Additional references: Makera
wiki, Z1
firmware and Carvera
controller. The Z1 uses MakeraStudio, but is similiar enough for the Carvera to be a useful reference. This document is meant to be for the Z1 only (not Carvera). For understanding the coordinate commands
this video should be helpful.
Note: The Smoothieware firmware has a concept of "grbl mode", which in the case of the Z1 is not enabled. You can check this via M115 which should report X-GRBL_MODE and X-CNC as 0. If
"grbl mode" were to be enabled, several items of what is documented here would work differently.
CMD | Params | Short description | Module | During Play | While Halted
--- | --- | --- | --- | --- | ---
G0 | X Y Z A B F S | Rapid move | Robot | Q | X
G1 | X Y Z A B F S | Linear feed move | Robot | Q | X
G2 | X Y Z I J K F S | CW arc (no R-form) | Robot | Q | X
G3 | X Y Z I J K F S | CCW arc (no R-form) | Robot | Q | X
G4 | P[millisecs] S[secs] | Dwell (pause for specified time) | Robot | W | X
G10 L2 | P X Y Z A B | Set WCS offset to explicit values | Robot | I | X
G10 L20 | P X Y Z A B | Zero active WCS at current position | Robot | I | X
G17 | | Select XY plane for arcs | Robot | I | X
G18 | | Select XZ plane for arcs | Robot | I | X
G19 | | Select YZ plane for arcs | Robot | I | X
G20 | | Set units to inches | Robot | I ! | X
G21 | | Set units to millimeters | Robot | I ! | X
G28 | | Homing cycle, then ATC clearance move | ATCHandler / Endstops | W ! |
G28.1 | X Y | Store predefined park position | Endstops | I |
G28.3 | X Y Z A B | Set homed position without motion | Endstops | I ! |
G28.4 | X Y Z | Set homed position in actuator space | Endstops | I ! |
G28.5 | X Y Z A B | Clear homed flags | Endstops | I ! |
G28.6 | | Report homing status | Endstops | I |
G29 | X Y I J H | Grid bed scan, report only | ZProbe (CartGridStrategy) | W |
G30 | Z R F | Simple Z probe | ZProbe | W |
G31 | R X Y I J H A B | Rectangular grid probe | ZProbe (CartGridStrategy) | W ! |
G32 | R X Y I J H A B | Auto-level | ZProbe (CartGridStrategy) | W ! |
G38.2 | X Y Z F | Straight probe, halt on miss | ZProbe | W |
G38.3 | X Y Z F | Straight probe, continue on miss | ZProbe | W |
G38.4 | X Y Z F | Inverted straight probe, halt on miss | ZProbe | W |
G38.5 | X Y Z F | Inverted straight probe, continue on miss | ZProbe | W |
G38.6 | Z F | Z calibration | ZProbe | W |
G53 | | Move in machine coordinates | GcodeDispatch | I ! | X
G54 | | Select coordinate system 1 | Robot | I ! | X
G55 | | Select coordinate system 2 | Robot | I ! | X
G56 | | Select coordinate system 3 | Robot | I ! | X
G57 | | Select coordinate system 4 | Robot | I ! | X
G58 | | Select coordinate system 5 | Robot | I ! | X
G59 | | Select coordinate system 6 | Robot | I ! | X
G59.1 | | Select extended coordinate system 7 | Robot | I ! | X
G59.2 | | Select extended coordinate system 8 | Robot | I ! | X
G59.3 | | Select extended coordinate system 9 | Robot | I ! | X
G90 | | Select absolute coordinates mode | Robot | I ! | X
G91 | | Select relative coordinates mode | Robot | I ! | X
G92 | X Y Z A B | Set coordinate offset | Robot | I ! | X
G92.1 | | Reset coordinate offset | Robot | I | X
G92.2 | | Reset coordinate offset | Robot | I | X
G92.3 | X Y Z A B | Set coordinate offset to fixed values | Robot | I | X
G92.4 | X Y Z A S R | Manual home / shrink A-axis rotation | Robot | W ! | X
