Z configuration for sensors

Timothee Leblond · 19 Feb 2025, 17:41

Hello,

I'm trying to configure my printer to use a microprobe.
Thanks to the community, the microprobe is now wired successfully and reponds to commands in the console. I also just configured X and Y axes with stall detection and sensorless homing. As it is my first trial, I need to home printer's 3 axes. However, the microprobe isn't deploying nor palping the bed. I tried homing but I had to stop before it touches the bed. So either it is not working properly or maybe it is going too low.

Would you have any leads for me?

Board: Mini 5+
Firmware: 3.5.4
Microprobe: BTT BIQU microprobe

Config.g

 ; Default config.g template for DuetPi
; Replace this with a proper configuration file (e.g from https://configtool.reprapfirmware.org)
 
; Display initial welcome message
M291 P"You are operating an SBC image in standalone mode. Please see <a href=""https://www.duet3d.com/StartHere"" target=""_blank"">here</a> further information." R"Welcome to your new Duet 3!" S1 T0
 
; Enable PanelDue
M575 P1 B57600 S1
 
; Enable network
; M552 P0.0.0.0 S1
 
; Configuration file for RepRapFirmware on Duet 3 Mini 5+ Ethernet
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Fri Dec 13 2024 08:59:52 GMT-0500 (Eastern Standard Time)
 
; General
G90 ; absolute coordinates
M83 ; relative extruder moves
M550 P"Duet 3" ; set hostname
M915 X Y S5 R1 F1 H2  ; set sensorless homing
 
M302 P1   ; Allow cold extrusion
 
; Accessories
M575 P1 S0 B57600 ; configure PanelDue support
 
; Wait a moment for the CAN expansion boards to become available
G4 S2
 
; Smart Drivers
M569 P0.0 S1 D3 V188; driver 0.0 goes forwards (X axis) -> D3 is for stealthChop mode = enable stall detection
M569 P0.1 S1 D3 V188; driver 0.1 goes forwards (Y axis) -> D3 is for stealthChop mode = enable stall detection
M569 P0.2 S1 D2 V188; driver 0.2 goes forwards (Z axis) -> D3 is for stealthChop mode = enable stall detection
M569 P121.0 S0 D2 ; driver 20.0 goes forwards (extruder 0)
 
; Motor Idle Current Reduction
M906 I30 ; set motor current idle factor
M84 S30 ; set motor current idle timeout
 
; Axes
M584 X0.0 Y0.1 Z0.2 ; set axis mapping
M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
M906 X800 Y800 Z800 ; set axis driver currents
M92 X80 Y80 Z400 ; configure steps per mm
M208 X-6:310 Y0:310 Z-5:405 ; set minimum and maximum axis limits
M566 X900 Y900 Z12 ; set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 Z180 ; set maximum speeds (mm/min)
M201 X500 Y500 Z20 ; set accelerations (mm/s^2)
 
; Extruders
M584 E121.0 ; set extruder mapping
M350 E16 I1 ; configure microstepping with interpolation
M906 E800 ; set extruder driver currents
M92 E100 ; configure steps per mm
M566 E120 ; set maximum instantaneous speed changes (mm/min)
M203 E3600 ; set maximum speeds (mm/min)
M201 E250 ; set accelerations (mm/s^2)
 
; Kinematics
M669 K0 ; configure Cartesian kinematics
 
; Probes
 
M950 P0 C"out6"                              ; Set servo output on Mini 5+ 
M558 P9 H10 F250:30 T8000 C"^!io6.in"            ; Set probe input to IO_6 on Mini 5+
G31 P500 X0 Y0 Z1.5                                  ; set Z probe trigger value, offset and trigger height
 
;M950 S0 C"121.io0.out"                              ; Set servo output on Rototoolboard
;M558 P9 H6 F250:30 T8000 C"^!121.io0.in"            ; Set probe input to IO_0 on Rototoolboard
;G31 P500 X0 Y0 Z0                                  ; set Z probe trigger value, offset and trigger height
 
; Endstops
M574 X1 S3                            ; configure X axis endstop
M574 Y1 S3                            ; configure Y axis endstop
M574 Z1 S0                            ; configure Z axis endstop
M915 X Y R0 F0
 
