metadata: version: v2 total_settings: 335 total_modules: 14 last_updated: '2025-11-07' firmware_repo: Smoothieware/Smoothieware2 source_file: src/docs/smoothieware-v2-config.md modules: - name: General/System description: General and System setting_count: 21 settings: - name: grbl_mode type: bool default: false module: root context: Global setting affecting G-code interpretation defined_in: Firmware/src/main.cpp:267 section: '[general]' description: Enables GRBL compatibility mode for CNC applications. When enabled, the firmware responds with GRBL-style status messages and command acknowledgments, making it compatible with GRBL-based software and sender applications like bCNC, Universal G-code Sender, and similar CNC control programs. This mode changes how certain G-codes are interpreted and how responses are formatted to match GRBL's behavior. corresponding_v1: none (new feature in v2) corresponding_v2: general.grbl_mode valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - motion control.compliant_seek_rate - motion control.nist_G30 related_pages: - grbl-mode - cnc-mill-guide - from-grbl - name: config-override type: bool default: false module: root context: Global setting controlling runtime configuration save/load defined_in: Firmware/src/main.cpp:270 section: '[general]' description: Enables config-override functionality allowing runtime configuration changes to be saved with M500 and loaded automatically on boot. When enabled, settings can be overridden and persisted without modifying the main config.ini file. The override file is stored as config-override.ini on the SD card. Unlike v1 where the override file was always active if present, v2 requires explicit enabling of this feature. corresponding_v1: none (config-override was always active in v1 if file present) corresponding_v2: general.config-override valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - configuring-smoothie - override-warning - temperaturecontrol-pid-autotuning - name: step_pulse_us type: number default: 1 (1 microsecond, hardware default) module: root context: Global setting affecting all stepper drivers defined_in: Firmware/src/main.cpp:278 section: '[system]' description: Duration of the step pulse sent to stepper drivers in microseconds. This controls how long the STEP signal remains high before returning low. Increase this value if stepper motors are missing steps, behaving erratically, or making unusual noises. Most modern stepper drivers (TMC, DRV8825, A4988) work fine with 1µs pulses, but older drivers like the original A4983 or drivers with optoisolated inputs may require 2-3µs pulses for reliable operation. corresponding_v1: microseconds_per_step_pulse corresponding_v2: system.step_pulse_us units: µs (microseconds) related_settings: - step_frequency related_pages: - stepper-motors - troubleshooting - name: step_frequency type: number default: 200000 (200 kHz in release builds), 50000 (50 kHz in debug builds) module: root context: Global setting affecting maximum achievable speeds defined_in: Firmware/src/main.cpp:284 section: '[system]' description: Maximum step generation frequency in Hertz. This is the theoretical maximum rate at which the firmware can generate step pulses across all motors, based on MCU speed and firmware overhead. The actual achievable speed depends on this frequency, microstepping, and steps per millimeter. In debug builds, this defaults to 50 kHz to accommodate slower code execution with debug symbols. Lowering this value can improve system stability if experiencing issues at high speeds. corresponding_v1: none (was hardcoded in v1) corresponding_v2: system.step_frequency units: Hz (frequency) related_settings: - actuator.*.max_rate - motion control.default_seek_rate - step_pulse_us related_pages: - motion-control - stepper-motors - troubleshooting - name: aux_play_led type: pin default: '"nc" (not connected)' module: root context: Global setting for status indication defined_in: Firmware/src/main.cpp:290 section: '[system]' description: Optional secondary play LED pin that mirrors the main play LED state. Useful for lighted kill buttons, external status indicators, or remote control panels that need to show when the machine is running (playing G-code from SD card) or idle. The LED turns on when actively executing G-code and turns off when idle or paused. This is in addition to the primary play LED on the board itself. corresponding_v1: play_led_pin (functionality expanded in v2) corresponding_v2: system.aux_play_led valid_values: - value: Any valid pin specification in format PXn with optional modifiers description: '' - value: or "nc" description: '' related_pages: - playled - player - kill-pause-button - name: flash_on_boot type: bool default: true module: root context: Global setting for firmware updates defined_in: Firmware/src/main.cpp:298 section: '[system]' description: Automatically flash firmware from flashme.bin file if present on SD card at boot. When enabled, the system checks for a valid flashme.bin file on startup and automatically performs the firmware update if found. The file is renamed to flashme.old after successful flashing. Disable this if you want manual control over firmware updates or if automatic updates interfere with your workflow. corresponding_v1: none (v1 always checked for flashme.bin) corresponding_v2: system.flash_on_boot valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - dfu_enable related_pages: - flashing-smoothie-firmware - sd-card - troubleshooting - name: dfu_enable type: bool default: false module: root context: Global setting for development/debugging defined_in: Firmware/src/main.cpp:300 section: '[system]' description: Enable DFU (Device Firmware Update) mode for developers. When enabled, the board can enter DFU mode for low-level firmware flashing via USB without needing the SD card bootloader. This is primarily for firmware developers and advanced users who need to flash firmware directly to the microcontroller's internal flash memory. Disabled by default for safety to prevent accidental bricking of the board. corresponding_v1: none (DFU mode not available in v1) corresponding_v2: system.dfu_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - flash_on_boot related_pages: - flashing-smoothie-firmware - flashing-the-bootloader - name: msc_enable type: bool default: true module: root context: Global setting for USB functionality defined_in: Firmware/src/main.cpp:303 section: '[system]' description: Enable Mass Storage Class mode which allows the SD card to be accessed as a USB drive when connected to a computer. When enabled, you can drag and drop files directly to the board's SD card without removing it. The SD card is automatically ejected from the host computer when disconnecting USB. This is the most convenient way to update configuration files, upload G-code, and manage files on the SD card. corresponding_v1: none (MSC was always enabled in v1) corresponding_v2: system.msc_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - msc_led related_pages: - sd-card - mac-drivers - linux-drivers - windows-drivers - missing-web-interface - name: msc_led type: pin default: '"PF13" (Prime board), "nc" (other boards)' module: root context: Global setting for status indication defined_in: Firmware/src/main.cpp:311 section: '[system]' description: LED that flashes when the board is in Mass Storage Class mode and the SD card is being accessed. Provides visual feedback when the SD card is being read or written via USB, warning you not to disconnect the cable during file operations. The LED flashes rapidly during active transfers and stays off when no transfers are occurring. Only used when msc_enable is true. corresponding_v1: none (MSC LED indication new in v2) corresponding_v2: system.msc_led valid_values: - value: Any valid pin specification or "nc" description: '' related_settings: - msc_enable related_pages: - sd-card - pinout - name: fets_enable_pin type: pin default: '"PF14!o" (Prime board - inverted open-drain), "nc" (other boards)' module: root context: Global hardware power control defined_in: Firmware/src/main.cpp:474 section: '[system]' description: Global enable pin for all FETs (Field Effect Transistors) controlling heaters, fans, and other high-power outputs. This is typically a NOT-enable signal (active low) that controls power to all output FETs. When this pin is high (disabled), all FET outputs are turned off as a safety measure. The Prime board uses an inverted open-drain configuration on PF14. Both this pin and fets_power_enable_pin must be in the correct state for FETs to operate. corresponding_v1: none (global FET control new in v2) corresponding_v2: system.fets_enable_pin valid_values: - value: Any valid pin specification with modifiers or "nc" description: '' related_settings: - fets_power_enable_pin related_pages: - mosfets - pinout - safety-thermistor - name: fets_power_enable_pin type: pin default: '"PD7" (Prime board), "nc" (other boards)' module: root context: Global hardware power control defined_in: Firmware/src/main.cpp:485 section: '[system]' description: Global power enable pin for FETs. This is typically an active high enable signal that controls the power supply to all FET circuits. On the Prime board, this controls a separate power rail that supplies the FET drivers. Both this pin and fets_enable_pin must be in the correct state for FETs to operate. This dual-control approach provides enhanced safety by requiring two independent signals for high-power output operation. corresponding_v1: none (global FET power control new in v2) corresponding_v2: system.fets_power_enable_pin valid_values: - value: Any valid pin specification with modifiers or "nc" description: '' related_settings: - fets_enable_pin related_pages: - mosfets - pinout - main-power-input - name: second_usb_serial_enable type: bool default: false module: root context: Global USB configuration defined_in: Firmware/src/Consoles.cpp:685 section: '[consoles]' description: Enable a second USB serial console port for simultaneous connections. When enabled, the board presents two USB serial interfaces (composite device), allowing multiple programs to communicate with the board concurrently without conflicts. This is useful for running a host program (like Octoprint or Pronterface) on one port while using a terminal for debugging or manual commands on the second port. Both ports have full command access. corresponding_v1: none (second USB serial new in v2) corresponding_v2: consoles.second_usb_serial_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - uart console.enable related_pages: - connecting-smoothie - octoprint - pronterface - console-commands - name: enable type: bool default: false module: root context: UART hardware configuration defined_in: Firmware/src/Consoles.cpp:692 section: '[uart console]' description: Enable UART console for serial communication over hardware UART pins. When enabled, the board can communicate via a dedicated UART channel in addition to USB serial. This is useful for connecting to external devices like Raspberry Pi, touchscreen panels, Bluetooth modules, or isolated debugging terminals. The UART can be configured as a full console (with command processing) or as a raw data channel. corresponding_v1: uart0.baud_rate (presence enabled UART in v1) corresponding_v2: uart console.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - console - channel - baudrate - bits - stop_bits - parity related_pages: - uart - connecting-smoothie - bluetooth-serial - name: console type: bool default: true module: root context: UART functionality mode defined_in: Firmware/src/Consoles.cpp:695 section: '[uart console]' description: Use the UART as a console interface for sending and receiving commands, versus using it for raw data transmission. When true, the UART behaves like the USB serial console with full command processing, G-code interpretation, and status responses. When false, the UART is a raw data channel without command interpretation, useful for application-specific protocols or binary data transmission. corresponding_v1: none (UART was always console in v1 if enabled) corresponding_v2: uart console.console valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - enable - baudrate related_pages: - uart - console-commands - communication - name: channel type: number default: 0 module: root context: Hardware channel selection defined_in: Firmware/src/Consoles.cpp:697 section: '[uart console]' description: UART hardware channel number to use. Different boards support different numbers of UART channels. Channel 0 is typically the primary debug UART. The STM32H7 microcontroller has up to 8 USART/UART peripherals, but not all may be broken out to accessible pins on a given board. Check your board's schematic or pinout diagram to determine which channels are available and their corresponding pin assignments. corresponding_v1: none (v1 only had one UART channel) corresponding_v2: uart console.channel valid_values: - value: 0-7 (board dependent - not all channels available on all boards) description: '' related_settings: - enable - console - baudrate related_pages: - uart - pinout - lpc4337-pin-usage - name: baudrate type: number default: 115200 module: root context: UART serial communication speed defined_in: Firmware/src/Consoles.cpp:698 section: '[uart console]' description: UART communication speed in bits per second. Must match the baudrate configured on the connected device. Higher baudrates allow faster communication and shorter latency, but may be less reliable over long cable runs, with electrical noise, or with cheap UART adapters. 115200 is the standard default that works well in most situations. 3D printing applications sometimes use 250000 baud for faster command throughput. corresponding_v1: uart0.baud_rate corresponding_v2: uart console.baudrate units: baud (bits per second) valid_values: - value: Standard baud rates - must match connected device exactly description: '' related_settings: - enable - channel - bits - stop_bits - parity related_pages: - uart - connecting-smoothie - bluetooth-serial - name: bits type: number default: 8 module: root context: UART frame format defined_in: Firmware/src/Consoles.cpp:699 section: '[uart console]' description: Number of data bits per character transmitted over UART. Standard serial communication uses 8 bits, which can represent 256 different values (0-255) per byte. This is sufficient for all ASCII characters, extended characters, and binary data. 7-bit mode is legacy support for old systems that only used 7-bit ASCII. 5-6 bit modes are extremely rare. 9-bit mode is for specialized multi-processor communication protocols. corresponding_v1: none (always 8 bits in v1) corresponding_v2: uart console.bits valid_values: - value: 5-9 (5 description: '' - value: '6' description: '' - value: '7' description: '' - value: '8' description: '' - value: or 9 data bits) description: '' related_settings: - baudrate - stop_bits - parity related_pages: - uart - name: stop_bits type: number default: 1 module: root context: UART frame format defined_in: Firmware/src/Consoles.cpp:700 section: '[uart console]' description: Number of stop bits appended after each character. Stop bits provide synchronization time between characters, allowing the receiver to prepare for the next character. Most serial communication uses 1 stop bit as this is sufficient for synchronization at typical baud rates. 2 stop bits can be used for more robust communication at slower speeds or in electrically noisy environments, at the cost of reduced data throughput. corresponding_v1: none (always 1 stop bit in v1) corresponding_v2: uart console.stop_bits valid_values: - value: '1' description: '' - value: '2' description: '' related_settings: - baudrate - bits - parity related_pages: - uart - name: parity type: enum default: none module: root context: UART error detection defined_in: Firmware/src/Consoles.cpp:701 section: '[uart console]' description: Parity checking mode for error detection. "none" means no parity bit is added, maximizing data throughput. "odd" and "even" add an extra bit to make the total number of 1 bits in each character odd or even respectively, allowing basic error detection. Parity can detect single-bit errors but cannot correct them. Modern serial communication rarely uses parity because higher-level protocols (like G-code checksums) provide better error detection. corresponding_v1: none (always no parity in v1) corresponding_v2: uart console.parity valid_values: - value: '"none"' description: '' - value: '"odd"' description: '' - value: '"even"' description: '' related_settings: - baudrate - bits - stop_bits related_pages: - uart - communication - name: pwm1.frequency type: number default: 10000 units: Hz module: root context: Hardware PWM timer configuration defined_in: Firmware/src/main.cpp:357 section: '[pwm1]' description: Sets the PWM frequency for hardware PWM timer 1 in Hertz. V2 uses two hardware PWM timers (PWM1 and PWM2), each with 4 channels. All channels on the same timer share the same frequency. This setting configures the base frequency for all devices using PWM1 channels (PWM1_1, PWM1_2, PWM1_3, PWM1_4). Common uses include laser power control, fan control, and spindle speed control. The frequency must be appropriate for the connected device - lasers typically use 10-50 kHz, while servos need 50 Hz. Unlike v1 where PWM period was configured per-module, v2 configures PWM frequency globally per timer before modules are loaded. corresponding_v1: laser_module_pwm_period (when used for laser - note v1 uses period in microseconds, v2 uses frequency in Hz) corresponding_v2: pwm1.frequency description_bullets: - Default 10000 Hz (10 kHz) works for most applications - Laser control typically uses 10000-50000 Hz for smooth power modulation - Servo control requires 50 Hz for standard RC servos - Fan control can use 10000-25000 Hz to avoid audible noise - All channels on PWM1 (PWM1_1 through PWM1_4) share this frequency - 'Conversion from v1: frequency (Hz) = 1,000,000 / period (µs)' related_settings: - pwm2.frequency - laser.pwm_pin - switch.*.output_pin related_pages: - laser - laser-options - pwm-capable examples: - 'frequency = 10000 # 10 kHz - default, good for lasers and fans' - 'frequency = 50000 # 50 kHz - high frequency for fast-switching laser drivers' - 'frequency = 50 # 50 Hz - required for RC servos and some BLTouch clones' - 'frequency = 25000 # 25 kHz - alternative for some laser drivers' - name: pwm2.frequency type: number default: 10000 units: Hz module: root context: Hardware PWM timer configuration defined_in: Firmware/src/main.cpp:363 section: '[pwm2]' description: Sets the PWM frequency for hardware PWM timer 2 in Hertz. V2 uses two hardware PWM timers (PWM1 and PWM2), each with 4 channels. All channels on the same timer share the same frequency. This setting configures the base frequency for all devices using PWM2 channels (PWM2_1, PWM2_2, PWM2_3, PWM2_4). This allows using different frequencies on different timers - for example, PWM1 at 10 kHz for laser control while PWM2 runs at 50 Hz for servo control. Common in mixed configurations where one timer controls high-frequency devices (lasers, fans) and another controls low-frequency devices (servos, BLTouch probes). corresponding_v1: none (v2-specific architecture - v1 configured PWM per-module) corresponding_v2: pwm2.frequency description_bullets: - Default 10000 Hz (10 kHz) works for most applications - Commonly set to 50 Hz when using servos or BLTouch on PWM2 channels - Independent from PWM1 frequency - can run different frequencies simultaneously - All channels on PWM2 (PWM2_1 through PWM2_4) share this frequency - Enables mixed-use configurations (e.g., laser on PWM1 @ 10kHz, servo on PWM2 @ 50Hz) - Must be configured before modules that use PWM2 channels are loaded related_settings: - pwm1.frequency - zprobe.probe_pin - switch.*.output_pin related_pages: - zprobe - bltouch - pwm-capable examples: - 'frequency = 50 # 50 Hz - required for RC servos and BLTouch' - 'frequency = 10000 # 10 kHz - default for general PWM devices' - 'frequency = 333 # 333 Hz - some hobby servos prefer this frequency' - name: Motion Control description: Motion Control setting_count: 57 settings: - name: default_feed_rate type: number default: 4000.0 (66.7 mm/s) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:218 section: '[motion control]' description: Default speed for coordinated G1/G2/G3 moves when no F parameter is specified in G-code. This is the fallback feed rate used when a move command doesn't explicitly set a speed. The firmware stores this value internally in mm/s but the configuration uses mm/min for consistency with G-code standards. corresponding_v1: default_feed_rate corresponding_v2: motion control.default_feed_rate units: mm/min related_pages: - motion-control - g1 - g2 - g3 - supported-g-codes - name: default_seek_rate type: number default: 4000.0 (66.7 mm/s) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:219 section: '[motion control]' description: Default speed for G0 rapid positioning moves when no F parameter is specified or when compliant_seek_rate is enabled. Rapid moves are uncoordinated non-cutting movements used to position the tool between work areas quickly. The firmware stores this internally in mm/s but configuration uses mm/min. corresponding_v1: default_seek_rate corresponding_v2: motion control.default_seek_rate units: mm/min related_settings: - compliant_seek_rate - default_feed_rate related_pages: - motion-control - g0 - grbl-mode - supported-g-codes - name: compliant_seek_rate type: bool default: false module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:220 section: '[motion control]' description: Enables GRBL-compliant behavior where G0 rapid moves always use default_seek_rate regardless of F parameter. When false (default), the F parameter affects both G0 and G1 moves. When true, G0 ignores F and always uses default_seek_rate, matching GRBL's strict interpretation of the G-code standard. corresponding_v1: none (new feature in v2) corresponding_v2: motion control.compliant_seek_rate related_settings: - default_seek_rate - default_feed_rate related_pages: - motion-control - grbl-mode - g0 - from-grbl - name: mm_per_line_segment type: number default: 0.0 (segmentation disabled) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:221 section: '[motion control]' description: Fixed segment length for straight-line moves when using cartesian grid bed leveling compensation. When set to a positive value, all G1 moves longer than this distance will be broken into segments of this length, allowing the firmware to apply Z-compensation adjustments along the path. When set to 0, segmentation is disabled except for arcs and delta kinematics. corresponding_v1: mm_per_line_segment corresponding_v2: motion control.mm_per_line_segment units: mm related_settings: - delta_segments_per_second - mm_per_arc_segment related_pages: - motion-control - rectangular-grid-calibration-options - pcb-milling - name: delta_segments_per_second type: number default: 100 (for delta kinematics), 0 (for cartesian) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:222 section: '[motion control]' description: Segmentation rate for delta and rotary delta kinematics. Determines how many segments per second are generated for moves to ensure smooth arc motion. Higher values produce smoother curves and more accurate positioning but increase processor load and memory usage. This setting is automatically set based on arm_solution and is essential for proper delta printer operation. corresponding_v1: delta_segments_per_second corresponding_v2: motion control.delta_segments_per_second units: segments/s related_settings: - arm_solution - segment_z_moves - planner_queue_size related_pages: - motion-control - delta - arm-solutions - linear-delta - name: mm_per_arc_segment type: number default: 0.0 (use error-based segmentation) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:223 section: '[motion control]' description: Fixed arc segment length for G2/G3 circular interpolation moves. When set to a positive value, arcs are divided into segments of this fixed length. When set to 0 (default), the firmware uses adaptive error-based segmentation controlled by mm_max_arc_error instead. Fixed segmentation can be faster to compute but adaptive segmentation provides better quality with fewer segments. corresponding_v1: mm_per_arc_segment corresponding_v2: motion control.mm_per_arc_segment units: mm related_settings: - mm_max_arc_error - arc_correction related_pages: - motion-control - g2 - g3 - name: mm_max_arc_error type: number default: 0.01 module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:224 section: '[motion control]' description: Maximum chord-to-arc deviation allowed for adaptive arc segmentation when mm_per_arc_segment is 0. This value controls the trade-off between arc smoothness and segment count. Smaller values produce smoother arcs that more closely match the true circular path but require more segments. Larger values reduce computational load but may produce visible faceting on small-radius arcs. corresponding_v1: mm_max_arc_error corresponding_v2: motion control.mm_max_arc_error units: mm related_settings: - mm_per_arc_segment - arc_correction related_pages: - motion-control - g2 - g3 - name: arc_correction type: number default: 5 module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:225 section: '[motion control]' description: Number of arc segments to process before applying correction to compensate for accumulated floating-point errors during arc generation. Higher values improve computational efficiency by reducing correction frequency but may accumulate more error before correction. Lower values provide more frequent correction but increase overhead. The default value of 5 provides good balance for most applications. corresponding_v1: arc_correction corresponding_v2: motion control.arc_correction related_settings: - mm_per_arc_segment - mm_max_arc_error related_pages: - motion-control - g2 - g3 - name: x_axis_max_speed type: number default: 60000 (1000 mm/s) module: motion_control context: Per-axis setting defined_in: Firmware/src/robot/Robot.cpp:228 section: '[motion control]' description: Maximum speed limit for X axis in mm/min. This is a hard limit that prevents the X axis from exceeding this speed regardless of commanded feed rate or rapid speed. The firmware will scale down moves that would exceed this limit while maintaining proper coordination with other axes. Set this based on the mechanical capabilities and motor performance of your X axis. corresponding_v1: x_axis_max_speed corresponding_v2: motion control.x_axis_max_speed units: mm/min related_settings: - y_axis_max_speed - z_axis_max_speed - max_speed - actuator.alpha.max_rate related_pages: - motion-control - delta - cartesian - stepper-motors - name: y_axis_max_speed type: number default: 60000 (1000 mm/s) module: motion_control context: Per-axis setting defined_in: Firmware/src/robot/Robot.cpp:229 section: '[motion control]' description: Maximum speed limit for Y axis in mm/min. This is a hard limit that prevents the Y axis from exceeding this speed regardless of commanded feed rate or rapid speed. The firmware will scale down moves that would exceed this limit while maintaining proper coordination with other axes. Set this based on the mechanical capabilities and motor performance of your Y axis. corresponding_v1: y_axis_max_speed corresponding_v2: motion control.y_axis_max_speed units: mm/min related_settings: - x_axis_max_speed - z_axis_max_speed - max_speed - actuator.beta.max_rate related_pages: - motion-control - delta - cartesian - stepper-motors - name: z_axis_max_speed type: number default: 300 (5 mm/s) module: motion_control context: Per-axis setting defined_in: Firmware/src/robot/Robot.cpp:230 section: '[motion control]' description: Maximum speed limit for Z axis in mm/min. Typically much slower than XY axes due to heavier loads, higher mechanical advantage of lead screws, and safety considerations. On cartesian machines, Z usually carries the entire X gantry or build platform. On delta machines, Z is a virtual axis and this limit applies to vertical motion. Set conservatively to prevent crashes and ensure positioning accuracy. corresponding_v1: z_axis_max_speed corresponding_v2: motion control.z_axis_max_speed units: mm/min related_settings: - x_axis_max_speed - y_axis_max_speed - max_speed - actuator.gamma.max_rate related_pages: - motion-control - delta - cartesian - stepper-motors - name: max_speed type: number default: 0 (disabled) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:231 section: '[motion control]' description: Overall maximum speed limit across all axes regardless of individual per-axis limits. When set to 0 (default), this global limit is disabled and only the individual x/y/z_axis_max_speed limits apply. When set to a positive value, no move will exceed this speed even if individual axes could go faster. Useful for imposing a system-wide speed cap for safety or machine limitations. corresponding_v1: none (new feature in v2) corresponding_v2: motion control.max_speed units: mm/min related_settings: - x_axis_max_speed - y_axis_max_speed - z_axis_max_speed related_pages: - motion-control - stepper-motors - name: default_acceleration type: number default: 100 module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:234 section: '[motion control]' description: Default acceleration for all axes when no per-actuator override is specified. This value determines how quickly the machine can change speed during moves. Higher acceleration reduces move time but increases vibration and mechanical stress. Lower acceleration provides smoother motion but increases total job time. Can be overridden per-actuator using actuator.{axis}.acceleration settings. corresponding_v1: acceleration corresponding_v2: motion control.default_acceleration units: mm/s² related_settings: - actuator.{axis}.acceleration - junction_deviation related_pages: - motion-control - stepper-motors - delta - cartesian - name: segment_z_moves type: bool default: true module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:236 section: '[motion control]' description: Enable segmentation for Z-only moves on delta machines. When true (default), vertical Z movements on delta printers are broken into segments for smooth motion through the delta kinematics. When false, Z-only moves bypass segmentation for improved performance. Should always be true for delta and rotary delta machines. Can be set to false for cartesian machines to reduce processing overhead on pure Z moves. corresponding_v1: none (new feature in v2) corresponding_v2: motion control.segment_z_moves related_settings: - arm_solution - delta_segments_per_second related_pages: - motion-control - delta - arm-solutions - name: save_wcs type: bool default: false module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:237 section: '[motion control]' description: Save work coordinate systems (G54-G59) to config-override file when M500 is issued. When true, all WCS offsets are saved and restored on boot, allowing coordinate systems to persist across power cycles. When false (default), WCS offsets are lost on reboot and must be re-established. Useful for CNC machines with multiple fixture setups or recurring job positions. corresponding_v1: save_g54 (expanded in v2 to cover G54-G59) corresponding_v2: motion control.save_wcs related_settings: - save_g92 - set_g92 related_pages: - motion-control - g54 - supported-g-codes - name: must_be_homed type: bool default: false (cartesian), true (delta/rotary delta) module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:241 section: '[motion control]' description: Require all axes to be homed before allowing any motion commands. When true, the machine will reject move commands until a homing cycle (G28) has been completed. This is automatically set to true for delta and rotary delta kinematics where unhomed positions can cause mechanical interference or crashes. Cartesian machines can optionally enable this for additional safety. corresponding_v1: none (new safety feature in v2) corresponding_v2: motion control.must_be_homed related_settings: - arm_solution - endstops related_pages: - motion-control - delta - endstops - g28-reprap - name: arm_solution type: enum default: cartesian module: motion_control context: Global setting defined_in: Firmware/src/robot/Robot.cpp:191 section: '[motion control]' description: Specifies the kinematics solution that converts Cartesian coordinates (X,Y,Z) from G-code into actuator positions for your specific machine type. This is one of the most fundamental configuration settings as it determines how all motion commands are interpreted and executed. Each arm solution has its own set of additional parameters that must be configured in the appropriate kinematics section. corresponding_v1: arm_solution corresponding_v2: motion control.arm_solution valid_values: - value: cartesian description: Standard Cartesian kinematics with 1:1 motor-to-axis mapping - value: linear_delta description: Linear delta kinematics (Kossel-style delta printers) - value: rotary_delta description: Rotary delta kinematics (delta with rotational joints) - value: hbot description: H-Bot belt-driven kinematics - value: corexy description: CoreXY belt-driven kinematics - value: corexz description: CoreXZ belt-driven kinematics (XZ plane instead of XY) - value: morgan description: Morgan SCARA arm kinematics - value: rostock description: Alias for linear_delta (Rostock-style delta) - value: kossel description: Alias for linear_delta (Kossel-style delta) - value: delta description: Alias for linear_delta (generic delta) related_settings: - linear delta.arm_length - linear delta.arm_radius (for deltas) related_pages: - motion-control - arm-solutions - delta - cartesian - corexy - hbot - morgan-scara - name: junction_deviation type: number default: 0.05 module: planner context: Global setting defined_in: Firmware/src/robot/Planner.cpp:40 section: '[planner]' description: Maximum allowed deviation from the true path at direction change junctions during cornering. This replaces traditional jerk-based cornering algorithms with a more sophisticated approach. Lower values produce slower, more precise corners that follow the intended path more closely. Higher values allow faster cornering but introduce more deviation from the theoretical path, potentially causing rounding at sharp corners. corresponding_v1: junction_deviation corresponding_v2: planner.junction_deviation units: mm related_settings: - z_junction_deviation - default_acceleration related_pages: - motion-control - planner - name: z_junction_deviation type: number default: -1 (use junction_deviation value) module: planner context: Global setting defined_in: Firmware/src/robot/Planner.cpp:41 section: '[planner]' description: Separate junction deviation setting specifically for Z axis moves. When set to -1 (default), Z axis uses the same junction_deviation value as XY axes. When set to a positive value, this overrides junction deviation for moves involving Z axis changes. Commonly set higher than XY junction deviation in 3D printing to allow faster Z movements (layer changes, Z-hops) without affecting XY print quality. corresponding_v1: z_junction_deviation corresponding_v2: planner.z_junction_deviation units: mm related_settings: - junction_deviation - default_acceleration related_pages: - motion-control - planner - name: minimum_planner_speed type: number default: 0 module: planner context: Global setting defined_in: Firmware/src/robot/Planner.cpp:42 section: '[planner]' description: Minimum speed the planner will allow for any move. When set to 0 (default), the planner can slow moves down to a complete stop if needed for proper acceleration/deceleration. When set to a positive value, moves will never slow below this speed, which can prevent extrusion problems in 3D printing but may cause jerky motion at tight corners or during complex acceleration planning. corresponding_v1: minimum_planner_speed corresponding_v2: planner.minimum_planner_speed units: mm/s related_settings: - junction_deviation - default_acceleration related_pages: - motion-control - planner - name: planner_queue_size type: number default: 32 module: planner context: Global setting defined_in: Firmware/src/robot/Planner.cpp:43 section: '[planner]' description: Number of motion blocks in the planner queue buffer. Larger values allow smoother motion planning and better acceleration management by looking further ahead in the move sequence, but consume more RAM. Smaller values reduce memory usage but may cause stuttering on complex paths with many short segments. The default of 32 provides good performance for most applications. corresponding_v1: planner_queue_size corresponding_v2: planner.planner_queue_size related_settings: - junction_deviation - delta_segments_per_second related_pages: - motion-control - planner - name: queue_delay_time_ms type: number default: 100 module: conveyor context: Global setting defined_in: Firmware/src/robot/Conveyor.cpp:47 section: '[conveyor]' description: Time to wait before the conveyor starts processing the motion queue after receiving the first block. This delay allows the planner queue to fill up slightly before execution begins, which improves motion planning smoothness by providing more lookahead context. Higher values improve planning quality but add latency between G-code command and physical motion. Lower values reduce latency but may result in less optimal planning. corresponding_v1: queue_delay_time_ms (renamed from planner context) corresponding_v2: conveyor.queue_delay_time_ms units: ms related_settings: - planner_queue_size related_pages: - motion-control - planner - name: x.steps_per_mm type: number default: 80.0 (XY with GT2 belt), 2560.0 (Z with lead screw) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:370 section: '[actuator]' description: 'X axis: Number of motor steps required to move exactly 1mm along the X axis. This is the most critical calibration value and depends on motor steps per revolution (typically 200 for 1.8° steppers), microstepping setting, and mechanical transmission ratio (belt pitch and pulley teeth for belts, thread pitch for lead screws). Incorrect values cause dimensional inaccuracy in all movements.' corresponding_v1: alpha_steps_per_mm corresponding_v2: actuator.alpha.steps_per_mm, etc. units: steps/mm related_settings: - .microsteps - .max_rate related_pages: - motion-control - stepper-motors - extruder-guide - name: y.steps_per_mm type: number default: 80.0 (XY with GT2 belt), 2560.0 (Z with lead screw) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:370 section: '[actuator]' description: 'Y axis: Number of motor steps required to move exactly 1mm along the Y axis. This is the most critical calibration value and depends on motor steps per revolution (typically 200 for 1.8° steppers), microstepping setting, and mechanical transmission ratio (belt pitch and pulley teeth for belts, thread pitch for lead screws). Incorrect values cause dimensional inaccuracy in all movements.' corresponding_v1: beta_steps_per_mm corresponding_v2: actuator.alpha.steps_per_mm, etc. units: steps/mm related_settings: - .microsteps - .max_rate related_pages: - motion-control - stepper-motors - extruder-guide - name: z.steps_per_mm type: number default: 80.0 (XY with GT2 belt), 2560.0 (Z with lead screw) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:370 section: '[actuator]' description: 'Z axis: Number of motor steps required to move exactly 1mm along the Z axis. This is the most critical calibration value and depends on motor steps per revolution (typically 200 for 1.8° steppers), microstepping setting, and mechanical transmission ratio (belt pitch and pulley teeth for belts, thread pitch for lead screws). Incorrect values cause dimensional inaccuracy in all movements.' corresponding_v1: gamma_steps_per_mm corresponding_v2: actuator.alpha.steps_per_mm, etc. units: steps/mm related_settings: - .microsteps - .max_rate related_pages: - motion-control - stepper-motors - extruder-guide - name: x.max_rate type: number default: 30000 (500 mm/s) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:371 section: '[actuator]' description: 'X axis: Maximum speed this individual actuator/motor can achieve in mm/min. This limits the motor speed regardless of commanded feed rate or axis max speed settings. Should be set based on motor capabilities, driver current, microstepping, and mechanical load. Used to prevent individual motors from exceeding their performance limits even if the X axis geometry would allow higher speeds.' corresponding_v1: alpha_max_rate corresponding_v2: actuator.alpha.max_rate, etc. units: mm/min related_settings: - x_axis_max_speed - .steps_per_mm - .microsteps related_pages: - motion-control - stepper-motors - name: y.max_rate type: number default: 30000 (500 mm/s) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:371 section: '[actuator]' description: 'Y axis: Maximum speed this individual actuator/motor can achieve in mm/min. This limits the motor speed regardless of commanded feed rate or axis max speed settings. Should be set based on motor capabilities, driver current, microstepping, and mechanical load. Used to prevent individual motors from exceeding their performance limits even if the Y axis geometry would allow higher speeds.' corresponding_v1: beta_max_rate corresponding_v2: actuator.alpha.max_rate, etc. units: mm/min related_settings: - x_axis_max_speed - .steps_per_mm - .microsteps related_pages: - motion-control - stepper-motors - name: z.max_rate type: number default: 30000 (500 mm/s) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:371 section: '[actuator]' description: 'Z axis: Maximum speed this individual actuator/motor can achieve in mm/min. This limits the motor speed regardless of commanded feed rate or axis max speed settings. Should be set based on motor capabilities, driver current, microstepping, and mechanical load. Used to prevent individual motors from exceeding their performance limits even if the Z axis geometry would allow higher speeds.' corresponding_v1: gamma_max_rate corresponding_v2: actuator.alpha.max_rate, etc. units: mm/min related_settings: - x_axis_max_speed - .steps_per_mm - .microsteps related_pages: - motion-control - stepper-motors - name: x.acceleration type: number default: -1 (use default_acceleration) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:372 section: '[actuator]' description: 'X axis: Per-actuator acceleration override. When set to -1 (default), this actuator uses the global default_acceleration setting. When set to a positive value, this acceleration applies specifically to this actuator regardless of the global default. Useful for axes with different mechanical characteristics, such as giving Z axis slower acceleration than XY to prevent layer shifts.