diff --git a/src/atcore.h b/src/atcore.h
--- a/src/atcore.h
+++ b/src/atcore.h
@@ -334,6 +334,12 @@
      */
     void setRelativePosition();
 
+    /**
+     * @brief Disables idle hold of motors after a delay
+     * @param delay: Seconds until idle hold is released. 0= No delay
+     */
+    void setIdleHold(uint delay = 0);
+
     /**
      * @brief set the Printers speed
      * @param speed: speed in % (default is 100);
diff --git a/src/atcore.cpp b/src/atcore.cpp
--- a/src/atcore.cpp
+++ b/src/atcore.cpp
@@ -615,3 +615,12 @@
 {
     return serial()->validBaudRates();
 }
+
+void AtCore::setIdleHold(uint delay)
+{
+    if (delay != 0) {
+        pushCommand(GCode::toCommand(GCode::M84, QString::number(delay)));
+    } else {
+        pushCommand(GCode::toCommand(GCode::M84));
+    }
+}
diff --git a/src/gcodecommands.cpp b/src/gcodecommands.cpp
--- a/src/gcodecommands.cpp
+++ b/src/gcodecommands.cpp
@@ -509,6 +509,13 @@
 {
 
     switch (gcode) {
+    case M84: {
+        if (!value1.isEmpty()) {
+            return QStringLiteral("M84 S%1").arg(value1);
+        } else {
+            return QStringLiteral("M84");
+        }
+    }
     case M104: {
         if (!value2.isEmpty()) {
             return QStringLiteral("M104 P%1 S%2").arg(value1).arg(value2);
diff --git a/testclient/mainwindow.h b/testclient/mainwindow.h
--- a/testclient/mainwindow.h
+++ b/testclient/mainwindow.h
@@ -146,6 +146,11 @@
      */
     void flowRatePBClicked();
 
+    /**
+     * @brief disableMotorsPB has been clicked
+     */
+    void disableMotorsPBClicked();
+
     /**
      * @brief printerStateChanged Catch and proccess printer state commands
      * @param state: new printer state
diff --git a/testclient/mainwindow.cpp b/testclient/mainwindow.cpp
--- a/testclient/mainwindow.cpp
+++ b/testclient/mainwindow.cpp
@@ -94,6 +94,7 @@
     connect(ui->flowRatePB, &QPushButton::clicked, this, &MainWindow::flowRatePBClicked);
     connect(ui->showMessagePB, &QPushButton::clicked, this, &MainWindow::showMessage);
     connect(ui->pluginCB, &QComboBox::currentTextChanged, this, &MainWindow::pluginCBChanged);
+    connect(ui->disableMotorsPB, &QPushButton::clicked, this, &MainWindow::disableMotorsPBClicked);
     connect(core, &AtCore::stateChanged, this, &MainWindow::printerStateChanged);
     connect(this, &MainWindow::printFile, core, &AtCore::print);
     connect(ui->stopPB, &QPushButton::clicked, core, &AtCore::stop);
@@ -572,3 +573,8 @@
     core->pushCommand(GCode::toCommand(GCode::G1, QStringLiteral("%1%2").arg(axis, QString::number(value))));
     core->setAbsolutePosition();
 }
+
+void MainWindow::disableMotorsPBClicked()
+{
+    core->setIdleHold(0);
+}
diff --git a/testclient/mainwindow.ui b/testclient/mainwindow.ui
--- a/testclient/mainwindow.ui
+++ b/testclient/mainwindow.ui
@@ -744,6 +744,13 @@
        </item>
       </layout>
      </item>
+     <item>
+      <widget class="QPushButton" name="disableMotorsPB">
+       <property name="text">
+        <string>Disable Motors</string>
+       </property>
+      </widget>
+     </item>
     </layout>
    </widget>
   </widget>
diff --git a/unittests/gcodetests.h b/unittests/gcodetests.h
--- a/unittests/gcodetests.h
+++ b/unittests/gcodetests.h
@@ -59,6 +59,7 @@
     void string_G161();
     void string_G162();
 
+    void command_M84();
     void command_M104();
     void command_M105();
     void command_M106();
diff --git a/unittests/gcodetests.cpp b/unittests/gcodetests.cpp
--- a/unittests/gcodetests.cpp
+++ b/unittests/gcodetests.cpp
@@ -183,6 +183,12 @@
     QVERIFY(GCode::toString(GCode::G162) == QObject::tr("G162: Home axis to maximum"));
 }
 
+void GCodeTests::command_M84()
+{
+    QVERIFY(GCode::toCommand(GCode::M84) == QStringLiteral("M84"));
+    QVERIFY(GCode::toCommand(GCode::M84, QStringLiteral("10")) == QStringLiteral("M84 S10"));
+}
+
 void GCodeTests::command_M104()
 {
     QVERIFY(GCode::toCommand(GCode::M104) == QStringLiteral("ERROR! M104: It's obligatory to have an argument"));