; Tools
M563 P0 S"MainExtruder" D0 ; create Tool 0 using Extruder Drive 0
G10 P0 S0 R0 ; set Tool 0 active and standby temperatures to 0
T0 ; select Tool 0 at startup

Homeall.g

 ; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
; increase Z
G91 ; relative positioning
G1 H2 Z5 F6000 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning
 
; home XY
 
M400
M913
M400
var xTravel = move.axes[0].max - move.axes[0].min + 5 ; calculate how far X can travel plus 5mm
var yTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G91 ; relative positioning
G1 H1 X{-var.xTravel} Y{-var.yTravel} F4000 ; coarse home in the -X and -Y directions
G1 H2 X5 Y5 F4000 ; move back 5mm
G1 H1 X{-var.xTravel} Y{-var.yTravel} F4000 ; fine home in the -X and -Y directions
G90 ; absolute positioning
M400
M913
M400
 
; home Z
var xCenter = move.compensation.probeGrid.mins[0] + (move.compensation.probeGrid.maxs[0] - move.compensation.probeGrid.mins[0]) / 2 - sensors.probes[0].offsets[0]
var yCenter = move.compensation.probeGrid.mins[1] + (move.compensation.probeGrid.maxs[1] - move.compensation.probeGrid.mins[1]) / 2 - sensors.probes[0].offsets[1]
G1 X{var.xCenter} Y{var.yCenter} F4000 ; go to bed centre
G30 ; probe the bed

homez.g

 ; homez.g
; called to home the Z axis
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
; ################# Home Z Preparation ################
 
G91 															; Relative mode
G1 H2 Z5 F5000													; Lower the bed
G90	
G1 Z10 F4000       ; Move Z up 10mm to ensure clearance
var xCenter = move.compensation.probeGrid.mins[0] + (move.compensation.probeGrid.maxs[0] - move.compensation.probeGrid.mins[0]) / 2 - sensors.probes[0].offsets[0]
var yCenter = move.compensation.probeGrid.mins[1] + (move.compensation.probeGrid.maxs[1] - move.compensation.probeGrid.mins[1]) / 2 - sensors.probes[0].offsets[1]
G1 X{var.xCenter} Y{var.yCenter} F4000 ; go to bed centre															; Back to absolute positioning
 
; ################# Home Z Preparation ################
 
G30					 											; Probe a single point

Thanks!

fcwilt · 19 Feb 2025, 17:56

@Timothee-Leblond

And the MicroProbe is responding to M401 and M402?

I was never able to get that working. I will try testing my setup again.

Unrelated but possibly of interest:

In your homing files you have

 M400
M913
M400

As far as I know they are serving no purpose.

Also for your "coarse" and "fine" homing moves you have the same F values. Normally the "fine" move is done at a much slower speed. I don't see the need to do the same move twice if they are at the same speed.

Waiting for verification that M401/M402 are working for you.

Thanks, Frederick

jay_s_uk · 19 Feb 2025, 18:25

@Timothee-Leblond you should be using G30 moves to home z, not G1 H1 Z

Timothee Leblond · 19 Feb 2025, 18:40

@fcwilt

Hi Frederick,

Yes, the M401/M402 commands are working. M42 as well.

Timothee Leblond · 19 Feb 2025, 18:43

@jay_s_uk

So should I replace every G1 by G30 in my homez?

jay_s_uk · 19 Feb 2025, 18:47

@Timothee-Leblond https://docs.duet3d.com/User_manual/Connecting_hardware/Z_probe_BLTouch#configuration-1
See here for an example home all and homez file

Timothee Leblond · 19 Feb 2025, 19:10

@jay_s_uk

It looks like what I made initially?
I have a G1 going to center followed by a G30.

Phaedrux · 19 Feb 2025, 19:37

@Timothee-Leblond said in Z configuration for sensors:

M950 P0 C"out6"

This should be io6.out not out6 I believe.

Are you sure M401 and M402 are working to retract and deploy the pin? What do you have in your deployprobe.g and retractprobe.g files?

