User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
1.2.3 MST (Motor Stop)
The motor is instructed to stop with the MST function. The axis parameter target
velocity is set to zero.
Related commands: ROL, ROR, SAP, GAP
Mnemonic: MST 0
NOTE:
 An example for MST is provided Table 14.
MST Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE
3
don’t care
0
don’t care
Table 12: MST (Motor Stop) Request in Direct Mode
MST Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
3
don’t care
Table 13: MST (Motor Stop) Reply in Direct Mode
MST Example:
Stop Motor at Mnemonic: MST 0
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
Table 14: MST Example: Stop Motor at Mnemonic: MST 0
Process
Description