diff --git a/pus_tc/devs/imtq.py b/pus_tc/devs/imtq.py
index c78127a..7d376ab 100644
--- a/pus_tc/devs/imtq.py
+++ b/pus_tc/devs/imtq.py
@@ -136,10 +136,16 @@ def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_cod
 
     if op_code == "9":
         q.add_log_cmd("IMTQ: Commanding dipole")
-        x_dipole = 0
-        y_dipole = 0
-        z_dipole = 0
-        duration = 0  # ms
+
+        x_dipole = int(input("Specify X dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        y_dipole = int(input("Specify Y dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        z_dipole = int(input("Specify Z dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        duration = int(
+            input(
+                f"Specify torque duration [range [0, {pow(2, 16) - 1}, "
+                f"0 for continuous generation until update]: "
+            )
+        )
         q.add_pus_tc(
             pack_dipole_command(
                 object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
@@ -184,19 +190,39 @@ def pack_dipole_command(
     object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
 ) -> PusTelecommand:
     """This function packs the command causing the ISIS IMTQ to generate a dipole.
-    @param object_id    The object id of the IMTQ handler.
-    @param x_dipole   The dipole of the x coil in 10^-4*Am^2 (max. 2000)
-    @param y_dipole   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
-    @param z_dipole   The dipole of the z coil in 10^-4*Am^2 (max. 2000)
-    @param duration  The duration in milliseconds the dipole will be generated by the coils.
+    :param object_id:    The object id of the IMTQ handler.
+    :param x_dipole:  The dipole of the x coil in 10^-4*Am^2 (max. 2000)
+    :param y_dipole:   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
+    :param z_dipole:   The dipole of the z coil in 10^-4*Am^2 (max. 2000)
+    :param duration:  The duration in milliseconds the dipole will be generated by the coils.
                      When set to 0, the dipole will be generated until a new dipole actuation
                      command is sent.
     """
     action_id = ImtqActionIds.start_actuation_dipole
     command = object_id + action_id
+    x_dipole = int(round(x_dipole))
+    y_dipole = int(round(y_dipole))
+    z_dipole = int(round(z_dipole))
+    if x_dipole < -2000 or x_dipole > 2000:
+        raise_dipole_error("X dipole", x_dipole)
+    if y_dipole < -2000 or y_dipole > 2000:
+        raise_dipole_error("Y dipole", y_dipole)
+    if z_dipole < -2000 or z_dipole > 2000:
+        raise_dipole_error("Z dipole", z_dipole)
+    duration = int(round(duration))
+    if duration < 0 or duration > pow(2, 16) - 1:
+        raise ValueError(
+            f"Duration in ms of {duration} smaller than 0 or larger than allowed {pow(2, 16) - 1}"
+        )
     command += struct.pack("!h", x_dipole)
     command += struct.pack("!h", y_dipole)
     command += struct.pack("!h", z_dipole)
-    command += struct.pack("!h", duration)
+    command += struct.pack("!H", duration)
     command = PusTelecommand(service=8, subservice=128, app_data=command)
     return command
+
+
+def raise_dipole_error(dipole_str: str, value: int):
+    raise ValueError(
+        f"{dipole_str} {value} negative or larger than maximum allowed 2000 * 10^-4*Am^2"
+    )