Table 1. Stepper outputs
Duet G-code WorkBee

X

0

X-axis

Y

1

Left Y-axis

Z

2

Z-zxis

E0

3

Right Y-axis

E1

4

Unused
Table 2. Heater outputs
Duet G-code WorkBee

H0 (E0)

?

H1 (E1)

?

Optional LED light ring
Table 3. Endstops
Duet G-code WorkBee

X

0?

X-axis

Y

1?

Y-axis

Z

2?

Z-axis

E0

3

Optional touch probe

E1

4

Optional emergency stop

  • 2 always on fans

  • 3 PWM fans

  • High current heated bed output

  • Bed thermistor

G-codes

https://duet3d.dozuki.com/Wiki/Gcode

Coordinate systems

Table 4. Select coordinate system commands

G53

Use machine coordinates for the remainder of the current line

G54

Use coordinate system 1

…​

G59

Use coordinate system 6

G19.1

Use coordinate system 7

G19.2

Use coordinate system 8

G19.3

Use coordinate system 9

Initially coordinate system 1 is in use, which is the work coordinate system shown in the web UI.

Table 5. Define coordinate system commands

G10 L2 Ps Xx Yy Zz

Set coordinate system Ps origin relative to machine coordinate system.

G10 L20 Ps Xx Yy Zz

Set coordinate system Ps origin relative to current tool.

G92 Xx Yy Zn

Sets machine cooridinate system origin relative to the current tool.

G30

Z-probe at the current XY position and set the machine Z-origin to zero at the trigger height. Machine moves up 5mm after the probe. Set probe type with M558 first.

Tools

Table 6. Tool management commands

Tn

Select tool Tn. T-1 removes all tools. The tool must be defined with M563 before it can be selected.

M563 Pn S"name"

Define tool

G10 Pn Xx Yy Zz

Set offset for tool Pn

M585 Xx Yy Zz En Ln Fn Sn Rn

Probe offset for current tool

G30 S-2

Set Z offset of current tool to make the current position Z=0

Homing

Table 7. Homming commands

G28 [X] [Y] [Z]

Home X/Y/Z. Without parameters, home all.

When homing is perfmored the following scripts are run:

  • homeall.g

  • homex.g

  • homey.g

  • homez.g

Probing

Table 8. Probing commands

M558 Pnnn Fnnn Hnnn Innn Rnnn Tnnn Annn Snnn Cn

Set Z-probe type

G31 Znnn

Set Z-probe trigger height to Znnn

G30 Pnnn Xnnn Ynn Znnn Hnnn Snnn

Single Z-probe. Sets the machine Z-origin.
Table 9. Defining the probe type M558

M558 P0

Manual probe

M558 P4 I1

Touch probe

Mesh compensation

Trigger height

The height where the probe triggers and is equal to zero for real, i.e., offset between probe and tool/head at Z=0. So if the probe triggers by touching the surface, then trigger height should be 0.

Trigger height is set with G31. Before using G31, M558 (Set Z probe type) must be set.

  1. Important: Move to your XYZ zero and run G92 X0 Y0 Z0. This resets the machine coordinates, which are used by the mesh compensation. Unfortunately it does not use the work coordinates. This is important, otherwise you will crash your router when it tries to go below your waste board where the Z zero position normally is.

  2. M561 Cancel bed compensation

  3. M558 Set Z probe type:

    1. Manual probing: M558 P0 [Hnnn]

      • P0: No probe present. You will be promted to manually move the router until it touches your material

      • Hnnn Possibly set dive height in mm, e.g., H2 is 2mm

    2. Touch probe: M558 P4 I1 F100 H2 (100 mm/min)

      • P4: selects a switch for bed probing, default 3 (set with C) which is endstop E0 on the Duet

      • I1: Invert reading

      • F100: feed rate 100 mm/min

      • H2: Dive height, 2 mm

  4. G31 Z0: Trigger height 0

  5. M557 Define mesh size and spacing

    1. M557 Xaaa:bbb Yaaa:bbb Pnn

      • aaa:bbb min:max

      • Pnn Number of points

  6. Move to center, do G3, to establish Z=0

  7. G29: Start probing

Laser

The Opt Lasers documentation suggests connecting the laser PWM signal to the heater3 pin, pin 8 on the expansion, which corresponds to P3 in the M452 command.

Table 10. Laser commands

M452 P3

Set to laser mode on P3 using the default parameters

M3

Laser on

M5

Laser off

Custom changes

Reduce Z max height so that your router wihtout a tool can’t hit the waste board.

customconfig.g
M208 Z70 S0 		; Set max Z to 70

Pause

pause.g changed to not home, just lift up:

pause.g
G1 H1 Z1500 F1500 ; raise the Z to the highest position

Workzero

In workzero.g remove the go the Z zero position. It is way too easy to hit the "Go to work zero" button in the web UI, which might cause your router to hit the work material.

workzero.g
; called GO TO WORK ZERO is pressed in WorkBee Control

G1 H1 Z1500 F1500 ; raise the Z to the highest position
G1 X0 Y0 F1500 ; go directly above the work zero position