr>


=== M0 Stop Until Resume ===
=== M0 Stop Until Resume ===


M0 is a stop until resume command; text listed after a semicolon will be displayed, and clicking the '''Play''' button (which replaces the '''Pause''' button) will cause the job to resume. Print heads will NOT resume during an M0, and will not prime/unprime in response to the M0. It is recommended to have a non-printing move before and after an M0.
M0 is a stop until resume command; text listed after a semicolon will be displayed, and clicking the '''Play''' button (which replaces the '''Pause''' button) will cause the job to resume. Note that all lines will be truncated at 100 characters.


* ''';''' All text following the ''';''' will be echoed to the print mask (Control Tab).
* ''';''' All text following the ''';''' will be echoed to the print mask (Control Tab).
Additionally, an M0 command can also take the following parameters, and so will pause and then:
'''Usage'''
  M0 [ SAY | PIC | VID | SEND | BEEP | SHELL ]
'''Parameters'''
  '''SAY sample message''' - the computer will use built-in text-to-speech to echo the message over the speaker(s)
  '''PIC C:\sample.jpg''' - the computer will display the image at the specified location
  '''VID C:\sample.mp4''' - the computer will play the video at the specified location
  '''SEND sample message''' - the computer will send the message to the Aux port if connected
  '''BEEP''' - the computer will sound a beep
  '''SHELL C:\program.exe''' - the computer will execute the file at the specified location
Note that multiple options can be combined.
'''Example'''
  M0
This command is decoded and executed by the printer as follows:
* '''M0''' (Pause until Resume)
'''Example'''
  M0 ; SAY Hello Wilbur ; PIC C:\mr_ed.png
This command is decoded and executed by the printer as follows:
* '''M0''' (Pause until Resume)
** '''SAY Hello Wilbur''' (Announce Text: Hello Wilbur)
** '''PIC C:\mr_ed.png''' (Display Image: C:\mr_ed.png)
<br>
<hr>


=== M203 Set G0 Speed ===
=== M203 Set G0 Speed ===
Line 221: Line 990:
M203 will redesignate the rate at which [[#G0 Rapid Move|G0]] movements are executed. If undeclared, the values stored in Repetrel for your equipment will be used. These can be changed under '''Settings > Printer''', on the '''Printer''' tab. The values set on your unit are set based on testing; exceed them at your own risk.
M203 will redesignate the rate at which [[#G0 Rapid Move|G0]] movements are executed. If undeclared, the values stored in Repetrel for your equipment will be used. These can be changed under '''Settings > Printer''', on the '''Printer''' tab. The values set on your unit are set based on testing; exceed them at your own risk.


* X is the new speed in the X axis for G0 moves;
'''Usage'''
* Y is the new speed in the Y axis for G0 moves; and
 
* Z is the new speed in the Z axis for G0 moves.
  M203 Xn Yn Zn An Bn
 
'''Parameters'''
 
  '''Xn''' is the new speed in the X axis for G0 moves
  '''Yn''' is the new speed in the Y axis for G0 moves
  '''Zn''' is the new speed in the Z axis for G0 moves
  '''An''' is the new speed in the A axis for G0 moves
  '''Bn''' is the new speed in the B axis for G0 moves
 
'''Example'''
 
  M203 Y2000
 
This command is decoded and executed by the printer as follows:
 
* '''M203''' (Set G0 Speed)
** (X remains unchanged)
** '''Y2000''' (Y axis: 2000mm/min)
** (Z remains unchanged)
** (A remains unchanged)
** (B remains unchanged)
 
<br>
<hr>
 
=== M674 Use Turbo Mode ===
 
M674 will enable Turbo Mode, where certain non-printing (no E value) working (G1, G2, or G3) moves will be treated as G0 moves (executed at "rapid move speed" rather than "working move speed"). Killing a job will clear the M674 setting.
 
'''Usage'''
 
  M674 Sn
 
'''Parameters'''
 
  '''Sn''' is the minimum distance threshold for Turbo Mode to activate, and is required; no S value returns an error.
 
'''Example 1'''
 
  M674 S2


=== Examples ===
This command is decoded and executed by the printer as follows:


{| border="1" class="wikitable" style="text-align: left"  
* '''M674''' (Set Turbo Mode)
|+ Controlling Movement
** '''S2''' (for moves of 2 mm or greater)
! style="width: 20%;" | Actual Code
 
! style="width: 40%;" | Behavior
'''Example 2'''
! style="width: 40%;" | Notes
 
  M674 S50
 
This command is decoded and executed by the printer as follows:
 
* '''M674''' (Set Turbo Mode)
** '''S50''' (for moves of 50 mm or greater)
 
<br>
<hr>
 
'''[[#What_is_GCode.3F|Back to top]]'''
 
== '''Controlling Temperature''' ==
 
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Controlling Temperature
|-
! Code
! Supported
! Brief Description
|-
! [[#M104_Set_Temp_.28Head.29|M104]]
| Yes || Set Temp (Head)
|-
! [[#M106_Set_Cooling_.2F_Etc.|M106]]
| Yes || Set Cooling / Etc.
|-
! [[#M107_Stop_Cooling_.2F_Etc.|M107]]
| Yes || Stop Cooling / Etc.
|-
|-
! G0 X50 Y50 Z10
! [[#M109_Wait_for_Temp_.28Head.29|M109]]  
| Makes a (rapid) non-printing move from the current position to X50, Y50, Z10 at the rate specified in your settings.
| Yes || Wait for Temp (Head)
| These can be absolute or relative distances, depending on your environment - see [[#Controlling_Position_and_Offsets|Positioning]], below. G0 may have X, Y and/or Z values for the new position; undeclared values will not change (ex: if no Z value provided, no Z movement executed).
|-
|-
! G1 X50 Y50 E1 F1800
! [[#M116 Wait for Temps (v5+)|M116]]
| Makes a working (printing) move from the current position to X50, Y50 at 1800 mm/min while extruding material.
| <span style="color:darkorange;">v5+ || <span style="color:darkorange;">Pause for All Temps
| See "Flow Commands" below for details on flow calculation. If no F value, last declared F value is used. If no E value, this would be a non-printing move. G1 may have X, Y and/or Z values for the new position; undeclared values will not change (ex: if no Z value provided, no Z movement executed).
|-
|-
! G2 X5 Y10 I15 J20 E1 F1200
! [[#M140_Set_Temp_.28Bed.29|M140]]
| Makes a clockwise arc from the current position to X5, Y10 while maintaining a constant distance from a point +15mm in the X and +20mm in the Y from the current position; this is a printing move at a speed of 1200 mm/min.
| Yes || Set Temp (Bed)
| Note that I, J coordinates are always relative from the current position. ''<span style="color: maroon;">Note that as all STL models are, by definition, a series of triangles, your slicer will not generate G2 commands.</span>''
|-
|-
! G3 X5 Y10 I15 J20
! [[#M141_Set_Temp_.28Chamber.29|M141]]
| Makes a counter-clockwise arc from the current position to X5, Y10 while maintaining a constant distance from a point +15mm in the X and +20mm in the Y from the current position; this is a non-printing move at the last F Feed rate (speed) specified.
| Yes || Set Temp (Chamber)
| Note that I, J coordinates are always relative from the current position. ''<span style="color: maroon;">Note that as all STL models are, by definition, a series of triangles, your slicer will not generate G3 commands.</span>''
|-
|-
! G4 S60
! [[#M190_Wait_for_Temp_.28Bed.29|M190]]
| Pauses the job for 60 seconds (use P for milliseconds).
| Yes || Wait for Temp (Bed)
| If the head was extruding before the pause, it will continue to extrude; use a non-printing move before a G4.
|-
|-
! M0 ;comment
! [[#M191_Wait_for_Temp_.28Chamber.29|M191]]
| Stops the job, displays everything following the semicolon (;) at the top of the Control window ''(in this example, the word "comment")'', and resumes after the operator clicks the Play button.
| Yes || Wait for Temp (Chamber)
| The head will NOT extrude during an M0 (stop) interlude; use a non-printing move before and after an M0 to initiate prime/unprime activities.
|-
|-
! M203 X2000 Y1500
| Specifies G0 speed of 2000 mm/min in the X axis and 1500 in the Y axis. Subsequent moves will be made at the newly specified rate.
| ''<span style="color: maroon;">The values set on your unit are set based on testing; exceed them at your own risk.</span>''
|}
|}


== '''Controlling Temperature''' ==
What's Hotbed 2 and Chamber 2? Well, our Hydra models have room to have a second hotbed, which could be a smaller, higher temperature hotbed, or a sub-ambient chilled bed, or even a High Resolution hotbed. And we've talked about having a smaller chamber inside the primary chamber, to bring the air around the print (but not the head) to much higher temperatures; call for details.
 
<br>
<hr>
 
=== M104 Set Temp (Head) ===
 
M104 sets the extruder temperature but does not pause the printer.
 
''Note that the actual '''T#''' values can be found on '''[[T_v4]]''' or '''[[T_v5]]''', depending on which version you are running.''
 
'''Usage'''
 
  M104 Sn T#
 
'''Parameters'''
 
  '''Sn''' is the new set temperature in °C
  '''T#''' is the tool assignment for this temperature command
 
'''Example'''
 
M104 T# S75


=== M104 Set Extruder Temperature ===
This command is decoded and executed by the printer as follows:


M104 sets the extruder temperature, but does not pause the printer.
* '''M104''' (Set Cooling/LEDs)
** '''T#''' (target head)
** '''S75''' (to 75°C)


* S is the new Set temperature in °C; and
<br>
* T is the Tool assignment for this temperature command.
<hr>


=== M106 Set Cooling Fan (or LEDs) ===
=== M106 Set Cooling / Etc. ===


M106 sets the cooling fan (or crosslinking LEDs) speed (or intensity). This also turns on the Quiet Storm fan.
M106 sets the cooling fan (or crosslinking LEDs) speed (or intensity). This also turns on the Quiet Storm fan.


* S is the (percent of duty cycle, 0-100) for the cooling fan (or LEDs); and
'''Usage'''
* T is the Tool assignment for this cooling command.
 
  M106 Cn
 
or
 
  M106 T# Sn
 
or
 
  M106 T# Pn
 
'''Parameters'''
 
  '''T#''' is the target head
  '''Sn''' is the percent of duty cycle for the cooling fan (or LEDs); default: 100
  '''Cn''' is the range (0-100 or 0-255) that we will use; if unspecified, the default is C100 (use C255 to be compatible with most slicers)
  '''Pn''' is the percent of duty cycle for the cooling fan (or LEDs) ''to come on only during extrusion moves''
 
'''Example'''
 
  M106 C255
 
This command is decoded and executed by the printer as follows:
 
* '''M106''' (Set Cooling/LEDs)
** (on all tools)
** (no speed)
** '''C255''' (of range 0-255)
 
Note, with this command, all following M106 commands for the rest of this print job will be based on this range (unless specified with a new C value).
 
'''Example'''
 
  M106 T# S50
 
This command is decoded and executed by the printer as follows:
 
* '''M106''' (Set Cooling/LEDs)
** '''T#''' (target head)
** '''S50''' (target value of 50)
** (previously defined (or default 0-100) range)
 
'''Example'''
 
M106 T# P100
 
This command is decoded and executed by the printer as follows:
 
* '''M106''' (Set Cooling/LEDs)
** '''T#''' (target head)
** '''P100''' (during extrusion moves at 100% duty cycle
 
<span style="color: blue;">''But Davo, I want to cure a certain spot for 10 seconds with every layer change; how do I do this?''</span>
 
Easy. Edit your slicer recipe to add the following code after layer changes (edit as needed for duration, intensity, or position):
 
  ;---- BEGIN COD CODE
  G91 ; relative moves
  G0 Z5 ; drop bed
  G90 ; absolute moves
  G0 X130 Y110 ; move into position
  M106 S100 T# ; turn on T# UV at 100%
  G1 X140 Y110 F100 ; move 10 mm in the X at 100 mm/min
  G1 X140 Y120 F100 ; move 10 mm in the Y at 100 mm/min
  G1 X130 Y120 F100 ; move -10 mm in the X at 100 mm/min
  G1 X130 Y110 F100 ; move -10 mm in the Y at 100 mm/min
  M106 S0 T# ; turn off T# UV (set it to 0%)
  ;--- END COD GCODE
 
These commands are decoded and executed by the printer as follows:
 
* '''G91''' (Use relative moves)
* '''G0''' (Non-working move)
** '''Z5''' (+5 mm in the Z)
* '''G90''' (Use absolute moves)
* '''G0''' (Non-working move)
** '''X130''' (To position X130)
** '''Y110''' (To position Y110)
* '''M106''' (Set Aux (UV))
** '''S100''' (100% duty)
** '''T#''' (On target head)
* '''G1''' (Working (printing) move)
** '''X140''' (To position X140)
** '''Y110''' (To position Y110
** '''F100''' (At 100 mm/min)
* '''G1''' (Working (printing) move)
** '''X140''' (To position X140)
** '''Y120''' (To position Y120
** '''F100''' (At 100 mm/min)
* '''G1''' (Working (printing) move)
** '''X130''' (To position X130)
** '''Y120''' (To position Y120
** '''F100''' (At 100 mm/min)
* '''G1''' (Working (printing) move)
** '''X130''' (To position X130)
** '''Y110''' (To position Y110
** '''F100''' (At 100 mm/min)
* '''M106''' (Set Aux (UV))
** '''S0''' (0% duty)
** '''T#''' (On target head)
 
<br>
<hr>
 
=== M107 Stop Cooling / Etc. ===
 
M107 turns off the cooling fan (or crosslinking LEDs); this is essentially the same as an M106 S0 (setting it to 0 percent). This will also turn off the Quiet Storm fan.
 
'''Usage'''
 
  M107 T#
 
'''Parameters'''
 
  '''T#''' (target head)
 
'''Example'''
 
M107 T# 
 
This command is decoded and executed by the printer as follows:
 
* '''M107''' (Set Cooling/LEDs to 0%)
** '''T#''' (target head)
 
<br>
<hr>
 
=== M109 Wait for Temp (Head) ===
 
M109 waits for the extruder to reach temperature, with an option to also set the temperature. Remember, we have both heated and chilled (sub-ambient) heads as options.
 
''Note that the actual '''T#''' values can be found on '''[[T_v4]]''' or '''[[T_v5]]''', depending on which version you are running.''
 
'''Usage'''
 
  M109 T# Sn Hn Cn Ln Un Rn <span style="color:darkorange;">W0
 
Please use EITHER (H and/or C) OR (L and/or U) OR (R) with your M109 command.
 
Note, this will FAIL (non-fatally) if you address a virtual group address;  be sure to use an actual physical address.
 
'''Parameters'''
 
  '''T#''' is the target head - (required)
  '''Sn''' (optional) is the new set temperature in °C; if omitted, no new target temperature is set
  '''Hn''' if present, is the low-end (or "heat up to") absolute temperature after which we stop pausing
  '''Cn''' if present, is the high-end (or "cool down to") absolute temperature after which we stop pausing
  '''Ln''' if present, is the lower-end relative temperature ''difference from set temp'' after which we stop pausing
  '''Un''' if present, is the upper-end relative temperature ''difference from set temp'' after which we stop pausing
  '''Rn''' if present, is how close the relative temperature needs to be to the set temp to end the pause
  <span style="color:darkorange;">'''W0''' if present, will set the temp and advance to the next line without pause, but upon executing M116, will pause until temp is reached
 
Think of '''Sn''' as the target temperature, but once the target is between '''Cn (or Ln)''' and '''Hn (or Un)''', the pause is over (but the '''Sn''' is still the set temp to reach. You can use Hn or Ln, but not both. You can use Cn or Un, but not both.
 
'''Example 1'''
 
  M109 T# S240
 
This command is decoded and executed by the printer as follows:
 
* '''M109''' (wait for temp)
** '''T#''' (target head)
** '''S240''' (and set temp to 240°C)
 
'''Example 2'''
 
  M109 T# S240 R5
 
This command is decoded and executed by the printer as follows:
 
* '''M109''' (wait for temp)
** '''T#''' (target head)
** '''S240''' (and set temp to 240°C)
** '''R5''' (but end the wait once the target's temperature is within 5°C of the set point)
 
'''Example 3'''
 
  M109 T# S240 H230
 
This command is decoded and executed by the printer as follows:
 
* '''M109''' (wait for temp)
** '''T#''' (target head)
** '''S240''' (and set temp to 240°C)
** '''H230''' (but end the wait once the target's temperature reaches 230°C)
 
'''Example 4'''
 
  M109 T# S240 L10 U5
 
This command is decoded and executed by the printer as follows:
 
* '''M109''' (wait for temp)
** '''T#''' (target head)
** '''S240''' (and set temp to 240°C)
** '''L10''' (but end the wait once the target's temperature reaches 10°C below the set point)
** '''U5''' (or end the wait once the target's temperature reaches 5°C above the set point)
 
''Note: this wait ends when the target's temperature is anywhere between 230°C and 245°C''
 
'''Example 5'''
 
  M109 T# S0 R5
 
This command is decoded and executed by the printer as follows:
 
* '''M109''' (wait for temp)
** '''T#''' (target head)
** '''S0''' (to 0°C)
** '''R5''' (but end the wait once the target's temperature is +/-5°C of the set temperature)
 
'''Example 6'''
 
  M109 R10
 
* '''M109''' (wait for temp)
** (no T# - use head with current focus)
** '''R10''' (to get +/-10°C of set temperature)
 
<span style="color:darkorange;">'''Example 7'''
 
  <span style="color:darkorange;">M109 T# S240 W0
 
<span style="color:darkorange;">This command is decoded and executed by the printer as follows:
 
* <span style="color:darkorange;">'''M109''' (wait for temp)
** <span style="color:darkorange;">'''T#''' (target head)
** <span style="color:darkorange;">'''S240''' (and set temp to 240°C)
** <span style="color:darkorange;">'''W0''' (but do not pause until M116 is executed)
 
<br>
<hr>
 
=== <span style="color:darkorange;">M116 Wait for Temps (v5+)</span> ===
<span style="color:darkorange;">M116 is supported with version 5.x and later (v5+) of Repetrel Software and Motion Controller Firmware.
 
<span style="color:darkorange;">'''Usage'''
 
  <span style="color:darkorange;">M116
 
<span style="color:darkorange;">'''Parameters'''
 
  <span style="color:darkorange;">'none'
 
<span style="color:darkorange;">'''Example'''
 
  <span style="color:darkorange;">M116
 
<span style="color:darkorange;">This command is decoded and executed by the printer as follows:
 
* <span style="color:darkorange;">'''M116''' (wait for any set temps (M109, M190, M191) with '''W0''' values before proceding
 
<br>
<hr>
 
=== M140 Set Temp (Bed) ===
 
M140 sets the bed temperature (without waiting for the new temperature to be reached).
 
'''Usage'''
 
  M140 Sn T#
 
'''Parameters'''
 
  '''Sn''' is the new set temperature in °C
  '''T#''' is the target bed (default is the primary bed)
 
'''Example'''
 
M140 S75
 
This command is decoded and executed by the printer as follows:
 
* '''M140''' (set bed temperature)
** '''S75''' (to 75°C)
** (on primary bed)
 
<br>
<hr>
 
=== M141 Set Temp (Chamber) ===
 
M141 sets the chamber temperature (without waiting for the new temperature to be reached).
 
'''Usage'''
 
  M141 Sn T#
 
'''Parameters'''
 
  '''Sn''' is the new set temperature in °C
  '''T#''' is the target chamber (default is the primary chamber)
 
'''Example'''
 
M141 S75
 
This command is decoded and executed by the printer as follows:
 
* '''M141''' (set chamber temperature)
** '''S75''' (to 75°C)
** (on primary chamber)
 
<br>
<hr>
 
=== M190 Wait for Temp (Bed) ===
 
M190 waits for the bed to reach temperature, with an option to also set the temperature. Remember, we have both heated and chilled (sub-ambient) beds as options.
 
'''Usage'''
 
  M190 T# Sn Hn Cn Ln Un Rn
 
Please use EITHER (H and/or C) OR (L and/or U) OR (R) with your M190 command.
 
Note, this will FAIL (non-fatally) if you address a virtual group address;  be sure to use an actual physical address.
 
'''Parameters'''
 
  '''T#''' (optional) is the target bed (default is the primary (or only) bed)
  '''Sn''' (optional) is the new set temperature in °C; if omitted, no new target temperature is set
  '''Hn''' if present, is the low-end (or "heat up to") absolute temperature after which we stop pausing
  '''Cn''' if present, is the high-end (or "cool down to") absolute temperature after which we stop pausing
  '''Ln''' if present, is the lower-end relative temperature ''difference from set temp'' after which we stop pausing
  '''Un''' if present, is the upper-end relative temperature ''difference from set temp'' after which we stop pausing
  '''Rn''' if present, is how close the relative temperature needs to be to the set temp to end the pause
 
Think of '''Sn''' as the target temperature, but once the target is between '''Cn (or Ln)''' and '''Hn (or Un)''', the pause is over (but the '''Sn''' is still the set temp to reach. You can use Hn or Ln, but not both. You can use Cn or Un, but not both.
 
'''Example 1'''
 
  M190 T# S240
 
This command is decoded and executed by the printer as follows:
 
* '''M190''' (wait for temp)
** '''T#''' (target bed)
** '''S240''' (and set temp to 240°C)
 
'''Example 2'''
 
  M190 T# S240 R5
 
This command is decoded and executed by the printer as follows:
 
* '''M190''' (wait for temp)
** '''T#''' (target bed)
** '''S240''' (and set temp to 240°C)
** '''R5''' (but end the wait once the target's temperature is within 5°C of the set point)
 
'''Example 3'''
 
  M190 T# S240 H230
 
This command is decoded and executed by the printer as follows:
 
* '''M190''' (wait for temp)
** '''T#''' (target bed)
** '''S240''' (and set temp to 240°C)
** '''H230''' (but end the wait once the target's temperature reaches 230°C)
 
'''Example 4'''
 
  M190 T# S240 L10 U5
 
This command is decoded and executed by the printer as follows:
 
* '''M190''' (wait for temp)
** '''T#''' (target bed)
** '''S240''' (and set temp to 240°C)
** '''L10''' (but end the wait once the target's temperature reaches 10°C below the set point)
** '''U5''' (or end the wait once the target's temperature reaches 5°C above the set point)
 
''Note: this wait ends when the target's temperature is anywhere between 230°C and 245°C''
 
'''Example 5'''
 
  M190 T# S0 R5
 
This command is decoded and executed by the printer as follows:
 
* '''M190''' (wait for temp)
** '''T#''' (target bed)
** '''S0''' (to 0°C)
** '''R5''' (but end the wait once the target's temperature is +/-5°C of the set temperature)
 
'''Example 6'''
 
  M190 R10
 
* '''M190''' (wait for temp)
** (no T# - use bed with current focus)
** '''R10''' (to get +/-10°C of set temperature)
 
<br>
<hr>
 
=== M191 Wait for Temp (Chamber) ===
M191 waits for the chamber to reach temperature, with an option to also set the temperature. Remember, we have both heated and chilled (sub-ambient) chambers as options.
 
'''Usage'''
 
  M191 T# Sn Hn Cn Ln Un Rn
 
Please use EITHER (H and/or C) OR (L and/or U) OR (R) with your M191 command.
 
Note, this will FAIL (non-fatally) if you address a virtual group address;  be sure to use an actual physical address.
 
'''Parameters'''
 
  '''T#''' is the target chamber (default is the primary (or only) chamber)
  '''Sn''' (optional) is the new set temperature in °C; if omitted, no new target temperature is set
  '''Hn''' if present, is the low-end (or "heat up to") absolute temperature after which we stop pausing
  '''Cn''' if present, is the high-end (or "cool down to") absolute temperature after which we stop pausing
  '''Ln''' if present, is the lower-end relative temperature ''difference from set temp'' after which we stop pausing
  '''Un''' if present, is the upper-end relative temperature ''difference from set temp'' after which we stop pausing
  '''Rn''' if present, is how close the relative temperature needs to be to the set temp to end the pause
 
Think of '''Sn''' as the target temperature, but once the target is between '''Cn (or Ln)''' and '''Hn (or Un)''', the pause is over (but the '''Sn''' is still the set temp to reach. You can use Hn or Ln, but not both. You can use Cn or Un, but not both.
 
