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M201 - Print / Travel Move Limits

motion Set acceleration / frequency limits for print and travel moves.


Set the max acceleration for one or more axes (in current units-per-second per-second). The acceleration limit for extruder(s) only applies for print moves where at least one other axis is also in motion.

To set the acceleration limit for retract / recover in which only the E axis is moving use M204 R instead.

With XY_FREQUENCY_LIMIT you can also set the XY frequency limits, described below.


View the current setting with M503.

If EEPROM_SETTINGS is enabled, these are saved with M500, loaded with M501, and reset with M502.


M201 [E<accel>] [F<Hz>] [S<percent>] [T<index>] [X<accel>] [Y<accel>] [Z<accel>]



E axis max acceleration


    Planner frequency limit (Requires XY_FREQUENCY_LIMIT). This value determines the maximum frequency of direction changes for the X and Y axes.


      Planner XY frequency minimum speed percentage (Requires XY_FREQUENCY_LIMIT). This value determines the minimum speed reduction that will be applied in response to exceeding the frequency limit.


        Target extruder (Requires DISTINCT_E_FACTORS)


          X axis max acceleration


            Y axis max acceleration


              Z axis max acceleration

                Related Media


                Set max acceleration lower so it sounds like a robot:

                M201 X50 Y50

                Set the max acceleration for E1 print moves:

                M201 E8000 T1

                Set frequency limits for the XY axes:

                M201 F60 S47

                If the X or Y axis wants to change direction again within 1/60th of a second, reduce the speed by up to 53%.