GrblHAL 1.1f ['$' or '$HELP' for help]
Help topics:
Commands
Settings
Axis
Control signals
Coolant
General
Homing
Jogging
Limits
Parking/Safety door
Probing
Spindle
Stepper
Tool change
X-axis
Y-axis
Z-axis
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$HELP Settings
$0: Step pulse time in microseconds, min: 3.5
Step pulse length in microseconds.
Minimum depends on the processor and is typically in the range of 1 - 2.5.
The length has to be reduced from the default value of 5 when max. step rate exceed approximately 140 kHz.
$1: Step idle delay in milliseconds, max: 65535
Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled.
$2: Step pulse invert as axismask
Inverts the step signals (active low).
$3: Step direction invert as axismask
Inverts the direction signals (active low).
$4: Invert stepper enable output(s) as axismask
Inverts the stepper driver enable signals. Most drivers uses active low enable requiring inversion.
NOTE: If the stepper drivers shares the same enable signal only X is used.
$5: Invert limit inputs as axismask
Inverts the axis limit input signals.
$6: Invert probe inputs as bitfield:
0 - Probe (1)
Inverts the probe input signal(s).
$9: PWM spindle options as bitfield where setting bit 0 enables the rest:
0 - Enable (1)
1 - RPM controls spindle enable signal (2)
2 - Disable laser mode capability (4)
Enable controls PWM output availability.
When `RPM controls spindle enable signal` is checked and M3 or M4 is active S0 switches it off and S > 0 switches it on.
$10: Status report options as bitfield:
0 - Position in machine coordinate (1)
1 - Buffer state (2)
2 - Line numbers (4)
3 - Feed & speed (8)
4 - Pin state (16)
5 - Work coordinate offset (32)
6 - Overrides (64)
7 - Probe coordinates (128)
8 - Buffer sync on WCO change (256)
9 - Parser state (512)
10 - Alarm substatus (1024)
11 - Run substatus (2048)
12 - Enable when homing (4096)
13 - Distance-to-go (8192)
Specifies optional data included in status reports and if report is sent when homing.
If Run substatus is enabled it may be used for simple probe protection.
NOTE: Parser state will be sent separately after the status report and only on changes.
$11: Junction deviation in mm
Sets how fast grblHAL travels through consecutive motions. Lower value slows it down.
$12: Arc tolerance in mm
Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance.
$13: Report in inches as boolean
Enables inch units when returning any position and rate value that is not a settings value.
$14: Invert control inputs as bitfield:
1 - Feed hold (2)
2 - Cycle start (4)
6 - EStop (64)
Inverts the control signals (active low).
NOTE: Block delete, Optional stop, EStop and Probe connected are optional signals, availability is driver dependent.
$15: Invert coolant outputs as bitfield:
0 - Flood (1)
1 - Mist (2)
Inverts the coolant and mist signals (active low).
$16: Invert spindle signals as bitfield:
0 - Spindle enable (1)
1 - Spindle direction (2)
2 - PWM (4)
Reboot required.
Inverts the spindle on, counterclockwise and PWM signals (active low).
NOTE: A hard reset of the controller is required after changing this setting.
$17: Pullup disable control inputs as bitfield:
1 - Feed hold (2)
2 - Cycle start (4)
6 - EStop (64)
Disable the control signals pullup resistors. Potentially enables pulldown resistor if available.
NOTE: Block delete, Optional stop and EStop are optional signals, availability is driver dependent.
$18: Pullup disable limit inputs as axismask
Disable the limit signals pullup resistors. Potentially enables pulldown resistors if available.
$19: Pullup disable probe inputs as bitfield:
0 - Probe (1)
Disable the probe signal pullup resistor(s). Potentially enables pulldown resistor(s) if available.
$20: Soft limits enable as boolean
Enables soft limits checks within machine travel and sets alarm when exceeded. Requires homing.
$21: Hard limits enable as bitfield where setting bit 0 enables the rest:
0 - Enable (1)
1 - Strict mode (2)
When enabled immediately halts motion and throws an alarm when a limit switch is triggered. In strict mode only homing is possible when a switch is engaged.
$22: Homing cycle as bitfield where setting bit 0 enables the rest:
0 - Enable (1)
1 - Enable single axis commands (2)
2 - Homing on startup required (4)
3 - Set machine origin to 0 (8)
4 - Two switches shares one input (16)
5 - Allow manual (32)
6 - Override locks (64)
9 - Per axis feedrates (512)
10 - Run startup scripts only on homing completed (1024)
Enables homing cycle. Requires limit switches on axes to be automatically homed.
