pylabrobot.brooks.precise_flex.PreciseFlex.zero_torque

async PreciseFlex.zero_torque(enable: bool, axis_mask: int = 1) → None

Sets or clears zero torque mode for the selected robot.

Individual axes may be placed into zero torque mode while the remaining axes are servoing.

Parameters:

• enable (bool) – If True, enable torque mode for axes specified by axis_mask. If False, disable torque mode for the entire robot.

• axis_mask (int) – The bit mask specifying the axes to be placed in torque mode when enable is True. The mask is computed by OR’ing the axis bits: 1 = axis 1, 2 = axis 2, 4 = axis 3, 8 = axis 4, etc. Ignored when enable is False.

Return type:

None