User Manual

TMCM-3230 TMCL

™

Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10

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6.2 stallGuard2

The module is equipped with motor driver chips that feature load measurement. This load measurement

can be used for stall detection. stallGuard2 delivers a sensorless load measurement of the motor as well

as a stall detection signal. The measured value changes linear with the load on the motor in a wide range

of load, velocity and current settings. At maximum motor load the stallGuard value goes to zero. This

corresponds to a load angle of 90

between the magnetic ﬁeld of the stator and magnets in the rotor. This

also is the most energy eﬃcient point of operation for the motor.

Stall detection means that the motor will be stopped automatically when the load gets too high. This

function is conﬁgured mainly using axis parameters #174 and #181.

Stall detection can for example be used for ﬁnding the reference point without the need for reference

switches. A short routine written in TMCL is needed to use stallGuard for reference searching.

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