Gcode

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.

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.

At the bottom of the page is a chart with all these codes ordered numerically.

Below, I will explain those gcodes about which we get the most questions.

Understanding the T

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.

Please see T_v5 for the new (current) way.

We will use a T# in the descriptions below to avoid confusion

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; 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

 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 D1, 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 D1, 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. 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.

Usage

 G1 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
  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

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)

---

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.

Usage

 G2 Xn Yn In Jn Fn En

Parameters

  Xn is the new X position to move to
  Yn is the new Y position to move to
  In is the relative X position of the center about which to arc
  Jn is the relative Y position of the center about which to arc
  Fn is the Feed rate (travel speed) at which to execute this move.
  En indicates a working or printing move

Any values not stipulated remain unchanged.

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)

Note that as all STL models are, by definition, a series of triangles and your slicer will not generate G2 commands from STL files.

---

G3 Counterclockwise Arc

A G3 move specifies a counterclockwise 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.

Usage

 G3 Xn Yn In Jn Fn En

Parameters

  Xn is the new X position to move to
  Yn is the new Y position to move to
  In is the relative X position of the center about which to arc
  Jn is the relative Y position of the center about which to arc
  Fn is the Feed rate (travel speed) at which to execute this move.
  En indicates a working or printing move

Any values not stipulated remain unchanged.

Example

 G3 X50 Y75 I15 J20 E1 F1800

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

• G3 (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)

Note that as all STL models are, by definition, a series of triangles and your slicer will not generate G2 commands from STL files.

---

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)

 G4 P500

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

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

---

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 s 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)

---

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.

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M104 Set Extruder Temperature

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

Usage

 M104 Sn Tn

Parameters

  Sn is the new Set temperature in °C; and
  Tn 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 Fan / LED Arrays / Clench Valve

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

Usage

 M106 Cn

or

 M106 Tn Sn

or

 M106 Tn Pn

Parameters

  Tn is the Tool assignment for this cooling command; optional, defaults to last head addressed
  Sn is the percent of duty cycle for the cooling fan (or LEDs)
  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 Fan / LEDs

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 Tn

Parameters

  Tn (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 Set Extruder Temp, Wait

M109 sets the extruder temperature and pauses the printer until the extruder reaches that temperature.

Usage

 M109 Tn Sn

Parameters

  S is the new set temperature in °C
  T is the target head

Example

M109 T# S240

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

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

---

M116 UNUSED

M116 is not recognized by Repetrel. On some other printers, this will cause the printer to pause until all set temperatures are reached.'

---

M140 Set Bed Temperature

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

Usage

 M140 Sn Tn

Parameters

  Sn is the new set temperature in °C
  Tn is the target bed (default is T91, 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 Chamber Temperature

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

Usage

 M141 Sn Tn

Parameters

  Sn is the new set temperature in °C
  Tn is the target chamber (default is T91, 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 Set Bed Temp, Wait

M190 sets the bed temperature and pauses the printer until the bed reaches that temperature.

Usage

 M140 Sn Tn

Parameters

  Sn is the new set temperature in °C
  Tn is the target bed (default is T91, the primary bed)

Example

M140 S75

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

• M140 (set bed temperature and wait until it is reached)
  • S75 (to 75°C)
  • (on primary bed)

---

M191 Set Chamber Temp, Wait

M191 sets the chamber temperature and pauses the printer until the chamber reaches that temperature.

Usage

 M191 Sn Tn

Parameters

  Sn is the new set temperature in °C
  Tn is the target chamber (default is T91, the primary chamber)

Example

M191 S75

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

• M191 (set chamber temperature and wait until it is reached)
  • S75 (to 75°C)
  • (on primary chamber)

---

Controlling Material Flow

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).

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.

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.

G10 UNUSED

G10 is not recognized by Repetrel as of October, 2018. 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.

G11 UNUSED

G11 is not recognized by Repetrel as of October, 2018. On some other printers, this will do an advance or unretract; we do this via M722.

M82 UNUSED

M82 is not used by Repetrel as of October, 2018. On some other printers, this will cause the printer to absolute E values to calculate extrusion.

M83 UNUSED

M83 is not used by Repetrel as of October, 2018. On some other printers, this will cause the printer to relative E values to calculate extrusion.'

