G76 is a Marlin command that is part of the Advanced Pause/Filament Change system.

Use

• to initiate a filament change
• to retract the filament in a controlled manner
• to insert the new filament
• to park the print head
• to resume printing precisely later

G76 is therefore a precise, programmable filament change command that offers significantly more control than the older M600 command.

 
Why does G76 exist when M600 exists?

M600 is the classic filament change command. G76 is the extended, more modern variant.

G76 allows for extended functionality:

• Retraction Length
• Speed
• Purge Amount
• Parking Position
• Temperature Behavior
• Many modern Marlin setups use G76 internally, even if the user enters M600.

Code

→ uses the default values ​​stored in the firmware.

G76

Extended Functionality with Parameters

G76 [Parameter]

Parameters

Example code

G76 P80

Filament change with defined parking

Head moves to X10 Y200 raises Z by 20 mm.
 

G76 X10 Y200 Z20

What happens internally with G76?

• Save position (internally similar to G60)
• Raise Z to avoid damaging the object
• Park print head
• Retract filament
• Adjust temperature if necessary
• User interaction (e.g., "Load filament")
• Load new filament
• Purge / Rinse
• Return to saved position (similar to G61)
• Print continue

Important to know

• G76 is not active in all Marlin builds—it must be configured in the firmware.
• Slicers usually use M600, but Marlin can map this internally to G76.
• G76 is extremely useful for clean, reproducible filament changes.
• For multi-material printers (IDEX, MMU, ERCF), G76 is often embedded in macros.

Klipper

Klipper uses macros such as PAUSE, RESUME, FILAMENT_CHANGE.