M569.4
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M569.4: Set Motor Driver Torque Mode
Tell one or more motor drivers to apply a specified torque regardless of position. Planned for support in RRF 3.4.
Parameters
Pn or Pn.n Motor driver number, or board address and driver number. Can also be a colon separated list of driver numbers.
Tn Where n is the mode/torque to apply in units of Nm.
If P' or T''' parameter is missing, then no action is taken.
The driver is put back into position mode by requesting a torque smaller than 0.0001 Nm.
Examples
M569.4 Error: M569: missing parameter 'P'
M569.4 P50.0:51.0 Error: M569: missing parameter 'T'
M569.4 P50.0 T0.001 0.001000 Nm
M569.4 P50.0:51.0 T0 pos_mode, pos_mode
Notes
Hangprinter's "torque mode" will be implemented as a RepRapFirmware macro that depends on M569.4.
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