M221 Set Flow Rate

M221 sends information to the printer about material flow:

• P is the number of pulses on the motor to dispense 10 nl of material;
• 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;
• Z 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.

Here is an example:

 M221 S1.0 T11 P77 W0.5 Z0.3

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

• M221 (Set Flow Rate)
  • S1.0 (flow multiplier of 1.0)
  • T11 (for far left 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! This will first be enabled for our Hot Flow or Filament heads. Cold/Warm Flow or Reservoir heads will get this later.

M229 tells the printer to enable or disable the E values:

• E is ...;
• D is ...

Here is an example to ENABLE E values:

 M229 E1 D1

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

• M229 (E values)
  • E1 (Enabled)
  • D1 (Enabled)

Here is an example to DISABLE E values:

 M229 E0 D0

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

• M229 (E values)
  • E0 (Disabled)
  • D0 (Disabled)

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:

• S 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;
• P is the number of milliseconds to pause before enabling the flow rate for the following move;
• T is the tool (head) to which these values will be applied; and
• 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.

Here is an example:

 M721 S10000 E100 P-15 T11

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

• M721 (Set Unprime Values)
  • S10000 (10,000 pps)
  • E100 (100 pulses)
  • P-15 (15ms before end of print move sequence)

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:

• S is the speed at which prime 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;
• P is the number of milliseconds to pause before enabling the flow rate for the following move;
• T is the tool (head) to which these values will be applied; and
• I 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.

Here is an example:

 M722 S10000 E100 P20 T11

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

• M722 (Set Prime Values)
  • S10000 (10,000 pps)
  • E100 (100 pulses)
  • P20 (20ms before start of print move sequence)
  • T11 (for far left head)

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:

• S is the speed at which the motor should advance, in pulses per second (default: 500);
• E is the number of pulses on the feed (extrusion) motor to execute (default: 65535);
• 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).

Here is an example:

 M723 S500 E65535 T13

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

• M723 (start manual feed)
  • S500 (at 500 pulses per second)
  • E65535 (for 65535 pulses (default))
  • T13 (on tool at yoke 1, slot 3)

Note that M723 is also used to activate the stirring apparatus on the DMH dynamic mixing head.

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).

• S is the layer thickness in mm for flow calculations.

Here is an example:

 M756 S0.125

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

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

M728 Set Motor Current Boost Control

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

• T is the tool position where this value is assigned
• S is the boost control value

Here is an example:

 M728 T11 S0

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

• M728 (set motor current boost)
  • T11 (far left slot)
  • S0 (off)

Controlling Position and Offsets

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 UNUSED

G10 is not recognized by Repetrel as of October, 2018. 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.

G20 Set Units to Inches

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

G21 Set Units to Millimeters

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

G28 Send X, Y to Physical Home

G28 sends the X and/or Y 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.

• X will home the X axis
• Y will home the Y axis

Here is an example:

G28 X Y 

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

• G28 (goto)
  • X (X home)
  • Y (Y home)

G53 Clear Offsets

G53 clears any stored X, Y, and/or Z axis offsets, setting them all back to 0. This takes no arguments or variables.

Here is an example:

G53 

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

• G53 (clear all offsets)

G54 through G59 - Set Offsets

G54, G55, G56, G57, G58, and G59 will each store and invoke offsets in the X, Y, and/or Z axes for all subsequent moves. Any values not invoked will remain with their previous value (0 unless earlier specified otherwise).

• X is the offset in mm in the X axis.
• Y is the offset in mm in the Y axis.
• Z is the offset in mm in the Z axis.

Here is an example:

G54 X100 Y-50 

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

• G54 (set offsets)
  • X100 (+100mm to all X coordinates)
  • Y-50 (-50mm to all Y coordinates)

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

G90 Set Absolute Coordinates

G90 stipulates that henceforth, absolute measurements will be given - calculated from the origin (0,0 point).

Here is an example:

G90

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

• G90 (use absolute coordinates and distances)

G91 Set Relatative Coordinates

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

Here is an example:

G91

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

• G91 (use relative coordinates and distances)

G92 Reset Coordinates

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. We normally do this after we reacquire the home sensor threshold with a G28 command.

