TMCM-610 Hardware Manual (V1.14/2010-APR-30)
16
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.2.2
stallGuard™ profiler
The stallGuard™ profiler is a utility that helps you find the best
parameters for using stall detection. It scans through given velocities
and shows which velocities are the best ones. Similar to the
stallGuard™ adjusting tool it can only be used together with a module
that supports stallGuard™. This is checked right after the
stallGuard™
profiler
has been selected in the
setup menu
.
After this has been successfully checked the
stallGuard™ profiler
window will be shown.
First, select the axis that is to be used. Then, enter the
start velocity
and the
end velocity
. The start velocity is used at the beginning of
the profile recording. The recording ends when the end velocity has
been reached.
Start velocity and end velocity must not be equal.
After you have entered these parameters, click the
start
button to start
the stallGuard™ profile recording. Depending on the range between
start and end velocity this can take several minutes, as the load value
for every velocity value is measured ten times.
Figure 6.3: The stallGuard™ profiler
The
actual velocity
value shows the velocity that is currently being tested. It tells you the progress of the profile
recording. You can also abort a profile recording by clicking the
abort
button. The result can also be exported to
Excel or to a text file by using the
export
button.
6.2.2.1
The result of the stallGuard™ profiler
The result is shown as a graphic in the stallGuard™ profiler window. After the profile recording has finished you
can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows the load
value: a higher value means a higher load. The scale on the horizontal axis is the velocity scale. The colour of each
line shows the standard deviation of the ten load values that have been measured for the velocity at that point.
This is an indicator for the vibration of the motor at the given velocity.
There are three colours used:
Green: The standard deviation is very low or zero. This means that there is effectively no vibration at this
velocity.
Yellow: This colour means that there might be some low vibration at this velocity.
Red: The red colour means that there is high vibration at that velocity.
6.2.2.2
Interpreting the result
In order to make effective use of the stallGuard™ feature you should choose a velocity where the load value is as
low as possible and where the colour is green. The very best velocity values are those where the load value is
zero (areas that do not show any green, yellow or red line).
Velocities shown in yellow can also be used, but with care as they might cause problems (maybe the motor stops
even if it is not stalled).
Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable and so
not usable to produce good results when using stall detection.
As it is very seldom that exactly the same result is produced when recording a profile with the same parameters a
second time, always two or more profiles should be recorded and compared against each other.