TMCM-078 Manual (V1.03 / September 10th, 2008)
11
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
3.3.3
Stall detection
In operating mode 0, the general purpose output can be set or cleared automatically depending on
the current stall level. This function can be controlled by the DIP switches marked “Stall”. It can be
useful to report a stall back to a step/direction controller.
Stall switches
Function (in mode 0 only)
2
1
0
OFF
OFF
OFF
StallGuard switched off (GPO not controlled by StallGuard)
OFF
OFF
ON
GPO set when StallGuard level greater than 0, else cleared
OFF
ON
OFF
GPO set when StallGuard level greater than 1, else cleared
OFF
ON
ON
GPO set when StallGuard level greater than 2, else cleared
ON
OFF
OFF
GPO set when StallGuard level greater than 3, else cleared
ON
OFF
ON
GPO set when StallGuard level greater than 4, else cleared
ON
ON
OFF
GPO set when StallGuard level greater than 5, else cleared
ON
ON
ON
GPO set when StallGuard level greater than 6, else cleared
Table 3.7: Stall level settings
3.3.4
Mode setting
The operating mode can be chosen using the DIP switches marked “Mode”. Please see chapter 5 for
more explanation on the operating modes and how to choose the operating mode that suits best.
Mode switches
Function
1
0
OFF
OFF
Mode 0 (SPI mode, best for high speed and mandatory for StallGuard)
OFF
ON
Mode 1 (PWM mode)
ON
OFF
Mode 2 (Phase mode; high resolution of up to 256 microsteps)
ON
ON
reserved
Table 3.7: Selection of operation mode