M558 P9 H10 F250:30 T8000 C"^!io6.in"

Your trigger pin is also inverted with the ! , which might lead to the probe triggering before it's even deployed. Are you sure it needs to be inverted?

Timothee Leblond · 19 Feb 2025, 19:43

@Phaedrux

I confirm M401/M402 are working with M950 P0 C"out6". On the contrary, it is not using M950 P0 C"io6.out".

Deploy

 ; deployprobe0.g
; called to deploy a physical Z probe
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
M42 P0 S1  ; Deploy probe
G4 P500      ; Pause for 500ms to ensure deployment

retract

 ; retractprobe0.g
; called to retract a physical Z probe
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
M42 P0 S0  ; Retract probe
G4 P500      ; Pause for 500ms

I'm using a BTT not a BlTouch, and it is advised to use ^!io6. in apparently.

Phaedrux · 19 Feb 2025, 19:46

@Timothee-Leblond said in Z configuration for sensors:

I'm using a BTT not a BlTouch, and it is advised to use ^!io6. in apparently.

understood.

Can you show a photo of your probe wiring at the board?

When you send G30 manually, the Z axis moves, but the probe does not deploy? But M401/M402 do work?

Timothee Leblond · 19 Feb 2025, 19:56

@Phaedrux

First of all, when I send G30 it says: "Error: G30: Insufficient axes homed for bed probing".
When I try homing, I regularly have the same problem.
Right now, when I home all, the X bumps into the wall with a noise, the probe deploys, retracts then deploys and I then have that error message again without the Y being homed.

I know my first problem may be due to the stall detection and sensorless homing through M915 in config.g. I've been trying to set it up but I still have some problems.

 M915 X Y S10 R1 F1 H2  ; set sensorless homing

The wiring had been thanks to an other discussion here: https://forum.duet3d.com/topic/37443/wiring-biqu-microprobe-to-duet-rototoolboard/43

Phaedrux · 19 Feb 2025, 20:00

Are you able to home X and Y independantly successfully?

Need to get that sorted first. If you want to pretend the axis are homed, you can move them manually to the correct location and then send G92 X0 Y0 to force the axis to be homed and at that position.

You can try adding M401 and M402 commands to deploy/retract the probe right before and after you send G30 in your homing files.

Timothee Leblond · 19 Feb 2025, 20:04

@Phaedrux

For X, homing is making a noise bumping the wall but it seems to work.
For Y, I have no problem homing it.

However, the home all is problematic.

Sending M92 X0 Y0 before homing Z gives the same Error answer.
I already have M401/M402 in my homing files before and after G30.

Phaedrux · 19 Feb 2025, 21:11

Can you share your most up to date homing files?

Can you capture and share the exact error messages you get and exactly when?

Timothee Leblond · 19 Feb 2025, 21:28

@Phaedrux

Sure:

homeall:

 ; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
; increase Z
G91 ; relative positioning
G1 H2 Z5 F6000 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning
 
; home XY
 
M400
M913
M400
var xTravel = move.axes[0].max - move.axes[0].min + 5 ; calculate how far X can travel plus 5mm
var yTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G91 ; relative positioning
G1 H1 X{-var.xTravel} Y{var.yTravel} F4000 ; coarse home in the -X and -Y directions
G1 H2 X5 Y5 F4000 ; move back 5mm
G1 H1 X{-var.xTravel} Y{var.yTravel} F1000 ; fine home in the -X and -Y directions
G90 ; absolute positioning
M400
M913
M400
 
; home Z
 
var xCenter = move.compensation.probeGrid.mins[0] + (move.compensation.probeGrid.maxs[0] - move.compensation.probeGrid.mins[0]) / 2 - sensors.probes[0].offsets[0]
var yCenter = move.compensation.probeGrid.mins[1] + (move.compensation.probeGrid.maxs[1] - move.compensation.probeGrid.mins[1]) / 2 - sensors.probes[0].offsets[1]
G91 ; relative positioning
G1 X{var.xCenter} Y{var.yCenter} F1000 ; go to bed centre
G90 ; absolute positioning
M401
G30 ; probe the bed
M402

homex:

 ; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning
M400
M913 X40 Y40 ; drop motor current to 40% -> for sensorless homing
M400
 
; home X
G91 ; relative positioning
var maxTravel = move.axes[0].max - move.axes[0].min + 5 ; calculate how far X can travel plus 5mm
G1 H1 X{-var.maxTravel} F3000                            ; coarse home in the -X direction
G1 X5 F3000                                             ; move back 5mm
G1 H1 X{-var.maxTravel} F1000                            ; fine home in the -X direction
G90 ; absolute positioning
 
; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F6000 ; move Z relative to current position
G90 ; absolute positioning
 
M400 ; Wait for current moves to finish
M913 X100 Y100 ; return current to 100% -> for sensorless homing
M400 ; Wait for current moves to finish

homey:

 ; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning
 
M400 ; Wait for current moves to finish
M913 X40 Y40 ; drop motor current to 70% -> for sensorless homing
M400
 
; home Y
G91 ; relative positioning
var maxTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G1 H1 Y{var.maxTravel} F3000                            ; coarse home in the -Y direction
G1 Y5 F3000                                             ; move back 5mm
G1 H1 Y{var.maxTravel} F1000                            ; fine home in the -Y direction
G90 ; absolute positioning
 
; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F6000 ; move Z relative to current position
G90 ; absolute positioning
 
M400 ; Wait for current moves to finish
M913 X100 Y100 ; return current to 100% -> for sensorless homing
M400 ; Wait for current moves to finish

homez:

 ; homez.g
; called to home the Z axis
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)
 
; ################# Home Z Preparation ################
 
G91 															; Relative mode
G90
 
G1 Z10 F3000       ; Move Z up 10mm to ensure clearance
var xCenter = move.compensation.probeGrid.mins[0] + (move.compensation.probeGrid.maxs[0] - move.compensation.probeGrid.mins[0]) / 2 - sensors.probes[0].offsets[0]
var yCenter = move.compensation.probeGrid.mins[1] + (move.compensation.probeGrid.maxs[1] - move.compensation.probeGrid.mins[1]) / 2 - sensors.probes[0].offsets[1]
G1 X{var.xCenter} Y{var.yCenter} F4000 ; go to bed centre															; Back to absolute positioning
M401
G30
M402 ; retract probe

config.g:

 ; Default config.g template for DuetPi
; Replace this with a proper configuration file (e.g from https://configtool.reprapfirmware.org)
 
; Display initial welcome message
M291 P"You are operating an SBC image in standalone mode. Please see <a href=""https://www.duet3d.com/StartHere"" target=""_blank"">here</a> further information." R"Welcome to your new Duet 3!" S1 T0
 
; Enable PanelDue
M575 P1 B57600 S1
 
; Enable network
; M552 P0.0.0.0 S1
 
; Configuration file for RepRapFirmware on Duet 3 Mini 5+ Ethernet
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Fri Dec 13 2024 08:59:52 GMT-0500 (Eastern Standard Time)
 
; General
G90 ; absolute coordinates
M83 ; relative extruder moves
M550 P"Duet 3" ; set hostname
M915 X Y S10 R1 F1 H2  ; set sensorless homing
 
M302 P1   ; Allow cold extrusion
 
; Accessories
M575 P1 S0 B57600 ; configure PanelDue support
 
; Wait a moment for the CAN expansion boards to become available
G4 S2
 
; Smart Drivers
M569 P0.0 S1 D3 V188; driver 0.0 goes forwards (X axis) -> D3 is for stealthChop mode = enable stall detection
M569 P0.1 S1 D3 V188; driver 0.1 goes forwards (Y axis) -> D3 is for stealthChop mode = enable stall detection
M569 P0.2 S1 D2 V188; driver 0.2 goes forwards (Z axis) -> D3 is for stealthChop mode = enable stall detection
M569 P121.0 S0 D2 ; driver 20.0 goes forwards (extruder 0)
 
; Motor Idle Current Reduction
M906 I30 ; set motor current idle factor
M84 S30 ; set motor current idle timeout
 
