-
Notifications
You must be signed in to change notification settings - Fork 1
TinyG Configuration
The settings on this page are for version 0.95 and later. For other firmware revisions see TinyG Configuration for 0.94 and 0.93
TinyG comes with a set of defaults pre-programmed to a specific machine profile. The default profile is set for a relatively slow screw machine such as the Zen Toolworks 7x12. Other default profles are settable at compile time by including the right .h file. If you are having trouble with your settings and want to revert to the default settings enter: $defa=1 This will revert all settings to defaults. Do a screencap of the $$ dump if you want to refer back to the current settings
Most commands are self explanatory. See following sections for those that require further explanation.
###Motor Groups Settings specific to a given motor. There are 4 motor groups, numbered 1,2,3,4 as labeled on the TinyG board.
Setting | Description | Notes
--------|-------------|-------
$1ma | Motor mapping to axis| Typically: $1ma=0, $2ma=1, $3ma=2, $4ma=3 to map motors 1-4 to X,Y,Z,A, respectively
$1sa | Step angle | Typical setting is $1s1=1.8 for 1.8 degrees per step (200 steps per revolution)
$1tr | Travel per revolution | How far the mapped axis moves per motor revolution. E.g 2.54mm for a 10 TPI screw axis
$1mi | Microsteps | TinyG uses 1,2,4 and 8. Other values are accepted but warned
$1po | Polarity | 0=clockwise rotation, 1=counterclockwise - although these are dependent on your motor wiring.
$1pm | Power management mode | 0=power shuts off when axis is not moving, 1=axis remains powered when idle
###Axis Groups Settings specific to a given axis. There are 6 axis groups, one for each of X,Y,Z,A,B,C. Not all axes have all parameters.
Setting | Description | Notes
--------|-------------|-------
$xam | Axis mode | See details for setting. Normally this is =1 "normal"
$xvm | Velocity maximum | Max velocity for axis, aka "traverse rate" or "seek"
$xfr | Feed rate maximum | Sets maximum feed rate for that axis. Does NOT set the F word
$xtm | Travel maximum | Used by homing to know when to give up
$xjm | Jerk maximum | main parameter for acceleration management (Note: takes the place of a max acceleration value)
$xjh | Jerk homing | jerk used during homing operations. On axes XYZA only
$xjm | Junction deviation | For cornering control
$ara | Radius setting | Rotational axes only (ABC only)
$xsn | Minimum switch mode | 0=disabled, 1=homing-only, 2=limit-only, 3=homing-and-limit (XYZA only)
$xsx | Maximum switch mode | 0=disabled, 1=homing-only, 2=limit-only, 3=homing-and-limit (XYZA only)
$xsv | Search velocity | Homing speed during search phase (drive to switch) (XYZA only)
$xlv | Latch velocity | Homing speed during latch phase (drive off switch) (XYZA only)
$xzb | Zero backoff | offset from switch for zero in absolute coordinate system (XYZA only)
###System Group
The system group contains the following global machine and communication settings. The system group can be listed by requesting $sys or {"sys":""} in JSON mode
Identification Settings These are reported on the startup strings and should be included in any support discussions.
Setting | Description | Notes
--------|-------------|-------
$fb | Firmware build | Read-only value, e.g. 351.05
$fv | Firmware version | Read-only value, e.g. 0.95
$hv | hardware version | Read-write value, set to 6 for v6 and earlier boards, v7 for version 7 and later boards
$id | Unique ID | Each board has a read-only unique ID
Global System Settings
Setting | Description | Notes
--------|-------------|-------
$ja | Junction acceleration | Global cornering acceleration value
$ct | Chordal tolerance | Sets precision of arc drawing. Trades off precision for max arc draw rate
$st | Switch type | 0=NO, 1=NC
Communications Settings Set communications speeds and modes.
