User Manual

TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 24

6.2.2.1 The result of the stallGuard™ profiler

The result is shown as a graphic in the stallGuard™ profiler window. After the profile recording has finished

you can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows

the load value: A higher value means a higher load. The scale on the horizontal axis is the velocity scale.

The color of each line shows the standard deviation of the ten load values that have been measured for the

velocity at that point. This is an indicator for the vibration of the motor at the given velocity.

There are three colors used:

Green: The standard deviation is very low or zero. This means that there is effectively no

vibration at this velocity.

Yellow: This color means that there might be some low vibration at this velocity.

Red: The red color means that there is high vibration at that velocity.

6.2.2.2 Interpreting the result

In order to make effective use of the stallGuard™ feature you should choose a velocity where the load

value is as low as possible and where the color is green. The very best velocity values are those where the

load value is zero (areas that do not show any green, yellow or red line). Velocities shown in yellow can

also be used, but with care as they might cause problems (maybe the motor stops even if it is not stalled).

Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable

and so not usable to produce good results when using stall detection.

As it is very seldom that exactly the same result is produced when recording a profile with the same

parameters a second time, always two or more profiles should be recorded and compared against each

other.

6.3 Microstep resolution

The TMCM-351 supports a true 64 microstep resolution. To meet your needs, the microstep resolution can be

set using the TMCL™ software. The default setting is 64 microsteps, which is the highest resolution. For

setting the microstep resolution with the TMCL™ firmware use instruction 5: SAP, type 140: microstep

resolution.

You can find the appropriate value in Table 6.2.

Value

microsteps

Do not use. For fullstep please see fullstep threshold

Table 6.2: Microstep resolution setting

Please refer to the TMCM-351 TMCL™ Firmware Manual (www.trinamic.com) for more information.