Command Reference

Commands added or overridden by this firmware are listed here. Standard Klipper and Cartographer commands remain in their own documentation.

Maintenance macros

Command	Behavior
`LUBRICATE_RAILS [ITERATIONS=1] [SPEED=500]`	Homes and runs the full rail-lubrication motion pattern.
`BELT_TENSION [AXES=XY]`	Automatically tensions X, Y, or both to the configured target.
`BEDPID`	Calibrates the bed PID at 100°C and saves the result.
`NOZZLE_PID`	Calibrates the nozzle PID at 230°C and saves the result.
`NOZZLE_PID_HIGH`	Calibrates the nozzle PID at 320°C and saves the result.
`TUNOFFINPUTSHAPER`	Disables both configured input shapers for the current session.

Command	Behavior
`T<n> [FLUSH=0\\|1]`	Performs the full change to zero-based tool slot `<n>`.
`BOX_GO_TO_WASTEBIN`	Parks the printhead at the waste bin.
`NOZZLE_CLEAN`	Runs the configured nozzle-cleaning sequence.
`BOX_LOAD [SLOT=0]`	Loads a physical zero-based CFS slot without the full tool-change policy.
`BOX_UNLOAD [MANUAL=0\\|1]`	Fully unloads the active filament.
`BOX_CUT [FORCE=0\\|1]`	Runs the cutter directly.
`BOX_BUFFER_RETRACT`	Runs the CFS buffer retract phase.
`BOX_DEBUG [RAW=0\\|1]`	Prints complete Box, topology, slot, sensor, and RFID diagnostics.
`BOX_RUNOUT_CHECK`	Handles a printhead-sensor runout event.
`PARSE_FLUSH_VOLUMES`	Reads the slicer's flush matrix from the loaded G-code file.
`_BOX_RESUME_CHECK [RETRY=0\\|1]`	Validates or recovers Box state before resume.
`_FLUSH_CLEAN_SNAP [RETRACT=0\\|1]`	Runs the internal flush, snap, and clean sequence.

Command	Behavior
`RFID_READER_READ`	Reads the most recent record from the external RFID reader.
`_BOX_SLOT_SET SLOT= MATERIAL= COLOR=#RRGGBB [BRAND=] [NAME=] [SPOOLMAN_ID=]`	Saves a physical CFS slot profile.
`_BOX_MATERIAL_SET MATERIAL= TARGET_TEMP=170..350`	Saves a material target temperature.
`_BOX_SET_RUNOUT_SWAP [ENABLE=0\\|1]`	Enables or disables automatic matching-slot runout swaps.
`_BOX_SET_RFID_INSERT_READING [ENABLE=0\\|1]`	Enables or disables reads when a spool is inserted.
`_BOX_SET_RFID_STARTUP_READING [ENABLE=0\\|1]`	Enables or disables RFID reads during CFS startup.
`_BOX_RFID_MAP_SET CODE= MATERIAL= BRAND= NAME= [TARGET_TEMP=]`	Saves an unknown-tag mapping.
`_BOX_RFID_MAP_DELETE CODE=`	Deletes an RFID mapping.

Command	Behavior
`PRTOUCH_HOME [TRAVEL_SPEED=] [Z_HOP=] [PRINT_TEMP=]`	Runs a multi-sample PRTouch Z home; optional print temperature applies thermal compensation.
`PRTOUCH_SCAN_CALIBRATE [MODEL=default]`	Uses PRTouch to establish nozzle Z=0 for the Cartographer scan model.

Command	Behavior
`CALIBRATE_CUT_POS`	Homes XY if needed, measures the cutter hit, and saves `cut_pos_x`.
`MOTOR_CALIBRATE AXIS=XYZZ1 [DETAIL=raw]`	Calibrates one or more kinematic motors after a positioning confirmation pass.
`MOTOR_CALIBRATE AXIS=E STAGE=encoder\\|offset\\|1\\|2 [DETAIL=raw]`	Runs the selected extruder calibration stage.
`MOTOR_STATUS [VERBOSE=1]`	Reports motor startup, fault, calibration, and runtime state.
`MOTOR_CLEAR_ERROR`	Queries and attempts to clear active motor faults and warnings.
`MOTOR_QUERY_FAULTS`	Queries live fault, warning, and status codes for every motor.
`MOTOR_CFG_OVERRIDE_STATUS [AXIS=XYZZ1E] [DETAIL=raw]`	Compares active config overrides with current board values.
`MOTOR_RETRY_STARTUP`	Re-runs motor-control startup.
`MOTOR_READ_PARAM PARAM=<config-key>`	Reads a motor parameter's runtime and flash values.
`MOTOR_READ_ALL_PIN_IO`	Reads raw motor pin-I/O state.
`MOTOR_FLASH_PARAM PARAM=<config-key> [VALUE=] [COMMIT=1]`	Reads or changes a motor parameter; `COMMIT=1` writes motor-board flash.
`REQUIRE_EXTRUDER_CLEAR`	Aborts the running G-code block if the extruder fault remains latched.

Normal belt maintenance should use BELT_TENSION. These commands operate the individual tension modules directly.

Command	Behavior
`BELT_TENSION_STATUS [AXIS=X\\|Y]`	Reports live position, ADC, calibration, and tension state.
`BELT_TENSION_SET AXIS=X\\|Y [TENSION=]`	Settles and adjusts one belt to a target tension.
`BELT_TENSION_CALIBRATE AXIS=X\\|Y POINT=LOW\\|HIGH`	Captures the two strain-gauge calibration points.
`BELT_TENSION_MOVE_TO AXIS=X\\|Y POSITION=`	Moves a tensioner to a raw stored position.
`BELT_TENSION_MOVE_BY AXIS=X\\|Y DISTANCE= [UPDATE_POSITION=0\\|1]`	Performs a raw relative tensioner move.
`BELT_TENSION_ZERO AXIS=X\\|Y`	Overwrites the module's stored position with zero.

Command	Behavior
`PLR_STATUS`	Reports checkpoint and recovery state.
`PLR_RECOVER CONFIRM=1`	Validates and resumes the saved print checkpoint.
`PLR_DISCARD`	Deletes the saved recovery checkpoint.

Command	Behavior
`SERIAL_STATUS`	Reports shared RS-485 transport counters and errors.
`FAN_FEEDBACK_STATUS`	Reports live fan tachometer feedback.
`SET_TEMPERATURE_FAN_MANUAL_SPEED TEMPERATURE_FAN=<name> SPEED=0..1`	Sets a manual floor under the temperature fan's automatic speed.
`SET_LED_IDLE_MANAGER [ENABLE=0\\|1]`	Enables or disables automatic LED idle control for this session.
`LED_IDLE_MANAGER_ON`	Enables LED idle control for this session.
`LED_IDLE_MANAGER_OFF`	Disables LED idle control for this session.
`LED_IDLE_MANAGER_STATUS`	Reports LED idle-manager state.
`EXTENDED_ZONE_TRANSFORM_STATUS`	Reports rear-zone transform and Y-envelope state.
`SAVE_MOTION_LIMITS [NAME=default] [INCLUDE_GCODE=0\\|1]`	Saves current motion limits and optional G-code state.
`RESTORE_MOTION_LIMITS [NAME=default] [INCLUDE_GCODE=0\\|1] [MOVE=0\\|1]`	Restores a saved motion-limit snapshot.
`ZDOWN`	Starts the blocking MCU-assisted Z alignment and rise.
`ZDOWN_FORCE_STOP`	Aborts an active Z alignment.