master
Bo Herrmannsen
10 years ago
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d92b52b19b
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b413cf34e9
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## Implemented G Codes
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- [Movement F and M Codes](#movement-g-and-m-codes)
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- [SD Card M Codes](#sd-card-m-codes)
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- [Hardware Control](#hardware-control)
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- [Temperature M Codes](#temperature-m-codes)
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- [Message M Codes](#message-m-codes)
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- [Endstops M Codes](#endstops-m-codes)
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- [Special Features M Codes](#special-features-m-codes)
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- [Units and Measures G and M Codes](#units-and-measures-g-and-m-codes)
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- [Firmware Retraction G and M Codes](#firmware-retraction-g-and-m-codes)
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- [Z Probe G and M Codes](#z-probe-g-and-m-codes)
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- [Filament Diameter M Codes](#filament-diameter-m-codes)
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- [EEPROM Settings M Codes](#eeprom-settings-m-codes)
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- [Delta M Codes](#delta-m-codes)
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- [Stepper Driver M Codes](#stepper-driver-m-codes)
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- [SCARA M Codes](#scara-m-codes)
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- [GCode Comments](#comments)
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### Movement G and M Codes
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```
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G0 -> G1
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G1 - Coordinated Movement X Y Z E
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G2 - CW ARC
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G3 - CCW ARC
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G4 - Dwell S[seconds] or P[milliseconds]
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G92 - Set the "current position" to coordinates: X<xpos> Y<ypos> Z<zpos> E<epos>
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M0 - Wait for user, with optional prompt message (requires LCD controller)
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M0 Click When Ready ; show "Click When Ready" until the button is pressed.
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M1 - Same as M0
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M400 - Finish all moves
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M999 - Restart after being stopped by error
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```
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### SD Card M Codes
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```
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M20 - List SD card
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M21 - Init SD card
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M22 - Release SD card
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M23 - Select SD file (M23 filename.g)
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M24 - Start/resume SD print
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M25 - Pause SD print
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M26 - Set SD position in bytes (M26 S12345)
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M27 - Report SD print status
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M28 - Start SD write (M28 filename.g)
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M29 - Stop SD write
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M30 - Delete file from SD (M30 filename.g)
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M31 - Output time since last M109 or SD card start to serial
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M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
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syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
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Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
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The '#' is necessary when calling from within sd files, as it stops buffer prereading
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M540 - Enable/Disable "Stop SD Print on Endstop Hit" (req. ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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M540 S<0|1>
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M928 - Start SD logging (M928 filename.g) - ended by M29
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```
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### Hardware Control
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```
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M42 - Change pin status via gcode: P<pin> S<value>. If P is omitted the onboard LED pin will be used.
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M42 P9 S1 ; set PIN 9 to 1.
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M80 - Turn on Power Supply
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M81 - Turn off Power Supply
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M84 - Disable steppers until next move,
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or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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M85 - Set inactivity shutdown timer with parameter S<seconds>. Disable with "M85" or "M85 S0".
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M112 - Emergency stop. Requires hardware reset!!
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M226 - Wait for a pin to be in some state: P<pin number> S<pin state>
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```
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### Temperature M Codes
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```
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M104 - Set extruder target temp
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M105 - Read current temp
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M106 - Fan on
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M107 - Fan off
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M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
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Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
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IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
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M140 - Set bed target temp
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M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
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Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
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M301 - Set PID parameters P I and D
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M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
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M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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M304 - Set bed PID parameters P I and D
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```
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### Message M Codes
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```
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M114 - Output current position to serial port
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M115 - Capabilities string
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M117 - Display message text on the LCD
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M119 - Output Endstop status to serial port
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```
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### Endstops M Codes
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```
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M120 - Enable endstop detection
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M121 - Disable endstop detection
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```
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### Special Features M Codes
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```
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M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
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M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
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M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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M150 - Set BlinkM Color: R<red> U<green> B<blue> via I2C. Range: 0-255
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M240 - Trigger a camera to take a photograph. (Add to your per-layer GCode.)
