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IDX Manual (V1.15 / September 26
th
, 2008) 20
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
In the other two modes the failure analysis consists of only one bit:
1: short circuit or overtemperature
0: no failure
5.8.1.4 StallGuard (G)
The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load
measurement and stall-detection. Overload is indicated before steps are lost. The command letter ‘g’
provides the actual StallGuard value of the motor so easy calibration is possible. 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.
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 5.5: StallGuard
The StallGuard function can also be activated when using step/direction mode. In step/direction mode
the motor will not be stopped when the StallGuard value is reached, but the general purpose output
will be controlled by the StallGuard value: when the actual load value is greater than the StallGuard
value, the GPO will be switched on, and when the actual load value is lower or equal to the
StallGuard limit, the GPO will be switched off. This can be used to signal a stall to the step/direction
controller. When the StallGuard function is de-activated (0, default) the GPO will not be changed by
StallGuard.
5.8.1.5 Limit Switch (L)
The parameter ‘L’ defines the different reference entrances of the module. The motor stops when the
defined position is reached.
Bit Motor stops at
0 REF_B = 0
1 REF_A = 0
2 GPI = 0
3 REF_B = 1
4 REF_A = 1
5 GPI = 1
6 0: soft stop, 1: hard stop
7
0: sets position zero
1: sets position not to zero
Table 5.6: Limit switch
To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is
set to zero.
Example:
AL 8 ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is
set to zero.