M569.4

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.