PD57/60/86-1378 Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2020-APR-24

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stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings.

At maximum motor load, the value reaches zero or is near zero. This is the most energy-e

cient point of

operation for the motor.

Load [Nm]

stallGuard2

Initial stallGuard2 (SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

Figure 3: stallGuard2 Load Measurement as a Function of Load

1.2.4

coolStep

coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2.

coolStep adapts the required current to the load. Energy consumption can be reduced by as much as 75%.

coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a

high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%,

even a constant-load application allows signi cant energy savings because coolStep automatically enables

torque reserve when required. Reducing power consumption keeps the system cooler, increases motor

life, and allows for cost reduction.

0

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0

50

100

150

200

250

300

350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50v torque reserve

Figure 4: Energy E ciency Example with coolStep

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