User Manual

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 2
TRINAMICS UNIQUE FEATURES
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.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
coolStep™ coolStep is an 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. Even a constant-load application allows
significant energy savings because coolStep automatically enables torque reserve when
required.
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
dcStep™ dcStep is an automatic commutation mode for the stepper motor. It allows the stepper
to run with its nominal velocity taken from the ramp generator as long as it can cope
with the load. In case the motor becomes overloaded, it slows down to a velocity, where
the motor can still drive the load. This way, the stepper motor never stalls and can drive
heavy loads as fast as possible.
Classic operation area
with safety margin
torque
velocity [RPM]
dcStep operation - no step loss can occur
additional flywheel mass torque reserve
microstep
operation
0
M
NOM1
M
MAX
VDCMIN
VMAX
M
NOM
: Nominal torque required by application
M
MAX
: Motor pull-out torque at v=0
application area
max
. motor torque
safety margin
dcStep extended
Safety margin:
Classical application operation area is limited by a certain
percentage of motor pull-out torque
M
NOM2
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