TMCM-610 Hardware Manual (V1.14/2010-APR-30)
15
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.2
stallGuard™ - sensorless motor stall detection
The TMCM-610/SG modules are equipped with the stallGuard™ option. The stallGuard™ option makes it possible to
detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value
can be read using a TMCL™ command or the module can be programmed so that the motor will be stopped
automatically when it has been obstructed or the load has been too high.
stallGuard™ can also be used for finding the reference position without the need for a reference switch: Just
activate stallGuard™ and then let the traveler run against a mechanical obstacle that is placed at the end of the
way. When the motor has stopped it is definitely at the end of its way, and this point can be used as the
reference position.
To use stallGuard™ in an actual application, some manual tests should be done first, because the stallGuard™
level depends upon the motor velocities and on the occurrence of resonances. When switching on stallGuard™,
the motor operation mode is changed and microstep resolution may be worse. Thus, stallGuard™ should be
switched off when not in use.
Mixed decay should be switched off when stallGuard™ is operational in order to get usable results.
Value
Description
-7… -1
Motor stops when stallGuard™ value is reached and position is
set zero
(useful for reference run).
0
stallGuard™ function is deactivated (default)
1… 7
Motor stops when stallGuard™ value is reached and position is
not set
zero.
Table 6.1: stallGuard™ parameter SAP 205
To activate the stallGuard™ feature use the TMCL™ command SAP 205 and set the stallGuard™ threshold value
according to Table 6.1. The actual load value is given by GAP 206. The TMCL-IDE has some tools which let you try
out and adjust the stallGuard™ function in an easy way. They can be found at
stallGuard™
in the
setup
menu
and
are described in the following chapters.
6.2.1
stallGuard™ adjusting tool
The stallGuard™ adjusting tool helps to find the necessary motor parameters when stallGuard™ is to be used. This
function can only be used when a module is connected that features stallGuard™. This is checked when the
stallGuard™ adjusting tool
is selected in the
setup menu
. After this has been
successfully checked the
stallGuard™ adjusting tool
is displayed.
First, select the axis that is to be used in the
Motor area
. Now you can enter a
velocity and an acceleration value in the
drive area
and then click
rotate left
or
rotate right
. Clicking one of these buttons will send the necessary commands to the
module so that the motor starts running.
The red bar in the
stallGuard™ area
on the right side of the windows displays the
actual load value. Use the slider to set the stallGuard™ threshold value. If the load
value reaches this value the motor stops. Clicking the
stop
button also stops the
motor.
All commands necessary to set the values entered in this dialogue are displayed in
the
commands area
at the bottom of the window. There, they can be selected,
copied and pasted into the TMCL™ editor.
Figure 6.2: stallGuard™ adjusting tool