; Axes
M584 X0.0 Y0.1 Z0.2 ; set axis mapping
M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
M906 X800 Y800 Z800 ; set axis driver currents
M92 X80 Y80 Z400 ; configure steps per mm
M208 X-6:310 Y0:310 Z-5:405 ; set minimum and maximum axis limits
M566 X900 Y900 Z12 ; set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 Z180 ; set maximum speeds (mm/min)
M201 X500 Y500 Z20 ; set accelerations (mm/s^2)
 
; Extruders
M584 E121.0 ; set extruder mapping
M350 E16 I1 ; configure microstepping with interpolation
M906 E800 ; set extruder driver currents
M92 E100 ; configure steps per mm
M566 E120 ; set maximum instantaneous speed changes (mm/min)
M203 E3600 ; set maximum speeds (mm/min)
M201 E250 ; set accelerations (mm/s^2)
 
; Kinematics
M669 K0 ; configure Cartesian kinematics
 
; Probes
 
M950 P0 C"out6"                              ; Set servo output on Mini 5+ 
M558 P9 H30 F250:30 T8000 C"^!io6.in"            ; Set probe input to IO_6 on Mini 5+
G31 P500 X0 Y0 Z20                                  ; set Z probe trigger value, offset and trigger height
 
;M950 S0 C"121.io0.out"                              ; Set servo output on Rototoolboard
;M558 P9 H6 F250:30 T8000 C"^!121.io0.in"            ; Set probe input to IO_0 on Rototoolboard
;G31 P500 X0 Y0 Z0                                  ; set Z probe trigger value, offset and trigger height
 
; Endstops
M574 X1 S3                            ; configure X axis endstop
M574 Y1 S3                            ; configure Y axis endstop
M574 Z1 S2                            ; configure Z axis endstop
M915 X Y R0 F0
 
; Tools
M563 P0 S"MainExtruder" D0 ; create Tool 0 using Extruder Drive 0
G10 P0 S0 R0 ; set Tool 0 active and standby temperatures to 0
T0 ; select Tool 0 at startup

I had the error: Error: G30: Insufficient axes homed for bed probing when trying to home all axes at the same time. For some reasons after I restarted the printer, I seem I no longer have it.
However, when I home all or home Z or send G30, the extuder gets all the way down ignoring the probe, hitting the bed. When I manually activate the pin of the probe before it reaches bed, this error appears: Error: G4: Probe already triggered at start of probing move.

On top of that, it is not going to the center of the bed before probing and my X axes make a noise when homing which I can't solve.

fcwilt · 20 Feb 2025, 01:13

@Timothee-Leblond

For the sake of simplicity and not duplicating code this is how I code homeALL.g.

 M98 P"homeZ.g"
M98 P"homeY.g"
M98 P"homeX.g"

You can change the order as best for your printer.

Frederick

Timothee Leblond · 20 Feb 2025, 14:51

@fcwilt
Thanks for the tip, I'll do that in the future.

But I'm not sure it will solve my problem right?

fcwilt · 20 Feb 2025, 16:19

@Timothee-Leblond said in Z configuration for sensors:

@fcwilt
Thanks for the tip, I'll do that in the future.

But I'm not sure it will solve my problem right?

No, nothing to do with your problem - it just makes things a bit simpler in that if you make a change to homing code for one axis (X Y or Z) you don't need to make the same change to homeALL.g

Frederick

Timothee Leblond · 20 Feb 2025, 16:37

@fcwilt

This is smart, thank you though!

Phaedrux · 20 Feb 2025, 18:16

I'm kind of at a loss for your probe issue. It's confusing why M401 would work to deploy the pin manually but not during the homing move.

Have you tried manually positioning he probe at the center of the bed and then sending M401 and G30 to deploy and start probing?

