User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 22
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.3 MST (motor stop)
With this command the motor will be instructed to stop with deceleration ramp (soft stop). For information
about hard stops refer to chapter 9 (hints and tips) please.
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
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$03
$00
$00
$00
$00
$00
$00
$05