G-Code Reference

STEPPER=<name> (stepper_x, stepper_y) selects which stepper a command applies to.

Core

FOCI_SELFTEST

FOCI_SELFTEST STEPPER=<name>

Runs the self-test for this stepper: ADC calibration, both motor coils, phase wiring, encoder, and encoder direction. See Bring-up.

FOCI_SETUP

FOCI_SETUP STEPPER=<name> [PROFILE=<conservative|balanced|stiff>]

Identifies motor resistance and inductance and applies current gains. PROFILE defaults to balanced. See Bring-up.

FOCI_AUTOTUNE

FOCI_AUTOTUNE STEPPER=<name> [PROFILE=<conservative|balanced|stiff>] [MODE=<unloaded|nominal|high_inertia>] [ACTION=<name>]

Tunes the outer position/velocity loop. Requires FOCI_SETUP to have already run. PROFILE defaults to balanced, MODE to nominal. ACTION runs one phase of the tune on its own, for diagnostic use: velocity_p_tune (finds the velocity P gain), velocity_i_tune (replays the velocity integral step against the retained plan, same power cycle only), velocity_tune_check (reversal and standstill checks on the tuned velocity loop), and position_p_tune (position P, after a velocity tune). Omit it for the normal production path, which runs all of them in sequence. See Tuning.

DUMP_FOCI

DUMP_FOCI STEPPER=<name> [TUNING=<0|1>]

Dumps TMC4671 register state and homing/stall status for this stepper. TUNING=1 appends host-computed tuning analysis. Read-only.

FOCI_SET_GAINS

FOCI_SET_GAINS STEPPER=<name> VELOCITY_P=<gain> VELOCITY_I=<gain> POSITION_P=<gain> POSITION_I=<gain>

Sets outer-loop gains live, for bring-up testing. Not persisted to printer.cfg. Values are floating-point gains (VELOCITY_P/POSITION_P up to 127.996, VELOCITY_I/POSITION_I up to 7.999), encoded to the chip’s raw Q8.8/Q4.12 format.

FOCI_SET_INNER_GAINS

FOCI_SET_INNER_GAINS STEPPER=<name> FLUX_P=<raw> FLUX_I=<raw> TORQUE_P=<raw> TORQUE_I=<raw>

Sets inner current-loop gains live, for bring-up testing. Not persisted. Each value is a raw register value, 0 to 32767.

FOCI_SET_FILTERS

FOCI_SET_FILTERS STEPPER=<name> [VELOCITY_HZ=<hz>] [TORQUE_HZ=<hz>] [POSITION_HZ=<hz>] [FLUX_HZ=<hz>]

Sets input filter cutoffs live, for the current session only, not persisted. At least one parameter is required. 0 disables that filter. VELOCITY_HZ/POSITION_HZ accept 10-1000, TORQUE_HZ/FLUX_HZ accept 10-10000.

FOCI_SET_CURRENT

FOCI_SET_CURRENT STEPPER=<name> RUN_CURRENT=<amps>

Sets run current live, for bring-up testing. Not persisted. RUN_CURRENT is in amps, above 0 up to the board’s limit (10 A on the Ouroboros, 20 A on the OpenFFBoard). Higher values return an error.

FOCI_SET_VELOCITY_FEEDFORWARD

FOCI_SET_VELOCITY_FEEDFORWARD STEPPER=<name> [ENABLE=<0|1>] [GAIN=<gain>]

Sets velocity feedforward live, for bring-up testing. Not persisted. ENABLE defaults to 1. GAIN (0.0 to 8.0) defaults to the stepper’s current setting.

FOCI_SET_VOLTAGE_LIMIT

FOCI_SET_VOLTAGE_LIMIT STEPPER=<name> VOLTAGE_LIMIT=<raw>

Sets the live voltage output limit for authority diagnostics. Not persisted. VOLTAGE_LIMIT is a raw register value, 0 to 32767.

Diagnostics

Note

These are debugging tools for isolating a problem, developer-focused, not something a working printer needs in normal operation.

Passive

Read-only, no motion or current changes.

FOCI_STEP_POSITION

FOCI_STEP_POSITION STEPPER=<name>

Reports raw MCU step position alongside Klipper’s own tracked position and the difference between them.

FOCI_STEPPER_STATS

FOCI_STEPPER_STATS STEPPER=<name>

Reports step queue and execution counters: queued/loaded/executed steps, timing, discard/stop/reset counts.

FOCI_STACK_WATERMARK

FOCI_STACK_WATERMARK STEPPER=<name>

Reports unused MCU stack headroom since boot. Refuses while motion is active.

Active

Runs a bounded, deliberate excitation of the motor or current loop.

FOCI_CURRENT_STEP_TEST

FOCI_CURRENT_STEP_TEST STEPPER=<name> TARGET=<value> [AXIS=<torque|flux>] [DURATION_MS=<ms>] [VOLTAGE_LIMIT=<raw>]

Runs a bounded current-loop step on the chosen axis. TARGET accepts -1000 to 1000. AXIS defaults to torque. DURATION_MS defaults to 80, accepts 20-200. VOLTAGE_LIMIT defaults to 12000, accepts 1024-29000.

FOCI_CURRENT_VECTOR_STEP_TEST

FOCI_CURRENT_VECTOR_STEP_TEST STEPPER=<name> [TORQUE_TARGET=<value>] [FLUX_TARGET=<value>] [DURATION_MS=<ms>] [VOLTAGE_LIMIT=<raw>]

Runs a bounded combined torque/flux current-vector step. TORQUE_TARGET/FLUX_TARGET default to 0, accept -1000 to 1000. DURATION_MS defaults to 80, accepts 20-200. VOLTAGE_LIMIT defaults to 12000, accepts 1024-29000.

FOCI_CURRENT_TORQUE_SAMPLE_TEST

FOCI_CURRENT_TORQUE_SAMPLE_TEST STEPPER=<name> TARGET=<value> [FLUX_TARGET=<value>] [SAMPLE_DELAY_MS=<ms>] [VOLTAGE_LIMIT=<raw>]

Runs a bounded torque pulse and samples it early, before the usual dwell floor. TARGET accepts -1000 to 1000. FLUX_TARGET defaults to 0. SAMPLE_DELAY_MS defaults to 5, accepts 1-200. VOLTAGE_LIMIT defaults to 12000, accepts 1024-29000.

FOCI_POSITION_TORQUE_OFFSET_TEST

FOCI_POSITION_TORQUE_OFFSET_TEST STEPPER=<name> TARGET=<value> [SAMPLE_DELAY_MS=<ms>] [VOLTAGE_LIMIT=<raw>]

Runs a bounded torque-offset sample while staying in position mode. TARGET accepts -1000 to 1000. SAMPLE_DELAY_MS defaults to 2, accepts 1-200. VOLTAGE_LIMIT defaults to 12000, accepts 1024-29000.

FOCI_VOLTAGE_STEP_TEST

FOCI_VOLTAGE_STEP_TEST STEPPER=<name> UQ=<value> [UD=<value>] [SAMPLE_DELAY_MS=<ms>]

Runs a bounded open-loop voltage-vector pulse and samples it, bypassing current control. UQ accepts -1024 to 1024. UD defaults to 0, accepts -1024 to 1024. SAMPLE_DELAY_MS defaults to 2, accepts 1-200.

FOCI_RESISTANCE_TEST

FOCI_RESISTANCE_TEST STEPPER=<name> [DETAIL=<0-255>]

Triggers the same firmware resistance-identification engine FOCI_SETUP uses, streaming results back without host-side pass/fail fitting. DETAIL defaults to 0.