User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 24
www.trinamic.com
3.6.3 MST (motor stop)
With this command the motor will be instructed to stop with a soft stop.
Internal function: The axis parameter target velocity is set to zero.
Related commands: ROL, ROR, SAP, GAP
Mnemonic: MST 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
3
(don't care)
0*
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Stop motor
Mnemonic: MST 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$03
$00
$00
$00
$00
$00
$00