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.alpha.acceleration, etc. units: mm/s² related_settings: - default_acceleration related_pages: - motion-control - stepper-motors - name: y.acceleration type: number default: -1 (use default_acceleration) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:372 section: '[actuator]' description: 'Y axis: Per-actuator acceleration override. When set to -1 (default), this actuator uses the global default_acceleration setting. When set to a positive value, this acceleration applies specifically to this actuator regardless of the global default. Useful for axes with different mechanical characteristics, such as giving Z axis slower acceleration than XY to prevent layer shifts.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.alpha.acceleration, etc. units: mm/s² related_settings: - default_acceleration related_pages: - motion-control - stepper-motors - name: z.acceleration type: number default: -1 (use default_acceleration) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:372 section: '[actuator]' description: 'Z axis: Per-actuator acceleration override. When set to -1 (default), this actuator uses the global default_acceleration setting. When set to a positive value, this acceleration applies specifically to this actuator regardless of the global default. Useful for axes with different mechanical characteristics, such as giving Z axis slower acceleration than XY to prevent layer shifts.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.alpha.acceleration, etc. units: mm/s² related_settings: - default_acceleration related_pages: - motion-control - stepper-motors - name: x.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:266 section: '[actuator]' description: 'X axis: GPIO pin used to send step pulses to the motor driver. Each rising edge on this pin advances the motor by one microstep. The pin must be connected to the STEP input of your stepper driver chip. Pin assignment is board-specific and must match your hardware schematic. Incorrect pin assignment causes motors not to move or move the wrong axis.' corresponding_v1: alpha_step_pin corresponding_v2: actuator.alpha.step_pin, etc. valid_values: - value: STM32 pin specification in format PXn (e.g. description: '' - value: PD3) description: '' related_settings: - .dir_pin - .en_pin related_pages: - motion-control - pinout - stepper-motors - pin-configuration - name: y.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:266 section: '[actuator]' description: 'Y axis: GPIO pin used to send step pulses to the motor driver. Each rising edge on this pin advances the motor by one microstep. The pin must be connected to the STEP input of your stepper driver chip. Pin assignment is board-specific and must match your hardware schematic. Incorrect pin assignment causes motors not to move or move the wrong axis.' corresponding_v1: beta_step_pin corresponding_v2: actuator.alpha.step_pin, etc. valid_values: - value: STM32 pin specification in format PXn (e.g. description: '' - value: PD3) description: '' related_settings: - .dir_pin - .en_pin related_pages: - motion-control - pinout - stepper-motors - pin-configuration - name: z.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:266 section: '[actuator]' description: 'Z axis: GPIO pin used to send step pulses to the motor driver. Each rising edge on this pin advances the motor by one microstep. The pin must be connected to the STEP input of your stepper driver chip. Pin assignment is board-specific and must match your hardware schematic. Incorrect pin assignment causes motors not to move or move the wrong axis.' corresponding_v1: gamma_step_pin corresponding_v2: actuator.alpha.step_pin, etc. valid_values: - value: STM32 pin specification in format PXn (e.g. description: '' - value: PD3) description: '' related_settings: - .dir_pin - .en_pin related_pages: - motion-control - pinout - stepper-motors - pin-configuration - name: x.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:267 section: '[actuator]' description: 'X axis: GPIO pin used to control motor direction. The logic level on this pin determines whether the motor rotates clockwise or counter-clockwise when step pulses are sent. Add ! suffix to invert the direction signal if the motor runs backwards. Pin must be connected to the DIR input of your stepper driver.' corresponding_v1: alpha_dir_pin corresponding_v2: actuator.alpha.dir_pin, etc. valid_values: - value: STM32 pin specification with optional inversion description: '' related_settings: - .step_pin - .reversed related_pages: - motion-control - pinout - stepper-motors - pin-configuration - name: y.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:267 section: '[actuator]' description: 'Y axis: GPIO pin used to control motor direction. The logic level on this pin determines whether the motor rotates clockwise or counter-clockwise when step pulses are sent. Add ! suffix to invert the direction signal if the motor runs backwards. Pin must be connected to the DIR input of your stepper driver.' corresponding_v1: beta_dir_pin corresponding_v2: actuator.alpha.dir_pin, etc. valid_values: - value: STM32 pin specification with optional inversion description: '' related_settings: - .step_pin - .reversed related_pages: - motion-control - pinout - stepper-motors - pin-configuration - name: z.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:267 section: '[actuator]' description: 'Z axis: GPIO pin used to control motor direction. The logic level on this pin determines whether the motor rotates clockwise or counter-clockwise when step pulses are sent. Add ! suffix to invert the direction signal if the motor runs backwards. Pin must be connected to the DIR input of your stepper driver.' corresponding_v1: gamma_dir_pin corresponding_v2: actuator.alpha.dir_pin, etc. valid_values: - value: STM32 pin specification with optional inversion description: '' related_settings: - .step_pin - .reversed related_pages: - motion-control - pinout - stepper-motors - pin-configuration - name: x.en_pin type: pin default: nc (not connected, use common enable pin) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:268 section: '[actuator]' description: 'X axis: GPIO pin used to enable/disable this specific motor driver. When not connected (nc), motor enable is controlled by the global motors_enable_pin or by the driver itself. Some drivers always run (no enable needed), others use a global enable pin, and some require individual enable pins per motor.' corresponding_v1: alpha_en_pin corresponding_v2: actuator.alpha.en_pin, etc. valid_values: - value: STM32 pin specification or nc description: '' related_settings: - common.motors_enable_pin related_pages: - motion-control - pinout - stepper-motors - name: y.en_pin type: pin default: nc (not connected, use common enable pin) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:268 section: '[actuator]' description: 'Y axis: GPIO pin used to enable/disable this specific motor driver. When not connected (nc), motor enable is controlled by the global motors_enable_pin or by the driver itself. Some drivers always run (no enable needed), others use a global enable pin, and some require individual enable pins per motor.' corresponding_v1: beta_en_pin corresponding_v2: actuator.alpha.en_pin, etc. valid_values: - value: STM32 pin specification or nc description: '' related_settings: - common.motors_enable_pin related_pages: - motion-control - pinout - stepper-motors - name: z.en_pin type: pin default: nc (not connected, use common enable pin) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:268 section: '[actuator]' description: 'Z axis: GPIO pin used to enable/disable this specific motor driver. When not connected (nc), motor enable is controlled by the global motors_enable_pin or by the driver itself. Some drivers always run (no enable needed), others use a global enable pin, and some require individual enable pins per motor.' corresponding_v1: gamma_en_pin corresponding_v2: actuator.alpha.en_pin, etc. valid_values: - value: STM32 pin specification or nc description: '' related_settings: - common.motors_enable_pin related_pages: - motion-control - pinout - stepper-motors - name: x.microsteps type: number default: 32 module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:311 section: '[actuator]' description: 'X axis: Microstepping subdivision setting for the TMC stepper driver. Higher values provide smoother motion and finer resolution but reduce maximum achievable speed and increase CPU load. Lower values allow higher speeds but may cause vibration and reduce positioning resolution. The value is sent to the TMC driver chip to configure its internal interpolation.' corresponding_v1: none (configured in motor_driver_control in v1) corresponding_v2: actuator.alpha.microsteps, etc. valid_values: - value: 'Powers of 2: 1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: '256' description: '' related_settings: - .steps_per_mm - .max_rate related_pages: - motion-control - stepper-motors - advancedmotordriver - name: y.microsteps type: number default: 32 module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:311 section: '[actuator]' description: 'Y axis: Microstepping subdivision setting for the TMC stepper driver. Higher values provide smoother motion and finer resolution but reduce maximum achievable speed and increase CPU load. Lower values allow higher speeds but may cause vibration and reduce positioning resolution. The value is sent to the TMC driver chip to configure its internal interpolation.' corresponding_v1: none (configured in motor_driver_control in v1) corresponding_v2: actuator.alpha.microsteps, etc. valid_values: - value: 'Powers of 2: 1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: '256' description: '' related_settings: - .steps_per_mm - .max_rate related_pages: - motion-control - stepper-motors - advancedmotordriver - name: z.microsteps type: number default: 32 module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:311 section: '[actuator]' description: 'Z axis: Microstepping subdivision setting for the TMC stepper driver. Higher values provide smoother motion and finer resolution but reduce maximum achievable speed and increase CPU load. Lower values allow higher speeds but may cause vibration and reduce positioning resolution. The value is sent to the TMC driver chip to configure its internal interpolation.' corresponding_v1: none (configured in motor_driver_control in v1) corresponding_v2: actuator.alpha.microsteps, etc. valid_values: - value: 'Powers of 2: 1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: '256' description: '' related_settings: - .steps_per_mm - .max_rate related_pages: - motion-control - stepper-motors - advancedmotordriver - name: x.reversed type: bool default: false module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:271 section: '[actuator]' description: 'X axis: Reverse motor direction without modifying the dir_pin definition. When set to true, the firmware inverts the direction signal internally, which is cleaner than adding ! to the dir_pin setting. This makes configuration more readable and easier to understand. If dir_pin already has ! inversion, the firmware issues a warning and ignores this setting to avoid double-inversion.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.alpha.reversed, etc. related_settings: - .dir_pin related_pages: - motion-control - stepper-motors - name: y.reversed type: bool default: false module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:271 section: '[actuator]' description: 'Y axis: Reverse motor direction without modifying the dir_pin definition. When set to true, the firmware inverts the direction signal internally, which is cleaner than adding ! to the dir_pin setting. This makes configuration more readable and easier to understand. If dir_pin already has ! inversion, the firmware issues a warning and ignores this setting to avoid double-inversion.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.alpha.reversed, etc. related_settings: - .dir_pin related_pages: - motion-control - stepper-motors - name: z.reversed type: bool default: false module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:271 section: '[actuator]' description: 'Z axis: Reverse motor direction without modifying the dir_pin definition. When set to true, the firmware inverts the direction signal internally, which is cleaner than adding ! to the dir_pin setting. This makes configuration more readable and easier to understand. If dir_pin already has ! inversion, the firmware issues a warning and ignores this setting to avoid double-inversion.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.alpha.reversed, etc. related_settings: - .dir_pin related_pages: - motion-control - stepper-motors - name: x.driver type: enum default: tmc2590 or tmc2660 (Prime board, based on board ID), external (E1+) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:300 section: '[actuator]' description: 'X axis: Specifies the stepper driver chip type for this motor. Determines how the motor is controlled and which advanced features are available. TMC drivers provide SPI configuration, current control, stall detection, and diagnostics. External drivers use only step/dir/enable signals with no advanced features. The default driver type is automatically selected based on Smoothieboard v2 board ID.' corresponding_v1: motor_driver_control.{axis}.chip (completely restructured in v2) corresponding_v2: actuator.alpha.driver, etc. valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590 or tmc2660 section - current control related_pages: - motion-control - advancedmotordriver - stepper-motors - name: y.driver type: enum default: tmc2590 or tmc2660 (Prime board, based on board ID), external (E1+) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:300 section: '[actuator]' description: 'Y axis: Specifies the stepper driver chip type for this motor. Determines how the motor is controlled and which advanced features are available. TMC drivers provide SPI configuration, current control, stall detection, and diagnostics. External drivers use only step/dir/enable signals with no advanced features. The default driver type is automatically selected based on Smoothieboard v2 board ID.' corresponding_v1: motor_driver_control.{axis}.chip (completely restructured in v2) corresponding_v2: actuator.alpha.driver, etc. valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590 or tmc2660 section - current control related_pages: - motion-control - advancedmotordriver - stepper-motors - name: z.driver type: enum default: tmc2590 or tmc2660 (Prime board, based on board ID), external (E1+) module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:300 section: '[actuator]' description: 'Z axis: Specifies the stepper driver chip type for this motor. Determines how the motor is controlled and which advanced features are available. TMC drivers provide SPI configuration, current control, stall detection, and diagnostics. External drivers use only step/dir/enable signals with no advanced features. The default driver type is automatically selected based on Smoothieboard v2 board ID.' corresponding_v1: motor_driver_control.{axis}.chip (completely restructured in v2) corresponding_v2: actuator.alpha.driver, etc. valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590 or tmc2660 section - current control related_pages: - motion-control - advancedmotordriver - stepper-motors - name: delta.slaved_to type: string default: '"" (not slaved)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:319 section: '[actuator]' description: 'A/delta actuator: Slaves this secondary motor to alpha, beta, or gamma for a dual-motor X, Y, or Z axis. Only A/B/C actuators can be slaves, one slave is allowed per primary, and software slaving requires an internal TMC2590 or TMC2660 driver. The secondary actuator must be last in the contiguous actuator list.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.delta.slaved_to valid_values: - value: alpha description: '' - value: beta description: '' - value: gamma description: '' - value: '"" (empty = not slaved)' description: '' related_settings: - .driver related_pages: - actuator-slaving - stepper-motors - name: epsilon.slaved_to type: string default: '"" (not slaved)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:319 section: '[actuator]' description: 'B/epsilon actuator: Slaves this secondary motor to alpha, beta, or gamma for a dual-motor X, Y, or Z axis. Use epsilon when delta remains an independent A axis or is otherwise unavailable. The internal-TMC and actuator-ordering restrictions documented on the Slaved Axes page still apply.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.epsilon.slaved_to valid_values: - value: alpha description: '' - value: beta description: '' - value: gamma description: '' - value: '"" (empty = not slaved)' description: '' related_settings: - .driver related_pages: - actuator-slaving - stepper-motors - name: zeta.slaved_to type: string default: '"" (not slaved)' module: actuator context: Per-actuator setting defined_in: Firmware/src/robot/Robot.cpp:319 section: '[actuator]' description: 'C/zeta actuator: Slaves this secondary motor to alpha, beta, or gamma for a dual-motor X, Y, or Z axis. Use zeta when preceding actuator slots are occupied. The internal-TMC, one-slave, and contiguous-order restrictions documented on the Slaved Axes page still apply.' corresponding_v1: none (new feature in v2) corresponding_v2: actuator.zeta.slaved_to valid_values: - value: alpha description: '' - value: beta description: '' - value: gamma description: '' - value: '"" (empty = not slaved)' description: '' related_settings: - .driver related_pages: - actuator-slaving - stepper-motors - name: common.check_driver_errors type: bool default: true module: actuator context: Global setting affecting all actuators defined_in: Firmware/src/robot/Robot.cpp:383 section: '[actuator]' description: Enable periodic checking of TMC driver error status bits. When enabled, the firmware reads error registers from TMC2590/TMC2660 drivers to detect over-temperature warnings, over-temperature shutdown, short circuits to ground or supply, and other fault conditions. Errors are logged to console and can optionally trigger emergency halt. Disable only if experiencing false error reports. corresponding_v1: none (new feature in v2) corresponding_v2: actuator.common.check_driver_errors related_settings: - common.halt_on_driver_alarm related_pages: - motion-control - advancedmotordriver - name: common.halt_on_driver_alarm type: bool default: false module: actuator context: Global setting affecting all actuators defined_in: Firmware/src/robot/Robot.cpp:384 section: '[actuator]' description: Enter ON_HALT emergency state when any TMC driver error is detected. When true, the machine immediately stops all motion and disables motors if a driver fault occurs (over-temperature, short circuit, etc.). When false (default), errors are logged to console but the machine continues operating. Setting to true provides maximum safety but may cause false stops if drivers report spurious errors. corresponding_v1: none (new safety feature in v2) corresponding_v2: actuator.common.halt_on_driver_alarm related_settings: - common.check_driver_errors related_pages: - motion-control - advancedmotordriver - killbutton - name: common.motors_enable_pin type: pin default: PH13! (Prime board with TMC drivers), nc (no TMC drivers) module: actuator context: Global setting affecting all actuators defined_in: Firmware/src/robot/Robot.cpp:390 section: '[actuator]' description: Global enable pin that controls all motors simultaneously. When this pin is asserted (low with ! suffix), all motor drivers are enabled. When de-asserted, all drivers are disabled and motors are unpowered. This provides a master enable/disable control and is commonly used with emergency stop circuits. Pin assignment is board-specific. corresponding_v1: none (new feature in v2) corresponding_v2: actuator.common.motors_enable_pin valid_values: - value: STM32 pin specification with optional inversion or nc description: '' related_settings: - .en_pin related_pages: - motion-control - killbutton - emergencystop - name: arm_length type: number default: 250.0 units: mm module: linear_delta context: Linear delta kinematics parameter defined_in: Firmware/src/robot/arm_solutions/LinearDeltaSolution.cpp:31 section: '[linear delta]' description: Length of the diagonal rods connecting the carriages to the effector (end effector platform) in millimeters. This is the distance from the carriage pivot point to the effector pivot point. Critical parameter for delta kinematics - must be measured accurately for proper positioning. Longer arms generally allow for larger build volumes but may reduce precision at the edges. This value is used in all forward and inverse kinematics calculations. corresponding_v1: arm_length corresponding_v2: linear delta.arm_length description_bullets: - Measure from center of carriage ball joint to center of effector ball joint - Must be identical for all three arms on a delta printer - Typical values range from 200mm to 400mm depending on printer size - Longer arms = larger print volume but potentially less precision at edges - Critical for accurate positioning - measure carefully - Changes require recalibration with M665 in firmware related_settings: - arm_radius - arm_solution - delta_segments_per_second related_pages: - linear-delta - delta - calibration-delta examples: - 'arm_length = 250.0 # Standard for many delta printers' - 'arm_length = 300.0 # Larger delta with extended reach' - 'arm_length = 217.5 # Mini delta printer' - name: arm_radius type: number default: 124.0 units: mm module: linear_delta context: Linear delta kinematics parameter defined_in: Firmware/src/robot/arm_solutions/LinearDeltaSolution.cpp:33 section: '[linear delta]' description: Horizontal distance from the center of the build platform to the tower's carriage pivot point when the effector is centered and at Z=0. Also called delta radius. This defines the working radius of the delta printer. Along with arm_length, this is a critical calibration parameter. Smaller radius = more compact printer but smaller build volume. Larger radius = bigger build volume but requires longer arms. corresponding_v1: arm_radius corresponding_v2: linear delta.arm_radius description_bullets: - Distance from center to tower measured horizontally when effector is centered - Also known as delta radius or tower radius - Directly affects build volume diameter (build diameter ≈ 2 × arm_radius) - Must match physical printer geometry - Used with arm_length in all delta kinematics calculations - Changes require recalibration with M665 in firmware related_settings: - arm_length - arm_solution - delta_segments_per_second related_pages: - linear-delta - delta - calibration-delta examples: - 'arm_radius = 124.0 # Standard delta configuration' - 'arm_radius = 150.0 # Larger build volume delta' - 'arm_radius = 90.0 # Compact/mini delta' - name: Planner description: Planner setting_count: 4 settings: - name: junction_deviation type: number default: 0.05 (0.05mm) module: planner context: Global planner setting affecting all XY moves defined_in: Firmware/src/robot/Planner.cpp:40 description: Controls cornering speed using the junction deviation algorithm, which replaces traditional jerk-based acceleration control. This value represents the maximum allowable deviation from the true corner path when the toolhead changes direction. The algorithm treats each junction as tangent to a circular arc and uses centripetal acceleration approximation to calculate the maximum safe entry speed at path junctions. corresponding_v1: junction_deviation corresponding_v2: planner.junction_deviation units: mm related_settings: - planner.z_junction_deviation - motion_control.default_acceleration - actuator.{motor}.acceleration related_pages: - motion-control - planner - delta - cartesian - name: z_junction_deviation type: number default: -1 (disabled - uses standard junction_deviation value) module: planner context: Applied only to Z-axis-only moves (X=0, Y=0, Z≠0) defined_in: Firmware/src/robot/Planner.cpp:41 description: Separate junction deviation setting specifically for Z-axis-only moves, allowing different cornering behavior for the Z axis which often has different mechanical characteristics than XY axes (lead screws vs. belts). When set to -1 (default), Z-only moves use the standard junction_deviation value. Setting a specific value enables independent Z-axis cornering control. corresponding_v1: z_junction_deviation corresponding_v2: planner.z_junction_deviation units: mm valid_values: - value: -1 (disabled description: '' - value: uses junction_deviation value) or 0.0 to 0.2 (when enabled) description: '' related_settings: - planner.junction_deviation - motion_control.z_axis_max_speed - actuator.gamma.max_rate related_pages: - motion-control - planner - endstops - name: minimum_planner_speed type: number default: 0 module: planner context: Global speed floor applied during lookahead planning defined_in: Firmware/src/robot/Planner.cpp:42 description: Minimum speed the planner will allow during motion, setting a floor for entry/exit speeds at junctions. A value of 0.0 allows the planner to decelerate to a complete stop at corners when needed for precision. Non-zero values maintain continuous motion flow but may sacrifice dimensional accuracy at sharp corners. corresponding_v1: minimum_planner_speed corresponding_v2: planner.minimum_planner_speed units: mm/s related_settings: - motion_control.default_feed_rate - planner.junction_deviation - motion_control.default_acceleration related_pages: - motion-control - planner - name: planner_queue_size type: number default: 32 module: planner context: Allocated in DTCM RAM for fast access during motion planning defined_in: Firmware/src/robot/Planner.cpp:43 description: Number of motion blocks (movements) held in the planner queue for lookahead optimization. The planner performs forward and reverse passes across the entire queue to optimize acceleration profiles and cornering speeds. Larger queues enable smoother motion planning through better lookahead but consume more DTCM RAM. Each block holds complete motion data for one G-code move including step counts, acceleration parameters, and timing information for all actuators. corresponding_v1: planner_queue_size corresponding_v2: planner.planner_queue_size units: blocks (number of motion blocks) valid_values: - value: 16 to 128 (practical limits based on available DTCM RAM) description: '' related_settings: - motion_control.default_acceleration - planner.junction_deviation - motion_control.delta_segments_per_second related_pages: - motion-control - planner - delta - name: Conveyor description: Conveyor (Motion Queue Management) setting_count: 34 settings: - name: queue_delay_time_ms type: number default: 100 module: conveyor context: Global conveyor behavior setting defined_in: Firmware/src/robot/Conveyor.cpp:47 description: Time delay in milliseconds before the conveyor starts processing queued blocks after the first block enters an empty queue. This delay allows the queue to accumulate several blocks before execution begins, ensuring smoother motion planning and preventing stuttering on the first few moves of a job. The conveyor waits for either this timeout to expire OR for the queue to become full before allowing the StepTicker to fetch blocks for execution. corresponding_v1: queue_delay_time_ms (functionally identical, same default value) corresponding_v2: queue_delay_time_ms units: milliseconds related_settings: - planner.planner_queue_size related_pages: - motion-control - howitworks - name: x.steps_per_mm type: number default: 80 (for alpha/beta XY axes), 2560 (for gamma Z axis with lead screw), 700 (for delta extruder) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:370 description: 'X axis: Number of motor steps required to move one millimeter on the X axis. This is the most critical calibration setting as it defines the relationship between motor steps and physical distance. The value depends on motor step angle, microstepping setting, mechanical transmission ratio (belt pitch and pulley teeth for belt drives, or lead pitch for lead screws), and gear ratios for extruders.' corresponding_v1: alpha_steps_per_mm corresponding_v2: x.steps_per_mm units: steps/mm related_settings: - .microsteps - .max_rate - .driver related_pages: - stepper-motors - delta - extruder-guide - name: y.steps_per_mm type: number default: 80 (for alpha/beta XY axes), 2560 (for gamma Z axis with lead screw), 700 (for delta extruder) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:370 description: 'Y axis: Number of motor steps required to move one millimeter on the Y axis. This is the most critical calibration setting as it defines the relationship between motor steps and physical distance. The value depends on motor step angle, microstepping setting, mechanical transmission ratio (belt pitch and pulley teeth for belt drives, or lead pitch for lead screws), and gear ratios for extruders.' corresponding_v1: beta_steps_per_mm corresponding_v2: y.steps_per_mm units: steps/mm related_settings: - .microsteps - .max_rate - .driver related_pages: - stepper-motors - delta - extruder-guide - name: z.steps_per_mm type: number default: 80 (for alpha/beta XY axes), 2560 (for gamma Z axis with lead screw), 700 (for delta extruder) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:370 description: 'Z axis: Number of motor steps required to move one millimeter on the Z axis. This is the most critical calibration setting as it defines the relationship between motor steps and physical distance. The value depends on motor step angle, microstepping setting, mechanical transmission ratio (belt pitch and pulley teeth for belt drives, or lead pitch for lead screws), and gear ratios for extruders.' corresponding_v1: gamma_steps_per_mm corresponding_v2: z.steps_per_mm units: steps/mm related_settings: - .microsteps - .max_rate - .driver related_pages: - stepper-motors - delta - extruder-guide - name: x.max_rate type: number default: 30000 (500 mm/s) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:371 description: 'X axis: Maximum speed this actuator can achieve, specified in mm/min. Limits are enforced during motion planning to prevent missed steps, mechanical damage, or loss of position. The planner will never command this actuator to move faster than this rate. Value is specified in mm/min but converted internally to mm/s by dividing by 60.' corresponding_v1: alpha_max_rate corresponding_v2: x.max_rate units: mm/min related_settings: - motion control.x_axis_max_speed - motion control.y_axis_max_speed - motion control.z_axis_max_speed - .steps_per_mm - .acceleration related_pages: - motion-control - stepper-motors - name: y.max_rate type: number default: 30000 (500 mm/s) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:371 description: 'Y axis: Maximum speed this actuator can achieve, specified in mm/min. Limits are enforced during motion planning to prevent missed steps, mechanical damage, or loss of position. The planner will never command this actuator to move faster than this rate. Value is specified in mm/min but converted internally to mm/s by dividing by 60.' corresponding_v1: beta_max_rate corresponding_v2: y.max_rate units: mm/min related_settings: - motion control.x_axis_max_speed - motion control.y_axis_max_speed - motion control.z_axis_max_speed - .steps_per_mm - .acceleration related_pages: - motion-control - stepper-motors - name: z.max_rate type: number default: 30000 (500 mm/s) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:371 description: 'Z axis: Maximum speed this actuator can achieve, specified in mm/min. Limits are enforced during motion planning to prevent missed steps, mechanical damage, or loss of position. The planner will never command this actuator to move faster than this rate. Value is specified in mm/min but converted internally to mm/s by dividing by 60.' corresponding_v1: gamma_max_rate corresponding_v2: z.max_rate units: mm/min related_settings: - motion control.x_axis_max_speed - motion control.y_axis_max_speed - motion control.z_axis_max_speed - .steps_per_mm - .acceleration related_pages: - motion-control - stepper-motors - name: x.acceleration type: number default: -1 (use global motion control.default_acceleration) module: actuator context: Per-actuator instance setting (optional override of global default) defined_in: Firmware/src/robot/Robot.cpp:372 description: 'X axis: Acceleration and deceleration rate for this specific actuator in mm/s². When set to a positive value, this overrides the global motion control.default_acceleration setting for the X axis only. Use this to limit acceleration on heavy axes (typically Z) or axes with different mechanical characteristics. A value of -1 means use the global default acceleration.' corresponding_v1: none (v1 had global acceleration only, no per-axis override) corresponding_v2: x.acceleration units: mm/s² related_settings: - motion control.default_acceleration - planner.junction_deviation - .max_rate related_pages: - motion-control - name: y.acceleration type: number default: -1 (use global motion control.default_acceleration) module: actuator context: Per-actuator instance setting (optional override of global default) defined_in: Firmware/src/robot/Robot.cpp:372 description: 'Y axis: Acceleration and deceleration rate for this specific actuator in mm/s². When set to a positive value, this overrides the global motion control.default_acceleration setting for the Y axis only. Use this to limit acceleration on heavy axes (typically Z) or axes with different mechanical characteristics. A value of -1 means use the global default acceleration.' corresponding_v1: none (v1 had global acceleration only, no per-axis override) corresponding_v2: y.acceleration units: mm/s² related_settings: - motion control.default_acceleration - planner.junction_deviation - .max_rate related_pages: - motion-control - name: z.acceleration type: number default: -1 (use global motion control.default_acceleration) module: actuator context: Per-actuator instance setting (optional override of global default) defined_in: Firmware/src/robot/Robot.cpp:372 description: 'Z axis: Acceleration and deceleration rate for this specific actuator in mm/s². When set to a positive value, this overrides the global motion control.default_acceleration setting for the Z axis only. Use this to limit acceleration on heavy axes (typically Z) or axes with different mechanical characteristics. A value of -1 means use the global default acceleration.' corresponding_v1: none (v1 had global acceleration only, no per-axis override) corresponding_v2: z.acceleration units: mm/s² related_settings: - motion control.default_acceleration - planner.junction_deviation - .max_rate related_pages: - motion-control - name: x.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6)' module: actuator context: Per-actuator hardware pin mapping defined_in: Firmware/src/robot/Robot.cpp:266 description: 'X axis: MCU pin that outputs step pulses to the stepper motor driver. Each rising edge on this pin triggers the driver to advance the motor by one microstep. The step pulse duration is controlled by the global system.step_pulse_us setting. This pin must be connected to the STEP input of your stepper driver chip.' corresponding_v1: alpha_step_pin corresponding_v2: x.step_pin valid_values: - value: Valid STM32 pin name (e.g. description: '' - value: PD3 description: '' - value: PK2 description: '' - value: PE5) or nc (not connected) description: '' related_settings: - .dir_pin - .en_pin - system.step_pulse_us - system.step_frequency related_pages: - pinout - stepper-motors - name: y.