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diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 25e30445..c97e77df 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -180,3 +180,25 @@ The following command is available when the "tmc2130" config section is enabled: - `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver registers and report their values. + +## Force movement + +The following commands are available when the "force_move" config +section is enabled: +- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> + VELOCITY=<value>`: This command will forcibly move the given stepper + the given distance (in mm) at the given constant velocity (in + mm/s). No acceleration is performed; no boundary checks are + performed; no kinematic updates are made; other parallel steppers on + an axis will not be moved. Use caution as an incorrect command could + cause damage! Using this command will almost certainly place the + low-level kinematics in an incorrect state; issue a G28 afterwards + to reset the kinematics. This command is intended for low-level + diagnostics and debugging. +- `SET_KINEMATIC_POSITION X=<value> Y=<value> Z=<value>`: Force the + low-level kinematic code to believe the toolhead is at the given + position. This is a diagnostic and debugging command; use + SET_GCODE_OFFSET and/or G92 for regular axis transformations. + Setting an incorrect or invalid position may lead to internal + software errors. This command may invalidate future boundary checks; + issue a G28 afterwards to reset the kinematics. |