flexi-bot/docs/marlin/_gcode/M860-M869.md

tag	title	brief	author	since	requires	group	codes	notes	parameters
m0860	I2C Position Encoders	I2C position encoders for closed loop control	shitcreek	1.0.0-beta	I2C_POSITION_ENCODERS	encoder	M860 M861 M862 M863 M864 M865 M866 M867 M868 M869	Requires `I2C_POSITION_ENCODERS`. See [this wiki article](//wiki.aus3d.com.au/Magnetic_Encoder) for more info.	tag optional description values I true Module index. [0, I2CPE_ENCODER_CNT - 1] tag type index int tag optional description values O true Include homed zero-offset in returned position type bool tag optional description values X true Report on X axis encoder if present. (If A or I not specified) tag type axis char tag optional description values Y true Report on Y axis encoder if present. (If A or I not specified) tag type axis char tag optional description values Z true Report on Z axis encoder if present. (If A or I not specified) tag type axis char tag optional description values E true Report on E axis encoder if present. (If A or I not specified) tag type axis char tag optional description values U true Units in mm or raw step count. (for M860 only) type bool tag optional description values P true Number of rePeats/iterations. (for M863 only) type int tag optional description values S true Module new I2C address. [30, 200]. (for M864 only) tag type addr int tag optional description values R true Reset error counter. (for M866 only) type bool tag optional description values S true Enable/disable error correction. 1 enables, 0 disables. If not supplied, toggle. (for M867 only) type bool tag optional description values T true New error correction threshold. (for M868 only) type float

• M860 - Report the position(s) of position encoder module(s).
• M861 - Report the status of position encoder modules.
• M862 - Perform an axis continuity test for position encoder modules.
• M863 - Perform steps-per-mm calibration for position encoder modules.
• M864 - Change position encoder module I2C address.
• M865 - Check position encoder module firmware version.
• M866 - Report or reset position encoder module error count.
• M867 - Enable/disable or toggle error correction for position encoder modules.
• M868 - Report or set position encoder module error correction threshold.
• M869 - Report position encoder module error.

I2C position encoders for closed loop control. Developed by Chris Barr at Aus3D. Wiki: https://wiki.aus3d.com.au/Magnetic_Encoder Github: https://github.com/Aus3D/MagneticEncoder