Setting | Description | Notes
--------|-------------|-------
$ej | Enable JSON mode | 0=text mode, 1=JSON mode
$jv | JSON verbosity | 0=silent ... 5=verbose (see details)
$tv | Text mode verbosity | 0=silent, 1=verbose
$qv | Queue report verbosity | 0=off, 1=filtered, 2=verbose
$sv | Status report verbosity | 0=off, 1=filtered, 2=verbose
$si | Status report interval | In ms (use $sv=0 to disable automatic status reports)
$ic | Ignore CR / LF on RX | 0=accept CR or LF as line terminator, 1=ignore CRs, 2=ignore LFs
$ec | Enable CR on TX | 0=send LF line termination on TX, 1= send both LF and CR termination
$ee | Enable character echo | 0=off, 1=enabled
$ex | Enable XON/XOFF | 0=off, 1=enabled
$baud | Baud rate | 1=9600, 2=19200, 3=38400, 4=57600, 5=115200, 6=230400 -- 115200 is default
Gcode Initialization Defaults Gcode settings loaded on power up, abort/reset and Program End (M2 or M30). Changing these does NOT change the current Gcode mode, only the initialization settings.
Setting | Description | Notes
--------|-------------|-------
$gun | Default units mode | 0=inches mode (G20), 1=mm mode (G21)
$gpl | Default plane selection | 0=XY plane (G17), 1=XZ plane (G18), 2=YZ plane (G19)
$gco | Default coordinate system | 1=G54, 2=G55, 3=G56, 4=G57, 5=G58, 6=G59
$gpa | Default path control mode | 0=Exact path mode (G61), 1=Exact stop mode (G61.1), 2=Continuous mode (G64)
$gdi | Default distance mode | 0=Absolute mode (G90), 1=Incremental mode (G91)
###Commands and Reports These $configs invoke reports and functions
Command | Description | Notes
--------|-------------|-------
$sr | Request status report | SR also sets status report format in JSON mode
$qr | Request queue report |
$qf | Flush planner queue | Used with '!' feedhold for jogging, probes and other sequences. Usage: {"qf":1}
$rx | Query space in serial RX buffer |
$test | Invoke self tests | $test=n for test number; $test returns help screen in text mode
$defa | Reset to factory defaults | $defa=1 to reset
$boot | Enter boot loader | $boot=1 enters boot loader
$help | Show help screen | Show system help screen; $h also works
Note: Status report parameters is settable in JSON only - see JSON mode for details
Hidden System Settings
The following settings are accessible but do not appear in the system group listings. This is because they really should not be messed with.
Setting | Description | Notes
--------|-------------|-------
$ml | Minimum line length |
$ma | Arc segment length |
$mt | Segment timing |
$qvh | Queue report hi water mark | set between 0 and 24; default is 20
$qvl | Queue report low water mark | set between 0 and 24; default is 2
This page describes how configuration works in text mode. All configs on this page are also accessible in JSON mode. Well almost. Those few commands that apply to only one mode or the other are noted.
When typing in configs a '$' must be the first character of the line. Input is case insensitive.
Configuration is non-moded; that is, configuration lines and Gcode blocks can be used without changing modes. However, it is not recommended to intermingle configs with Gcode blocks, as the EEPROM writes can interfere with step generation and serial transmission (interrupts). Please note: in some future release config commands that arrive during a gcode cycle may be rejected.
CAVEAT: At the current time because of various limitations of the Xmega we recommend waiting for each config command to send a response before sending the next command. This gives allows the system to persist the data to EEPROM, because during that interval the board cannot reliably receive serial input.
Configuration can be performed in either inches or millimeters mode. All values entered and responses provided will be in the current Gcode UNITS setting: G20 for inches or G21 for mm. Most of the examples below are in mm, but could just as easily be input in inches.
NOTE 1: In text mode the differences are obvious in the responses. In JSON there is no indication - so best to issue {"gc":"g20"} or {"gc":"g21"} at the start of every config session.
NOTE 2: internally, everything is converted to mm mode, so if you do a bunch of settings in one units mode then change to the other the settings are still valid. Try it. Change back and forth by issuing in sequence: $x, G20, $x, G21, $x
Groups simplify configuration management by collecting related values together. The following groups are defined. All groups are persistent (stored in EEPROM) unless noted.