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6)' module: actuator context: Per-actuator hardware pin mapping defined_in: Firmware/src/robot/Robot.cpp:266 description: 'Y axis: MCU pin that outputs step pulses to the stepper motor driver. Each rising edge on this pin triggers the driver to advance the motor by one microstep. The step pulse duration is controlled by the global system.step_pulse_us setting. This pin must be connected to the STEP input of your stepper driver chip.' corresponding_v1: beta_step_pin corresponding_v2: y.step_pin valid_values: - value: Valid STM32 pin name (e.g. description: '' - value: PD3 description: '' - value: PK2 description: '' - value: PE5) or nc (not connected) description: '' related_settings: - .dir_pin - .en_pin - system.step_pulse_us - system.step_frequency related_pages: - pinout - stepper-motors - name: z.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6)' module: actuator context: Per-actuator hardware pin mapping defined_in: Firmware/src/robot/Robot.cpp:266 description: 'Z axis: MCU pin that outputs step pulses to the stepper motor driver. Each rising edge on this pin triggers the driver to advance the motor by one microstep. The step pulse duration is controlled by the global system.step_pulse_us setting. This pin must be connected to the STEP input of your stepper driver chip.' corresponding_v1: gamma_step_pin corresponding_v2: z.step_pin valid_values: - value: Valid STM32 pin name (e.g. description: '' - value: PD3 description: '' - value: PK2 description: '' - value: PE5) or nc (not connected) description: '' related_settings: - .dir_pin - .en_pin - system.step_pulse_us - system.step_frequency related_pages: - pinout - stepper-motors - name: x.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5)' module: actuator context: Per-actuator hardware pin mapping defined_in: Firmware/src/robot/Robot.cpp:267 description: 'X axis: MCU pin that sets the rotation direction for the stepper motor driver. The logic level (high or low) determines whether the motor moves forward or reverse. If the motor moves in the wrong direction, either add the ! modifier to this pin OR use the .reversed setting (the reversed setting is preferred for clearer configuration).' corresponding_v1: alpha_dir_pin corresponding_v2: x.dir_pin valid_values: - value: Valid STM32 pin name with optional ! inversion modifier description: '' related_settings: - .step_pin - .reversed - .en_pin related_pages: - pinout - stepper-motors - name: y.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5)' module: actuator context: Per-actuator hardware pin mapping defined_in: Firmware/src/robot/Robot.cpp:267 description: 'Y axis: MCU pin that sets the rotation direction for the stepper motor driver. The logic level (high or low) determines whether the motor moves forward or reverse. If the motor moves in the wrong direction, either add the ! modifier to this pin OR use the .reversed setting (the reversed setting is preferred for clearer configuration).' corresponding_v1: beta_dir_pin corresponding_v2: y.dir_pin valid_values: - value: Valid STM32 pin name with optional ! inversion modifier description: '' related_settings: - .step_pin - .reversed - .en_pin related_pages: - pinout - stepper-motors - name: z.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5)' module: actuator context: Per-actuator hardware pin mapping defined_in: Firmware/src/robot/Robot.cpp:267 description: 'Z axis: MCU pin that sets the rotation direction for the stepper motor driver. The logic level (high or low) determines whether the motor moves forward or reverse. If the motor moves in the wrong direction, either add the ! modifier to this pin OR use the .reversed setting (the reversed setting is preferred for clearer configuration).' corresponding_v1: gamma_dir_pin corresponding_v2: z.dir_pin valid_values: - value: Valid STM32 pin name with optional ! inversion modifier description: '' related_settings: - .step_pin - .reversed - .en_pin related_pages: - pinout - stepper-motors - name: x.en_pin type: pin default: nc (not connected - Prime board uses driver chip enable control) module: actuator context: Per-actuator hardware pin mapping (optional) defined_in: Firmware/src/robot/Robot.cpp:268 description: 'X axis: Optional enable pin for stepper motor driver. On Prime board with TMC2590/TMC2660 drivers, this is typically set to nc (not connected) because the drivers have internal enable control and use the global common.motors_enable_pin instead. External stepper drivers may require individual enable pins, in which case configure them here.' corresponding_v1: alpha_en_pin corresponding_v2: x.en_pin valid_values: - value: Valid STM32 pin name with optional ! inversion description: '' - value: or nc description: '' related_settings: - common.motors_enable_pin - .step_pin - .dir_pin related_pages: - pinout - stepper-motors - name: y.en_pin type: pin default: nc (not connected - Prime board uses driver chip enable control) module: actuator context: Per-actuator hardware pin mapping (optional) defined_in: Firmware/src/robot/Robot.cpp:268 description: 'Y axis: Optional enable pin for stepper motor driver. On Prime board with TMC2590/TMC2660 drivers, this is typically set to nc (not connected) because the drivers have internal enable control and use the global common.motors_enable_pin instead. External stepper drivers may require individual enable pins, in which case configure them here.' corresponding_v1: beta_en_pin corresponding_v2: y.en_pin valid_values: - value: Valid STM32 pin name with optional ! inversion description: '' - value: or nc description: '' related_settings: - common.motors_enable_pin - .step_pin - .dir_pin related_pages: - pinout - stepper-motors - name: z.en_pin type: pin default: nc (not connected - Prime board uses driver chip enable control) module: actuator context: Per-actuator hardware pin mapping (optional) defined_in: Firmware/src/robot/Robot.cpp:268 description: 'Z axis: Optional enable pin for stepper motor driver. On Prime board with TMC2590/TMC2660 drivers, this is typically set to nc (not connected) because the drivers have internal enable control and use the global common.motors_enable_pin instead. External stepper drivers may require individual enable pins, in which case configure them here.' corresponding_v1: gamma_en_pin corresponding_v2: z.en_pin valid_values: - value: Valid STM32 pin name with optional ! inversion description: '' - value: or nc description: '' related_settings: - common.motors_enable_pin - .step_pin - .dir_pin related_pages: - pinout - stepper-motors - name: x.driver type: enum default: tmc2590 or tmc2660 (Prime board, auto-detected based on board_id), external (for epsilon and beyond) module: actuator context: Per-actuator driver type specification defined_in: Firmware/src/robot/Robot.cpp:300 description: 'X axis: Specifies the stepper driver chip type for this actuator. Prime board has onboard TMC2590 or TMC2660 drivers for the first four axes (alpha/beta/gamma/delta = XYZA). The specific chip type is auto-detected based on the board''s hardware ID. Additional axes (epsilon, zeta) or external expansion drivers must use "external" mode which provides basic step/dir/enable control without advanced TMC features.' corresponding_v1: none (v1 had external motor_driver_control module, v2 has integrated TMC support) corresponding_v2: x.driver valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590.* - tmc2660.* - current control..current related_pages: - advancedmotordriver - name: y.driver type: enum default: tmc2590 or tmc2660 (Prime board, auto-detected based on board_id), external (for epsilon and beyond) module: actuator context: Per-actuator driver type specification defined_in: Firmware/src/robot/Robot.cpp:300 description: 'Y axis: Specifies the stepper driver chip type for this actuator. Prime board has onboard TMC2590 or TMC2660 drivers for the first four axes (alpha/beta/gamma/delta = XYZA). The specific chip type is auto-detected based on the board''s hardware ID. Additional axes (epsilon, zeta) or external expansion drivers must use "external" mode which provides basic step/dir/enable control without advanced TMC features.' corresponding_v1: none (v1 had external motor_driver_control module, v2 has integrated TMC support) corresponding_v2: y.driver valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590.* - tmc2660.* - current control..current related_pages: - advancedmotordriver - name: z.driver type: enum default: tmc2590 or tmc2660 (Prime board, auto-detected based on board_id), external (for epsilon and beyond) module: actuator context: Per-actuator driver type specification defined_in: Firmware/src/robot/Robot.cpp:300 description: 'Z axis: Specifies the stepper driver chip type for this actuator. Prime board has onboard TMC2590 or TMC2660 drivers for the first four axes (alpha/beta/gamma/delta = XYZA). The specific chip type is auto-detected based on the board''s hardware ID. Additional axes (epsilon, zeta) or external expansion drivers must use "external" mode which provides basic step/dir/enable control without advanced TMC features.' corresponding_v1: none (v1 had external motor_driver_control module, v2 has integrated TMC support) corresponding_v2: z.driver valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590.* - tmc2660.* - current control..current related_pages: - advancedmotordriver - name: x.microsteps type: number default: 32 module: actuator context: Per-actuator driver microstepping configuration defined_in: Firmware/src/robot/Robot.cpp:311 description: Microstepping subdivision setting for the X axis's stepper driver. Microstepping divides each full motor step into smaller sub-steps for smoother motion and quieter operation. Higher microstepping values provide smoother motion and reduced noise but may limit maximum achievable speed and torque at high velocities. The Prime board default of 32 provides excellent balance between smoothness and performance. corresponding_v1: none (v1 configured microsteps in motor_driver_control module or via hardware jumpers) corresponding_v2: x.microsteps valid_values: - value: '1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: 256 (driver-dependent description: '' - value: TMC supports all description: '' - value: external drivers vary) description: '' related_settings: - .steps_per_mm - tmc2590..step_interpolation - .max_rate related_pages: - stepper-motors - advancedmotordriver - name: y.microsteps type: number default: 32 module: actuator context: Per-actuator driver microstepping configuration defined_in: Firmware/src/robot/Robot.cpp:311 description: Microstepping subdivision setting for the Y axis's stepper driver. Microstepping divides each full motor step into smaller sub-steps for smoother motion and quieter operation. Higher microstepping values provide smoother motion and reduced noise but may limit maximum achievable speed and torque at high velocities. The Prime board default of 32 provides excellent balance between smoothness and performance. corresponding_v1: none (v1 configured microsteps in motor_driver_control module or via hardware jumpers) corresponding_v2: y.microsteps valid_values: - value: '1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: 256 (driver-dependent description: '' - value: TMC supports all description: '' - value: external drivers vary) description: '' related_settings: - .steps_per_mm - tmc2590..step_interpolation - .max_rate related_pages: - stepper-motors - advancedmotordriver - name: z.microsteps type: number default: 32 module: actuator context: Per-actuator driver microstepping configuration defined_in: Firmware/src/robot/Robot.cpp:311 description: Microstepping subdivision setting for the Z axis's stepper driver. Microstepping divides each full motor step into smaller sub-steps for smoother motion and quieter operation. Higher microstepping values provide smoother motion and reduced noise but may limit maximum achievable speed and torque at high velocities. The Prime board default of 32 provides excellent balance between smoothness and performance. corresponding_v1: none (v1 configured microsteps in motor_driver_control module or via hardware jumpers) corresponding_v2: z.microsteps valid_values: - value: '1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: 256 (driver-dependent description: '' - value: TMC supports all description: '' - value: external drivers vary) description: '' related_settings: - .steps_per_mm - tmc2590..step_interpolation - .max_rate related_pages: - stepper-motors - advancedmotordriver - name: x.reversed type: bool default: false module: actuator context: Per-actuator direction control defined_in: Firmware/src/robot/Robot.cpp:271 description: 'X axis: Software-based reversal of motor direction without modifying hardware pin definitions. This is a cleaner and more readable alternative to adding the ! inversion modifier to .dir_pin. If the motor moves in the wrong direction during homing or normal moves, set this to true. If dir_pin already has the ! modifier, this setting is ignored and a warning is printed to avoid double-inversion.' corresponding_v1: none (v1 only supported pin inversion with ! modifier) corresponding_v2: x.reversed valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - .dir_pin related_pages: - stepper-motors - name: y.reversed type: bool default: false module: actuator context: Per-actuator direction control defined_in: Firmware/src/robot/Robot.cpp:271 description: 'Y axis: Software-based reversal of motor direction without modifying hardware pin definitions. This is a cleaner and more readable alternative to adding the ! inversion modifier to .dir_pin. If the motor moves in the wrong direction during homing or normal moves, set this to true. If dir_pin already has the ! modifier, this setting is ignored and a warning is printed to avoid double-inversion.' corresponding_v1: none (v1 only supported pin inversion with ! modifier) corresponding_v2: y.reversed valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - .dir_pin related_pages: - stepper-motors - name: z.reversed type: bool default: false module: actuator context: Per-actuator direction control defined_in: Firmware/src/robot/Robot.cpp:271 description: 'Z axis: Software-based reversal of motor direction without modifying hardware pin definitions. This is a cleaner and more readable alternative to adding the ! inversion modifier to .dir_pin. If the motor moves in the wrong direction during homing or normal moves, set this to true. If dir_pin already has the ! modifier, this setting is ignored and a warning is printed to avoid double-inversion.' corresponding_v1: none (v1 only supported pin inversion with ! modifier) corresponding_v2: z.reversed valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - .dir_pin related_pages: - stepper-motors - name: delta.slaved_to type: enum default: '"" (empty string = not slaved)' module: actuator context: Per-actuator dual-motor configuration (advanced) defined_in: Firmware/src/robot/Robot.cpp:319 description: 'A/delta actuator: Configures this secondary internal-TMC motor to mirror alpha, beta, or gamma. It ceases to be an independent A axis. Match the motor calibration and follow the one-slave and actuator-ordering restrictions on the Slaved Axes page.' corresponding_v1: none (v1 did not support axis slaving) corresponding_v2: delta.slaved_to valid_values: - value: alpha description: '' - value: beta description: '' - value: gamma description: '' - value: '"" (or none)' description: '' related_settings: - .steps_per_mm - .microsteps - .driver related_pages: - actuator-slaving - name: epsilon.slaved_to type: enum default: '"" (empty string = not slaved)' module: actuator context: Per-actuator dual-motor configuration (advanced) defined_in: Firmware/src/robot/Robot.cpp:319 description: 'B/epsilon actuator: Configures this secondary internal-TMC motor to mirror alpha, beta, or gamma. It ceases to be an independent B axis. Use it when delta remains independent, and follow the ordering restrictions on the Slaved Axes page.' corresponding_v1: none (v1 did not support axis slaving) corresponding_v2: epsilon.slaved_to valid_values: - value: alpha description: '' - value: beta description: '' - value: gamma description: '' - value: '"" (or none)' description: '' related_settings: - .steps_per_mm - .microsteps - .driver related_pages: - actuator-slaving - name: zeta.slaved_to type: enum default: '"" (empty string = not slaved)' module: actuator context: Per-actuator dual-motor configuration (advanced) defined_in: Firmware/src/robot/Robot.cpp:319 description: 'C/zeta actuator: Configures this secondary internal-TMC motor to mirror alpha, beta, or gamma. It ceases to be an independent C axis. Use it when earlier actuator slots are occupied, and follow the ordering restrictions on the Slaved Axes page.' corresponding_v1: none (v1 did not support axis slaving) corresponding_v2: zeta.slaved_to valid_values: - value: alpha description: '' - value: beta description: '' - value: gamma description: '' - value: '"" (or none)' description: '' related_settings: - .steps_per_mm - .microsteps - .driver related_pages: - actuator-slaving - name: common.check_driver_errors type: bool default: true module: actuator context: Global TMC driver error monitoring (TMC drivers only) defined_in: Firmware/src/robot/Robot.cpp:383 description: Enables periodic checking of TMC driver error status bits including overtemperature warnings, overtemperature shutdown, short circuit detection, open load detection, and stall detection if configured. Errors are logged to the console and may trigger system halt if halt_on_driver_alarm is also enabled. Checking occurs approximately once per second via the SlowTicker timer interrupt. corresponding_v1: none (v1 did not have integrated TMC driver support) corresponding_v2: common.check_driver_errors valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.halt_on_driver_alarm related_pages: - advancedmotordriver - troubleshooting - name: common.halt_on_driver_alarm type: bool default: false module: actuator context: Global TMC driver error response behavior (TMC drivers only) defined_in: Firmware/src/robot/Robot.cpp:384 description: If set to true, any TMC driver error immediately triggers the system to enter ON_HALT state (emergency stop), stopping all motion and disabling motors. If false (default), driver errors are logged to console but the system continues operation, allowing manual intervention. This setting provides a trade-off between safety (automatic halt) and operational flexibility (manual response to errors). Requires check_driver_errors to be enabled. corresponding_v1: none (v1 did not have integrated TMC driver support) corresponding_v2: common.halt_on_driver_alarm valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.check_driver_errors related_pages: - advancedmotordriver - troubleshooting - emergencystop - name: common.motors_enable_pin type: pin default: PH13! (Prime board with TMC drivers), nc (external drivers) module: actuator context: Global motor enable control for all drivers defined_in: Firmware/src/robot/Robot.cpp:390 description: Global enable pin that controls power or enable signal for all motor drivers simultaneously. On the Prime board with TMC drivers, this pin controls VCC_IO power to all TMC driver chips, serving as a master enable/disable for all motors. Setting this pin to true (accounting for inversion) enables all motors globally. Individual motor enable pins (.en_pin) can provide additional per-motor control on top of this global enable. corresponding_v1: none (v1 did not have global motor enable pin) corresponding_v2: common.motors_enable_pin valid_values: - value: Valid STM32 pin name with optional ! inversion description: '' - value: or nc description: '' related_settings: - .en_pin related_pages: - pinout - emergencystop - name: Actuators description: Actuators (Stepper Motors & Drivers) setting_count: 33 settings: - name: actuator.x.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6, others=nc)' module: actuator context: Per-actuator instance setting (one for each motor axis) defined_in: Firmware/src/robot/Robot.cpp:266 description: 'X axis: Defines the GPIO pin used for sending step pulses to the stepper motor driver for this actuator. Each step pulse advances the motor by one microstep according to the driver''s microstepping configuration. The pin must be connected to the STEP input of your stepper driver. Both step and dir pins must be defined for an axis to be active.' corresponding_v1: alpha_step_pin corresponding_v2: actuator.alpha.step_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator..dir_pin - actuator..en_pin - actuator..driver related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.y.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6, others=nc)' module: actuator context: Per-actuator instance setting (one for each motor axis) defined_in: Firmware/src/robot/Robot.cpp:266 description: 'Y axis: Defines the GPIO pin used for sending step pulses to the stepper motor driver for this actuator. Each step pulse advances the motor by one microstep according to the driver''s microstepping configuration. The pin must be connected to the STEP input of your stepper driver. Both step and dir pins must be defined for an axis to be active.' corresponding_v1: beta_step_pin corresponding_v2: actuator.alpha.step_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator..dir_pin - actuator..en_pin - actuator..driver related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.z.step_pin type: pin default: 'Board-specific (Prime: alpha=PD3, beta=PK2, gamma=PG3, delta=PC6, others=nc)' module: actuator context: Per-actuator instance setting (one for each motor axis) defined_in: Firmware/src/robot/Robot.cpp:266 description: 'Z axis: Defines the GPIO pin used for sending step pulses to the stepper motor driver for this actuator. Each step pulse advances the motor by one microstep according to the driver''s microstepping configuration. The pin must be connected to the STEP input of your stepper driver. Both step and dir pins must be defined for an axis to be active.' corresponding_v1: gamma_step_pin corresponding_v2: actuator.alpha.step_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator..dir_pin - actuator..en_pin - actuator..driver related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.x.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5, others=nc)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:267 description: 'X axis: Defines the GPIO pin used for controlling the direction signal to the stepper motor driver. This pin determines whether the motor rotates clockwise or counter-clockwise. The direction can be inverted by appending ! to the pin specification or by using the reversed setting.' corresponding_v1: alpha_dir_pin corresponding_v2: actuator.alpha.dir_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' - value: optionally with ! modifier for inversion description: '' related_settings: - actuator..step_pin - actuator..reversed - actuator..en_pin related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.y.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5, others=nc)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:267 description: 'Y axis: Defines the GPIO pin used for controlling the direction signal to the stepper motor driver. This pin determines whether the motor rotates clockwise or counter-clockwise. The direction can be inverted by appending ! to the pin specification or by using the reversed setting.' corresponding_v1: beta_dir_pin corresponding_v2: actuator.alpha.dir_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' - value: optionally with ! modifier for inversion description: '' related_settings: - actuator..step_pin - actuator..reversed - actuator..en_pin related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.z.dir_pin type: pin default: 'Board-specific (Prime: alpha=PD4, beta=PG2, gamma=PG4, delta=PG5, others=nc)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:267 description: 'Z axis: Defines the GPIO pin used for controlling the direction signal to the stepper motor driver. This pin determines whether the motor rotates clockwise or counter-clockwise. The direction can be inverted by appending ! to the pin specification or by using the reversed setting.' corresponding_v1: gamma_dir_pin corresponding_v2: actuator.alpha.dir_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' - value: optionally with ! modifier for inversion description: '' related_settings: - actuator..step_pin - actuator..reversed - actuator..en_pin related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.x.en_pin type: pin default: nc (not connected, uses driver enable or global enable instead) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:268 description: 'X axis: Defines the individual enable signal output pin for this specific stepper motor driver. When set, this pin controls whether the driver is enabled or disabled independently of other motors. Most configurations set this to nc and use either the global motors_enable_pin or driver-specific enable via SPI (for TMC drivers).' corresponding_v1: alpha_en_pin corresponding_v2: actuator.alpha.en_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator.common.motors_enable_pin - actuator..step_pin - actuator..dir_pin related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.y.en_pin type: pin default: nc (not connected, uses driver enable or global enable instead) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:268 description: 'Y axis: Defines the individual enable signal output pin for this specific stepper motor driver. When set, this pin controls whether the driver is enabled or disabled independently of other motors. Most configurations set this to nc and use either the global motors_enable_pin or driver-specific enable via SPI (for TMC drivers).' corresponding_v1: beta_en_pin corresponding_v2: actuator.alpha.en_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator.common.motors_enable_pin - actuator..step_pin - actuator..dir_pin related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.z.en_pin type: pin default: nc (not connected, uses driver enable or global enable instead) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:268 description: 'Z axis: Defines the individual enable signal output pin for this specific stepper motor driver. When set, this pin controls whether the driver is enabled or disabled independently of other motors. Most configurations set this to nc and use either the global motors_enable_pin or driver-specific enable via SPI (for TMC drivers).' corresponding_v1: gamma_en_pin corresponding_v2: actuator.alpha.en_pin, etc. (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator.common.motors_enable_pin - actuator..step_pin - actuator..dir_pin related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.x.steps_per_mm type: number default: 80.0 (XY axes), 2560.0 (Z axis), 700.0 (extruder typical) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:370 description: 'X axis: Specifies the number of motor steps required to move exactly 1mm on the X axis. This is the most critical calibration parameter for accurate positioning. The value depends on motor steps per revolution (typically 200 for 1.8° steppers, 400 for 0.9° steppers), microstepping setting, and mechanical transmission (belt pitch and pulley teeth for belts, thread pitch for lead screws).' corresponding_v1: alpha_steps_per_mm corresponding_v2: actuator.alpha.steps_per_mm, etc. (same setting) units: steps/mm related_settings: - actuator..microsteps - actuator..max_rate - motion control.default_acceleration related_pages: - stepper-motors - motion-control - extruder-guide - name: actuator.y.steps_per_mm type: number default: 80.0 (XY axes), 2560.0 (Z axis), 700.0 (extruder typical) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:370 description: 'Y axis: Specifies the number of motor steps required to move exactly 1mm on the Y axis. This is the most critical calibration parameter for accurate positioning. The value depends on motor steps per revolution (typically 200 for 1.8° steppers, 400 for 0.9° steppers), microstepping setting, and mechanical transmission (belt pitch and pulley teeth for belts, thread pitch for lead screws).' corresponding_v1: beta_steps_per_mm corresponding_v2: actuator.alpha.steps_per_mm, etc. (same setting) units: steps/mm related_settings: - actuator..microsteps - actuator..max_rate - motion control.default_acceleration related_pages: - stepper-motors - motion-control - extruder-guide - name: actuator.z.steps_per_mm type: number default: 80.0 (XY axes), 2560.0 (Z axis), 700.0 (extruder typical) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:370 description: 'Z axis: Specifies the number of motor steps required to move exactly 1mm on the Z axis. This is the most critical calibration parameter for accurate positioning. The value depends on motor steps per revolution (typically 200 for 1.8° steppers, 400 for 0.9° steppers), microstepping setting, and mechanical transmission (belt pitch and pulley teeth for belts, thread pitch for lead screws).' corresponding_v1: gamma_steps_per_mm corresponding_v2: actuator.alpha.steps_per_mm, etc. (same setting) units: steps/mm related_settings: - actuator..microsteps - actuator..max_rate - motion control.default_acceleration related_pages: - stepper-motors - motion-control - extruder-guide - name: actuator.x.max_rate type: number default: 30000 module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:371 description: 'X axis: Defines the maximum speed for this actuator in millimeters per minute. This value is converted internally to mm/sec by dividing by 60. The maximum rate limits how fast the motor can move and prevents the stepper from skipping steps or stalling due to excessive speed. This should be set conservatively based on your mechanical system''s capabilities.' corresponding_v1: alpha_max_rate corresponding_v2: actuator.alpha.max_rate, etc. (same setting) units: 'mm/min (NOTE: Different from most other speed settings which use mm/sec)' related_settings: - actuator..steps_per_mm - actuator..acceleration - motion control.x_axis_max_speed related_pages: - motion-control - stepper-motors - name: actuator.y.max_rate type: number default: 30000 module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:371 description: 'Y axis: Defines the maximum speed for this actuator in millimeters per minute. This value is converted internally to mm/sec by dividing by 60. The maximum rate limits how fast the motor can move and prevents the stepper from skipping steps or stalling due to excessive speed. This should be set conservatively based on your mechanical system''s capabilities.' corresponding_v1: beta_max_rate corresponding_v2: actuator.alpha.max_rate, etc. (same setting) units: 'mm/min (NOTE: Different from most other speed settings which use mm/sec)' related_settings: - actuator..steps_per_mm - actuator..acceleration - motion control.x_axis_max_speed related_pages: - motion-control - stepper-motors - name: actuator.z.max_rate type: number default: 30000 module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:371 description: 'Z axis: Defines the maximum speed for this actuator in millimeters per minute. This value is converted internally to mm/sec by dividing by 60. The maximum rate limits how fast the motor can move and prevents the stepper from skipping steps or stalling due to excessive speed. This should be set conservatively based on your mechanical system''s capabilities.' corresponding_v1: gamma_max_rate corresponding_v2: actuator.alpha.max_rate, etc. (same setting) units: 'mm/min (NOTE: Different from most other speed settings which use mm/sec)' related_settings: - actuator..steps_per_mm - actuator..acceleration - motion control.x_axis_max_speed related_pages: - motion-control - stepper-motors - name: actuator.x.acceleration type: number default: -1 (use motion control.default_acceleration instead) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:372 description: 'X axis: Per-axis acceleration override that allows setting a different acceleration value for this specific actuator, independent of the global default acceleration. This is particularly useful for Z-axis which often requires lower acceleration than XY axes to prevent layer artifacts or skipped steps. When set to -1 (default), the motor uses the global motion control.default_acceleration value.' corresponding_v1: none (v1 did not support per-axis acceleration, only global acceleration or z_acceleration) corresponding_v2: actuator.alpha.acceleration, etc. (new feature in v2) units: mm/sec² valid_values: - value: Float >= -1 (use -1 to use global default acceleration) description: '' related_settings: - motion control.default_acceleration - actuator..max_rate - planner.junction_deviation related_pages: - motion-control - stepper-motors - name: actuator.y.acceleration type: number default: -1 (use motion control.default_acceleration instead) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:372 description: 'Y axis: Per-axis acceleration override that allows setting a different acceleration value for this specific actuator, independent of the global default acceleration. This is particularly useful for Z-axis which often requires lower acceleration than XY axes to prevent layer artifacts or skipped steps. When set to -1 (default), the motor uses the global motion control.default_acceleration value.' corresponding_v1: none (v1 did not support per-axis acceleration, only global acceleration or z_acceleration) corresponding_v2: actuator.alpha.acceleration, etc. (new feature in v2) units: mm/sec² valid_values: - value: Float >= -1 (use -1 to use global default acceleration) description: '' related_settings: - motion control.default_acceleration - actuator..max_rate - planner.junction_deviation related_pages: - motion-control - stepper-motors - name: actuator.z.acceleration type: number default: -1 (use motion control.default_acceleration instead) module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:372 description: 'Z axis: Per-axis acceleration override that allows setting a different acceleration value for this specific actuator, independent of the global default acceleration. This is particularly useful for Z-axis which often requires lower acceleration than XY axes to prevent layer artifacts or skipped steps. When set to -1 (default), the motor uses the global motion control.default_acceleration value.' corresponding_v1: none (v1 did not support per-axis acceleration, only global acceleration or z_acceleration) corresponding_v2: actuator.alpha.acceleration, etc. (new feature in v2) units: mm/sec² valid_values: - value: Float >= -1 (use -1 to use global default acceleration) description: '' related_settings: - motion control.default_acceleration - actuator..max_rate - planner.junction_deviation related_pages: - motion-control - stepper-motors - name: actuator.x.driver type: string default: 'Board-dependent (Prime: tmc2590 or tmc2660 for XYZ+A based on board ID, external for B+C)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:300 description: 'X axis: Specifies the stepper driver chip type used for this actuator. This setting determines how the firmware communicates with and controls the motor driver. On Smoothieboard v2 Prime, the driver type is auto-detected based on the board hardware version, but can be overridden. For axes using TMC drivers, additional configuration in [tmc2590] or [tmc2660] sections is required.' corresponding_v1: motor_driver_control.*.chip (but semantics very different - v1 used external SPI drivers, v2 has integrated TMC drivers) corresponding_v2: actuator.alpha.driver, etc. (same setting) valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590..spi_cs_pin - tmc2660..spi_cs_pin - current control..current related_pages: - smoothieboard-v2-prime - stepper-motors - advancedmotordriver - name: actuator.y.driver type: string default: 'Board-dependent (Prime: tmc2590 or tmc2660 for XYZ+A based on board ID, external for B+C)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:300 description: 'Y axis: Specifies the stepper driver chip type used for this actuator. This setting determines how the firmware communicates with and controls the motor driver. On Smoothieboard v2 Prime, the driver type is auto-detected based on the board hardware version, but can be overridden. For axes using TMC drivers, additional configuration in [tmc2590] or [tmc2660] sections is required.' corresponding_v1: motor_driver_control.*.chip (but semantics very different - v1 used external SPI drivers, v2 has integrated TMC drivers) corresponding_v2: actuator.alpha.driver, etc. (same setting) valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590..spi_cs_pin - tmc2660..spi_cs_pin - current control..current related_pages: - smoothieboard-v2-prime - stepper-motors - advancedmotordriver - name: actuator.z.driver type: string default: 'Board-dependent (Prime: tmc2590 or tmc2660 for XYZ+A based on board ID, external for B+C)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:300 description: 'Z axis: Specifies the stepper driver chip type used for this actuator. This setting determines how the firmware communicates with and controls the motor driver. On Smoothieboard v2 Prime, the driver type is auto-detected based on the board hardware version, but can be overridden. For axes using TMC drivers, additional configuration in [tmc2590] or [tmc2660] sections is required.' corresponding_v1: motor_driver_control.*.chip (but semantics very different - v1 used external SPI drivers, v2 has integrated TMC drivers) corresponding_v2: actuator.alpha.driver, etc. (same setting) valid_values: - value: tmc2590 description: '' - value: tmc2660 description: '' - value: external description: '' related_settings: - tmc2590..spi_cs_pin - tmc2660..spi_cs_pin - current control..current related_pages: - smoothieboard-v2-prime - stepper-motors - advancedmotordriver - name: actuator.x.microsteps type: number default: 32 module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:311 description: 'X axis: Sets the microstepping divisor for this stepper driver. Microstepping divides each full motor step into smaller increments for smoother motion and reduced vibration. Higher microstepping values provide smoother motion but reduce maximum achievable speed and torque. This setting directly affects the steps_per_mm calculation.' corresponding_v1: motor_driver_control.*.microsteps (for external SPI drivers in v1) corresponding_v2: actuator.alpha.microsteps, etc. (same setting) valid_values: - value: '1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: 256 (driver dependent) description: '' related_settings: - actuator..steps_per_mm - tmc2590..step_interpolation - tmc2660..step_interpolation related_pages: - stepper-motors - advancedmotordriver - name: actuator.y.microsteps type: number default: 32 module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:311 description: 'Y axis: Sets the microstepping divisor for this stepper driver. Microstepping divides each full motor step into smaller increments for smoother motion and reduced vibration. Higher microstepping values provide smoother motion but reduce maximum achievable speed and torque. This setting directly affects the steps_per_mm calculation.' corresponding_v1: motor_driver_control.