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 – http://www.trinamic.com/design-center/application-notes.

Before use: Restore Factory Defaults

// *** Values that have to be adapted *** //
stallGuardValue = 2  			//-64 = highest sensitivity ... 63 = lowest sensitivity
vmax = 2000						//max. speed (0 ... 2047)
amax = 1000						//max. acceleration (0 ... 2047)
cmax = 100						//max. current (0 ... 255)

// *** Initialization / Set up axis parameter *** //
SAP 1, 0, 0    					//reset actual position to 0
SAP 4, 0, vmax   				//set max. positioning speed
SAP 5, 0, amax					//set max. acceleration
SAP 6, 0, cmax    				//set max. current

// *** stallGuard™ initialization *** //
SAP 173, 0, 1    				//set stallGuard™ filter disable
SAP 174, 0, stallGuardValue  	//stallGuard™ threshold
SAP 181, 0, 1900  				//min. speed for motor to be stopped by stallGuard™

// *** Interrupt initialization *** //
VECT 15, returnToZero 			//defines the interrupt vector for the stallGuard™ interrupt
EI 15 							//enable stall interrupt
EI 255 							//globally switch on interrupt processing

// *** Main Loop *** //
loop:
	GAP 3, 0					//get current speed
	JC NZ, loop					//jump to loop if speed not zero
	ROL 0, vmax					//turn motor left at vmax
	JA loop						//jump to loop

// *** Interrupt routine *** //
returnToZero:
	MVP ABS, 0, 0				//turn motor 0 to postion zero
	WAIT POS, 0, 0				//wait until position zero reached
	WAIT TICKS, 0, 500			//wait 5 seconds. 500 * 10ms
	RETI						//end of interrupt

// *** Values that have to be adapted *** //

stallGuardValue = 2 //-64 = highest sensitivity ... 63 = lowest sensitivity

vmax = 2000 //max. speed (0 ... 2047)

amax = 1000 //max. acceleration (0 ... 2047)

cmax = 100 //max. current (0 ... 255)

// *** Initialization / Set up axis parameter *** //

SAP 1, 0, 0 //reset actual position to 0

SAP 4, 0, vmax //set max. positioning speed

SAP 5, 0, amax //set max. acceleration

SAP 6, 0, cmax //set max. current

// *** stallGuard™ initialization *** //

SAP 173, 0, 1 //set stallGuard™ filter disable

SAP 174, 0, stallGuardValue //stallGuard™ threshold

SAP 181, 0, 1900 //min. speed for motor to be stopped by stallGuard™

// *** Interrupt initialization *** //

VECT 15, returnToZero //defines the interrupt vector for the stallGuard™ interrupt

EI 15 //enable stall interrupt

EI 255 //globally switch on interrupt processing

// *** Main Loop *** //

loop:

GAP 3, 0 //get current speed

JC NZ, loop //jump to loop if speed not zero

ROL 0, vmax //turn motor left at vmax

JA loop //jump to loop

// *** Interrupt routine *** //

returnToZero:

MVP ABS, 0, 0 //turn motor 0 to postion zero

WAIT POS, 0, 0 //wait until position zero reached

WAIT TICKS, 0, 500 //wait 5 seconds. 500 * 10ms

RETI //end of interrupt

For more details look at TMCL_reference.pdf at http://www.trinamic.com/software-tools/tmcl-ide

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

3 Comments

Jameer June 20, 2016 at 4:29 am Reply

Hi,
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.
Corné Bekkers January 11, 2018 at 11:06 am Reply

Please note that for using stallGuard to find the reference position, you normally do not need the interrupt at all. Just run the motor until it has been automatically stopped by stallGuard. You can check this either by polling the actual speed or the stallGuard flag (axis parameter #207). Then, zero the position and switch off stallGuard (by setting parameter #181 to zero). Like this:

SAP 6, 0, 64 //Change this value to fit your needs
SAP 174, 0, 2 //Change this value to fit your needs (with the help of the stallGuard2 tool)
SAP 181, 0, 500 //Minimum speed for stop on stall (change as needed)

//Run until obstructed
ROR 0, 1000 //Let the motor run until obstructed (or ROL as needed)
Loop: GAP 207, 0 //See if the motor has been stopped due to a stall
JC ZE, Loop

//Set actual position as the zero position
SAP 0, 0, 0
SAP 1, 0, 0

//Switch off stallGuard
SAP 181, 0, 0

So, stallGuard gets activated just with parameter #181. If this parameter is zero, then the automatic stop-on-stall is switched off. If it is >0 then stop-on-stall will be active when the actual velocity is greater then this value.
Parovel February 22, 2018 at 12:37 pm Reply

Hello,
I confirm the program with the correction works on a TMCM 6110 module. I am using the stallGuard feature and monitoring the reply from the module however the GAP 207, 0 command does not give the right answer. What method you suggest as alternative to detect the stall in real-time?

TMCL: Using the stallGuard Interrupt

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