Group | Tokens | Notes
--------|----------|-------
axis | x y x a b c | Contain all settings for that axis
motor | 1 2 3 4 | Contain all settings for that motor
pwm | p1 | Contain all settings for pulse width modulation channel
offsets | g54 g55 g56 g57 g58 g59 | Contain offset settings xyzabc in named coordinate system.
temp offset | g92 | Contain g92 offset settings. These are not persistent
return to home values | g28, g30 | Contain return values in machine coordinates. These are not persistent
pos | x y x a b c | current work position, with offsets
mpo | x y x a b c | current machine position, no offsets, and always reports in millimeters
ofs | x y x a b c | current offsets, always reports in millimeters
hom | x y x a b c e | axis homing stateus. 'e' reports homing status for Entire machine
system | sys | Contain system parameters
In text mode (not JSON mode) the following groups of groups are also available for display:
Uber-Group | Token | Notes
--------|----------|-------
axis | q | All axis settings for all axes
motor | m | All settings for all motors
offsets | o | All offset settings including g92's
all | $ | All settings. Invoked as $$
This list can be seen by asking for the system help screen using $h.
To display a setting type $<the-mnemonic-for-the=setting-you-want-to-display>. It will respond with the value taken. For example:
Request | Response | Notes
--------|----------|-------
$xvm | [xvm] x_velocity_maximum 16000.000 mm/min | Show X axis maximum velocity
$3po | [3po] m3_polarity 0 [0,1] | Show motor 3 polarity
$ex | [ex] enable_xon_xoff 1 [0,1] | Show XON/XOFF setting
The following commands will display groups.
$x --- Show all X axis settings --- [xam] x_axis_mode 1 [standard] [xvm] x_velocity_maximum 16000.000 mm/min [xfr] x_feedrate_maximum 16000.000 mm/min [xtm] x_travel_maximum 220.000 mm [xjm] x_jerk_maximum 5000000000 mm/min^3 [xjd] x_junction_deviation 0.0100 mm (larger is faster) [xsn] x_switch_min 3 [0-4] [xsx] x_switch_max 2 [0-4] [xsv] x_search_velocity 3000.000 mm/min [xlv] x_latch_velocity 100.000 mm/min [xlb] x_latch_backoff 20.000 mm [xzb] x_zero_backoff 3.000 mm tinyg [mm] ok>
$x --- Show all X axis settings in inches mode (issue g20 beforehand) --- [xam] x_axis_mode 1 [standard] [xvm] x_velocity_maximum 629.921 in/min [xfr] x_feedrate_maximum 629.921 in/min [xtm] x_travel_maximum 8.661 in [xjm] x_jerk_maximum 196850400 in/min^3 [xjd] x_junction_deviation 0.0004 in (larger is faster) [xsn] x_switch_min 3 [0-4] [xsx] x_switch_max 2 [0-4] [xsv] x_search_velocity 118.110 in/min [xlv] x_latch_velocity 3.937 in/min [xlb] x_latch_backoff 0.787 in [xzb] x_zero_backoff 0.118 in
$3 --- Show all motor 3 settings --- [3ma] m3_map_to_axis 2 [0=X, 1=Y...] [3sa] m3_step_angle 1.800 deg [3tr] m3_travel_per_revolution 1.250 mm [3mi] m3_microsteps 8 [1,2,4,8] [3po] m3_polarity 0 [0,1] [3pm] m3_power_management 1 [0,1]
$sys --- Show all system settings --- [fb] firmware_build 355.04 [fv] firmware_version 0.95 [hv] hardware_version 7.00 [gpl] gcode_select_plane 0 [0,1,2] [gun] gcode_units_mode 1 [0,1] [gco] gcode_coord_system 1 [1-6] [gpa] gcode_path_control 2 [0,1,2] [gdi] gcode_distance_mode 0 [0,1] [ja] junction_acceleration 200000 mm [st] switch_type 1 [0,1] [ic] ignore CR or LF on RX 0 [0,1=CR,2=LF] [ee] enable_echo 0 [0,1] [ex] enable_xon_xoff 1 [0,1] [eq] enable_queue_reports 1 [0,1] [ej] enable_json_mode 0 [0,1] [jv] json_verbosity 4 [0-5] [tv] text_verbosity 3 [0-3] [si] status_interval 200 ms [0=off] [baud] USB baud rate 0 [0-6] | Show all system settings
To update a setting enter $token=value
Tokens are a mnemonic plus a group prefix (system settings have no prefix). The setting is taken and the value is echoed in a descriptive text line. No spaces are allowed. Numeric values can contain embedded commas. The following are examples of valid and invalid inputs.
