User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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motor load, the value reaches zero or is near zero. This is the most energy-efficient point of operation for
the motor.
Load [Nm]
stallGuard2
Initial stallGuard2 (SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1: StallGuard2 Load Measurement as a Function of Load
1.4.2 CoolStep™
CoolStep ™ is a load-adaptive automatic current scaling based on the load measurement via StallGuard2 ™
adapting the required current to the load. Energy consumption can be reduced by as much as 75%.
CoolStep ™ allows substantial energy savings, especially for motors which see varying loads or operate at
a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to
50%, even a constant-load application allows significant energy savings because CoolStep ™ automatically
enables torque reserve when required. Reducing power consumption keeps the system cooler, increases
motor life, and allows cost reduction.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 2: Energy Efficiency Example with CoolStep
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