Klipper G-Code Commands for Voron — Complete Reference Guide

Klipper Firmware Reference

Klipper firmware exposes hundreds of G-code commands, and not all of them are relevant to Voron printers. This reference guide organizes the most useful commands by category — calibration, movement, extrusion, temperature, bed leveling, probing, I/O, and diagnostics — with Voron-specific examples for each. Whether you're writing a macro, debugging an issue, or tuning your printer, this is your quick-reference companion. Last updated: May 2025.

Calibration Commands

PID_CALIBRATE

Purpose: Tune the PID (Proportional-Integral-Derivative) control loop for your hotend or heated bed. Proper PID tuning minimizes temperature fluctuation during printing.

Syntax:

PID_CALIBRATE HEATER=heater_bed TARGET=110
PID_CALIBRATE HEATER=extruder TARGET=250
SAVE_CONFIG

Voron usage: Run with the chamber closed at your normal printing temperature. For the bed, target 105-110C for ABS. For the hotend, target your most-used printing temperature (typically 245-255C for ABS).

PROBE_CALIBRATE

Purpose: Calibrate the Z-offset between your probe and nozzle. Essential for accurate first layer height.

Syntax:

PROBE_CALIBRATE
TESTZ Z=-0.1
ACCEPT
SAVE_CONFIG

Voron usage: Heat the bed and nozzle to printing temperature before calibrating. Thermal expansion changes the Z-offset. Use a 0.1mm feeler gauge or paper test for consistent results.

BED_MESH_CALIBRATE

Purpose: Probe the bed surface to create a height map used for mesh bed leveling during printing.

Syntax:

BED_MESH_CALIBRATE
BED_MESH_CALIBRATE METHOD=manual  ; Manual probing
BED_MESH_CALIBRATE ADAPTIVE=1     ; Adaptive mesh (Voron 0.2)

Voron usage: Adaptive mesh (BED_MESH_CALIBRATE ADAPTIVE=1) is highly recommended on Voron V2.4 and Trident. It only probes the area where the model will print, saving time on large beds.

SHAPER_CALIBRATE

Purpose: Run input shaper auto-calibration. The toolhead moves at increasing frequencies and an accelerometer measures resonance.

Syntax:

SHAPER_CALIBRATE                        ; Auto-calibrate
SHAPER_CALIBRATE AXIS=X                 ; Only X axis
SHAPER_CALIBRATE AXIS=Y FREQ_START=40  ; Custom frequency range
SAVE_CONFIG

Voron usage: On Voron V2.4, run X and Y separately. Mount the accelerometer on the print head for X and on the bed for Y. Save the recommended shaper type and frequency with SAVE_CONFIG.

TUNING_TOWOWER

Purpose: Change a parameter (flow rate, pressure advance, temperature) layer-by-layer during a print for visual calibration.

Syntax:

TUNING_TOWER COMMAND=SET_PRESSURE_ADVANCE PARAMETER=ADVANCE START=0 FACTOR=0.005
TUNING_TOWER COMMAND=SET_EXTRUDER_ROTATION_DISTANCE PARAMETER=DISTANCE START=22 FACTOR=0.001

Voron usage: Used with OrcaSlicer's calibration towers. The slicer inserts CHANGE_AT_LAYER or TUNING_TOWER commands to vary a parameter per layer.

Movement Commands

Extrusion Commands

Temperature Commands

Bed Leveling Commands

Z_TILT_ADJUST

Purpose: Auto-level the gantry by probing at multiple Z-tilt points and adjusting the Z steppers.

Syntax:

Z_TILT_ADJUST
Z_TILT_ADJUST HORIZONTAL_MOVE_Z=10  ; Raise Z before adjusting

Voron usage: Used on Voron V2.4 and Trident. Probes at 3 points (front-left, front-right, rear-center or similar) and levels the X/Y gantry. Run this at the beginning of your PRINT_START macro.

QUAD_GANTRY_LEVEL (QGL)

Purpose: Four-corner gantry leveling used by Voron V2.4 with 4 Z-motors.

Syntax:

QUAD_GANTRY_LEVEL
QUAD_GANTRY_LEVEL HORIZONTAL_MOVE_Z=15 RETRIES=3

Voron usage: Required for V2.4 before every print or after any Z-axis maintenance. The printer probes 4 points and adjusts each Z stepper motor independently.

SCREWS_TILT_CALCULATE

Purpose: Manual bed leveling assistant. Probes the bed at each screw location and tells you how much to turn each bed adjustment knob.

Syntax:

SCREWS_TILT_CALCULATE
SCREWS_TILT_CALCULATE MAX_DEVIATION=0.025

Voron usage: Useful on Trident (fixed bed with 3-point leveling) and Switchwire. Run after initial setup or major disassembly. Each knob adjustment is reported in minutes of rotation.

Probe Commands

I/O Commands

SD Card and Misc Commands

Klipper-Specific Commands

SAVE_CONFIG

Purpose: Save calibration results (PID, probe offset, shaper config, bed mesh) to printer.cfg. Persisted settings are appended to the config file.

Syntax: SAVE_CONFIG

Voron usage: Always run after PID_CALIBRATE, PROBE_CALIBRATE, SHAPER_CALIBRATE, or any calibration that modifies persistent settings. The printer will restart automatically after saving.

RESTART

Purpose: Restart the Klipper firmware without rebooting the SBC. Reloads printer.cfg.

Syntax: RESTART

Voron usage: Run after editing printer.cfg. Won't reload changes made to moonraker.conf or the OS.

FIRMWARE_RESTART

Purpose: Force a full re-connection to all MCUs. Required if an MCU disconnects or errors out. More thorough than RESTART.

Syntax: FIRMWARE_RESTART

Voron usage: Use if Klipper reports MCU connection errors or if CANBus toolhead boards disconnect. This command re-flashes the MCU connection.

STATUS

Purpose: Show current printer status including klipper state, print progress, and any active errors.

Syntax: STATUS

Voron usage: Quick diagnostic check. Returns Printer is ready or details of any fault condition.

RESPOND

Purpose: Send a message to the frontend console. Used in macros to provide status updates.

Syntax:

RESPOND MSG="Heating bed..."
RESPOND PREFIX=INFO MSG="Starting print with ABS"
RESPOND TYPE=command MSG="action:disconnect"

Voron usage: Essential for custom macros. Use RESPOND to log progress at each step of your PRINT_START macro so you can see what's happening in Mainsail/Fluidd.

Macros Reference

SET_FAN_SPEED

Purpose: Set a configured fan's speed by percentage. More intuitive than M106 for named fans.

Syntax:

SET_FAN_SPEED FAN=part_cooling_fan SPEED=0.5    ; 50%
SET_FAN_SPEED FAN=exhaust_fan SPEED=1.0          ; 100%

Voron usage: Use in macros that control enclosure fans, Nevermore carbon filter fans, or chamber exhaust fans. Speed is 0.0-1.0.

UPDATE_DELAYED_GCODE

Purpose: Update or cancel a delayed G-code event (a G-code that runs after a specified delay).

Syntax:

UPDATE_DELAYED_GCODE ID=my_delayed_gcode DUATION=120
UPDATE_DELAYED_GCODE ID=my_delayed_gcode DURATION=0  ; Cancel

Voron usage: Common for chamber heater control. A delayed G-code checks if the chamber is up to temperature and either starts the print or delays further. Also used for Nevermore fan cycling.

Quick Troubleshooting Reference

Bookmark this page for quick reference. The Klipper documentation is comprehensive but scattered — this guide collects the Voron-relevant commands in one place. When in doubt, use HELP in the Klipper console to get a full list of available commands on your specific configuration.