TinyG Command Line - synthetos/TinyG GitHub Wiki
This page describes what you can do from the command line in TinyG. Basically, it's entering configuration values and commands, and sending lines of Gcode.
TinyG can operate in either text mode (command line mode) or JSON mode. In text mode TinyG accepts $ config lines and normal Gcode blocks, and returns responses as human-friendly ASCII text. Example:
| Command | Description |
|---|---|
| $xvm | View X axis maximum velocity |
| $xvm=16000 | Set X axis maximum velocity |
TinyG can also operate using JSON commands. This is the preferred way to drive TinyG from a UI or controller. Using JSON dramatically simplifies the UI as the board can be treated as a RESTful resource, and no parsers or special handlers need to be written. Example:
| Command | Description |
|---|---|
| {"xvm":""} | View X axis maximum velocity |
| {"xvm":16000} | Set X axis maximum velocity |
See JSON Operation and JSON Details.
TinyG starts up in text mode if the $ej setting is set to text mode (
TinyG starts up in JSON mode if the $ej setting is set to JSON mode ($ej=1). TinyG will also enter JSON mode automatically if it receives a line starting with an open curly '{'. While in JSON mode all commands are expected in JSON format and responses are returned in JSON format....
...the exception being Gcode blocks. Gcode blocks streamed to TinyG while in JSON mode can be sent with or without JSON wrappers - i.e. unwrapped Gcode will not return the system to text mode. Responses will always be returned in JSON format.
The rest of this page covers things that are common to both text and JSON operation.
Names are short mnemonic tokens that can be 1 to 5 characters in length. Axis and motor tokens are typically 3 characters including their axis or motor prefix; Non-axis and non-motor (general) tokens are 2 to 5 characters.
Tokens are case insensitive and can only contain alphanumeric characters. See TinyG Configuration for a complete list of the tokens used for settings. Some examples are provided below:
| Token | as Text | as JSON | Description |
|---|---|---|---|
| xfr | $xfr | {"xfr":""} | X axis maximum feed rate |
| cjm | $cjm | {"cjm":""} | C axis maximum jerk |
| 1mi | $1mi | {"1mi":""} | Motor 1 microstep setting |
| home | $home | {"home":""} | Homing state |
| x | $x | {"x":""} | X axis group. In text mode a group can only be queried (get). In JSON mode a group can be queried and can also be used to set any or all values in the group |
A group is a collection of related tokens. Groups are used to specify all parameters for a motor, an axis, a PWM channel, or other logical grouping. A group is similar in concept to a RESTful resource or composite. Groups simplify configuration management and reporting by collecting related values together. The following groups are defined. All parameters within the groups are persistent (stored in EEPROM) unless noted.
| Group | Tokens | Notes |
|---|---|---|
| axis | x y x a b c | Contain all settings for that axis |
| motor | 1 2 3 4 | Contain all settings for that motor |
| pwm | p1 | Contain all settings for pulse width modulation channel |
| offsets | g54 g55 g56 g57 g58 g59 | Contain offset settings xyzabc in named coordinate system. |
| temp offset | g92 | Contain g92 offset settings. These are not persistent |
| return to home values | g28, g30 | Contain return values in machine coordinates. These are not persistent |
| pos | x y x a b c | current work position, with offsets |
| mpo | x y x a b c | current machine position, no offsets, and always reports in millimeters |
| ofs | x y x a b c | current offsets, always reports in millimeters |
| hom | x y x a b c e | axis homing stateus. 'e' reports homing status for Entire machine |
| system | sys | Contain system parameters |
To list a group type in the group prefix; for example:
- type $x to list the X group
- type
$sys to list the system group (or simply $ , which is shorthand) - type $g55 to list the xyzabc offsets in the G55 coordinate system
In text mode (but not JSON mode) the following groups of groups are also available for display:
| Uber-Group | Token | Notes |
|---|---|---|
| axis | q | All axis settings for all axes |
| motor | m | All settings for all motors |
| offsets | o | All offset settings including g92's |
| all | $ | All settings. Invoked as $$ |
For example type $q to list all axis groups. The list of uber-groups can be seen by asking for the system help screen using $h.
When displaying or setting configs a '$' must be the first character of the line. Input is case insensitive.
A note about units Settings can be displayed and entered in either inches or millimeters. All values entered and responses provided will be in the current Gcode UNITS setting: G20 for inches or G21 for mm. Most of the examples below are in mm, but could just as easily be input in inches.
To display a setting type $<the-mnemonic-for-the=setting-you-want-to-display>. It will respond with the value taken. For example:
| Request | Response | Notes |
|---|---|---|
| $xvm | [xvm] x_velocity_maximum 16000.000 mm/min | Show X axis maximum velocity |
| $3po | [3po] m3_polarity 0 [0,1] | Show motor 3 polarity |
| $ex | [ex] enable_xon_xoff 1 [0,1] | Show XON/XOFF setting |
The following commands will display groups.
