TMC2209 Stall Guard Settings

Other Hardware Motors, Mechanics, Power and CNC
1

I've done lots of searching on this, including this forum, ChatGPT, reading the TMC2209 data sheet and I'm still having an issue. It's not critical because I have the TMC2209 working with UART to set driver settings and my motor is running fine, but I have the DIAG pin hooked up in my design and I can't get StallGuard to trigger either the DIAG pin or to give me any reading at all via:

driver.SG_RESULT()

From what I have gathered, there is some magical combination of driver settings that enables StallGuard. So far, I have not been able to conjure up the correct recipe. I will post what I have, but I'm wondering if anyone has a working config for this that I could try. Here's what I've got so far (which works to run my motor). To be clear, I've tried it with and without the commented out code and I know I have some duplicative stuff in there as well.

//Start Motor Driver
  digitalWrite(ENABLE_PIN, LOW);  // Enable the driver
  driver.begin();

  Serial.println("Stepper Driver Enabled");
  Serial.println(F("Driver Settings:"));
  driver.toff(4);            // Set driver off time

  driver.blank_time(24); 
  Serial.print(F("Driver Blank Time: "));
  Serial.println(driver.blank_time());

  driver.en_spreadCycle(0);
  Serial.print(F("SpreadCycle: "));
  Serial.println(driver.en_spreadCycle());

//  driver.pwm_autoscale(1);
//  Serial.print(F("PWM Autoscale: "));
//  Serial.println(driver.pwm_autoscale());
  // DisableStealthChop PWM mode/ Page 25 of datasheet
//  driver.TPWMTHRS(0); 

  driver.TCOOLTHRS(0xFFFFF); // 20bit max
  driver.semin(5);
  driver.semax(2);
  driver.sedn(0b01);

  driver.rms_current(1500);  // Set RMS current to 1.5A. The value is in milliamps.
  Serial.print(F("RMS current: "));
  Serial.print(driver.rms_current());
  Serial.println(F(" mA"));

  driver.mstep_reg_select(true);
  driver.microsteps(2); // 1,2,4,16,32 (1= full step, 2=1/2 step, 4=1/4 step, etc.)
  Serial.print(F("Microstep Config Setting: "));
  Serial.println(driver.microsteps());

  driver.semin(0);
  driver.TCOOLTHRS(50);
  Serial.print(F("CoolStep: "));
  Serial.println(driver.semin());

  driver.intpol(true);        // Interpolate to 256 steps, smooth stepping even with 0 microsteps.
  Serial.print(F("Microstep Config Actual: "));
  Serial.println(driver.microsteps());

  driver.SGTHRS(128);  // Set StallGuard threshold. You may need to adjust the value for your setup.
  Serial.print(F("StallGuard threshold: "));
  Serial.println(driver.SGTHRS());

  driver.pdn_disable(true);  // Disable power down (required for UART)

Thanks in advance!

2

What is the source of the code? Was there any explanation for it?

3

As I mentioned, I have done much searching, manual reading, etc. This is an amalgamation of that research. I know what most of these settings do on an individual basis--at least to some extent--but from everything I have read, there is a combination of settings that enables StallGuard. I'm sure anyone who actually knows the answer to this question will have a much better understanding of how these relate.

4

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