When `Enable single axis commands` is checked, single axis homing can be performed by $H<axis letter> commands.
When `Allow manual` is checked, axes not homed automatically may be homed manually by $H or $H<axis letter> commands.
`Override locks` is for allowing a soft reset to disable `Homing on startup required`.
$23: Homing direction invert as axismask
Homing searches for a switch in the positive direction. Set axis bit to search in negative direction.
$24: Homing locate feed rate in mm/min
Feed rate to slowly engage limit switch to determine its location accurately.
$25: Homing search seek rate in mm/min
Seek rate to quickly find the limit switch before the slower locating phase.
$26: Homing switch debounce delay in milliseconds
Sets a short delay between phases of homing cycle to let a switch debounce.
$27: Homing switch pull-off distance in mm
Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared.
$28: G73 Retract distance in mm
G73 retract distance (for chip breaking drilling).
$29: Pulse delay in microseconds, max: 20
Step pulse delay.
When set > 0 and less than 2 the value is rounded up to 2 microseconds.
$30: Maximum spindle speed in RPM
Maximum spindle speed, can be overridden by spindle plugins.
$31: Minimum spindle speed in RPM
Minimum spindle speed, can be overridden by spindle plugins.
When set > 0 $35 (PWM min value) may have to be set to get the configured RPM.
$32: Mode of operation:
0 - Normal
1 - Laser mode
2 - Lathe mode
Laser mode: consecutive G1/2/3 commands will not halt when spindle speed is changed.
Lathe mode: allows use of G7, G8, G96 and G97.
$33: Spindle PWM frequency in Hz
Spindle PWM frequency.
$34: Spindle PWM off value in percent, max: 100
Spindle PWM off value in percent (duty cycle).
$35: Spindle PWM min value in percent, max: 100
Spindle PWM min value in percent (duty cycle).
$36: Spindle PWM max value in percent, max: 100
Spindle PWM max value in percent (duty cycle).
$37: Steppers to keep enabled as axismask
Specifies which steppers not to disable when stopped.
$39: Enable legacy RT commands as boolean
Enables "normal" processing of ?, ! and ~ characters when part of $-setting or comment. If disabled then they are added to the input string instead.
$40: Limit jog commands as boolean
Limit jog commands to machine workspace for homed axes.
$41: Parking cycle as bitfield where setting bit 0 enables the rest:
0 - Enable (1)
1 - Deactivate upon init (2)
2 - Enable parking override control (4)
Enables parking cycle, requires parking axis homed.
$42: Parking axis:
0 - X
1 - Y
2 - Z
Define which axis that performs the parking motion.
$43: Homing passes, range: 1 - 128
Number of homing passes. Minimum 1, maximum 128.
$44: Axes homing, first pass as axismask
Axes to home in first pass.
$45: Axes homing, second pass as axismask
Axes to home in second pass.
$46: Axes homing, third pass as axismask
Axes to home in third pass.
$56: Parking pull-out distance in mm
Spindle pull-out and plunge distance in mm.Incremental distance.
$57: Parking pull-out rate in mm/min
Spindle pull-out/plunge slow feed rate in mm/min.
$58: Parking target in mm, min: -100000
Parking axis target. In mm, as machine coordinate [-max_travel, 0].
$59: Parking fast rate in mm/min
Parking fast rate to target after pull-out in mm/min.
$60: Restore overrides as boolean
Restore overrides to default values at program end.
$62: Sleep enable as boolean
Enable sleep mode.
$63: Feed hold actions as bitfield:
0 - Disable laser during hold (1)
1 - Restore spindle and coolant state on resume (2)
Actions taken during feed hold and on resume from feed hold.
$64: Force init alarm as boolean
Start in alarm mode after a cold reset.
$65: Probing options as bitfield:
0 - Allow feed override (1)
1 - Apply soft limits (2)
Allow feed override during probing and/or limit probing commands to machine workspace for homed axes.
$100: X-axis travel resolution in step/mm
Travel resolution in steps per millimeter.
$101: Y-axis travel resolution in step/mm
Travel resolution in steps per millimeter.
$102: Z-axis travel resolution in step/mm
Travel resolution in steps per millimeter.
$110: X-axis maximum rate in mm/min
Maximum rate. Used as G0 rapid rate.
