M951

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Supported in RepRapFirmware 3.x

Height following mode allows the Z position of the tool to be controlled by a PID controller using feedback from a sensor. See also M594.

Parameters:

• Hnn Sensor number
• Pnn.n Proportional factor, in mm per sensor unit
• Inn.n Integral factor, in mm per sensor unit per second
• Dnn.n Derivative factor, in mm per rate of change of sensor units (change in sensor unit per second)
• Fnn.n (optional) Sample and correction frequency (Hz), default 5Hz
• Znn.n:nn.n Minimum and maximum permitted Z values

If commanding the motors to increase Z causes the sensor value to increase, then all of P, I and D must be positive. If commanding the motors to increase Z causes the sensor value to decrease, then all of P, I and D must be negative.