User Manual

TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 23

6.2.1 stallGuard™ adjusting tool

The stallGuard™ adjusting tool helps to find the necessary motor parameters

when stallGuard™ is to be used. This function can only be used when a

module is connected that features stallGuard™. This is checked when the

stallGuard™ adjusting tool is selected in the Setup menu. After this has been

successfully checked the stallGuard™ adjusting tool is displayed.

First, select the axis that is to be used in the Motor area. Now you can enter

a velocity and an acceleration value in the Drive area and then click Rotate

Left or Rotate Right. Clicking one of these buttons will send the necessary

commands to the module so that the motor starts running. The red bar in

the stallGuard™ area on the right side of the windows displays the actual

load value. Use the slider to set the stallGuard™ threshold value. If the load

value reaches this value the motor stops. Clicking the Stop button also stops

the motor.

Figure 6.2: stallGuard™ adjusting tool

All commands necessary to set the values entered in this dialogue are displayed in the Commands area at

the bottom of the window. There, they can be selected, copied and pasted into the TMCL™ editor.

6.2.2 stallGuard™ profiler

The stallGuard™ profiler is a utility that helps you find the best parameters for using stall detection. It scans

through given velocities and shows which velocities are the best ones. Similar to the stallGuard™ adjusting

tool it can only be used together with a module that supports stallGuard™. This is checked right after the

stallGuard™ profiler has been selected in the Setup menu. After this has been successfully checked the

stallGuard™ profiler window will be shown.

First, select the axis that is to be used. Then, enter the Start velocity

and the End velocity. The start velocity is used at the beginning of

the profile recording. The recording ends when the end velocity has

been reached. Start velocity and end velocity must not be equal.

After you have entered these parameters, click the Start button to

start the stallGuard™ profile recording. Depending on the range

between start and end velocity this can take several minutes, as the

load value for every velocity value is measured ten times. The Actual

velocity value shows the velocity that is currently being tested and

so tells you the progress of the profile recording. You can also abort

a profile recording by clicking the Abort button.

The result can also be exported to Excel or to a text file by using the

Export button.

Figure 6.3: The stallGuard™ profiler