The stop() command

stop() (HOST_MOTIONSTOP "st") is sent as an urgent, queue-bypassing write (send_urgent()) rather than a normal request, since it’s meant to interrupt a command that’s already in flight — a normal request() call would just queue behind whatever’s occupying the bus and land after the fact.

Important

stop() does not interrupt a bounded move_absolute/move_relative/ home once issued — the move runs to completion regardless of calling stop(). It only stops continuous jog motion (jog step size 0) or aborts an in-progress optimize_motors/clean_mechanics cycle.

There is no documented way to abort a bounded move once it has been sent — only continuous-motion jogging (started with a jog step size of 0, via forward()/backward()) can be stopped mid-flight.

stop() doesn’t wait for or return a reply — call get_status()/get_position() afterward if you need to confirm the outcome.