• X is the new X position of record;
• Y is the new Y position of record; and
• Z is the new Z position of record.

Here is an example:

G92 X0 Y0

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

• G92 (reset current coordinates)
  • X0 (X=0)
  • Y0 (Y=0)

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.

• T is the Tool position for which these offsets are being set;
• O is the Offset position where these are being stored;
• X is the offset in the X axis;
• Y is the offset in the Y axis; and
• Z is the offset in the Z axis.

Here is an example:

M6 T11 O1 X20 Y-30 Z40

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

• M6 (Declare Head Offsets)
  • T11 (far left slot)
  • O1 (offset stored in register "O1")
  • X20 (X+20)
  • Y-30 (Y-30)
  • Z40 (Z+40)

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.

• H is the Head position for which these offsets are being set;
• Z is the offset in the Z axis.

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, Before: G1 Z0.275 F360 ; move to next layer (0)
Example, After: G1 Z0.275 F360 H2 ; move to next layer (0) and invoke head Z offset for this tool

Here is an example:

 M660 H2 Z28.2 
 ...
 G1 X50 Y75 E1 F1800 H2

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)
  • E1 (while extruding)
  • F1800 (moving at 1800mm/min)
  • H2 (invoke offsets stored in register H2)

M703 Clone, Slave, or Parallel Heads

Clone, slave, or parallel printing, is when one head makes a normal print, and another head makes the exact same print at the same time.

We will normally execute a T command first, to establish the primary or master head (generally the one to the left). Then the M703 command, cloning or slaving another head to the first.

In the following example we have a five-position yoke; commands executed by the head in the far left slot will also be executed by both the center (third from left) and far right (fifth from left) slots:

 T0 
 M703 T13 S11 
 M703 T15 S11 

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

• T0 - Assign commands to far left head (on yoke 1)

• M703 - Begin to Duplicate Commands:
  • T13 - Tool position 3 will also execute commands
  • S11 - Sent to position 1

• M703 - Begin to Duplicate Commands:
  • T15 - Tool position 5 will also execute commands
  • S11 - Sent to position 1

Note that only Hydra (16A) and High Resolution Engine (EHR) units have five tool positions; other models have four only. See Understanding the T at the top of this page for tool position nomenclature.

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.

Lasers and UV Pens

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

M620 Enable Device

M620 enables the device, and takes the following parameters:

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

Here is an example:

 M620 T13 E1

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

• M620 (enable/disable device)
  • T13 (in the third slot from the left)
  • E1 (enable (as opposed to disable with E0))

M621 Set Device Power (Laser)

M621 sets the power for the LASER (not the uv pen) and takes the following parameters:

• D is the duration, in seconds (only used for static exposures, not during moves)
• P is the power, in a value between 0 (min) and 100 (max).
• T is the tool position where the tool will be enabled. Diode lasers and UV Pens go in a normal tool position; the CO2 laser is always tool 41.

Here are examples:

 M621 T12 P100

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

• M621 (activate tool)
  • T12 (in the second slot from the left)
  • P100 (at full power)

 M621 T43 P64

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

• M621 (activate tool)
  • T43 (CO2 Laser)
  • P25 (at 25% power)

 M621 T14 P0

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

• M621 (activate tool)
  • T14 (in the fourth slot from the left)
  • P0 (at 0 power (turn it off))

M623 Duration Emit (UV Pen or Laser)

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

• D is the duration, in miliseconds (only used for static exposures, not during moves)
• P is the power, in a value between 0 (min) and 100 (max).
• T is the tool position where the tool will be enabled. Diode lasers and UV Pens go in a normal tool position; the CO2 laser is always tool 41.
• W is the watchdog timer; the default is 0.5 seconds, so we have to up this for longer sessions.

