How do I tune input shaper in Klipper?

Klipper's input shaper (resonance compensation) uses an ADXL345 accelerometer to measure printer resonances. Run MEASURE_AXES_NOISE, then SHAPER_CALIBRATE to automatically find the optimal shaper type (MZV, EI, 2HUMP_EI) and frequency. Apply with SET_INPUT_SHAPER SHAPER_FREQ_X=... SHAPER_FREQ_Y=... and save with SAVE_CONFIG.

GCodex › G-Code Guide › Klipper G-Code

Klipper G-Code Reference: Complete Command Guide

Q: Is Klipper G-Code different from Marlin G-Code?

Klipper supports most standard G-Code commands (G0, G1, G28, M104, M109, etc.) but has unique extensions and different behavior for some commands. Klipper uses a Python macro system (GCODE_MACRO) for custom commands, uses SAVE_CONFIG instead of M500 for EEPROM saves, and processes G-Code on a separate Raspberry Pi host rather than on the printer's microcontroller.

Q: What is pressure advance in Klipper?

Pressure advance (SET_PRESSURE_ADVANCE ADVANCE=0.05) compensates for the elasticity of the filament and the pressure buildup in the hotend. It pre-pressurizes the extruder before corners and releases pressure after, resulting in sharper corners, less blobbing, and reduced stringing compared to standard retraction.

All Klipper G-Code and extended commands — standard motion codes, temperature, Klipper-specific macros, pressure advance, input shaper, and SAVE_CONFIG. Updated May 2026.

Quick Answer: Klipper supports all standard G-Code commands (G0, G1, G28, M104, M109, etc.) but adds powerful extensions: GCODE_MACRO for custom commands, SET_PRESSURE_ADVANCE for elasticity compensation, RESONANCE_TESTER for input shaping, and SAVE_CONFIG instead of M500 for persistent settings.

Klipper vs Marlin: Key Differences

Feature	Klipper	Marlin
Processing	Raspberry Pi (host) + MCU motion	Arduino/32-bit MCU only
Config file	printer.cfg (text)	Configuration.h (compile)
EEPROM save	SAVE_CONFIG	M500
Pressure advance	Built-in, per-extruder	Linear advance (M900)
Input shaper	Built-in with ADXL345	Not standard
Macros	Python-based GCODE_MACRO	G-Code only M600/scripts
Max speed	500+ mm/s (motion handled on host)	Typically 200–300 mm/s
Update method	Git pull + restart	Flash firmware

Standard G-Code Commands in Klipper

Klipper supports all RS-274 standard commands. Key ones:

G0 / G1 — Rapid and feed moves (same as Marlin)
G2 / G3 — Clockwise / counter-clockwise arc
G4 P[ms] — Dwell/pause for milliseconds
G28 — Home all axes
G29 — Auto bed leveling (if probe configured)
G90 / G91 — Absolute / incremental mode
G92 E0 — Reset extruder position
M104 / M109 — Hotend temperature (non-blocking / blocking)
M140 / M190 — Bed temperature (non-blocking / blocking)
M106 / M107 — Fan control
M503 — Not used. Use DUMP_CONFIG instead.
M500 — Not used. Use SAVE_CONFIG instead.

Klipper-Specific Commands

Pressure Advance

SET_PRESSURE_ADVANCE ADVANCE=0.05         ; Set pressure advance value
SET_PRESSURE_ADVANCE ADVANCE=0.05 SMOOTH_TIME=0.04  ; With smooth time

Pressure advance compensates for filament elasticity. Calibrate by printing a PA tower or line and measuring corner sharpness. Typical values: 0.02–0.08 for direct drive, 0.3–0.8 for Bowden.

Input Shaper (Resonance Compensation)

MEASURE_AXES_NOISE           ; Check accelerometer noise floor
SHAPER_CALIBRATE             ; Auto-calibrate resonances (ADXL345 required)
SET_INPUT_SHAPER SHAPER_FREQ_X=50 SHAPER_FREQ_Y=48  ; Manual set
SAVE_CONFIG                  ; Save to printer.cfg

SAVE_CONFIG (replaces M500)

SAVE_CONFIG   ; Write all pending calibration values to printer.cfg
              ; Klipper restarts after this command

GCODE_MACRO (custom commands)

[gcode_macro START_PRINT]
gcode:
    G28
    BED_MESH_CALIBRATE
    G1 Z5 F3000
    M109 S{printer.extruder.target}
    G92 E0

Bed Mesh Leveling

BED_MESH_CALIBRATE        ; Probe bed and build mesh
BED_MESH_PROFILE SAVE=default  ; Save mesh profile
BED_MESH_PROFILE LOAD=default  ; Load saved mesh

PID Tuning

PID_CALIBRATE HEATER=extruder TARGET=210  ; Auto-tune hotend
PID_CALIBRATE HEATER=heater_bed TARGET=60  ; Auto-tune bed
SAVE_CONFIG                                ; Save results

Stepper Motor Control

STEPPER_BUZZ STEPPER=stepper_x   ; Test individual stepper
SET_STEPPER_ENABLE STEPPER=extruder ENABLE=0  ; Disable extruder motor

Klipper Start Script Example

G28                    ; Home all axes
BED_MESH_PROFILE LOAD=default  ; Load saved bed mesh
G1 Z5 F3000            ; Safe height
M190 S60               ; Wait for bed temp
M109 S215              ; Wait for hotend temp
G92 E0                 ; Reset extruder
G1 X5 Y10 F3000        ; Move to purge position
G1 X70 E8 F900         ; Purge line
G92 E0                 ; Reset after purge

Frequently Asked Questions

Is Klipper G-Code different from Marlin G-Code?

Klipper supports all standard G-Code commands but uses different commands for saving settings (SAVE_CONFIG vs M500) and adds powerful extensions like SET_PRESSURE_ADVANCE, SHAPER_CALIBRATE, and a full Python macro system via GCODE_MACRO.

What is pressure advance in Klipper?

Pressure advance compensates for filament elasticity. Set with SET_PRESSURE_ADVANCE ADVANCE=0.05. It pre-pressurizes before corners and releases pressure after, giving sharper corners and less stringing than retraction alone.

How do I save settings in Klipper?

Use SAVE_CONFIG instead of M500. Klipper writes calibration data directly to printer.cfg and restarts. There is no EEPROM in Klipper — all settings live in printer.cfg on the Raspberry Pi.