$111: Y-axis maximum rate in mm/min
Maximum rate. Used as G0 rapid rate.
$112: Z-axis maximum rate in mm/min
Maximum rate. Used as G0 rapid rate.
$120: X-axis acceleration in mm/sec^2
Acceleration. Used for motion planning to not exceed motor torque and lose steps.
$121: Y-axis acceleration in mm/sec^2
Acceleration. Used for motion planning to not exceed motor torque and lose steps.
$122: Z-axis acceleration in mm/sec^2
Acceleration. Used for motion planning to not exceed motor torque and lose steps.
$130: X-axis maximum travel in mm
Maximum axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
$131: Y-axis maximum travel in mm
Maximum axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
$132: Z-axis maximum travel in mm
Maximum axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
$341: Tool change mode:
0 - Normal
1 - Manual touch off
2 - Manual touch off @ G59.3
3 - Automatic touch off @ G59.3
4 - Ignore M6
Normal: allows jogging for manual touch off. Set new position manually.
Manual touch off: rapids to tool change position, use jogging or $TPW for touch off.
Manual touch off @ G59.3: rapids to tool change position, after change to G59.3 position for manual touch off. Use jogging or $TPW for touch off.
Automatic touch off @ G59.3: rapids to tool change position, after change to G59.3 position for automatic touch off.
Depending on settings the tool (controlled point) will be moved back to the to original position after touch off. "tool change position" is either tool axis home, G59.3 or G30 position depending on settings.
$342: Tool change probing distance in mm
Maximum probing distance for automatic or $TPW touch off.
$343: Tool change locate feed rate in mm/min
Feed rate to slowly engage tool change sensor to determine the tool offset accurately.
$344: Tool change search seek rate in mm/min
Seek rate to quickly find the tool change sensor before the slower locating phase.
$345: Tool change probe pull-off rate in mm/min
Pull-off rate for the retract move before the slower locating phase.
$346: Tool change options as bitfield:
0 - Restore position after M6 (1)
1 - Change tool at G30 (2)
2 - Fast probe pull off (4)
Restore position after M6: when set the spindle is moved so that the controlled point (tool tip) is the same as before the M6 command,if not the spindle is only moved to the Z home position.
Change tool at G30: when set rapids to the G30 position via tool axis home. Requires axes to be homed.
Fast probe pulloff: use G38.4 style probing for faster touch off.
$384: Disable G92 persistence as boolean
Disables save/restore of G92 offset to non-volatile storage (NVS).
$392: Spindle on delay in s, range: 0.5 - 20
Delay to allow spindle to spin up after safety door is closed or on resume from park.
$393: Coolant on delay in s, range: 0.5 - 20
Delay to allow coolant to restart after safety door is closed or on resume from park.
$394: Spindle on delay in s, range: 0.5 - 20
Delay to allow spindle to spin up. 0 or 0.5 - 20s
If spindle supports "at speed" functionality it is the time to wait before alarm 14 is raised.
$398: Planner buffer blocks, range: 30 - 1000, reboot required
Number of blocks in the planner buffer.
NOTE: A hard reset of the controller is required after changing this setting.
$481: Autoreport interval in ms, range: 100 - 1000, reboot required
Interval the real time report will be sent, set to 0 to disable.
NOTE: A hard reset of the controller is required after changing this setting.
$484: Unlock required after E-Stop as boolean
If set unlock (by sending $X) is required after resetting a cleared E-Stop condition.
$485: Keep tool number over reboot as boolean
$486: Lock coordinate systems as bitfield:
0 - G59.1 (1)
1 - G59.2 (2)
2 - G59.3 (4)
Lock coordinate systems against accidental changes.
$539: Spindle off delay in s, range: 0.5 - 20
Delay to allow spindle to spin down. 0 or 0.5 - 20s
If spindle supports "at speed" functionality it is the time to wait before alarm 14 is raised.
$673: Coolant on delay in s, range: 0.5 - 20
Delay to allow coolant to start. 0 or 0.5 - 20s.
$676: Reset actions as bitfield:
0 - Clear homed status if position was lost (1)
1 - Clear offsets (except G92) (2)
2 - Clear rapids override (4)
3 - Clear feed override (8)
Controls actions taken on a soft reset.
$680: Stepper enable delay in ms, max: 250
Delay from stepper enable to first step output. The driver typically adds ~2ms to this.
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