Here are examples:

 M623 T12 P80 D500

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

• M623 (activate tool)
  • T12 (tool slot second from the left)
  • P80 (power 80%)
  • D500 (duration 500 miliseconds)

 M623 T12 P80 D10000 W10000

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

• M623 (activate tool)
  • T12 (tool slot second from the left)
  • P80 (power 80%)
  • D10000 (duration 10 seconds)
  • W10000 (watchdog timer 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 T13 E1         ; enable device on third slot from the left
 M621 T13 P100       ; set light emission in vector mode (slot 3) to full power (100%)
 T2                  ; toolchange to third slot from the left
 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 T13 E0         ; disable device in third slot from the left <= 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 T13 E1         ; enable device on third slot from the left
 M621 T13 P100       ; set light emission in vector mode (slot 3) to full power (100%)
 T2                  ; toolchange to third slot from the left
 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 T13 E0         ; disable device in third slot from the left <= should be before M30 command

For more complex examples, see the UV_and_Clench page.

Spindle Tools

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.

M3 T26 S50 ; turns the 3-phase spindle tool on, CW, at 50%
M3 T11 S100 ; turns the 1-phse spindle tool in slot 1 (far left) on, CW at 100%

M4 Turn On Spindle (CCW)

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.

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

M5 Turn Off Spindle

M5 tells the printer to deactivate (stop) the spindle motor on the current head (if it has one).

M5 T26 ; turns the 3-phase spindle tool off
M5 T14 ; turns the 1-phase spindle tool in slot 4 off

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.

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

G81 X100 Y75 I3 P3 Q-2 Z-7.5 F200 ; execute a pecking cycle

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

Reporting

By default, temperature is reported every five seconds and position is reported every six seconds. These can be changed as follows:

M718 Status Reporting

M718 sets the automatic status reporting for extrusion rate and temperature, fan (or UV array) duty, and bed temperature.

Default seems to be once per five seconds; details to follow.

M719 Position Reporting

M719 sets the automatic status reporting for positioning.

Default seems to be once per second; details to follow.

Other

Other commands.

M7 Set Power On Aux 1

12VDC Ports on EHR

12VDC Ports on 30M, ESR

M7 sends 12VDC to auxiliary connection one. With no parameters, it is read as M7 S100 (on continuously).

• S takes a number between 0 and 100, and the power is enabled for that percentage of each minute. For example, M7 S75 would have power on for 3/4 of each second. If unspecified, default is S100.

• T takes a tool position assignment, so that when THAT head is actively dispensing, this connector will be on (at the S value, or at S100 if unspecified).

M7 S50 T13 ; would turn on M7 at 50% duty cycle when T13 is dispensing, and off at other times.

M8 Set Power On Aux 2

M8 sends 12VDC to auxiliary connection two. With no parameters, it is read as M8 S100 (on continuously).

• S takes a number between 0 and 100, and the power is enabled for that percentage of each minute. For example, M8 S75 would have power on for 3/4 of each second.

• T takes a tool position assignment, so that when THAT head is actively dispensing, this connector will be on (at the S value, or at S100 if unspecified).

M8 S50 T13 ; would turn on M8 at 50% duty cycle when T13 is dispensing, and off at other times.

M9 Turn Off All Aux

M9 cuts power to both auxiliary connections. It takes no parameters. It is equivalent to running M7 S0 and M8 S0.

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.

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.

M30 End of Program

M30 tells the printer that this job is complete. It takes no parameters.

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.

M673 Set Y-arm Light

M673 sets the intensity of the Y-arm LEDs.

• S is the (percent of duty cycle, 0-100) for the LEDs

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\snap Shots\snap Shots, named pic#.png

M792 Execute Action

M792 takes one or more of the following keywords (ALL CAPS), and will behave as indicated below:

• 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 s beep
• SHELL C:\program.exe - the computer will execute the file at the specified location

Note that multiple options can be combined. Example:

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

Chart of Codes

G- and M- Code Reference Chart

Code	Supported	Brief Description
G0	Yes	Rapid Move
G1	Yes	Working Move
G2	Yes	Clockwise Arc
G3	Yes	Counterclockwise Arc
G4	Yes	Timed Pause
G10	No	Absolute E
G11	No	Relative E
G21	Yes	Set Units to Inches
G21	Yes	Set Units to Milimeters
G28	Yes	Send X, Y to Physical Home
G53	Yes	Clear Offsets
G11	Yes	Set Offsets
#G81_Peck_Drilling	G81	Peck Drilling
G90	Yes	Set Absolute Coordinates
G91	Yes	G91 Set Relatative Coordinates'
#G92_Reset_Coordinates	Yes	Reset Coordinates