*.microsteps (for external SPI drivers in v1) corresponding_v2: actuator.alpha.microsteps, etc. (same setting) valid_values: - value: '1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: 256 (driver dependent) description: '' related_settings: - actuator..steps_per_mm - tmc2590..step_interpolation - tmc2660..step_interpolation related_pages: - stepper-motors - advancedmotordriver - name: actuator.z.microsteps type: number default: 32 module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:311 description: 'Z axis: Sets the microstepping divisor for this stepper driver. Microstepping divides each full motor step into smaller increments for smoother motion and reduced vibration. Higher microstepping values provide smoother motion but reduce maximum achievable speed and torque. This setting directly affects the steps_per_mm calculation.' corresponding_v1: motor_driver_control.*.microsteps (for external SPI drivers in v1) corresponding_v2: actuator.alpha.microsteps, etc. (same setting) valid_values: - value: '1' description: '' - value: '2' description: '' - value: '4' description: '' - value: '8' description: '' - value: '16' description: '' - value: '32' description: '' - value: '64' description: '' - value: '128' description: '' - value: 256 (driver dependent) description: '' related_settings: - actuator..steps_per_mm - tmc2590..step_interpolation - tmc2660..step_interpolation related_pages: - stepper-motors - advancedmotordriver - name: actuator.x.reversed type: bool default: false module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:271 description: 'X axis: Reverses the motor direction by inverting the direction signal without modifying the pin definition. This provides a cleaner and more readable way to reverse motor direction compared to using the ! modifier on the dir_pin setting. When set to true, the firmware inverts the direction signal internally.' corresponding_v1: none (v1 used ! modifier on dir_pin only) corresponding_v2: actuator.alpha.reversed, etc. (same setting) valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - actuator..dir_pin - actuator..slaved_to related_pages: - stepper-motors - smoothieboard-v2-prime - name: actuator.y.reversed type: bool default: false module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:271 description: 'Y axis: Reverses the motor direction by inverting the direction signal without modifying the pin definition. This provides a cleaner and more readable way to reverse motor direction compared to using the ! modifier on the dir_pin setting. When set to true, the firmware inverts the direction signal internally.' corresponding_v1: none (v1 used ! modifier on dir_pin only) corresponding_v2: actuator.alpha.reversed, etc. (same setting) valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - actuator..dir_pin - actuator..slaved_to related_pages: - stepper-motors - smoothieboard-v2-prime - name: actuator.z.reversed type: bool default: false module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:271 description: 'Z axis: Reverses the motor direction by inverting the direction signal without modifying the pin definition. This provides a cleaner and more readable way to reverse motor direction compared to using the ! modifier on the dir_pin setting. When set to true, the firmware inverts the direction signal internally.' corresponding_v1: none (v1 used ! modifier on dir_pin only) corresponding_v2: actuator.alpha.reversed, etc. (same setting) valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - actuator..dir_pin - actuator..slaved_to related_pages: - stepper-motors - smoothieboard-v2-prime - name: actuator.x.slaved_to type: string default: '"" (empty string, not slaved)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:319 description: 'X axis: Configures this actuator to be slaved to another axis for dual-motor configurations such as dual Y-axis motors for gantry machines. Only axes A, B, C (delta, epsilon, zeta) can be slaved to X, Y, Z (alpha, beta, gamma). The slaved actuator moves in sync with its master but is not registered in the actuators array.' corresponding_v1: none (slaved actuators are a new feature in v2) corresponding_v2: actuator.epsilon.slaved_to, etc. (same setting) valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: or empty string (not slaved) description: '' related_settings: - actuator..reversed - endstops..axis - current control..current related_pages: - smoothieboard-v2-prime - stepper-motors - endstops - name: actuator.y.slaved_to type: string default: '"" (empty string, not slaved)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:319 description: 'Y axis: Configures this actuator to be slaved to another axis for dual-motor configurations such as dual Y-axis motors for gantry machines. Only axes A, B, C (delta, epsilon, zeta) can be slaved to X, Y, Z (alpha, beta, gamma). The slaved actuator moves in sync with its master but is not registered in the actuators array.' corresponding_v1: none (slaved actuators are a new feature in v2) corresponding_v2: actuator.epsilon.slaved_to, etc. (same setting) valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: or empty string (not slaved) description: '' related_settings: - actuator..reversed - endstops..axis - current control..current related_pages: - smoothieboard-v2-prime - stepper-motors - endstops - name: actuator.z.slaved_to type: string default: '"" (empty string, not slaved)' module: actuator context: Per-actuator instance setting defined_in: Firmware/src/robot/Robot.cpp:319 description: 'Z axis: Configures this actuator to be slaved to another axis for dual-motor configurations such as dual Y-axis motors for gantry machines. Only axes A, B, C (delta, epsilon, zeta) can be slaved to X, Y, Z (alpha, beta, gamma). The slaved actuator moves in sync with its master but is not registered in the actuators array.' corresponding_v1: none (slaved actuators are a new feature in v2) corresponding_v2: actuator.epsilon.slaved_to, etc. (same setting) valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: or empty string (not slaved) description: '' related_settings: - actuator..reversed - endstops..axis - current control..current related_pages: - smoothieboard-v2-prime - stepper-motors - endstops - name: actuator.common.motors_enable_pin type: pin default: PH13! (Prime with TMC drivers), nc (external drivers) module: actuator context: Common setting (applies to all actuators globally) defined_in: Firmware/src/robot/Robot.cpp:390 description: Defines a global enable pin that controls power to all stepper motors simultaneously. This acts as a master enable/disable switch for all motors. When the pin is set high (or low if inverted), all motors are enabled; when toggled off, all motors are disabled. On Prime board with TMC drivers, this is typically set to PH13! (inverted because TMC chips use active-low enable). corresponding_v1: none (v1 used individual enable pins, not global enable) corresponding_v2: actuator.common.motors_enable_pin (same setting) valid_values: - value: Pin specification in format P or nc description: '' related_settings: - actuator..en_pin - actuator.common.check_driver_errors - kill button.enable related_pages: - smoothieboard-v2-prime - pin-configuration - stepper-motors - name: actuator.common.check_driver_errors type: bool default: true module: actuator context: Common setting (applies to all TMC drivers) defined_in: Firmware/src/robot/Robot.cpp:383 description: Enables real-time checking of TMC driver error status bits including overtemperature, short circuit, and open load conditions. When enabled, the firmware periodically reads driver status registers and reports any detected errors to the console. This is a safety feature specific to TMC2590 and TMC2660 drivers. corresponding_v1: none (driver error checking is a new feature for TMC drivers in v2) corresponding_v2: actuator.common.check_driver_errors (same setting) valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - actuator.common.halt_on_driver_alarm - actuator..driver related_pages: - smoothieboard-v2-prime - advancedmotordriver - troubleshooting - name: actuator.common.halt_on_driver_alarm type: bool default: false module: actuator context: Common setting (applies to all TMC drivers) defined_in: Firmware/src/robot/Robot.cpp:384 description: Determines whether the system immediately enters HALT state when a TMC driver reports an error condition. When enabled, any driver alarm (overtemperature, short circuit, open load) causes the system to stop all operations immediately. When disabled (default), errors are logged to the console but execution continues. corresponding_v1: motor_driver_control.*.alarm (similar concept but different implementation) corresponding_v2: actuator.common.halt_on_driver_alarm (same setting) valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - actuator.common.check_driver_errors - kill button.enable related_pages: - smoothieboard-v2-prime - advancedmotordriver - troubleshooting - stopping-smoothie - name: Current Control description: Motor current control for stepper drivers setting_count: 12 settings: - name: alpha.current type: number default: 1.5 (typical for X/Y/Z axes), 0.8 (typical for extruders), no hardcoded default (must be configured) module: currentcontrol context: Per-axis motor current configuration defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:78 section: '[current control]' description: Sets the motor current for the alpha axis (X axis in Cartesian machines) in Amperes. This setting controls how much current is delivered to the stepper motor driver. On Prime boards with TMC2590/TMC2660 drivers, this is set via SPI communication to the driver chip. On BOARD_MINIALPHA boards, this uses PWM control. Higher current provides more torque but generates more heat. Set this to match your motor's rated current, typically 80-90% of the motor's maximum rated current to prevent overheating. Current can be adjusted at runtime using M906 (milliamps) or M907 (amps) G-codes, and saved with M500. corresponding_v1: motor_driver_control.alpha.current (in motor_driver_control module) corresponding_v2: current control.alpha.current units: A (Amperes) valid_values: - value: Positive number, typically 0.5 to 2.5 depending on motor specifications description: '' related_settings: - alpha.driver - tmc2590.alpha.* - tmc2660.alpha.* - alpha.microsteps - alpha.standstill_current related_pages: - currentcontrol - advancedmotordriver - stepper-motors - name: beta.current type: number default: 1.5 (typical for X/Y/Z axes), 0.8 (typical for extruders), no hardcoded default (must be configured) module: currentcontrol context: Per-axis motor current configuration defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:78 section: '[current control]' description: Sets the motor current for the beta axis (Y axis in Cartesian machines) in Amperes. This setting controls how much current is delivered to the stepper motor driver. On Prime boards with TMC2590/TMC2660 drivers, this is set via SPI communication to the driver chip. On BOARD_MINIALPHA boards, this uses PWM control. Higher current provides more torque but generates more heat. Set this to match your motor's rated current, typically 80-90% of the motor's maximum rated current to prevent overheating. Current can be adjusted at runtime using M906 (milliamps) or M907 (amps) G-codes, and saved with M500. corresponding_v1: motor_driver_control.beta.current (in motor_driver_control module) corresponding_v2: current control.beta.current units: A (Amperes) valid_values: - value: Positive number, typically 0.5 to 2.5 depending on motor specifications description: '' related_settings: - beta.driver - tmc2590.beta.* - tmc2660.beta.* - beta.microsteps - beta.standstill_current related_pages: - currentcontrol - advancedmotordriver - stepper-motors - name: gamma.current type: number default: 1.0 (typical for Z axis), 1.5 (typical for X/Y), no hardcoded default (must be configured) module: currentcontrol context: Per-axis motor current configuration defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:78 section: '[current control]' description: Sets the motor current for the gamma axis (Z axis in Cartesian machines) in Amperes. This setting controls how much current is delivered to the stepper motor driver. On Prime boards with TMC2590/TMC2660 drivers, this is set via SPI communication to the driver chip. On BOARD_MINIALPHA boards, this uses PWM control. Higher current provides more torque but generates more heat. Z axis often uses slightly lower current than X/Y since it typically has mechanical advantage from lead screws. Set this to match your motor's rated current, typically 80-90% of the motor's maximum rated current to prevent overheating. Current can be adjusted at runtime using M906 (milliamps) or M907 (amps) G-codes, and saved with M500. corresponding_v1: motor_driver_control.gamma.current (in motor_driver_control module) corresponding_v2: current control.gamma.current units: A (Amperes) valid_values: - value: Positive number, typically 0.5 to 2.5 depending on motor specifications description: '' related_settings: - gamma.driver - tmc2590.gamma.* - tmc2660.gamma.* - gamma.microsteps - gamma.standstill_current related_pages: - currentcontrol - advancedmotordriver - stepper-motors - name: delta.current type: number default: 0.8 (typical for extruders), 1.8 (typical for A axis on CNC), no hardcoded default (must be configured) module: currentcontrol context: Per-axis motor current configuration defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:78 section: '[current control]' description: Sets the motor current for the delta axis (A axis, typically first extruder E0 on 3D printers, or rotary A axis on CNC machines) in Amperes. This setting controls how much current is delivered to the stepper motor driver. On Prime boards with TMC2590/TMC2660 drivers, this is set via SPI communication to the driver chip. On BOARD_MINIALPHA boards, this uses PWM control. Extruder motors typically use lower current (0.8-1.2A) than positioning axes since they need less torque. Higher current provides more torque but generates more heat. Set this to match your motor's rated current, typically 80-90% of the motor's maximum rated current to prevent overheating. Current can be adjusted at runtime using M906 (milliamps) or M907 (amps) G-codes, and saved with M500. corresponding_v1: motor_driver_control.delta.current (in motor_driver_control module) corresponding_v2: current control.delta.current units: A (Amperes) valid_values: - value: Positive number, typically 0.5 to 2.5 depending on motor specifications description: '' related_settings: - delta.driver - tmc2590.delta.* - tmc2660.delta.* - delta.microsteps - delta.standstill_current related_pages: - currentcontrol - advancedmotordriver - stepper-motors - extruder - name: epsilon.current type: number default: 0.8 (typical for extruders), 1.8 (typical for B axis on CNC), no hardcoded default (must be configured) module: currentcontrol context: Per-axis motor current configuration defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:78 section: '[current control]' description: Sets the motor current for the epsilon axis (B axis, typically second extruder E1 on 3D printers, or rotary B axis on CNC machines) in Amperes. This setting controls how much current is delivered to the stepper motor driver. Note that on Prime boards, only the first four axes (alpha/beta/gamma/delta = XYZA) have onboard TMC2590/TMC2660 drivers. The epsilon axis typically uses an external driver which must be set to "external" mode in the actuator configuration. For external drivers, current control may need to be set via hardware potentiometers on the driver board rather than this software setting. Current can be adjusted at runtime using M906 (milliamps) or M907 (amps) G-codes, and saved with M500. corresponding_v1: motor_driver_control.epsilon.current (in motor_driver_control module) corresponding_v2: current control.epsilon.current units: A (Amperes) valid_values: - value: Positive number, typically 0.5 to 2.5 depending on motor specifications description: '' related_settings: - epsilon.driver - epsilon.microsteps - epsilon.standstill_current related_pages: - currentcontrol - advancedmotordriver - stepper-motors - multiple-extruders - name: zeta.current type: number default: 0.8 (typical for extruders), 1.8 (typical for C axis on CNC), no hardcoded default (must be configured) module: currentcontrol context: Per-axis motor current configuration defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:78 section: '[current control]' description: Sets the motor current for the zeta axis (C axis, typically third extruder E2 on 3D printers, or rotary C axis on CNC machines) in Amperes. This setting controls how much current is delivered to the stepper motor driver. Note that on Prime boards, only the first four axes (alpha/beta/gamma/delta = XYZA) have onboard TMC2590/TMC2660 drivers. The zeta axis typically uses an external driver which must be set to "external" mode in the actuator configuration. For external drivers, current control may need to be set via hardware potentiometers on the driver board rather than this software setting. Current can be adjusted at runtime using M906 (milliamps) or M907 (amps) G-codes, and saved with M500. corresponding_v1: motor_driver_control.zeta.current (in motor_driver_control module) corresponding_v2: current control.zeta.current units: A (Amperes) valid_values: - value: Positive number, typically 0.5 to 2.5 depending on motor specifications description: '' related_settings: - zeta.driver - zeta.microsteps - zeta.standstill_current related_pages: - currentcontrol - advancedmotordriver - stepper-motors - multiple-extruders - name: alpha.pin type: pin default: '"nc" (not connected, not used on most boards)' module: currentcontrol context: PWM-based current control (BOARD_MINIALPHA only) defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:86 section: '[current control]' description: PWM pin for controlling the alpha axis motor current on boards that use PWM-based current control (specifically BOARD_MINIALPHA). Most Smoothieboard configurations do not use this setting as they rely on SPI-controlled TMC drivers or external drivers with hardware current adjustment. This pin outputs a PWM signal that controls a current control circuit, with the duty cycle proportional to the desired current. The formula used is PWM = current / 2.0625. Only configure this if you have a custom board design that uses PWM-based current control and you know the specific pin assignment. Standard Prime boards do not use this setting. corresponding_v1: none (PWM current control is specific to certain v2 board designs) corresponding_v2: current control.alpha.pin valid_values: - value: Valid STM32 pin name (e.g., "PA5") or "nc" for not connected description: '' related_settings: - alpha.current - alpha.driver related_pages: - currentcontrol - pin-configuration - name: beta.pin type: pin default: '"nc" (not connected, not used on most boards)' module: currentcontrol context: PWM-based current control (BOARD_MINIALPHA only) defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:86 section: '[current control]' description: PWM pin for controlling the beta axis motor current on boards that use PWM-based current control (specifically BOARD_MINIALPHA). Most Smoothieboard configurations do not use this setting as they rely on SPI-controlled TMC drivers or external drivers with hardware current adjustment. This pin outputs a PWM signal that controls a current control circuit, with the duty cycle proportional to the desired current. The formula used is PWM = current / 2.0625. Only configure this if you have a custom board design that uses PWM-based current control and you know the specific pin assignment. Standard Prime boards do not use this setting. corresponding_v1: none (PWM current control is specific to certain v2 board designs) corresponding_v2: current control.beta.pin valid_values: - value: Valid STM32 pin name (e.g., "PA6") or "nc" for not connected description: '' related_settings: - beta.current - beta.driver related_pages: - currentcontrol - pin-configuration - name: gamma.pin type: pin default: '"nc" (not connected, not used on most boards)' module: currentcontrol context: PWM-based current control (BOARD_MINIALPHA only) defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:86 section: '[current control]' description: PWM pin for controlling the gamma axis motor current on boards that use PWM-based current control (specifically BOARD_MINIALPHA). Most Smoothieboard configurations do not use this setting as they rely on SPI-controlled TMC drivers or external drivers with hardware current adjustment. This pin outputs a PWM signal that controls a current control circuit, with the duty cycle proportional to the desired current. The formula used is PWM = current / 2.0625. Only configure this if you have a custom board design that uses PWM-based current control and you know the specific pin assignment. Standard Prime boards do not use this setting. corresponding_v1: none (PWM current control is specific to certain v2 board designs) corresponding_v2: current control.gamma.pin valid_values: - value: Valid STM32 pin name (e.g., "PA7") or "nc" for not connected description: '' related_settings: - gamma.current - gamma.driver related_pages: - currentcontrol - pin-configuration - name: delta.pin type: pin default: '"nc" (not connected, not used on most boards)' module: currentcontrol context: PWM-based current control (BOARD_MINIALPHA only) defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:86 section: '[current control]' description: PWM pin for controlling the delta axis motor current on boards that use PWM-based current control (specifically BOARD_MINIALPHA). Most Smoothieboard configurations do not use this setting as they rely on SPI-controlled TMC drivers or external drivers with hardware current adjustment. This pin outputs a PWM signal that controls a current control circuit, with the duty cycle proportional to the desired current. The formula used is PWM = current / 2.0625. Only configure this if you have a custom board design that uses PWM-based current control and you know the specific pin assignment. Standard Prime boards do not use this setting. corresponding_v1: none (PWM current control is specific to certain v2 board designs) corresponding_v2: current control.delta.pin valid_values: - value: Valid STM32 pin name (e.g., "PA8") or "nc" for not connected description: '' related_settings: - delta.current - delta.driver related_pages: - currentcontrol - pin-configuration - name: epsilon.pin type: pin default: '"nc" (not connected, not used on most boards)' module: currentcontrol context: PWM-based current control (BOARD_MINIALPHA only) defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:86 section: '[current control]' description: PWM pin for controlling the epsilon axis motor current on boards that use PWM-based current control (specifically BOARD_MINIALPHA). Most Smoothieboard configurations do not use this setting as they rely on SPI-controlled TMC drivers or external drivers with hardware current adjustment. This pin outputs a PWM signal that controls a current control circuit, with the duty cycle proportional to the desired current. The formula used is PWM = current / 2.0625. Only configure this if you have a custom board design that uses PWM-based current control and you know the specific pin assignment. Standard Prime boards do not use this setting. corresponding_v1: none (PWM current control is specific to certain v2 board designs) corresponding_v2: current control.epsilon.pin valid_values: - value: Valid STM32 pin name (e.g., "PA9") or "nc" for not connected description: '' related_settings: - epsilon.current - epsilon.driver related_pages: - currentcontrol - pin-configuration - name: zeta.pin type: pin default: '"nc" (not connected, not used on most boards)' module: currentcontrol context: PWM-based current control (BOARD_MINIALPHA only) defined_in: Firmware/src/modules/utils/currentcontrol/CurrentControl.cpp:86 section: '[current control]' description: PWM pin for controlling the zeta axis motor current on boards that use PWM-based current control (specifically BOARD_MINIALPHA). Most Smoothieboard configurations do not use this setting as they rely on SPI-controlled TMC drivers or external drivers with hardware current adjustment. This pin outputs a PWM signal that controls a current control circuit, with the duty cycle proportional to the desired current. The formula used is PWM = current / 2.0625. Only configure this if you have a custom board design that uses PWM-based current control and you know the specific pin assignment. Standard Prime boards do not use this setting. corresponding_v1: none (PWM current control is specific to certain v2 board designs) corresponding_v2: current control.zeta.pin valid_values: - value: Valid STM32 pin name (e.g., "PA10") or "nc" for not connected description: '' related_settings: - zeta.current - zeta.driver related_pages: - currentcontrol - pin-configuration - name: Extruder description: extruder setting_count: 12 settings: - name: enable type: bool default: false module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:66 description: Enables this extruder instance. When set to false, all other configuration for this extruder is ignored and the extruder will not be available for use. Multiple extruders can be enabled by creating multiple named instances within the [extruder] section. Each enabled extruder must have a unique tool_id and corresponding actuator motor configured (delta for T0, epsilon for T1, zeta for T2). corresponding_v1: extruder.hotend.enable corresponding_v2: extruder.hotend.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - extruder.tool_id - actuator.delta.steps_per_mm - temperature control.enable related_pages: - extruder - multiple-extruders - 3d-printer-guide - extruder-guide - name: tool_id type: number default: 0 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:97 description: 'Tool number identifier for this extruder instance. Used for tool selection with T commands (T0, T1, etc.) and M6 tool change commands. The tool_id determines which actuator motor is used: tool_id 0 uses delta axis (motor index 3), tool_id 1 uses epsilon axis (motor index 4), tool_id 2 uses zeta axis (motor index 5). Each extruder must have a unique tool_id within the system.' corresponding_v1: none (implicit based on instance order) corresponding_v2: extruder.hotend.tool_id valid_values: - value: 0-5 (limited by available actuators) description: '' related_settings: - extruder.enable - actuator.delta.steps_per_mm - actuator.epsilon.steps_per_mm - actuator.zeta.steps_per_mm related_pages: - extruder - multiple-extruders - atc - name: x_offset type: number default: 0 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:98 description: X-axis offset in millimeters from the primary nozzle position (tool 0). Used in multi-extruder setups to define the physical horizontal spacing between nozzles. When this tool is selected, the coordinate system is shifted by this offset so that G-code coordinates remain consistent across tool changes. Positive values indicate the nozzle is to the right of the origin, negative values to the left. corresponding_v1: extruder.hotend.x_offset corresponding_v2: extruder.hotend.x_offset units: mm related_settings: - extruder.y_offset - extruder.z_offset - extruder.tool_id related_pages: - extruder - multiple-extruders - 3d-printer-guide - name: y_offset type: number default: 0 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:99 description: Y-axis offset in millimeters from the primary nozzle position (tool 0). Used in multi-extruder setups to define the physical front-to-back spacing between nozzles. When this tool is selected, the coordinate system is shifted by this offset so that G-code coordinates remain consistent across tool changes. Positive values indicate the nozzle is forward (toward Y+), negative values backward (toward Y-). corresponding_v1: extruder.hotend.y_offset corresponding_v2: extruder.hotend.y_offset units: mm related_settings: - extruder.x_offset - extruder.z_offset - extruder.tool_id related_pages: - extruder - multiple-extruders - 3d-printer-guide - name: z_offset type: number default: 0 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:100 description: Z-axis offset in millimeters from the primary nozzle position (tool 0). Used in multi-extruder setups to compensate for height differences between nozzles. When this tool is selected, the coordinate system is shifted by this offset so that both nozzles print at the correct Z height. Positive values raise the effective Z position, negative values lower it. This compensates for physical differences in nozzle length or mounting height. corresponding_v1: extruder.hotend.z_offset corresponding_v2: extruder.hotend.z_offset units: mm related_settings: - extruder.x_offset - extruder.y_offset - extruder.tool_id related_pages: - extruder - multiple-extruders - 3d-printer-guide - name: filament_diameter type: number default: 0.0 (volumetric extrusion disabled) module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:103 description: Filament diameter in millimeters for volumetric extrusion mode. When set to a value greater than 0.01mm, enables volumetric extrusion where E values in G-code are interpreted as cubic millimeters (mm³) of plastic volume instead of linear filament distance. The firmware calculates the volumetric multiplier as 1.0 / (π × (diameter/2)²) and applies this to all E movements. When set to 0 or any value ≤ 0.01, volumetric mode is disabled and E values are treated as linear millimeters of filament. corresponding_v1: extruder.hotend.filament_diameter corresponding_v2: extruder.hotend.filament_diameter units: mm valid_values: - value: 0 or 0.01 to disable volumetric extrusion description: '' - value: or positive diameter value in mm description: '' related_settings: - extruder.retract_length - extruder.retract_recover_length related_pages: - extruder - extruder-guide - 3d-printer-guide - name: retract_length type: number default: 3 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:104 description: 'Firmware retraction length in millimeters when G10 (firmware retract) command is executed. This is the amount of filament to retract from the hotend to prevent oozing and stringing during non-print travel moves. The actual retraction distance depends on your extruder type: direct drive extruders require shorter retraction distances (0.5-2mm) because the filament path is short, while Bowden extruders require longer distances (3-6mm) due to the length and flexibility of the PTFE tube between motor and hotend.' corresponding_v1: extruder.hotend.retract_length corresponding_v2: extruder.hotend.retract_length units: mm related_settings: - extruder.retract_feedrate - extruder.retract_recover_length - extruder.retract_zlift_length related_pages: - extruder - extruder-guide - g10 - 3d-printer-guide - name: retract_feedrate type: number default: 45 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:105 description: 'Firmware retraction speed in millimeters per second when G10 (firmware retract) command is executed. Controls how quickly the filament is pulled back from the hotend during retraction. Bowden extruders can typically handle faster retraction speeds (30-60 mm/s) than direct drive extruders (20-40 mm/s) because the long PTFE tube provides some cushioning. The speed affects print quality and reliability: too fast may cause extruder motor skipping or filament grinding, too slow increases print time and may allow more oozing during the retract operation.' corresponding_v1: extruder.hotend.retract_feedrate corresponding_v2: extruder.hotend.retract_feedrate units: mm/s related_settings: - extruder.retract_length - extruder.retract_recover_feedrate - actuator.delta.max_rate related_pages: - extruder - extruder-guide - g10 - stepper-motors - name: retract_recover_length type: number default: 0 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:106 description: Additional filament length in millimeters to extrude during unretract (G11) beyond the original retract_length. This extra amount compensates for filament that oozed out of the nozzle during the retracted state. The total recovery distance is retract_length + retract_recover_length. Positive values extrude more filament than was retracted (compensating for oozing losses), while negative values extrude less (useful if filament expands in the hot zone). Most users leave this at 0 and only adjust if experiencing under-extrusion after retracts. corresponding_v1: extruder.hotend.retract_recover_length corresponding_v2: extruder.hotend.retract_recover_length units: mm valid_values: - value: Any float value description: '' - value: typically -0.2 to +0.5 mm description: '' related_settings: - extruder.retract_length - extruder.retract_recover_feedrate related_pages: - extruder - extruder-guide - g11 - name: retract_recover_feedrate type: number default: 30 module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:107 description: Firmware unretract (recover) speed in millimeters per second when G11 (firmware unretract) command is executed. Controls how quickly filament is pushed back into the hotend after retraction. This speed is typically set lower than retract_feedrate to allow the filament to melt and flow smoothly into the nozzle without causing pressure spikes or blobs. Too fast can cause blobs at the start of extrusion after a travel move, while too slow increases print time unnecessarily. corresponding_v1: extruder.hotend.retract_recover_feedrate corresponding_v2: extruder.hotend.retract_recover_feedrate units: mm/s related_settings: - extruder.retract_feedrate - extruder.retract_recover_length - extruder.retract_length related_pages: - extruder - extruder-guide - g11 - name: retract_zlift_length type: number default: 0.0 (Z-hop disabled) module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:108 description: Z-axis lift (hop) distance in millimeters during firmware retraction. When set to a value greater than 0, the Z-axis will lift by this amount during G10 (retract) and lower back down during G11 (unretract). This Z-hop feature temporarily raises the nozzle during travel moves to prevent the nozzle from dragging across already-printed parts, reducing the risk of knocking over tall features or leaving drag marks. Set to 0 to disable Z-hop completely. The Z-hop is cancelled automatically if an absolute Z move occurs between G10 and G11. corresponding_v1: extruder.hotend.retract_zlift_length corresponding_v2: extruder.hotend.retract_zlift_length units: mm related_settings: - extruder.retract_zlift_feedrate - extruder.retract_length - motion control.z_axis_max_speed related_pages: - extruder - extruder-guide - g10 - g11 - name: retract_zlift_feedrate type: number default: 6000 (100 mm/s after conversion from mm/min) module: extruder context: Module instance setting (supports multiple extruder instances) defined_in: Firmware/src/modules/tools/extruder/Extruder.cpp:109 description: Z-axis movement speed during firmware retraction Z-lift operations in millimeters per minute. Controls how quickly the Z-axis lifts during G10 (retract with Z-hop) and lowers during G11 (unretract). This setting is converted to mm/s internally by dividing by 60. This is the ONLY extruder setting that uses mm/min units instead of mm/s - all other feedrates in the extruder module use mm/s. The speed should typically match your Z-axis max_rate capability to avoid unnecessary slowdowns during Z-hop moves. corresponding_v1: extruder.hotend.retract_zlift_feedrate corresponding_v2: extruder.hotend.retract_zlift_feedrate units: 'mm/min (NOTE: This is the ONLY extruder setting using mm/min instead of mm/s)' related_settings: - extruder.retract_zlift_length - motion control.z_axis_max_speed - actuator.gamma.max_rate related_pages: - extruder - extruder-guide - g10 - g11 - motion-control - name: Temperature Control description: Temperature Control setting_count: 32 settings: - name: enable type: bool default: false module: temperature_control context: Module instance setting (multi-instance support) defined_in: TemperatureControl.cpp:83 description: Enables this temperature controller instance. When set to true, this temperature controller will actively monitor its sensor and maintain the target temperature using PID control or bang-bang control depending on configuration. corresponding_v1: temperature_control.{name}.enable corresponding_v2: temperature_control.{name}.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - temperature_control.{name}.heater_pin - temperature_control.{name}.sensor - temperature_control.{name}.thermistor_pin related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-pid-autotuning - name: tool_id type: number default: Auto-assigned (0 for hotend, 1 for hotend2, 254 for bed, 253 for board) module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:141 description: Tool number for M-code addressing and tool selection. Determines which temperature controller is addressed by T commands and whether the controller responds to tool change commands. corresponding_v1: none (new explicit feature in v2) corresponding_v2: temperature_control.{name}.tool_id valid_values: - value: 0-255 description: '' related_settings: - temperature_control.{name}.designator - extruder.{name}.tool_id related_pages: - temperaturecontrol - extruder - multiple-extruders - name: designator type: string default: Auto-assigned ("T" for hotend, "T2" for hotend2, "B" for bed, "P" for board) module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:146 description: Single-letter or short temperature designator used in M105 temperature reports and display output. This identifier appears in temperature status messages and helps users distinguish between multiple temperature controllers. corresponding_v1: temperature_control.{name}.designator corresponding_v2: temperature_control.{name}.designator valid_values: - value: Any string (typically single letter or short identifier) description: '' related_settings: - temperature_control.{name}.tool_id related_pages: - temperaturecontrol - supported-g-codes - name: sensor type: enum default: thermistor module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:178 description: Temperature sensor type selection. Determines which sensor driver to use for reading temperature. This setting tells the firmware whether to expect an analog thermistor input or a digital SPI thermocouple sensor. corresponding_v1: none (implicit, sensor type determined by configured parameters) corresponding_v2: temperature_control.{name}.sensor valid_values: - value: '"thermistor"' description: '' - value: '"max31855"' description: '' related_settings: - temperature_control.{name}.thermistor_pin - temperature_control.{name}.spi_channel - temperature_control.