Commander Theory of Operation and Command Reference

Eternal Stop

The external stop (/CSTP) input allows motion to be stoped by taking the /CSTP input low.

The EXSTP[axis] command determines the specific stop operation preformed when of the /CSTP input is triggered. By default, the external stop input is disabled (EXSTP[axis]=0), which will make it so that the /CSTP input will have no effect on the motion for that axis. When EXSTP[axis]=1, the operation is set to decelerate and stop when the /CSTP input is triggered. When EXSTP[axis]=2, the operation is set to stop whenout deceleration when the /CSTP input is triggered. 

Table 2-3 EXSTP command

There are two ways to trigger external stop (/CSTP):

1. The CSTP=1 command enables a one-shot pulse with the pulse width of 0.4 μs to be output from the /CSTP pin when the STOP comand is sent. This one-shot pulse will be input to all Commanders connected to the /CSTP pins, which will stop all the axis with EXSTP[axis]=1 or 2. The one-shot pulse will be re-input to the Commander that has output the one-shot pulse and will stop all the axis with EXSTP[axis]=1 or 2 on the sending Commander also.

2. Input a one-shot pulse with the pulse width of 0.2 μs or more from the outside to /CSTP pin. All Commanders connected by the /CSTP pins input a one-shot pulse to stop the axis with EXSTP[axis]=1 or 2.

The logical input of the /CSTP input cannot be changed. MST[axis].bit20 returns the current state of the /CSTP input. When EXSTP[axis] is set to 0 for all axis, then /CSTP can be uses as a general purpose input. 

The diferance between /CSTP and /CEMG is that, /CSTP is treated as a normal stop command, the same as sending the STOP command while /CEMG is used to perform an emergency stop on all axes. /CEMG will cancle all other commands and motions.

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