---
tag: m0201
title: Print / Travel Move Limits
brief: Set acceleration / frequency limits for print and travel moves.
author: thinkyhead
contrib: tombrazier

group: motion

codes: [ M201 ]
related: [ M204 ]

notes:
- View the current setting by sending `M201` with no parameters or [`M503`](/docs/gcode/M503.html).
- If `EEPROM_SETTINGS` is enabled, these are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html).

parameters:

- tag: X
  optional: true
  description: X axis max acceleration
  values:
  - tag: accel
    type: float

- tag: Y
  optional: true
  description: Y axis max acceleration
  values:
  - tag: accel
    type: float

- tag: Z
  optional: true
  description: Z axis max acceleration
  values:
  - tag: accel
    type: float

- tag: E
  optional: true
  description: E axis max acceleration
  values:
  - tag: accel
    type: float

- tag: T
  optional: true
  requires: DISTINCT_E_FACTORS
  description: Target extruder
  values:
  - tag: index
    type: int

- tag: F
  optional: true
  requires: XY_FREQUENCY_LIMIT
  description: Planner frequency limit. The max frequency of direction changes for the XY axes.
  values:
  - tag: Hz
    type: int

- tag: S
  optional: true
  requires: XY_FREQUENCY_LIMIT
  description: Planner XY frequency minimum speed percentage. The min speed reduction to apply when the frequency limit is exceeded.
  values:
  - tag: percent
    type: float

videos:
- Mnvj6xCzikM

examples:

- pre: 'Set max acceleration lower so it sounds like a robot:'
  code: M201 X50 Y50

- pre: 'Set the max acceleration for E1 print moves:'
  code: M201 E8000 T1

- pre: 'Set frequency limits for the XY axes:'
  code: M201 F60 S47
  post: If the X or Y axis wants to change direction again within 1/60th of a second, reduce the speed by up to 53%.

---

Set the max acceleration for one or more axes (in current units-per-second per-second). The acceleration limit for extruder(s) only applies for print moves where at least one other axis is also in motion.

To set the acceleration limit for retract / recover in which only the E axis is moving use [`M204 R`](/docs/gcode/M204.html) instead.

With `XY_FREQUENCY_LIMIT` you can also set the XY frequency limits, described below.