{name}.spi_select_pin related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - pt100 - name: thermistor_pin type: pin default: Board-specific ("ADC1_1" for hotend, "ADC1_2" for hotend2, "ADC1_3" for bed, "ADC1_0" for board on Prime) module: temperature_control context: Thermistor sensor setting (only used when sensor is thermistor) defined_in: Thermistor.cpp:114 description: ADC channel pin used to read thermistor voltage for temperature calculation. This pin connects to the voltage divider circuit containing the thermistor. corresponding_v1: temperature_control.{name}.thermistor_pin corresponding_v2: temperature_control.{name}.thermistor_pin valid_values: - value: Valid ADC pin names (board-specific) description: '' related_settings: - temperature_control.{name}.sensor - temperature_control.{name}.r2 - temperature_control.{name}.thermistor related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - pinout - smoothieboard-v2-prime - name: thermistor type: string default: '"" (must specify predefined name or use custom beta/coefficients)' module: temperature_control context: Thermistor sensor setting (optional shortcut for common thermistors) defined_in: Thermistor.cpp:60 description: Predefined thermistor name that automatically loads factory-calibrated coefficients for common thermistors. Using predefined thermistors simplifies configuration and provides accurate temperature readings without manual calibration. corresponding_v1: temperature_control.{name}.thermistor corresponding_v2: temperature_control.{name}.thermistor valid_values: - value: Predefined thermistor names (see Predefined Thermistors section) description: '' related_settings: - temperature_control.{name}.use_beta_table - temperature_control.{name}.beta - temperature_control.{name}.coefficients - temperature_control.{name}.rt_curve - temperature_control.{name}.r0 - temperature_control.{name}.r1 - temperature_control.{name}.r2 related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - steinharthart - name: use_beta_table type: bool default: false module: temperature_control context: Thermistor sensor setting (only applies when using predefined thermistor names) defined_in: Thermistor.cpp:55 description: Forces use of beta-based predefined thermistor table instead of Steinhart-Hart coefficients when using a predefined thermistor name. This setting only applies when a predefined thermistor name is specified. corresponding_v1: temperature_control.{name}.use_beta_table corresponding_v2: temperature_control.{name}.use_beta_table valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - temperature_control.{name}.thermistor - temperature_control.{name}.beta - temperature_control.{name}.coefficients related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - steinharthart - name: beta type: number default: 4066 (EPCOS100K default when using beta mode) module: temperature_control context: Thermistor sensor setting (beta equation mode) defined_in: Thermistor.cpp:106 description: Thermistor beta coefficient for beta equation temperature calculation. Beta is a material constant that characterizes how the thermistor's resistance changes with temperature. See http://reprap.org/wiki/MeasuringThermistorBeta for measurement procedures. corresponding_v1: temperature_control.{name}.beta corresponding_v2: temperature_control.{name}.beta units: Kelvin (dimensionless thermistor coefficient) valid_values: - value: Positive number (typically 3000-5000) description: '' related_settings: - temperature_control.{name}.r0 - temperature_control.{name}.t0 - temperature_control.{name}.thermistor - temperature_control.{name}.use_beta_table related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - steinharthart - name: coefficients type: string default: '"" (not used unless specified)' module: temperature_control context: Thermistor sensor setting (Steinhart-Hart mode) defined_in: Thermistor.cpp:128 description: Steinhart-Hart equation coefficients (c1, c2, c3) for accurate temperature calculation across full temperature range. Specify as three comma-separated floats (no spaces). This enables the most accurate temperature measurement method. corresponding_v1: temperature_control.{name}.coefficients corresponding_v2: temperature_control.{name}.coefficients valid_values: - value: Three comma-separated floats in format "c1 description: '' - value: c2 description: '' - value: c3" (no spaces) description: '' related_settings: - temperature_control.{name}.rt_curve - temperature_control.{name}.thermistor - temperature_control.{name}.use_beta_table - temperature_control.{name}.r1 - temperature_control.{name}.r2 related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - steinharthart - name: rt_curve type: string default: '"" (not used unless specified)' module: temperature_control context: Thermistor sensor setting (Steinhart-Hart mode, alternative to coefficients) defined_in: Thermistor.cpp:132 description: 'Three temperature/resistance pairs used to auto-calculate Steinhart-Hart coefficients. Format: T1,R1,T2,R2,T3,R3 where T is temperature in °C and R is resistance in ohms. Best practice: use 25°C, 150°C, and 240°C points from the thermistor datasheet.' corresponding_v1: temperature_control.{name}.rt_curve corresponding_v2: temperature_control.{name}.rt_curve valid_values: - value: Six comma-separated values in format "T1 description: '' - value: R1 description: '' - value: T2 description: '' - value: R2 description: '' - value: T3 description: '' - value: R3" (no spaces) description: '' related_settings: - temperature_control.{name}.coefficients - temperature_control.{name}.thermistor - temperature_control.{name}.r1 - temperature_control.{name}.r2 related_pages: - temperaturecontrol - temperaturecontrol-thermistor-choice - steinharthart - name: spi_channel type: number default: -1 (not used for thermistors) module: temperature_control context: MAX31855 sensor setting defined_in: max31855.cpp:27 description: SPI channel number for MAX31855 thermocouple sensor communication. All MAX31855 sensors must use the same SPI channel, with unique chip select pins to distinguish between sensors. corresponding_v1: none (MAX31855 support is new in v2) corresponding_v2: temperature_control.{name}.spi_channel valid_values: - value: Non-negative integer (SPI channel number description: '' - value: board-dependent) description: '' related_settings: - temperature_control.{name}.spi_select_pin - temperature_control.{name}.sensor - temperature_control.{name}.readings_per_second related_pages: - temperaturecontrol - pt100 - smoothieboard-v2-prime - name: spi_select_pin type: pin default: '"nc" (not connected, invalid for active sensors)' module: temperature_control context: MAX31855 sensor setting defined_in: max31855.cpp:56 description: SPI chip select (CS) pin for MAX31855 sensor. Each MAX31855 sensor requires a unique chip select pin to enable communication on the shared SPI bus. corresponding_v1: none (MAX31855 support is new in v2) corresponding_v2: temperature_control.{name}.spi_select_pin valid_values: - value: Valid GPIO pin names (board-specific) description: '' related_settings: - temperature_control.{name}.spi_channel - temperature_control.{name}.sensor related_pages: - temperaturecontrol - pt100 - pin-configuration - smoothieboard-v2-prime - name: heater_pin type: pin default: Board-specific ("PE0" for hotend, "PB8" for hotend2, "PE3" for bed, "nc" for board on Prime) module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:159 description: PWM output pin used to control heater power via MOSFET or SSR. Set to "nc" (not connected) for read-only temperature monitoring without heater control. corresponding_v1: temperature_control.{name}.heater_pin corresponding_v2: temperature_control.{name}.heater_pin valid_values: - value: Valid PWM-capable pin or "nc" description: '' related_settings: - temperature_control.{name}.max_pwm - temperature_control.{name}.enable related_pages: - temperaturecontrol - mosfets - mosfets-table - pinout - smoothieboard-v2-prime - name: max_pwm type: number default: 255 (full 8-bit PWM range) module: temperature_control context: Module instance setting (only applies when heater_pin is configured) defined_in: TemperatureControl.cpp:209 description: Maximum PWM duty cycle value for heater output. This limits the maximum power delivered to the heater. Standard 8-bit PWM range is 0-255 where 255 is 100% duty cycle (full power). corresponding_v1: temperature_control.{name}.max_pwm corresponding_v2: temperature_control.{name}.max_pwm units: PWM steps (0-255 scale) valid_values: - value: 0-255 description: '' related_settings: - temperature_control.{name}.i_max - temperature_control.{name}.bang_bang - temperature_control.{name}.heater_pin related_pages: - temperaturecontrol - temperaturecontrol-pid - mosfets - name: p_factor type: number default: 10 module: temperature_control context: Module instance setting (PID control) defined_in: TemperatureControl.cpp:232 description: PID proportional term. Determines the controller's response to current temperature error. Higher values increase responsiveness but may cause oscillation. Use M303 PID autotune for optimal values. corresponding_v1: temperature_control.{name}.p_factor corresponding_v2: temperature_control.{name}.p_factor units: Dimensionless (PWM output per degree Celsius of error) valid_values: - value: Positive number (typically 5-50) description: '' related_settings: - temperature_control.{name}.i_factor - temperature_control.{name}.d_factor - temperature_control.{name}.use_ponm related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-pid-autotuning - temperaturecontrol-fine-tuning - name: i_factor type: number default: 0.3 module: temperature_control context: Module instance setting (PID control) defined_in: TemperatureControl.cpp:233 description: PID integral term. Eliminates steady-state temperature error over time by accumulating past errors. Internally scaled by PIDdt (1/readings_per_second). Higher values eliminate offset faster but risk overshoot. Use M303 autotune for optimal values. corresponding_v1: temperature_control.{name}.i_factor corresponding_v2: temperature_control.{name}.i_factor units: Dimensionless (PWM per degree-second of accumulated error, internally scaled by PIDdt) valid_values: - value: Non-negative number (typically 0.1-2.0) description: '' related_settings: - temperature_control.{name}.p_factor - temperature_control.{name}.d_factor - temperature_control.{name}.i_max - temperature_control.{name}.windup - temperature_control.{name}.readings_per_second related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-pid-autotuning - temperaturecontrol-fine-tuning - name: d_factor type: number default: 200 module: temperature_control context: Module instance setting (PID control) defined_in: TemperatureControl.cpp:234 description: PID derivative term. Reduces overshoot by damping the rate of temperature change. Internally scaled by PIDdt. Higher values reduce overshoot but may slow response. Use M303 autotune for optimal values. corresponding_v1: temperature_control.{name}.d_factor corresponding_v2: temperature_control.{name}.d_factor units: Dimensionless (PWM per degree/second rate of change, internally scaled by PIDdt) valid_values: - value: Non-negative number (typically 50-500) description: '' related_settings: - temperature_control.{name}.p_factor - temperature_control.{name}.i_factor - temperature_control.{name}.use_ponm - temperature_control.{name}.readings_per_second related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-pid-autotuning - temperaturecontrol-fine-tuning - name: use_ponm type: bool default: false module: temperature_control context: Module instance setting (PID control mode) defined_in: TemperatureControl.cpp:236 description: Use Proportional on Measurement instead of Proportional on Error. PonM mode reduces overshoot when changing setpoint by applying the P term to measurement changes rather than error changes. See http://brettbeauregard.com/blog/2017/06/introducing-proportional-on-measurement/ for detailed explanation. corresponding_v1: none (new feature in v2) corresponding_v2: temperature_control.{name}.use_ponm valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - temperature_control.{name}.p_factor - temperature_control.{name}.i_factor - temperature_control.{name}.d_factor related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-fine-tuning - name: i_max type: number default: Same as max_pwm (255 by default) module: temperature_control context: Module instance setting (PID control, integral windup limit) defined_in: TemperatureControl.cpp:240 description: Maximum value for integral term accumulation (anti-windup limit). Prevents the I term from accumulating excessively during prolonged error conditions. Limits how much the integral term can contribute to the total PID output. corresponding_v1: temperature_control.{name}.i_max corresponding_v2: temperature_control.{name}.i_max units: PWM steps (same scale as max_pwm) valid_values: - value: 0 to max_pwm description: '' related_settings: - temperature_control.{name}.i_factor - temperature_control.{name}.max_pwm - temperature_control.{name}.windup related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-fine-tuning - name: windup type: bool default: false module: temperature_control context: Module instance setting (PID control, anti-windup mode) defined_in: TemperatureControl.cpp:208 description: Enable alternative integral windup protection behavior. When false (default), I term updates continuously. When true, I term only updates when PID output is not saturated (anti-windup). corresponding_v1: temperature_control.{name}.windup corresponding_v2: temperature_control.{name}.windup valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - temperature_control.{name}.i_factor - temperature_control.{name}.i_max - temperature_control.{name}.max_pwm related_pages: - temperaturecontrol - temperaturecontrol-pid - temperaturecontrol-fine-tuning - name: bang_bang type: bool default: false module: temperature_control context: Module instance setting (control mode selection) defined_in: TemperatureControl.cpp:206 description: Use bang-bang (on/off) control instead of PID. Heater is full-on when temperature is below (target - hysteresis), full-off when above (target + hysteresis). Suitable for slow-response systems like heated beds with mechanical relays or SSRs. corresponding_v1: temperature_control.{name}.bang_bang corresponding_v2: temperature_control.{name}.bang_bang valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - temperature_control.{name}.hysteresis - temperature_control.{name}.max_pwm - temperature_control.{name}.p_factor related_pages: - temperaturecontrol - temperaturecontrol-pid - name: hysteresis type: number default: 2 (±2°C deadband) module: temperature_control context: Module instance setting (bang-bang mode only) defined_in: TemperatureControl.cpp:207 description: Temperature hysteresis for bang-bang mode. Creates a deadband of ±hysteresis around the target temperature to prevent rapid heater switching. corresponding_v1: temperature_control.{name}.hysteresis corresponding_v2: temperature_control.{name}.hysteresis units: °C valid_values: - value: Positive number (typically 1-5) description: '' related_settings: - temperature_control.{name}.bang_bang - temperature_control.{name}.max_temp - temperature_control.{name}.min_temp related_pages: - temperaturecontrol - name: min_temp type: number default: 0 (0°C) module: temperature_control context: Module instance setting (safety feature) defined_in: TemperatureControl.cpp:156 description: Minimum safe temperature threshold. If sensor reads below this value (e.g., thermistor disconnected), system immediately enters HALT state and heater turns off. This is a critical safety feature that detects sensor failures. corresponding_v1: temperature_control.{name}.min_temp corresponding_v2: temperature_control.{name}.min_temp units: °C valid_values: - value: Temperature in °C (should be below expected room temperature) description: '' related_settings: - temperature_control.{name}.max_temp - temperature_control.{name}.runaway_range related_pages: - temperaturecontrol - troubleshooting - error - name: max_temp type: number default: 300 (300°C) module: temperature_control context: Module instance setting (safety feature) defined_in: TemperatureControl.cpp:155 description: Maximum safe temperature threshold. If sensor reads above this value OR if setpoint is set above this value, system immediately enters HALT state. This protects against thermal runaway and prevents damage to the machine and surroundings. - Heating element safe operating temperature - PTFE tube rating (260°C max, 240°C recommended) - Thermistor maximum temperature rating - Fire safety considerations corresponding_v1: temperature_control.{name}.max_temp corresponding_v2: temperature_control.{name}.max_temp units: °C valid_values: - value: Positive temperature in °C description: '' related_settings: - temperature_control.{name}.min_temp - temperature_control.{name}.runaway_range - temperature_control.{name}.runaway_heating_timeout related_pages: - temperaturecontrol - safety-thermistor - troubleshooting - name: runaway_range type: number default: 20 (±20°C) module: temperature_control context: Module instance setting (safety feature) defined_in: TemperatureControl.cpp:149 description: Maximum allowed temperature deviation from target (±°C) after target temperature is reached. If temperature swings beyond ±runaway_range for 5 consecutive seconds after reaching target, system triggers HALT. Set to 0 to disable (NOT RECOMMENDED - removes critical safety protection). - Heater stuck on (temperature continues rising) - Sensor failure (sudden temperature drop) - Cooling system failure - Part cooling fan blowing on thermistor corresponding_v1: temperature_control.{name}.runaway_range corresponding_v2: temperature_control.{name}.runaway_range units: °C valid_values: - value: Non-negative integer (0 disables description: '' - value: 10-30 typical) description: '' related_settings: - temperature_control.{name}.runaway_heating_timeout - temperature_control.{name}.runaway_cooling_timeout - temperature_control.{name}.runaway_error_range - temperature_control.{name}.max_temp related_pages: - temperaturecontrol - troubleshooting - safety-thermistor - name: runaway_heating_timeout type: number default: 300 (5 minutes) module: temperature_control context: Module instance setting (safety feature) defined_in: TemperatureControl.cpp:150 description: Maximum time allowed (in seconds) to reach target temperature during heating. If target is not reached within this time, system triggers HALT. Detects heater failure, insufficient power, or disconnected heater. Set to 0 to disable (NOT RECOMMENDED). - Heater disconnected or failed - Insufficient heater power - Thermal path blocked - Wrong thermistor type configured (reads wrong temperature) corresponding_v1: temperature_control.{name}.runaway_heating_timeout corresponding_v2: temperature_control.{name}.runaway_heating_timeout units: seconds valid_values: - value: Non-negative integer (0 disables description: '' - value: 180-600 typical) description: '' related_settings: - temperature_control.{name}.runaway_cooling_timeout - temperature_control.{name}.runaway_error_range - temperature_control.{name}.runaway_range - temperature_control.{name}.max_temp related_pages: - temperaturecontrol - troubleshooting - name: runaway_cooling_timeout type: number default: Same as runaway_heating_timeout (300 seconds) module: temperature_control context: Module instance setting (safety feature) defined_in: TemperatureControl.cpp:151 description: Maximum time allowed (in seconds) to cool down when reducing temperature setpoint. If cooling takes longer than this timeout, system triggers HALT. Detects stuck heater or sensor failures. Set to 0 to disable. - Heater stuck on (can't cool down) - Sensor failure (reading stuck at high temperature) - Thermal insulation too effective corresponding_v1: none (new feature in v2) corresponding_v2: temperature_control.{name}.runaway_cooling_timeout units: seconds valid_values: - value: Non-negative integer (0 disables description: '' - value: 180-600 typical) description: '' related_settings: - temperature_control.{name}.runaway_heating_timeout - temperature_control.{name}.runaway_error_range - temperature_control.{name}.runaway_range related_pages: - temperaturecontrol - troubleshooting - name: runaway_error_range type: number default: 1.0 (±1.0°C) module: temperature_control context: Module instance setting (safety feature) defined_in: TemperatureControl.cpp:152 description: Acceptable temperature tolerance (±°C) for determining when target temperature has been "reached". Temperature must be within (target ± runaway_error_range) to be considered at target and to satisfy M109 wait conditions. corresponding_v1: none (new feature in v2) corresponding_v2: temperature_control.{name}.runaway_error_range units: °C valid_values: - value: Positive number (typically 0.5-2.0) description: '' related_settings: - temperature_control.{name}.runaway_heating_timeout - temperature_control.{name}.runaway_cooling_timeout - temperature_control.{name}.runaway_range related_pages: - temperaturecontrol - temperaturecontrol-pid - name: readings_per_second type: number default: 20 (20 Hz) module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:145 description: Temperature sensor reading and PID update frequency in Hz. This setting determines how often the sensor is read and PID calculation is performed. Higher values improve control stability but increase CPU load. The PID time constant (PIDdt = 1/readings_per_second) is automatically calculated. corresponding_v1: temperature_control.{name}.readings_per_second corresponding_v2: temperature_control.{name}.readings_per_second units: Hz (readings per second) valid_values: - value: Positive integer (typically 1-100 description: '' - value: practical range 10-30) description: '' related_settings: - temperature_control.{name}.i_factor - temperature_control.{name}.d_factor - temperature_control.{name}.sensor related_pages: - temperaturecontrol - temperaturecontrol-pid - name: set_m_code type: number default: 104 (if tool_id < 100), 140 (if tool_id ≥ 100) module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:142 description: 'M-code number used to set target temperature without waiting for temperature to be reached. Standard: M104 for hotends, M140 for heated beds. This command sets the target and returns immediately, allowing other commands to execute while heating. - M104 for hotends (tool_id 0-99) - M140 for beds (tool_id 100+)' corresponding_v1: temperature_control.{name}.set_m_code corresponding_v2: temperature_control.{name}.set_m_code valid_values: - value: 100-999 (M-code number range) description: '' related_settings: - temperature_control.{name}.set_and_wait_m_code - temperature_control.{name}.get_m_code - temperature_control.{name}.tool_id related_pages: - temperaturecontrol - supported-g-codes - name: set_and_wait_m_code type: number default: 109 (if tool_id < 100), 190 (if tool_id ≥ 100) module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:143 description: 'M-code number used to set target temperature and wait until temperature is reached before continuing. Standard: M109 for hotends, M190 for heated beds. This command blocks further G-code execution until temperature reaches target within runaway_error_range. - M109 for hotends (tool_id 0-99) - M190 for beds (tool_id 100+)' corresponding_v1: temperature_control.{name}.set_and_wait_m_code corresponding_v2: temperature_control.{name}.set_and_wait_m_code valid_values: - value: 100-999 (M-code number range) description: '' related_settings: - temperature_control.{name}.set_m_code - temperature_control.{name}.get_m_code - temperature_control.{name}.runaway_error_range - temperature_control.{name}.tool_id related_pages: - temperaturecontrol - supported-g-codes - name: get_m_code type: number default: 105 module: temperature_control context: Module instance setting defined_in: TemperatureControl.cpp:144 description: 'M-code number used to query and report current temperature. Standard: M105 returns all active temperatures in format designator:current/target @pwm. This is typically the same M-code (105) for all temperature controllers.' corresponding_v1: temperature_control.{name}.get_m_code corresponding_v2: temperature_control.{name}.get_m_code valid_values: - value: 100-999 (M-code number range) description: '' related_settings: - temperature_control.{name}.designator - temperature_control.{name}.tool_id - temperature_control.{name}.set_m_code related_pages: - temperaturecontrol - supported-g-codes - octoprint - name: Switch description: Switch setting_count: 17 settings: - name: enable type: bool default: false module: switch context: Module instance setting (multi-instance support via named instances) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:58 description: Enables this switch instance. When set to true, this switch becomes active and will respond to configured commands or monitor input pins. Each switch instance must be explicitly enabled to function. corresponding_v1: switch.{name}.enable corresponding_v2: enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - switch - switch-options - mosfets - name: input_pin type: pin default: '"" (empty string = output mode)' module: switch context: Input mode only (mutually exclusive with output settings) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:80 description: GPIO pin to monitor as physical button or switch input. When configured, this switch operates in input mode and monitors the pin for state changes. Input mode is mutually exclusive with output mode - a switch can be either an input or an output, not both. corresponding_v1: switch.{name}.input_pin corresponding_v2: input_pin valid_values: - value: Pin specification in STM32 format with optional modifiers description: '' related_settings: - switch.{name}.input_pin_behavior - switch.{name}.output_on_command - switch.{name}.output_off_command related_pages: - switch - pin-configuration - endstops - name: input_pin_behavior type: enum default: momentary module: switch context: Input mode only (requires input_pin to be configured) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:90 description: Defines how the input pin state changes are interpreted. Momentary behavior treats the input like a pushbutton where press and release are distinct actions. Toggle behavior treats each press as a state flip, useful for latching switches or to toggle features on/off with a momentary button. corresponding_v1: switch.{name}.input_pin_behavior corresponding_v2: input_pin_behavior valid_values: - value: '"momentary"' description: '' - value: '"toggle"' description: '' related_settings: - switch.{name}.input_pin related_pages: - switch - killbutton - name: output_on_command type: string default: '' module: switch context: Input mode only (when input_pin is configured) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:92 description: G-code or M-code command to execute when the input switch is activated (button pressed for momentary, or toggled on for toggle behavior). The command is dispatched to the G-code processor as if it were received from a serial console. corresponding_v1: switch.{name}.output_on_command corresponding_v2: output_on_command related_settings: - switch.{name}.output_off_command - switch.{name}.input_pin - switch.{name}.input_pin_behavior related_pages: - switch - supported-g-codes - name: output_off_command type: string default: '' module: switch context: Input mode only (when input_pin is configured) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:93 description: G-code or M-code command to execute when the input switch is deactivated (button released for momentary, or toggled off for toggle behavior). Like output_on_command, this is dispatched to the G-code processor. corresponding_v1: switch.{name}.output_off_command corresponding_v2: output_off_command related_settings: - switch.{name}.output_on_command - switch.{name}.input_pin - switch.{name}.input_pin_behavior related_pages: - switch - supported-g-codes - name: input_on_command type: string default: '' module: switch context: Output mode only (when output_pin is configured) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:121 description: The G-code or M-code command that will activate (turn on) this output switch. When Smoothie receives this command via serial, network, or SD card, it will turn on the associated output pin according to the configured output type. corresponding_v1: switch.{name}.input_on_command corresponding_v2: input_on_command valid_values: - value: G-code or M-code string starting with G or M followed by numeric code description: '' related_settings: - switch.{name}.input_off_command - switch.{name}.subcode - switch.{name}.output_type related_pages: - switch - supported-g-codes - name: input_off_command type: string default: '' module: switch context: Output mode only (when output_pin is configured) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:122 description: The G-code or M-code command that will deactivate (turn off) this output switch. When Smoothie receives this command, it will turn off the associated output pin regardless of output type. corresponding_v1: switch.{name}.input_off_command corresponding_v2: input_off_command valid_values: - value: G-code or M-code string starting with G or M followed by numeric code description: '' related_settings: - switch.{name}.input_on_command - switch.{name}.subcode - switch.{name}.output_type related_pages: - switch - supported-g-codes - name: subcode type: number default: 0 module: switch context: Output mode (optional, used for differentiating multiple switches with same M-code) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:120 description: Subcode differentiator that allows multiple switch instances to respond to the same M-code with different subcode suffixes. This enables commands like M106.0, M106.1, M106.2 to control different fans independently. The subcode can be set explicitly or parsed from the command string suffix. corresponding_v1: switch.{name}.subcode corresponding_v2: subcode valid_values: - value: Non-negative integer description: '' - value: typically 0-9 description: '' related_settings: - switch.{name}.input_on_command - switch.{name}.input_off_command related_pages: - switch - multiple-extruders - name: output_pin type: pin default: '"nc" (not connected)' module: switch context: Output mode only (mutually exclusive with input_pin) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:141 description: GPIO pin or hardware PWM channel to control as an output. This pin will be driven high/low for digital outputs or modulated for PWM outputs based on commands received and output type configuration. corresponding_v1: switch.{name}.output_pin corresponding_v2: output_pin valid_values: - value: Pin specification in STM32 format with optional modifiers description: '' - value: or special pin names description: '' related_settings: - switch.{name}.output_type related_pages: - switch - pinout - mosfets - pwm-capable - name: output_type type: enum default: none (must be explicitly set for output mode) module: switch context: Output mode only defined_in: Firmware/src/modules/tools/switch/Switch.cpp:135 description: Specifies the output control method for this switch. Digital provides simple on/off control for devices like relays and power switches. Sigma-delta PWM provides software-based PWM suitable for fans and simple motor control. Hardware PWM provides precise, high-frequency PWM for servos, laser power control, and other applications requiring accurate duty cycle control. corresponding_v1: switch.{name}.output_type corresponding_v2: output_type valid_values: - value: '"digital"' description: '' - value: '"sigmadeltapwm"' description: '' - value: '"hwpwm"' description: '' related_settings: - switch.{name}.output_pin - switch.{name}.max_pwm - switch.{name}.startup_value related_pages: - switch - mosfets - pwm-capable - name: max_pwm type: number default: 255 module: switch context: Sigma-delta PWM output only (only used when output_type is sigmadeltapwm) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:191 description: Maximum PWM value for sigma-delta PWM outputs. Incoming S values from G-code (range 0-255) are scaled proportionally to this maximum. This allows limiting the maximum output power or speed without modifying G-code. For example, with max_pwm=128, sending M106 S255 will output 50% duty cycle instead of 100%. corresponding_v1: switch.{name}.max_pwm corresponding_v2: max_pwm valid_values: - value: 1-255 description: '' related_settings: - switch.{name}.output_type - switch.{name}.startup_value related_pages: - switch - name: startup_state type: bool default: false module: switch context: Output mode only defined_in: Firmware/src/modules/tools/switch/Switch.cpp:128 description: Determines the initial on/off state when firmware boots. For digital outputs, this directly sets the pin high (true) or low (false). For PWM outputs, true means the startup_value is applied at boot, while false means the output starts at minimum/off. corresponding_v1: switch.{name}.startup_state corresponding_v2: startup_state valid_values: - value: true (on at boot) description: '' - value: false (off at boot) description: '' related_settings: - switch.{name}.startup_value - switch.{name}.default_on_value - switch.{name}.output_type related_pages: - switch - name: startup_value type: number default: max_pwm value for sigmadeltapwm, 0 for hwpwm module: switch context: PWM outputs only (sigmadeltapwm or hwpwm types) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:192 (sigmadeltapwm), Firmware/src/modules/tools/switch/Switch.cpp:201 (hwpwm) description: Initial PWM value applied at firmware boot. For sigma-delta PWM, this is an integer value from 0 to max_pwm. For hardware PWM, this is a floating point percentage from 0.0 to 100.0. The value is only applied if startup_state is true (for sigmadelta) or false (for hwpwm). corresponding_v1: switch.{name}.startup_value corresponding_v2: startup_value related_settings: - switch.{name}.startup_state - switch.{name}.output_type - switch.{name}.max_pwm - switch.{name}.default_on_value related_pages: - switch - name: default_on_value type: number default: 0 module: switch context: Hardware PWM output only (only used when output_type is hwpwm) defined_in: Firmware/src/modules/tools/switch/Switch.cpp:202 description: Default PWM duty cycle percentage (0-100%) applied when the switch is turned on without specifying an S or P parameter in the G-code command. This is only used for hardware PWM outputs and provides a sensible default power level when the exact value isn't specified. corresponding_v1: switch.{name}.default_on_value corresponding_v2: default_on_value valid_values: - value: 0.0 to 100.0 (percentage duty cycle) description: '' related_settings: - switch.{name}.output_type - switch.{name}.startup_value related_pages: - switch - name: failsafe_set_to type: bool default: false module: switch context: Output mode only defined_in: Firmware/src/modules/tools/switch/Switch.cpp:129 description: State to set this output to during failsafe or emergency conditions. This setting determines whether the switch should be turned on (true) or off (false) when the system enters a failsafe state. Used for safety-critical outputs like PSU control, cooling fans, or emergency lighting. corresponding_v1: switch.{name}.failsafe_set_to corresponding_v2: failsafe_set_to valid_values: - value: true (high/on) description: '' - value: false (low/off) description: '' related_settings: - switch.{name}.halt_set_to - switch.{name}.ignore_on_halt related_pages: - switch - killbutton - emergencystop - name: halt_set_to type: bool default: false module: switch context: Output mode only defined_in: Firmware/src/modules/tools/switch/Switch.cpp:130 description: State to set this output to when the system enters halt state, such as when the kill button is pressed, a driver error occurs, or M112 emergency stop is issued. This provides controlled shutdown behavior for different peripherals. Commonly used to stop motors and heaters while keeping cooling fans running. corresponding_v1: switch.{name}.halt_set_to corresponding_v2: halt_set_to valid_values: - value: true (high/on) description: '' - value: false (low/off) description: '' related_settings: - switch.{name}.failsafe_set_to - switch.{name}.ignore_on_halt related_pages: - switch - killbutton - emergencystop - name: ignore_on_halt type: bool default: false module: switch context: Output mode only defined_in: Firmware/src/modules/tools/switch/Switch.cpp:131 description: If true, prevents this switch from changing state when system enters halt. The output maintains its current state regardless of halt_set_to setting. Useful for hotend cooling fans that should remain in their current state (on if they were on, off if they were off) during emergency stops to ensure proper cooling without forcing them to any specific state. corresponding_v1: none (new in v2) corresponding_v2: ignore_on_halt valid_values: - value: true (ignore halt description: '' - value: maintain current state) description: '' - value: false (apply halt_set_to value) description: '' related_settings: - switch.{name}.halt_set_to related_pages: - switch - killbutton - emergencystop - temperatureswitch - name: ZProbe & Leveling description: ZProbe & Leveling Strategies setting_count: 41 settings: - name: enable type: bool default: false module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:71 description: Enables the Z-probe module. When set to true, the probe module is loaded and all probing features become available including bed leveling strategies, probe testing, and calibration commands. corresponding_v1: zprobe.enable corresponding_v2: zprobe.