Calibration

Probe modes

Mode	What it does
Mixed (default)	Cartographer scans the bed, PRTouch does touch operations (Z offset)
Cartographer	Cartographer does both
PRTouch	PRTouch does both

The default configuration of Mixed and Cartographer modes expects the K2 Improvements Cartographer mount and the 5.8 mm Y-endstop spacer. Change it if your setup differs.

Check the current mode:

bootstrap --probe

Switch modes:

bootstrap --probe mix
bootstrap --probe carto
bootstrap --probe prtouch

Bootstrap restarts Klipper after switching.

Required after installation

1. Calibrate the probe

Run only the commands for your probe mode.

Mixed (default)CartographerPRTouch

First, home the printer:

G28

Wait for homing to finish, then run:

PRTOUCH_SCAN_CALIBRATE

First, home the printer:

G28

Wait for homing to finish, then run:

CARTOGRAPHER_TOUCH_CALIBRATE
SAVE_CONFIG RESTART=0
CARTOGRAPHER_SCAN_CALIBRATE METHOD=touch
SAVE_CONFIG RESTART=0

No probe calibration is required.

2. Calibrate the cutter

CALIBRATE_CUT_POS

3. Calibrate input shaper

SHAPER_CALIBRATE
SAVE_CONFIG RESTART=0

Other calibration and maintenance

Motor calibration

The firmware will tell you when a motor is uncalibrated and needs MOTOR_CALIBRATE. It is also worth trying when troubleshooting print or motor issues.

For X, Y, Z, or Z1:

MOTOR_CALIBRATE AXIS=X

The first run does not calibrate anything. It disables the motors and asks you to place the printhead near the middle and the bed at the bottom. Move them there by hand, then run the same command again.

Extruder calibration is two-stage and must be run with filament unloaded:

MOTOR_CALIBRATE AXIS=E STAGE=encoder
# Power cycle the printer.
MOTOR_CALIBRATE AXIS=E STAGE=offset

Belt tension

Automatic tensioning is normal belt maintenance:

BELT_TENSION

Use BELT_TENSION AXES=X or BELT_TENSION AXES=Y to tension one axis.

Belt tension sensor recalibration

Do not run this as routine setup. It will redefine what your tensioners treat as "normal" tension. It is only for incorrect tension readings or specific troubleshooting, and requires the printed calibration jig. Normal automatic belt tensioning does not require it.

Home and park the carriage where the middle of the selected belt is accessible, then capture the normal and jig loads:

BELT_TENSION_CALIBRATE AXIS=X POINT=LOW
# Install the jig.
BELT_TENSION_CALIBRATE AXIS=X POINT=HIGH
# Remove the jig, then home before moving the printer.

Repeat for AXIS=Y.