TMC2130_LA_17 Datasheet, PDF (62/103 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15)
62
14 stallGuard2 Load Measurement
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. The stallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings, as shown in Figure 14.1. At maximum motor load, the value goes
to zero or near to zero. This corresponds to a load angle of 90° between the magnetic field of the
coils and magnets in the rotor. This also is the most energy-efficient point of operation for the motor.
1000
stallGuard2 ⁹⁰⁰
reading 800
700
600
500
400
300
200
100
0
Start value depends
on motor and
operating conditions
stallGuard value reaches zero
and indicates danger of stall.
This point is set by stallGuard
threshold value SGT.
Motor stalls above this point.
Load angle exceeds 90° and
available torque sinks.
10 20 30 40 50 60 70 80 90 100
motor load
(% max. torque)
Figure 14.1 Function principle of stallGuard2
Parameter
SGT
sfilt
Status word
SG
Description
This signed value controls the stallGuard2
threshold level for stall detection and sets the
optimum measurement range for readout. A
lower value gives a higher sensitivity. Zero is the
starting value working with most motors. A
higher value makes stallGuard2 less sensitive and
requires more torque to indicate a stall.
Enables the stallGuard2 filter for more precision
of the measurement. If set, reduces the
measurement frequency to one measurement per
electrical period of the motor (4 fullsteps).
Description
This is the stallGuard2 result. A higher reading
indicates less mechanical load. A lower reading
indicates a higher load and thus a higher load
angle. Tune the SGT setting to show a SG
reading of roughly 0 to 100 at maximum load
before motor stall.
Setting
0
+1… +63
-1… -64
0
1
Range
0… 1023
Comment
indifferent value
less sensitivity
higher sensitivity
standard mode
filtered mode
Comment
0: highest load
low value: high load
high value: less load
In order to use stallGuard2 and coolStep, the stallGuard2 sensitivity should first be tuned using the
SGT setting!
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