Duet3D

https://docs.duet3d.com/
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Duet3D is a suite of control electronics hardware and firmware designed for 3D printers, CNC...
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### Example Configuration File

Source: https://docs.duet3d.com/User_manual/Machine_configuration/Configuration_five_bar_parallel_scara

A sample configuration snippet showing drive setup, homing switches, M669 geometry, and motor parameters.

```G-code
M569 P0 S1 ; Drive 0 (X) goes forwards M569 P1 S1 ; Drive 1 (Y) goes forwards M569 P2 S1 ; Drive 2 (Z) goes forwards M569 P3 S1 ; Drive 3 (E0) goes forwards
M574 X1 Y1 Z0 S1 ; proximal L and R homing switches trigger when the arm is at M669 B positions and are active high
M669 K9 X0:100 Y0:0 P300:300 D300:300:0:0 ; arms are 300 mm long, actuators are 100 mm apart, other parameters take defaults. (Be aware, that D always needs 4 Parameters)
M203 X10000 Y10000 Z300 E3600 ; maximum speeds mm/minute M906 X800 Y800 Z800 E800 ; set motor currents (mA)
```

--------------------------------

### Bootloader update result

Source: https://docs.duet3d.com/User_manual/RepRapFirmware/Updating_bootloader

Example output confirming the start of a bootloader update process.

```text
14/11/2020, 19:01:25    M997 B20 S3
Board 20 starting bootloader update
```

--------------------------------

### G0/G1 Examples

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/M669

Illustrative examples of how to use the G0 and G1 commands with different parameters.

```APIDOC
## G0/G1 Examples

### Request Example
```
G0 X12               ; (move to 12mm on the X axis)
G0 F1500             ; (Set the feedrate to 1500mm/minute)
G1 X90.6 Y13.8 E22.4 ; (Move to 90.6mm on the X axis and 13.8mm on the Y axis while extruding 22.4mm of material)
G1 E10:10:5:0:0 F300 ; with a tool that has 5 extruder drives, extrude 10mm on drive 0, 10mm on drive 1, 5mm on drive 2 and 0mm on drive 3 and 4.
```
```

--------------------------------

### M558 Examples

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G32

Illustrative examples of using the M558 command for various probe setups.

```APIDOC
## M558 Examples

### Probe Connected to Duet 2 E0 Endstop Input
```
M558 P5 C"e0stop" H5 F120 T3000
```

### No Z Endstop Switch (RRF 3.0 on Duet 2 ONLY)
```
M574 Z0 P"nil"
M558 P5 C"zstop" H5 F120 T3000
```

### BL Touch on Duet 3 Mini 5+
```
M950 S0 C"io3.out"
M558 P9 C"io3.in" H5 F500:120 T3000
M280 P0 S10
```

### BL Touch on Duet WiFi
```
M950 S0 C"exp.heater3"
M558 P9 C"^zprobe.in" H5 F120 T3000
M280 P0 S10
```

### Duet Smart Effector on Duet 2
```
M558 P8 C"zprobe.in+zprobe.mod" R0.4 F1200
```
```

--------------------------------

### Example mesh.g for Tool Changer

Source: https://docs.duet3d.com/User_manual/Tuning/scanning_z_probe_calibration

A mesh.g file example configured for a tool changer setup.

```G-code
T-1
M208 S0 Y100
G29 S2
G1 X0 Y0 F30000
G30
if exists(param.K) & param.K=1
  G1 Z6  ; to avoid backlash
  M558.1 K1 S1.7
G29 S0 K{exists(param.K) ? param.K : 0}
G1 X0 Y-150 F18000
M208 S0 Y49
```

--------------------------------

### Configure MQTT in Standalone and SBC Mode

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G17

Examples for setting up MQTT client parameters, enabling the protocol, and publishing messages.

```G-code
M586.4 C"duet"                      ; Set client ID
M586.4 U"username" K"password"      ; Set authentication credentials
M586.4 S"subscription" O2           ; Subscribe to topic
M586 P4 R1884 H192.168.10.244 S1    ; Enable MQTT protocol/client
M118 P6 S"message" T"topic"         ; Publish message (See M118 for more details)
M586 P4 S0                          ; Disable MQTT protocol/client; disconnects from broker gracefully.
```

```G-code
M586.4 C"duet" U"username" K"password" S"subscription" O2 ; configure MQTT parameters
M586 P4 R1884 H192.168.10.244 S1    ; Enable MQTT protocol/client
M118 P6 S"message" T"topic"         ; Publish message (See M118 for more details)
M586 P4 S0                          ; Disable MQTT protocol/client; disconnects from broker 
```

--------------------------------

### Robot Configuration Example

Source: https://docs.duet3d.com/User_manual/Machine_configuration/RobotViewer_DWC_plugin

Example of a 6-axis robot configuration including DH parameters and tool length specification. The G10 command might need adjustment for specific setups.

```gcode
AT:RPRRRR
Tool 1
G10 P1 X0 Y0 Z0