Request | Response | Notes
--------|----------|-------
$yfr=800 | [yfr] y_feedrate_maximum 800.000 mm/min | Set Y axis feed rate maximum to 800 mm/min
$yfr=16,000 | [yfr] y_feedrate_maximum 16000.000 mm/min | Set Y axis feed rate maximum to 16000 mm/min
$2po=1 | [2po] m2_polarity 1 [0,1] | Set motor 2 polarity
$ex=1 | [ex] enable_xon_xoff 1 [0,1] | Enable XON/XOFF protocol
$ted=1 | error: Unrecognized command $ted | Example of an error
Settings are case insensitive - they are shown in upper case for emphasis only. The leading '1' can be any motor, 1-4, and the leading 'x' can be any axis (with some restrictions as noted).
Axes must be input as numbers, with X=0, Y=1, Z=2, A=3, B=4 and C=5. As you might expect, mapping motor 1 to X will cause X movement to drive motor 1. The example below is a way to run a dual-Y gantry such as a 4 motor Shapeoko setup. Movement in Y will drive both motor2 and motor4.
$1ma=0 Maps motor 1 to the X axis $2ma=1 Maps motor 2 to the Y axis $3ma=2 Maps motor 3 to the Z axis $4ma=1 Maps motor 4 to the Y axis
This is a decimal number which is often 1.8 degrees per step, but should reflect the motor in use. You might also find 0.9, 3.6, 7.5 or other values. You can usually read this off the motor label. If a motor is indicated in steps per revolution just divide 360 by that number. A 200 step-per-rev motor is 1.8 degrees, a 400 step-per-rev motor has 0.9 degrees per step.
$1sa=1.8 This is a typical value for many motors
This is the amount of travel of the mapped axis per motor revolution. It is in mm or inches for X, Y or Z axes, or in degrees for A, B and C axes. The XYZ value will be interpreted and echoed in the prevailing units; G20 sets inches, G21 sets mm. ABC values are always in degrees. (Note: this last is in error right now - rotaries are reported in linear terms)
For XYZ this value is usually the result of the lead screw pitch or pulley circumference. A 10 TPI leadscrew moves 0.100" / revolution. A 0.500" diameter pulley will travel 3.14159" per revolution, absent any other gearing. A typical value for a Shapeoko or Reprap belt driven machine is on the order of 36.540 mm per revolution. Don't take this as exact - you will need to do your own calibration on your machine to get this setting exact.
For ABC the travel is entered in degrees. This value will be 360 degrees for an axis that is not geared down. The value for a geared rotary axis is 360 divided by the gear ratio. For example, a motor-driven rotary table with 4 degrees of table movement per handle rotation has a gear ratio of 90:1. The Travel per Revolution value should be set to 4.
Note that Travel per Revolution is a motor parameter, not an axis parameter as one might think. Consider the case of a dual Y gantry with lead screws of different pitch (how weird). The travel per revolution would be different for each motor.
$1tr=2.54 Sets motor 1 to a 10 TPI travel from millimeters (2.54 mm per revolution)
TinyG microsteps are set in firmware, not as hardware jumpers as on some other systems. The following microstep values are supported:
- 1 = no microsteps (whole steps)
- 2 = half stepping
- 4 = quarter stepping
- 8 = eighth stepping
It is a misconception that higher microstep values are better - beyond a certain point they are a detriment to performance. In a typical setup the total power delivered to the motor (and hence torque) will go down as you increase the microsteps, especially at higher speeds. Also, using microsteps to set the finest machine resolution is source of error as the shaft angle isn't necessarily going to be at the theoretical point. Don't just assume that 1/8 microstepping is the right setting for your application. Try out different settings to balance smoothness and power.