	; Default config.g template for DuetPi
	; Replace this with a proper configuration file (e.g from https://configtool.reprapfirmware.org)

	; Display initial welcome message
	M291 P"You are operating an SBC image in standalone mode. Please see <a href=""https://www.duet3d.com/StartHere"" target=""_blank"">here</a> further information." R"Welcome to your new Duet 3!" S1 T0

	; Enable PanelDue
	M575 P1 B57600 S1

	; Enable network
	; M552 P0.0.0.0 S1

	; Configuration file for RepRapFirmware on Duet 3 Mini 5+ Ethernet
	; executed by the firmware on start-up
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Fri Dec 13 2024 08:59:52 GMT-0500 (Eastern Standard Time)

	; General
	G90 ; absolute coordinates
	M83 ; relative extruder moves
	M550 P"Duet 3" ; set hostname
	M915 X Y S5 R1 F1 H2 ; set sensorless homing

	M302 P1 ; Allow cold extrusion

	; Accessories
	M575 P1 S0 B57600 ; configure PanelDue support

	; Wait a moment for the CAN expansion boards to become available
	G4 S2

	; Smart Drivers
	M569 P0.0 S1 D3 V188; driver 0.0 goes forwards (X axis) -> D3 is for stealthChop mode = enable stall detection
	M569 P0.1 S1 D3 V188; driver 0.1 goes forwards (Y axis) -> D3 is for stealthChop mode = enable stall detection
	M569 P0.2 S1 D2 V188; driver 0.2 goes forwards (Z axis) -> D3 is for stealthChop mode = enable stall detection
	M569 P121.0 S0 D2 ; driver 20.0 goes forwards (extruder 0)

	; Motor Idle Current Reduction
	M906 I30 ; set motor current idle factor
	M84 S30 ; set motor current idle timeout

	; Axes
	M584 X0.0 Y0.1 Z0.2 ; set axis mapping
	M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
	M906 X800 Y800 Z800 ; set axis driver currents
	M92 X80 Y80 Z400 ; configure steps per mm
	M208 X-6:310 Y0:310 Z-5:405 ; set minimum and maximum axis limits
	M566 X900 Y900 Z12 ; set maximum instantaneous speed changes (mm/min)
	M203 X6000 Y6000 Z180 ; set maximum speeds (mm/min)
	M201 X500 Y500 Z20 ; set accelerations (mm/s^2)

	; Extruders
	M584 E121.0 ; set extruder mapping
	M350 E16 I1 ; configure microstepping with interpolation
	M906 E800 ; set extruder driver currents
	M92 E100 ; configure steps per mm
	M566 E120 ; set maximum instantaneous speed changes (mm/min)
	M203 E3600 ; set maximum speeds (mm/min)
	M201 E250 ; set accelerations (mm/s^2)

	; Kinematics
	M669 K0 ; configure Cartesian kinematics

	; Probes

	M950 P0 C"out6" ; Set servo output on Mini 5+
	M558 P9 H10 F250:30 T8000 C"^!io6.in" ; Set probe input to IO_6 on Mini 5+
	G31 P500 X0 Y0 Z1.5 ; set Z probe trigger value, offset and trigger height

	;M950 S0 C"121.io0.out" ; Set servo output on Rototoolboard
	;M558 P9 H6 F250:30 T8000 C"^!121.io0.in" ; Set probe input to IO_0 on Rototoolboard
	;G31 P500 X0 Y0 Z0 ; set Z probe trigger value, offset and trigger height

	; Endstops
	M574 X1 S3 ; configure X axis endstop
	M574 Y1 S3 ; configure Y axis endstop
	M574 Z1 S0 ; configure Z axis endstop
	M915 X Y R0 F0

	; Tools
	M563 P0 S"MainExtruder" D0 ; create Tool 0 using Extruder Drive 0
	G10 P0 S0 R0 ; set Tool 0 active and standby temperatures to 0
	T0 ; select Tool 0 at startup

	; homeall.g
	; called to home all axes
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)

	; increase Z
	G91 ; relative positioning
	G1 H2 Z5 F6000 ; move Z relative to current position to avoid dragging nozzle over the bed
	G90 ; absolute positioning

	; home XY

	M400
	M913
	M400
	var xTravel = move.axes[0].max - move.axes[0].min + 5 ; calculate how far X can travel plus 5mm
	var yTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
	G91 ; relative positioning
	G1 H1 X{-var.xTravel} Y{-var.yTravel} F4000 ; coarse home in the -X and -Y directions
	G1 H2 X5 Y5 F4000 ; move back 5mm
	G1 H1 X{-var.xTravel} Y{-var.yTravel} F4000 ; fine home in the -X and -Y directions
	G90 ; absolute positioning
	M400
	M913
	M400

