User Manual

TMCM-3351 TMCL

™

Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26

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Motor Velocity [pps]

Load Angle [µSteps]

SAP 108 SAP 109

SAP 110

SAP 111max. 90°

Field Weakening

Normal Closed Loop

max. 180°

Figure 14: Field Weakening

• SAP 111: Closed Loop Beta

• SAP 110: Closed Loop Gamma

• SAP 108: Gamma Vmin

• SAP 109: Gamma Vmax

6.3.5 Position Catch up

The TMCM-3351 includes a special feature for closed-loop positioning. Positioning parameters like velocity

and acceleration will be calculated to reach a position in a dedicated time. If the target trapezoidal ramp

cannot be maintained due to high load peaks the TMCM-3351 includes a special position catch-up mode

to ensure that the position will still be reached in time if possible.

Motor Velocity [pps]

Position

SAP 119

Overload

Catch-upPID control parameters for catch-up

SAP 115, 116, 117, 118

Figure 15: Position Catch up

6.4 StallGuard2

The module is equipped with motor driver chips that feature load measurement. This load measurement

can be used for stall detection. StallGuard2 delivers a sensorless load measurement of the motor as well

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