$3mi=8 Set 1/8 microsteps for motor 3
Note: Values other than 1,2,4 and 8 are accepted. This is to support some people that have crazily wired TinyG to other drivers like these crazy 1.3 Kw servos Saci's wired up and like some of the common commercial stepper driver running 10x or 16x steps. If you are using the drivers on TinyG this will cause them to malfunction, so please don't do this unless you are one of those hacker types that soldered up your TinyG.
Set to one of the following:
- 0 = Normal motor polarity
- 1 = Invert motor polarity
Polarity sets which direction the motor will turn when presented with positive and negative Gcode coordinates. It's affected by how you wired the motors and by mechanical factors. Set polarity so the indicated axis travels in the correct orientation for your machine.
Travel in X and Y is dependent on the conventions for your particular machine and CAD setup. Typically X is left/right movement, and Y is towards and away from you, but people often set up the machine to agree with the visualization their CAD program provides, and can depend on where you stand when operating the machine. Typically X+ moves to the right, X- to the left, Y+ away from you, and Y- towards you. Z is by convention the cutting axis, which is the vertical axis on a typical milling machine. Z+ should move up, and Z- should move down, into the work.
$3po=0 Set polarity to normal
Set to one of the following:
- 0 = Leave motor powered on when stopped
- 1 = Turn motor power off when stopped
Stepper motors actually consume maximum power when idle. They hold torque and get hot. If you shut off power the motor has (almost) no holding torque. Some machine configurations are OK if you shut off the power on idle (like most leadscrew machines), others are not (some belt/pulley configs and some non-cartesian robots)
$4pm=1 Set low-power idle for motor 4
Sets the function of the axis.
- 0 = Disable. All input to that axis will be ignored and the axis will not move.
- 1 = Standard. Linear axes move in length units. Rotary axes move in degrees.
- 2 = Inhibited. Axis values are taken into account when planning moves, but the axis will not move. Use this to perform a Z kill or to do a compute-only run.
- 3 = Radius mode. (Rotary axes only) In radius mode gcode values are interpreted as linear units; either inches or mm depending on the prevailing G20/G21 setting. The conversion of linear units to degrees is accomplished using the radius setting for that axis. See $aRA for details.
$zmo=2 Inhibit the Z axis; $zmo1 will restore standard operation
(aka traverse rate or seek rate). Sets the maximum velocity the axis will move during a traverse (G0). This is set in length units per minute for linear axes, degrees per minute for rotary axes. The max velocity will be used for all G0's from the time of reset onward. Note that the max velocity is per-axis.
Diagonal / multi-axis traverses will actually occur at the fastest speed the combined set of axes and the geometry will allow, and may be faster than the individual axis max velocities. For example, max velocity for X and Y are set to 1000 mm/min. For a 45 degree traverse in X and Y the toolhead would travel at 1414.21 mm/min.
$xvm=1200 sets X maximum velocity (G0) to 1200 mm/min - assuming G21 is active (i.e. the machine is in MM mode) $zvm=30.0 sets Z to 30 inches per minute - assuming G20 is active $avm=3600 sets A to 10 revolutions per minute (360 * 10)
Sets the maximum velocity the axis will move during a feed in a G1, G2, or G3 move. This works similarly to maximum velocity, but instead of actually setting the speed, it only serves to establish a "do not exceed" for Gcode F words. Put another way, the maximum feed rate setting is NOT used to set the Gcode's F value; it is only a maximum that may be used to limit the F speed provided in a gcode file.
Axis feed rates should be equal to or less than the maximum velocity. See Setting Feed Rate and Maximum Velocity for more details.
$xfr=1000 sets X max feed rate to 1000 mm/min - assuming G21 is active (i.e. the machine is in MM mode)
Defines the maximum extent of travel in that axis. This is used during homing. See Homing for more details on how this is used.