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - endstops - delta - z-probe-guide - name: probe_pin type: pin default: nc (not connected) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:75 description: Defines the GPIO pin connected to the probe signal. The probe should output a HIGH signal when touching the bed (or LOW if inverted with !). This pin is read at 1kHz in an interrupt service routine to detect probe triggers during moves. corresponding_v1: zprobe.probe_pin corresponding_v2: zprobe.probe_pin valid_values: - value: Pin specification in STM32 format (e.g. description: '' - value: PD3 description: '' - value: PE1! description: '' - value: PF2^) description: '' related_settings: - zprobe.debounce_ms related_pages: - zprobe - pin-configuration - sensor-types - name: slow_feedrate type: number default: 5 (mm/sec) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:135 description: Speed at which the probe approaches the bed during actual probing moves. Slower speeds improve accuracy by reducing overshoot and mechanical bouncing, but increase total probing time. This speed is used for the final precision probe after any fast approach. corresponding_v1: zprobe.slow_feedrate corresponding_v2: zprobe.slow_feedrate units: mm/sec related_settings: - zprobe.fast_feedrate - zprobe.return_feedrate - zprobe.debounce_ms related_pages: - zprobe - sensor-types - name: fast_feedrate type: number default: 100 (mm/sec) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:136 description: Travel speed between probe points and for initial rapid approach moves. Does not affect probing accuracy but reduces total time for multi-point bed leveling operations. Limited by machine capabilities and acceleration settings. corresponding_v1: zprobe.fast_feedrate corresponding_v2: zprobe.fast_feedrate units: mm/sec related_settings: - zprobe.slow_feedrate - zprobe.return_feedrate related_pages: - zprobe - motion-control - name: return_feedrate type: number default: 0 (auto-calculated) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:137 description: Speed when retracting from a probe point. When set to 0, the firmware automatically calculates return speed as slow_feedrate * 2, capped at fast_feedrate. Setting an explicit value overrides this calculation. corresponding_v1: zprobe.return_feedrate corresponding_v2: zprobe.return_feedrate units: mm/sec related_settings: - zprobe.slow_feedrate - zprobe.fast_feedrate related_pages: - zprobe - name: probe_height type: number default: 5.0 (mm) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:134 description: Height above the bed to position the probe before starting each probing move. This is the Z height maintained during XY travel moves between probe points. Must be high enough that the probe won't crash into the bed or any bed obstructions during lateral moves. corresponding_v1: zprobe.probe_height corresponding_v2: zprobe.probe_height units: mm related_settings: - zprobe.max_travel related_pages: - zprobe - z-probe-guide - name: max_travel type: number default: 200 (mm) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:139 description: Maximum distance the probe will travel downward before giving up on a probe attempt. Safety feature to prevent crashes if the bed is much lower than expected or if the probe fails to trigger. Probe moves abort with error if this distance is exceeded without trigger. corresponding_v1: zprobe.max_z or gamma_max corresponding_v2: zprobe.max_travel units: mm related_settings: - zprobe.probe_height related_pages: - zprobe - z-probe-guide - name: reverse_z type: bool default: false module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:138 description: Probe in +Z direction instead of -Z direction. Used for specialized machine setups where the probe moves upward to contact a surface above the nozzle rather than downward to contact a bed below. corresponding_v1: zprobe.reverse_z corresponding_v2: zprobe.reverse_z valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - name: dwell_before_probing type: number default: 0 (seconds) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:141 description: Time to wait before starting each probe move. Allows mechanical settling after XY positioning and before Z probe begins. Useful for deployable probes (e.g., BLTouch that needs time to deploy), machines with mechanical flex, or to allow vibrations to dampen. corresponding_v1: zprobe.dwell_before_probing corresponding_v2: zprobe.dwell_before_probing units: seconds related_settings: - zprobe.debounce_ms - leveling strategy before_probe_gcode related_pages: - zprobe - sensor-types - name: debounce_ms type: number default: 0 (milliseconds) module: zprobe context: Global module setting defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:83 description: Probe signal debounce time in milliseconds. The probe signal must remain continuously triggered for this duration before being considered a valid trigger. Prevents false triggers from electrical noise, mechanical bouncing, or transient signals. Each millisecond is verified at 1kHz in the ISR. corresponding_v1: zprobe.debounce_ms corresponding_v2: zprobe.debounce_ms units: milliseconds related_settings: - zprobe.probe_pin - zprobe.slow_feedrate related_pages: - zprobe - sensor-types - name: leveling type: string default: '"" (none)' module: zprobe context: Strategy selection defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:86 description: Selects which bed leveling strategy to enable. Only one leveling strategy can be active at a time. Each strategy has its own configuration section with strategy-specific parameters. Leveling strategies apply Z-axis compensation during printing to account for bed irregularities. corresponding_v1: leveling-strategy.{name}.enable (three-point-leveling, delta-calibration, delta-grid, rectangular-grid) corresponding_v2: zprobe.leveling valid_values: - value: '"three point"' description: '' - value: '"cartesian grid"' description: '' - value: '"delta grid"' description: '' - value: '"" (no leveling)' description: '' related_settings: - All [three point leveling strategy] - '[cartesian grid leveling strategy]' - or [delta grid leveling strategy] settings related_pages: - zprobe - three-point-strategy-options - rectangular-grid-calibration-options - delta-grid-calibration-options - name: calibration type: string default: '"" (none)' module: zprobe context: Strategy selection defined_in: Firmware/src/modules/tools/zprobe/ZProbe.cpp:114 description: Selects which calibration strategy to enable. Used specifically for delta printer calibration to automatically adjust endstop trim values and delta radius. Can be used alongside a leveling strategy for comprehensive delta setup. corresponding_v1: leveling-strategy.delta-calibration.enable corresponding_v2: zprobe.calibration valid_values: - value: '"delta"' description: '' - value: '"" (no calibration)' description: '' related_settings: - All [delta calibration strategy] settings related_pages: - zprobe - delta-calibration-strategy-options - delta - name: probe_offsets type: string default: 0,0,0 module: zprobe context: Three-point strategy probe geometry defined_in: Firmware/src/modules/tools/zprobe/ThreePointStrategy.cpp:108 description: Offset of the probe trigger point from the nozzle tip in X, Y, and Z axes. Firmware accounts for these offsets when positioning for probe moves and when calculating bed heights. Critical for accurate leveling with offset probes. corresponding_v1: leveling-strategy.three-point-leveling.probe_offsets corresponding_v2: three point leveling strategy.probe_offsets units: mm valid_values: - value: Comma-separated X description: '' - value: Y description: '' - value: Z offsets in format "X description: '' - value: Y description: '' - value: Z" description: '' related_settings: - point1 - point2 - point3 related_pages: - zprobe - three-point-strategy-options - name: home_first type: bool default: true module: zprobe context: Three-point strategy homing behavior defined_in: Firmware/src/modules/tools/zprobe/ThreePointStrategy.cpp:111 description: Automatically home X and Y axes before running G32 leveling. Ensures consistent and known starting position before probing begins. Recommended to keep enabled unless manual homing is specifically required. corresponding_v1: leveling-strategy.three-point-leveling.home_first corresponding_v2: three point leveling strategy.home_first valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - three-point-strategy-options - endstops - name: tolerance type: number default: 0.03 (mm) module: zprobe context: Three-point strategy flatness threshold defined_in: Firmware/src/modules/tools/zprobe/ThreePointStrategy.cpp:112 description: If the three probe points differ by less than this amount, the bed is considered flat and no compensation is applied. Also used to validate probe repeatability and warn if the first point is not within tolerance of zero. corresponding_v1: leveling-strategy.three-point-leveling.tolerance corresponding_v2: three point leveling strategy.tolerance units: mm related_pages: - zprobe - three-point-strategy-options - name: save_plane type: bool default: false module: zprobe context: Three-point strategy persistence setting defined_in: Firmware/src/modules/tools/zprobe/ThreePointStrategy.cpp:113 description: Enable saving the calculated plane equation with M500 and restoring it with M561 ABCD parameters. Allows reusing a leveling plane without re-probing on each boot. The plane is encoded as four 32-bit integers representing the plane equation coefficients. corresponding_v1: leveling-strategy.three-point-leveling.save_plane corresponding_v2: three point leveling strategy.save_plane valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - three-point-strategy-options - name: x_size type: number default: 0.0 (must be defined) module: zprobe context: Cartesian grid geometry (required) defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:158 description: Width of the rectangular probing area in millimeters. Defines the X dimension of the bed area to probe and compensate. Must be set to a non-zero value or strategy will fail to configure. corresponding_v1: leveling-strategy.rectangular-grid.x_size corresponding_v2: cartesian grid leveling strategy.x_size units: mm related_settings: - y_size - grid_x_size related_pages: - zprobe - rectangular-grid-calibration-options - name: y_size type: number default: 0.0 (must be defined) module: zprobe context: Cartesian grid geometry (required) defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:159 description: Length of the rectangular probing area in millimeters. Defines the Y dimension of the bed area to probe and compensate. Must be set to a non-zero value or strategy will fail to configure. corresponding_v1: leveling-strategy.rectangular-grid.y_size corresponding_v2: cartesian grid leveling strategy.y_size units: mm related_settings: - x_size - grid_y_size related_pages: - zprobe - rectangular-grid-calibration-options - name: grid_x_size type: number default: 7 module: zprobe context: Cartesian grid resolution defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:139 description: Number of probe points in X direction. Must be an odd number for proper grid symmetry. More points provide better compensation accuracy but increase probing time significantly. corresponding_v1: leveling-strategy.rectangular-grid.grid_x_size corresponding_v2: cartesian grid leveling strategy.grid_x_size valid_values: - value: Odd integers >= 5 description: '' related_settings: - grid_y_size - x_size related_pages: - zprobe - rectangular-grid-calibration-options - name: grid_y_size type: number default: 7 module: zprobe context: Cartesian grid resolution defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:140 description: Number of probe points in Y direction. Must be an odd number. Works with grid_x_size to define total probe point count. corresponding_v1: leveling-strategy.rectangular-grid.grid_y_size corresponding_v2: cartesian grid leveling strategy.grid_y_size valid_values: - value: Odd integers >= 5 description: '' related_settings: - grid_x_size - y_size related_pages: - zprobe - rectangular-grid-calibration-options - name: tolerance type: number default: 0.03 (mm) module: zprobe context: Cartesian grid quality threshold defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:141 description: Probe tolerance threshold. Currently used for validation reporting but not for automatic re-probing in v2 implementation. corresponding_v1: leveling-strategy.rectangular-grid.tolerance corresponding_v2: cartesian grid leveling strategy.tolerance units: mm related_pages: - zprobe - rectangular-grid-calibration-options - name: save type: bool default: false module: zprobe context: Cartesian grid persistence setting defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:142 description: When true, M500 will save an M375 command to config-override, causing the grid to be automatically loaded from /sd/cartesian.grid on boot. Enables persistent bed leveling without re-probing every boot. corresponding_v1: leveling-strategy.rectangular-grid.save corresponding_v2: cartesian grid leveling strategy.save valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - rectangular-grid-calibration-options - name: do_home type: bool default: true module: zprobe context: Cartesian grid homing behavior defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:143 description: Automatically home all axes before probing grid with G32 command. Ensures consistent starting position for repeatable grid probing. corresponding_v1: leveling-strategy.rectangular-grid.do_home corresponding_v2: cartesian grid leveling strategy.do_home valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - rectangular-grid-calibration-options - endstops - name: only_by_two_corners type: bool default: false module: zprobe context: Cartesian grid definition mode defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:144 description: When true, requires G32 to specify XYAB parameters defining the grid area instead of using configured x_size/y_size. X,Y define start position offset, A,B define grid size. Useful for probing arbitrary bed regions dynamically. corresponding_v1: leveling-strategy.rectangular-grid.only_by_two_corners corresponding_v2: cartesian grid leveling strategy.only_by_two_corners valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - rectangular-grid-calibration-options - name: human_readable type: bool default: false module: zprobe context: Cartesian grid output format defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:145 description: Display grid as a formatted table with XY coordinates when using M375.1 instead of raw floating-point values. Makes grid data easier to visually interpret and verify. corresponding_v1: leveling-strategy.rectangular-grid.human_readable corresponding_v2: cartesian grid leveling strategy.human_readable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - rectangular-grid-calibration-options - name: probe_offsets type: string default: 0,0,0 module: zprobe context: Cartesian grid probe geometry defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:171 description: Probe offset from nozzle tip in X, Y, and Z. Accounts for probe position relative to nozzle during grid probing and compensation calculations. corresponding_v1: leveling-strategy.rectangular-grid.probe_offsets corresponding_v2: cartesian grid leveling strategy.probe_offsets units: mm valid_values: - value: Comma-separated X description: '' - value: Y description: '' - value: Z offsets in format "X description: '' - value: Y description: '' - value: Z" description: '' related_pages: - zprobe - rectangular-grid-calibration-options - name: dampening_start type: number default: 0 (disabled) module: zprobe context: Cartesian grid advanced compensation control defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:148 description: Z height where bed compensation begins to reduce linearly. Between dampening_start and height_limit, compensation is scaled from 100% down to 0%. Prevents over-compensation at higher Z heights where bed topology is less relevant. corresponding_v1: leveling-strategy.rectangular-grid.dampening_start corresponding_v2: cartesian grid leveling strategy.dampening_start units: mm valid_values: - value: 0 (disabled) or > 0 and < height_limit description: '' related_settings: - height_limit related_pages: - zprobe - rectangular-grid-calibration-options - name: height_limit type: number default: 0 (disabled) module: zprobe context: Cartesian grid advanced compensation control defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:147 description: Z height where bed compensation stops completely. Above this height, no compensation is applied. Works with dampening_start to create fade-out zone. Useful when bed topology only matters for first few layers. corresponding_v1: leveling-strategy.rectangular-grid.height_limit corresponding_v2: cartesian grid leveling strategy.height_limit units: mm valid_values: - value: 0 (disabled) or > dampening_start description: '' related_settings: - dampening_start related_pages: - zprobe - rectangular-grid-calibration-options - name: initial_height type: number default: 10 (mm) module: zprobe context: Cartesian grid initial probing height defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:167 description: Height above bed to begin initial probe search. Must be high enough that probe won't crash during initial positioning to start of grid. Used to find bed before starting systematic grid probing. corresponding_v1: leveling-strategy.rectangular-grid.initial_height corresponding_v2: cartesian grid leveling strategy.initial_height units: mm valid_values: - value: '> 0' description: '' - value: typically 5-20mm description: '' related_pages: - zprobe - rectangular-grid-calibration-options - name: before_probe_gcode type: string default: '"" (none)' module: zprobe context: Cartesian grid probe deployment automation defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:178 description: G-code command(s) to run before each probe point. Used for deployable probes like BLTouch that need to extend before probing. Can be a single command or multiple commands separated by semicolons. Executed via null output stream (no response shown). corresponding_v1: none (new in v2) corresponding_v2: cartesian grid leveling strategy.before_probe_gcode valid_values: - value: G-code command string (single or multiple separated by semicolons) description: '' related_settings: - after_probe_gcode related_pages: - zprobe - rectangular-grid-calibration-options - sensor-types - name: after_probe_gcode type: string default: '"" (none)' module: zprobe context: Cartesian grid probe retraction automation defined_in: Firmware/src/modules/tools/zprobe/CartGridStrategy.cpp:179 description: G-code command(s) to run after each probe point. Used for deployable probes like BLTouch that need to retract after probing. Paired with before_probe_gcode for complete probe deployment/retraction cycle. corresponding_v1: none (new in v2) corresponding_v2: cartesian grid leveling strategy.after_probe_gcode valid_values: - value: G-code command string (single or multiple separated by semicolons) description: '' related_settings: - before_probe_gcode related_pages: - zprobe - rectangular-grid-calibration-options - sensor-types - name: radius type: number default: 50.0 (mm) module: zprobe context: Delta grid geometry (required) defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:116 description: Radius of circular probing area from bed center. Should be at least as large as maximum printing radius to ensure full bed compensation coverage. Points outside this radius are not probed but are extrapolated from nearby probed points. corresponding_v1: leveling-strategy.delta-grid.radius corresponding_v2: delta grid leveling strategy.radius units: mm valid_values: - value: '> 0' description: '' - value: typically 50-150mm depending on printer size description: '' related_settings: - size related_pages: - zprobe - delta-grid-calibration-options - delta - name: size type: number default: 7 module: zprobe context: Delta grid resolution defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:112 description: Grid size (number of points in each direction). Must be an odd number. Creates size×size grid, but only probes points within radius. Corner points outside circular boundary are extrapolated. corresponding_v1: leveling-strategy.delta-grid.size corresponding_v2: delta grid leveling strategy.size valid_values: - value: Odd integers >= 5 description: '' related_settings: - radius related_pages: - zprobe - delta-grid-calibration-options - delta - name: tolerance type: number default: 0.03 (mm) module: zprobe context: Delta grid quality threshold defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:113 description: Probe tolerance for validation. Used for quality reporting. corresponding_v1: leveling-strategy.delta-grid.tolerance corresponding_v2: delta grid leveling strategy.tolerance units: mm related_pages: - zprobe - delta-grid-calibration-options - name: save type: bool default: false module: zprobe context: Delta grid persistence setting defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:114 description: When true, M500 saves M375 command to config-override, causing grid to auto-load from /sd/delta.grid on boot. corresponding_v1: leveling-strategy.delta-grid.save corresponding_v2: delta grid leveling strategy.save valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - delta-grid-calibration-options - name: do_home type: bool default: true module: zprobe context: Delta grid homing behavior defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:115 description: Home before probing grid. Ensures consistent starting position for repeatable results. corresponding_v1: leveling-strategy.delta-grid.do_home corresponding_v2: delta grid leveling strategy.do_home valid_values: - value: 'true' description: '' - value: 'false' description: '' related_pages: - zprobe - delta-grid-calibration-options - endstops - name: initial_height type: number default: 10 (mm) module: zprobe context: Delta grid initial probing height defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:120 description: Starting height for initial bed probe. Should be high enough that probe won't hit bed during initial move to center after homing. corresponding_v1: leveling-strategy.delta-grid.initial_height corresponding_v2: delta grid leveling strategy.initial_height units: mm valid_values: - value: '> 0' description: '' - value: typically 5-20mm description: '' related_pages: - zprobe - delta-grid-calibration-options - delta - name: probe_offsets type: string default: 0,0,0 module: zprobe context: Delta grid probe geometry defined_in: Firmware/src/modules/tools/zprobe/DeltaGridStrategy.cpp:124 description: Probe offset from effector in X, Y, Z format. Accounts for probe position relative to nozzle. corresponding_v1: leveling-strategy.delta-grid.probe_offsets corresponding_v2: delta grid leveling strategy.probe_offsets units: mm valid_values: - value: Comma-separated X description: '' - value: Y description: '' - value: Z offsets in format "X description: '' - value: Y description: '' - value: Z" description: '' related_pages: - zprobe - delta-grid-calibration-options - name: radius type: number default: 100.0 (mm) module: zprobe context: Delta calibration geometry defined_in: Firmware/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp:31 description: Radius from center to probe points during calibration. Should be large enough to show tower positioning errors but within probe-reachable area. Different from delta-grid radius - this is for calibration, not leveling. corresponding_v1: leveling-strategy.delta-calibration.radius corresponding_v2: delta calibration strategy.radius units: mm valid_values: - value: '> 0' description: '' - value: typically 50-150mm description: '' related_pages: - zprobe - delta-calibration-strategy-options - delta - name: initial_height type: number default: 20 (mm) module: zprobe context: Delta calibration initial height defined_in: Firmware/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp:35 description: Height to descend to after homing before starting calibration probe. Must account for probe extension distance below effector. Higher than grid strategies due to delta geometry considerations. corresponding_v1: leveling-strategy.delta-calibration.initial_height corresponding_v2: delta calibration strategy.initial_height units: mm valid_values: - value: '> 0' description: '' - value: typically 10-30mm description: '' related_pages: - zprobe - delta-calibration-strategy-options - delta - name: tolerance type: number default: 0.03 (mm) module: zprobe context: Delta calibration target tolerance defined_in: Firmware/src/modules/tools/zprobe/DeltaCalibrationStrategy.cpp:38 description: Target tolerance for calibration completion. Calibration iterates until probe height differences are within this value, or maximum 10 iterations complete. Tighter tolerance improves accuracy but may not be achievable on all machines. corresponding_v1: leveling-strategy.delta-calibration.tolerance corresponding_v2: delta calibration strategy.tolerance units: mm valid_values: - value: '> 0' description: '' - value: typically 0.01-0.05mm description: '' related_pages: - zprobe - delta-calibration-strategy-options - delta - name: Endstops description: '' setting_count: 71 settings: - name: maxx.axis type: string (single character) default: none (required setting) module: endstops context: Module instance setting (associates endstop with machine axis) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:151 description: Defines which machine axis this endstop controls. The axis assignment determines which motor(s) stop when the endstop is triggered and which coordinate is set during homing. Each endstop must be assigned to exactly one axis, but an axis can have multiple endstops (min and max, or multiple for limit detection). corresponding_v1: Implicit in endstop name (alpha_max_endstop → X axis) corresponding_v2: endstops.maxx.axis valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: A description: '' - value: B description: '' - value: C description: '' related_settings: - maxx.homing_direction - maxx.homing_position - actuator..steps_per_mm related_pages: - endstops - arm-solutions - cartesian - delta - name: maxx.enable type: bool default: false module: endstops context: Module instance setting (each endstop instance must be explicitly enabled) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:141 description: Enables this specific endstop instance. When set to true, the endstop becomes active and will be monitored during homing operations or for limit detection. When false, the endstop is completely ignored by the firmware regardless of other settings. corresponding_v1: none (v1 used implicit enable via pin definition) corresponding_v2: endstops.maxx.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - maxx.pin - maxx.axis - maxx.homing_direction related_pages: - endstops - guide-endstops - endstops-options - name: maxx.fast_rate type: number default: 100 module: endstops context: Module instance setting (first-pass homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:222 description: Speed for the initial fast approach to the endstop during the first phase of homing. The two-phase homing sequence uses this faster speed to quickly move the axis close to the endstop, then backs off and approaches slowly for precision. Higher values reduce homing time but may reduce repeatability due to mechanical momentum and switch bounce. corresponding_v1: alpha_fast_homing_rate_mm_s corresponding_v2: endstops.maxx.fast_rate units: mm/s related_settings: - maxx.slow_rate - maxx.retract - maxx.max_travel related_pages: - endstops - endstops-options - stepper-motors - name: maxx.homing_direction type: string default: null module: endstops context: Module instance setting (defines homing behavior for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:197 description: Specifies the direction the axis moves when homing to this endstop. When a homing command (G28) is issued, the firmware moves the axis in the specified direction until this endstop triggers. The direction determines whether the axis moves toward the minimum (negative) or maximum (positive) end of travel. corresponding_v1: alpha_homing_direction corresponding_v2: endstops.maxx.homing_direction valid_values: - value: home_to_min description: '' - value: home_to_max description: '' - value: none description: '' related_settings: - maxx.homing_position - maxx.max_travel - maxx.fast_rate - maxx.slow_rate related_pages: - endstops - endstop - guide-endstops - name: maxx.homing_position type: number default: 0 (if home_to_min), 200 (if home_to_max) module: endstops context: Module instance setting (establishes machine coordinate system origin) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:232 description: Defines the machine coordinate value assigned to the axis when the endstop is triggered during homing. This setting establishes the machine coordinate system by defining where in space the endstop is located. After homing completes, the axis position is set to this value, making it the reference point for all subsequent moves. corresponding_v1: alpha_max corresponding_v2: endstops.maxx.homing_position units: mm related_settings: - maxx.homing_direction - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - gamma-max - delta - name: maxx.limit_enable type: bool default: false module: endstops context: Module instance setting (enables hard limit detection) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:180 description: Enables this endstop as a hard limit switch that triggers an emergency stop if hit during normal operation (outside of homing). When enabled, if the endstop is triggered while any axis is moving during normal operation, the system immediately enters ALARM state, halts all motion, disables heaters, and flushes the motion queue to prevent crashes or damage. corresponding_v1: alpha_limit_enable corresponding_v2: endstops.maxx.limit_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.debounce_ms - maxx.pin related_pages: - endstops - emergencystop - killbutton - name: maxx.max_travel type: number default: 500 module: endstops context: Module instance setting (safety limit for homing travel distance) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:235 description: Maximum distance the axis will travel during homing before triggering a timeout alarm. This is a safety feature that prevents the machine from moving indefinitely if the endstop fails to trigger due to wiring failure, mechanical issues, or incorrect configuration. If the endstop is not triggered within this distance, the system enters ALARM state and halts all motion. corresponding_v1: alpha_max_travel corresponding_v2: endstops.maxx.max_travel units: mm related_settings: - maxx.fast_rate - maxx.slow_rate - maxx.homing_direction related_pages: - endstops - troubleshooting - emergencystop - name: maxx.pin type: pin default: nc (not connected) module: endstops context: Module instance setting (physical pin connection for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:144 description: Specifies the GPIO pin connected to the endstop switch signal. The pin is configured as an input and monitored for state changes during homing and limit checking. The firmware reads this pin to detect when the endstop is triggered. corresponding_v1: alpha_max_endstop corresponding_v2: endstops.maxx.pin valid_values: - value: v2 pin format (e.g. description: '' - value: PD0 description: '' - value: PD0^ description: '' - value: PD0!) description: '' related_settings: - maxx.axis - maxx.homing_direction - common.debounce_ms related_pages: - endstops - pin-configuration - pinout - sensor-types - name: maxx.retract type: number default: 5 module: endstops context: Module instance setting (backoff distance for two-phase homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:226 description: 'Distance to move away from the endstop after the fast approach triggers it, before performing the slow precision approach. This backoff ensures the endstop is no longer triggered before the final slow approach begins, allowing for accurate position detection. The two-phase homing sequence is: fast approach → trigger → retract this distance → slow approach → trigger → done.' corresponding_v1: alpha_homing_retract_mm corresponding_v2: endstops.maxx.retract units: mm related_settings: - maxx.fast_rate - maxx.slow_rate related_pages: - endstops - sensor-types - name: maxx.slow_rate type: number default: 10 module: endstops context: Module instance setting (precision homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:223 description: Speed for the second-phase precision approach to the endstop after the initial fast approach and retract. This slower speed ensures accurate and repeatable homing by reducing mechanical momentum and allowing the switch to settle before position is recorded. Lower values improve homing repeatability at the cost of increased homing time. corresponding_v1: alpha_slow_homing_rate_mm_s corresponding_v2: endstops.maxx.slow_rate units: mm/s related_settings: - maxx.fast_rate - maxx.retract - common.debounce_ms related_pages: - endstops - endstops-options - name: maxy.axis type: string (single character) default: none (required setting) module: endstops context: Module instance setting (associates endstop with machine axis) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:151 description: Defines which machine axis this endstop controls. The axis assignment determines which motor(s) stop when the endstop is triggered and which coordinate is set during homing. Each endstop must be assigned to exactly one axis, but an axis can have multiple endstops (min and max, or multiple for limit detection). corresponding_v1: Implicit in endstop name (beta_max_endstop → Y axis) corresponding_v2: endstops.maxy.axis valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: A description: '' - value: B description: '' - value: C description: '' related_settings: - maxy.homing_direction - maxy.homing_position - actuator..steps_per_mm related_pages: - endstops - arm-solutions - cartesian - delta - name: maxy.enable type: bool default: false module: endstops context: Module instance setting (each endstop instance must be explicitly enabled) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:141 description: Enables this specific endstop instance. When set to true, the endstop becomes active and will be monitored during homing operations or for limit detection. When false, the endstop is completely ignored by the firmware regardless of other settings. corresponding_v1: none (v1 used implicit enable via pin definition) corresponding_v2: endstops.maxy.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - maxy.pin - maxy.axis - maxy.homing_direction related_pages: - endstops - guide-endstops - endstops-options - name: maxy.fast_rate type: number default: 100 module: endstops context: Module instance setting (first-pass homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:222 description: Speed for the initial fast approach to the endstop during the first phase of homing. The two-phase homing sequence uses this faster speed to quickly move the axis close to the endstop, then backs off and approaches slowly for precision. Higher values reduce homing time but may reduce repeatability due to mechanical momentum and switch bounce. corresponding_v1: beta_fast_homing_rate_mm_s corresponding_v2: endstops.maxy.fast_rate units: mm/s related_settings: - maxy.slow_rate - maxy.retract - maxy.max_travel related_pages: - endstops - endstops-options - stepper-motors - name: maxy.homing_direction type: string default: null module: endstops context: Module instance setting (defines homing behavior for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:197 description: Specifies the direction the axis moves when homing to this endstop. When a homing command (G28) is issued, the firmware moves the axis in the specified direction until this endstop triggers. The direction determines whether the axis moves toward the minimum (negative) or maximum (positive) end of travel. corresponding_v1: beta_homing_direction corresponding_v2: endstops.maxy.homing_direction valid_values: - value: home_to_min description: '' - value: home_to_max description: '' - value: none description: '' related_settings: - maxy.homing_position - maxy.max_travel - maxy.fast_rate - maxy.slow_rate related_pages: - endstops - endstop - guide-endstops - name: maxy.homing_position type: number default: 0 (if home_to_min), 200 (if home_to_max) module: endstops context: Module instance setting (establishes machine coordinate system origin) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:232 description: Defines the machine coordinate value assigned to the axis when the endstop is triggered during homing. This setting establishes the machine coordinate system by defining where in space the endstop is located. After homing completes, the axis position is set to this value, making it the reference point for all subsequent moves. corresponding_v1: beta_max corresponding_v2: endstops.maxy.homing_position units: mm related_settings: - maxy.homing_direction - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - gamma-max - delta - name: maxy.limit_enable type: bool default: false module: endstops context: Module instance setting (enables hard limit detection) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:180 description: Enables this endstop as a hard limit switch that triggers an emergency stop if hit during normal operation (outside of homing). When enabled, if the endstop is triggered while any axis is moving during normal operation, the system immediately enters ALARM state, halts all motion, disables heaters, and flushes the motion queue to prevent crashes or damage. corresponding_v1: beta_limit_enable corresponding_v2: endstops.maxy.limit_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.debounce_ms - maxy.pin related_pages: - endstops - emergencystop - killbutton - name: maxy.max_travel type: number default: 500 module: endstops context: Module instance setting (safety limit for homing travel distance) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:235 description: Maximum distance the axis will travel during homing before triggering a timeout alarm. This is a safety feature that prevents the machine from moving indefinitely if the endstop fails to trigger due to wiring failure, mechanical issues, or incorrect configuration. If the endstop is not triggered within this distance, the system enters ALARM state and halts all motion. corresponding_v1: beta_max_travel corresponding_v2: endstops.maxy.max_travel units: mm related_settings: - maxy.fast_rate - maxy.slow_rate - maxy.homing_direction related_pages: - endstops - troubleshooting - emergencystop - name: maxy.pin type: pin default: nc (not connected) module: endstops context: Module instance setting (physical pin connection for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:144 description: Specifies the GPIO pin connected to the endstop switch signal. The pin is configured as an input and monitored for state changes during homing and limit checking. The firmware reads this pin to detect when the endstop is triggered. corresponding_v1: beta_max_endstop corresponding_v2: endstops.maxy.pin valid_values: - value: v2 pin format (e.g. description: '' - value: PD0 description: '' - value: PD0^ description: '' - value: PD0!) description: '' related_settings: - maxy.axis - maxy.homing_direction - common.debounce_ms related_pages: - endstops - pin-configuration - pinout - sensor-types - name: maxy.retract type: number default: 5 module: endstops context: Module instance setting (backoff distance for two-phase homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:226 description: 'Distance to move away from the endstop after the fast approach triggers it, before performing the slow precision approach. This backoff ensures the endstop is no longer triggered before the final slow approach begins, allowing for accurate position detection. The two-phase homing sequence is: fast approach → trigger → retract this distance → slow approach → trigger → done.' corresponding_v1: beta_homing_retract_mm corresponding_v2: endstops.maxy.retract units: mm related_settings: - maxy.fast_rate - maxy.slow_rate related_pages: - endstops - sensor-types - name: maxy.slow_rate type: number default: 10 module: endstops context: Module instance setting (precision homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:223 description: Speed for the second-phase precision approach to the endstop after the initial fast approach and retract. This slower speed ensures accurate and repeatable homing by reducing mechanical momentum and allowing the switch to settle before position is recorded. Lower values improve homing repeatability at the cost of increased homing time. corresponding_v1: beta_slow_homing_rate_mm_s corresponding_v2: endstops.maxy.slow_rate units: mm/s related_settings: - maxy.fast_rate - maxy.retract - common.debounce_ms related_pages: - endstops - endstops-options - name: maxz.axis type: string (single character) default: none (required setting) module: endstops context: Module instance setting (associates endstop with machine axis) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:151 description: Defines which machine axis this endstop controls. The axis assignment determines which motor(s) stop when the endstop is triggered and which coordinate is set during homing. Each endstop must be assigned to exactly one axis, but an axis can have multiple endstops (min and max, or multiple for limit detection). corresponding_v1: Implicit in endstop name (gamma_max_endstop → Z axis) corresponding_v2: endstops.maxz.axis valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: A description: '' - value: B description: '' - value: C description: '' related_settings: - maxz.homing_direction - maxz.homing_position - actuator..steps_per_mm related_pages: - endstops - arm-solutions - cartesian - delta - name: maxz.enable type: bool default: false module: endstops context: Module instance setting (each endstop instance must be explicitly enabled) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:141 description: Enables this specific endstop instance. When set to true, the endstop becomes active and will be monitored during homing operations or for limit detection. When false, the endstop is completely ignored by the firmware regardless of other settings. corresponding_v1: none (v1 used implicit enable via pin definition) corresponding_v2: endstops.maxz.