Datasheet

42 TMC223 DATASHEET (V. 1.00 / May 3rd, 2007)
Copyright © 2007 TRINAMIC Motion Control GmbH & Co. KG
7.3 Example of Stall Detection Parameter Setting
The following set of parameters is given for an exemplary application. One should keep in mind that
the parameterizing of sensorless stall detection might need some measurements and its successful
parameterization also depends on the used type of motor and the given application environment.
Parameter Value Comment Action
IRun
15
800 mA (peak current)
IHold
9
283 mA (peak current)
Vmin
1
8 FS/s
Vmax
8
V[FS/s] = 303 FS/s Ù 206.6 µs/FS
=> Set MinSamples to 2
corresponding to 175.4 µs
Acc
6
11409 FS/s
2
AccShape
0
ramping with Acc
Shaft
0
cw (depending on motor)
StepMode
11
1/16 µStepping
PWMfreq
0
22.8 kHz
Motor
Parameter :
K
BEMF
10,8 mV/FS/s
Back EMF constant of the motor
U
BEMF
4,64 V
peak voltage U
BEMF
= K
BEMF
* V[FS/s]
=> Set AbsThr to 0x9
corresponding to 4.5V
Blanking
Parameter :
FS2StallEN
7
less sensitive to oscillations try smaller values
DC100En
1
set to mask stall detection for 100% PWM
PWMJEn
0
should be disabled for stall detection