	; home Z
	var xCenter = move.compensation.probeGrid.mins[0] + (move.compensation.probeGrid.maxs[0] - move.compensation.probeGrid.mins[0]) / 2 - sensors.probes[0].offsets[0]
	var yCenter = move.compensation.probeGrid.mins[1] + (move.compensation.probeGrid.maxs[1] - move.compensation.probeGrid.mins[1]) / 2 - sensors.probes[0].offsets[1]
	G1 X{var.xCenter} Y{var.yCenter} F4000 ; go to bed centre
	G30 ; probe the bed

	; homez.g
	; called to home the Z axis
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)

	; ################# Home Z Preparation ################

	G91 ; Relative mode
	G1 H2 Z5 F5000 ; Lower the bed
	G90
	G1 Z10 F4000 ; Move Z up 10mm to ensure clearance
	var xCenter = move.compensation.probeGrid.mins[0] + (move.compensation.probeGrid.maxs[0] - move.compensation.probeGrid.mins[0]) / 2 - sensors.probes[0].offsets[0]
	var yCenter = move.compensation.probeGrid.mins[1] + (move.compensation.probeGrid.maxs[1] - move.compensation.probeGrid.mins[1]) / 2 - sensors.probes[0].offsets[1]
	G1 X{var.xCenter} Y{var.yCenter} F4000 ; go to bed centre ; Back to absolute positioning

	; ################# Home Z Preparation ################

	G30 ; Probe a single point

	; deployprobe0.g
	; called to deploy a physical Z probe
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)

	M42 P0 S1 ; Deploy probe
	G4 P500 ; Pause for 500ms to ensure deployment

	; retractprobe0.g
	; called to retract a physical Z probe
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)

	M42 P0 S0 ; Retract probe
	G4 P500 ; Pause for 500ms

	; homex.g
	; called to home the X axis
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)

	; increase Z
	G91 ; relative positioning
	G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
	G90 ; absolute positioning
	M400
	M913 X40 Y40 ; drop motor current to 40% -> for sensorless homing
	M400

	; home X
	G91 ; relative positioning
	var maxTravel = move.axes[0].max - move.axes[0].min + 5 ; calculate how far X can travel plus 5mm
	G1 H1 X{-var.maxTravel} F3000 ; coarse home in the -X direction
	G1 X5 F3000 ; move back 5mm
	G1 H1 X{-var.maxTravel} F1000 ; fine home in the -X direction
	G90 ; absolute positioning

	; decrease Z again
	G91 ; relative positioning
	G1 H2 Z-5 F6000 ; move Z relative to current position
	G90 ; absolute positioning

	M400 ; Wait for current moves to finish
	M913 X100 Y100 ; return current to 100% -> for sensorless homing
	M400 ; Wait for current moves to finish

	; homey.g
	; called to home the Y axis
	;
	; generated by RepRapFirmware Configuration Tool v3.5.8 on Tue Dec 10 2024 15:03:23 GMT-0500 (Eastern Standard Time)

	; increase Z
	G91 ; relative positioning
	G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
	G90 ; absolute positioning

	M400 ; Wait for current moves to finish
	M913 X40 Y40 ; drop motor current to 70% -> for sensorless homing
	M400

	; home Y
	G91 ; relative positioning
	var maxTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
	G1 H1 Y{var.maxTravel} F3000 ; coarse home in the -Y direction
	G1 Y5 F3000 ; move back 5mm
	G1 H1 Y{var.maxTravel} F1000 ; fine home in the -Y direction
	G90 ; absolute positioning

	; decrease Z again
	G91 ; relative positioning
	G1 H2 Z-5 F6000 ; move Z relative to current position
	G90 ; absolute positioning

	M400 ; Wait for current moves to finish
	M913 X100 Y100 ; return current to 100% -> for sensorless homing
	M400 ; Wait for current moves to finish