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M250 - Set LCD contrast: C<0-63>
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M280 - Set servo position absolute. P<servo index> S<angle or microseconds>
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M300 - Play beep sound S<frequency Hz> P<duration ms>
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M380 - Activate solenoid on active extruder
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M381 - Disable all solenoids
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M600 - Pause for filament change X<xpos> Y<ypos> Z<lift> E<initial retract> L<later retract for removal>
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```
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### Units and Measures G and M Codes
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```
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G90 - Use Absolute Coordinates
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G91 - Use Relative Coordinates
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M82 - Set E codes absolute (default)
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M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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M92 - Set axis_steps_per_unit - same syntax as G92
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M200 - Set filament diameter and set E axis units to mm^3 (use S0 to set back to mm).: D<mm>
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M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
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M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
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M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
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M205 - Advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X=maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
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M206 - Set additional homing offset
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M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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M220 - Set speed factor override percentage: S<factor in percent>
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M221 - Set extrude factor override percentage: S<factor in percent>
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```
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### Firmware Retraction G and M Codes
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```
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G10 - Retract filament according to settings of M207
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G11 - Retract recover filament according to settings of M208
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M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
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M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/s]
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M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction
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```
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### Z Probe G and M Codes
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```
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G28 - Home all Axis
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G29 - Detailed Z-Probe, probes the bed at 3 or more points. The printer must be homed with G28 before G29.
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G30 - Single Z Probe, probes bed at current XY location.
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G31 - Dock Z Probe sled (if enabled)
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G32 - Undock Z Probe sled (if enabled)
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M48 - Measure Z_Probe repeatability: P<points> X<xpos> Y<ypos> V<verbosity> E=engage L<legs of travel>
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As with G29, the E flag causes the probe to stow after each probe.
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M401 - Lower Z-probe (if present)
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M402 - Raise Z-probe (if present)
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```
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### Filament Diameter M Codes
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```
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M404 - Set (or display) Nominal Filament Diameter in mm: [N<diameter>] (e.g., 3mm or 1.75mm)
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M405 - Turn on Filament Sensor extrusion control: [D<distance>] to set distance (in cm) from sensor to extruder
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M406 - Turn off Filament Sensor extrusion control
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M407 - Display measured Filament Diameter
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```
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### EEPROM Settings M Codes
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```
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M500 - Store parameters in EEPROM
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M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
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M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
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```
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### Delta M Codes
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```
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M665 - Set Delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
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M666 - Set Delta endstop adjustment: X<x-adjustment> Y<y-adjustment> Z<z-adjustment>
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M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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```
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### Stepper Driver M Codes
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```
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M17 - Enable/Power all stepper motors
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M18 - Disable all stepper motors. (same as M84)
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M907 - Set digital trimpot motor current using axis codes.
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M908 - Control digital trimpot directly.
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M350 - Set microstepping mode.
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M351 - Toggle MS1 MS2 pins directly.
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```
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### SCARA M-Codes
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__May change to suit future G-code standards__
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```
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M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
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M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
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M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
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M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
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M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
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M365 - SCARA calibration: Scaling factor, X, Y, Z axis
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```
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## Comments
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Comments start at a `;` (semicolon) and end with the end of the line:
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N3 T0*57 ; This is a comment
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N4 G92 E0*67
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; So is this
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N5 G28*22
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(example taken from the [RepRap wiki](http://reprap.org/wiki/Gcode#Comments))
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If you need to use a literal `;` somewhere (for example within `M117`), you can escape semicolons with a `\`
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(backslash):
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M117 Hello \;)
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`\` can also be used to escape `\` itself, if you need a literal `\` in front of a `;`:
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M117 backslash: \\;and a comment
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Please note that hosts should strip any comments before sending GCODE to the printer in order to save bandwidth.
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