TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
17
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.5.2
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. The
Actual
velocity
value shows the velocity that is currently being tested
and so 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.
Figure 7.7: The stallGuard™ profiler
7.5.2.1
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 color 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 colors used:
Green:
The standard deviation is very low or zero. This means that there is effectively no
vibration at this velocity.
Yellow:
This color means that there might be some low vibration at this velocity.
Red:
The red color means that there is high vibration at that velocity.
7.5.2.2
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 color 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.
