40
TMC223 DATASHEET (V. 1.05 / March 7, 2011)
7.2 Stall Detection Parameters
The timing parameter MinSamples has to be set depending on the PWM frequency and the chosen
velocity to the largest value below duration of on full step.
The stall detection blanking parameter FS2StallEN blanks variations of the BEMF due to oscillations
that follows an acceleration phase that can cause faulty detection of a stall.
The parameter AbsThr represents an absolute voltage level of the BEMF. The parameter DelThr
represents the difference (delta) threshold for processing of the BEMF based on the averaged BEMF
voltage.
In addition, there is one important switch named DC100En that should be set to one if the PWM come
close to 100%. With this, the stall detection is masked for PWM of 100%. This is because a PWM of
100% might faulty trigger the stall detection flags. On the other hand, a speed where the PWM duty
cycle comes close to 100% should be avoided. This is because a PWM duty cycle of 100% indicated
that the motor becomes within the zone where the torque decreases because the target current can
not be reached for that speed.
Delay Time [µs]
MinSamples
PWMfreq = 0
(PWM frequency typ 22.8 kHz)
PWMfreq = 1
(PWM frequency typ 45.6 kHz)
0x0
0x1
0x2
0x3
0x4
0x5
0x6
0x7
87
43
65
130
174
217
261
304
348
391
87
109
130
152
174
196
Table 17: Stall Detection Timing Parameter MinSamples
FS2StallEN
0x0
0x1
Full Steps
0
1
2
3
4
5
6
7
0x2
0x3
0x4
0x5
0x6
0x7
Table 18: Stall Detection Blanking Parameter FS2StallEN
Copyright © 2007-2011 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
