TMCL: Using the stallGuard Interrupt

TMCL is the simple way to implement your motion control application. With this series of simple coding examples we want to provide you an easy start.

This program demonstrates the stall detection with stallGuard2™. Motor 0 will run until it is stalled, then MCL program flow will be interrupted and the interrupt handling routine (here: returnToZero) will be called. After the detection of a stall the motor will run to postion zero. For more details concerning stallGuard2™ look at Applikation Note AN002_stallGuard2.pdf –

Before use: Restore Factory Defaults

For more details look at TMCL_reference.pdf  at

This sample is tested with TMCM-1140, TMCM-1161, TMCM-6110.

One Comment

  • Jameer Reply

    Im currently working with the TMCM 1021 module. I’m programming it to stop the motor on stall. It does not seem to work with your above stated interrupt routine. Can you help me understand it with a simple program to show how it works?
    Your help will be much appreciated. Thanks.

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