Page Contents

Writing parameters

To write a parameter, send an F22 P V command, where P is the parameter number and V is the parameter value.

Reading parameters

To read parameters, use one of the following two commands.

Action Command Parameter Number
Report all parameters F20  
Read parameter F21 P

The firmware will respond in the format R21 P V, where P is the parameter number and V is the parameter value.

List of parameters

The firmware uses the following parameters, as found in the code repository at src/ParameterList.h.

General

ID Name Description
0 PARAM_VERSION Version number of the parameter set
1 PARAM_TEST Used for diagnostics
2 PARAM_CONFIG_OK Set when the firmware is sufficiently configured

Movements

ID Name Description
4 PARAM_E_STOP_ON_MOV_ERR Determines wether or not the firmware should emergency stop upon movement error
5 PARAM_MOV_NR_RETRY Number of times to retry a movement before stopping with error
11
12
13
MOVEMENT_TIMEOUT_X
MOVEMENT_TIMEOUT_Y
MOVEMENT_TIMEOUT_Z
Time in seconds before a movement along an axis times out and stops with error

Motors

ID Name Description
15
16
17
MOVEMENT_KEEP_ACTIVE_X
MOVEMENT_KEEP_ACTIVE_Y
MOVEMENT_KEEP_ACTIVE_Z
Determines if motors should remain powered when idle
31
32
33
MOVEMENT_INVERT_MOTOR_X
MOVEMENT_INVERT_MOTOR_Y
MOVEMENT_INVERT_MOTOR_Z
Reverses the direction a motor spins when moving in both the positive and negative directions
36 MOVEMENT_SECONDARY_MOTOR_X Enables the use of a second X-axis motor
37 MOVEMENT_SECONDARY_MOTOR_INVERT_X Inverts the rotation of the second X-axis motor
51
52
53
MOVEMENT_HOME_UP_X
MOVEMENT_HOME_UP_Y
MOVEMENT_HOME_UP_Z
Determines which direction the bot must move to reach the home (zero) position
55
56
57
MOVEMENT_STEP_PER_MM_X
MOVEMENT_STEP_PER_MM_Y
MOVEMENT_STEP_PER_MM_Z
Determines the steps/mm scaling factor

Motor speeds

ID Name Description
41
42
43
MOVEMENT_STEPS_ACC_DEC_X
MOVEMENT_STEPS_ACC_DEC_Y
MOVEMENT_STEPS_ACC_DEC_Z
Number of steps used to accelerate along an axis
61
62
63
MOVEMENT_MIN_SPD_X
MOVEMENT_MIN_SPD_Y
MOVEMENT_MIN_SPD_Z
Minimum speed in steps/second
71
72
73
MOVEMENT_MAX_SPD_X
MOVEMENT_MAX_SPD_Y
MOVEMENT_MAX_SPD_Z
Maximum speed in steps/second
65
66
67
MOVEMENT_HOME_SPEED_X
MOVEMENT_HOME_SPEED_Y
MOVEMENT_HOME_SPEED_Z
Homing and calibrating speed in steps/second

Endpoints

ID Name Description
25
26
27
MOVEMENT_ENABLE_ENDPOINTS_X
MOVEMENT_ENABLE_ENDPOINTS_Y
MOVEMENT_ENABLE_ENDPOINTS_Z
Enables the use of endstop hardware such as limit switches
21
22
23
MOVEMENT_INVERT_ENDPOINTS_X
MOVEMENT_INVERT_ENDPOINTS_Y
MOVEMENT_INVERT_ENDPOINTS_Z
Inverts which endstop represents the maximum and minimum locations along an axis
75
76
77
MOVEMENT_INVERT_2_ENDPOINTS_X
MOVEMENT_INVERT_2_ENDPOINTS_Y
MOVEMENT_INVERT_2_ENDPOINTS_Z
Changes the type of limit switch being used from NO to NC
45
46
47
MOVEMENT_STOP_AT_HOME_X
MOVEMENT_STOP_AT_HOME_Y
MOVEMENT_STOP_AT_HOME_Z
Determines if the bot is allowed to move past the minimum/home (zero) position
145
146
147
MOVEMENT_STOP_AT_MAX_X
MOVEMENT_STOP_AT_MAX_Y
MOVEMENT_STOP_AT_MAX_Z
Determines if the bot is allowed to move past the maximum position
141
142
143
MOVEMENT_AXIS_NR_STEPS_X
MOVEMENT_AXIS_NR_STEPS_Y
MOVEMENT_AXIS_NR_STEPS_Z
Size of an axis in steps (lower byte)
151
152
153
MOVEMENT_AXIS_NR_STEPS_H_X
MOVEMENT_AXIS_NR_STEPS_H_Y
MOVEMENT_AXIS_NR_STEPS_H_Z
Size of an axis in steps (higher byte)
161
162
163
MOVEMENT_CALIBRATION_RETRY_X
MOVEMENT_CALIBRATION_RETRY_Y
MOVEMENT_CALIBRATION_RETRY_Z
Number of calibration attempts
171
172
173
MOVEMENT_CALIBRATION_DEADZONE_X
MOVEMENT_CALIBRATION_DEADZONE_Y
MOVEMENT_CALIBRATION_DEADZONE_Z
Calibration retry grouping distance