```

--------------------------------

### Initialize Local RobotViewer Project

Source: https://docs.duet3d.com/User_manual/Machine_configuration/RobotViewer_DWC_plugin

Commands to set up a new Vue 2 project and install the required Babylon.js and Vuetify dependencies.

```bash
npm init vue@2
cd into projectname folder
npm install vue@2.6.14
npm install @babylonjs/core@4.2.2
npm install @babylonjs/gui@4.2.2
npm install @babylonjs/inspector@4.2.2
npm install vuetify@2.6.4
```

--------------------------------

### Enable and Configure MQTT Protocol (Standalone/SBC Mode)

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G18

Enable the MQTT protocol client with specific parameters like port, retain, and host. This example shows enabling with specific settings.

```gcode
M586 P4 R1884 H192.168.10.244 S1    ; Enable MQTT protocol/client
```

--------------------------------

### Configure Z-Probe Examples

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G30

Various configurations for different probe types and hardware setups.

```G-code
M558 P5 C"e0stop" H5 F120 T3000  ; probe connected to Duet 2 E0 endstop input
```

```G-code
M574 Z0 P"nil" ; (RRF 3.0 on Duet 2 ONLY) no Z endstop switch, free up Z endstop input
M558 P5 C"zstop" H5 F120 T3000  ; probe connected to Duet 2 Z endstop input
```

```G-code
; BL Touch on Duet 3 Mini 5+
M950 S0 C"io3.out" ; servo/gpio 0 is io3.out pin
M558 P9 C"io3.in" H5 F500:120 T3000 ; BLTouch connected to io3.in pin
...
M280 P0 S10 ; send control signal to BLTouch through servo/gpio 0
```

```G-code
; BLTouch on Duet WiFi
M950 S0 C"exp.heater3" ; create servo/gpio 0 on heater 3 pin on expansion connector
M558 P9 C"^zprobe.in" H5 F120 T3000  ; BLTouch connected to Z probe IN pin
...
M280 P0 S10 ; send control signal to BLTouch through servo/gpio 0
```

```G-code
; For the Duet Smart Effector on Duet 2
M558 P8 C"zprobe.in+zprobe.mod" R0.4 F1200 ; zprobe.mod is the programming pin for M672
```

--------------------------------

### M558 Example Configurations

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G30

Examples demonstrating the usage of the M558 command for different probe types and hardware.

```APIDOC
## M558 Example Configurations

### Description
Provides practical examples of how to configure the M558 command for various scenarios, including different probe types and specific hardware setups.

### Examples

*   **Standard Probe on Duet 2 E0 endstop input:**
    ```
    M558 P5 C"e0stop" H5 F120 T3000
    ```

*   **No Z endstop switch (RRF 3.0 on Duet 2 ONLY):**
    ```
    M574 Z0 P"nil"
    M558 P5 C"zstop" H5 F120 T3000
    ```

*   **BL Touch on Duet 3 Mini 5+:**
    ```
    M950 S0 C"io3.out" ; servo/gpio 0 is io3.out pin
    M558 P9 C"io3.in" H5 F500:120 T3000 ; BLTouch connected to io3.in pin
    M280 P0 S10 ; send control signal to BLTouch through servo/gpio 0
    ```

*   **BL Touch on Duet WiFi:**
    ```
    M950 S0 C"exp.heater3" ; create servo/gpio 0 on heater 3 pin on expansion connector
    M558 P9 C"^zprobe.in" H5 F120 T3000 ; BLTouch connected to Z probe IN pin
    M280 P0 S10 ; send control signal to BLTouch through servo/gpio 0
    ```

*   **Duet Smart Effector on Duet 2:**
    ```
    M558 P8 C"zprobe.in+zprobe.mod" R0.4 F1200 ; zprobe.mod is the programming pin for M672
    ```

### Response
#### Success Response (200)
No specific success response body is defined for these examples. Configuration is applied internally.

#### Response Example
None
```

--------------------------------

### Configure Chamber Heater

Source: https://docs.duet3d.com/User_manual/Machine_configuration/Configuration_cartesian

Example setup for a chamber heater mapped to a thermistor sensor.

```G-code
M308 S3 P"temp2" Y"thermistor" T100000 B4138 ; configure sensor 3 as thermistor on pin temp2
M950 H3 C"out2" T3                           ; create chamber heater output on out2 and map it to sensor 3
M307 H3 B0 S1.00                             ; disable bang-bang mode for the chamber heater and set PWM limit
M141 H3                                      ; map chamber to heater 3
M143 H3 S100                                 ; set temperature limit for heater 3 to 100C
```

--------------------------------

### Configure MQTT Client and Connection

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G1

Use these commands to set up the MQTT client ID, authentication credentials, and subscription topics. Ensure the broker supports anonymous login or provide credentials.

```gcode
M586.4 C"duet"                      ; Set client ID
M586.4 U"username" K"password"      ; Set authentication credentials
M586.4 S"subscription" O2           ; Subscribe to topic
```

```gcode
M586.4 C"duet" U"username" K"password" S"subscription" O2 ; configure MQTT parameters
```

