Sensored Stall Detection

Is there a way to implement stall detection for a motor+encoder setup?

I’m implying from this post that there is but can’t seem to find any documentation on it Continuing the discussion from Sensorless control help:

The small BLDC motors we’re using get very hot if stalled longer than a second or two. As I’m debugging and testing custom startup algorithms, there’s times that the rotor just stalls and the stater heats up.

Is there a watchdog that can monitor for stalled rotor condition and error out (and disable motors)?


This is not currently implemented. You can check motor.current_control.Iq_setpoint to see if it’s maxed out and abs(encoder.vel_estimate) is low simultaneously