Sets the maximum jerk value for that axis. Jerk is settable independently for each axis to support machines with different dynamics per axis - such as Shapeoko with belts for X and Y, screws for Z, or Probotix with 5 pitch X and Y screws and 12 pitch Z screws.
Jerk is in units per minutes^3, so the numbers are quite large. Some common values are shown in millimeters in the examples below
$xjm=50,000,000 Set X jerk to 50 million MM per min^3. This is a good value for a moderate speed machine $zjm=25,000,000 A reasonable setting for a slower Z axis $xjm=5,000,000,000 X jerk for Shapeoko. Yes, that's 5 billion
The jerk term in mm is measured in mm/min^3. In inches mode it's units are inches/min^3. So the conversion from mm to inches is 1/(25.4). The same values as above are shown in inches are:
50,000,000 mm/min^3 is 1,968,504 in/min^3 2,000,000 would suffice 25,000,000 mm/min^3 is 984,251 in/min^3 1,000,000 would suffice 5,000,000,000 mm/min^3 is 196,850,400 in/min^3 200,000,000 would suffice
This one is somewhat complicated. Junction deviation - in combination with Junction Acceleration ($JA) from the system group - sets the velocity reduction used during cornering through the junction of two lines. The reduction is based on controlling the centripetal acceleration through the junction to the value set in JA with the junction deviation being the "tightness" of the controlling cornering circle. An explanation of what's happening here can be found on [Sonny Jeon's blog: Improving grbl cornering algorithm] (http://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/ onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/).
It's important to realize that the tool head does not actually follow the controlling circle - the circle is just used to set the speed of the tool through the defined path. In other words, the tool does go through the sharp corner, just not as fast. This is a Gcode G61 - Exact Path Mode operation, not a Gcode G64 - Continuous Path Mode (aka corner rounding, or splining) operation.
While JA is set globally and applies to all axes, JD is set per axis and can vary depending on the characteristics of the axis. An axis that moves more slowly should have a JD that is less than an axis that can move more quickly, as the larger the JD the faster the machine will move through the junction (i.e. a bigger controlling circle). The following example has some representative values for a Probotix Fireball V90 machine. The V90 has 5 TPI X and Y screws, and 12 TPI Z. All values in MM.
$xJD 0.05 Units are mm $yJD 0.05 $zJD 0.02 Setting Z to a smaller value means that moves with a change in the Z component will move proportionately slower depending on the contribution in Z. $JA 200,000 Units are mm/min^2. As before, commas are ingored and are provided only for clarity
The radius value is used by rotational axes only (A, B and C) to convert linear units to degrees when in radius mode.
For example; if the A radius is set to 10 mm it means that a value of 6.28318531 mm will make the A axis travel one full revolution - as 62.383... is the circumference of the circle of radius R ( 2PIR, or 10 * 2 * 3.14159...) (Assuming $nTR = 360 -- see note below). Receiving the gcode block "G0 A62.83" will turn the A axis one full revolution (360 degrees) from a starting position of 0. All internal computations and settings are still in degrees - it's just that gcode units received for the axis are converted to degrees using the specified radius.
Note that the Travel per Revolution value ($1TR) is used but unaffected in radius mode. The degrees per revolution still applies, it's just that the degrees were computed based on the radius and the Gcode axis values. See Travel per Revolution (See $1TR) in the motor group.