G92.5 | | Set laser offset from config (laser mode) | Robot | I | X
M2 | | End program | Robot / GcodeDispatch | I | |
M3 | S | Spindle/laser on | Spindle / Laser | W | X |
M5 | | Spindle/laser off | Spindle / Laser | W | |
M6 | T | Tool change (WARNING see notes) | ATCHandler | W ! | X | S
M17 | | Enable motors | Robot | I | X |
M18 | X Y Z A B | Disable motors | Robot | W | X |
M20 | | List SD files | SimpleShell | I | X |
M21 | | Remount SD card | Player | I | X |
M23 | filename | Select SD file | Player | I ! | X |
M24 | | Start SD playback | Player | I | X |
M25 | | Pause SD playback | Player | I | X |
M26 | | Reset SD playback | Player | I ! | X |
M27 | | Report SD progress | Player | I | X |
M28 | filename | Begin SD upload | GcodeDispatch | I | X |
M29 | | End SD upload | GcodeDispatch | I | X |
M30 | filename | Delete SD file / end program | GcodeDispatch / SimpleShell | I | |
M32 | filename | Select and start SD file | Player | I ! | X |
M82 | | Extruder absolute mode | Robot | I | X |
M83 | | Extruder relative mode | Robot | I | X |
M84 | X Y Z A B | Disable motors | Robot | W | X |
M92 | X Y Z A B | Set steps per unit | Robot | I ! | X |
M104 | S | Set temperature | TemperatureControl | | X |
M105 | | Report temperature | TemperatureControl | I | |
M106 | | Report cabinet temperature | TemperatureControl | I | |
M109 | S | Set and wait for temperature | TemperatureControl | | X |
M112 | | Emergency stop | GcodeDispatch | I ! | X |
M114 | | Report position | Robot | I | |
M114.1 | | Report realtime position | Robot | I | |
M114.2 | | Report machine position | Robot | I | |
M114.3 | | Report actuator position | Robot | I | |
M114.4 | | Report compensated position | Robot | I | |
M114.5 | | Report planner position | Robot | I | |
M115 | | Report firmware info | GcodeDispatch | I | |
M117 | message | Set display message (non compliant, also no panel display) | GcodeDispatch | I | X |
M119 | | Report endstop status | Endstops / ZProbe | I | |
M120 | | Push modal state | Robot | I ! | X |
M121 | | Pop modal state | Robot | I ! | X |
M143 | S P | Set max temperature | TemperatureControl | | X |
M203 | X Y Z S | Set max Cartesian feedrate | Robot | I ! | X |
M203.1 | A B C | Set max actuator feedrate | Robot | I ! | X |
M204 | S X Y Z A B | Set acceleration | Robot | I ! | X |
M205 | X Z S | Set motion tuning | Robot | I ! | X |
M206 | X Y Z A B C | Set homing offset | Endstops | I ! | X |
M211 | S | Set / report soft endstops | Robot | I | X |
M220 | S | Set feed override | Robot | I ! | X |
M223 | S | Set spindle override | Spindle | I ! | X |
M301 | S P I D X Y | Configure PID | TemperatureControl | | X |
M303 | E S C B L | Start PID autotune | PID_Autotuner | I ! | X |
M304 | | Abort PID autotune | PID_Autotuner | I | X |
M305 | S | Configure thermistor | TemperatureControl | I ! | X |
M306 | X Y Z | Set homing offset from position | Endstops | I ! | X |
M321 | | Enter laser mode | Laser | W ! | X |
M321.2 | | Enter laser mode (no offset) | Laser | W ! | X |
M322 | | Exit laser mode | Laser | W ! | X |
M322.2 | | Exit laser mode (no offset) | Laser | W ! | X |
M323 | | Laser test fire on | Laser | I ! | X |
M324 | | Laser test fire off | Laser | I | X |
M325 | S | Set laser power scale | Laser | I ! | X |
M331.0 | S | Vacuum mode on | SimpleShell | I ! | X |
