- G0-G1: Linear Move
- G2-G3: Arc or Circle Move
- G4: Dwell
- G5: Bézier cubic spline
- G6: Direct Stepper Move
- G10: Retract
- G11: Recover
- G12: Clean the Nozzle
- G17-G19: CNC Workspace Planes
- G20: Inch Units
- G21: Millimeter Units
- G26: Mesh Validation Pattern
- G27: Park toolhead
- G28: Auto Home
- G29: Bed Leveling
- G29: Bed Leveling (3-Point)
- G29: Bed Leveling (Linear)
- G29: Bed Leveling (Manual)
- G29: Bed Leveling (Bilinear)
- G29: Bed Leveling (Unified)
- G30: Single Z-Probe
- G31: Dock Sled
- G32: Undock Sled
- G33: Delta Auto Calibration
- G34: Z Steppers Auto-Alignment
- G34: Mechanical Gantry Calibration
- G35: Tramming Assistant
- G38.2-G38.5: Probe target
- G42: Move to mesh coordinate
- G53: Move in Machine Coordinates
- G54-G59.3: Workspace Coordinate System
- G60: Save Current Position
- G61: Return to Saved Position
- G76: Probe temperature calibration
- G80: Cancel Current Motion Mode
- G90: Absolute Positioning
- G91: Relative Positioning
- G92: Set Position
- G425: Backlash Calibration
- M0-M1: Unconditional stop
- M3: Spindle CW / Laser On
- M4: Spindle CCW / Laser On
- M5: Spindle / Laser Off
- M7-M9: Coolant Controls
- M10-M11: Vacuum / Blower Control
- M16: Expected Printer Check
- M17: Enable Steppers
- M18, M84: Disable steppers
- M20: List SD Card
- M21: Init SD card
- M22: Release SD card
- M23: Select SD file
- M24: Start or Resume SD print
- M25: Pause SD print
- M26: Set SD position
- M27: Report SD print status
- M28: Start SD write
- M29: Stop SD write
- M30: Delete SD file
- M31: Print time
- M32: Select and Start
- M33: Get Long Path
- M34: SDCard Sorting
- M42: Set Pin State
- M43: Debug Pins
- M43 T: Toggle Pins
- M48: Probe Repeatability Test
- M73: Set Print Progress
- M75: Start Print Job Timer
- M76: Pause Print Job Timer
- M77: Stop Print Job Timer
- M78: Print Job Stats
- M80: Power On
- M81: Power Off
- M82: E Absolute
- M83: E Relative
- M85: Inactivity Shutdown
- M92: Set Axis Steps-per-unit
- M100: Free Memory
- M102: Configure Bed Distance Sensor
- M104: Set Hotend Temperature
- M105: Report Temperatures
- M106: Set Fan Speed
- M107: Fan Off
- M108: Break and Continue
- M109: Wait for Hotend Temperature
- M110: Set Line Number
- M111: Debug Level
- M112: Emergency Stop
- M113: Host Keepalive
- M114: Get Current Position
- M115: Firmware Info
- M117: Set LCD Message
- M118: Serial print
- M119: Endstop States
- M120: Enable Endstops
- M121: Disable Endstops
- M122: TMC Debugging
- M123: Fan Tachometers
- M125: Park Head
- M126: Baricuda 1 Open
- M127: Baricuda 1 Close
- M128: Baricuda 2 Open
- M129: Baricuda 2 Close
- M140: Set Bed Temperature
- M141: Set Chamber Temperature
- M143: Set Laser Cooler Temperature
- M145: Set Material Preset
- M149: Set Temperature Units
- M150: Set RGB(W) Color
- M154: Position Auto-Report
- M155: Temperature Auto-Report
- M163: Set Mix Factor
- M164: Save Mix
- M165: Set Mix
- M166: Gradient Mix
- M190: Wait for Bed Temperature
- M191: Wait for Chamber Temperature
- M192: Wait for Probe temperature
- M193: Set Laser Cooler Temperature
- M200: Set Filament Diameter
- M201: Print Move Limits
- M203: Set Max Feedrate
- M204: Set Starting Acceleration
- M205: Set Advanced Settings
- M206: Set Home Offsets
- M207: Set Firmware Retraction
- M208: Firmware Recover
- M209: Set Auto Retract
- M211: Software Endstops
- M217: Filament swap parameters
- M218: Set Hotend Offset
- M220: Set Feedrate Percentage
- M221: Set Flow Percentage
- M226: Wait for Pin State
- M240: Trigger Camera
- M250: LCD Contrast
- M255: LCD Sleep/Backlight Timeout
- M256: LCD Brightness
- M260: I2C Send
- M261: I2C Request
- M280: Servo Position
- M281: Edit Servo Angles
- M282: Detach Servo
- M290: Babystep
- M300: Play Tone
- M301: Set Hotend PID
- M302: Cold Extrude
- M303: PID autotune
- M304: Set Bed PID
- M305: User Thermistor Parameters
- M306: Model predictive temperature control
- M350: Set micro-stepping
- M351: Set Microstep Pins
- M355: Case Light Control
- M360: SCARA Theta A
- M361: SCARA Theta-B
- M362: SCARA Psi-A
- M363: SCARA Psi-B
- M364: SCARA Psi-C
- M380: Activate Solenoid
- M381: Deactivate Solenoids
- M400: Finish Moves
- M401: Deploy Probe
- M402: Stow Probe
- M403: MMU2 Filament Type
- M404: Set Filament Diameter
- M405: Filament Width Sensor On
- M406: Filament Width Sensor Off
- M407: Filament Width
- M410: Quickstop
- M412: Filament Runout
- M413: Power-loss Recovery
- M420: Bed Leveling State
- M421: Set Mesh Value
- M422: Set Z Motor XY
- M423: X Twist Compensation
- M425: Backlash compensation
- M428: Home Offsets Here
- M430: Power Monitor
- M486: Cancel Objects
- M493: Fixed-Time Motion
- M500: Save Settings
