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Kevin O'Connor 451f7d5672 gcode: Position returned by M114 should be relative to last G92

It looks like OctoPrint is expecting the result from M114 to be
relative to the last G92 command.  Also, introduce GET_POSITION to
report the actual location that the printer is at.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2018-03-15 20:00:51 -04:00

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This document describes the commands that Klipper supports. These are commands that one may enter into the OctoPrint terminal tab.

G-Code commands

Klipper supports the following standard G-Code commands:

Move (G0 or G1): G1 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>] [F<speed>]
Dwell: G4 P<milliseconds>
Move to origin: G28 [X] [Y] [Z]
Turn off motors: M18 or M84
Wait for current moves to finish: M400
Select tool: T<index>
Use absolute/relative distances for extrusion: M82, M83
Use absolute/relative coordinates: G90, G91
Set position: G92 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>]
Set speed factor override percentage: M220 S<speed>
Set extrude factor override percentage: M221 S<percent>
Get extruder temperature: M105
Set extruder temperature: M104 [T<index>] [S<temperature>]
Set extruder temperature and wait: M109 [T<index>] S<temperature>
Set bed temperature: M140 [S<temperature>]
Set bed temperature and wait: M190 S<temperature>
Set fan speed: M106 S<value>
Turn fan off: M107
Emergency stop: M112
Get current position: M114
Get firmware version: M115
Set home offset: M206 [X<pos>] [Y<pos>] [Z<pos>]
Run PID tuning: M303 [E<index>] S<temperature>

For further details on the above commands see the RepRap G-Code documentation.

Klipper's goal is to support the G-Code commands produced by common 3rd party software (eg, OctoPrint, Printrun, Slic3r, Cura, etc.) in their standard configurations. It is not a goal to support every possible G-Code command. Instead, Klipper prefers human readable "extended G-Code commands".

G-Code SD card commands

Klipper also supports the following standard G-Code commands if the "virtual_sdcard" config section is enabled:

List SD card: M20
Initialize SD card: M21
Select SD file: M23 <filename>
Start/resume SD print: M24
Pause SD print: M25
Set SD position: M26 S<offset>
Report SD print status: M27

Extended G-Code Commands

Klipper uses "extended" G-Code commands for general configuration and status. These extended commands all follow a similar format - they start with a command name and may be followed by one or more parameters. For example: SET_SERVO SERVO=myservo ANGLE=5.3. In this document, the commands and parameters are shown in uppercase, however they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run the same command.)

The following standard commands are supported:

QUERY_ENDSTOPS: Probe the axis endstops and report if they are "triggered" or in an "open" state. This command is typically used to verify that an endstop is working correctly.
GET_POSITION: Return information on the current location of the toolhead.
RESTART: This will cause the host software to reload its config and perform an internal reset. This command will not clear error state from the micro-controller (see FIRMWARE_RESTART) nor will it load new software (see the FAQ).
FIRMWARE_RESTART: This is similar to a RESTART command, but it also clears any error state from the micro-controller.
STATUS: Report the Klipper host software status.
HELP: Report the list of available extended G-Code commands.

Custom Pin Commands

The following command is available when a "digital_output" or "pwm_output" config section is enabled:

SET_PIN PIN=config_name VALUE=<value>

Servo Commands

The following commands are available when a "servo" config section is enabled:

SET_SERVO SERVO=config_name WIDTH=<seconds>
SET_SERVO SERVO=config_name ANGLE=<degrees>

Probe

The following commands are available when a "probe" config section is enabled:

PROBE: Move the nozzle downwards until the probe triggers.
QUERY_PROBE: Report the current status of the probe ("triggered" or "open").

Delta Calibration

The following commands are available when the "delta_calibrate" config section is enabled:

DELTA_CALIBRATE: This command will probe seven points on the bed and recommend updated endstop positions, tower angles, and radius.
- NEXT: If manual bed probing is enabled, then one can use this command to move to the next probing point during a DELTA_CALIBRATE operation.

Bed Tilt

The following commands are available when the "bed_tilt" config section is enabled:

BED_TILT_CALIBRATE: This command will probe the points specified in the config and then recommend updated x and y tilt adjustments.
- NEXT: If manual bed probing is enabled, then one can use this command to move to the next probing point during a BED_TILT_CALIBRATE operation.

Dual Carriages

The following commands are available when the "dual_carriage" config section is enabled:

SET_DUAL_CARRIAGE CARRIAGE=[0|1]: This command will set the active carriage. It is typically invoked from the activate_gcode and deactivate_gcode fields in a multiple extruder configuration.

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