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TMC262 Datasheet(PDF) 9 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC262 Datasheet(HTML) 9 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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9 / 58 page  TMC262 DATASHEET (Rev. 2.13 / 2015-OCT-27) 9 www.trinamic.com 4 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. (stallGuard2 is a more precise evolution of the earlier stallGuard technology.) The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings, as shown in Figure 4.1. 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. motor load (% max. torque) stallGuard2 reading 100 200 300 400 500 600 700 800 900 1000 0 10 20 30 40 50 60 70 80 90 100 Start value depends on motor and operating conditions Motor stalls above this point. Load angle exceeds 90° and available torque sinks. stallGuard value reaches zero and indicates danger of stall. This point is set by stallGuard threshold value SGT. Figure 4.1 stallGuard2 load measurement SG as a function of load Two parameters control stallGuard2 and one status value is returned. Parameter Description Setting Comment SGT 7-bit signed integer that sets the stallGuard2 threshold level for asserting the SG_TST output and sets the optimum measurement range for readout. Negative values increase sensitivity, and positive values reduce sensitivity so more torque is required to indicate a stall. Zero is a good starting value. Operating at values below - 10 is not recommended. 0 indifferent value +1… +63 less sensitivity -1… -64 higher sensitivity SFILT Mode bit which enables the stallGuard2 filter for more precision. If set, reduces the measurement frequency to one measurement per four fullsteps. If cleared, no filtering is performed. Filtering compensates for mechanical asymmetries in the construction of the motor, but at the expense of response time. Unfiltered operation is recommended for rapid stall detection. Filtered operation is recommended for more precise load measurement. 0 standard mode 1 filtered mode |
Similar Part No. - TMC262_15 |
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Similar Description - TMC262_15 |
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