Please see TinyG Homing for the following homing settings
- $xSN - Minimum switch mode
- $xSX - Maximum switch mode
- $xSV - Homing Search Velocity
- $xLV - Homing Latch Velocity
- $xLB - Homing Latch Backoff
- $xZB - Homing Zero Backoff
By way of example, my Shapeoko is set up this way:
Setting | Description | Example
--------|-------------|--------------
$ST | Switch Type | 1=NC
$XSN | X Minimum Switch Mode | 3=limit-and-homing
$XSX | X Maximum Switch Mode | 2=limit-only
$XTM | X Travel Maximum | 180 mm
$XSV | X Homing Search Velocity | 3000 mm/min
$XLV | X Homing Latch Velocity | 100 mm/min
$XLB | X Homing Latch Backoff | 20 mm
$XZB | X Homing Zero Backoff | 3 mm
||
$YSN | Y Minimum Switch Mode | 3=limit-and-homing
$YSX | Y Maximum Switch Mode | 2=limit-only
$YTM | Y Travel Maximum | 180 mm
$YSV | Y Homing Search Velocity | 3000 mm/min
$YLV | Y Homing Latch Velocity | 100 mm/min
$YLB | Y Homing Latch Backoff | 20 mm
$YZB | Y Homing Zero Backoff | 3 mm
||
$ZSN | Z Minimum Switch Mode | 0=disabled (with NC switches it's important all unused switches are disabled)
$ZSX | Z Maximum Switch Mode | 3=limit-and-homing
$ZTM | Z Travel Maximum | 100 mm
$ZSV | Z Homing Search Velocity | 1000 mm/min
$ZLV | Z Homing Latch Velocity | 100 mm/min
$ZLB | Z Homing Latch Backoff | 10 mm
$ZZB | Z Homing Zero Backoff | 5 mm
||
$ASN | A Minimum Switch Mode | 0=disabled
$ASX | A Maximum Switch Mode | 0=disabled
Coordinate system offsets are the values used by G54, G55, G56, G57, G58 and G59 commands to define the offsets from the machine (absolute) coordinate system for X,Y,Z,A,B and C. G54-G59 correspond to the Gcode coordinate systems 1-6, respectively.
By convention G54 is set to no offsets (all zeroes) so it is the same as the machine's absolute coordinate system. This is true because the G53 command "move in absolute coordinates" is only in effect for the current Gcode block. After that the dynamic model reverts to the coordinate system previously in effect. So if you want to say in absolute coordinates you need a persistent machine coordinate system, by convention G54.
Another convention is to set G55 to your common coordinate system, we set this to be 0,0 in the middle of the table. So once you have zeroed issuing g55 g28 will set to this system and position the head in the middle of the table. (Note: this can be done on one line of gcode - it does not need to be 2 separate commands).
G54-G59 offsets can be set per the following example:
$g54x=0 Set G54 to be the same as the machine coordinate system $g54y=0 $g54z=0 $g54a=0 $g54b=0 $g54c=0 $g55x=90.0 Set G55 to be in the middle of the table $g55y=90.0 $g55z=0 $g55a=0 $g55b=0 $g55c=0
In JSON mode you can set a coordiante system in a single command. Only those axes specified are changed.
{"g55"":{"x":90,"y":90,"z":"0"}}
Offsets can be displayed individually
$g54x - returns a single value
...or as a group:
$g54 - returns all 6 values in the G54 group
$g92 - returns all 6 values of the origin offset group
...or all together:
$o - returns all offsets in the system (not available in JSON)
Note: the G54-G59 settings are persistent settings that are preserved between resets (i.e. in EEPROM), unlike the G92 origin offset settings which are just in the volatile Gcode model and are thus not preserved.
Gcode provides the G10 L2 command to perform this same function. Coordinate offsets can be set from Gcode using the G10 command, e.g. G10 P2 L2 X20.000 - the P word is the coordinate system numbered 1-6, the L word =2 is according to standard, but is ignored by TinyG (for now)
TinyG does not persist G10 settings, however. This is not in accordance with the Gcode spec. Any G10 settings that are provided will be used until reset, power cycle, or they are overwritten by a $g5xx command or another G10 command.
These are general system-wide parameters and are part of the "sys" group.
Read-only value. Can be queried. Currently this is something above 355.01.
Read-only value. Can be queried. This page applies to 0.95 and above
Read-write value. Set to 6 for version 6 or earlier board, Set to 7 for version 7 board. Used to configure switch and output ports which are somewhat different between revs. This is set to v7 by default.
Interval between automatic status reports in milliseconds. Set to 0 to disable automatic status reports. Minimum is 200 ms.
Returns a status report. Identical to ? command.