--------------------------------

### Configure Z Probe Parameters

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G1

Examples of M558 configurations for various probe types and hardware setups.

```G-code
M558 P1 X1 Y0 Z1 F500 T5000 H3 ; probe is used for homing X and Z axes (RRF 1.19 and earlier)
```

```G-code
M558 P4 H5 F120 T3000  ; probe connected to E0 endstop input
```

```G-code
M558 P7 H5 F120 T3000  ; probe connected to Z endstop input
```

```G-code
M558 P9 H5 F120 T3000  ; BLTouch connected to Z probe IN pin
...
M280 P64 S10 ; send control signal to BLTouch through Z probe MOD pin
```

```G-code
M558 P9 H5 F120 T3000  ; BLTouch connected to Z probe IN pin
M307 H3 A-1 C-1 D-1 ; free up heater 3 to use as BLTouch servo pin
...
M280 P3 S10 I1 ; send control signal to BLTouch through heater 3 pin
```

--------------------------------

### Start Development Server

Source: https://docs.duet3d.com/User_manual/Machine_configuration/RobotViewer_DWC_plugin

Command to launch the local development server for the Vue.js application.

```bash
npm run dev
```

--------------------------------

### Tool Preheat Example

Source: https://docs.duet3d.com/User_manual/Tuning/Tool_changing

Arranges for both tools to start heating simultaneously. This can be placed in the sys/start.g file or generated by the slicer.

```gcode
G10 P0 S200 R150 ; Set tool 0 active and standby temperatures
G10 P1 S200 R150 ; Set tool 1 active and standby temperatures
T1 P0            ; Select tool 1 to turn it on but don't execute tool change scripts
T0               ; Select tool 0
M116             ; Wait for all temperatures to be reached
```

--------------------------------

### Define main menu file structure

Source: https://docs.duet3d.com/User_manual/Connecting_hardware/Display_12864_menu

Example configuration for a main menu file, including text labels, images, heater values, and navigation buttons.

```text
text R0 C0 F1 T"My Super 3D Printer "
image L"reprapimg.bin"
text R15 C0 F0 T"Bed temp "
alter N180 W30
text T" actual "
value N80 W30
button R27 C0 T"Preheat PLA" A"M98 P#0" L"/macros/Preheat PLA"
button R39 C0 T"Preheat ABS" A"M98 P#0" L"/macros/Preheat ABS"
button R51 C0 T"Select file to print" A"menu" L"listFiles"
```

--------------------------------

### M950 - Create Fan

Source: https://docs.duet3d.com/User_manual/Reference/Gcodes/G17

This section details the configuration of fans using the M950 command, including specific parameters and examples for fan setup.

```APIDOC
## M950 F

### Description
Creates a fan using the M950 command.

### Method
M950

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
**Fnn** (integer) - Fan number. Required.
**C"name"** (string) - Pin name(s) and optional inversion status. Pin name "nil" frees up the pin. A leading '!' character inverts the input or output. A leading '^' character enables the pullup resistor. The '^' and '!' characters may be placed in either order.
**Qnn** (integer, optional) - PWM frequency in Hz. Valid range: 0-65535, default: 250 for fans.
**Knn** (integer, optional, RRF 3.5 and later) - For fans, number of pulses output by the tacho per revolution of the fan, default: 2. Valid range: 0.5-20, 0.5-200 in RRF 3.6.0 and later.

### Request Example
```json
M950 F3 C"heater2" Q100
M950 F2 C"!fan2+^exp.pb6"
M950 F5 C"!out4+out4.tach" Q450
M950 F0 C"!1.out3+out3.tach" Q450
```

### Response
#### Success Response (200)
No specific response body is detailed for this command, typically it configures hardware.

#### Response Example
None
```

--------------------------------

### Install DSF from Unstable/Beta Feed

Source: https://docs.duet3d.com/User_manual/Machine_configuration/DSF_Other

Commands to add the unstable package repository and install the Duet Software Framework.

```bash
wget -q https://pkg.duet3d.com/duet3d.gpg
wget -q https://pkg.duet3d.com/duet3d-unstable.list
sudo mv duet3d.gpg /etc/apt/trusted.gpg.d/
sudo mv duet3d-unstable.list /etc/apt/sources.list.d/duet3d.list
sudo chown root:root /etc/apt/trusted.gpg.d/duet3d.gpg
sudo chown root:root /etc/apt/sources.list.d/duet3d.list
```

```bash
sudo apt-get install apt-transport-https
sudo apt-get update
sudo apt-get install duetsoftwareframework
```

--------------------------------

### Initial PID Setup

Source: https://docs.duet3d.com/User_manual/Tuning/Duet_3_1HCL_tuning

Set all PID gains to zero and holding current to 100 before starting the tuning process. Replace ##.# with the driver's address and # with the axis being tuned.

```gcode
M569.1 P##.# R0 I0 D0    ; Where P##.# is the address of the driver being tuned
M917 #100                ; Where # is the axis being tuned (X, Y or Z)
```
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