$x --- Show all X axis settings --- [xam] x axis mode 1 [standard] [xvm] x velocity maximum 16000.000 mm/min [xfr] x feedrate maximum 16000.000 mm/min [xtm] x travel maximum 300.000 mm [xjm] x jerk maximum 5000000000 mm/min^3 [xjh] x jerk homing 10000000000 mm/min^3 [xjd] x junction deviation 0.0100 mm (larger is faster) [xsn] x switch min 1 [0=off,1=homing,2=limit,3=limit+homing] [xsx] x switch max 0 [0=off,1=homing,2=limit,3=limit+homing] [xsv] x search velocity 3000.000 mm/min [xlv] x latch velocity 100.000 mm/min [xlb] x latch backoff 20.000 mm [xzb] x zero backoff 3.000 mm tinyg [mm] ok>
$x --- Show all X axis settings in inches mode (issue g20 beforehand) --- [xam] x axis mode 1 [standard] [xvm] x velocity maximum 629.921 in/min [xfr] x feedrate maximum 629.921 in/min [xtm] x travel maximum 11.811 in [xjm] x jerk maximum 196850400 in/min^3 [xjh] x jerk homing 393700800 in/min^3 [xjd] x junction deviation 0.0004 in (larger is faster) [xsn] x switch min 1 [0=off,1=homing,2=limit,3=limit+homing] [xsx] x switch max 0 [0=off,1=homing,2=limit,3=limit+homing] [xsv] x search velocity 118.110 in/min [xlv] x latch velocity 3.937 in/min [xlb] x latch backoff 0.787 in [xzb] x zero backoff 0.118 in
$3 --- Show all motor 3 settings --- [3ma] m3 map to axis 2 [0=X,1=Y,2=Z...] [3sa] m3 step angle 1.800 deg [3tr] m3 travel per revolution 1.250 mm [3mi] m3 microsteps 4 [1,2,4,8] [3po] m3 polarity 1 [0=normal,1=reverse] [3pm] m3 power management 1 [0=off,1=on]
$sys --- Show all system settings --- [fb] firmware build 377.08 [fv] firmware version 0.95 [hv] hardware version 7.00 [id] TinyG ID 2X2660-FHZ [ja] junction acceleration 2000000 mm [ct] chordal tolerance 0.001 mm [st] switch type 1 [0=NO,1=NC] [ej] enable json mode 0 [0=text,1=JSON] [jv] json verbosity 2 [0=silent,1=footer,2=messages,3=configs,4=linenum,5=verbose] [tv] text verbosity 1 [0=silent,1=verbose] [qv] queue report verbosity 0 [0=off,1=filtered,2=verbose] [sv] status report verbosity 1 [0=off,1=filtered,2=verbose] [si] status interval 250 ms [ic] ignore CR or LF on RX 0 [0=off,1=CR,2=LF] [ec] expand LF to CRLF on TX 0 [0=off,1=on] [ee] enable echo 0 [0=off,1=on] [ex] enable xon xoff 1 [0=off,1=on] [baud] USB baud rate 5 [1=9600,2=19200,3=38400,4=57600,5=115200,6=230400] [gpl] default gcode plane 0 [0=G17,1=G18,2=G19] [gun] default gcode units mode 1 [0=G20,1=G21] [gco] default gcode coord system 1 [1-6 (G54-G59)] [gpa] default gcode path control 2 [0=G61,1=G61.1,2=G64] [gdi] default gcode distance mode 0 [0=G90,1=G91]
Configuration is non-moded; that is, configuration lines and Gcode blocks can be used without changing modes. However, it is not recommended to intermingle configs with Gcode blocks, as the EEPROM writes can interfere with step generation and serial transmission (interrupts). Please note: in some future release config commands that arrive during a gcode cycle may be rejected.
CAVEAT: At the current time because of various limitations of the Xmega we recommend waiting for each config command to send a response before sending the next command. This gives allows the system to persist the data to EEPROM, because during that interval the board cannot reliably receive serial input.
To update a setting enter $token=value
Tokens are a mnemonic plus a group prefix (system settings have no prefix). The setting is taken and the value is echoed in a descriptive text line. No spaces are allowed. Numeric values can contain embedded commas. The following are examples of valid and invalid inputs.
| Request | Response | Notes |
|---|---|---|
| $yfr=800 | [yfr] y_feedrate_maximum 800.000 mm/min | Set Y axis feed rate maximum to 800 mm/min |
| $yfr=16,000 | [yfr] y_feedrate_maximum 16000.000 mm/min | Set Y axis feed rate maximum to 16000 mm/min |
| $2po=1 | [2po] m2_polarity 1 [0,1] | Set motor 2 polarity |
| $ex=1 | [ex] enable_xon_xoff 1 [0,1] | Enable XON/XOFF protocol |
| $ted=1 | error: Unrecognized command $ted | Example of an error |