Method and controller for detecting a stall condition in a stepping motor during micro-stepping
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United States of America Patent
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Apr 27, 2010
Grant Date -
Jun 18, 2009
app pub date -
Dec 18, 2007
filing date -
Dec 18, 2007
priority date (Note) -
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Abstract
A method is provided for detecting a stall condition in a stepping motor. The stepping motor has two coils and a rotor, and is micro-stepped by substantially continuously driving both of the two coils with out-of-phase time varying voltages. The method includes stepping the stepping motor to a next micro-step. It is then determined when a predetermined motor parameter of a first coil of the two coils is to be sampled. To sample the predetermined motor parameter of, for example, the first coil, the first coil is opened for a predetermined period, wherein the predetermined period is less than or equal to a micro-step. Then the first coil is sampled during the predetermined period and the result of sampling is integrated and used to increment or decrement an accumulated value. If the accumulated value is less than a preset value, then a stall condition exists.
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