參數(shù)資料
型號(hào)： TMC249A
廠商： Electronic Theatre Controls, Inc.
英文描述： High Current Microstep Stepper Motor Driver with sensorless stall detection, protection / diagnostics and SPI Interface
中文描述： 大電流微步步進(jìn)電機(jī)驅(qū)動(dòng)器，帶有傳感器的失速檢測(cè)，保護(hù)/診斷和SPI接口
文件頁(yè)數(shù)： 11/25頁(yè)
文件大小： 219K
代理商： TMC249A
TMC249 / TMC249A DATA SHEET (V2.02 / Aug 12th, 2005)
11
Copyright 2005, TRINAMIC Motion Control GmbH & Co KG
Stall Detection
Using the sensorless load measurement
The TMC249 provides a patented sensorless load measurement, which allows a digital read out of the
mechanical load on the motor via the serial interface. To get a readout value, just drive the motor
using sine commutation and mixed decay switched off. The load measurement then is available as a
three bit load indicator during normal motion of the motor. A higher mechanical load on the motor
results in a lower readout value. The value is updated once per fullstep.
Since the load detection is based on the motor’s back EMF, the readout results depend on several
factors:
-
Motor velocity: A higher velocity leads to a higher readout value
-
Motor resonance: Motor resonances cause a high dynamic load on the motor, and thus
measurement may give unsatisfactory results.
-
Motor acceleration: Acceleration phases also produce dynamic load on the motor.
-
Mixed decay setting: For load measurement mixed decay has to be off for some time before
the zero crossing of the coil current. If mixed decay is used, and the mixed decay period is
extended towards the zero crossing, the load indicator value decreases.
Implementing sensorless stall detection
The sensorless stall detection typically is used, to detect the reference point without the usage of a
switch or photo interrupter. Therefore the actuator is driven to a mechanical stop, e.g. one end point in
a spindle type actuator. As soon as the stop is hit, the motor stalls. Without stall detection, this would
give an audible humming noise and vibrations, which could damage mechanics.
To get a reliable stall detection, follow these steps:
1. Choose a motor velocity for reference movement. Use a medium velocity which is far enough
away from mechanical resonance frequencies. In some applications even motor start / stop
frequency may be used. With this the motor can stop within one fullstep if a stall is detected.
2. Use a sine stepping pattern and switch off mixed decay (at least 1 to 3 microsteps before zero
crossing of the wave). Monitor the load indicator during movement. It should show a stable
readout value in the range 3 to 7 (L
MOVE
). If the readout is high (>5), the mixed decay portion
may be increased, if desired.
3. Choose a threshold value L
STALL
between 0 and L
MOVE
- 1.
4. Monitor the load indicator during each reference search movement, as soon as the desired
velocity is reached. Readout is required at least once per fullstep. If the readout value at one
fullstep is below or equal to L
STALL
, stop the motor.
5. If the motor stops during normal movement without hitting the mechanical stop, decrease
L
STALL
. If the stall condition is not detected at once, when the motor stalls, increase L
STALL
.
v_max
t
v(t)
a_max
acceleration
constant velocity
stall
min
max
t
load
indicator
stall detected!
stall threshold
vibration
acceleration
jerk
L
MOVE
L
STALL
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參數(shù)描述
TMC249-A 制造商:未知廠家 制造商全稱(chēng):未知廠家 功能描述:High Current Microstep Stepper Motor Driver with Sensorless Stall D e t e c t i o n ,P rotection / Diagnosis and SPI Interface
TMC249A-LA 制造商:Trinamic 功能描述:IC BRIDGE DRIVER SPI/ANLG 32QFN
TMC249A-SA 制造商:Trinamic 功能描述:STEPPER MOTOR DRIVER SMD SO-28 制造商:Trinamic 功能描述:STEPPER MOTOR DRIVER, SMD, SO-28 制造商:Trinamic 功能描述:IC MOTOR DRIVER, FULL BRIDGE, 1mA SOIC-28; Motor Type:Full Bridge; No. of Outputs:8; Output Current:1mA; Output Voltage:34V; Driver Case Style:SOIC; No. of Pins:28; Supply Voltage Min:3V; Supply Voltage Max:5.5V; MSL:MSL 2 - 1 year ;RoHS Compliant: Yes
TMC249-EVAL 制造商:Trinamic 功能描述:EVALUATION BOARD FOR TMC249
TMC249-HVHR 制造商:TRINAMIC 制造商全稱(chēng):TRINAMIC 功能描述:Evaluation Board for TMC249 with High Voltage and High Resolution
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