TMC2130 stepper drivers

ID Name Description
81
82
83
MOVEMENT_MOTOR_CURRENT_X
MOVEMENT_MOTOR_CURRENT_Y
MOVEMENT_MOTOR_CURRENT_Z
Sets the current in milliamps
85
86
87
MOVEMENT_STALL_SENSITIVITY_X
MOVEMENT_STALL_SENSITIVITY_Y
MOVEMENT_STALL_SENSITIVITY_Z
Sets the amount of back emf required to trigger a stall
91
92
93
MOVEMENT_MICROSTEPS_X
MOVEMENT_MICROSTEPS_Y
MOVEMENT_MICROSTEPS_Z
Sets the number of microsteps per step
165
166
167
MOVEMENT_AXIS_STEALTH_X
MOVEMENT_AXIS_STEALTH_Y
MOVEMENT_AXIS_STEALTH_Z
Enables quiet motor mode

Encoders

ID Name Description
101
102
103
ENCODER_ENABLED_X
ENCODER_ENABLED_Y
ENCODER_ENABLED_Z
Enables the use of rotary encoders
105
106
107
ENCODER_TYPE_X
ENCODER_TYPE_Y
ENCODER_TYPE_Z
Sets the type of encoder being used (single ended or differential)
111
112
113
ENCODER_MISSED_STEPS_MAX_X
ENCODER_MISSED_STEPS_MAX_Y
ENCODER_MISSED_STEPS_MAX_Z
Sets the maximum number of steps an encoder can deviate from the expected count before determining a stall has occurred
115
116
117
ENCODER_SCALING_X
ENCODER_SCALING_Y
ENCODER_SCALING_Z
Determines the scaling factor between encoder steps and motor steps
121
122
123
ENCODER_MISSED_STEPS_DECAY_X
ENCODER_MISSED_STEPS_DECAY_Y
ENCODER_MISSED_STEPS_DECAY_Z
Sets the amount the missed encoder step count should decrease by with each recorded step
125
126
127
ENCODER_USE_FOR_POS_X
ENCODER_USE_FOR_POS_Y
ENCODER_USE_FOR_POS_Z
Determines if the controller should continue moving based on the position as reported by the encoders
131
132
133
ENCODER_INVERT_X
ENCODER_INVERT_Y
ENCODER_INVERT_Z
Reverses the direction the encoder must rotate to count in each direction

Pin guard

ID Name Description
201
202
203
PIN_GUARD_1_PIN_NR
PIN_GUARD_1_TIME_OUT
PIN_GUARD_1_ACTIVE_STATE
Pin guard 1 pin number, timeout (in seconds), and active state (low or high)
205
206
207
PIN_GUARD_2_PIN_NR
PIN_GUARD_2_TIME_OUT
PIN_GUARD_2_ACTIVE_STATE
Pin guard 2 pin number, timeout (in seconds), and active state (low or high)
211
212
213
PIN_GUARD_3_PIN_NR
PIN_GUARD_3_TIME_OUT
PIN_GUARD_3_ACTIVE_STATE
Pin guard 3 pin number, timeout (in seconds), and active state (low or high)
215
216
217
PIN_GUARD_4_PIN_NR
PIN_GUARD_4_TIME_OUT
PIN_GUARD_4_ACTIVE_STATE
Pin guard 4 pin number, timeout (in seconds), and active state (low or high)
221
222
223
PIN_GUARD_5_PIN_NR
PIN_GUARD_5_TIME_OUT
PIN_GUARD_5_ACTIVE_STATE
Pin guard 5 pin number, timeout (in seconds), and active state (low or high)

Deprecated

The following parameters are no longer used, though support for them may still remain in the firmware.

ID Name Description
3 PARAM_USE_EEPROM  
18
19
20
MOVEMENT_HOME_AT_BOOT_X
MOVEMENT_HOME_AT_BOOT_Y
MOVEMENT_HOME_AT_BOOT_Z
Deprecated