'''Example 1'''
 
  M191 T# S240
 
This command is decoded and executed by the printer as follows:
 
* '''M191''' (wait for temp)
** '''T#''' (target chamber)
** '''S240''' (and set temp to 240°C)
 
'''Example 2'''
 
  M191 T# S240 R5
 
This command is decoded and executed by the printer as follows:
 
* '''M191''' (wait for temp)
** '''T#''' (target chamber)
** '''S240''' (and set temp to 240°C)
** '''R5''' (but end the wait once the target's temperature is within 5°C of the set point)
 
'''Example 3'''
 
  M191 T# S240 H230
 
This command is decoded and executed by the printer as follows:
 
* '''M191''' (wait for temp)
** '''T#''' (target chamber)
** '''S240''' (and set temp to 240°C)
** '''H230''' (but end the wait once the target's temperature reaches 230°C)


=== M107 Stop Cooling Fan (or LEDs) ===
'''Example 4'''


M107 turns off the cooling fan (or crosslinking LEDs); this is essentially the same as an M206 S0 (setting it to 0 percent). This will also turn off the Quiet Storm fan.
  M191 T# S240 L10 U5


=== M109 Set Extruder Temp, Wait ===
This command is decoded and executed by the printer as follows:


M109 sets the extruder temperature and pauses the printer until the extruder reaches that temperature.
* '''M191''' (wait for temp)
** '''T#''' (target chamber)
** '''S240''' (and set temp to 240°C)
** '''L10''' (but end the wait once the target's temperature reaches 10°C below the set point)
** '''U5''' (or end the wait once the target's temperature reaches 5°C above the set point)


* S is the new Set temperature in °C; and
''Note: this wait ends when the target's temperature is anywhere between 230°C and 245°C''
* T is the Tool assignment for this temperature command.


=== M116 UNUSED ===
'''Example 5'''


''<span style="color: maroon;">M116 is not recognized by Repetrel as of November, 2016. On some other printers, this will cause the printer to pause until all set temperatures are reached.</span>''
  M191 T# S0 R5


=== M140 Set Bed Temperature ===
This command is decoded and executed by the printer as follows:


M140 sets the bed temperature.
* '''M191''' (wait for temp)
** '''T#''' (target chamber)
** '''S0''' (to 0°C)
** '''R5''' (but end the wait once the target's temperature is +/-5°C of the set temperature)


* S is the new Set temperature in °C.
'''Example 6'''


=== M190 UNUSED ===
  M191 R10


''<span style="color: maroon;">M190 is not recognized by Repetrel as of November, 2016. On some other printers, this will cause the printer to pause until a bed temperature is reached.</span>''
* '''M191''' (wait for temp)
** (no T# - use chamber with current focus)
** '''R10''' (to get +/-10°C of set temperature)


=== M191 UNUSED ===
<br>
<hr>


''<span style="color: maroon;">M191 is not recognized by Repetrel as of November, 2016. On some other printers, this will cause the printer to pause until a chamber temperature is reached.</span>''
'''[[#What_is_GCode.3F|Back to top]]'''


=== Examples ===
== '''Controlling Material Flow''' ==


{| border="1" class="wikitable" style="text-align: left"  
{| border="1" class="wikitable" style="float:right"
|+ Controlling Temperature
! colspan="3" | Controlling Material Flow
! style="width: 20%;" | Actual Code
! style="width: 40%;" | Behavior
! style="width: 40%;" | Notes
|-
|-
! M104 S235 T10
! Code
| Sets the extruder temperature to 235 on all extruders.
! Supported
|
! Brief Description
|-
|-
! M104 S235 T12
! [[#G10_UNUSED|G10]]
| Sets the extruder temperature to 235 on the head in slot 2.
| ''No'' || ''Absolute E''
|  
|-
|-
! M104 S235
! [[#G11_UNUSED|G11]]
| Sets the extruder temperature to 235 on the currently active head.
| ''No'' || ''Relative E''
| Currently active head is explained below.
|-
|-
! M106 S100 T10
! [[#M82_Absolute_E-Values|M82]]
| Sets the cooling fan to 100% on all extruders.
| Yes || Absolute E-Values
|  
|-
|-
! M106 S25 T12
! [[#M83_Relative_E-Values|M83]]
| Sets the cooling fan to 25% on the head in slot 2.
| Yes || Relative E-Values
|  
|-
|-
! M106 S0
! [[#M221_Set_Flow_Rate|M221]]
| Sets the cooling fan to 0% (off) on the currently active head.
| Yes || Set Flow Rate
| Currently active head is explained below.
|-
|-
! M107 T10
! [[#M229_Use_E_Values|M229]]
| Turns off the cooling fan on all extruders.
| Yes || Use E Values
|  
|-
|-
! M107 T12
! [[#M721_Set_Unprime_Values|M721]]
| Turns off the cooling fan on the head in slot 2.
| Yes || Set Unprime Values
|  
|-
|-
! M107
! [[#M722_Set_Prime_Values|M722]]
| Turns off the cooling fan on the currently active head.
| Yes || Set Prime Values
| Currently active head is explained below.
|-
|-
! M109 S235 T12
! [[#M723_Set_Manual_Flow|M723]]
| Sets the extruder temperature to 235 on the head in slot 2 and waits for the temperature to be reached.
| Yes || Set Manual Flow
| ''<span style="color: maroon;">M109 is ignored if there is no T11, T12, T13 or T14  provided.</span>''
|-
|-
! M140 S80
! [[#M728_Set_Motor_Current_Boost|M728]]
| Sets the bed temperature to 80.
| Yes || Set Motor Current Boost
|
|-
! [[#M756_Set_Height_for_Flow|M756]]
| Yes || Set Height for Flow
|-
|-
|colspan="4" style="text-align: center" | The '''Currently Active Head''' defaults to the highest numbered head found; or it is the last head selected with a tool change command during this Repetrel session (if a T command has been used).
|}
|}


== '''Controlling Material Flow''' ==
You can specify flow rate variables in your gcode; we do not do this by default, but take these values from the head itself. Any values you stipulate in your gcode will supersede the values stored on the head. With our recipes the slicing program generates gcode which dictates temperature and movement commands and indicates which moves should dispense material (a G1 move with an E value).
 
However, we have two different ways to control flow.
 
* If you use '''M229 E1 D1''' we will use the E values generated by the slicer ''for printing moves, but we will always use the prime/unprime settings on the head for advancing and retracting when transitioning between printing and non-printing moves.'' This allows for varying extrusion widths and layer thicknesses (on the same layer - as with support material). This is how just about all slicers and printers work.
 
* If you do not use that command, we do not use that E value (except to distinguish printing from non-printing moves) we calculate for flow based purely on travel speed, declared layer thickness, and nozzle diameter. This is explained at http://hyrel3d.net/wiki/index.php/Flow_Rate
 
When a head is loaded, it sends this flow data (how to calculate flow, as well as how much to prime and unprime (advance and retract) material when transitioning between printing and non-printing moves - and even how many primes or unprimes to do in conjunction with a tool change.
 
In this way, the very same gcode (with temperature changes) can be used with any material, provided you are using the same physical parameters that the model was sliced for.
 
<br>
<hr>


While you ''can'' specify flow rate variables in your gcode, we do not do this by default, and we actually don't recommend this. With our recipes the slicing program generates gcode which dictates temperature and movement commands, and indicates which moves should dispense material (a G1 move with an E value).
=== G10 UNUSED<sup>1</sup> ===


However, we do not use that E value (except to distinguish printing from non-printing moves; we draw our flow calculation numbers from elsewhere. When a head is loaded, it sends this flow data (how to calculate flow, as well as how much to prime and unprime (advance and retract) material when transitioning between printing and non-printing moves - and even how many primes or unprimes to do in conjunction with a tool change.
G10 is not recognized by Repetrel.  


In this way, the very same gcode (with temperature changes) can be used with any material, provided you are using the same nozzle size the model was sliced for.
On some other printers, this will set tool offsets; we do this via '''M6'''.  


=== G10 UNUSED ===
On some other printers, this will do a retract; we do this via '''M721'''.


''<span style="color: maroon;">G10 is not recognized by Repetrel as of November, 2016. On some other printers, this will set tool offsets; we do this via  M6. On other printers, this will do a retract; we do this via M721. </span>''
<br>
<hr>


=== G11 UNUSED ===
=== G11 UNUSED ===


''<span style="color: maroon;">G11 is not recognized by Repetrel as of November, 2016. On some other printers, this will do an advance or unretract; we do this via M722. </span>''
G11 is not recognized by Repetrel.  
 
On some other printers, this will do an advance or unretract; we do this via '''M722'''.
 
<br>
<hr>
 
=== M82 Absolute E-Values ===
 
M82 stipulates that henceforth, the extrusion positioning (E values) will be calculated from the original (0) point.
 
Note, this only works on v4 and later, when E values are enabled via '''M229'''.
 
'''Usage'''


=== M82 UNUSED ===
  M82


''<span style="color: maroon;">M82 is not used by Repetrel as of November, 2016. On some other printers, this will cause the printer to absolute E values to calculate extrusion.</span>''
'''Parameters'''


=== M83 UNUSED ===
  N/A


''<span style="color: maroon;">M83 is not used by Repetrel as of November, 2016. On some other printers, this will cause the printer to relative E values to calculate extrusion.</span>'
'''Example'''
 
M82
 
This command is decoded and executed by the printer as follows:
 
* '''M82''' (use absolute E values)
 
<br>
<hr>
 
=== M83 Relative E-Values ===
 
M83 stipulates that henceforth, the extrusion positioning (E values) will be calculated from the relative (last used) point.
 
Note, this only works on v4 and later, when E values are enabled via '''M229'''.
 
'''Usage'''
 
  M83
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M83
 
This command is decoded and executed by the printer as follows:
 
* '''M83''' (use relative E values)
 
<br>
<hr>


=== M221 Set Flow Rate ===
=== M221 Set Flow Rate ===


M221 sends information to the printer about material flow:
M221 sends information to the printer about material flow.


* P is the number of pulses on the motor to dispense 10 nl of material;
Note, our default mode is volumetric calculations; if you need to slice with linear calculations, multiply your Pn by approximately 2.4 (you can do the math).
* S is the direct flow multiplier (to allow for undersized or oversized stock;
 
* W is the width of the cross section of the volume to fill;
'''Usage'''
* Z is the height of the cross section of the volume to fill; and
 
* T is the tool (head) to which these values will be applied.
  M221 Pn Sn Wn Zn T#
 
'''Parameters'''
 
  '''Pn''' is the number of pulses on the motor to dispense 1 μl (for volumetric) or 1 mm (for linear) of material;
  '''Sn''' is the direct flow multiplier (to allow for undersized or oversized stock;
  '''Wn''' is the width of the cross section of the volume to fill;
  '''Zn''' is the height (layer thickness) of the cross section of the volume to fill; and
  '''T#''' is the tool (head) to which these values will be applied.
 
'''Example'''
 
  M221 S1.0 T# P77 W0.5 Z0.3
 
This command is decoded and executed by the printer as follows:
 
* '''M221''' (set flow rate) 
** '''S1.0''' (flow multiplier of 1.0) 
** '''T#''' (target head)
** '''P77''' (77 pulses per microliter) 
** '''W0.5''' (0.5mm nozzle) 
** '''Z0.3''' (0.3mm layer thickness - note that your gcode '''M756''' will overwrite this value)
 
<br>
<hr>
 
=== M229 Use E Values ===
 
'''Starting with version 4''', Hyrel will begin to enable the use of E-values in your gcode. Variable extrusion width and support/infill thickness slicers, rejoice! Note, calculations are done for every single move individually.
 
'''Usage'''
 
  M229 En Dn Sn
 
'''Parameters'''
 
  '''En''' can be 0 (native flow calculation) or 1 (use E values)
  '''Dn''' how directed to head; see below
    '''D0''' on head controller directly; constant flow, not adjusted for motion acceleration/deceleration
    '''D1''' on motion controller, sent to head via CANBUS and adjusted for motion acceleration/deceleration
    '''D2''' on motion controller, sent to head via C axis step pin and adjusted for motion acceleration/deceleration
    '''D3''' on motion controller, sent to head via CANBUS and C axis and adjusted for motion acceleration/deceleration
  '''Sn''' sets a threshold in seconds; isolated non-printing moves below this threshold will not trigger unprime/prime actions
 
Note: E1 D0 is an illegal combination.
 
'''Example 1'''
 
  M229 E1 D1
 
This command is decoded and executed by the printer as follows:
 
* '''M229''' (E values) 
** '''E1''' (enabled) 
** '''D1''' (flow calculations directed via CANBUS and adjusted to motion acceleration/deceleration)
 
''Above is the default way to enable E values.''
 
'''Example 2'''
 
  M229 E0 D0
 
This command is decoded and executed by the printer as follows:
 
* '''M229''' (E values) 
** '''E0''' (disabled) 
** '''D0''' (flow calculations on head controller)
 
''Above is the default way to ignore E values, and is how v3 and earlier releases work.''
 
'''Example 3'''
 
  M229 E0 D1
 
This command is decoded and executed by the printer as follows:
 
* '''M229''' (E values) 
** '''E0''' (disabled) 
** '''D1''' (flow calculations directed via CANBUS and adjusted to motion acceleration/deceleration)
 
'''Example 4'''
 
  M229 E0 D0 S0.02
 
This command is decoded and executed by the printer as follows:
 
* '''M229''' (E values) 
** '''E0''' (disabled) 
** '''D0''' (flow calculations on head controller)
** '''S0.02''' (isolated non-printing moves of under 0.02 seconds will not trigger unprime/prime actions)
 
<br>
<hr>


=== M721 Set Unprime Values ===
=== M721 Set Unprime Values ===


M721 sends information to the printer about how much material to unprime when a transition from printing move to non-printing move is detected:
M721 sends information to the printer about how much material to unprime when a transition from printing move to non-printing move is detected.
 
'''Usage'''
 
  M721 Sn En Pn T# In


* S is the speed at which unprime moves should be executed; this is normally 10,000;
'''Parameters'''
* E is the number of pulses on the feed (extrusion) motor to execute; this varies greatly among materials;
 
* P is the number of milliseconds to pause before enabling the flow rate for the following move;
  '''Sn''' is the speed at which unprime moves should be executed; this is normally 10,000
* T is the tool (head) to which these values will be applied; and
  '''En''' is the number of pulses on the feed (extrusion) motor to execute; this varies greatly among materials
* I is the flag for executing an Immediate action; so M721 I1 would execute an unprime with the previously specified values at that point in the gcode.
  '''Pn''' is the number of milliseconds relative to the end of the move to begin the unprime (retract) action; a negative number initiates this before the end of the move
  '''T#''' is the target head
  '''In''' is the flag for executing an Immediate action; so '''M721 I1''' would execute an unprime with the previously specified values at that point in the gcode.
 
'''Example 1'''
 
M721 S10000 E100 P-15 T#
 
This command is decoded and executed by the printer as follows:
 
* '''M721''' (unprime) 
** '''S10000''' (set rate to 10,000 pps) 
** '''E100''' (set pulses to 100) 
** '''P-15''' (set dwell to 15ms before end of print move )
** '''T#''' (on target head)
** (but no immediate execution; execute when needed)
 
'''Example 2'''
 
M721 T# I1
 
This command is decoded and executed by the printer as follows:
 
* '''M721''' (unprime) 
** '''T#''' (on target head)
** '''I1''' (now)
 
<br>
<hr>


=== M722 Set Prime Values ===
=== M722 Set Prime Values ===


M722 sends information to the printer about how much material to prime when a transition from non-printing move to printing move is detected:
M722 sends information to the printer about how much material to prime (advance) when a transition from non-printing move to printing move is detected. This is done primarily to compensate for an earlier unprime (retract), to prep the head to be ready to dispense.
 
'''Usage'''
 
  M722 Sn En Pn T# In
 
'''Parameters'''


* S is the speed at which prime moves should be executed; this is normally 10,000;
  '''Sn''' is the speed at which unprime moves should be executed; this is normally 10,000
* E is the number of pulses on the feed (extrusion) motor to execute; this varies greatly among materials;
  '''En''' is the number of pulses on the feed (extrusion) motor to execute; this varies greatly among materials
* P is the number of milliseconds to pause before enabling the flow rate for the following move;
  '''Pn''' is the number of milliseconds to dwell relative to the start of the move to allow for the prime (advance) action
* T is the tool (head) to which these values will be applied; and
  '''T#''' is the target head
* I is the flag for executing an Immediate action; so M721 I1 would execute a prime with the previously specified values at that point in the gcode.
  '''In''' is the flag for executing an Immediate action; so '''M722 I1''' would execute a prime with the previously specified values at that point in the gcode.
 
'''Example'''
 
M722 S10000 E100 P-15 T#
 
This command is decoded and executed by the printer as follows:
 
* '''M721''' (prime) 
** '''S10000''' (set rate to 10,000 pps) 
** '''E100''' (set pulses to 100) 
** '''P-15''' (set dwell to 15ms before end of print move )
** '''T#''' (on target head)
** (but no immediate execution; execute when needed)
 
'''Example'''
 
M722 T# I1
 
This command is decoded and executed by the printer as follows:
 
* '''M722''' (prime) 
** '''T#''' (on target head)
** '''I1''' (now)
 
<br>
<hr>


=== M723 Set Manual Flow ===
=== M723 Set Manual Flow ===


M723 tells the designated extruder(s) to advance material for the specified number of pulses (on the motor) at the specified rate, regardless of any X/Y/Z movement. It is normally used only during manual operation, not during gcode execution (although some users prefer this type of control. Variables are:
M723 tells the designated extruder(s) to advance material for the specified number of pulses (on the motor) at the specified rate, regardless of any X/Y/Z movement. It is normally used only during manual operation, not during gcode execution. It can be used after moving to a location to dispense a set amount of material (like depositing material into reservoirs).
 
M723 is also used to activate and set speed on the stirring apparatus on the DMH dynamic mixing head.
 
 
'''Usage'''
 
  M723 Sn En T#
 
'''Parameters'''
 
  '''Sn''' is the speed at which the motor should advance, in pulses per second (default: 500);
  '''En''' is the number of pulses on the feed (extrusion) motor to execute (default of 65535 is essentially "forever");
  '''T#''' is the target head
 
'''Example'''
 
M723 S500 E50000 T#
 
This command is decoded and executed by the printer as follows:
 
* '''M723''' (start manual feed) 
** '''S500''' (at 500 pulses per second) 
** '''E50000''' (for 50000 pulses) 
** '''T#''' (target head)
 
<br>
<hr>
 
=== M728 Set Motor Current Boost ===
 
M728 will set the motor current boost; default is 0.
 
'''Usage'''
 
  M728 Sn T#
 
'''Parameters'''
 
  '''Sn''' is the new set temperature in °C
  '''T#''' is the target head (or device)
 
'''Example'''
 
  M728 T# S0
 
This command is decoded and executed by the printer as follows:


* S is the speed at which the motor should advance, in pulses per second (default: 500);
* '''M728''' (set motor current boost)
* E is the number of pulses on the feed (extrusion) motor to execute (default: 65535);
** '''T#''' (target head)
* T is the tool (head) to which these values will be applied (T11 through T14 (or T15), or T10 for all heads on yoke 1).
** '''S0''' (off)
<br>
<hr>


=== M756 Set Height for Flow ===
=== M756 Set Height for Flow ===


M756 will overwrite the Z value from the M221 command, allowing you to calculate flow for thinner or thicker layers. We declare M756 at the beginning of every layer; normally, they are all the same (unless you sliced for varying layer thicknesses).
M756 will overwrite the Z value from the M221 command, allowing you to calculate flow for thinner or thicker layers. We declare M756 at the beginning of every layer; normally, they are all the same (unless you sliced for varying layer thicknesses).  


* S is the layer thickness in mm for flow calculations.
Note: this command is ignored if you are using '''M229 E1 D1''' to enable use of E values.


=== Examples ===
'''Usage'''


{| border="1" class="wikitable" style="text-align: left"  
  M756 Sn
|+ Controlling Material Flow
 
! style="width: 20%;" | Actual Code
'''Parameters'''
! style="width: 40%;" | Behavior
 
! style="width: 40%;" | Notes
  '''Sn''' is the layer thickness in mm for flow calculations
 
'''Example'''
 
  M756 S0.125
 
This command is decoded and executed by the printer as follows:
 
* '''M756''' (set layer height for flow calculations) 
** '''S0.125''' (at 0.125mm)
 
<br>
<hr>
 
'''[[#What_is_GCode.3F|Back to top]]'''
 
== '''Controlling Position and Offsets''' ==
 
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Controlling Position and Offsets
|-
! Code
! Supported
! Brief Description
|-
! [[#G10_UNUSED|G10]]
| ''No'' || ''Set Offsets''
|-
! [[#G20_Set_Units_to_Inches|G20]]
| Yes || Set Units to Inches
|-
! [[#G21_Set_Units_to_Milimeters|G21]]
| Yes || Set Units to Milimeters
|-
! [[#G28_Send_to_Physical_Home|G28]]
| Yes || Send to Physical Home
|-
! [[#G53_Clear_Offsets|G53]]
| Yes || Clear Offsets
|-
! [[#G54_-_G59_-_Set_Offsets|G54-59]]
| Yes || Set Offsets
|-
|-
! M221 S1.0 T12 P0.80 W0.5 Z0.3
! [[#G90_Absolute_Positioning|G90]]
| Sets flow rate for the head in slot 2 to 0.8 (p/10nl) with a flow modifier of 1.0; also specifies the cross section of the area to be filled to a width of 0.5 and height of 0.3 (mm).
| Yes || Absolute Positioning
| These values are normally not hardcoded, but are sent from the actual print head to the Repetrel program, and then sent to the printer when the job starts. ''<span style="color: maroon;"> Hardcode these at your own risk.</span>''
|-
|-
! M721 S10000 E300 P80 T12
! [[#G91_Relatative_Positioning|G91]]
| Sets the unprime values for the head in slot 2 to 300 pulses, executed at a rate of 10,000 per second, with a 80 millisecond dwell (before enacting the next flow rate). As the next flow rate is necessarily 0 (for a non-printing move), the E value is relatively meaningless here.
| Yes || Relatative Positioning
| These values are normally not hardcoded, but are sent from the actual print head to the Repetrel program, and then sent to the printer when the job starts. ''<span style="color: maroon;"> Hardcode these at your own risk.</span>''
|-
|-
! M721 I1
! [[#G92_Reset_Coordinate_Offsets|G92]]
| Executes an immediate unprime on the head the printer is currently in communication with, using previously defined values for that head.
| Yes || Reset Coordinates
|
|-
|-
! M722 S10000 E300 P105 T12
! [[#G93_Clear_Coordinate_Offsets|G93]]
| Sets the prime values for the head in slot 2 to 300 pulses, executed at a rate of 10,000 per second, with a 105 millisecond dwell (before enacting the next flow rate).
| Yes || Reset Coordinates
| These values are normally not hardcoded, but are sent from the actual print head to the Repetrel program, and then sent to the printer when the job starts. ''<span style="color: maroon;"> Hardcode these at your own risk.</span>''
|-
|-
! M722 I1
! [[#M6_Declare_Head_Offsets|M6]]
| Executes an immediate prime on the head the printer is currently in communication with, using previously defined values for that head.
| Yes || Declare Head Offsets
|
|-
|-
! M756 S0.2
! [[#M660_Assign_Tool_Height_Offset|M660]]
| Sets layer thickness (for flow calculations) to 0.2mm
| Yes || Set Tool Offsets
| Use caution if editing this value.
|-
|-
! M723 S500 E65535 T14
! [[#M702_-_M704_Cloning_Heads|M702-4]]
| Activates the head in slot 4 to run 65,535 pulses at 500 pulses per second.
| Yes || Cloning Heads
| Don't use this in normal gcode files!
|-
|-
|}
|}


{| class="wikitable"
The following commands define if new positioning data is defined in inches (G20) or mm (G21); or from the origin (G90) or from the present location (G91). They also stipulate the offsets from one head to another (M6), and how to invoke that offset (T).
|+ To make this a little easier to understand:
|To determine flow we consider:<br><br>
<span style="color:red">'''1. Path Width''', as specified in the nozzle diameter parameter '''on the data for that print head''' (NOT path width in the slicer) [unless you manually hard code a value in your gcode];</span><br><br>
<span style="color:blue">'''2. Path Height (or Layer Thickness)''', as specified '''in your gcode by an M756 command with an S (slice thickness) value''' (NOT on the print head);</span><br><br>
- '''<span style="color:red">1</span> and <span style="color:blue">2</span>''' - these two define the '''cross section''' to fill during this move.<br><br>
<span style="color:purple">'''3. Print Speed''', as specified '''in your gcode by a G1 command with an F (feed rate) value''' (which should be set by your slicer, but may be edited afterward);</span><br><br>
- '''<span style="color:red">1</span> and <span style="color:blue">2</span> and <span style="color:purple">3</span>''' - cross section times linear speed gives us '''volume per unit time (in nl/sec)''' to be dispensed.<br><br>
<span style="color:green">'''4. Pulses per Nanoliter''' (actually, pulses for 10 nanoliters), as specified '''on the data for that print head''' (NOT path width in the slicer) [unless you manually hard code a value in your gcode];</span><br><br>
- '''<span style="color:red">1</span> and <span style="color:blue">2</span> and <span style="color:purple">3</span> and <span style="color:green">4</span>''' - volume per unit time times pulses per unit volume gives us how fast in '''pulses per second''' to dispense.<br><br>
<span style="color:magenta">'''5. Feed Rate %''', as specified '''on the data for that print head''' (NOT path width in the slicer) [unless you manually hard code a value in your gcode];</span><br><br>
- '''<span style="color:red">1</span> and <span style="color:blue">2</span> and <span style="color:purple">3</span> and <span style="color:green">4</span> and <span style="color:magenta">5</span>''' - pulses per second is modified by this feed rate percentage (default of 1) to account for over/under sized filament or slippage due to gummy material.
|-
|}


== '''Controlling Position and Offsets''' ==
=== G10 UNUSED<sup>2</sup> ===


The following commands define if new positioning data is defined in inches (G20) or mm (G21); or from the origin (G90) or from the present location (G91). They also stipulate the offsets from one head to another (M6), and how to invoke that offset (T).
G10 is not recognized by Repetrel.  