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - maxz.pin - maxz.axis - maxz.homing_direction related_pages: - endstops - guide-endstops - endstops-options - name: maxz.fast_rate type: number default: 100 module: endstops context: Module instance setting (first-pass homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:222 description: Speed for the initial fast approach to the endstop during the first phase of homing. The two-phase homing sequence uses this faster speed to quickly move the axis close to the endstop, then backs off and approaches slowly for precision. Higher values reduce homing time but may reduce repeatability due to mechanical momentum and switch bounce. corresponding_v1: gamma_fast_homing_rate_mm_s corresponding_v2: endstops.maxz.fast_rate units: mm/s related_settings: - maxz.slow_rate - maxz.retract - maxz.max_travel related_pages: - endstops - endstops-options - stepper-motors - name: maxz.homing_direction type: string default: null module: endstops context: Module instance setting (defines homing behavior for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:197 description: Specifies the direction the axis moves when homing to this endstop. When a homing command (G28) is issued, the firmware moves the axis in the specified direction until this endstop triggers. The direction determines whether the axis moves toward the minimum (negative) or maximum (positive) end of travel. corresponding_v1: gamma_homing_direction corresponding_v2: endstops.maxz.homing_direction valid_values: - value: home_to_min description: '' - value: home_to_max description: '' - value: none description: '' related_settings: - maxz.homing_position - maxz.max_travel - maxz.fast_rate - maxz.slow_rate related_pages: - endstops - endstop - guide-endstops - name: maxz.homing_position type: number default: 0 (if home_to_min), 200 (if home_to_max) module: endstops context: Module instance setting (establishes machine coordinate system origin) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:232 description: Defines the machine coordinate value assigned to the axis when the endstop is triggered during homing. This setting establishes the machine coordinate system by defining where in space the endstop is located. After homing completes, the axis position is set to this value, making it the reference point for all subsequent moves. corresponding_v1: gamma_max corresponding_v2: endstops.maxz.homing_position units: mm related_settings: - maxz.homing_direction - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - gamma-max - delta - name: maxz.limit_enable type: bool default: false module: endstops context: Module instance setting (enables hard limit detection) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:180 description: Enables this endstop as a hard limit switch that triggers an emergency stop if hit during normal operation (outside of homing). When enabled, if the endstop is triggered while any axis is moving during normal operation, the system immediately enters ALARM state, halts all motion, disables heaters, and flushes the motion queue to prevent crashes or damage. corresponding_v1: gamma_limit_enable corresponding_v2: endstops.maxz.limit_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.debounce_ms - maxz.pin related_pages: - endstops - emergencystop - killbutton - name: maxz.max_travel type: number default: 500 module: endstops context: Module instance setting (safety limit for homing travel distance) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:235 description: Maximum distance the axis will travel during homing before triggering a timeout alarm. This is a safety feature that prevents the machine from moving indefinitely if the endstop fails to trigger due to wiring failure, mechanical issues, or incorrect configuration. If the endstop is not triggered within this distance, the system enters ALARM state and halts all motion. corresponding_v1: gamma_max_travel corresponding_v2: endstops.maxz.max_travel units: mm related_settings: - maxz.fast_rate - maxz.slow_rate - maxz.homing_direction related_pages: - endstops - troubleshooting - emergencystop - name: maxz.pin type: pin default: nc (not connected) module: endstops context: Module instance setting (physical pin connection for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:144 description: Specifies the GPIO pin connected to the endstop switch signal. The pin is configured as an input and monitored for state changes during homing and limit checking. The firmware reads this pin to detect when the endstop is triggered. corresponding_v1: gamma_max_endstop corresponding_v2: endstops.maxz.pin valid_values: - value: v2 pin format (e.g. description: '' - value: PD0 description: '' - value: PD0^ description: '' - value: PD0!) description: '' related_settings: - maxz.axis - maxz.homing_direction - common.debounce_ms related_pages: - endstops - pin-configuration - pinout - sensor-types - name: maxz.retract type: number default: 5 module: endstops context: Module instance setting (backoff distance for two-phase homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:226 description: 'Distance to move away from the endstop after the fast approach triggers it, before performing the slow precision approach. This backoff ensures the endstop is no longer triggered before the final slow approach begins, allowing for accurate position detection. The two-phase homing sequence is: fast approach → trigger → retract this distance → slow approach → trigger → done.' corresponding_v1: gamma_homing_retract_mm corresponding_v2: endstops.maxz.retract units: mm related_settings: - maxz.fast_rate - maxz.slow_rate related_pages: - endstops - sensor-types - name: maxz.slow_rate type: number default: 10 module: endstops context: Module instance setting (precision homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:223 description: Speed for the second-phase precision approach to the endstop after the initial fast approach and retract. This slower speed ensures accurate and repeatable homing by reducing mechanical momentum and allowing the switch to settle before position is recorded. Lower values improve homing repeatability at the cost of increased homing time. corresponding_v1: gamma_slow_homing_rate_mm_s corresponding_v2: endstops.maxz.slow_rate units: mm/s related_settings: - maxz.fast_rate - maxz.retract - common.debounce_ms related_pages: - endstops - endstops-options - name: minx.axis type: string (single character) default: none (required setting) module: endstops context: Module instance setting (associates endstop with machine axis) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:151 description: Defines which machine axis this endstop controls. The axis assignment determines which motor(s) stop when the endstop is triggered and which coordinate is set during homing. Each endstop must be assigned to exactly one axis, but an axis can have multiple endstops (min and max, or multiple for limit detection). corresponding_v1: Implicit in endstop name (alpha_min_endstop → X axis) corresponding_v2: endstops.minx.axis valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: A description: '' - value: B description: '' - value: C description: '' related_settings: - minx.homing_direction - minx.homing_position - actuator..steps_per_mm related_pages: - endstops - arm-solutions - cartesian - delta - name: minx.enable type: bool default: false module: endstops context: Module instance setting (each endstop instance must be explicitly enabled) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:141 description: Enables this specific endstop instance. When set to true, the endstop becomes active and will be monitored during homing operations or for limit detection. When false, the endstop is completely ignored by the firmware regardless of other settings. corresponding_v1: none (v1 used implicit enable via pin definition) corresponding_v2: endstops.minx.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - minx.pin - minx.axis - minx.homing_direction related_pages: - endstops - guide-endstops - endstops-options - name: minx.fast_rate type: number default: 100 module: endstops context: Module instance setting (first-pass homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:222 description: Speed for the initial fast approach to the endstop during the first phase of homing. The two-phase homing sequence uses this faster speed to quickly move the axis close to the endstop, then backs off and approaches slowly for precision. Higher values reduce homing time but may reduce repeatability due to mechanical momentum and switch bounce. corresponding_v1: alpha_fast_homing_rate_mm_s corresponding_v2: endstops.minx.fast_rate units: mm/s related_settings: - minx.slow_rate - minx.retract - minx.max_travel related_pages: - endstops - endstops-options - stepper-motors - name: minx.homing_direction type: string default: null module: endstops context: Module instance setting (defines homing behavior for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:197 description: Specifies the direction the axis moves when homing to this endstop. When a homing command (G28) is issued, the firmware moves the axis in the specified direction until this endstop triggers. The direction determines whether the axis moves toward the minimum (negative) or maximum (positive) end of travel. corresponding_v1: alpha_homing_direction corresponding_v2: endstops.minx.homing_direction valid_values: - value: home_to_min description: '' - value: home_to_max description: '' - value: none description: '' related_settings: - minx.homing_position - minx.max_travel - minx.fast_rate - minx.slow_rate related_pages: - endstops - endstop - guide-endstops - name: minx.homing_position type: number default: 0 (if home_to_min), 200 (if home_to_max) module: endstops context: Module instance setting (establishes machine coordinate system origin) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:232 description: Defines the machine coordinate value assigned to the axis when the endstop is triggered during homing. This setting establishes the machine coordinate system by defining where in space the endstop is located. After homing completes, the axis position is set to this value, making it the reference point for all subsequent moves. corresponding_v1: alpha_min corresponding_v2: endstops.minx.homing_position units: mm related_settings: - minx.homing_direction - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - gamma-max - delta - name: minx.limit_enable type: bool default: false module: endstops context: Module instance setting (enables hard limit detection) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:180 description: Enables this endstop as a hard limit switch that triggers an emergency stop if hit during normal operation (outside of homing). When enabled, if the endstop is triggered while any axis is moving during normal operation, the system immediately enters ALARM state, halts all motion, disables heaters, and flushes the motion queue to prevent crashes or damage. corresponding_v1: alpha_limit_enable corresponding_v2: endstops.minx.limit_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.debounce_ms - minx.pin related_pages: - endstops - emergencystop - killbutton - name: minx.max_travel type: number default: 500 module: endstops context: Module instance setting (safety limit for homing travel distance) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:235 description: Maximum distance the axis will travel during homing before triggering a timeout alarm. This is a safety feature that prevents the machine from moving indefinitely if the endstop fails to trigger due to wiring failure, mechanical issues, or incorrect configuration. If the endstop is not triggered within this distance, the system enters ALARM state and halts all motion. corresponding_v1: alpha_max_travel corresponding_v2: endstops.minx.max_travel units: mm related_settings: - minx.fast_rate - minx.slow_rate - minx.homing_direction related_pages: - endstops - troubleshooting - emergencystop - name: minx.pin type: pin default: nc (not connected) module: endstops context: Module instance setting (physical pin connection for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:144 description: Specifies the GPIO pin connected to the endstop switch signal. The pin is configured as an input and monitored for state changes during homing and limit checking. The firmware reads this pin to detect when the endstop is triggered. corresponding_v1: alpha_min_endstop corresponding_v2: endstops.minx.pin valid_values: - value: v2 pin format (e.g. description: '' - value: PD0 description: '' - value: PD0^ description: '' - value: PD0!) description: '' related_settings: - minx.axis - minx.homing_direction - common.debounce_ms related_pages: - endstops - pin-configuration - pinout - sensor-types - name: minx.retract type: number default: 5 module: endstops context: Module instance setting (backoff distance for two-phase homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:226 description: 'Distance to move away from the endstop after the fast approach triggers it, before performing the slow precision approach. This backoff ensures the endstop is no longer triggered before the final slow approach begins, allowing for accurate position detection. The two-phase homing sequence is: fast approach → trigger → retract this distance → slow approach → trigger → done.' corresponding_v1: alpha_homing_retract_mm corresponding_v2: endstops.minx.retract units: mm related_settings: - minx.fast_rate - minx.slow_rate related_pages: - endstops - sensor-types - name: minx.slow_rate type: number default: 10 module: endstops context: Module instance setting (precision homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:223 description: Speed for the second-phase precision approach to the endstop after the initial fast approach and retract. This slower speed ensures accurate and repeatable homing by reducing mechanical momentum and allowing the switch to settle before position is recorded. Lower values improve homing repeatability at the cost of increased homing time. corresponding_v1: alpha_slow_homing_rate_mm_s corresponding_v2: endstops.minx.slow_rate units: mm/s related_settings: - minx.fast_rate - minx.retract - common.debounce_ms related_pages: - endstops - endstops-options - name: miny.axis type: string (single character) default: none (required setting) module: endstops context: Module instance setting (associates endstop with machine axis) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:151 description: Defines which machine axis this endstop controls. The axis assignment determines which motor(s) stop when the endstop is triggered and which coordinate is set during homing. Each endstop must be assigned to exactly one axis, but an axis can have multiple endstops (min and max, or multiple for limit detection). corresponding_v1: Implicit in endstop name (beta_min_endstop → Y axis) corresponding_v2: endstops.miny.axis valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: A description: '' - value: B description: '' - value: C description: '' related_settings: - miny.homing_direction - miny.homing_position - actuator..steps_per_mm related_pages: - endstops - arm-solutions - cartesian - delta - name: miny.enable type: bool default: false module: endstops context: Module instance setting (each endstop instance must be explicitly enabled) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:141 description: Enables this specific endstop instance. When set to true, the endstop becomes active and will be monitored during homing operations or for limit detection. When false, the endstop is completely ignored by the firmware regardless of other settings. corresponding_v1: none (v1 used implicit enable via pin definition) corresponding_v2: endstops.miny.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - miny.pin - miny.axis - miny.homing_direction related_pages: - endstops - guide-endstops - endstops-options - name: miny.fast_rate type: number default: 100 module: endstops context: Module instance setting (first-pass homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:222 description: Speed for the initial fast approach to the endstop during the first phase of homing. The two-phase homing sequence uses this faster speed to quickly move the axis close to the endstop, then backs off and approaches slowly for precision. Higher values reduce homing time but may reduce repeatability due to mechanical momentum and switch bounce. corresponding_v1: beta_fast_homing_rate_mm_s corresponding_v2: endstops.miny.fast_rate units: mm/s related_settings: - miny.slow_rate - miny.retract - miny.max_travel related_pages: - endstops - endstops-options - stepper-motors - name: miny.homing_direction type: string default: null module: endstops context: Module instance setting (defines homing behavior for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:197 description: Specifies the direction the axis moves when homing to this endstop. When a homing command (G28) is issued, the firmware moves the axis in the specified direction until this endstop triggers. The direction determines whether the axis moves toward the minimum (negative) or maximum (positive) end of travel. corresponding_v1: beta_homing_direction corresponding_v2: endstops.miny.homing_direction valid_values: - value: home_to_min description: '' - value: home_to_max description: '' - value: none description: '' related_settings: - miny.homing_position - miny.max_travel - miny.fast_rate - miny.slow_rate related_pages: - endstops - endstop - guide-endstops - name: miny.homing_position type: number default: 0 (if home_to_min), 200 (if home_to_max) module: endstops context: Module instance setting (establishes machine coordinate system origin) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:232 description: Defines the machine coordinate value assigned to the axis when the endstop is triggered during homing. This setting establishes the machine coordinate system by defining where in space the endstop is located. After homing completes, the axis position is set to this value, making it the reference point for all subsequent moves. corresponding_v1: beta_min corresponding_v2: endstops.miny.homing_position units: mm related_settings: - miny.homing_direction - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - gamma-max - delta - name: miny.limit_enable type: bool default: false module: endstops context: Module instance setting (enables hard limit detection) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:180 description: Enables this endstop as a hard limit switch that triggers an emergency stop if hit during normal operation (outside of homing). When enabled, if the endstop is triggered while any axis is moving during normal operation, the system immediately enters ALARM state, halts all motion, disables heaters, and flushes the motion queue to prevent crashes or damage. corresponding_v1: beta_limit_enable corresponding_v2: endstops.miny.limit_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.debounce_ms - miny.pin related_pages: - endstops - emergencystop - killbutton - name: miny.max_travel type: number default: 500 module: endstops context: Module instance setting (safety limit for homing travel distance) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:235 description: Maximum distance the axis will travel during homing before triggering a timeout alarm. This is a safety feature that prevents the machine from moving indefinitely if the endstop fails to trigger due to wiring failure, mechanical issues, or incorrect configuration. If the endstop is not triggered within this distance, the system enters ALARM state and halts all motion. corresponding_v1: beta_max_travel corresponding_v2: endstops.miny.max_travel units: mm related_settings: - miny.fast_rate - miny.slow_rate - miny.homing_direction related_pages: - endstops - troubleshooting - emergencystop - name: miny.pin type: pin default: nc (not connected) module: endstops context: Module instance setting (physical pin connection for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:144 description: Specifies the GPIO pin connected to the endstop switch signal. The pin is configured as an input and monitored for state changes during homing and limit checking. The firmware reads this pin to detect when the endstop is triggered. corresponding_v1: beta_min_endstop corresponding_v2: endstops.miny.pin valid_values: - value: v2 pin format (e.g. description: '' - value: PD0 description: '' - value: PD0^ description: '' - value: PD0!) description: '' related_settings: - miny.axis - miny.homing_direction - common.debounce_ms related_pages: - endstops - pin-configuration - pinout - sensor-types - name: miny.retract type: number default: 5 module: endstops context: Module instance setting (backoff distance for two-phase homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:226 description: 'Distance to move away from the endstop after the fast approach triggers it, before performing the slow precision approach. This backoff ensures the endstop is no longer triggered before the final slow approach begins, allowing for accurate position detection. The two-phase homing sequence is: fast approach → trigger → retract this distance → slow approach → trigger → done.' corresponding_v1: beta_homing_retract_mm corresponding_v2: endstops.miny.retract units: mm related_settings: - miny.fast_rate - miny.slow_rate related_pages: - endstops - sensor-types - name: miny.slow_rate type: number default: 10 module: endstops context: Module instance setting (precision homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:223 description: Speed for the second-phase precision approach to the endstop after the initial fast approach and retract. This slower speed ensures accurate and repeatable homing by reducing mechanical momentum and allowing the switch to settle before position is recorded. Lower values improve homing repeatability at the cost of increased homing time. corresponding_v1: beta_slow_homing_rate_mm_s corresponding_v2: endstops.miny.slow_rate units: mm/s related_settings: - miny.fast_rate - miny.retract - common.debounce_ms related_pages: - endstops - endstops-options - name: minz.axis type: string (single character) default: none (required setting) module: endstops context: Module instance setting (associates endstop with machine axis) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:151 description: Defines which machine axis this endstop controls. The axis assignment determines which motor(s) stop when the endstop is triggered and which coordinate is set during homing. Each endstop must be assigned to exactly one axis, but an axis can have multiple endstops (min and max, or multiple for limit detection). corresponding_v1: Implicit in endstop name (gamma_min_endstop → Z axis) corresponding_v2: endstops.minz.axis valid_values: - value: X description: '' - value: Y description: '' - value: Z description: '' - value: A description: '' - value: B description: '' - value: C description: '' related_settings: - minz.homing_direction - minz.homing_position - actuator..steps_per_mm related_pages: - endstops - arm-solutions - cartesian - delta - name: minz.enable type: bool default: false module: endstops context: Module instance setting (each endstop instance must be explicitly enabled) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:141 description: Enables this specific endstop instance. When set to true, the endstop becomes active and will be monitored during homing operations or for limit detection. When false, the endstop is completely ignored by the firmware regardless of other settings. corresponding_v1: none (v1 used implicit enable via pin definition) corresponding_v2: endstops.minz.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - minz.pin - minz.axis - minz.homing_direction related_pages: - endstops - guide-endstops - endstops-options - name: minz.fast_rate type: number default: 100 module: endstops context: Module instance setting (first-pass homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:222 description: Speed for the initial fast approach to the endstop during the first phase of homing. The two-phase homing sequence uses this faster speed to quickly move the axis close to the endstop, then backs off and approaches slowly for precision. Higher values reduce homing time but may reduce repeatability due to mechanical momentum and switch bounce. corresponding_v1: gamma_fast_homing_rate_mm_s corresponding_v2: endstops.minz.fast_rate units: mm/s related_settings: - minz.slow_rate - minz.retract - minz.max_travel related_pages: - endstops - endstops-options - stepper-motors - name: minz.homing_direction type: string default: null module: endstops context: Module instance setting (defines homing behavior for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:197 description: Specifies the direction the axis moves when homing to this endstop. When a homing command (G28) is issued, the firmware moves the axis in the specified direction until this endstop triggers. The direction determines whether the axis moves toward the minimum (negative) or maximum (positive) end of travel. corresponding_v1: gamma_homing_direction corresponding_v2: endstops.minz.homing_direction valid_values: - value: home_to_min description: '' - value: home_to_max description: '' - value: none description: '' related_settings: - minz.homing_position - minz.max_travel - minz.fast_rate - minz.slow_rate related_pages: - endstops - endstop - guide-endstops - name: minz.homing_position type: number default: 0 (if home_to_min), 200 (if home_to_max) module: endstops context: Module instance setting (establishes machine coordinate system origin) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:232 description: Defines the machine coordinate value assigned to the axis when the endstop is triggered during homing. This setting establishes the machine coordinate system by defining where in space the endstop is located. After homing completes, the axis position is set to this value, making it the reference point for all subsequent moves. corresponding_v1: gamma_min corresponding_v2: endstops.minz.homing_position units: mm related_settings: - minz.homing_direction - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - gamma-max - delta - name: minz.limit_enable type: bool default: false module: endstops context: Module instance setting (enables hard limit detection) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:180 description: Enables this endstop as a hard limit switch that triggers an emergency stop if hit during normal operation (outside of homing). When enabled, if the endstop is triggered while any axis is moving during normal operation, the system immediately enters ALARM state, halts all motion, disables heaters, and flushes the motion queue to prevent crashes or damage. corresponding_v1: gamma_limit_enable corresponding_v2: endstops.minz.limit_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.debounce_ms - minz.pin related_pages: - endstops - emergencystop - killbutton - name: minz.max_travel type: number default: 500 module: endstops context: Module instance setting (safety limit for homing travel distance) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:235 description: Maximum distance the axis will travel during homing before triggering a timeout alarm. This is a safety feature that prevents the machine from moving indefinitely if the endstop fails to trigger due to wiring failure, mechanical issues, or incorrect configuration. If the endstop is not triggered within this distance, the system enters ALARM state and halts all motion. corresponding_v1: gamma_max_travel corresponding_v2: endstops.minz.max_travel units: mm related_settings: - minz.fast_rate - minz.slow_rate - minz.homing_direction related_pages: - endstops - troubleshooting - emergencystop - name: minz.pin type: pin default: nc (not connected) module: endstops context: Module instance setting (physical pin connection for this endstop) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:144 description: Specifies the GPIO pin connected to the endstop switch signal. The pin is configured as an input and monitored for state changes during homing and limit checking. The firmware reads this pin to detect when the endstop is triggered. corresponding_v1: gamma_min_endstop corresponding_v2: endstops.minz.pin valid_values: - value: v2 pin format (e.g. description: '' - value: PD0 description: '' - value: PD0^ description: '' - value: PD0!) description: '' related_settings: - minz.axis - minz.homing_direction - common.debounce_ms related_pages: - endstops - pin-configuration - pinout - sensor-types - name: minz.retract type: number default: 5 module: endstops context: Module instance setting (backoff distance for two-phase homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:226 description: 'Distance to move away from the endstop after the fast approach triggers it, before performing the slow precision approach. This backoff ensures the endstop is no longer triggered before the final slow approach begins, allowing for accurate position detection. The two-phase homing sequence is: fast approach → trigger → retract this distance → slow approach → trigger → done.' corresponding_v1: gamma_homing_retract_mm corresponding_v2: endstops.minz.retract units: mm related_settings: - minz.fast_rate - minz.slow_rate related_pages: - endstops - sensor-types - name: minz.slow_rate type: number default: 10 module: endstops context: Module instance setting (precision homing speed) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:223 description: Speed for the second-phase precision approach to the endstop after the initial fast approach and retract. This slower speed ensures accurate and repeatable homing by reducing mechanical momentum and allowing the switch to settle before position is recorded. Lower values improve homing repeatability at the cost of increased homing time. corresponding_v1: gamma_slow_homing_rate_mm_s corresponding_v2: endstops.minz.slow_rate units: mm/s related_settings: - minz.fast_rate - minz.retract - common.debounce_ms related_pages: - endstops - endstops-options - name: common.debounce_ms type: number default: 0 (effectively 10ms minimum due to polling interval) module: endstops context: Global module setting (applies to all endstops) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:290 description: Debounce time in milliseconds for all endstop signals to filter out mechanical switch bounce and electrical noise. When an endstop pin changes state, the firmware waits this duration with the pin continuously in the triggered state before accepting it as a valid trigger. This prevents false triggers from momentary contact bounce or electrical interference. corresponding_v1: endstop_debounce_ms corresponding_v2: endstops.common.debounce_ms units: ms (milliseconds) related_settings: - All .pin settings related_pages: - endstops - sensor-types - troubleshooting - name: common.homing_order type: string default: none (simultaneous homing) module: endstops context: Global module setting (defines sequential homing sequence) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:304 description: Specifies the order in which axes home when multiple axes are requested. When set, axes home sequentially in the specified order, waiting for each axis to complete before starting the next. When not set or empty, all axes home simultaneously. Sequential homing is necessary for machines where axis homing order matters, such as when Z must home first to lift the toolhead before XY homing to prevent dragging across the bed. corresponding_v1: homing_order corresponding_v2: endstops.common.homing_order valid_values: - value: Any permutation of axis letters (e.g. description: '' - value: ZXY description: '' - value: XYZABC description: '' - value: YXZ) description: '' related_settings: - common.home_z_first - common.corexy_homing - common.delta_homing related_pages: - endstops - endstops-options - delta - name: common.home_z_first type: bool default: false module: endstops context: Global module setting (simple Z-first homing mode) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:297 description: When true, forces Z axis to home before X and Y axes, without requiring full sequential ordering via homing_order. This is a simplified alternative to homing_order when you only need Z to go first. After Z homing completes, X and Y home simultaneously (or sequentially if CoreXY). corresponding_v1: home_z_first corresponding_v2: endstops.common.home_z_first valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - common.homing_order - common.corexy_homing related_pages: - endstops - endstops-options - name: common.corexy_homing type: bool default: false module: endstops context: Global module setting (enables CoreXY-specific homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:292 description: Enables CoreXY-specific homing behavior where X and Y axes must home sequentially rather than simultaneously due to the crossed-belt kinematics. When enabled, X and Y will never home at the same time regardless of other homing settings, because moving both motors simultaneously in CoreXY creates diagonal motion that cannot accurately trigger individual endstops. corresponding_v1: corexy_homing corresponding_v2: endstops.common.corexy_homing valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - motion_control.arm_solution - common.homing_order related_pages: - endstops - hbot - arm-solutions - name: common.delta_homing type: bool default: Auto-detected from arm_solution module: endstops context: Global module setting (enables linear delta-specific homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:293 description: Enables linear delta-specific homing behavior where all three towers home simultaneously as a single "Z" axis operation due to the delta kinematics. When G28 is issued, all three tower motors move together until their respective endstops trigger, and the final position is calculated through forward kinematics to determine XYZ coordinates. corresponding_v1: delta_homing corresponding_v2: endstops.common.delta_homing valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - motion_control.arm_solution - common.rdelta_homing - common.alpha_trim_mm - common.beta_trim_mm - common.gamma_trim_mm related_pages: - endstops - delta - arm-solutions - name: common.rdelta_homing type: bool default: Auto-detected from arm_solution module: endstops context: Global module setting (enables rotary delta-specific homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:294 description: Enables rotary delta-specific homing behavior for delta robots with rotational joints instead of linear carriages. Rotary deltas use angular endstops and theta offset calibration (M306) rather than linear position, requiring different homing calculations and position tracking. corresponding_v1: rdelta_homing corresponding_v2: endstops.common.rdelta_homing valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - motion_control.arm_solution - common.delta_homing related_pages: - endstops - rotary-delta - arm-solutions - name: common.scara_homing type: bool default: false module: endstops context: Global module setting (enables SCARA-specific homing) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:295 description: Enables SCARA robot arm-specific homing behavior where the arm homes in actuator space (joint angles) rather than Cartesian space. During homing, the arm solution is temporarily disabled, allowing the joints to move directly to their endstops without Cartesian coordinate transformation. corresponding_v1: scara_homing corresponding_v2: endstops.common.scara_homing valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - motion_control.arm_solution related_pages: - endstops - morgan-scara - arm-solutions - name: common.move_to_origin_after_home type: bool default: true (for deltas), false (for Cartesian) module: endstops context: Global module setting (post-homing positioning behavior) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:322 description: When true, automatically moves the machine to coordinate position 0,0 (and 0,0,0 for deltas) after homing completes successfully. This provides a consistent starting position for operations. For delta printers, bed center is typically at 0,0, so this centers the effector. For Cartesian machines, 0,0 is usually the homed corner, so this move may not be desired. corresponding_v1: move_to_origin_after_home corresponding_v2: endstops.common.move_to_origin_after_home valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - .fast_rate - common.delta_homing related_pages: - endstops - delta - cartesian - name: common.alpha_trim_mm type: number default: 0 module: endstops context: Global module setting (X tower/axis trim offset) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:299 description: Fine-tune trim adjustment for the X tower (on deltas) or X axis (on Cartesian machines) to compensate for mechanical variations in tower lengths, carriage positions, or physical construction tolerances. After homing, this offset is applied to correct for the difference between ideal and actual endstop positions, ensuring bed levelness and print accuracy. corresponding_v1: alpha_trim_mm corresponding_v2: endstops.common.alpha_trim_mm units: mm related_settings: - common.beta_trim_mm - common.gamma_trim_mm - .homing_position related_pages: - endstops - delta - delta-calibration-strategy-options - name: common.beta_trim_mm type: number default: 0 module: endstops context: Global module setting (Y tower/axis trim offset) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:300 description: Fine-tune trim adjustment for the Y tower (on deltas) or Y axis (on Cartesian machines) to compensate for mechanical variations. Similar to alpha_trim_mm but applies to the Y/beta actuator. Essential for achieving bed levelness on delta printers by adjusting effective tower heights. corresponding_v1: beta_trim_mm corresponding_v2: endstops.common.beta_trim_mm units: mm related_settings: - common.alpha_trim_mm - common.gamma_trim_mm related_pages: - endstops - delta - delta-calibration-strategy-options - name: common.gamma_trim_mm type: number default: 0 module: endstops context: Global module setting (Z tower/axis trim offset) defined_in: Firmware/src/modules/tools/endstops/Endstops.cpp:301 description: Fine-tune trim adjustment for the Z tower (on deltas) or Z axis (on Cartesian machines) to compensate for mechanical variations. Similar to alpha_trim_mm and beta_trim_mm but applies to the Z/gamma actuator. Essential for achieving bed levelness on delta printers by adjusting effective tower heights. corresponding_v1: gamma_trim_mm corresponding_v2: endstops.common.gamma_trim_mm units: mm related_settings: - common.alpha_trim_mm - common.beta_trim_mm related_pages: - endstops - delta - delta-calibration-strategy-options - name: Panel description: '' setting_count: 4 settings: - name: mpg..enable type: bool default: false module: mpg context: Per-encoder configuration (module instance setting) defined_in: Firmware/src/modules/utils/mpg/mpg.cpp:41 description: Enables this MPG (Manual Pulse Generator) instance. The subsection name selects x, y, z, a, b, c, or shared; arbitrary names are rejected. Configure separate axis instances or one shared instance, but do not mix both forms. corresponding_v1: panel.encoder_a_pin + panel.encoder_b_pin (v1 had unified panel module, v2 separates MPG functionality) corresponding_v2: mpg..enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - mpg..enca_pin - mpg..encb_pin - mpg..mmperpulse related_pages: - panel - panel-guide - smoothieboard-v2-prime - name: mpg..enca_pin type: pin default: '"nc" (not connected)' module: mpg context: Rotary encoder hardware input (per-instance setting) defined_in: Firmware/src/modules/utils/mpg/mpg.cpp:72 description: Specifies the GPIO pin connected to encoder phase A (channel A) of the quadrature rotary encoder. This pin must be interrupt-capable because the encoder uses edge detection on both phases to determine rotation direction and count steps. The pin's line number must be unique across all interrupt pins in the system. corresponding_v1: panel.encoder_a_pin (v1 unified panel module) corresponding_v2: mpg..enca_pin valid_values: - value: Pin specification in format PXn^ with pullup description: '' related_settings: - mpg..encb_pin - mpg..mmperpulse - mpg..enable related_pages: - panel - pinout - pin-configuration - endstops - smoothieboard-v2-prime - name: mpg..encb_pin type: pin default: '"nc" (not connected)' module: mpg context: Rotary encoder hardware input (per-instance setting) defined_in: Firmware/src/modules/utils/mpg/mpg.cpp:73 description: Specifies the GPIO pin connected to encoder phase B (channel B) of the quadrature rotary encoder. This pin works with enca_pin to determine rotation direction through quadrature decoding. The phase relationship between A and B signals indicates clockwise or counter-clockwise rotation. This pin must also be interrupt-capable with a unique line number. corresponding_v1: panel.encoder_b_pin (v1 unified panel module) corresponding_v2: mpg..encb_pin valid_values: - value: Pin specification in format PXn^ with pullup description: '' related_settings: - mpg..enca_pin - mpg..mmperpulse - mpg..enable related_pages: - panel - pinout - pin-configuration - endstops - smoothieboard-v2-prime - name: mpg..mmperpulse type: number default: Axis motor resolution, rounded to four decimal places module: mpg context: Per-axis encoder movement distance defined_in: Firmware/src/modules/utils/mpg/mpg.cpp:91 description: Sets the positive movement distance in millimetres for each encoder count on an x, y, z, a, b, or c instance. When omitted or non-positive in configuration, Smoothie derives the value from the actuator steps per millimetre and rounds it to four decimal places. A shared MPG receives its axis and distance at runtime through M922 instead. corresponding_v1: none (v1 panel encoder had no direct axis control) corresponding_v2: mpg..mmperpulse valid_values: - value: Positive distance in millimetres description: Each encoder count requests this much motion. related_settings: - mpg..enca_pin - mpg..encb_pin - mpg..enable related_pages: - mpg - button-box - motion-control - smoothieboard-v2-prime - name: Network description: '' setting_count: 13 settings: - name: network.enable type: bool default: false module: network context: Global setting (master enable for entire network subsystem) defined_in: Firmware/src/modules/utils/network/Network.cpp:90 description: Master switch to enable or disable all networking functionality. When set to false, all network features are disabled regardless of other network-related settings. This is the primary enable that must be set to true before any other network features will function. corresponding_v1: network.enable corresponding_v2: network.