User Manual

PD57/60-1260 TMCL

™

Firmware Manual • Firmware Version V1.44 | Document Revision V1.02 • 2018-SEP-05

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Electrical data

• Supply voltage: +24V DC or +48V DC nominal (12. . . 54V DC supply range).

• Motor current: up to 6A RMS / 8.4A peak (programmable).

Please see also the separate Hardware Manual.

1.1 StallGuard2

StallGuard2 is a high-precision sensorless load measurement using the back EMF of 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 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

1.2 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 ystem cooler, increases motor life,

and allows cost reduction.

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