=== G10 UNUSED ===
On some other printers, this will set tool offsets; we do this via '''M6'''.


''<span style="color: maroon;">G10 is not recognized by Repetrel as of November, 2016. On some other printers, this will set tool offsets; we do this via  M6. On other printers, this will do a retract; we do this via M721. </span>''
On some other printers, this will do a retract; we do this via '''M721'''.


=== G20 Set Units to Inches ===
=== G20 Set Units to Inches ===


G20 declares that henceforth, measurements will be given in inches.
G20 declares that henceforth, measurements will be given in inches.
'''''Working with G20 is experimental and unsupported on Hyrel equipment. Use at your own risk.'''''
'''Usage'''
  G20
'''Parameters'''
  N/A
'''Example'''
G20
This command is decoded and executed by the printer as follows:
* '''G20''' (set units to inches)
<br>
<hr>


=== G21 Set Units to Millimeters ===
=== G21 Set Units to Millimeters ===
Line 499: Line 2,111:
G21 declares that henceforth, measurements will be given in mm.
G21 declares that henceforth, measurements will be given in mm.


=== G28 Send X, Y to Physical Home ===
'''Usage'''
 
  G21
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
G21
 
This command is decoded and executed by the printer as follows:
 
* '''G21''' (set units to milimeters)
 
<br>
<hr>
 
=== G28 Send to Physical Home ===
 
G28 sends the specified axes to the sensor-defined physical home position, regardless of logically set 0,0, then pop-off and re-acquire the sensor threshold at a slower rate. This pop-off and re-acquire was implemented during v3.
 
After homing, a '''G28''' also resets current offsets to 0 - including any may have been set with a '''G92''' or an H (as defined in an '''M660''' and invoked on a '''G1'''), performs a '''G53''', and applies a head offset of 0 mm (as in an '''M6 O0''').
 
Any axis not homed will have its position remain unchanged. We do not support intermediate positioning during homing.
 
'''Usage'''
 
  G28 Xn Yn Zn An Bn I1
 
'''Parameters'''
 
  '''X0''' ensures that the X axis is homed
  '''Y0''' ensures that the Y axis is homed
  '''Z0''' ensures that the Z axis is homed
  '''A0''' ensures that the A axis is homed
  '''B0''' ensures that the B axis is homed
 
'''Example'''
 
  G28 X0 Y0
 
This command is decoded and executed by the printer as follows:
 
* '''G28''' (home axis)
** '''X0''' (X axis to 0)
** '''Y0''' (Y axis to 0)
** (Z remains unchanged)
** (A remains unchanged)
** (B remains unchanged)
 
<br>
<hr>
 
=== G53 Clear Offsets ===
 
G53 sets the fixture offsets to (0,0,0,0,0). This takes no arguments or variables. It does not clear stored offset values.
 
'''Usage'''
 
  G53
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
G53
 
This command is decoded and executed by the printer as follows:
 
* '''G53''' (set fixture offsets to 0; no effect on H (head) offsets)
 
<br>
<hr>
 
=== G54 - G59 - Set Offsets ===
 
G54, G55, G56, G57, G58, and G59 will each store and invoke fixture offsets in the X, Y, Z, A, and/or B axes for all subsequent moves. Any values not invoked will remain with their previous value (0 unless earlier specified otherwise). These offsets apply to all positioning until a new offset is applied, or a '''G53''' is used to clear all offsets.
 
This graphic shows how printers (OTHER THAN THE EHR) use the G54-G59 offsets:
 
[[File:G54.png|600px]]
 
Note that this differs from an '''M6''', where the offsets are only applied to a SINGLE tool position. These offsets are cumulative with '''M6''' values.
 
'''Usage'''
 
  G54 (... G59) Xn Yn Zn An Bn
 
'''Parameters'''
 
  '''Xn''' is the offset in mm in the X axis
  '''Yn''' is the offset in mm in the Y axis
  '''Zn''' is the offset in mm in the Z axis
  '''An''' is the offset in mm in the A axis
  '''Bn''' is the offset in mm in the B axis


G28 sends the X and Y axes to the sensor-defined physical home position, regardless of logically set 0,0.
'''Example'''


=== G90 Set Absolute Coordinates ===
G54 X30 Y-20


G90 stipulates that henceforth, absolute measurements will be given - calculated from the origin (0,0 point).
This command is decoded and executed by the printer as follows:


=== G91 Set Relatative Coordinates ===
* '''G54''' (set units to milimeters)
** '''X30''' (add 30mm to all X positions)
** '''Y-20''' (subtract 20mm from all Y positions)
** (no change to prior stored offsets)


G91 stipulates that henceforth, relative measurements will be given - calculated from the current position.
'''Example'''


=== G92 Reset Coordinates ===
G55


G92 resets the current position to the specified coordinates; without X, Y, or Z values, all axes are reset to 0 at  the present point.
This command is decoded and executed by the printer as follows:


* X is the new X position of record;
* '''G55''' (apply new fixture offsets)
* Y is the new Y position of record; and
** (no variable: use previous G55 values, or as stored under Settings > Printer > Fixture Offsets)
* Z is the new Z position of record.


=== M6 Declare Offsets ===
 
<br>
<hr>
 
=== G90 Absolute Positioning ===
 
G90 stipulates that henceforth, the positioning will be calculated from the origin (0,0 point).
 
'''Usage'''
 
  G90
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
G90
 
This command is decoded and executed by the printer as follows:
 
* '''G90''' (use absolute positioning)
 
<br>
<hr>
 
=== G91 Relatative Positioning ===
 
G91 stipulates that henceforth, the positioning will be calculated relative to the starting position.
 
'''Usage'''
 
  G91
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
G91
 
This command is decoded and executed by the printer as follows:
 
* '''G91''' (use relative positioning)
 
<br>
<hr>
 
=== G92 Reset Coordinate Offsets ===
 
G92 resets the current position to the specified coordinates for all axes enumerated.
 
'''Usage'''
 
  G92 Xn Yn Zn An Bn En
 
'''Parameters'''
 
  '''Xn''' is the new value for the current X position
  '''Yn''' is the new value for the current Y position
  '''Zn''' is the new value for the current Z position
  '''An''' is the new value for the current A position
  '''Bn''' is the new value for the current B position
  '''En''' is the new value for the current E position
 
'''Example'''
 
G92 X0 Y50
 
This command is decoded and executed by the printer as follows:
 
* '''G92''' (replace current values)
** '''X0''' (present X position is 0)
** '''Y50''' (present Y position is 50)
 
'''Example'''
 
G92 E0
 
This command is decoded and executed by the printer as follows:
 
* '''G92''' (replace current values)
** '''E0''' (present E position is 0)
 
<br>
<hr>
 
=== G93 Clear Coordinate Offsets ===
 
G93 clears ALL offsets implemented via '''G92''' command.
 
'''Usage'''
 
  G93
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
G93
 
This command is decoded and executed by the printer as follows:
 
* '''G93''' (clear coordinate offset values, all axes)
 
<br>
<hr>
 
=== M6 Declare Head Offsets ===


M6 declares that a particular head holds a set of X, Y, and/or Z offsets, which will be invoked during a T (tool change) command. Repetrel reads this data from the heads, and sends it to the printer before the gcode file is loaded.
M6 declares that a particular head holds a set of X, Y, and/or Z offsets, which will be invoked during a T (tool change) command. Repetrel reads this data from the heads, and sends it to the printer before the gcode file is loaded.


* T is the Tool position for which these offsets are being set;
'''Usage'''
* O is the Offset position where these are being stored;
 
* X is the offset in the X axis;
  M6 T# On Xn Yn Zn An Bn Dn In Kn
* Y is the offset in the Y axis; and
 
* Z is the offset in the Z axis.
'''Parameters'''
 
  '''T#''' is the Tool position for which these offsets are being set
  '''On''' is the Offset position where these are being stored
  '''Xn''' is the offset in the X axis
  '''Yn''' is the offset in the Y axis
  '''Zn''' is the offset in the Z axis
  '''An''' is the offset in the A axis
  '''Bn''' is the offset in the B axis
  '''Dn''' is the current tool diameter (used with pocket commands)
  '''In''' non-persistent; can be default 0 (store values but do not move these distances) or 1 (store values and move these distances)
  '''Kn''' persistent setting; can be default 0 (use I value) or 1 (ignore I1 and always act with I0)
 
'''Example'''
 
  M6 T# O1 X20 Y-30 Z40
 
This happens (for every head loaded) when you click print, and the head values are sent to the Motion Controller.
 
This command is decoded and executed by the printer as follows:
 
* '''M6''' (Declare Head Offsets)
** '''T#''' (target head) 
** '''O1''' (offset stored in register "O1") 
** '''X20''' (X+20)
** '''Y-30''' (Y-30)
** '''Z40''' (Z+40)
** (no change to A)
** (no change to B)
** (no diameter change)
** (no move)
 
'''Example'''
 
  M6 T# O1 X20 Y-30 Z40 I1
 
This happens when you execute a tool change with '''T#''', and so it triggers the move ('''I1''') to properly position the next head.
 
This command is decoded and executed by the printer as follows:
 
* '''M6''' (Declare Head Offsets)
** '''T#''' (target head) 
** '''O1''' (offset stored in register "O1") 
** '''X20''' (X+20)
** '''Y-30''' (Y-30)
** '''Z40''' (Z+40)
** (no change to A)
** (no change to B)
** (no diameter change)
** (store and move distances)
 
'''Example'''
 
  M6 K1
 
You might include this in your header to change behavior during tool changes.
 
This command is decoded and executed by the printer as follows:
 
* '''M6''' (Declare Head Offsets)
** (all future T# or M6 commands) 
** (no offset registers, so ignore all offsets)
** '''K1''' (always force I0 with M6 unless K0 present (or has been previously set)
 
Note that this differs from a G54-G59, where the offsets are applied to EVERY tool position.
 
<br>
<hr>


=== M660 Assign Tool Height Offset ===
=== M660 Assign Tool Height Offset ===


Used with the High Resolution Engine (and other units which home away from O, like a CNC), an M660 declares that a particular head, when called upon, should print at the gcode-based Z position MODIFIED by this offset, since on these units, the Z-Zero is often BELOW the print surface.
Used with the High Resolution Engine (and other units which home away from O, like a CNC), an M660 declares that a particular head, when called upon, should print at the gcode-based Z position MODIFIED by this offset, since on these units, the Z-Zero is often BELOW the print surface. By default, this is ONLY used on the EHR (Engine, High Resolution)


* H is the Head position for which these offsets are being set;
NOTE: You MUST have a '''G28 Z0''' in your header to run this M660 on the EHR.
* Z is the offset in the Z axis.
 
'''Usage'''
 
  M660 Hn Zn
  (followed by)
  G1 Xn Yn Zn Fn Hn (see '''[[#G1_Working_Move]]''' for other details
 
'''Parameters'''
 
  '''H''' is the head offset registern for which these offsets are being set;
  '''Z''' is the offset in the Z axis in mm.
 
'''Example 1'''
 
  M660 H2 Z28.2      ; (specified before any moves)
  (followed by)
  G1 X50 Y75 F4800 H2  ; (specified on the first G1 move)
 
This command is decoded and executed by the printer as follows:
 
* '''M660''' (apply offset)
** '''H2''' (store in register 2)
** '''Z28.2''' (+28.2 to Z position)
* (there may be more commands before the G1 move invoking the H2)
* '''G1''' (working speed straight line move from the current location to)
** '''X50''' (50mm in the X)
** '''Y75''' (75mm in the Y)
** (no change in Z)
** '''E1''' (while extruding)
** '''F1800''' (moving at 1800mm/min)
** '''H2''' (invoke offsets stored in register H2)
 
To be clear, this requires editing two lines of code:


In your gcode, you will enter the M660 just before the first layer code. Example: <code>M660 H2 Z28.2 ; set tool height for tool two (Z offset)</code>. On the first move of layer one (usually the Z move), you will add an <code>H</code> value so that this tool height is invoked.  
In your gcode, you will enter the M660 just before the first layer code. Example: <code>M660 H2 Z28.2 ; set tool height for tool two (Z offset)</code>. On the first move of layer one (usually the Z move), you will add an <code>H</code> value so that this tool height is invoked.  


Example, Before: <code>G1 Z0.275 F360 ; move to next layer (0)</code><br>
'''Example 2'''
Example, After: <code>G1 Z0.275 F360 H2 ; move to next layer (0) and invoke head Z offset for this tool</code>
 
Before editing:  
 
  G1 Z0.275 F360     ; move to next layer (0)
  (followed by)
  G1 X50 Y75 F4800
 
After editing:
 
  G1 Z0.275 F360 '''H2'''  ; move to next layer (0) and invoke head Z offset for this tool</code>
  (followed by)
  G1 X50 Y75 F4800 '''H2'''
 
<br>
<hr>
 
=== M702 - M704 Cloning Heads ===
 
Clone, slave, or parallel printing, is when multiple heads make the ''exact same print'' at the same time.
 
Usage of these commands with version 4 and earlier is explained on '''[[T_v4]]'''.
 
<span style="color:darkorange;">Usage of these commands with version 5 and later is explained on '''[[T_v5]]'''.
 
<br>
<hr>


=== T Tool Change===
=== T Tool Change===


T executes a tool change, invoking the parameters specified in the M6 sent from Repetrel to the printer at the job start.
T executes a tool change, invoking the parameters specified in the M6 sent from Repetrel to the printer at the job start. Do not confuse a T command with a T variable.
 
'''See the first entry on this page for details. '''
 
<br>
<hr>
 
'''[[#What_is_GCode.3F|Back to top]]'''
 
== '''Controlling Lasers and UV Pens''' ==
 
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Controlling Lasers and UV Pens
|-
! Code
! Supported
! Brief Description
|--
! [[#M620_Enable_Device|M620]]
| Yes || Enable Device
|-
! [[#M621_Set_Laser_Power|M621]]
| Yes || Set Laser Power
|-
! [[#M623_Duration_Emit|M623]]
| Yes || Duration Emit
|-
| colspan="3" | [[#Laser_Examples|Laser Examples]]
|-
| colspan="3" | [[#UV_Pen_Examples|UV Pen Examples]]
|}
 
 
The CO<sub>2</sub> and Diode Lasers and the UV Pens require the following enabling codes:
 
=== M620 Enable Device ===
 
M620 enables the device.
 
'''Usage'''
 
  M620 T# En An
 
'''Parameters'''
 
  '''T#''' is the tool position
  '''En''' can be the default 0 (disable) or 1 (enable)
  '''An''' is the duration in seconds after shut-off that the cooling remains active; default is 30 (but this will not override temperature safety measures)
 
'''Example'''
 
  M620 T# E1
 
This command is decoded and executed by the printer as follows:
 
* '''M620''' (enable device)
** '''T#''' (target head - MUST be specified, can NOT be inherited)
** '''E1''' (enable)
 
<br>
<hr>
 
=== M621 Set Laser Power ===
 
M621 sets the power for the LASER (not other heads).
 
'''Usage'''
 
  M621 Dn Pn
 
'''Parameters'''
 
  '''Pn''' is the power, in a value between 0 (min) and 100 (max).
  '''Dn''' is the initial power (similar to a prime) to penetrate material (optional; uses Pn if unspecified)
 
Note: No tool is specified; this will happen on the laser already enabled with M620.
 
'''Example'''
 
  M621 P40
 
This command is decoded and executed by the printer as follows:
 
* '''M621''' (activate device)
** '''P40''' (at 40% during "printing" (E-value) moves)
 
<br>
<hr>
 
 
=== M623 Duration Emit ===
 
M623 sets the power for the laser or UV pen, and takes the following parameters:
 
'''Usage'''
 
  M623 Dn Pn
 
'''Parameters'''
 
  '''Dn''' is the duration, in miliseconds (only used for static exposures, not during moves)
  '''Pn''' is the power, in a value between 0 (min) and 100 (max).
 
Note: Dn max for UV pens is 60,000 (1 minute); Dn max for other devices 1,000 (1 second);
 
Here are examples:
 
  M623 P80 D500
 
This command is decoded and executed by the printer as follows:
 
* '''M623''' (activate tool)
** '''P80''' (power 80%)
** '''D500''' (duration 500 miliseconds)
 
  M623 P80 D10000
 
This command is decoded and executed by the printer as follows:
 
* '''M623''' (activate tool) 
** '''P80''' (power 80%)
** '''D10000''' (duration 10 seconds)
 
=== Laser Examples ===
 
A sample of code for lasering will look like this:
 
  G0 X100 Y100 F1000  ; move to start location at 1000 mm/min
  M620 T# E1          ; enable target device
  M621 P100          ; set light emission in vector mode (slot 3) to full power (100%)
  T#                  ; toolchange to target head
  G1 X120 Y100 E1    ; emitting (printing) move 20mm from origin in X axis
  G1 X120 Y120 E1    ; emitting (printing) move 20mm from origin in Y axis
  G1 X120 Y130        ; non-emitting move 10mm from origin in Y axis
  G1 X140 Y130 E1    ; emitting move 20mm from origin in X axis
 
  ... (the rest of your lasering job)
 
  M620 T# E0          ; disable target device <= should be before M30 command
 
=== UV Pen Examples ===
 
A sample of code for UV Curing will look like this:
 
  G0 X100 Y100 F1000  ; move to start location at 1000 mm/min
  M620 T# E1        ; enable target device
  M621 P100          ; set light emission in vector mode (slot 3) to full power (100%)
  T#                  ; toolchange to target head
  G1 X120 Y100 E1    ; emitting (printing) move 20mm from origin in X axis
  G1 X120 Y120 E1    ; emitting (printing) move 20mm from origin in Y axis
  G1 X120 Y130        ; non-emitting move 10mm from origin in Y axis
  G1 X140 Y130 E1    ; emitting move 20mm from origin in X axis
 
  ... (the rest of your curing job)
 
  M620 T# E0        ; disable target device <= should be before M30 command
 
For more complex examples, see the '''[[UV_and_Clench]]''' page.
 
<br>
<hr>
 
'''[[#What_is_GCode.3F|Back to top]]'''
 
== '''Controlling Spindles and Lathes''' ==
 
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Controlling Spindles and Lathes
|-
! Code
! Supported
! Brief Description
|-
! [[#M3_Turn_On_Spindle_.28CW.29|M3]]
| Yes || Spindle On CW
|-
! [[#M4_Turn_On_Spindle_.28CCW.29R|M4]]
| Yes || Spindle On CCW
|-
! [[#M5_Turn_Off_Spindle|M5]]
| Yes || Spindle Off
|-
! [[#M253_Turn_On_Lathe_.28CW.29|M253]]
| Yes || Turn On Lathe (CW)
|-
! [[#M254_Turn_On_Lathe_.28CCW.29|M254]]
| Yes || Turn On Lathe (CCW)
|-
! [[#M255_Turn_Off_Lathe|M255]]
| Yes || Turn Off Lathe
|-
! [[#G81_Peck_Drilling|G81]]
| G81 || Peck Drilling
|-
|}
 
Machining and Spindle Tool commands. Note, we recommend using [http://mr-soft.net/ SimplyCAM].
 
You can review the 5-axis gcode we used for [https://www.youtube.com/watch?v=B0lvN-aPYHI this video] from [http://hyrel3d.net/downloads/gcode/Ardes_tube_cap_milling.gcode here].
 
=== M3 Turn On Spindle (CW) ===
 
M3 tells the printer to activate (start) the spindle motor in the clockwise direction on the current head (if it has one), using the value set on the head for RPM. Note: S0 is the same as turning it off. Note: DO NOT CHANGE DIRECTION while the spindle is in motion.
 
'''Usage'''
 
  M3 T# Sn Fn
 
'''Parameters'''
 
  '''T#''' - target head
  '''Sn''' - power (0-100%)
  '''Fn''' - optional; PWM in Hz (defaults on heads should be fine for most uses)
 
'''Example'''
 
  M3 T# S75
 
This command is decoded and executed by the printer as follows:
 
* '''M3''' (activate spindle clockwise)
** '''T#''' (target head)
** '''S75''' (at 75% power)
** (default PWM)
 
<br>
<hr>
 
=== M4 Turn On Spindle (CCW) ===
 
Please refer to M3, above, for details. All options are identical, with the exception of direction (counterclockwise).
 
<br>
<hr>
 
===  M5 Turn Off Spindle ===
 
M5 tells the printer to deactivate (stop) the spindle motor on the current head (if it has one). M5 has the same effect as M3 S0 or M4 S0.
 
'''Usage'''
 
  M5 T#
 
'''Parameters'''
 
  '''T#''' - target head
 
'''Example'''
 
  M5 T#
 
This command is decoded and executed by the printer as follows:
 
* '''M3''' (deactivate spindle )
** '''T#''' (target head)
 
<br>
<hr>
 
=== M253 Turn On Lathe (CW) ===
 
M253 tells the printer to activate (start) the lathe motor in the clockwise direction (if it has one), using the value set with M92 for RPM. Only available on Hydra 16A models.
 
Note: S0 is the same as turning it off.
 
'''Usage'''
 
  M253 Sn
 
'''Parameters'''
 
  '''Sn''' - speed in units per minute (default: RPM if set with M92 as steps per revolution)
 
'''Example'''
 
  M253 S75
 
This command is decoded and executed by the printer as follows:
 
* '''M253''' (activate spindle clockwise)
** '''S75''' (at 75 RPM)
 
<br>
<hr>
 
=== M254 Turn On Lathe (CCW) ===
 
Please refer to M253, above, for details. All options are identical, with the exception of direction (counterclockwise).
 
<br>
<hr>
 
===  M255 Turn Off Lathe ===
 
M255 tells the printer to deactivate (stop) the lathe motor (if it has one). M255 has the same effect as G253 S0 or G254 S0.
 
'''Usage'''
 
  M255
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M255
 
This command is decoded and executed by the printer as follows:
 
* '''M255''' (deactivate lathe)
 
<br>
<hr>
 
===  G81 Peck Drilling ===
 
G81 tells the printer to move to a start position in X/Y and then in Z, and to make (if needed) repeated descents and retracts. This is used to make holes, especially deep holes. Note that the spindle tool is turned on with an M3 or M4 before this command, and turned off with an M5 after all work is done.
 
'''Usage'''
 
  G81 T# Xn Yn In Pn Qn Zn Fn
 
'''Parameters'''
 
  '''T#''' - target head
  '''Xn''' - X position
  '''Yn''' - Y position
  '''In''' - initial Z position
  '''Pn''' - peck downward this many mm during each cycle
  '''Qn''' - retract upward this many mm after each cycle (to clear debris)
  '''Zn''' - maximum pecking depth
  '''Fn''' - Z working speed in mm/min
 
'''Example'''
 
  G81 T# X100 Y75 I3 P3 Q-2 Z-7.5 F200
 
''NOTE that an M660 offset must be set and applied BEFORE THIS COMMAND to allow for tool length.''
 