M331.1 | S | Auto-blow mode on | SimpleShell | I ! | X |
M331.2 | S | Bed-clean mode on | SimpleShell | I ! | X |
M331.4 | | Static discharge on | Laser | I | X |
M332.0 | | Vacuum mode off | SimpleShell | I | X |
M332.1 | | Auto-blow mode off | SimpleShell | I | X |
M332.2 | | Bed-clean mode off | SimpleShell | I | X |
M332.4 | | Static discharge off | Laser | I | X |
M370 | | Clear leveling grid | ZProbe (CartGridStrategy) | I ! | X |
M374 | | Save leveling grid | ZProbe (CartGridStrategy) | I | X |
M374.1 | | Delete leveling grid | ZProbe (CartGridStrategy) | I | X |
M375 | | Load leveling grid | ZProbe (CartGridStrategy) | I ! | X |
M375.1 | | Report leveling grid | ZProbe (CartGridStrategy) | I | X |
M400 | | Wait for motion complete | Robot | W | X |
M480.1 | D X Y Z | Outside corner probe | ATCHandler | W | X | S
M480.2 | D X Y Z | Outside corner probe | ATCHandler | W | X | S
M480.3 | D X Y Z | Outside corner probe | ATCHandler | W | X | S
M480.4 | D X Y Z | Outside corner probe | ATCHandler | W | X | S
M480.5 | D X Y Z | Inside corner probe | ATCHandler | W ! | X | S
M480.6 | D X Y Z | Inside corner probe | ATCHandler | W ! | X | S
M480.7 | D X Y Z | Inside corner probe | ATCHandler | W ! | X | S
M480.8 | D X Y Z | Inside corner probe | ATCHandler | W ! | X | S
M480.9 | D X Y Z | Inside pocket center | ATCHandler | W ! | X | S
M480.10 | D X Y Z | Outside pocket center | ATCHandler | W ! | X | S
M486.1 | N T | Clean bed | ATCHandler | W | X |
M490.0 | | Home clamp motor | ATCHandler | W | X |
M490.1 | | Clamp tool | ATCHandler | W | X |
M490.2 | | Release tool | ATCHandler | W | X |
M491 | | Recalibrate tool length | ATCHandler | W ! | X | S
M492.0 | | Verify tool present | ATCHandler | W | X |
M492.1 | | Verify tool present | ATCHandler | W | X |
M492.2 | | Verify tool absent | ATCHandler | W | X |
M492.3 | | Verify probe present | ATCHandler | W | X |
M493.0 | | Save tool data | ATCHandler | I | X |
M493.1 | | Save tool data | ATCHandler | I | X |
M493.2 | T | Set active tool | ATCHandler | I | X |
M494.0 | | Probe laser on | ATCHandler | I | X |
M494.1 | | Probe laser on | ATCHandler | I | X |
M494.2 | | Probe laser off | ATCHandler | I | X |
M495 | X Y C D O F R A B I J H P | Probe and auto-level sequence | ATCHandler | W ! | X | S
M495.3 | D H | Center probe | ATCHandler | W ! | X | S
M496.0 | | Move to clearance position | ATCHandler | W | X |
M496.1 | | Move to clearance position | ATCHandler | W | X |
M496.2 | | Move to work origin | ATCHandler | W | X |
M496.3 | | Move to Anchor 1 | ATCHandler | W | X |
M496.4 | | Move to Anchor 2 | ATCHandler | W | X |
M496.5 | X Y A B | Move to saved work position | ATCHandler | W | X |
M496.6 | X Y A B | Move to saved machine position | ATCHandler | W | X |
M496.7 | | Z clearance move | ATCHandler | W | X |
M496.8 | | Z clearance move | ATCHandler | W | X |
M496.9 | | Z clearance move | ATCHandler | W | X |
M497.0 | | Set ATC phase 0 | ATCHandler | W | X |
M497.1 | | Set ATC phase 1 | ATCHandler | W | X |
M497.2 | | Set ATC phase 2 | ATCHandler | W | X |
M497.3 | | Set ATC phase 3 | ATCHandler | W | X |
M497.4 | | Set ATC phase 4 | ATCHandler | W | X |
M497.5 | | Set ATC phase 5 | ATCHandler | W | X |
M497.6 | | Set ATC phase 6 | ATCHandler | W | X |
M497.7 | | Set ATC phase 7 | ATCHandler | W | X |
