Abstract: A method for detecting stall of a multiphase motor operated in a sinusoidal micro-stepped mode. The method comprises: a) measuring at least one phase current and/or measuring the sum of all phase currents at regular time intervals synchronous with the micro-steps, b) calculating the difference between the measured phase current at a first moment and the measured phase current of the same phase at a previous moment and/or the difference between the measured sum of all phase currents at a first moment and the measured sum of all phase currents at a previous synchronous moment, c) analyzing the series of obtained current differences so as to generate a stall detection signal.

Abstract: A method for detecting stall of a multiphase motor operated in a sinusoidal micro-stepped mode. The method comprises: a) measuring at least one phase current and/or measuring the sum of all phase currents at regular time intervals synchronous with the micro-steps, b) calculating the difference between the measured phase current at a first moment and the measured phase current of the same phase at a previous moment and/or the difference between the measured sum of all phase currents at a first moment and the measured sum of all phase currents at a previous synchronous moment, c) analyzing the series of obtained current differences so as to generate a stall detection signal.

Abstract: A method of detecting stall of a multi-phase motor operated in a micro-stepped mode, the method comprising: a) applying at least two phase-shifted micro-stepped waveforms to the phase windings of the motor; b) determining a sum of currents flowing through the phase windings, and taking samples of the sum of currents synchronously with the application of the micro-stepped waveforms; c) calculating a moving average or moving sum of the samples over one or more “full steps” of the phase-shifted waveforms; d) calculating an adaptive threshold based on the samples; e) detecting stall of the motor when the moving average is larger than the adaptive threshold. An electrical circuit and a computer program are arranged to perform the method.

Abstract: A method of detecting stall of a multi-phase motor operated in a micro-stepped mode, the method comprising: a) applying at least two phase-shifted micro-stepped waveforms to the phase windings of the motor; b) determining a sum of currents flowing through the phase windings, and taking samples of the sum of currents synchronously with the application of the micro-stepped waveforms; c) calculating a moving average or moving sum of the samples over one or more “full steps” of the phase-shifted waveforms; d) calculating an adaptive threshold based on the samples; e) detecting stall of the motor when the moving average is larger than the adaptive threshold. An electrical circuit and a computer program are arranged to perform the method.