Motor Stall Detection

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• This feature allows for the motor stall to be recognized without using an external sensor (for example, an incremental encoder).

Related Objects:

• Motor_Stall_Filter_Time

• Motor_Stall_Actual_Err_Angle

• Motor_Stall_Max_Err_Angle

• Drive_Working_Settings_Extended

• Feedback_Status

• Drive_Register_Extended

• Error_Register

To enable Motor Stall feature set bit 13 of Drive_Working_Settings_Extended object. If activation is successful, then bit 6 of Drive_Working_Settings_Extended object is set to 1.

The Feedback feature (bit 4 of Drive_Working_Settings object) and the Motor Stall detection feature (bit 13 of Drive_Working_Settings_Extended object) cannot be active at the same time. Trying to enable Feedback feature with the Motor Stall detection feature already enabled or vice versa will issue a Feedback_Error alarm (bit 5 of Error_Register object and bit 14 of Feedback_Status object are set to 1).

The motor stall detection works by comparing the theoretical angle and estimated angle of motor rotor position.

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• If | Motor_Stall_Actual_Err_Angle |  > Motor_Stall_Max_Err_Angle then Motor Stall detected.

When the motor stall is detected:

• the drive stops the motor immediately

• the fault digital output opens

• the Min_Current object value is applied to the motor

• bit 5 (Feedback_Error) of Error_Register object is set to 1

• bit 10 (Motor_Stall_detected) of Feedback_Status object is set to 1

Motor movement is not executed until the master sets the Master_Alarm_Reset bit of Master_Register object.

Notes:

• The Motor Stall detection feature is available only with firmware version V02r74 or superior.

• A dedicated trace in the Motor Feedback Tuning window shows Motor_Stall_Actual_Err_Angle object value.