- M501: Restore Settings
- M502: Factory Reset
- M503: Report Settings
- M504: Validate EEPROM contents
- M510: Lock Machine
- M511: Unlock Machine
- M512: Set Passcode
- M524: Abort SD print
- M540: Endstops Abort SD
- M569: Set TMC stepping mode
- M575: Serial baud rate
- M593: Input Shaping
- M600: Filament Change
- M603: Configure Filament Change
- M605: Multi Nozzle Mode
- M665: Delta Configuration
- M665: SCARA Configuration
- M666: Set Delta endstop adjustments
- M666: Set dual endstop offsets
- M672: Duet Smart Effector sensitivity
- M701: Load filament
- M702: Unload filament
- M710: Controller Fan settings
- M808: Repeat Marker
- M810-M819: G-code macros
- M851: XYZ Probe Offset
- M852: Bed Skew Compensation
- M860-M869: I2C Position Encoders
- M871: Probe temperature config
- M876: Handle Prompt Response
- M900: Linear Advance Factor
- M906: Stepper Motor Current
- M907: Set Motor Current
- M908: Set Trimpot Pins
- M909: DAC Print Values
- M910: Commit DAC to EEPROM
- M911: TMC OT Pre-Warn Condition
- M912: Clear TMC OT Pre-Warn
- M913: Set Hybrid Threshold Speed
- M914: TMC Bump Sensitivity
- M915: TMC Z axis calibration
- M916: L6474 Thermal Warning Test
- M917: L6474 Overcurrent Warning Test
- M918: L6474 Speed Warning Test
- M919: TMC Chopper Timing
- M928: Start SD Logging
- M951: Magnetic Parking Extruder
- M993-M994: SD / SPI Flash
- M995: Touch Screen Calibration
- M997: Firmware update
- M999: STOP Restart
- M7219: MAX7219 Control
- T0-T6: Select Tool
Description
This G-code pertains to Marlin’s integrated ZV Input Shaper. For the Fixed-Time Motion Planner Input Shaper see M493
.
Set the Input Shaping damping factor and/or frequency (in Hertz) for axes that support it. Use M593
with no parameters to report the current settings.
Input Shaper Tuning
It’s not always easy to attach an accelerometer to most printer boards, so Marlin doesn’t provide accelerator-based tuning. If you have that information you can use it. But the easiest way to tune Input Shaping is to print a ringing tower that goes through a range of frequencies, then examine the appearance of the ringing tower to choose the best frequencies for each axis.
Get the Test Model
Download the Ringing Tower STL which you will slice and use for the print test. For a CoreXY printer you should rotate the model 45 degrees, which isolates the A and B components of the motion system.
Prepare the Slicer
Use a slicer that provides custom G-code macros for layer change. For example you can open Kiri:Moto or download Prusa Slicer. If you use Cura you may need to install the Post Processing Plugin from the Cura Marketplace if it is not already installed.
- In Kiri:Moto enable Infill > Fill Type > Vase. Then add the following under Setup > Machine > Gcode Macros > Layer to run a test range of 15Hz to 60Hz:
M593 F{(layer < 2 ? 0 : 15 + 45.0 * (layer - 2) / 297)} ; Hz Input Shaping Test
- In Prusa Slicer you’ll enable Spiral vase. Then add the following to your Printer Settings > After layer change G-code to run a test range of 15Hz to 60Hz:
M593 F{(layer_num < 2 ? 0 : 15 + 45.0 * (layer_num - 2) / 297)} ; Hz Input Shaping Test
- In Cura, you’ll first need to add the .py file in this repository to your Cura “scripts” folder. Reopen Cura, enable Spiralize Outer Contour and set Minimum Layer Time to 0. Then go to Extensions > Post Processing > Modify G-Code. Click Add a script in the window that opens and use the dropdown menu to find Input Shaping. Make sure the Motion planning type dropdown is set to M593. The default frequency settings will let you test a range of 15Hz to 60Hz.
Slice and Print
Slice and print the tower using 0.2mm layer height using the highest reasonable speed. When you examine the results it should be obvious where ringing is reduced the most on each axis. To get the Hz value for a given Z height, use the formula 15 + 45 * (z / 0.2 - 2) / 297
.
Analyze the Result
Measure the height of the best looking layer, divide by the layer height, subtracting two layers. For example:
- The least X ringing appears at height 20mm. So we calculate
15 + 45 * (20 / 0.2 - 2) / 297
and get a result of 29.84Hz. - Set this value with
M593 X F29.84
then save withM500
and it will apply to all motion from now on.
More Resources
TH3D Studio has created an Input Shaper Calculator that you can use to get the Slicer G-code you need and calculate the Hz value based on the best-looking layers.
Usage
M593 [D<zeta>] [F<hertz>] [X] [Y]
Parameters
[D<zeta>] | Set the zeta/damping factor for the specified axes. If |
[F<hertz>] | Set the damping frequency for the specified axes. If |
[X] | Flag to set the X axis value. If |
[Y] | Flag to set the Y axis value. If |