> For the complete documentation index, see [llms.txt](https://carvera-community.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carvera-community.gitbook.io/docs/firmware/supported-commands/mcodes/self-calibration.md).

# Self-Calibration

Using the 3D Touch probe you can calibrate a number of machine specific offsets increasing the accuracy of key locations in the machine.

{% hint style="info" %}
This functionality requires a [3D Touch Probe](/docs/firmware/supported-commands/mcodes/probing/3d-probe-support.md)
{% endhint %}

## M469.1 - Calibrate Anchor 1

### Description

M469.1 performs calibration of Anchor 1 position using a 3-axis probe. This is part of the ATC (Automatic Tool Changer) calibration system. The probe will move to the anchor 1 position and automatically perform the probing operation. Once the operation is done, check the MDI for results and run the specified config command.

{% hint style="warning" %}
The Anchor 1 position is used as part of the configuration for Anchor 2, the Tool rack (C1 only), and the tool length setter. If you adjust the anchor 1 position, you must also adjust the others.
{% endhint %}

### Parameters

* I: Invert probe direction (optional, default: 0)
  * 0: Normal probe direction
  * 1: Inverted probe direction (NC)

### Example

```
M469.1              ; Calibrate Anchor 1 with normal probe
M469.1 I1           ; Calibrate Anchor 1 with inverted probe
```

## M469.2 - Calibrate Anchor 2

### Description

M469.2 performs calibration of Anchor 2 position using a 3-axis probe. This is part of the ATC calibration system. The probe will move to the anchor 2 position and automatically perform the probing operation. Once the operation is done, check the MDI for results and run the specified config command.

### Parameters

* I: Invert probe direction (optional, default: 0)
  * 0: Normal probe direction
  * 1: Inverted probe direction

### Example

```
M469.2              ; Calibrate Anchor 2 with normal probe
M469.2 I1           ; Calibrate Anchor 2 with inverted probe
```

{% hint style="info" %}
**Before you get too far into calibrating your 4th axis module. Ensure that you don't have any chips or burrs between the module and bed, or between the module and the track that it is bolted.**
{% endhint %}

## M469.4 - Calibrate A-Axis Headstock

### Description

M469.4 calibrates the A-axis headstock center position using a 3-axis probe. The probe will move to the rotation offset location for the existing 4th axis and automatically perform the probing operation. Once the operation is done, check the MDI for results and run the specified config command.

### Parameters

* I: Invert probe direction (optional, default: 0)
  * 0: Normal probe direction
  * 1: Inverted probe direction
* Y: Headstock width (optional, default: from config rotation\_width/2 + 5)
* E: Probe height (optional, default: from config rotation\_offset\_z - 6)

### Example

```
M469.4              ; Calibrate A-axis headstock with defaults
M469.4 Y50 E30      ; Calibrate at Y offset of 50, allowing the probe 30mm of downwards travel
```

## M469.5 - Calibrate A-Axis Height

### Description

M469.5 calibrates the A-axis center height using a 3-axis probe. Full documentation in the works

### Parameters

* I: Invert probe direction (optional, default: 0)
  * 0: Normal probe direction
  * 1: Inverted probe direction
* X: X-axis offset (optional, default: 60mm)
* E: Probe height (optional, default: from config rotation\_offset\_z)
* R: Pin diameter (optional, default: 6mm)

### Example

```
M469.5              ; Calibrate A-axis height with defaults
M469.5 X60 E40 R4   ; Calibrate with a 4mm pin, allowing the probe 40mm of downwards travel, at the x offset of 60mm
```


---

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