User Manual

TMCM-110-42 Manual 13

5.5 StallGuard™ - Sensorless Motor Stall Detection

The integrated StallGuard™ feature gives a simple means to detect mechanical blocking of the motor. This

can be used for precise absolute referencing, when no reference switch is available. The load value can be

read using a TMCL command or the module can be programmed so that the motor will be stopped

automatically when it has been obstructed or the load has been too high. Just activate StallGuard and then

let the traveller run against a mechanical obstacle that is placed at the end of the operation area. When the

motor has stopped it is definitely at the end of its way, and this point can be used as the reference

position.

Please see the TMCL Reference and Programming Manual on how to activate the StallGuard feature. The

TMCL IDE also has some tools which let you try out and adjust the StallGuard function in an easy way. This

is also described in the TMCL Reference and Programming Manual.

Mixed decay should be switched off when StallGuard operational in order to get usable results.

5.6 Motor current setting

The motor current can be set in a range of 0 to 1500, using the TMCL software. 1500 corresponds to the

module’s maximum I

COIL

setting.

Setting I

COIL,PP

COIL,RMS

1500 1.5A 1.06A

1410 1.41A 1.0A

1100 1.1A 0.8A

800 0.8A 0.6A

600 0.6A 0.4A

400 0.4A 0.3A

0 0A 0A

Table 5.2: Motor Current Examples

5.7 Microstep Resolution

The microstep resolution can be set using TMCL software. The default setting is 64 microsteps which is the

highest resolution.

To set the microstep resolution with TMCL use instruction 5: SAP, type 140: microstep resolution. You can

find the appropriate value in Table 5.3.

Value microsteps

Do not use: for fullstep please

see “fullstep threshold”

1 Halfstep (not recommended)

2 4

3 8

4 16

5 32

6 64

Table 5.3: Microstep resolution setting

Despite the possibility to set up to 64 microsteps, the motor physically will be positioned to a maximum of

about 24 Microsteps, when operated in 32 or 64 microstep setting.