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - network.shell_enable - network.ftp_enable - network.webserver_enable - network.ntp_enable related_pages: - network - connecting-smoothie - name: network.ip_address type: string default: auto module: network context: Global setting (determines DHCP vs static IP mode) defined_in: Firmware/src/modules/utils/network/Network.cpp:98-123 description: Configures the network IP address mode and value. When set to "auto", the system uses DHCP to automatically obtain network configuration from a DHCP server on the network. When set to a specific IP address, the system uses static IP configuration and requires manual specification of subnet mask and gateway via related settings. corresponding_v1: network.ip_address corresponding_v2: network.ip_address valid_values: - value: '"auto" for DHCP mode' description: '' - value: or valid IPv4 address string for static mode description: '' related_settings: - network.ip_mask - network.ip_gateway - network.dns_server related_pages: - network - troubleshooting - name: network.ip_mask type: string default: 255.255.255.0 module: network context: Global setting (static IP configuration only) defined_in: Firmware/src/modules/utils/network/Network.cpp:102 description: Specifies the subnet mask for static IP configuration. The subnet mask defines the network portion versus host portion of IP addresses, determining which addresses are local versus remote. This setting is only used when network.ip_address is set to a specific IP address (not "auto"). When DHCP mode is active, this setting is ignored and the subnet mask is provided by the DHCP server. corresponding_v1: network.ip_mask corresponding_v2: network.ip_mask valid_values: - value: Valid IPv4 subnet mask in dotted decimal notation description: '' related_settings: - network.ip_address - network.ip_gateway related_pages: - network - how-to-wire - name: network.ip_gateway type: string default: 192.168.1.1 module: network context: Global setting (static IP configuration only) defined_in: Firmware/src/modules/utils/network/Network.cpp:103 description: Specifies the default gateway IP address for static IP configuration. The gateway is the router or network device that handles traffic destined for other networks or the internet. This setting is only used when network.ip_address is set to a specific IP address (not "auto"). When DHCP mode is active, this setting is ignored and the gateway address is provided by the DHCP server. corresponding_v1: network.ip_gateway corresponding_v2: network.ip_gateway valid_values: - value: Valid IPv4 address string (typically the router IP address) description: '' related_settings: - network.ip_address - network.ip_mask related_pages: - network - troubleshooting - name: network.dns_server type: string default: auto module: network context: Global setting (DNS configuration for hostname resolution) defined_in: Firmware/src/modules/utils/network/Network.cpp:125-135 description: Specifies the DNS (Domain Name System) server IP address for hostname resolution. DNS is required when using hostname-based addresses in commands like wget and update that fetch resources from the internet. When set to "auto", the firmware uses the DNS server provided by DHCP, or defaults to 192.168.1.1 if no DHCP DNS is available. corresponding_v1: none (new in v2) corresponding_v2: network.dns_server valid_values: - value: '"auto" to use DHCP-provided DNS' description: '' - value: or valid IPv4 address of DNS server description: '' related_settings: - network.firmware_url - network.ntp_server related_pages: - network - octoprint - name: network.hostname type: string default: smoothiev2 module: network context: Global setting (network device identification) defined_in: Firmware/src/modules/utils/network/Network.cpp:95 description: Defines the device hostname used for network identification. This hostname is provided to the DHCP server during network initialization and can be used for network discovery and identification. The hostname appears in DHCP server logs and may be used by some network tools for device identification. corresponding_v1: none (new in v2) corresponding_v2: network.hostname valid_values: - value: Valid hostname string description: '' related_pages: - network - connecting-smoothie - name: network.shell_enable type: bool default: false module: network context: Service control setting (enables telnet shell server) defined_in: Firmware/src/modules/utils/network/Network.cpp:151 description: Enables the telnet shell server on TCP port 23, allowing remote command-line access to Smoothieware via the telnet protocol. When enabled, users can connect to the Smoothieboard using a telnet client and execute console commands as if connected via USB serial. The server supports multiple concurrent connections (up to 3 simultaneous users). corresponding_v1: none (new in v2) corresponding_v2: network.shell_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - network.enable related_pages: - network - console-commands - connecting-smoothie - name: network.ftp_enable type: bool default: false module: network context: Service control setting (enables FTP file transfer server) defined_in: Firmware/src/modules/utils/network/Network.cpp:152 description: Enables the FTP (File Transfer Protocol) server on TCP port 21, allowing remote file transfer access to the SD card filesystem. When enabled, users can connect with an FTP client to upload G-code files, download logs, and manage files on the SD card. Uses the FreeRTOS+TCP FTP server implementation. corresponding_v1: none (new in v2) corresponding_v2: network.ftp_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - network.enable - network.webserver_enable related_pages: - network - sd-card - printing-from-sd-card - name: network.webserver_enable type: bool default: false module: network context: Service control setting (enables HTTP web server) defined_in: Firmware/src/modules/utils/network/Network.cpp:153 description: Enables the HTTP web server on TCP port 80, serving static files from the /sd/www directory on the SD card. When enabled, users can access a web interface by navigating to the Smoothieboard's IP address in a web browser. The web server uses the FreeRTOS+TCP HTTP server implementation. corresponding_v1: none (new in v2) corresponding_v2: network.webserver_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - network.enable - network.ftp_enable related_pages: - network - install-web-interface - sd-card - name: network.ntp_enable type: bool default: true module: network context: Service control setting (enables NTP time synchronization) defined_in: Firmware/src/modules/utils/network/Network.cpp:154 description: Enables the NTP (Network Time Protocol) client to automatically synchronize the Real-Time Clock (RTC) from an NTP server during network startup. When enabled, the firmware fetches the current time from the configured NTP server and sets the onboard RTC to maintain accurate time. This is useful for timestamping logs, G-code files, and system events. corresponding_v1: none (new in v2) corresponding_v2: network.ntp_enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - network.ntp_server - network.timezone - network.dns_server related_pages: - network - name: network.ntp_server type: string default: pool.ntp.org module: network context: NTP time source configuration defined_in: Firmware/src/modules/utils/network/Network.cpp:155 description: Specifies the NTP server hostname or IP address for time synchronization. The firmware contacts this server when ntp_enable is true to fetch the current time and set the RTC. Using a geographically nearby NTP server is recommended for best accuracy and lowest latency. corresponding_v1: none (new in v2) corresponding_v2: network.ntp_server valid_values: - value: Valid hostname or IPv4 address of an NTP server description: '' related_settings: - network.ntp_enable - network.timezone - network.dns_server related_pages: - network - name: network.timezone type: number default: 0 module: network context: Time localization setting defined_in: Firmware/src/modules/utils/network/Network.cpp:156 description: Specifies the timezone offset from GMT/UTC in hours, which is applied to the time fetched from the NTP server to set the local RTC time. The offset includes any Daylight Saving Time adjustment - users must manually change this value when DST begins or ends. corresponding_v1: none (new in v2) corresponding_v2: network.timezone units: hours valid_values: - value: Integer hours offset from GMT/UTC description: '' related_settings: - network.ntp_enable - network.ntp_server related_pages: - network - name: network.firmware_url type: string default: http://download.smoothieware.org/ module: network context: Firmware update system configuration defined_in: Firmware/src/modules/utils/network/Network.cpp:96 description: 'Specifies the base URL for firmware updates used by the update command. The command automatically appends the board-specific firmware filename to this URL when downloading updates. Board type is auto-detected and the appropriate suffix is added: pr.bin for Prime, nu.bin for Nucleo, or de.bin for Devebox boards.' corresponding_v1: none (new in v2) corresponding_v2: network.firmware_url valid_values: - value: Valid HTTP URL description: '' related_settings: - network.dns_server related_pages: - network - flashing-smoothie-firmware - name: Laser description: Laser control module settings setting_count: 24 settings: - name: laser.enable type: bool default: false module: laser context: Module activation defined_in: Firmware/src/modules/tools/laser/Laser.cpp:58 description: Enable the laser control module. When set to true, the laser module will be loaded and available for G-code control. When false, the module is not loaded and its resources are freed. corresponding_v1: laser_module_enable corresponding_v2: laser.enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - laser.pwm_pin - laser.maximum_power - pwm1.frequency - pwm2.frequency related_pages: - laser - laser-options - laser-cutter-guide - name: laser.pwm_pin type: pin (PWM-capable) default: nc (not connected) module: laser context: Hardware pin assignment for PWM laser power control defined_in: Firmware/src/modules/tools/laser/Laser.cpp:63 description: PWM output pin for laser power control with 0-100% duty cycle capability. The firmware validates that the specified pin is a valid PWM pin during configuration. If an invalid pin is specified, the module will fail to load with error message "Specified pin is not a valid PWM pin." corresponding_v1: laser_module_pwm_pin corresponding_v2: laser.pwm_pin valid_values: - value: PWM-capable pin names only description: '' related_settings: - laser.inverted_pwm - laser.pullup - laser.opendrain - pwm1.frequency - pwm2.frequency related_pages: - laser - pinout - pwm-capable - name: laser.ttl_pin type: pin (digital output) default: nc (not connected) module: laser context: Secondary control signal for laser enable/safety defined_in: Firmware/src/modules/tools/laser/Laser.cpp:78 description: TTL on/off signal pin that outputs high when laser is firing and low when off. This provides a secondary digital signal separate from the PWM control, commonly used for controlling laser power supply enable or external safety interlocks. The TTL pin goes high whenever laser power is above 0.00001 (line 308 of Laser.cpp) and low when laser is off. corresponding_v1: laser_module_ttl_pin corresponding_v2: laser.ttl_pin valid_values: - value: Any digital output pin in STM32 format (e.g. description: '' - value: PE11 description: '' - value: PI4) description: '' - value: or nc description: '' related_settings: - laser.pwm_pin - laser.enable related_pages: - laser - pin-configuration - emergencystop - name: laser.inverted_pwm type: bool default: false module: laser context: Signal polarity configuration defined_in: Firmware/src/modules/tools/laser/Laser.cpp:72 description: Invert the PWM signal polarity where high duty cycle means laser off and low duty cycle means laser on. When false (normal operation), higher PWM duty cycle = more laser power. When true (inverted), higher PWM duty cycle = less laser power. This is required for some laser drivers that are active-low. corresponding_v1: none (new in v2) corresponding_v2: laser.inverted_pwm valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - laser.pwm_pin - laser.pullup - laser.opendrain related_pages: - laser - pin-configuration - name: laser.pullup type: bool default: true module: laser context: Pin electrical configuration defined_in: Firmware/src/modules/tools/laser/Laser.cpp:74 description: Enable internal pullup resistor on PWM pin. When true, the pin is pulled high by an internal resistor (typically 40-50kΩ). This is useful for ensuring a defined signal level when the pin is not actively driven. Disable if using external pullup or pulldown resistors to avoid conflicts. corresponding_v1: none (new in v2) corresponding_v2: laser.pullup valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - laser.opendrain - laser.pwm_pin related_pages: - laser - pin-configuration - how-to-wire - name: laser.opendrain type: bool default: false module: laser context: Pin drive mode configuration defined_in: Firmware/src/modules/tools/laser/Laser.cpp:75 description: Configure PWM pin as open-drain output instead of push-pull. In open-drain mode, the pin can pull low but cannot actively drive high (requires external pullup). This is useful for logic level shifting or when controlling external transistor circuits. Combine with pullup=true for proper operation. corresponding_v1: none (new in v2) corresponding_v2: laser.opendrain valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - laser.pullup - laser.pwm_pin related_pages: - laser - pin-configuration - how-to-wire - name: laser.maximum_power type: number default: 1 module: laser context: Power limiting for safety and calibration defined_in: Firmware/src/modules/tools/laser/Laser.cpp:93 description: Maximum laser power as duty cycle fraction where 0.0 = 0% and 1.0 = 100%. This acts as a safety limit and calibration factor. The actual laser power is scaled by this value, so setting it below 1.0 limits maximum output even when G-code requests full power. Power values are clamped to this maximum in set_laser_power() at lines 303-304. corresponding_v1: laser_module_maximum_power corresponding_v2: laser.maximum_power units: fraction (0.0-1.0 representing 0%-100% duty cycle) valid_values: - value: 0.0 to 1.0 (fraction of full PWM duty cycle) description: '' related_settings: - laser.minimum_power - laser.default_power - laser.maximum_s_value related_pages: - laser - laser-warning - laser-cutter-guide - name: laser.minimum_power type: number default: 0 module: laser context: Baseline power level for continuous operation defined_in: Firmware/src/modules/tools/laser/Laser.cpp:94 description: Minimum power to keep laser active during cutting operations, also known as "tickle power". This provides a baseline power level that the proportional power system scales above. Some CO2 lasers benefit from a small minimum power (e.g., 0.05) to maintain plasma stability and reduce startup delay, but most lasers should use 0. corresponding_v1: laser_module_minimum_power corresponding_v2: laser.minimum_power units: fraction (0.0-1.0 representing 0%-100% duty cycle) valid_values: - value: 0.0 to 1.0 (fraction of full PWM duty cycle) description: '' related_settings: - laser.maximum_power - laser.proportional_power related_pages: - laser - laser-cutter-guide - name: laser.maximum_s_value type: number default: 1 module: laser context: G-code S parameter scaling defined_in: Firmware/src/modules/tools/laser/Laser.cpp:97 description: Maximum S value in G-code that represents full power. This setting maps G-code S parameters to laser power percentages. For example, with maximum_s_value=1.0, "S0.5" requests 50% power. With maximum_s_value=255, "S127" requests approximately 50% power (127/255). The S value is divided by this setting to calculate requested power fraction (line 256). corresponding_v1: laser_module_maximum_s_value corresponding_v2: laser.maximum_s_value units: user-defined (typically 1.0 or 255) valid_values: - value: Any positive number description: '' related_settings: - laser.maximum_power - laser.default_power related_pages: - laser - g1 - supported-g-codes - name: laser.default_power type: number default: 0.8 module: laser context: Default operating power when S parameter omitted defined_in: Firmware/src/modules/tools/laser/Laser.cpp:99 description: Default laser power when no S parameter is specified in G-code. When a G1/G2/G3 move is issued without an S value, this power level is used. The value is stored in the Robot class via Robot::getInstance()->set_s_value() at line 99 and represents a fraction of maximum power. corresponding_v1: laser_module_default_power corresponding_v2: laser.default_power units: fraction (0.0-1.0 representing 0%-100% power) valid_values: - value: 0.0 to 1.0 (fraction representing power level) description: '' related_settings: - laser.maximum_power - laser.maximum_s_value - laser.proportional_power related_pages: - laser - g1 - name: laser.proportional_power type: bool default: true module: laser context: Motion-synchronized automatic power scaling defined_in: Firmware/src/modules/tools/laser/Laser.cpp:100 description: Enable automatic power scaling based on actual velocity to maintain consistent cut/engrave depth during acceleration and deceleration. When enabled, laser power is automatically reduced during acceleration and deceleration proportional to actual speed versus nominal speed, preventing overburning at corners and during speed changes. The algorithm calculates power = RequestedPower × (ActualSpeed / NominalSpeed) × Scale (lines 243-261). corresponding_v1: laser_module_proportional_power corresponding_v2: laser.proportional_power valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - laser.maximum_power - laser.minimum_power related_pages: - laser - motion-control - laser-cutter-guide - name: switch..enable type: bool default: false module: switch context: Instance activation defined_in: Firmware/src/modules/tools/switch/Switch.cpp:58 description: Enable this switch instance. When true, the switch is loaded and available for G-code control or input monitoring. When false, the switch instance is not created and configuration is skipped. Each switch must have a unique name (e.g., spindle, coolant, fan, dust). corresponding_v1: switch..enable corresponding_v2: switch..enable valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - All other switch..* settings related_pages: - switch - switch-options - spindle-control - name: switch..input_on_command type: string (G-code or M-code) default: null module: switch context: Command binding for output control defined_in: Firmware/src/modules/tools/switch/Switch.cpp:217-229 description: G-code or M-code that turns this switch ON. When this command is received, the switch activates (turns on digital output, starts PWM, or sets high state). The firmware parses the command at lines 218-229 to extract letter (G/M), code number, and optional subcode. A handler is automatically registered for this code. corresponding_v1: switch..input_on_command corresponding_v2: switch..input_on_command valid_values: - value: G-code (e.g. description: '' - value: G28) or M-code (e.g. description: '' - value: M3 description: '' - value: M106 description: '' - value: M8) description: '' related_settings: - switch..input_off_command - switch..subcode related_pages: - switch - supported-g-codes - spindle-control - m3 - name: switch..input_off_command type: string (G-code or M-code) default: null module: switch context: Command binding for output control defined_in: Firmware/src/modules/tools/switch/Switch.cpp:235-247 description: G-code or M-code that turns this switch OFF. When this command is received, the switch deactivates (turns off digital output, stops PWM, or sets low state). The firmware parses the command at lines 236-247 identical to input_on_command processing. For spindle control, typically use M5 (spindle stop). corresponding_v1: switch..input_off_command corresponding_v2: switch..input_off_command valid_values: - value: G-code or M-code (e.g. description: '' - value: M5 description: '' - value: M9 description: '' - value: M107) description: '' related_settings: - switch..input_on_command - switch..subcode related_pages: - switch - supported-g-codes - spindle-control - m5 - name: switch..subcode type: number default: 0 module: switch context: Command disambiguation for multiple switches defined_in: Firmware/src/modules/tools/switch/Switch.cpp:120 description: Subcode filter for commands to allow multiple switches on the same M-code. For example, M106.0 and M106.1 can control two different fans using subcode 0 and 1. The subcode is matched at lines 347 and 354 using gcode.get_subcode(). This allows disambiguation when multiple switches need to respond to variants of the same command. corresponding_v1: switch..subcode corresponding_v2: switch..subcode valid_values: - value: 0-255 (uint8_t range) description: '' related_settings: - switch..input_on_command - switch..input_off_command related_pages: - switch - supported-g-codes - name: switch..output_pin type: pin default: nc (not connected) module: switch context: Hardware pin assignment for output control defined_in: Firmware/src/modules/tools/switch/Switch.cpp:141 description: Output pin to control for this switch. The pin type and capabilities must match the output_type setting. For digital output, any GPIO pin works. For sigmadeltapwm, any GPIO pin works. For hwpwm, must be one of the 8 hardware PWM pins. Pin validation occurs at configuration time (lines 146-180) and fails if pin is invalid for the selected output type. corresponding_v1: switch..output_pin corresponding_v2: switch..output_pin valid_values: - value: Any digital pin description: '' - value: PWM pin (for hwpwm type) description: '' - value: or nc description: '' related_settings: - switch..output_type - switch..startup_state related_pages: - switch - pinout - pin-configuration - pwm-capable - name: switch..output_type type: string (enum) default: null module: switch context: Output mode selection defined_in: Firmware/src/modules/tools/switch/Switch.cpp:135 description: Type of output control for this switch. Determines how the output pin is driven and what control methods are available. Digital provides simple on/off. HWPWM provides precise hardware PWM with configurable duty cycle 0-100%. SigmaDelta provides software-based PWM on any GPIO pin with 0-255 resolution but lower frequency and precision. corresponding_v1: switch..output_type corresponding_v2: switch..output_type valid_values: - value: digital description: '' - value: hwpwm description: '' - value: sigmadeltapwm description: '' related_settings: - switch..output_pin - switch..max_pwm - switch..default_on_value related_pages: - switch - spindle-control - pwm-capable - name: switch..startup_state type: bool default: false module: switch context: Boot behavior for output state defined_in: Firmware/src/modules/tools/switch/Switch.cpp:128 description: Initial state when firmware boots. For digital outputs, this is simply on (true) or off (false). For PWM outputs, this determines whether default_on_value or startup_value is used. This setting ensures predictable behavior on power-up or reset. For safety-critical outputs like spindles, this should almost always be false. corresponding_v1: switch..startup_state corresponding_v2: switch..startup_state valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - switch..startup_value - switch..default_on_value - switch..halt_set_to related_pages: - switch - safety - killbutton - name: switch..startup_value type: number default: Depends on output type module: switch context: PWM initial value at startup defined_in: Firmware/src/modules/tools/switch/Switch.cpp:192 (sigmadelta), 201 (hwpwm) description: 'Initial PWM duty cycle or value at firmware startup. For sigmadeltapwm, this is 0-255 (default: max_pwm value). For hwpwm, this is 0-100 percent (default: 0). This value is used when startup_state is false. When startup_state is true, default_on_value is used instead (hwpwm only).' corresponding_v1: switch..startup_value corresponding_v2: switch..startup_value units: 0-255 for sigmadeltapwm, 0-100 (percent) for hwpwm related_settings: - switch..default_on_value - switch..max_pwm - switch..startup_state related_pages: - switch - spindle-control - name: switch..default_on_value type: number default: 0 module: switch context: Default PWM level when turned on without explicit value defined_in: Firmware/src/modules/tools/switch/Switch.cpp:202 description: Default duty cycle when turned on without explicit value (HWPWM only). When the input_on_command is received without S or P parameters, this value is used as the duty cycle percentage. This allows simple M3 (spindle on) to start at a predefined speed without requiring S parameter every time. Only applies to hwpwm output type. corresponding_v1: switch..default_on_value corresponding_v2: switch..default_on_value units: percent (0-100) valid_values: - value: 0-100 (percent duty cycle for HWPWM) description: '' related_settings: - switch..output_type - switch..startup_value - switch..startup_state related_pages: - switch - spindle-control - m3 - name: switch..max_pwm type: number default: 255 module: switch context: SigmaDelta PWM scaling factor defined_in: Firmware/src/modules/tools/switch/Switch.cpp:191 description: 'Maximum PWM value for sigmadelta PWM output, acting as a scaling factor. Values sent via S parameter in G-code are scaled: S255 → max_pwm, S128 → max_pwm/2. This allows limiting maximum PWM output or matching external hardware expectations. Only applies to sigmadeltapwm output type.' corresponding_v1: switch..max_pwm corresponding_v2: switch..max_pwm units: 0-255 (sigmadelta PWM range) valid_values: - value: 0-255 description: '' related_settings: - switch..output_type - switch..startup_value related_pages: - switch - name: switch..failsafe_set_to type: bool default: false module: switch context: Safety behavior on system fault/debug halt defined_in: Firmware/src/modules/tools/switch/Switch.cpp:129 description: State to set output to on system fault or debug halt conditions. When true, output is set high/on during fault. When false, output is set low/off during fault. For safety-critical outputs like spindles, this should be false to ensure the tool stops on any fault condition. This is distinct from halt_set_to which handles M112 emergency stop. corresponding_v1: switch..failsafe_set_to corresponding_v2: switch..failsafe_set_to valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - switch..halt_set_to - switch..ignore_on_halt related_pages: - switch - emergencystop - killbutton - name: switch..halt_set_to type: bool default: false module: switch context: Emergency stop behavior defined_in: Firmware/src/modules/tools/switch/Switch.cpp:130 description: State to set output to when HALT condition occurs (M112 emergency stop, limit switch trigger, kill button press, etc.). When true, output is set high/on during halt. When false, output is set low/off during halt. Can be overridden by ignore_on_halt setting. For spindles, this MUST be false to ensure tool stops immediately on emergency conditions. corresponding_v1: switch..halt_set_to corresponding_v2: switch..halt_set_to valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - switch..ignore_on_halt - switch..failsafe_set_to related_pages: - switch - emergencystop - killbutton - m5 - name: switch..ignore_on_halt type: bool default: false module: switch context: Halt override for specific outputs defined_in: Firmware/src/modules/tools/switch/Switch.cpp:131 description: If true, do not change output state on HALT, ignoring the halt_set_to setting. This allows certain outputs (like enclosure lights or alarms) to maintain their state during emergency stop while safety-critical tools (spindle, laser) are shut down. When true, the on_halt() handler exits early without changing switch state (line 329). corresponding_v1: none (new in v2) corresponding_v2: switch..ignore_on_halt valid_values: - value: 'true' description: '' - value: 'false' description: '' related_settings: - switch..halt_set_to - switch..failsafe_set_to related_pages: - switch - emergencystop - killbutton - name: Spindle description: Spindle control in Smoothieware v2 is implemented via the Switch module setting_count: 6 settings: - name: switch.spindle.enable type: bool default: false module: switch context: Switch module instance for spindle control defined_in: Firmware/src/modules/tools/switch/Switch.cpp (via switch module) section: '[switch.spindle]' description: Enables spindle control via a named switch instance. Unlike v1 which had a dedicated spindle module with PID control, tachometer feedback, and Modbus support, v2 implements spindle as a simple switch instance. This provides basic on/off or PWM control but lacks the advanced features of v1. For simple VFD control or relay-based spindle control, this is sufficient. Configure additional switch settings below to customize spindle behavior. corresponding_v1: spindle.enable corresponding_v2: switch.spindle.enable valid_values: - value: 'true' description: Enable spindle switch instance - value: 'false' description: Disable spindle switch instance related_settings: - switch.spindle.input_on_command - switch.spindle.input_off_command - switch.spindle.output_pin - switch.spindle.output_type - switch..enable related_pages: - switch - spindle-control - cnc-mill-guide - name: switch.spindle.input_on_command type: string default: M3 module: switch context: G-code command to turn spindle on defined_in: Firmware/src/modules/tools/switch/Switch.cpp (via switch module) section: '[switch.spindle]' description: G-code command that turns the spindle on. Typically M3 for spindle clockwise. When this command is received, the output pin is activated according to the output_type setting. Can be any G-code or M-code command. corresponding_v1: none (v1 used hardcoded M3 command) corresponding_v2: switch.spindle.input_on_command related_settings: - switch.spindle.input_off_command - switch.spindle.output_pin related_pages: - switch - supported-g-codes - name: switch.spindle.input_off_command type: string default: M5 module: switch context: G-code command to turn spindle off defined_in: Firmware/src/modules/tools/switch/Switch.cpp (via switch module) section: '[switch.spindle]' description: G-code command that turns the spindle off. Typically M5 for spindle stop. When this command is received, the output pin is deactivated. Can be any G-code or M-code command. corresponding_v1: none (v1 used hardcoded M5 command) corresponding_v2: switch.spindle.input_off_command related_settings: - switch.spindle.input_on_command - switch.spindle.output_pin related_pages: - switch - supported-g-codes - name: switch.spindle.output_pin type: pin default: nc module: switch context: Output pin for spindle control defined_in: Firmware/src/modules/tools/switch/Switch.cpp (via switch module) section: '[switch.spindle]' description: Pin that controls the spindle or spindle relay/VFD. Can be a digital pin for on/off control or a PWM-capable pin for variable speed control (when output_type is set to pwm). Connect this to your spindle relay, VFD enable input, or VFD analog input depending on your setup. corresponding_v1: spindle.pwm_pin corresponding_v2: switch.spindle.output_pin related_settings: - switch.spindle.output_type - switch.spindle.max_pwm related_pages: - switch - pinout - name: switch.spindle.output_type type: string default: digital module: switch context: Type of output signal for spindle control defined_in: Firmware/src/modules/tools/switch/Switch.cpp (via switch module) section: '[switch.spindle]' description: Determines whether spindle control is simple on/off (digital) or variable speed (pwm). Digital mode provides simple relay control - pin goes high when on, low when off. PWM mode provides variable output for controlling VFD speed via analog input or PWM-capable spindle controllers. Note that v2 PWM mode is open-loop only - there is no PID control or tachometer feedback like v1 had. corresponding_v1: spindle.type (partial equivalent) corresponding_v2: switch.spindle.output_type valid_values: - value: digital description: Simple on/off control (relay, VFD enable) - value: pwm description: Variable PWM output for speed control related_settings: - switch.spindle.output_pin - switch.spindle.max_pwm - pwm1.frequency - pwm2.frequency related_pages: - switch - name: switch.spindle.max_pwm type: number default: 1.0 module: switch context: Maximum PWM duty cycle for spindle defined_in: Firmware/src/modules/tools/switch/Switch.cpp (via switch module) section: '[switch.spindle]' description: Maximum PWM duty cycle as fraction (0.0-1.0) when output_type is pwm. Acts as both safety limit and calibration. Some VFDs require less than 100% duty cycle for maximum speed. Setting below 1.0 limits maximum spindle speed. Only applies when output_type is pwm. corresponding_v1: spindle.max_pwm corresponding_v2: switch.spindle.max_pwm typical_values: - value: 1.0 description: 100% duty cycle (most VFDs) - value: 0.85 description: 85% for certain controllers related_settings: - switch.spindle.output_type - switch.spindle.output_pin related_pages: - switch