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TMC223 DATASHEET (V. 1.05 / March 7, 2011)
7.3 Example of Stall Detection Parameter Setting
The following set of parameters is given for an exemplary application. One should keep in mind that
the parameterizing of sensorless stall detection might need some measurements and its successful
parameterization also depends on the used type of motor and the given application environment.
Parameter
IRun
IHold
Value
Comment
800 mA (peak current)
283 mA (peak current)
8 FS/s
Action
15
9
Vmin
1
=> Set MinSamples to 2
corresponding to 175.4 µs
V[FS/s] = 303 FS/s ꢀ 206.3 µs/microstep
Vmax
8
11409 FS/s2
ramping with Acc
cw (depending on motor)
1/16 µStepping
Acc
AccShape
Shaft
6
0
0
3
0
StepMode
PWMfreq
Motor
22.8 kHz
Parameter :
KBEMF
Back EMF constant of the motor
10,8 mV/FS/s
4,64 V
=> Set AbsThr to 0x9
corresponding to 4.5V
peak voltage UBEMF = KBEMF * V[FS/s]
UBEMF
Blanking
Parameter :
FS2StallEN
DC100En
PWMJEn
less sensitive to oscillations
set to mask stall detection for 100% PWM
should be disabled for stall detection
try smaller values
7
1
0
Table 21 : Example of Stall Detection Parameter Set
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