This command is decoded and executed by the printer as follows:
 
* '''G81''' (begin pecking cycle)
** '''X100 Y75''' (move to X/Y starting position X100 Y75)
** '''I3''' (move to Z starting position Z3, which will be our greatest retract height)
** '''P3''' (peck downward an additional 3mm at a time)
** '''Q-2''' (retract upward 2mm after each peck (to clear debris))
** '''Z-7.5''' (peck to a maximum depth of 7.5mm)
** '''F200''' (working (drilling) travel speed of 200 mm/min)
** ''after this, the head will retract up to the I position (Z3 in this case) before moving on to the next line''
 
<br>
<hr>
 
'''[[#What_is_GCode.3F|Back to top]]'''
 
== '''Reporting and Diagnostics''' ==
 
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Reporting and Diagnostics
|-
! Code
! Supported
! Brief Description
|-
! [[#M701_Set_Head_Reporting|M701]]
| Yes || Set Head Reporting
|-
! [[#M718_Stop_Logging_to_File|M718]]
| Yes || Stop Logging to File
|-
! [[#M719_Start_Logging_to_File|M719]]
| Yes || Start Logging to File
|-
! [[#M670_Enable_Y-arm_Light|M670]]
| Yes || Enable Y-arm Light
|- || Activate Danger Light
|-
! [[#M672_Set_Y-arm_Light|M672]]
| Yes || Set Y-arm Light
|-
! [[#M772_Reset_All_Metrics|M772]]
| Yes || Reset All Metrics
|-
! [[#M773_Generate_Basic_Report|M773]]
| Yes || Generate Basic Report
|-
|}
 
The following commands help with reporting and diagnostics. Most users never need them, but here are the basics. More advanced/detailed reporting is available.
 
=== M701 Set Head Reporting ===
 
M701 tells heads how often to send head-specific information to the Motion Controller and on to Repetrel (and pass along to a text file if enabled via M719).
 
'''Usage'''
 
  M701 T# Pn
 
'''Parameters'''
 
  '''T#''' - target head
  '''Pn''' - period in seconds between entries (default 1)
 
'''Example'''
 
  M701 P12
 
This command is decoded and executed by the printer as follows:
 
* '''M701''' (head reporting)
** (currently active head)
** '''P12''' (every 12 seconds)
 
<br>
<hr>
 
=== M718 Stop Logging to File ===
 
M718 tells Repetrel to stop any logging of data to text file that may have been enabled with M719.
 
'''Usage'''
 
  M718
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M718
 
This command is decoded and executed by the printer as follows:
 
* '''M718''' (logging off)
 
<br>
<hr>
 
=== M719 Start Logging to File ===
 
M719 tells the Motion Controller what system-wide information to report back to Repetrel, and also tells Repetrel to begin logging these details to a text file.
 
'''Usage'''
 
  M719 Pn Sn
 
  M719 Pn Xn Yn Zn An Bn Vn En Ln
 
'''Parameters'''
 
  '''Pn''' - period in seconds between entries
  '''Sn''' - can be default 0 (see options below) or 1 (report ALL data)
  '''Xn''' - report X position with each entry
  '''Yn''' - report Y position with each entry
  '''Zn''' - report Z position with each entry
  '''An''' - report A position with each entry
  '''Bn''' - report B position with each entry
  '''Vn''' - report velocity with each entry
  '''En''' - report flow rate with each entry
  '''Ln''' - report gcode line number with each entry
 
Note: these values are persistent, and if previously enabled, will still be enabled unless disabled with a 0 parameter.
 
'''Example 1'''
 
  M719 P10 S1
 
This command is decoded and executed by the printer as follows:
 
* '''M719''' (logging on)
** '''P10''' (every 10 seconds)
** '''S1''' (report everything)
 
'''Example 2'''
 
  M719 P.1 Xn Yn Zn Ln
 
* '''M719''' (logging on)
** '''P.1''' (every 0.1 seconds)
** '''X1''' (report X position)
** '''Y1''' (report Y position)
** '''Z1''' (report Z position)
** (don't report A position)
** (don't report B position)
** (don't report velocity)
** (don't report flow rate)
** '''L1''' (report line number)
 
<br>
<hr>
 
=== M670 Enable Gantry / Y-arm Light ===
 
M670 sets the intensity of the Y-arm LEDs.
 
'''Usage'''
 
  M670 Sn Pn
 
'''Parameters'''
 
  '''Sn''' is the (percent of duty cycle, 0-100) for the LEDs
  '''Pn''' is the period (on-off interval - default is 1 second)
 
'''Example 1'''
 
  M670 S50 P1
 
This command is decoded and executed by the printer as follows:
 
* '''M670''' (enable Y-arm light)
** '''S50''' (50% duty cycle)
** '''P1''' (1 second cycle)
 
This would turn the Y-arm light on for 50% of 1 second, then off for 50% of 1 second - or on for 0.5 seconds, off for 0.5 seconds.
 
'''Example 2'''
 
  M670 S25 P4
 
This command is decoded and executed by the printer as follows:
 
* '''M670''' (enable Y-arm light)
** '''S25''' (25% duty cycle)
** '''P4''' (4 second cycle)
 
This would turn the Y-arm light on for 25% of 4 second, then off for 75% of 4 seconds - or on for 1 second, off for 3 seconds.
 
<br>
<hr>
 
=== M672 Set Gantry / Y-arm State ===
 
M672 can be used to have the Gantry / Y-arm light change states to reflect the state of a sensor. For example, you can have it come on when the X axis is homed, or when the Y axis has a fault.
 
'''Usage'''
 
  M672 Sn
 
'''Parameters'''
 
  '''Sn''' can be (unlisted numbers are unused at present):
        '''0'''  : Normal on/off
        '''10''' : X Home
        '''11''' : X Limit1
        '''12''' : X Limit2
        '''13''' : X Fault
        '''20''' : Y Home
        '''21''' : Y Limit1
        '''22''' : Y Limit2
        '''23''' : Y Fault
        '''30''' : Z Home
        '''31''' : Z Limit1
        '''32''' : Z Limit2
        '''33''' : Z Fault
        '''40''' : A Home
        '''41''' : A Limit1
        '''42''' : A Limit2
        '''43''' : A Fault
        '''50''' : B Home
        '''11''' : B Limit1
        '''52''' : B Limit2
        '''53''' : B Fault
        '''60''' : C Home
        '''61''' : C Limit1
        '''62''' : C Limit2
        '''63''' : C Fault
 
'''Example'''
 
  M672 S
 
This command is decoded and executed by the printer as follows:
 
* '''M672''' (map Y-arm light to state of sensor)
 
<br>
<hr>
 
=== M772 Reset All Metrics ===
 
M772 will reset all internal gathering registers to '''0'''.
 
'''Usage'''
 
  M772 Sn
 
'''Parameters'''
 
  '''Sn''' 0 is default; S can be...
      '''0''' reset all values only
      '''1''' also generates a basic printing report
      '''255''' also generates all possible reports (helpful for advanced debugging)
 
'''Example'''
 
  M772 S1
 
This command is decoded and executed by the printer as follows:
 
* '''M772''' (reset all metrics)
** '''S1''' (and generate basic printing report
 
<br>
<hr>
 
=== M773 Generate Basic Report ===
 
M773 generates a basic report of printing statistics (including average speed, number of primes, etc.)
 
Note: this report will be more meaningful if you use '''M772''' to reset these counters at the start of a job.
 
'''Usage'''
 
  M773
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M773
 
This command is decoded and executed by the printer as follows:
 
* '''M773''' (generate basic report)
 
'''Sample Output'''
 
  >IN:  50: ******************************************************************
  >IN:  50: **  Begin M773 - print job metrics Report
  >IN:  50: ******************************************************************
  >IN:  50:
  >IN:  50:                      Time (s)    Dist (m)
  >IN:  50:                      --------    --------
  >IN:  50: Totals:                    0.0      0.000
  >IN:  50:
  >IN:  50: Printing moves:            0.0      0.000
  >IN:  50: Non-printing moves        0.0      0.000
  >IN:  50:
  >IN:  50: Accelerating:              0.0      0.000
  >IN:  50: Cruising:                  0.0      0.000
  >IN:  50: Decelerating:              0.0      0.000
  >IN:  50:
  >IN:  50: can e steps issued:      0
  >IN:  50: approx filament (PI*d)    0.000 m
  >IN:  50: approx filament (PIr^2)  0.000 m
  >IN:  50: unprimes issued:          0
  >IN:  50: primes issued:            0
  >IN:  50: unprime-primes avoided:  0
  >IN:  50:
  >IN:  50: ******************************************************************
  >IN:  50: **  End M773 Report
  >IN:  50: ******************************************************************
 
<br>
<hr>
 
'''[[#What_is_GCode.3F|Back to top]]'''


=== Examples ===
== '''Controlling Aux Devices''' ==


{| border="1" class="wikitable" style="text-align: left"  
{| border="1" class="wikitable" style="float:right"
|+ Controlling Position and Offsets
! colspan="3" | Controlling Aux Devices
! style="width: 20%;" | Actual Code
|-
! style="width: 40%;" | Behavior
! Code
! style="width: 40%;" | Notes
! Supported
! Brief Description
|-
! [[#M7_Set_Power_On_Aux_1|M7]]
| Yes || Aux 1 On (Mist)
|-
! [[#M8_Set_Power_On_Aux_2|M8]]
| Yes || Aux 2 On (Flood)
|-
|-
! G20
! [[#M9_Turn_Off_All_Aux|M9]]
| All subsequent distances will be specified in inches.
| Yes || All Aux Off
| This is our NOT our standard state.
|-
|-
! G21
! [[#M620_Enable_Device|M620]]
| All subsequent distances will be specified in mm.
| Yes || Enable Device
| This is our standard state.
|-
|-
! G28
! [[#M670_Activate_Y-Arm_.28Gantry.29_Lights|M670]]
| Sends the X and Y axes to the sensor-defined physical home position, regardless of logically set 0,0.
| Yes || Enable Y-arm (Gantry) Lights
| A standard part of our start gcode so that previous settings will be overwritten.
|-
|-
! G90
! [[#M671_Activate_X-Arm_.28Danger.29_Lights|M671]]
| All subsequent distances will be specified as absolute distances from the currently recorded X0 Y0 Z0 position.
| Yes || Activate X-Arm (Danger) Lights
| This is our standard behavior.
|-
|-
! G91
! [[#M675_Activate_Response_LEDs|M675]]
| All subsequent distances will be specified as relative distances from the current position.
| Yes || Activate Response LEDs
| This is often handy, especially for hand coding, but is not our default.
|-
|-
! G92
! [[#M676_Activate_Recirc._Fan|M676]]
| The current position will be logically reset to be the position specified.
| Yes || Activate Recirc. Fan
| We often use this at the beginning of a gcode file.
|-
|-
! G92 X0 Y0
! [[#M677_Activate_Buzzer|M677]]
| The current position will be logically reset to be the X0, Y0 origin.
| Yes || Activate Buzzer
| This is useful for reusing sections of code when hand coding. Remember, this is persistent until respecified. Can be neutralized by sending to physical 0,0 and resetting:
G28 X0 Y0
G92 X0 Y0
|-
|-
! M6 T12 O2 X0 Y35 Z0
! [[#M678_Activate_Laser_X-hair|M678]]
| Stores these offsets for T12 in register O2, which will be applied whenever a T1 command (activating the second head) is given.
| Yes || Activate Laser X-hair
| This info is rarely hard coded, but is sent from Repetrel before the gcode file is queued for execution.
|-
|-
! M660 H2 Z18.5
! [[#M679_Activate_Vacuum|M679]]
| Declares 18.5mm tool height (above zero) for H2
| Yes || Activate Vacuum
| Must be invoked (see below)
|-
|-
! G1 Z0.275 F360 H2
! [[#M684_Activate_Exhaust|M684]]
| Invokes the H2 tool height offset
| Yes || Activate Exhaust
| Requires previous setting of this value (see above)
|-
! [[#M685_Set_Power_on_Air|M685]]
| Yes || Activate Air
|-
! [[#M689_Activate_Ext._Head|M689]]
| Yes || Activate Ext. Head
|-
! [[#M783_Tie_Aux_to_Extrusion|M783]]
| Yes || Tie Aux to Extrusion
|-
|-
! T0
| Switches from the current head to T0, the head in slot 1.
| Note that the appropriate M6, M221, M721, and M722 values will be activated at this time. Values are T0, T1, T2, or T3.
|}
|}


== '''Laser''' ==


The CO2 and Diode lasers require the following enabling codes:
Individual port control commands.
 
=== M7 Activate Aux 1 ===
 
[[File:M7m8m9_ehr.jpg|thumb|12VDC Ports on EHR|right]]
 
[[File:M7m8m9_30m_esr.jpg|thumb|12VDC Ports on 30M, ESR|right]]
 
M7 sends 12VDC to the port associated with "Mist Coolant", which we sometimes call Aux1. With no parameters, it is read as M7 S100 (on continuously). See also [[#M783_Tie_Aux_to_Extrusion|'''M783''' Tie Aux to Extrusion]].
 
'''Usage'''
 
  M7 Sn Tn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100) for Aux 1 to come on (default is 100)
  '''Tn''' is the head to which Aux 1 will synchronize, coming on at 100% when that head is extruding; using a '''T''' value forces '''S100'''
 
'''Example 1'''
 
  M7 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M7''' (Aux1 value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M7 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M7''' (Aux1 value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M7 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M7''' (Aux1 value)
** '''S0''' (set to 0%)
 
'''Example 4'''
 
  M7 T#
 
This command is decoded and executed by the printer as follows:
 
* '''M7''' (Aux1 value)
** '''T#''' (set to 100% when T# is extruding)
 
<br>
<hr>
 
===  M8 Activate Aux 2 ===
 
M7 sends 12VDC to the port associated with "Flood Coolant", which we sometimes call Aux2. With no parameters, it is read as M8 S100 (on continuously).  See also [[#M783_Tie_Aux_to_Extrusion|'''M783''' Tie Aux to Extrusion]].
 
'''Usage'''
 
  M8 Sn Tn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100) for Aux 2 to come on (default is 100)
  '''Tn''' is the head to which Aux 2 will synchronize, coming on at 100% when that head is extruding; using a '''T''' value forces '''S100'''
 
'''Example 1'''
 
  M8 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M8''' (Aux2 value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M8 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M8''' (Aux2 value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M8 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M8''' (Aux2 value)
** '''S''' (set to 0%)
 
'''Example 4'''
 
  M8 T#
 
This command is decoded and executed by the printer as follows:
 
* '''M8''' (Aux2 value)
** '''T#''' (set to 100% when T# is extruding)
 
<br>
<hr>
 
=== M9 Deactivate Aux1 & Aux2 ===
 
M9 cuts power to both Aux1 and Aux2. It is equivalent to running M7 S0 and M8 S0.
 
'''Usage'''
 
  M9
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M9
 
This command is decoded and executed by the printer as follows:
 
* '''M9''' (set Aux 1 and Aux 2 to value 0 (off))
 
<br>
<hr>
 
=== M620 Activate Emitter  ===
 
See [[#M620_Enable_Device]] above.
 
<br>
<hr>
 
=== M670 Activate Y-Arm (Gantry) Lights ===
 
M670 sends 12VDC to the port associated turning on the Gantry (16A) or Y-arm (30M, ESR) lights.
 
'''Usage'''
 
  M670 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M670 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M670''' (Gantry / Y-arm value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M670 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M670''' (Gantry / Y-arm value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M670 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M670''' (Gantry / Y-arm value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M671 Activate X-Arm (Danger) Lights ===
 
M671 sends 12VDC to the port associated turning on the X-arm / Danger lights (30M/ESR only).
 
'''Usage'''
 
  M671 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M671 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M671''' (X-arm / Danger value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M671 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M671''' (X-arm / Danger value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M671 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M671''' (X-arm / Danger value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M675 Activate Response LEDs ===
 
M675 sends 12VDC to the port associated turning on the Response LEDs (30M/16A only).
 
'''Usage'''
 
  M675 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M675 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M675''' (Response LEDs value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M675 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M675''' (Response LEDs value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M675 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M675''' (Response LEDs value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M676 Activate Recirc. Fan ===
 
M676 sends 12VDC to the port associated turning on the Recirc. Fan (16A only).
 
'''Usage'''
 
  M676 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M676 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M676''' (Recirc. Fan value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M676 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M676''' (Recirc. Fan value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M676 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M676''' (Recirc. Fan value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M677 Activate Buzzer ===
 
M677 sends 12VDC to the port associated turning on the Buzzer (older 30Ms only).
 
'''Usage'''
 
  M677 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M677 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M677''' (Buzzer value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M677 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M677''' (Buzzer value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M677 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M677''' (Buzzer value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M678 Activate Laser X-hair ===
 
M678 sends 12VDC to the port associated turning on the Laser X-hair (16A with CO<sub>2</sub> lasers only).
 
'''Usage'''
 
  M678 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M678 S100
 
This command is decoded and executed by the printer as follows:


=== M620 Enable Laser ===
* '''M678''' (Laser X-hair value)
** '''S100''' (set to 100%)


M620 enables the laser head, and takes the following parameters:
'''Example 2'''


* E is a binary value, and should be 1 (or 1.0) to enable the laser; 0 will disable it.
  M678 S25
* T is the tool position where the laser will be enabled. Diode lasers go in a normal tool position; the CO2 laser is always tool 41.


=== M621 Set Laser Power ===
This command is decoded and executed by the printer as follows:
 
* '''M678''' (Laser X-hair value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M678 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M678''' (Laser X-hair value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
<br>
<hr>
 
=== M679 Activate Vacuum ===
 
M679 sends 12VDC to the port associated turning on the Vacuum (30M/ESR only).
 
'''Usage'''
 
  M671 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M679 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M679''' (Vacuum value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M679 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M679''' (Vacuum value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M679 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M679''' (Vacuum value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M684 Activate Exhaust ===
 
M671 sends 12VDC to the port associated turning on the Exhaust (16A only).
 
'''Usage'''
 
  M684 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M684 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M684''' (Exhaust value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M684 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M684''' (Exhaust value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M684 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M684''' (Exhaust value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M685 Set Power on Air  ===
 
M685 sends 12VDC to the port associated turning on the (positive pressure) Air (16A only).
 
'''Usage'''
 
  M685 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M685 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M685''' (Air value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M685 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M685''' Air value)
** '''S25''' (set to 25%)
 
'''Example 3'''
 
  M685 S0
 
This command is decoded and executed by the printer as follows:
 
* '''M685''' (Air value)
** '''S0''' (set to 0%)
 
<br>
<hr>
 
=== M689 Activate Ext. Head  ===
 
M689 sends 12VDC to the port associated turning on the Ext. Head.
 
'''Usage'''
 
  M689 Sn
 
'''Parameters'''
 
  '''Sn''' is the percentage (0-100; no default - if no Sn, no change)
 
'''Example 1'''
 
  M689 S100
 
This command is decoded and executed by the printer as follows:
 
* '''M689''' (Ext. Head value)
** '''S100''' (set to 100%)
 
'''Example 2'''
 
  M689 S25
 
This command is decoded and executed by the printer as follows:
 
* '''M689''' (Ext. Head value)
** '''S25''' (set to 25%)


M621 sets the laser power, and takes the following parameters:
'''Example 3'''


* P is the laser power, in a value between 0 (min) and 255 (max).
  M689 S0
* T is the tool position where the laser will be enabled. Diode lasers go in a normal tool position; the CO2 laser is always tool 41.


M620 E1 T11 ; ''Enables the laser in slot 1 (far left)''
This command is decoded and executed by the printer as follows:
M621 P255 T11 ; ''Turns the laser in slot 1 (far left) on at 100%''


M620 E1 T41 ; ''Enables the CO2 laser''
* '''M689''' (Ext. Head value)
M621 P255 T41 ; ''Turns the CO2 laser on at 100%''
** '''S0''' (set to 0%)


M620 E0 T11 ; ''Disables the laser in slot 1 (far left)''
<br>
M621 P0 T11 ; ''Turns the laser in slot 1 (far left) off (on at 0%)''
<hr>


== '''Other''' ==
=== M783 Tie Aux to Extrusion ===


Other commands.
M783 can tie some auxiliary port (like Aux 1, normally controlled by M7, or Aux 2, normally controlled by M8, etc.) to be powered (at 100%) during a certain head's extrusion. Some users use this so that they can print with Ultimus or Viscotec heads on our equipment. See also [[#M7_Set_Power_On_Aux_1|M7]] and [[#M8_Set_Power_On_Aux_2|M8]].


=== M3 Turn On Spindle (CW) ===
Note: M619 can be used to map which port M783 ties to - contact us for more information.


M3 tells the printer to activate (start) the spindle motor in the clockwise direction on the current head (if it has one), using the value set on the head for RPM. Note: S0 is the same as turning it off. Note: DO NOT CHANGE DIRECTION while the spindle is in motion.
'''Usage'''


M3 T26 S50 ; ''turns the 3-phase spindle tool on, CW, at 50%''
  M783 T#
M3 T11 S100 ; ''turns the 1-phse spindle tool in slot 1 (far left) on, CW at 100%''


=== M4 Turn On Spindle (CCW) ===
'''Parameters'''


M4 tells the printer to activate (start) the spindle motor in the counterclockwise direction on the current head (if it has one), using the value set on the head for RPM. Note: S0 is the same as turning it off. Note: DO NOT CHANGE DIRECTION while the spindle is in motion.
  '''T#''' is the tool to which the designated aux port will be tied


M4 T26 S50 ; ''turns the 3-phase spindle tool on, CCW, at 50%''
'''Example'''
M4 T11 S100 ; ''turns the 1-phse spindle tool in slot 1 (far left) on, CCW, at 100%''


===  M5 Turn Off Spindle ===
  M783 T#


M5 tells the printer to deactivate (stop) the spindle motor on the current head (if it has one).
This command is decoded and executed by the printer as follows:


M5 T26 ; ''turns the 3-phase spindle tool off''
* '''M783''' (Tie current Aux port to status of head)
M5 T14 ; ''turns the 1-phase spindle tool in slot 4 off''
** '''T#''' (target head)


=== M7 Turn On Aux 1 ===
<br>
<hr>


M7 tells the printer to activate whatever is connected to auxiliary connection one. It takes no parameters.


===  M8 Turn On Aux 2 ===
'''[[#What_is_GCode.3F|Back to top]]'''


M8 tells the printer to activate whatever is connected to auxiliary connection two. It takes no parameters.
== '''Other Commands''' ==


=== M9 Turn Off All Aux ===
{| border="1" class="wikitable" style="float:right"
! colspan="3" | Other Commands
|-
! Code
! Supported
! Brief Description
|-
! [[#M17_Engage_Motors|M17]]
| Yes || Engage Motors
|-
! [[#M18_Disengage_Motors|M18]]
| Yes || Disengage Motors
|-
! [[#M30_End_of_Program|M30]]
| Yes || End of Program
|-
! [[#M84_Disable_Motors|M84]]
| Yes || Disable Motors
|-
! [[#M790_New_Layer_Actions|M790]]
| Yes || New Layer Actions
|-
! [[#M791_Snap_Image|M791]]
| Yes || Snap Image
|-
! [[#M792_Execute_Action|M792]]
| Yes || Execute Action
|-
|}


M9 tells the printer to deactivate both auxiliary connections. It takes no parameters.
Other commands.


=== M17 Engage Motors ===
=== M17 Engage Motors ===


M17 will apply power to all motors (positioning and extruder motors), locking them at their current postion; this prevents the bed and yoke from being pushed manually in the X and Y. This is the opposite of M17 and M84, and takes no parameters.
M17 will apply power to all motors (positioning and extruder motors), locking them at their current postion; this prevents the bed and yoke from being pushed manually in the X and Y.  
 
Note that an '''M18''' or '''M84''' will disengage motors on ESR and 30M models, but 16A and EHR models use different controllers, and these commands do not unlock the motors. On a 16A or a 30M, you may engage the emergency stop for the same effect.
 
'''Usage'''
 
  M17
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M17
 
This command is decoded and executed by the printer as follows:
 
* '''M17''' (engage motors)
 
<br>
<hr>


=== M18 Disengage Motors ===
=== M18 Disengage Motors ===


M18 will cut power to all motors (positioning and extruder motors), unlocking them; this allows the motors to cool down (as they normally lock in place while still), as well as allowing one to manually push the bed and yoke in the X and Y. This is the opposite of M17 and identical to M84, and takes no parameters.
M18 will cut power to all motors (positioning and extruder motors), unlocking them; this allows the motors to cool down (as they normally lock in place while still), as well as allowing one to manually push the bed and yoke in the X and Y. It also notifies the GUI that motors are disabled. All axes with homes must be rehomed after an M18.
 
