---
tag: g033
title: Delta Auto Calibration
brief: Calibrate various Delta parameters
author: LVD-AC
contrib: thinkyhead

group: [ calibration, delta ]
since: 1.1.0
requires: DELTA_AUTO_CALIBRATION

codes: [ G33 ]

parameters:

- tag: C
  optional: true
  description: Calibration precision. When set, iterations will stop at the given precision. Otherwise iterations will stop at the best achievable precision.
  values:
  - type: float

- tag: E
  optional: true
  description: Engage the probe for each point.
  values:
  - type: bool

- tag: F
  optional: true
  description: Run ("force") this number of iterations and take the best result.
  values:
  - type: int
    tag: 0-30
    default: 0

- tag: P
  optional: true
  description: Number of probe points. If not specified, uses DELTA_CALIBRATION_DEFAULT_POINTS
  values:
  - type: int
  - tag: 0
    description: Normalize end-stops and tower angle corrections only (no probing).
  - tag: 1
    description: Probe center and set height only.
  - tag: 2
    description: Probe center and towers. Set height, endstops, and delta radius.
  - tag: 3
    description: Probe all positions - center, towers and opposite towers. Set all.
  - tag: 4-10
    description: Probe all positions with intermediate locations, averaging them.

- tag: T
  optional: true
  description: Disable tower angle corrections calibration (`P3`-`P7`)
  values:
  - type: bool

- tag: V
  optional: true
  description: Set the verbose level
  values:
  - type: int
  - tag: 0
    description: Dry run, no calibration
  - tag: 1
    description: Report settings
  - tag: 2
    description: Report settings and probe results
  - tag: 3
    description: Report settings, probe results, and calibration results
  - default: 1

- tag: O
  optional: true
  since: 2.0.9.2
  description: Probe at probe-offset-relative positions instead of the required kinematic points.
  values:
  - type: bool

- tag: R
  optional: true
  since: 2.0.9.2
  description: Temporarily reduce the size of the probe grid by the specified amount.
  values:
  - type: float

- tag: S
  requires: HAS_DELTA_SENSORLESS_PROBING
  optional: true
  description: Save `offset_sensorless_adj`.

- tag: X
  requires: HAS_DELTA_SENSORLESS_PROBING
  optional: true
  description: Don't activate stallguard on X.

- tag: Y
  requires: HAS_DELTA_SENSORLESS_PROBING
  optional: true
  description: Don't activate stallguard on Y.

- tag: Z
  requires: HAS_DELTA_SENSORLESS_PROBING
  optional: true
  description: Don't activate stallguard on Z.

notes:

examples:

- pre: Default (Verbose 1)
  code: |
    > G33

    G33 Auto Calibrate
    Checking... AC
    .Height:295.00    Ex:+0.00  Ey:+0.00  Ez:+0.00    Radius:100.00
    .Tower angle :    Tx:+0.00  Ty:+0.00  Tz:+0.00
    Iteration : 01                                    std dev:2.665
    .Height:297.85    Ex:-0.18  Ey:-0.13  Ez:+0.00    Radius:100.68
    .Tower angle :    Tx:-0.05  Ty:+0.08  Tz:+0.00
    Iteration : 02                                    std dev:0.128
    .Height:297.77    Ex:-0.19  Ey:-0.09  Ez:+0.00    Radius:100.80
    .Tower angle :    Tx:-0.07  Ty:+0.15  Tz:+0.00
    Iteration : 03                                    std dev:0.025
    .Height:297.78    Ex:-0.17  Ey:-0.09  Ez:+0.00    Radius:100.78
    .Tower angle :    Tx:-0.09  Ty:+0.20  Tz:+0.00
    Iteration : 04                                    std dev:0.022
    .Height:297.80    Ex:-0.14  Ey:-0.07  Ez:+0.00    Radius:100.79
    .Tower angle :    Tx:-0.10  Ty:+0.22  Tz:+0.00
    Iteration : 05                                    std dev:0.019
    .Height:297.81    Ex:-0.13  Ey:-0.06  Ez:+0.00    Radius:100.80
    .Tower angle :    Tx:-0.10  Ty:+0.25  Tz:+0.00
    Calibration OK                                    rolling back.
    .Height:297.80    Ex:-0.14  Ey:-0.07  Ez:+0.00    Radius:100.79
    .Tower angle :    Tx:-0.10  Ty:+0.22  Tz:+0.00
    Save with M500 and/or copy to Configuration.h

- pre: Verbose 2
  code: |
    > G33 V2

    G33 Auto Calibrate
    Checking... AC
    .Height:297.80    Ex:-0.14  Ey:-0.07  Ez:+0.00    Radius:100.79
    .Tower angle :    Tx:-0.10  Ty:+0.22  Tz:+0.00
    .      c:+0.01     x:+0.06   y:+0.04   z:+0.01
    .                 yz:-0.02  zx:-0.01  xy:+0.01
    Iteration : 01                                    std dev:0.028
    .Height:297.81    Ex:-0.10  Ey:-0.04  Ez:+0.00    Radius:100.81
    .Tower angle :    Tx:-0.10  Ty:+0.24  Tz:+0.00
    .      c:-0.03     x:-0.01   y:-0.02   z:-0.03
    .                 yz:-0.05  zx:-0.05  xy:-0.06
    Calibration OK                                    rolling back.
    .Height:297.80    Ex:-0.14  Ey:-0.07  Ez:+0.00    Radius:100.79
    .Tower angle :    Tx:-0.10  Ty:+0.22  Tz:+0.00
    Save with M500 and/or copy to Configuration.h

- pre: Using `V0` for Dry Run with no calibration.
  code: |
    > G33 V0

    G33 Auto Calibrate
    Checking... AC (DRY-RUN)
    .Height:295.00    Ex:+0.00  Ey:+0.00  Ez:+0.00    Radius:100.00
    .Tower angle :    Tx:+0.00  Ty:+0.00  Tz:+0.00
    .      c:-2.86     x:-2.68   y:-2.62   z:-2.56
    .                 yz:-2.55  zx:-2.61  xy:-2.78
    End DRY-RUN                                       std dev:2.668

- pre: Using the `T` flag for no tower angles.
  code: |
    > G33 T

    G33 Auto Calibrate
    Checking... AC
    .Height:297.79    Ex:-0.13  Ey:-0.06  Ez:+0.00    Radius:100.83
    Iteration : 01                                    std dev:0.024
    .Height:297.82    Ex:-0.09  Ey:-0.05  Ez:+0.00    Radius:100.82
    Calibration OK                                    rolling back.
    .Height:297.79    Ex:-0.13  Ey:-0.06  Ez:+0.00    Radius:100.83
    Save with M500 and/or copy to Configuration.h

- pre: Use a single point (`P1`) to check the height.
  code: |
    >  G33 P1

    G33 Auto Calibrate
    Checking... AC
    .Height:297.79
    Calibration OK
    .Height:297.80
    Save with M500 and/or copy to Configuration.h

- pre: Use to calibrate stall sensitivity
  post: Requires `HAS_DELTA_SENSORLESS_PROBING`
  code: G33 P1 Y Z ; To calibrate X only

---

With the `G33` command you can:
- Probe a circular grid of points,
- Calibrate Delta Height,
- Calibrate endstops,
- Calibrate Delta Radius, and
- Calibrate Tower Angles.