Note: In JSON this command may also be used to set the contents of a status report. The SR group must contain and set true every value desired in the report. All other values are wiped (i,e, it is not cumulative). The form for the default status report is:
{"sr":{"line":true,"posx":true,"posy":true,"posz":true,"posa":true,"vel":true,"momo":true,"stat":true}}
In conjunction with the global $jd setting sets the cornering speed. See $jd for explanation
$ja=50000 - 50,000 mm/min^2 - a reasonable value for a modest performance machine $ja=200000 - 200,000 mm/min^2 - a reasonable value for a higher performance machine
Don't change this unless you are seriously tweaking TinyG for your application. It can cause many things to break. This value does not appear in system group listings ($sys)
$ml=0.08 - Do not change this value
Don't change this unless you are seriously tweaking TinyG for your application. It can cause many things to break. This value does not appear in system group listings ($sys)
$ma=0.10 - Do not change this value
Don't change this unless you are seriously tweaking TinyG for your application. It can cause many things to break. This value does not appear in system group listings ($sys)
$ms=5000 - Do not change this value
##Gcode Default Parameters These parameters set the values for the Gcode model on power-up or reset. They do not affect the current gcode dynamic model. For example, entering $gun=0 will not change the system to inches mode, but it will cause it to initialize in inches mode during reset or power-up.
These are also part of the "sys" group.
$gpl=0 - G17 (XY plane) $gpl=1 - G18 (XZ plane) $gpl=2 - G19 (YZ plane)
###$GUN - Gcode Default Units
$gun=0 - G20 (inches) $gun=1 - G21 (millimeters)
###$GCO - Gcode Default Coordinate System
$gco=1 - G54 (coordinate system 1) $gco=2 - G55 (coordinate system 2) $gco=3 - G56 (coordinate system 3) $gco=4 - G57 (coordinate system 4) $gco=5 - G58 (coordinate system 5) $gco=6 - G59 (coordinate system 6)
###$GPA - Gcode Default Path Control
$gpa=0 - G61 (exact stop mode) $gpa=1 - G61.1 (exact path mode) $gpa=2 - G64 (continuous mode)
$gdi=0 - G90 (absolute mode) $gdi=1 - G91 (incremental mode)
Set communications. These are also part of the "sys" group.
$ic=0 - Don't ignore CR or LF in received data $ic=1 - Ignore CR in received data $ic=2 - Ignore LF in received data
This should be disabled for JSON mode. In text mode it's optional either way.
$ee=0 - Disable character echo $ee=1 - Enable character echo
$ex=0 - Disable XON/XOFF protocol $ex=1 - Enable XON/XOFF protocol
This sets the startup mode. JSON mode can be invoked at any time by sending a line starting with an open curly '{'. JSON mode is exited any time by sending a line starting with '$', '?' or 'h'
$ej=0 - Disable JSON mode on power-up and reset (e - Set Baud Ratenables text mode) $ej=1 - Enable JSON mode on power-up and reset
$tv=0 - Silent - no response is provided $tv=1 - Prompt - returns prompt only and exception messages $tv=2 - Messages - returns prompt and all messages $tv=3 - Verbose
If you are using JSON mode with high-speed files (many short lines at high feed rates) you probably want setting 2 or 3. You may also want to change the baud rate to 230400.
$jv=0 - Silent - no responses given to JSON commands $jv=1 - Footer only - response contains no body - footer only $jv=2 - Omit Gcode body - Body returned for configs; omitted for Gcode commands $jv=3 - Gcode linenum only - Body returned for configs; Gcode returns line number as 'n', otherwise body is omitted $jv=4 - Messages - body returned for configs; Gcode returns line numbers and messages only $jv=5 - Full echo - Body returned for configs and Gcode - Gcode comments removed
The default baud rate for the USB port is 115,200 baud. The following additional baud rates may be set. The sequence for changing the baud rate is: (1) Issue the $baud command, (2) wait for a response verifying the command, (3) change to the new baud rate.
$baud=0 - Illegal baud rate setting. Returns an error $baud=1 - 9600 $baud=2 - 19200 $baud=3 - 38400 $baud=4 - 57600 $baud=5 - 115200 $baud=6 - 230400