Note this is identical to '''M84''' and the opposite of '''M17'''.
 
Note that an '''M18''' or '''M84''' will disengage motors on ESR and 30M models, but 16A and EHR models use different controllers, and these commands do not unlock the motors. On a 16A or a 30M, you may engage the emergency stop for the same effect.
 
'''Usage'''
 
  M18
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M18
 
This command is decoded and executed by the printer as follows:
 
* '''M18''' (disengage motors)
 
<br>
<hr>


=== M30 End of Program ===
=== M30 End of Program ===


M30 tells the printer that this job is complete. It takes no parameters.
M30 tells the printer that this job is complete. No gocde after an M30 will be executed as part of the previous job.
 
Note M30 also dissolves any cloning setups, changes head index to 0, clears fixture offsets (G53), clears any M229 E-value settings, resets M106 persistent range, resets any printing errors, resets M660 head offsets to 0, resets heads to their stored values, and triggers any queued reports.
 
'''Usage'''
 
  M30
 
'''Parameters'''
 
  N/A
 
'''Example'''
 
  M30
 
This command is decoded and executed by the printer as follows:
 
* '''M30''' (end or program)
 
<br>
<hr>


=== M84 Disable Motors ===
=== M84 Disable Motors ===


M84 will cut power to all motors (positioning and extruder motors), unlocking them; this allows the motors to cool down (as they normally lock in place while  still), as well as allowing one to manually push the bed and yoke in the X and Y. This is the opposite of M17 and identical to M18, and takes no parameters.
M84 invokes an M18. Please see M18 for usage.


=== M673 Set Y-arm Light ===
Note that an '''M18''' or '''M84''' will disengage motors on ESR and 30M models, but 16A and EHR models use different controllers, and these commands do not unlock the motors. On a 16A or a 30M, you may engage the emergency stop for the same effect.


M673 sets the intensity of the Y-arm LEDs.
<br>
 
<hr>
* S is the (percent of duty cycle, 0-100) for the LEDs


=== M790 New Layer Actions ===
=== M790 New Layer Actions ===


M790 will trigger any associated new layer actions, which can include capturing an image from the designated camera. It takes no parameters.
M790 will trigger any associated new layer actions, which can include capturing an image from the designated camera. It takes no parameters.
=== M791 Snap Image ===
M791 will cause the camera selected under the Interface > Camera1 tab, if set to live video, to capture an image and save it to <code>C:\Users\hyrel\Pictures\HyrelPrinterPictures\Camera1</code>, named <code>pic#.png</code>
=== M792 Execute Action ===
M792 causes Repetrel to perform an action, such as displaying an image or making a warning beep.
'''Usage'''
  M792 [ SAY | PIC | VID | SEND | BEEP | SHELL ]
'''Parameters'''
  '''SAY sample message''' - the computer will use built-in text-to-speech to echo the message over the speaker(s)
  '''PIC C:\sample.jpg''' - the computer will display the image at the specified location
  '''VID C:\sample.mp4''' - the computer will play the video at the specified location
  '''SEND sample message''' - the computer will send the message to the Aux port if connected
  '''BEEP''' - the computer will sound a beep
  '''SHELL C:\program.exe''' - the computer will execute the file at the specified location
Note that multiple options can be combined.
'''Example'''
  M792 ; SAY Hello Wilbur ; PIC C:\mr_ed.png
This command is decoded and executed by the printer as follows:
* '''M792''' (execute action)
** '''SAY Hello Wilbur''' (Announce Text: Hello Wilbur)
** '''PIC C:\mr_ed.png''' (Display Image: C:\mr_ed.png)
<br>
<hr>
'''[[#What_is_GCode.3F|Back to top]]'''
== Gcode Header ==
Here are some sample headers for Gcode on our equipment:
=== 16A, T1, Heated ===
Below is our standard header for using a heated head in the second slot with a heated bed on a 16A:
  ; ///////////////  BEGIN HYREL HEADER for a 16A with a Heated Head in T1/T12 - 2021.02.24  \\\\\\\\\\\\\\\
 
  ; GENERAL :
 
  N14                ; set line numbers for error logging - Slic3r version
  M772 S1            ; reset metrics and arm automatic reporting
  M627 X0 Y0 Z0 J-500 K5                ; setup abort action
 
 
  M107              ; fans/UV          ; off
  M106 C255          ; fans/UV          ; set to 0-255 range
 
  G53                ; clear offsets
  G21                ; units            : mm
  G91                ; coordinatess      : relative
  G0 Z10           ; drop bed
  G90                ; coordinates      : absolute
 
  M229 E1 D1        ; enable E-values (volumetric)
 
  ; TEMP CONTROL :
 
  M190 S100          ; bed preheat  : set and wait
  M140 S[bed_temperature]          ; bed temp    : set, no wait
  M104 T12 S[temperature]      ; head temp    : set, no wait
 
  G28 X0 Y0          ; home, goto  : X and Y
 
  M190 S[bed_temperature]          ; bed temp    : set and wait
  M109 T12 S[temperature]      ; head temp    : set and wait
 
  T1                ; use SECOND tool position from the left   
 
  ; \\\\\\\\\\\\\\\  END HYREL HEADER for a 16A with a Heated Head in T1/T12 - 2021.02.24  ///////////////</code>
=== 30M and ESR, T1, Heated ===
Below is our standard header for using a heated head in the second slot with a heated bed on a 16A:
  ; ///////////////  BEGIN HYREL HEADER for a 30M/ESR with an Unheated Head in T0/T11 - 2021.02.24  \\\\\\\\\\\\\\\
 
  ; GENERAL :
 
  N14                ; set line numbers for error logging - Slic3r version
  M772 S1            ; reset metrics and arm automatic reporting
  M627 X0 Y0 Z0 J-500 K5                ; setup abort action
 
 
  M107              ; fans/UV          ; off
  M106 C255          ; fans/UV          ; set to 0-255 range
 
  G53                ; clear offsets
  G21                ; units            : mm
  G91                ; coordinatess      : relative
  G0 Z10           ; drop bed
  G90                ; coordinates      : absolute
 
  G28 Z0            ; home, goto        : Z (ignored if no Z home)
  G28 X0 Y0          ; home, goto        : X and Y
 
  M229 E1 D1        ; enable E-values (volumetric)
 
  ; TEMP CONTROL :
 
  ;M190 S[bed_temperature]          ; bed temp    : set and wait    <= COMMENTED OUT
  ;M109 T11 S[temperature]        ; head temp    : set and wait    <= COMMENTED OUT
 
  T0                ; use FIRST tool position from the left   
 
  ; \\\\\\\\\\\\\\\  END HYREL HEADER for a 30M/ESR with an Unheated Head in T0/T11 - 2021.02.24  ///////////////
== Gcode Footer ==
=== Standard, All Models ===
Below is our standard Gcode footer, which should be at the end of all your gcode files:
  ; ///////////////  BEGIN HYREL STANDARD FOOTER - 2021.02.12  \\\\\\\\\\\\\\\
 
  ; temp control:
 
 
  M107 T100      ; fans, diodes  : off
  M620 T100 E0    ; CO2 lasers    ; off
  M104 T100 S0    ; head temps    : off
  M140 T90 S0    ; bed temps    : off
  M5              ; spindles      : off
 
  ; housekeeping
 
  G91            ; coordinates  : relative
  G0 Z10          ; drop bed
  G90            ; coordinates  : absolute
  G0 Y0          ; home, goto    : Y axis
  G0 X0          ; home, goto    : X axis
  M84            ; motors        : disable
  G53            ; clear offsets
  M30            ; program      : end
 
  ; \\\\\\\\\\\\\\\  END HYREL STANDARD FOOTER - 2021.02.12  ///////////////

Latest revision as of 19:00, 27 August 2021



Main Sections
What is GCode?
Understanding the T
Most Commonly Edited GCodes
Controlling Movement
Controlling Temperature
Controlling Material Flow
Controlling Position and Offsets
Controlling Lasers and UV Pens
Controlling Spindles and Lathes
Reporting and Diagnostics
Controlling Aux Devices
Other Commands
Gcode Headers
Gcode Footer

Note: Codes in Black are supported on version 4 and above (v4+), and most likely on version 3 as well.

Note: Codes in Orange are supported on version 5 and above (v5+) only.

Note that Repetrel versions prior to 4.2 can not properly process gcode with "tab" characters - tab was a reserved character.

What is GCode?

Everything your Hyrel 3D Printer does is done by executing GCode, whether you are aware of it or not.

Every button you press on the screen sends a gcode to the printer.

When you start a job (by pressing "Print"), the settings from your head are sent to the printer (including flow and prime/unprime values); then the gcode file is sent, line by line, to the printer.

All parameters are persistent, so once they are set, they will remain in place unless or until you (or the file) sends a new, updated value (including setting to 0).

Please note that there are many flavors of gcode, and while most have the same (or very similar) G0-G100 and M0-M100, codes above 100 are largely nonstandard.

It is important to remember that different variable letters can have different meanings, depending on the G- or M- code being used - especially the T value.

The Table of Contents to the right lists the main categories of Gcodes.

Below is a table listing them in numerical order (click Expand to expand):

Code_Chart
Code Supported Brief Description
G0 Yes Rapid Move
G1 Yes Working Move
G2 Yes Clockwise Arc
G2.1 Yes Spiral CW Arc1
G2.2 Yes Spiral CW Arc2
G2.3 Yes 3-Space CW Spiral Arc
G3 Yes Counterclockwise Arc
[[#G3.1_Spiral_CCW_Arc1|G3.1]] Yes Spiral CCW Arc1
G3.2 Yes Spiral CCW Arc2
G3.3 Yes 3-Space CCW Spiral Arc
G4 Yes Timed Pause
G10 No Absolute E
G11 No Relative E
G16 Yes Arc in Any Plane
G17 Yes Arc in XY Plane
G18 Yes Arc in XZ Plane
G19 Yes Arc in YZ Plane
G20 Yes Set Units to Inches
G21 Yes Set Units to Milimeters
G28 Yes Send X, Y to Physical Home
G53 Yes Clear Offsets
G54-59 Yes Set Offsets
G81 Yes Peck Drilling
G90 Yes Absolute Positioning
G91 Yes Relatative Positioning
G92 Yes Reset Coordinates
G93 Yes Reset Coordinates
M0 Yes Stop Until Resume
M3 Yes Spindle On CW
M4 Yes Spindle On CCW
M5 Yes Spindle Off
M6 Yes Declare Head Offsets
M7 Yes Aux 1 On (Mist)
M8 Yes Aux 2 On (Flood)
M9 Yes All Aux Off
M17 Yes Engage Motors
M18 Yes Disengage Motors
M30 Yes End of Program
M82 Yes Absolute E-Values
M83 Yes Relative E-Values
M84 Yes Disable Motors
M104 Yes Set Temp (Head)
M106 Yes Set Cooling / Etc.
M107 Yes Stop Cooling / Etc.
M109 Yes Wait for Temp (Head)
M116 v5+ Pause for All Temps
M140 Yes Set Temp (Bed)
M141 Yes Set Temp (Chamber)
M190 Yes Wait for Temp (Bed)
M191 Yes Wait for Temp (Chamber)
M203 Yes Set G0 Speed
M221 Yes Set Flow Rate
M229 Yes Use E Values
M253 Yes Turn On Lathe (CW)
M254 Yes Turn On Lathe (CCW)
M255 Yes Turn Off Lathe
M619 Yes Map Aux Port
M620 Yes Enable Device
M621 Yes Set Laser Power
M623 Yes Duration Emit
M660 Yes Set Tool Offsets
M670 Yes Enable Y-arm (Gantry) Lights
M671 Yes Activate X-Arm (Danger) Lights
M672 Yes Set Y-arm Light
M674 Yes Rapid G1 Moves
M675 Yes Activate Response LEDs
M676 Yes Activate Recirc. Fan
M677 Yes Activate Buzzer
M678 Yes Activate Laser X-hair
M679 Yes Activate Vacuum
M684 Yes Activate Exhaust
M685 Yes Activate Air
M689 Yes Activate Ext. Head
M701 Yes Set Head Reporting
M702 Yes Establish Clone Squad
M703 Yes Add to Clone Squad
M704 Yes Remove from Clone Squad
M718 Yes Stop Logging to File
M719 Yes Start Logging to File
M721 Yes Set Unprime Values
M722 Yes Set Prime Values
M723 Yes Set Manual Flow
M728 Yes Set Motor Current Boost
M756 Yes Set Height for Flow
M772 Yes Reset All Metrics
M773 Yes Generate Basic Report
M783 Yes Tie Aux to Extrusion
M790 Yes New Layer Actions
M791 Yes Snap Image
M792 Yes Execute Action

Header Explained

Please visit GCode Header for a detailed description of our standard GCode headers.


Understanding the T

A T Command changes which head has the focus of the motion controller and is executing the gcode. Each of our printers have at least four tool positions.

The use of T commands and variables changes greatly (for the better) with the jump to version 5 from the previous versions.

Please see T_v4 for the old way (v4 and earlier), where the nomenclature for T Commands and the T Variables were not the same.

Please see T_v5 for the new way (v5 and later), where the nomenclature for T Commands and the T Variables are the same.

We will use a T# in the descriptions below to avoid confusion; please find the correct designation for your version by following the links above.

Most Commonly Edited Gcodes

Below are the gcodes users should first become familiar with.

Tool Changes

T0 tells the printer to perform extrusion (or emission) from the tool in the far left position
T1 tells the printer to perform extrusion (or emission) from the tool in the second-from-left position
T2 tells the printer to perform extrusion (or emission) from the tool in the third-from-left position
T3 tells the printer to perform extrusion (or emission) from the tool in the fourth-from-left position
T4 tells the printer to perform extrusion (or emission) from the tool in the fifth-from-left position (if available)

Movement

G0 for "rapid", non-printing moves
G1 for "working speed" moves, which may be printing (with E value) or non-printing (no E value)

Temperature

M104 to set head temp
M109 to set and wait for head temp
M140 to set bed temp
M190 to set and wait for bed temp

Others

Which commands to learn from here will depend on what the user intends to do with the equipment.

Controlling Movement

Controlling Movement
Code Supported Brief Description
G0 Yes Rapid Move
G1 Yes Working Move
G2 Yes Clockwise Arc
G2.1 Yes Spiral CW Arc1
G2.2 Yes Spiral CW Arc2
G2.3 Yes 3-Space CW Spiral Arc
G3 Yes Counterclockwise Arc
[[#G3.1_Spiral_CCW_Arc1|G3.1]] Yes Spiral CCW Arc1
G3.2 Yes Spiral CCW Arc2
G3.3 Yes 3-Space CCW Spiral Arc
G4 Yes Timed Pause
G16 Yes Arc in Any Plane
G17 Yes Arc in XY Plane
G18 Yes Arc in XZ Plane
G19 Yes Arc in YZ Plane
M0 Yes Stop Until Resume
M203 Yes Set G0 Speed
M674 Yes Rapid G1 Moves

G0 Rapid Move

G0 is a rapid positioning move. It is not a working move, meaning that your equipment will not be printing, milling, lasering, or doing any other active work during a G0 move. G0 is intended to move your tool to a new position, where the work will happen. Accordingly, G0 movement speeds are set in your configuration settings, rather than being specified in your gcode file.

Special note: a G0 command will take an F variable as a nonpersistent, one-time velocity setting.

Usage 

 G0 Xn Yn Zn An Bn Fn

Parameters 

 Xn is the new X position to move to
 Yn is the new Y position to move to
 Zn is the new Z position to move to 
 An is the new A position to move to
 Bn is the new B position to move to
 Fn is the feed rate or travel speed to use. Only on G0 is it not persistent

Any values not stipulated remain unchanged.

Note: These positioning values can be absolute or relative to the last position; which depends on whether you are running on G90 absolute positioning or G91 relative positioning. Absolute is the default and should be used in the majority of cases.

Note: All Hyrel printers have built-in support for three axes. Hyrel model 16A and EHR printers may be expanded to five; an additional axis on each machine is reserved for E values.

Example 

 G0 X50 Y75 Z10

This command is decoded and executed by the printer as follows:

  • G0 (rapid (nonprinting) straight line move from the current location to)
    • X50 (50mm in the X)
    • Y75 (75mm in the Y)
    • Z10 (10mm in the Z)
    • (no change in A)
    • (no change in B)
    • (no change in F, use settings-specified feed rate)


G1 Working Move

G1 is a working move, during which you may be printing, milling, lasering, or doing other active work - provided an E (extrude) value is given. In native mode (if you don't add M229 E1 Dn, the value of Extrusion rate E will be ignored, but E will trigger a working or printing move. In E-value mode (by adding M229 E1 Dn, the slicer-determined E value will be used to control material flow. G1 moves are made at the rate indicated by the F (feed rate) value; if no F value is specified, the last F value set will be used. See M229 for more details.

Usage 

 G1 Xn Yn Zn An Bn Fn Sn

Parameters 

 Xn is the new X position to move to
 Yn is the new Y position to move to
 Zn is the new Z position to move to 
 An is the new A position to move to
 Bn is the new B position to move to
 Hn is the stored head offset to apply (see M660 to store offsets)
 Fn is the feed rate or travel speed to use. Only on G0 is it not persistent
 Sn is a one-time (non-persistent) material flow rate multiplier (rarely used) applied to this move only

Any values not stipulated remain unchanged.

Note: These positioning values can be absolute or relative to the last position; which depends on whether you are running on G90 absolute positioning or G91 relative positioning. Absolute is the default and should be used in the majority of cases; there will be problems with an entire model sliced in relative mode. Relative is intended for special operations like drilling holes.

Note: All Hyrel printers have built-in support for three axes. Hyrel model 16A and EHR printers may be expanded to five; an additional axis on each machine is reserved for E values.

Example 

 G1 X50 Y75 E1 F1800 H2

This command is decoded and executed by the printer as follows:

  • G1 (working speed straight line move from the current location to)
    • X50 (50mm in the X)
    • Y75 (75mm in the Y)
    • (no change in A)
    • (no change in B)
    • E1 (while extruding)
    • F1800 (moving at 1800mm/min)
    • H2 (invoking offsets stored in register H2)
    • (no temporary scaling)


G2 Clockwise Arc

A G2 move specifies a clockwise arc (or complete circle) from the current position to position (X,Y,Z)curr by following an arc about the center point (Xcurr+I, Ycurr+J).

Usage 

 G2 Xn Yn Zn In Jn Fn En Sn

Parameters 

 Xn is the new X position to move to
 Yn is the new Y position to move to
 Zn is the new Z position to end at (optional and usually not stipulated)
 In is the relative distance from the current X position to the center position about which to arc (default 0)
 Jn is the relative distance from the current Y position to the center position about which to arc (default 0)
 Fn is the Feed rate (travel speed) at which to execute this move.
 En indicates a working or printing move
 Sn dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
   S values less than 3.0 dictate the length in mm of each segment for this element
   S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°

Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.

Example 

 G2 X50 Y75 I15 J20 E1 F1800

This command is decoded and executed by the printer as follows:

  • G2 (working speed clockwise arc/circle move from the current location to)
    • X50 (50mm in the X)
    • Y75 (75mm in the Y)
    • (centered about a point located)
    • I15 (15mm further in the X)
    • J20 (20mm further in the Y)
    • E1 (while extruding)
    • F1800 (moving at 1800mm/min)

Example 

 G2 X50 Y75 I15 J20 E1 S6

This command is decoded and executed by the printer as follows:

  • G2 (working speed clockwise arc/circle move from the current location to)
    • X50 (50mm in the X)
    • Y75 (75mm in the Y)
    • (centered about a point located)
    • I15 (15mm further in the X)
    • J20 (20mm further in the Y)
    • E1 (while extruding)
    • (using previously established F rate)
    • S6 (made up of six sides - resulting in a hexagon with one point at the origin, with all corners inscribed on the circle)


G2.1 Spiral CW Arc1

A G2.1 makes a spiral circular move (only supports full 360 arcs, or Ln * 360). This arc is CW if spiraling in and CCW if spiraling out. Effective ending X/Y is always the same as the current XY and is not specified (though the actual final position is a function of the number of laps, the pitch, and the reverse code. An end Z can be supplied to have a uniform displacement during the move. The number of full 360 arcs can be specified as well as the pitch (centerline between arcs). An important feature is the "reverse code" to allow the creation of frog toes without having to jump over the frog toe once it's made.

Usage 

 G2.1 Zn In Jn Pn Ln En Sn Rn Fn

Parameters 

 Zn is the new Z position to end at (optional and usually not stipulated; will be relative or absolute, depending on current mode)
 In is the relative distance from the current X position to the center position about which to arc (default 0)
 Jn is the relative distance from the current Y position to the center position about which to arc (default 0)
   Note: In and Jn both default to 0, but at least one of them must be explicitly declared with a non-zero value.
 Pn is the pitch (how close the laps are) in mm (required)
 Ln is the number of laps to complete (must be a positive integer; you don't need to finish the spiral)
 En indicates a working or printing move
 Sn dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
   S values less than 3.0 dictate the length in mm of each segment for this element
   S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°
 Rn is a flag; 0 to spiral in (default), 1 to spiral out (after inward jump), 2 spiral out from current position
 Fn is the Feed rate (travel speed) at which to execute this move.

Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.

Example 1 

 G2.1 I15 J20 P1.2 E1

This command is decoded and executed by the printer as follows:

  • G2.1 (working speed clockwise spiral move from the current location)
    • (no change in Z)
    • (centered about a point located)
    • I15 (15mm further in the X)
    • J20 (20mm further in the Y)
    • (complete all laps)
    • P1.2 (1.2 mm between centers of travel of adjacent laps)
    • E1 (while extruding)
    • (use default S of 0.33333 mm segments)
    • (use default R of 0, spiral in toward center from current location)
    • (moving at established G1 F speed)

Example 2 

 G2.1 Z10 I15 J20 P0.5 L50 E1 S9 R1 F1200

This command is decoded and executed by the printer as follows:

  • G2.1 (working speed clockwise spiral move from the current location)
    • Z10 (change Z position incrementally during move to end at Z10 (relative or absolute, depending on current mode))
    • (centered about a point located)
    • I15 (15mm further in the X)
    • J20 (20mm further in the Y)
    • L50 (complete no more than 50 laps)
    • P0.5 (0.5 mm between centers of travel of adjacent laps)
    • E1 (while extruding)
    • S9 (each 360 degrees composted of a total of 9 segments)
    • R1 (spiral out from center to current location)
    • F1200 (at a speed of 1200 mm/min)

Example 3 

 G0 X0 Y25                   ; start location for outer spiral
 G0 Z1                       ; go to print layer height
 G2.1 I25 J0 P4 L3 E1        ; spiral in 3 laps, 4mm pitch 
 G1 X14 E1                   ; add connector for the arcs
 G2.1 I11 J0 P4 L3 E1 R2     ; spiral out 3 laps, 4mm pitch

This gcode generates the following:

Spiral.png


G2.2 Spiral CW Arc2

A G2.2 makes a spiral circular move (only supports full 360 arcs, or Ln * 360). This arc is CW if spiraling in and CCW if spiraling out. Unlike G2.1, G2.2 specifies final X/Y (and Z) location. An end Z can be supplied to have a uniform displacement during the move. The number of full 360 arcs can be specified as well as the pitch (centerline between arcs). Unlike G2.1, G2.2 does not require a reverse code as the direction of spiral is determined by the positional relationship of the current position, final position, and center position.

Usage 

 G2.2 Xn Yn Zn In Jn Pn Ln En Sn Rn Fn

Parameters 

 Xn is the new X position to move to
 Yn is the new Y position to move to
 Zn is the new Z position to end at (optional and usually not stipulated; will be relative or absolute, depending on current mode)
 In is the relative distance from the current X position to the center position about which to arc (default 0)
 Jn is the relative distance from the current Y position to the center position about which to arc (default 0)
   Starting with Motion Controller firmware 4.203a:
   If I and J are both zero (center = start), path will spiral outward CCW from current to final position.
   If I and J match the end (center = end), path will spiral inward CW from current to final position."
 Pn is the pitch (how close the laps are) in mm (optional)
 Ln is the number of laps (or paths) to complete (you don't need to finish the spiral)
   Note, if P and L values conflict, L will be modified to match what P will allow; at least one must be specified
 En indicates a working or printing move
 Sn dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
   S values less than 3.0 dictate the length in mm of each segment for this element
   S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°
 Fn is the Feed rate (travel speed) at which to execute this move.

Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.

Example 1 

 G2.2 I15 J20 P1 E1

This command is decoded and executed by the printer as follows:

  • G2.2 (working speed clockwise spiral move from the current location)
    • (no change in Z)
    • (centered about a point located)
    • I15 (15mm further in the X)
    • J20 (20mm further in the Y)
    • P2 (1mm between centers of travel of adjacent laps)
    • (complete all laps)
    • E1 (while extruding)
    • (use default S of 0.33333 mm segments)
    • (moving at established G1 F speed)

Example 2 

 G2.2 Z10 I15 J20 P2 L50 E1 S9 F1200

This command is decoded and executed by the printer as follows:

  • G2.2 (working speed clockwise spiral move from the current location)
    • Z10 (change Z position incrementally during move to end at Z10 (relative or absolute, depending on current mode))
    • (centered about a point located)
    • I15 (15mm further in the X)
    • J20 (20mm further in the Y)
    • P2 (2mm between centers of travel of adjacent laps)
    • L50 (complete no more than 50 laps)
    • E1 (while extruding)
    • S9 (each 360 degrees composted of a total of 9 segments)
    • F1200 (at a speed of 1200 mm/min)

Example 3 

 G0 X0 Y25                   ; start location for outer spiral
 G0 Z1                       ; go to print layer height
 G2.2 X12 I25 P4 E1          ; spiral in 3 laps, 4mm pitch
 G1 X14 E1                   ; add connector to next spiral
 G2.2 X2 I11 P4 E1           ; spiral out 3 laps, 4mm pitch

This gcode also generates the following:

Spiral.png


G2.3 3-Space CW Arc

A G2.3 move specifies a clockwise arc (or complete circle(s) from the current position to position (X,Y,Z)curr following a circular arc about the center point (Xcurr+I, Ycurr+J, Zcurr+K). Unlike G2, G2.1 and G2.2, G2.3 is not bound to the X/Y plane. The number of full 360 arcs can be specified as well as the pitch (centerline between arcs). Usage 

 G2.3 Xn Yn Zn An Bn In Jn Kn Un Vn Wn Dn Pn En Sn Fn

Note: If we are in G16 mode, Un, Vn, Wn define the vector normal to the work plane. If we are in G17 (X/Y plane) or G18 (X/Z plane) or G19 (Y/Z plane) mode, these are ignored.

Parameters 

 Xn is the new X position to end at
 Yn is the new Y position to end at
 Zn is the new Z position to end at
 An is the new A position to end at (4th axis)
 Bn is the new B position to end at (5th axis)
 In is the relative distance from the current X position to the center position about which to arc (default 0)
 Jn is the relative distance from the current Y position to the center position about which to arc (default 0)
 Kn is the relative distance from the current Z position to the center position about which to arc (default 0)
   Note: In, Jn, and Kn all default to 0, but at least one of them must be explicitly declared with a non-zero value.
 Un is the X component of a vector normal to the working plane (default 0)
 Vn is the Y component of a vector normal to the working plane (default 0) 
 Wn is the Z component of a vector normal to the working plane (default 0)
 Dn is the overall displacement normal to the working plane for this element
 Pn is the pitch (how close the laps are normal to the working plane) in mm (default 0; one path, no incremental displacement)
 En indicates a working or printing move
 Sn dictates how many segments are used to create the arc (or circle); 0.33333 mm is the default value
   S values less than 3.0 dictate the length in mm of each segment for this element
   S values of 3.0 or more dictate how many total segments comprise this element - only allowed on complete circles of 360°
 Fn is the Feed rate (travel speed) at which to execute this move.

Any values not stipulated remain unchanged. We will print this element with our native Hyrel flow calculations (based on nozzle diameter, layer thickness, and feed rate) even if your gcode has enabled the use of E values with M229 E1 D1.


G3 Counterclockwise Arc

Please refer to G2, above, for details. All options are identical, with the exception of direction (CCW).


G3.1 Spiral CCW Arc1

Please refer to G2.1, above, for details. All options are identical, with the exception of direction (CCW if spiraling in and CW if spiraling out).


G3.2 Spiral CCW Arc2

Please refer to G2.2, above, for details. All options are identical, with the exception of direction (CCW if spiraling in and CW if spiraling out).


G3.3 3-Space CCW Arc

Please refer to G2.3, above, for details. All options are identical, with the exception of direction (CCW).


G4 Timed Pause

G4 is a pause for a set number of seconds (S) or milliseconds (P).

Usage 

 G4 Sn Pn

Parameters 

 Sn is the number of Seconds to pause
 Pn is the number of Milliseconds to pause

You may use S or P, or if you use both, the total value will be the pause duration.

Example 

 G4 S0.5

This command is decoded and executed by the printer as follows:

  • G4 (Timed pause)
    • S0.5 (0.5 seconds)

Example 

 G4 P500

This command is decoded and executed by the printer as follows:

  • G4 (Timed pause)
    • P500 (500 milliseconds)


G16 Arc Plane: Any

G16 permits free-form designation of points in space, without limiting them to an axial plane.

G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.

Usage 

 G16

Parameters 

 N/A

Example 

 G16

This command is decoded and executed by the printer as follows:

  • G16 (allow element in any orientation)


G17 Arc Plane: XY

G17 restricts this element to the X/Y plane.

G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.

Usage 

 G17

Parameters 

 N/A

Example 

 G17

This command is decoded and executed by the printer as follows:

  • G17 (restrict element to X/Y plane)


G18 Arc Plane: XZ

G18 restricts this element to the X/Z plane.

G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.

Usage 

 G18

Parameters 

 N/A

Example 

 G18

This command is decoded and executed by the printer as follows:

  • G18 (restrict element to X/Z plane)


G19 Arc Plane: YZ

G19 restricts this element to the Y/Z plane.

G16 through G19 only apply to G2.x and G3.x commands, and define the plane on which the element will be created.

Usage 

 G19

Parameters 

 N/A

Example 

 G19

This command is decoded and executed by the printer as follows:

  • G19 (restrict element to Y/Z plane)


M0 Stop Until Resume

M0 is a stop until resume command; text listed after a semicolon will be displayed, and clicking the Play button (which replaces the Pause button) will cause the job to resume. Note that all lines will be truncated at 100 characters.

  • ; All text following the ; will be echoed to the print mask (Control Tab).

Additionally, an M0 command can also take the following parameters, and so will pause and then:

Usage 

 M0 [ SAY | PIC | VID | SEND | BEEP | SHELL ]

Parameters 

 SAY sample message - the computer will use built-in text-to-speech to echo the message over the speaker(s)
 PIC C:\sample.jpg - the computer will display the image at the specified location
 VID C:\sample.mp4 - the computer will play the video at the specified location
 SEND sample message - the computer will send the message to the Aux port if connected
 BEEP - the computer will sound a beep
 SHELL C:\program.exe - the computer will execute the file at the specified location

Note that multiple options can be combined.

Example 

 M0

This command is decoded and executed by the printer as follows:

  • M0 (Pause until Resume)

Example 

 M0 ; SAY Hello Wilbur ; PIC C:\mr_ed.png

This command is decoded and executed by the printer as follows:

  • M0 (Pause until Resume)
    • SAY Hello Wilbur (Announce Text: Hello Wilbur)
    • PIC C:\mr_ed.png (Display Image: C:\mr_ed.png)


M203 Set G0 Speed

M203 will redesignate the rate at which G0 movements are executed. If undeclared, the values stored in Repetrel for your equipment will be used. These can be changed under Settings > Printer, on the Printer tab. The values set on your unit are set based on testing; exceed them at your own risk.

Usage 

 M203 Xn Yn Zn An Bn

Parameters 

 Xn is the new speed in the X axis for G0 moves
 Yn is the new speed in the Y axis for G0 moves
 Zn is the new speed in the Z axis for G0 moves
 An is the new speed in the A axis for G0 moves
 Bn is the new speed in the B axis for G0 moves

Example 

 M203 Y2000

This command is decoded and executed by the printer as follows:

  • M203 (Set G0 Speed)
    • (X remains unchanged)
    • Y2000 (Y axis: 2000mm/min)
    • (Z remains unchanged)
    • (A remains unchanged)
    • (B remains unchanged)


M674 Use Turbo Mode

M674 will enable Turbo Mode, where certain non-printing (no E value) working (G1, G2, or G3) moves will be treated as G0 moves (executed at "rapid move speed" rather than "working move speed"). Killing a job will clear the M674 setting.

Usage 

 M674 Sn

Parameters 

 Sn is the minimum distance threshold for Turbo Mode to activate, and is required; no S value returns an error.

Example 1 

 M674 S2

This command is decoded and executed by the printer as follows:

  • M674 (Set Turbo Mode)
    • S2 (for moves of 2 mm or greater)

Example 2 

 M674 S50

This command is decoded and executed by the printer as follows:

  • M674 (Set Turbo Mode)
    • S50 (for moves of 50 mm or greater)


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Controlling Temperature

Controlling Temperature
Code Supported Brief Description
M104 Yes Set Temp (Head)
M106 Yes Set Cooling / Etc.
M107 Yes Stop Cooling / Etc.
M109 Yes Wait for Temp (Head)
M116 v5+ Pause for All Temps
M140 Yes Set Temp (Bed)
M141 Yes Set Temp (Chamber)
M190 Yes Wait for Temp (Bed)
M191 Yes Wait for Temp (Chamber)

What's Hotbed 2 and Chamber 2? Well, our Hydra models have room to have a second hotbed, which could be a smaller, higher temperature hotbed, or a sub-ambient chilled bed, or even a High Resolution hotbed. And we've talked about having a smaller chamber inside the primary chamber, to bring the air around the print (but not the head) to much higher temperatures; call for details.


M104 Set Temp (Head)

M104 sets the extruder temperature but does not pause the printer.

Note that the actual T# values can be found on T_v4 or T_v5, depending on which version you are running.

Usage 

 M104 Sn T#

Parameters 

 Sn is the new set temperature in °C
 T# is the tool assignment for this temperature command

Example 

M104 T# S75

This command is decoded and executed by the printer as follows:

  • M104 (Set Cooling/LEDs)
    • T# (target head)
    • S75 (to 75°C)


M106 Set Cooling / Etc.

M106 sets the cooling fan (or crosslinking LEDs) speed (or intensity). This also turns on the Quiet Storm fan.

Usage 

 M106 Cn

or 

 M106 T# Sn

or 

 M106 T# Pn

Parameters 

 T# is the target head
 Sn is the percent of duty cycle for the cooling fan (or LEDs); default: 100
 Cn is the range (0-100 or 0-255) that we will use; if unspecified, the default is C100 (use C255 to be compatible with most slicers)
 Pn is the percent of duty cycle for the cooling fan (or LEDs) to come on only during extrusion moves

Example 

 M106 C255

This command is decoded and executed by the printer as follows:

  • M106 (Set Cooling/LEDs)
    • (on all tools)
    • (no speed)
    • C255 (of range 0-255)

Note, with this command, all following M106 commands for the rest of this print job will be based on this range (unless specified with a new C value).

Example 

 M106 T# S50

This command is decoded and executed by the printer as follows:

  • M106 (Set Cooling/LEDs)
    • T# (target head)
    • S50 (target value of 50)
    • (previously defined (or default 0-100) range)

Example 

M106 T# P100

This command is decoded and executed by the printer as follows:

  • M106 (Set Cooling/LEDs)
    • T# (target head)
    • P100 (during extrusion moves at 100% duty cycle

But Davo, I want to cure a certain spot for 10 seconds with every layer change; how do I do this?

Easy. Edit your slicer recipe to add the following code after layer changes (edit as needed for duration, intensity, or position): 

 ;---- BEGIN COD CODE
 G91 ; relative moves
 G0 Z5 ; drop bed
 G90 ; absolute moves
 G0 X130 Y110 ; move into position
 M106 S100 T# ; turn on T# UV at 100%
 G1 X140 Y110 F100 ; move 10 mm in the X at 100 mm/min
 G1 X140 Y120 F100 ; move 10 mm in the Y at 100 mm/min
 G1 X130 Y120 F100 ; move -10 mm in the X at 100 mm/min
 G1 X130 Y110 F100 ; move -10 mm in the Y at 100 mm/min
 M106 S0 T# ; turn off T# UV (set it to 0%)
 ;--- END COD GCODE

These commands are decoded and executed by the printer as follows:

  • G91 (Use relative moves)
  • G0 (Non-working move)
    • Z5 (+5 mm in the Z)
  • G90 (Use absolute moves)
  • G0 (Non-working move)
    • X130 (To position X130)
    • Y110 (To position Y110)
  • M106 (Set Aux (UV))
    • S100 (100% duty)
    • T# (On target head)
  • G1 (Working (printing) move)
    • X140 (To position X140)
    • Y110 (To position Y110
    • F100 (At 100 mm/min)
  • G1 (Working (printing) move)
    • X140 (To position X140)
    • Y120 (To position Y120
    • F100 (At 100 mm/min)
  • G1 (Working (printing) move)
    • X130 (To position X130)
    • Y120 (To position Y120
    • F100 (At 100 mm/min)
  • G1 (Working (printing) move)
    • X130 (To position X130)
    • Y110 (To position Y110
    • F100 (At 100 mm/min)
  • M106 (Set Aux (UV))
    • S0 (0% duty)
    • T# (On target head)


M107 Stop Cooling / Etc.

M107 turns off the cooling fan (or crosslinking LEDs); this is essentially the same as an M106 S0 (setting it to 0 percent). This will also turn off the Quiet Storm fan.

Usage 

 M107 T#

Parameters 

 T# (target head)

Example 

M107 T#

This command is decoded and executed by the printer as follows:

  • M107 (Set Cooling/LEDs to 0%)
    • T# (target head)


M109 Wait for Temp (Head)

M109 waits for the extruder to reach temperature, with an option to also set the temperature. Remember, we have both heated and chilled (sub-ambient) heads as options.

Note that the actual T# values can be found on T_v4 or T_v5, depending on which version you are running.

Usage 

 M109 T# Sn Hn Cn Ln Un Rn W0

Please use EITHER (H and/or C) OR (L and/or U) OR (R) with your M109 command.

Note, this will FAIL (non-fatally) if you address a virtual group address; be sure to use an actual physical address.

Parameters 

 T# is the target head - (required)
 Sn (optional) is the new set temperature in °C; if omitted, no new target temperature is set
 Hn if present, is the low-end (or "heat up to") absolute temperature after which we stop pausing
 Cn if present, is the high-end (or "cool down to") absolute temperature after which we stop pausing
 Ln if present, is the lower-end relative temperature difference from set temp after which we stop pausing
 Un if present, is the upper-end relative temperature difference from set temp after which we stop pausing
 Rn if present, is how close the relative temperature needs to be to the set temp to end the pause
 W0 if present, will set the temp and advance to the next line without pause, but upon executing M116, will pause until temp is reached

Think of Sn as the target temperature, but once the target is between Cn (or Ln) and Hn (or Un), the pause is over (but the Sn is still the set temp to reach. You can use Hn or Ln, but not both. You can use Cn or Un, but not both.

Example 1 

 M109 T# S240

This command is decoded and executed by the printer as follows:

  • M109 (wait for temp)
    • T# (target head)
    • S240 (and set temp to 240°C)

Example 2 

 M109 T# S240 R5

This command is decoded and executed by the printer as follows:

  • M109 (wait for temp)
    • T# (target head)
    • S240 (and set temp to 240°C)
    • R5 (but end the wait once the target's temperature is within 5°C of the set point)

Example 3 

 M109 T# S240 H230

This command is decoded and executed by the printer as follows:

  • M109 (wait for temp)
    • T# (target head)
    • S240 (and set temp to 240°C)
    • H230 (but end the wait once the target's temperature reaches 230°C)

Example 4 

 M109 T# S240 L10 U5

This command is decoded and executed by the printer as follows:

  • M109 (wait for temp)
    • T# (target head)
    • S240 (and set temp to 240°C)
    • L10 (but end the wait once the target's temperature reaches 10°C below the set point)
    • U5 (or end the wait once the target's temperature reaches 5°C above the set point)

Note: this wait ends when the target's temperature is anywhere between 230°C and 245°C

Example 5 

 M109 T# S0 R5

This command is decoded and executed by the printer as follows:

  • M109 (wait for temp)
    • T# (target head)
    • S0 (to 0°C)
    • R5 (but end the wait once the target's temperature is +/-5°C of the set temperature)

Example 6 

 M109 R10
  • M109 (wait for temp)
    • (no T# - use head with current focus)
    • R10 (to get +/-10°C of set temperature)

Example 7 

 M109 T# S240 W0

This command is decoded and executed by the printer as follows:

  • M109 (wait for temp)
    • T# (target head)
    • S240 (and set temp to 240°C)
    • W0 (but do not pause until M116 is executed)


M116 Wait for Temps (v5+)

M116 is supported with version 5.x and later (v5+) of Repetrel Software and Motion Controller Firmware.

Usage 

 M116

Parameters 

 'none'

Example 

 M116

This command is decoded and executed by the printer as follows:

  • M116 (wait for any set temps (M109, M190, M191) with W0 values before proceding


M140 Set Temp (Bed)

M140 sets the bed temperature (without waiting for the new temperature to be reached).

Usage 

 M140 Sn T#

Parameters 

 Sn is the new set temperature in °C
 T# is the target bed (default is the primary bed)

Example 

M140 S75

This command is decoded and executed by the printer as follows:

  • M140 (set bed temperature)
    • S75 (to 75°C)
    • (on primary bed)


M141 Set Temp (Chamber)

M141 sets the chamber temperature (without waiting for the new temperature to be reached).

Usage 

 M141 Sn T#

Parameters 

 Sn is the new set temperature in °C
 T# is the target chamber (default is the primary chamber)

Example 

M141 S75

This command is decoded and executed by the printer as follows:

  • M141 (set chamber temperature)
    • S75 (to 75°C)
    • (on primary chamber)


M190 Wait for Temp (Bed)

M190 waits for the bed to reach temperature, with an option to also set the temperature. Remember, we have both heated and chilled (sub-ambient) beds as options.

Usage 

 M190 T# Sn Hn Cn Ln Un Rn

Please use EITHER (H and/or C) OR (L and/or U) OR (R) with your M190 command.

Note, this will FAIL (non-fatally) if you address a virtual group address; be sure to use an actual physical address.

Parameters 

 T# (optional) is the target bed (default is the primary (or only) bed)
 Sn (optional) is the new set temperature in °C; if omitted, no new target temperature is set
 Hn if present, is the low-end (or "heat up to") absolute temperature after which we stop pausing
 Cn if present, is the high-end (or "cool down to") absolute temperature after which we stop pausing
 Ln if present, is the lower-end relative temperature difference from set temp after which we stop pausing
 Un if present, is the upper-end relative temperature difference from set temp after which we stop pausing
 Rn if present, is how close the relative temperature needs to be to the set temp to end the pause

Think of Sn as the target temperature, but once the target is between Cn (or Ln) and Hn (or Un), the pause is over (but the Sn is still the set temp to reach. You can use Hn or Ln, but not both. You can use Cn or Un, but not both.

Example 1 

 M190 T# S240

This command is decoded and executed by the printer as follows:

  • M190 (wait for temp)
    • T# (target bed)
    • S240 (and set temp to 240°C)

Example 2 

 M190 T# S240 R5

This command is decoded and executed by the printer as follows:

  • M190 (wait for temp)
    • T# (target bed)
    • S240 (and set temp to 240°C)
    • R5 (but end the wait once the target's temperature is within 5°C of the set point)

Example 3 

 M190 T# S240 H230

This command is decoded and executed by the printer as follows:

  • M190 (wait for temp)
    • T# (target bed)
    • S240 (and set temp to 240°C)
    • H230 (but end the wait once the target's temperature reaches 230°C)

Example 4 

 M190 T# S240 L10 U5

This command is decoded and executed by the printer as follows:

  • M190 (wait for temp)
    • T# (target bed)
    • S240 (and set temp to 240°C)
    • L10 (but end the wait once the target's temperature reaches 10°C below the set point)
    • U5 (or end the wait once the target's temperature reaches 5°C above the set point)

Note: this wait ends when the target's temperature is anywhere between 230°C and 245°C

Example 5 

 M190 T# S0 R5

This command is decoded and executed by the printer as follows:

  • M190 (wait for temp)
    • T# (target bed)
    • S0 (to 0°C)
    • R5 (but end the wait once the target's temperature is +/-5°C of the set temperature)

Example 6 

 M190 R10
  • M190 (wait for temp)
    • (no T# - use bed with current focus)
    • R10 (to get +/-10°C of set temperature)


M191 Wait for Temp (Chamber)

M191 waits for the chamber to reach temperature, with an option to also set the temperature. Remember, we have both heated and chilled (sub-ambient) chambers as options.

Usage 

 M191 T# Sn Hn Cn Ln Un Rn

Please use EITHER (H and/or C) OR (L and/or U) OR (R) with your M191 command.

Note, this will FAIL (non-fatally) if you address a virtual group address; be sure to use an actual physical address.

Parameters 

 T# is the target chamber (default is the primary (or only) chamber)
 Sn (optional) is the new set temperature in °C; if omitted, no new target temperature is set
 Hn if present, is the low-end (or "heat up to") absolute temperature after which we stop pausing
 Cn if present, is the high-end (or "cool down to") absolute temperature after which we stop pausing
 Ln if present, is the lower-end relative temperature difference from set temp after which we stop pausing
 Un if present, is the upper-end relative temperature difference from set temp after which we stop pausing
 Rn if present, is how close the relative temperature needs to be to the set temp to end the pause

Think of Sn as the target temperature, but once the target is between Cn (or Ln) and Hn (or Un), the pause is over (but the Sn is still the set temp to reach. You can use Hn or Ln, but not both. You can use Cn or Un, but not both.

Example 1 

 M191 T# S240

This command is decoded and executed by the printer as follows:

  • M191 (wait for temp)
    • T# (target chamber)
    • S240 (and set temp to 240°C)

Example 2 

 M191 T# S240 R5

This command is decoded and executed by the printer as follows:

  • M191 (wait for temp)
    • T# (target chamber)
    • S240 (and set temp to 240°C)
    • R5 (but end the wait once the target's temperature is within 5°C of the set point)

Example 3 

 M191 T# S240 H230

This command is decoded and executed by the printer as follows:

  • M191 (wait for temp)
    • T# (target chamber)
    • S240 (and set temp to 240°C)
    • H230 (but end the wait once the target's temperature reaches 230°C)

Example 4 

 M191 T# S240 L10 U5

This command is decoded and executed by the printer as follows:

  • M191 (wait for temp)
    • T# (target chamber)
    • S240 (and set temp to 240°C)
    • L10 (but end the wait once the target's temperature reaches 10°C below the set point)
    • U5 (or end the wait once the target's temperature reaches 5°C above the set point)

Note: this wait ends when the target's temperature is anywhere between 230°C and 245°C

Example 5 

 M191 T# S0 R5

This command is decoded and executed by the printer as follows:

  • M191 (wait for temp)
    • T# (target chamber)
    • S0 (to 0°C)
    • R5 (but end the wait once the target's temperature is +/-5°C of the set temperature)

Example 6 

 M191 R10
  • M191 (wait for temp)
    • (no T# - use chamber with current focus)
    • R10 (to get +/-10°C of set temperature)


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Controlling Material Flow

Controlling Material Flow
Code Supported Brief Description
G10 No Absolute E
G11 No Relative E
M82 Yes Absolute E-Values
M83 Yes Relative E-Values
M221 Yes Set Flow Rate
M229 Yes Use E Values
M721 Yes Set Unprime Values
M722 Yes Set Prime Values
M723 Yes Set Manual Flow
M728 Yes Set Motor Current Boost
M756 Yes Set Height for Flow

You can specify flow rate variables in your gcode; we do not do this by default, but take these values from the head itself. Any values you stipulate in your gcode will supersede the values stored on the head. With our recipes the slicing program generates gcode which dictates temperature and movement commands and indicates which moves should dispense material (a G1 move with an E value).

However, we have two different ways to control flow.

  • If you use M229 E1 D1 we will use the E values generated by the slicer for printing moves, but we will always use the prime/unprime settings on the head for advancing and retracting when transitioning between printing and non-printing moves. This allows for varying extrusion widths and layer thicknesses (on the same layer - as with support material). This is how just about all slicers and printers work.
  • If you do not use that command, we do not use that E value (except to distinguish printing from non-printing moves) we calculate for flow based purely on travel speed, declared layer thickness, and nozzle diameter. This is explained at http://hyrel3d.net/wiki/index.php/Flow_Rate

When a head is loaded, it sends this flow data (how to calculate flow, as well as how much to prime and unprime (advance and retract) material when transitioning between printing and non-printing moves - and even how many primes or unprimes to do in conjunction with a tool change.