M497.8 | | Set ATC phase 8 | ATCHandler | W | X |
M497.9 | | Set ATC phase 9 | ATCHandler | W | X |
M498.0 | | Report tool data | ATCHandler | I | X |
M498.1 | | Report tool data | ATCHandler | I | X |
M498.2 | | Erase tool data | ATCHandler | I ! | X |
M499.0 | | Report tool offsets | ATCHandler | I | X |
M499.1 | | Report tool offsets | ATCHandler | I | X |
M499.2 | | Report tool rack positions | ATCHandler | I | X |
M499.3 | T | Completion beep | ATCHandler | I | X |
M499.4 | T | Alarm beep | ATCHandler | I | X |
M499.5 | T | Tool-change beep | ATCHandler | I | X |
M500 | | Save settings | GcodeDispatch | W | X |
M501 | | Load settings | SimpleShell | I | X |
M502 | | Delete settings | GcodeDispatch | I | X |
M503 | | Report settings | GcodeDispatch | I | |
M504 | | Save settings profile | SimpleShell | W | X |
M561 | | Clear leveling grid | ZProbe (CartGridStrategy) | I ! | X |
M565 | X Y Z | Set probe offset | ZProbe (CartGridStrategy) | I | X |
M600 | | Suspend job | Player | W | X |
M600.1 | | Suspend job | Player | W | X |
M601 | | Resume job | Player | W | X |
M665 | S U | Set segmentation | Robot | I | X |
M666 | X Y Z | Set endstop trim | Endstops | I | X |
M670 | S K R Z H I D Q | Set probing parameters | ZProbe | I | X |
M801 | S | Power fan on | Switch | I ! | X |
M802 | S | Power fan off | Switch | I | X |
M811 | S | Spindle blower fan on | Switch | I ! | X |
M812 | S | Spindle blower fan off | Switch | I | X |
M821 | | Work light on | Switch | I | X |
M822 | | Work light off | Switch | I | X |
M831 | | Enable tool sensor | Switch | I | X |
M832 | | Disable tool sensor | Switch | I | X |
M841 | S | Probe charger on | Switch | I | X |
M842 | S | Probe charger off | Switch | I | X |
M851 | S | Extend relay on | Switch | I ! | X |
M852 | S | Extend relay off | Switch | I | X |
M861 | | Beeper on | Switch | I | X |
M862 | | Beeper off | Switch | I | X |
M887 | | Enable homing checks | ATCHandler | I | X |
M888 | | Disable homing checks | ATCHandler | I ! | X |
M940 | | Report CAN status | CANOpenManager | I | X |
M941.0 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.1 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.2 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.3 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.4 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.5 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.6 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M941.7 | N X L A B C D E F G H | Send CAN command | CANOpenManager | I | X |
M942 | | CAN loopback test | CANOpenManager | I ! | X |
M957 | | Report spindle state | Spindle | I | X |
M958 | P I D | Set spindle PID | Spindle | W | X |
M999 | | Clear halt | GcodeDispatch | | |
M1000 | cmd | Execute command through general dispatcher | GcodeDispatch | I | X |
Notes:
Issuing an M6 toolchange on the Z1 generally involves going back to the corner
position, waiting for user confirmation, and then doing the tool height
calibration. In practice if you are going to do this during operation you need
to make sure on your own that you have no obstructions through that entire
path. If you want to handle "tool changing" on your own you can instead issue
an M493.2 which will simply update the tool the machine thinks it has. This is
important also as tools like probes don't get power unless they are active.