User Manual

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 5

 CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported

 Fully supported by TMCL-IDE (PC based integrated development environment)

Please see separate TMCL™ or CANopen firmware manual and for additional information

TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL

stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils. It

can be used for stall detection as well as other uses at loads below those which stall the

motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity,

and current settings. At maximum motor load, the value goes to zero or near to 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 2.1 stallGuard2 load measurement SG as a function of load

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 reducing cost.

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 2.2 Energy efficiency example with coolStep