In this way, the very same gcode (with temperature changes) can be used with any material, provided you are using the same physical parameters that the model was sliced for.


G10 UNUSED1

G10 is not recognized by Repetrel.

On some other printers, this will set tool offsets; we do this via M6.

On some other printers, this will do a retract; we do this via M721.


G11 UNUSED

G11 is not recognized by Repetrel.

On some other printers, this will do an advance or unretract; we do this via M722.


M82 Absolute E-Values

M82 stipulates that henceforth, the extrusion positioning (E values) will be calculated from the original (0) point.

Note, this only works on v4 and later, when E values are enabled via M229.

Usage 

 M82

Parameters 

 N/A

Example 

M82

This command is decoded and executed by the printer as follows:

  • M82 (use absolute E values)


M83 Relative E-Values

M83 stipulates that henceforth, the extrusion positioning (E values) will be calculated from the relative (last used) point.

Note, this only works on v4 and later, when E values are enabled via M229.

Usage 

 M83

Parameters 

 N/A

Example 

 M83

This command is decoded and executed by the printer as follows:

  • M83 (use relative E values)


M221 Set Flow Rate

M221 sends information to the printer about material flow.

Note, our default mode is volumetric calculations; if you need to slice with linear calculations, multiply your Pn by approximately 2.4 (you can do the math).

Usage 

 M221 Pn Sn Wn Zn T#

Parameters 

 Pn is the number of pulses on the motor to dispense 1 μl (for volumetric) or 1 mm (for linear) of material;
 Sn is the direct flow multiplier (to allow for undersized or oversized stock;
 Wn is the width of the cross section of the volume to fill;
 Zn is the height (layer thickness) of the cross section of the volume to fill; and
 T# is the tool (head) to which these values will be applied.

Example 

 M221 S1.0 T# P77 W0.5 Z0.3

This command is decoded and executed by the printer as follows:

  • M221 (set flow rate)
    • S1.0 (flow multiplier of 1.0)
    • T# (target head)
    • P77 (77 pulses per microliter)
    • W0.5 (0.5mm nozzle)
    • Z0.3 (0.3mm layer thickness - note that your gcode M756 will overwrite this value)


M229 Use E Values

Starting with version 4, Hyrel will begin to enable the use of E-values in your gcode. Variable extrusion width and support/infill thickness slicers, rejoice! Note, calculations are done for every single move individually.

Usage 

 M229 En Dn Sn

Parameters 

 En can be 0 (native flow calculation) or 1 (use E values)
 Dn how directed to head; see below
   D0 on head controller directly; constant flow, not adjusted for motion acceleration/deceleration
   D1 on motion controller, sent to head via CANBUS and adjusted for motion acceleration/deceleration
   D2 on motion controller, sent to head via C axis step pin and adjusted for motion acceleration/deceleration
   D3 on motion controller, sent to head via CANBUS and C axis and adjusted for motion acceleration/deceleration
 Sn sets a threshold in seconds; isolated non-printing moves below this threshold will not trigger unprime/prime actions

Note: E1 D0 is an illegal combination.

Example 1 

 M229 E1 D1

This command is decoded and executed by the printer as follows:

  • M229 (E values)
    • E1 (enabled)
    • D1 (flow calculations directed via CANBUS and adjusted to motion acceleration/deceleration)

Above is the default way to enable E values.

Example 2 

 M229 E0 D0

This command is decoded and executed by the printer as follows:

  • M229 (E values)
    • E0 (disabled)
    • D0 (flow calculations on head controller)

Above is the default way to ignore E values, and is how v3 and earlier releases work.

Example 3 

 M229 E0 D1

This command is decoded and executed by the printer as follows:

  • M229 (E values)
    • E0 (disabled)
    • D1 (flow calculations directed via CANBUS and adjusted to motion acceleration/deceleration)

Example 4 

 M229 E0 D0 S0.02

This command is decoded and executed by the printer as follows:

  • M229 (E values)
    • E0 (disabled)
    • D0 (flow calculations on head controller)
    • S0.02 (isolated non-printing moves of under 0.02 seconds will not trigger unprime/prime actions)


M721 Set Unprime Values

M721 sends information to the printer about how much material to unprime when a transition from printing move to non-printing move is detected.

Usage 

 M721 Sn En Pn T# In

Parameters 

 Sn is the speed at which unprime moves should be executed; this is normally 10,000
 En is the number of pulses on the feed (extrusion) motor to execute; this varies greatly among materials
 Pn is the number of milliseconds relative to the end of the move to begin the unprime (retract) action; a negative number initiates this before the end of the move
 T# is the target head
 In is the flag for executing an Immediate action; so M721 I1 would execute an unprime with the previously specified values at that point in the gcode.

Example 1 

M721 S10000 E100 P-15 T#

This command is decoded and executed by the printer as follows:

  • M721 (unprime)
    • S10000 (set rate to 10,000 pps)
    • E100 (set pulses to 100)
    • P-15 (set dwell to 15ms before end of print move )
    • T# (on target head)
    • (but no immediate execution; execute when needed)

Example 2 

M721 T# I1

This command is decoded and executed by the printer as follows:

  • M721 (unprime)
    • T# (on target head)
    • I1 (now)


M722 Set Prime Values

M722 sends information to the printer about how much material to prime (advance) when a transition from non-printing move to printing move is detected. This is done primarily to compensate for an earlier unprime (retract), to prep the head to be ready to dispense.

Usage 

 M722 Sn En Pn T# In

Parameters 

 Sn is the speed at which unprime moves should be executed; this is normally 10,000
 En is the number of pulses on the feed (extrusion) motor to execute; this varies greatly among materials
 Pn is the number of milliseconds to dwell relative to the start of the move to allow for the prime (advance) action
 T# is the target head
 In is the flag for executing an Immediate action; so M722 I1 would execute a prime with the previously specified values at that point in the gcode.

Example 

M722 S10000 E100 P-15 T#

This command is decoded and executed by the printer as follows:

  • M721 (prime)
    • S10000 (set rate to 10,000 pps)
    • E100 (set pulses to 100)
    • P-15 (set dwell to 15ms before end of print move )
    • T# (on target head)
    • (but no immediate execution; execute when needed)

Example 

M722 T# I1

This command is decoded and executed by the printer as follows:

  • M722 (prime)
    • T# (on target head)
    • I1 (now)


M723 Set Manual Flow

M723 tells the designated extruder(s) to advance material for the specified number of pulses (on the motor) at the specified rate, regardless of any X/Y/Z movement. It is normally used only during manual operation, not during gcode execution. It can be used after moving to a location to dispense a set amount of material (like depositing material into reservoirs).

M723 is also used to activate and set speed on the stirring apparatus on the DMH dynamic mixing head.


Usage 

 M723 Sn En T#

Parameters 

 Sn is the speed at which the motor should advance, in pulses per second (default: 500);
 En is the number of pulses on the feed (extrusion) motor to execute (default of 65535 is essentially "forever");
 T# is the target head

Example 

M723 S500 E50000 T#

This command is decoded and executed by the printer as follows:

  • M723 (start manual feed)
    • S500 (at 500 pulses per second)
    • E50000 (for 50000 pulses)
    • T# (target head)


M728 Set Motor Current Boost

M728 will set the motor current boost; default is 0.

Usage 

 M728 Sn T#

Parameters 

 Sn is the new set temperature in °C
 T# is the target head (or device)

Example 

 M728 T# S0

This command is decoded and executed by the printer as follows:

  • M728 (set motor current boost)
    • T# (target head)
    • S0 (off)


M756 Set Height for Flow

M756 will overwrite the Z value from the M221 command, allowing you to calculate flow for thinner or thicker layers. We declare M756 at the beginning of every layer; normally, they are all the same (unless you sliced for varying layer thicknesses).

Note: this command is ignored if you are using M229 E1 D1 to enable use of E values.

Usage 

 M756 Sn

Parameters 

 Sn is the layer thickness in mm for flow calculations

Example 

 M756 S0.125

This command is decoded and executed by the printer as follows:

  • M756 (set layer height for flow calculations)
    • S0.125 (at 0.125mm)


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Controlling Position and Offsets

Controlling Position and Offsets
Code Supported Brief Description
G10 No Set Offsets
G20 Yes Set Units to Inches
G21 Yes Set Units to Milimeters
G28 Yes Send to Physical Home
G53 Yes Clear Offsets
G54-59 Yes Set Offsets
G90 Yes Absolute Positioning
G91 Yes Relatative Positioning
G92 Yes Reset Coordinates
G93 Yes Reset Coordinates
M6 Yes Declare Head Offsets
M660 Yes Set Tool Offsets
M702-4 Yes Cloning Heads

The following commands define if new positioning data is defined in inches (G20) or mm (G21); or from the origin (G90) or from the present location (G91). They also stipulate the offsets from one head to another (M6), and how to invoke that offset (T).

G10 UNUSED2

G10 is not recognized by Repetrel.

On some other printers, this will set tool offsets; we do this via M6.

On some other printers, this will do a retract; we do this via M721.

G20 Set Units to Inches

G20 declares that henceforth, measurements will be given in inches.

Working with G20 is experimental and unsupported on Hyrel equipment. Use at your own risk.

Usage 

 G20

Parameters 

 N/A

Example 

G20

This command is decoded and executed by the printer as follows:

  • G20 (set units to inches)


G21 Set Units to Millimeters

G21 declares that henceforth, measurements will be given in mm.

Usage 

 G21

Parameters 

 N/A

Example 

G21

This command is decoded and executed by the printer as follows:

  • G21 (set units to milimeters)


G28 Send to Physical Home

G28 sends the specified axes to the sensor-defined physical home position, regardless of logically set 0,0, then pop-off and re-acquire the sensor threshold at a slower rate. This pop-off and re-acquire was implemented during v3.

After homing, a G28 also resets current offsets to 0 - including any may have been set with a G92 or an H (as defined in an M660 and invoked on a G1), performs a G53, and applies a head offset of 0 mm (as in an M6 O0).

Any axis not homed will have its position remain unchanged. We do not support intermediate positioning during homing.

Usage 

 G28 Xn Yn Zn An Bn I1

Parameters 

 X0 ensures that the X axis is homed
 Y0 ensures that the Y axis is homed
 Z0 ensures that the Z axis is homed
 A0 ensures that the A axis is homed
 B0 ensures that the B axis is homed

Example 

 G28 X0 Y0

This command is decoded and executed by the printer as follows:

  • G28 (home axis)
    • X0 (X axis to 0)
    • Y0 (Y axis to 0)
    • (Z remains unchanged)
    • (A remains unchanged)
    • (B remains unchanged)


G53 Clear Offsets

G53 sets the fixture offsets to (0,0,0,0,0). This takes no arguments or variables. It does not clear stored offset values.

Usage 

 G53

Parameters 

 N/A

Example 

G53

This command is decoded and executed by the printer as follows:

  • G53 (set fixture offsets to 0; no effect on H (head) offsets)


G54 - G59 - Set Offsets

G54, G55, G56, G57, G58, and G59 will each store and invoke fixture offsets in the X, Y, Z, A, and/or B axes for all subsequent moves. Any values not invoked will remain with their previous value (0 unless earlier specified otherwise). These offsets apply to all positioning until a new offset is applied, or a G53 is used to clear all offsets.

This graphic shows how printers (OTHER THAN THE EHR) use the G54-G59 offsets:

G54.png

Note that this differs from an M6, where the offsets are only applied to a SINGLE tool position. These offsets are cumulative with M6 values.

Usage 

 G54 (... G59) Xn Yn Zn An Bn

Parameters 

 Xn is the offset in mm in the X axis
 Yn is the offset in mm in the Y axis
 Zn is the offset in mm in the Z axis
 An is the offset in mm in the A axis
 Bn is the offset in mm in the B axis

Example 

G54 X30 Y-20

This command is decoded and executed by the printer as follows:

  • G54 (set units to milimeters)
    • X30 (add 30mm to all X positions)
    • Y-20 (subtract 20mm from all Y positions)
    • (no change to prior stored offsets)

Example 

G55

This command is decoded and executed by the printer as follows:

  • G55 (apply new fixture offsets)
    • (no variable: use previous G55 values, or as stored under Settings > Printer > Fixture Offsets)



G90 Absolute Positioning

G90 stipulates that henceforth, the positioning will be calculated from the origin (0,0 point).

Usage 

 G90

Parameters 

 N/A

Example 

G90

This command is decoded and executed by the printer as follows:

  • G90 (use absolute positioning)


G91 Relatative Positioning

G91 stipulates that henceforth, the positioning will be calculated relative to the starting position.

Usage 

 G91

Parameters 

 N/A

Example 

G91

This command is decoded and executed by the printer as follows:

  • G91 (use relative positioning)


G92 Reset Coordinate Offsets

G92 resets the current position to the specified coordinates for all axes enumerated.

Usage 

 G92 Xn Yn Zn An Bn En

Parameters 

 Xn is the new value for the current X position
 Yn is the new value for the current Y position
 Zn is the new value for the current Z position
 An is the new value for the current A position
 Bn is the new value for the current B position
 En is the new value for the current E position

Example 

G92 X0 Y50

This command is decoded and executed by the printer as follows:

  • G92 (replace current values)
    • X0 (present X position is 0)
    • Y50 (present Y position is 50)

Example 

G92 E0

This command is decoded and executed by the printer as follows:

  • G92 (replace current values)
    • E0 (present E position is 0)


G93 Clear Coordinate Offsets

G93 clears ALL offsets implemented via G92 command.

Usage 

 G93

Parameters 

 N/A

Example 

G93

This command is decoded and executed by the printer as follows:

  • G93 (clear coordinate offset values, all axes)


M6 Declare Head Offsets

M6 declares that a particular head holds a set of X, Y, and/or Z offsets, which will be invoked during a T (tool change) command. Repetrel reads this data from the heads, and sends it to the printer before the gcode file is loaded.

Usage 

 M6 T# On Xn Yn Zn An Bn Dn In Kn

Parameters 

 T# is the Tool position for which these offsets are being set
 On is the Offset position where these are being stored
 Xn is the offset in the X axis
 Yn is the offset in the Y axis
 Zn is the offset in the Z axis
 An is the offset in the A axis
 Bn is the offset in the B axis
 Dn is the current tool diameter (used with pocket commands)
 In non-persistent; can be default 0 (store values but do not move these distances) or 1 (store values and move these distances)
 Kn persistent setting; can be default 0 (use I value) or 1 (ignore I1 and always act with I0)

Example 

 M6 T# O1 X20 Y-30 Z40

This happens (for every head loaded) when you click print, and the head values are sent to the Motion Controller.

This command is decoded and executed by the printer as follows:

  • M6 (Declare Head Offsets)
    • T# (target head)
    • O1 (offset stored in register "O1")
    • X20 (X+20)
    • Y-30 (Y-30)
    • Z40 (Z+40)
    • (no change to A)
    • (no change to B)
    • (no diameter change)
    • (no move)

Example 

 M6 T# O1 X20 Y-30 Z40 I1

This happens when you execute a tool change with T#, and so it triggers the move (I1) to properly position the next head.

This command is decoded and executed by the printer as follows:

  • M6 (Declare Head Offsets)
    • T# (target head)
    • O1 (offset stored in register "O1")
    • X20 (X+20)
    • Y-30 (Y-30)
    • Z40 (Z+40)
    • (no change to A)
    • (no change to B)
    • (no diameter change)
    • (store and move distances)

Example 

 M6 K1

You might include this in your header to change behavior during tool changes.

This command is decoded and executed by the printer as follows:

  • M6 (Declare Head Offsets)
    • (all future T# or M6 commands)
    • (no offset registers, so ignore all offsets)
    • K1 (always force I0 with M6 unless K0 present (or has been previously set)

Note that this differs from a G54-G59, where the offsets are applied to EVERY tool position.


M660 Assign Tool Height Offset

Used with the High Resolution Engine (and other units which home away from O, like a CNC), an M660 declares that a particular head, when called upon, should print at the gcode-based Z position MODIFIED by this offset, since on these units, the Z-Zero is often BELOW the print surface. By default, this is ONLY used on the EHR (Engine, High Resolution)

NOTE: You MUST have a G28 Z0 in your header to run this M660 on the EHR.

Usage 

 M660 Hn Zn
 (followed by)
 G1 Xn Yn Zn Fn Hn (see #G1_Working_Move for other details

Parameters 

 H is the head offset registern for which these offsets are being set;
 Z is the offset in the Z axis in mm.

Example 1 

 M660 H2 Z28.2       ; (specified before any moves)
 (followed by)
 G1 X50 Y75 F4800 H2   ; (specified on the first G1 move)

This command is decoded and executed by the printer as follows:

  • M660 (apply offset)
    • H2 (store in register 2)
    • Z28.2 (+28.2 to Z position)
  • (there may be more commands before the G1 move invoking the H2)
  • G1 (working speed straight line move from the current location to)
    • X50 (50mm in the X)
    • Y75 (75mm in the Y)
    • (no change in Z)
    • E1 (while extruding)
    • F1800 (moving at 1800mm/min)
    • H2 (invoke offsets stored in register H2)

To be clear, this requires editing two lines of code:

In your gcode, you will enter the M660 just before the first layer code. Example: M660 H2 Z28.2 ; set tool height for tool two (Z offset). On the first move of layer one (usually the Z move), you will add an H value so that this tool height is invoked.

Example 2

Before editing: 

 G1 Z0.275 F360      ; move to next layer (0)
 (followed by)
 G1 X50 Y75 F4800

After editing: 

 G1 Z0.275 F360 H2   ; move to next layer (0) and invoke head Z offset for this tool
 (followed by)
 G1 X50 Y75 F4800 H2


M702 - M704 Cloning Heads

Clone, slave, or parallel printing, is when multiple heads make the exact same print at the same time.

Usage of these commands with version 4 and earlier is explained on T_v4.

Usage of these commands with version 5 and later is explained on T_v5.


T Tool Change

T executes a tool change, invoking the parameters specified in the M6 sent from Repetrel to the printer at the job start. Do not confuse a T command with a T variable.

See the first entry on this page for details.


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Controlling Lasers and UV Pens

Controlling Lasers and UV Pens
Code Supported Brief Description
M620 Yes Enable Device
M621 Yes Set Laser Power
M623 Yes Duration Emit
Laser Examples
UV Pen Examples


The CO2 and Diode Lasers and the UV Pens require the following enabling codes:

M620 Enable Device

M620 enables the device.

Usage 

 M620 T# En An

Parameters 

 T# is the tool position
 En can be the default 0 (disable) or 1 (enable)
 An is the duration in seconds after shut-off that the cooling remains active; default is 30 (but this will not override temperature safety measures)

Example 

 M620 T# E1

This command is decoded and executed by the printer as follows:

  • M620 (enable device)
    • T# (target head - MUST be specified, can NOT be inherited)
    • E1 (enable)


M621 Set Laser Power

M621 sets the power for the LASER (not other heads).

Usage 

 M621 Dn Pn

Parameters 

 Pn is the power, in a value between 0 (min) and 100 (max).
 Dn is the initial power (similar to a prime) to penetrate material (optional; uses Pn if unspecified)

Note: No tool is specified; this will happen on the laser already enabled with M620.

Example 

 M621 P40

This command is decoded and executed by the printer as follows:

  • M621 (activate device)
    • P40 (at 40% during "printing" (E-value) moves)



M623 Duration Emit

M623 sets the power for the laser or UV pen, and takes the following parameters:

Usage 

 M623 Dn Pn

Parameters 

 Dn is the duration, in miliseconds (only used for static exposures, not during moves)
 Pn is the power, in a value between 0 (min) and 100 (max).

Note: Dn max for UV pens is 60,000 (1 minute); Dn max for other devices 1,000 (1 second);

Here are examples: 

 M623 P80 D500

This command is decoded and executed by the printer as follows:

  • M623 (activate tool)
    • P80 (power 80%)
    • D500 (duration 500 miliseconds)
 M623 P80 D10000

This command is decoded and executed by the printer as follows:

  • M623 (activate tool)
    • P80 (power 80%)
    • D10000 (duration 10 seconds)

Laser Examples

A sample of code for lasering will look like this: 

 G0 X100 Y100 F1000  ; move to start location at 1000 mm/min
 M620 T# E1          ; enable target device 
 M621 P100           ; set light emission in vector mode (slot 3) to full power (100%)
 T#                  ; toolchange to target head
 G1 X120 Y100 E1     ; emitting (printing) move 20mm from origin in X axis
 G1 X120 Y120 E1     ; emitting (printing) move 20mm from origin in Y axis
 G1 X120 Y130        ; non-emitting move 10mm from origin in Y axis
 G1 X140 Y130 E1     ; emitting move 20mm from origin in X axis
 
 ... (the rest of your lasering job)
 
 M620 T# E0          ; disable target device <= should be before M30 command

UV Pen Examples

A sample of code for UV Curing will look like this: 

 G0 X100 Y100 F1000  ; move to start location at 1000 mm/min
 M620 T# E1         ; enable target device
 M621 P100           ; set light emission in vector mode (slot 3) to full power (100%)
 T#                  ; toolchange to target head
 G1 X120 Y100 E1     ; emitting (printing) move 20mm from origin in X axis
 G1 X120 Y120 E1     ; emitting (printing) move 20mm from origin in Y axis
 G1 X120 Y130        ; non-emitting move 10mm from origin in Y axis
 G1 X140 Y130 E1     ; emitting move 20mm from origin in X axis
 
 ... (the rest of your curing job)
 
 M620 T# E0         ; disable target device <= should be before M30 command

For more complex examples, see the UV_and_Clench page.


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Controlling Spindles and Lathes

Controlling Spindles and Lathes
Code Supported Brief Description
M3 Yes Spindle On CW
M4 Yes Spindle On CCW
M5 Yes Spindle Off
M253 Yes Turn On Lathe (CW)
M254 Yes Turn On Lathe (CCW)
M255 Yes Turn Off Lathe
G81 G81 Peck Drilling

Machining and Spindle Tool commands. Note, we recommend using SimplyCAM.

You can review the 5-axis gcode we used for this video from here.

M3 Turn On Spindle (CW)

M3 tells the printer to activate (start) the spindle motor in the clockwise direction on the current head (if it has one), using the value set on the head for RPM. Note: S0 is the same as turning it off. Note: DO NOT CHANGE DIRECTION while the spindle is in motion.

Usage 

 M3 T# Sn Fn

Parameters 

 T# - target head
 Sn - power (0-100%)
 Fn - optional; PWM in Hz (defaults on heads should be fine for most uses)

Example 

 M3 T# S75

This command is decoded and executed by the printer as follows:

  • M3 (activate spindle clockwise)
    • T# (target head)
    • S75 (at 75% power)
    • (default PWM)


M4 Turn On Spindle (CCW)

Please refer to M3, above, for details. All options are identical, with the exception of direction (counterclockwise).


M5 Turn Off Spindle

M5 tells the printer to deactivate (stop) the spindle motor on the current head (if it has one). M5 has the same effect as M3 S0 or M4 S0.

Usage 

 M5 T#

Parameters 

 T# - target head

Example 

 M5 T#

This command is decoded and executed by the printer as follows:

  • M3 (deactivate spindle )
    • T# (target head)


M253 Turn On Lathe (CW)

M253 tells the printer to activate (start) the lathe motor in the clockwise direction (if it has one), using the value set with M92 for RPM. Only available on Hydra 16A models.

Note: S0 is the same as turning it off.

Usage 

 M253 Sn

Parameters 

 Sn - speed in units per minute (default: RPM if set with M92 as steps per revolution)

Example 

 M253 S75

This command is decoded and executed by the printer as follows:

  • M253 (activate spindle clockwise)
    • S75 (at 75 RPM)


M254 Turn On Lathe (CCW)

Please refer to M253, above, for details. All options are identical, with the exception of direction (counterclockwise).


M255 Turn Off Lathe

M255 tells the printer to deactivate (stop) the lathe motor (if it has one). M255 has the same effect as G253 S0 or G254 S0.

Usage 

 M255

Parameters 

 N/A

Example 

 M255

This command is decoded and executed by the printer as follows:

  • M255 (deactivate lathe)


G81 Peck Drilling

G81 tells the printer to move to a start position in X/Y and then in Z, and to make (if needed) repeated descents and retracts. This is used to make holes, especially deep holes. Note that the spindle tool is turned on with an M3 or M4 before this command, and turned off with an M5 after all work is done.

Usage 

 G81 T# Xn Yn In Pn Qn Zn Fn

Parameters 

 T# - target head
 Xn - X position
 Yn - Y position
 In - initial Z position
 Pn - peck downward this many mm during each cycle
 Qn - retract upward this many mm after each cycle (to clear debris)
 Zn - maximum pecking depth
 Fn - Z working speed in mm/min

Example 

 G81 T# X100 Y75 I3 P3 Q-2 Z-7.5 F200

NOTE that an M660 offset must be set and applied BEFORE THIS COMMAND to allow for tool length.

This command is decoded and executed by the printer as follows:

  • G81 (begin pecking cycle)
    • X100 Y75 (move to X/Y starting position X100 Y75)
    • I3 (move to Z starting position Z3, which will be our greatest retract height)
    • P3 (peck downward an additional 3mm at a time)
    • Q-2 (retract upward 2mm after each peck (to clear debris))
    • Z-7.5 (peck to a maximum depth of 7.5mm)
    • F200 (working (drilling) travel speed of 200 mm/min)
    • after this, the head will retract up to the I position (Z3 in this case) before moving on to the next line


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Reporting and Diagnostics

Reporting and Diagnostics
Code Supported Brief Description
M701 Yes Set Head Reporting
M718 Yes Stop Logging to File
M719 Yes Start Logging to File
M670 Yes Enable Y-arm Light
M672 Yes Set Y-arm Light
M772 Yes Reset All Metrics
M773 Yes Generate Basic Report

The following commands help with reporting and diagnostics. Most users never need them, but here are the basics. More advanced/detailed reporting is available.

M701 Set Head Reporting

M701 tells heads how often to send head-specific information to the Motion Controller and on to Repetrel (and pass along to a text file if enabled via M719).

Usage 

 M701 T# Pn

Parameters 

 T# - target head
 Pn - period in seconds between entries (default 1)

Example 

 M701 P12

This command is decoded and executed by the printer as follows:

  • M701 (head reporting)
    • (currently active head)
    • P12 (every 12 seconds)


M718 Stop Logging to File

M718 tells Repetrel to stop any logging of data to text file that may have been enabled with M719.

Usage 

 M718

Parameters 

 N/A

Example 

 M718

This command is decoded and executed by the printer as follows:

  • M718 (logging off)


M719 Start Logging to File

M719 tells the Motion Controller what system-wide information to report back to Repetrel, and also tells Repetrel to begin logging these details to a text file.

Usage 

 M719 Pn Sn 
 
 M719 Pn Xn Yn Zn An Bn Vn En Ln

Parameters 

 Pn - period in seconds between entries
 Sn - can be default 0 (see options below) or 1 (report ALL data) 
 Xn - report X position with each entry
 Yn - report Y position with each entry
 Zn - report Z position with each entry
 An - report A position with each entry
 Bn - report B position with each entry
 Vn - report velocity with each entry
 En - report flow rate with each entry
 Ln - report gcode line number with each entry

Note: these values are persistent, and if previously enabled, will still be enabled unless disabled with a 0 parameter.

Example 1 

 M719 P10 S1

This command is decoded and executed by the printer as follows:

  • M719 (logging on)
    • P10 (every 10 seconds)
    • S1 (report everything)

Example 2 

 M719 P.1 Xn Yn Zn Ln
  • M719 (logging on)
    • P.1 (every 0.1 seconds)
    • X1 (report X position)
    • Y1 (report Y position)
    • Z1 (report Z position)
    • (don't report A position)
    • (don't report B position)
    • (don't report velocity)
    • (don't report flow rate)
    • L1 (report line number)


M670 Enable Gantry / Y-arm Light

M670 sets the intensity of the Y-arm LEDs.

Usage 

 M670 Sn Pn

Parameters 

 Sn is the (percent of duty cycle, 0-100) for the LEDs
 Pn is the period (on-off interval - default is 1 second)

Example 1 

 M670 S50 P1

This command is decoded and executed by the printer as follows:

  • M670 (enable Y-arm light)
    • S50 (50% duty cycle)
    • P1 (1 second cycle)

This would turn the Y-arm light on for 50% of 1 second, then off for 50% of 1 second - or on for 0.5 seconds, off for 0.5 seconds.

Example 2 

 M670 S25 P4

This command is decoded and executed by the printer as follows:

  • M670 (enable Y-arm light)
    • S25 (25% duty cycle)
    • P4 (4 second cycle)

This would turn the Y-arm light on for 25% of 4 second, then off for 75% of 4 seconds - or on for 1 second, off for 3 seconds.


M672 Set Gantry / Y-arm State

M672 can be used to have the Gantry / Y-arm light change states to reflect the state of a sensor. For example, you can have it come on when the X axis is homed, or when the Y axis has a fault.

Usage 

 M672 Sn

Parameters 

 Sn can be (unlisted numbers are unused at present):
       0  : Normal on/off
       10 : X Home
       11 : X Limit1
       12 : X Limit2
       13 : X Fault
       20 : Y Home
       21 : Y Limit1
       22 : Y Limit2
       23 : Y Fault
       30 : Z Home
       31 : Z Limit1
       32 : Z Limit2
       33 : Z Fault
       40 : A Home
       41 : A Limit1
       42 : A Limit2
       43 : A Fault
       50 : B Home
       11 : B Limit1
       52 : B Limit2
       53 : B Fault
       60 : C Home
       61 : C Limit1
       62 : C Limit2
       63 : C Fault

Example 

 M672 S

This command is decoded and executed by the printer as follows:

  • M672 (map Y-arm light to state of sensor)


M772 Reset All Metrics

M772 will reset all internal gathering registers to 0.

Usage 

 M772 Sn

Parameters 

 Sn 0 is default; S can be...
     0 reset all values only
     1 also generates a basic printing report
     255 also generates all possible reports (helpful for advanced debugging)

Example 

 M772 S1

This command is decoded and executed by the printer as follows:

  • M772 (reset all metrics)
    • S1 (and generate basic printing report


M773 Generate Basic Report

M773 generates a basic report of printing statistics (including average speed, number of primes, etc.)

Note: this report will be more meaningful if you use M772 to reset these counters at the start of a job.

Usage 

 M773

Parameters 

 N/A

Example 

 M773

This command is decoded and executed by the printer as follows:

  • M773 (generate basic report)

Sample Output 

 >IN:  50: ******************************************************************
 >IN:  50: **  Begin M773 - print job metrics Report
 >IN:  50: ******************************************************************
 >IN:  50: 
 >IN:  50:                       Time (s)    Dist (m)
 >IN:  50:                       --------    --------
 >IN:  50: Totals:                    0.0       0.000
 >IN:  50: 
 >IN:  50: Printing moves:            0.0       0.000
 >IN:  50: Non-printing moves         0.0       0.000
 >IN:  50: 
 >IN:  50: Accelerating:              0.0       0.000
 >IN:  50: Cruising:                  0.0       0.000
 >IN:  50: Decelerating:              0.0       0.000
 >IN:  50: 
 >IN:  50: can e steps issued:       0
 >IN:  50: approx filament (PI*d)    0.000 m
 >IN:  50: approx filament (PIr^2)   0.000 m
 >IN:  50: unprimes issued:          0
 >IN:  50: primes issued:            0
 >IN:  50: unprime-primes avoided:   0
 >IN:  50: 
 >IN:  50: ******************************************************************
 >IN:  50: **  End M773 Report
 >IN:  50: ******************************************************************


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Controlling Aux Devices

Controlling Aux Devices
Code Supported Brief Description
M7 Yes Aux 1 On (Mist)
M8 Yes Aux 2 On (Flood)
M9 Yes All Aux Off
M620 Yes Enable Device
M670 Yes Enable Y-arm (Gantry) Lights
M671 Yes Activate X-Arm (Danger) Lights
M675 Yes Activate Response LEDs
M676 Yes Activate Recirc. Fan
M677 Yes Activate Buzzer
M678 Yes Activate Laser X-hair
M679 Yes Activate Vacuum
M684 Yes Activate Exhaust
M685 Yes Activate Air
M689 Yes Activate Ext. Head
M783 Yes Tie Aux to Extrusion


Individual port control commands.

M7 Activate Aux 1

12VDC Ports on EHR
12VDC Ports on 30M, ESR

M7 sends 12VDC to the port associated with "Mist Coolant", which we sometimes call Aux1. With no parameters, it is read as M7 S100 (on continuously). See also M783 Tie Aux to Extrusion.

Usage 

 M7 Sn Tn

Parameters 

 Sn is the percentage (0-100) for Aux 1 to come on (default is 100)
 Tn is the head to which Aux 1 will synchronize, coming on at 100% when that head is extruding; using a T value forces S100

Example 1 

 M7 S100

This command is decoded and executed by the printer as follows:

  • M7 (Aux1 value)
    • S100 (set to 100%)

Example 2 

 M7 S25

This command is decoded and executed by the printer as follows:

  • M7 (Aux1 value)
    • S25 (set to 25%)

Example 3 

 M7 S0

This command is decoded and executed by the printer as follows:

  • M7 (Aux1 value)
    • S0 (set to 0%)

Example 4 

 M7 T#

This command is decoded and executed by the printer as follows:

  • M7 (Aux1 value)
    • T# (set to 100% when T# is extruding)


M8 Activate Aux 2

M7 sends 12VDC to the port associated with "Flood Coolant", which we sometimes call Aux2. With no parameters, it is read as M8 S100 (on continuously). See also M783 Tie Aux to Extrusion.

Usage 

 M8 Sn Tn

Parameters 

 Sn is the percentage (0-100) for Aux 2 to come on (default is 100)
 Tn is the head to which Aux 2 will synchronize, coming on at 100% when that head is extruding; using a T value forces S100

Example 1 

 M8 S100

This command is decoded and executed by the printer as follows:

  • M8 (Aux2 value)
    • S100 (set to 100%)

Example 2 

 M8 S25

This command is decoded and executed by the printer as follows:

  • M8 (Aux2 value)
    • S25 (set to 25%)

Example 3 

 M8 S0

This command is decoded and executed by the printer as follows:

  • M8 (Aux2 value)
    • S (set to 0%)

Example 4 

 M8 T#

This command is decoded and executed by the printer as follows:

  • M8 (Aux2 value)
    • T# (set to 100% when T# is extruding)


M9 Deactivate Aux1 & Aux2

M9 cuts power to both Aux1 and Aux2. It is equivalent to running M7 S0 and M8 S0.

Usage 

 M9

Parameters 

 N/A

Example 

 M9

This command is decoded and executed by the printer as follows:

  • M9 (set Aux 1 and Aux 2 to value 0 (off))


M620 Activate Emitter

See #M620_Enable_Device above.


M670 Activate Y-Arm (Gantry) Lights

M670 sends 12VDC to the port associated turning on the Gantry (16A) or Y-arm (30M, ESR) lights.

Usage 

 M670 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M670 S100

This command is decoded and executed by the printer as follows:

  • M670 (Gantry / Y-arm value)
    • S100 (set to 100%)

Example 2 

 M670 S25

This command is decoded and executed by the printer as follows:

  • M670 (Gantry / Y-arm value)
    • S25 (set to 25%)

Example 3 

 M670 S0

This command is decoded and executed by the printer as follows:

  • M670 (Gantry / Y-arm value)
    • S0 (set to 0%)


M671 Activate X-Arm (Danger) Lights

M671 sends 12VDC to the port associated turning on the X-arm / Danger lights (30M/ESR only).

Usage 

 M671 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M671 S100

This command is decoded and executed by the printer as follows:

  • M671 (X-arm / Danger value)
    • S100 (set to 100%)

Example 2 

 M671 S25

This command is decoded and executed by the printer as follows:

  • M671 (X-arm / Danger value)
    • S25 (set to 25%)

Example 3 

 M671 S0

This command is decoded and executed by the printer as follows:

  • M671 (X-arm / Danger value)
    • S0 (set to 0%)


M675 Activate Response LEDs

M675 sends 12VDC to the port associated turning on the Response LEDs (30M/16A only).

Usage 

 M675 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M675 S100

This command is decoded and executed by the printer as follows:

  • M675 (Response LEDs value)
    • S100 (set to 100%)

Example 2 

 M675 S25

This command is decoded and executed by the printer as follows:

  • M675 (Response LEDs value)
    • S25 (set to 25%)

Example 3 

 M675 S0

This command is decoded and executed by the printer as follows:

  • M675 (Response LEDs value)
    • S0 (set to 0%)


M676 Activate Recirc. Fan

M676 sends 12VDC to the port associated turning on the Recirc. Fan (16A only).

Usage 

 M676 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M676 S100

This command is decoded and executed by the printer as follows:

  • M676 (Recirc. Fan value)
    • S100 (set to 100%)

Example 2 

 M676 S25

This command is decoded and executed by the printer as follows:

  • M676 (Recirc. Fan value)
    • S25 (set to 25%)

Example 3 

 M676 S0

This command is decoded and executed by the printer as follows:

  • M676 (Recirc. Fan value)
    • S0 (set to 0%)


M677 Activate Buzzer

M677 sends 12VDC to the port associated turning on the Buzzer (older 30Ms only).

Usage 

 M677 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M677 S100

This command is decoded and executed by the printer as follows:

  • M677 (Buzzer value)
    • S100 (set to 100%)

Example 2 

 M677 S25

This command is decoded and executed by the printer as follows:

  • M677 (Buzzer value)
    • S25 (set to 25%)

Example 3 

 M677 S0

This command is decoded and executed by the printer as follows:

  • M677 (Buzzer value)
    • S0 (set to 0%)


M678 Activate Laser X-hair

M678 sends 12VDC to the port associated turning on the Laser X-hair (16A with CO2 lasers only).

Usage 

 M678 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M678 S100

This command is decoded and executed by the printer as follows:

  • M678 (Laser X-hair value)
    • S100 (set to 100%)

Example 2 

 M678 S25

This command is decoded and executed by the printer as follows:

  • M678 (Laser X-hair value)
    • S25 (set to 25%)

Example 3 

 M678 S0

This command is decoded and executed by the printer as follows:

  • M678 (Laser X-hair value)
    • S0 (set to 0%)



M679 Activate Vacuum

M679 sends 12VDC to the port associated turning on the Vacuum (30M/ESR only).

Usage 

 M671 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M679 S100

This command is decoded and executed by the printer as follows:

  • M679 (Vacuum value)
    • S100 (set to 100%)

Example 2 

 M679 S25

This command is decoded and executed by the printer as follows:

  • M679 (Vacuum value)
    • S25 (set to 25%)

Example 3 

 M679 S0

This command is decoded and executed by the printer as follows:

  • M679 (Vacuum value)
    • S0 (set to 0%)


M684 Activate Exhaust

M671 sends 12VDC to the port associated turning on the Exhaust (16A only).

Usage 

 M684 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M684 S100

This command is decoded and executed by the printer as follows:

  • M684 (Exhaust value)
    • S100 (set to 100%)

Example 2 

 M684 S25

This command is decoded and executed by the printer as follows:

  • M684 (Exhaust value)
    • S25 (set to 25%)

Example 3 

 M684 S0

This command is decoded and executed by the printer as follows:

  • M684 (Exhaust value)
    • S0 (set to 0%)


M685 Set Power on Air

M685 sends 12VDC to the port associated turning on the (positive pressure) Air (16A only).

Usage 

 M685 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M685 S100

This command is decoded and executed by the printer as follows:

  • M685 (Air value)
    • S100 (set to 100%)

Example 2 

 M685 S25

This command is decoded and executed by the printer as follows:

  • M685 Air value)
    • S25 (set to 25%)

Example 3 

 M685 S0

This command is decoded and executed by the printer as follows:

  • M685 (Air value)
    • S0 (set to 0%)


M689 Activate Ext. Head

M689 sends 12VDC to the port associated turning on the Ext. Head.

Usage 

 M689 Sn

Parameters 

 Sn is the percentage (0-100; no default - if no Sn, no change)

Example 1 

 M689 S100

This command is decoded and executed by the printer as follows:

  • M689 (Ext. Head value)
    • S100 (set to 100%)

Example 2 

 M689 S25

This command is decoded and executed by the printer as follows:

  • M689 (Ext. Head value)
    • S25 (set to 25%)

Example 3 

 M689 S0

This command is decoded and executed by the printer as follows:

  • M689 (Ext. Head value)
    • S0 (set to 0%)


M783 Tie Aux to Extrusion

M783 can tie some auxiliary port (like Aux 1, normally controlled by M7, or Aux 2, normally controlled by M8, etc.) to be powered (at 100%) during a certain head's extrusion. Some users use this so that they can print with Ultimus or Viscotec heads on our equipment. See also M7 and M8.

Note: M619 can be used to map which port M783 ties to - contact us for more information.

Usage 

 M783 T#

Parameters 

 T# is the tool to which the designated aux port will be tied

Example 

 M783 T#

This command is decoded and executed by the printer as follows:

  • M783 (Tie current Aux port to status of head)
    • T# (target head)



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Other Commands

Other Commands
Code Supported Brief Description
M17 Yes Engage Motors
M18 Yes Disengage Motors
M30 Yes End of Program
M84 Yes Disable Motors
M790 Yes New Layer Actions
M791 Yes Snap Image
M792 Yes Execute Action

Other commands.

M17 Engage Motors

M17 will apply power to all motors (positioning and extruder motors), locking them at their current postion; this prevents the bed and yoke from being pushed manually in the X and Y.

Note that an M18 or M84 will disengage motors on ESR and 30M models, but 16A and EHR models use different controllers, and these commands do not unlock the motors. On a 16A or a 30M, you may engage the emergency stop for the same effect.

Usage 

 M17

Parameters 

 N/A

Example 

 M17

This command is decoded and executed by the printer as follows:

  • M17 (engage motors)


M18 Disengage Motors

M18 will cut power to all motors (positioning and extruder motors), unlocking them; this allows the motors to cool down (as they normally lock in place while still), as well as allowing one to manually push the bed and yoke in the X and Y. It also notifies the GUI that motors are disabled. All axes with homes must be rehomed after an M18.

Note this is identical to M84 and the opposite of M17.

Note that an M18 or M84 will disengage motors on ESR and 30M models, but 16A and EHR models use different controllers, and these commands do not unlock the motors. On a 16A or a 30M, you may engage the emergency stop for the same effect.

Usage 

 M18

Parameters 

 N/A

Example 

 M18

This command is decoded and executed by the printer as follows:

  • M18 (disengage motors)


M30 End of Program

M30 tells the printer that this job is complete. No gocde after an M30 will be executed as part of the previous job.

Note M30 also dissolves any cloning setups, changes head index to 0, clears fixture offsets (G53), clears any M229 E-value settings, resets M106 persistent range, resets any printing errors, resets M660 head offsets to 0, resets heads to their stored values, and triggers any queued reports.

Usage 

 M30

Parameters 

 N/A

Example 

 M30

This command is decoded and executed by the printer as follows:

  • M30 (end or program)


M84 Disable Motors

M84 invokes an M18. Please see M18 for usage.

Note that an M18 or M84 will disengage motors on ESR and 30M models, but 16A and EHR models use different controllers, and these commands do not unlock the motors. On a 16A or a 30M, you may engage the emergency stop for the same effect.


M790 New Layer Actions

M790 will trigger any associated new layer actions, which can include capturing an image from the designated camera. It takes no parameters.

M791 Snap Image

M791 will cause the camera selected under the Interface > Camera1 tab, if set to live video, to capture an image and save it to C:\Users\hyrel\Pictures\HyrelPrinterPictures\Camera1, named pic#.png

M792 Execute Action

M792 causes Repetrel to perform an action, such as displaying an image or making a warning beep.

Usage 

 M792 [ SAY | PIC | VID | SEND | BEEP | SHELL ]

Parameters 

 SAY sample message - the computer will use built-in text-to-speech to echo the message over the speaker(s)
 PIC C:\sample.jpg - the computer will display the image at the specified location
 VID C:\sample.mp4 - the computer will play the video at the specified location
 SEND sample message - the computer will send the message to the Aux port if connected
 BEEP - the computer will sound a beep
 SHELL C:\program.exe - the computer will execute the file at the specified location

Note that multiple options can be combined.

Example 

 M792 ; SAY Hello Wilbur ; PIC C:\mr_ed.png

This command is decoded and executed by the printer as follows:

  • M792 (execute action)
    • SAY Hello Wilbur (Announce Text: Hello Wilbur)
    • PIC C:\mr_ed.png (Display Image: C:\mr_ed.png)


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Gcode Header

Here are some sample headers for Gcode on our equipment:

16A, T1, Heated

Below is our standard header for using a heated head in the second slot with a heated bed on a 16A: 

 ; ///////////////   BEGIN HYREL HEADER for a 16A with a Heated Head in T1/T12 - 2021.02.24   \\\\\\\\\\\\\\\
 
 ; GENERAL :
 
 N14                ; set line numbers for error logging - Slic3r version
 M772 S1            ; reset metrics and arm automatic reporting 
 M627 X0 Y0 Z0 J-500 K5                 ; setup abort action 
 
  
 M107               ; fans/UV           ; off
 M106 C255          ; fans/UV           ; set to 0-255 range
 
 G53                ; clear offsets
 G21                ; units             : mm
 G91                ; coordinatess      : relative
 G0 Z10 	           ; drop bed 
 G90                ; coordinates       : absolute
 
 M229 E1 D1         ; enable E-values (volumetric)
 
 ; TEMP CONTROL :
 
 M190 S100          ; bed preheat  : set and wait
 M140 S[bed_temperature]          ; bed temp     : set, no wait
 M104 T12 S[temperature]      ; head temp    : set, no wait
 
 G28 X0 Y0          ; home, goto   : X and Y
  
 M190 S[bed_temperature]          ; bed temp     : set and wait
 M109 T12 S[temperature]      ; head temp    : set and wait
 
 T1                 ; use SECOND tool position from the left    
 
 ; \\\\\\\\\\\\\\\   END HYREL HEADER for a 16A with a Heated Head in T1/T12 - 2021.02.24   ///////////////

30M and ESR, T1, Heated

Below is our standard header for using a heated head in the second slot with a heated bed on a 16A: 

 ; ///////////////   BEGIN HYREL HEADER for a 30M/ESR with an Unheated Head in T0/T11 - 2021.02.24   \\\\\\\\\\\\\\\
 
 ; GENERAL :
 
 N14                ; set line numbers for error logging - Slic3r version
 M772 S1            ; reset metrics and arm automatic reporting 
 M627 X0 Y0 Z0 J-500 K5                 ; setup abort action 
 
 
 M107               ; fans/UV           ; off
 M106 C255          ; fans/UV           ; set to 0-255 range
 
 G53                ; clear offsets
 G21                ; units             : mm
 G91                ; coordinatess      : relative
 G0 Z10 	           ; drop bed 
 G90                ; coordinates       : absolute
 
 G28 Z0             ; home, goto        : Z (ignored if no Z home)
 G28 X0 Y0          ; home, goto        : X and Y
 
 M229 E1 D1         ; enable E-values (volumetric)
 
 ; TEMP CONTROL :
 
 ;M190 S[bed_temperature]          ; bed temp     : set and wait    <= COMMENTED OUT
 ;M109 T11 S[temperature]        ; head temp    : set and wait    <= COMMENTED OUT
 
 T0                 ; use FIRST tool position from the left    
 
 ; \\\\\\\\\\\\\\\   END HYREL HEADER for a 30M/ESR with an Unheated Head in T0/T11 - 2021.02.24   ///////////////

Gcode Footer

Standard, All Models

Below is our standard Gcode footer, which should be at the end of all your gcode files: 

 ; ///////////////   BEGIN HYREL STANDARD FOOTER - 2021.02.12   \\\\\\\\\\\\\\\
 
 ; temp control:
 
 
 M107 T100       ; fans, diodes  : off
 M620 T100 E0    ; CO2 lasers    ; off
 M104 T100 S0    ; head temps    : off
 M140 T90 S0     ; bed temps     : off
 M5              ; spindles      : off
 
 ; housekeeping
 
 G91             ; coordinates   : relative
 G0 Z10          ; drop bed 
 G90             ; coordinates   : absolute
 G0 Y0           ; home, goto    : Y axis
 G0 X0           ; home, goto    : X axis
 M84             ; motors        : disable
 G53             ; clear offsets
 M30             ; program       : end
 			
 ; \\\\\\\\\\\\\\\   END HYREL STANDARD FOOTER - 2021.02.12   ///////////////
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