HCTL-1100PLC Datasheet, PDF (13/40 Pages) AVAGO TECHNOLOGIES LIMITED – General Purpose Motion Control ICs

Output Pins
Symbol
MC0-MC7
Pulse
Sign
PHA-PHD
Prof
Init
Pin Number
PDIP PLCC
Description
18-25 20-22, Motor Command Port – 8-bit output port which contains the digital
24-28 motor command adjusted for easy bipolar DAC interfacing. MC7 is
the most significant bit (MSB).
16 18 Pulse – Pulse width modulated signal whose duty cycle is proportional
to the Motor Command magnitude. The frequency of the signal is
External Clock/100 and pulse width is resolved into 100 external clocks.
17 19 Sign – Gives the sign/direction of the pulse signal.
26-29 29-32 Phase A, B, C, D – Phase Enable outputs of the Commutator.
12 13 Profile Flag – Status flag which indicates that the controller is execut-
ing a profiled position move in the Trapezoidal Profile Control mode.
13 14 Initialization/Idle Flag – Status flag which indicates that the controller
is in the Initialization/Idle mode.
Pin Functionality
SYNC Pin
The SYNC pin is used to syn-
chronize two or more ICs. It is
only valid in the INIT/IDLE mode
(see Operating the HCTL-1100).
When this pin is pulled low, the
internal sample timer is cleared
and held to zero. When the level
on the pin is returned to high, the
internal sample timer instantly
starts counting down from the
programmed value.
Connecting all SYNC pins
together in the system and
pulsing the SYNC signal from the
host processor will synchronize
all controllers.
Limit Pin
This emergency-flag input is used
to disable the control modes of
the HCTL-1100. A low level on
this input pin causes the internal
Limit flag to be set. If this pin is
NOT used, it must be pulled up to
V_DD. If it is not connected, the pin
could float low, and possibly
trigger a false emergency
condition.
The Limit flag, when set in any
control mode, causes the HCTL-
1100 to go into the Initialization/
Idle mode, clearing the Motor
Command and causing an imme-
diate motor shutdown. When the
Limit flag is set, none of the three
control mode flags (F0, F3, or
F5) are cleared as the HCTL-1100
enters the Initialization/Idle mode.
The user should be aware that
these flags are still set before
commanding the HCTL-1100 to
re-enter one of the four control
modes from Initialization/Idle
mode.
In general, the user should clear
all control mode flags after the
limit pin has been pulled low,
then proceed.
Stop Pin
The Stop flag affects the HCTL-
1100 only in the Integral Velocity
Mode.
When a low level is present on
this emergency-flag input, the
internal stop flag is set. If this pin
is NOT used, it must be pulled up
to V_DD. If it is not connected, the
pin could float low, and possibly
trigger a false emergency
condition.
When the STOP flag is set, the
system will come to a decelerated
stop and stay in this mode with a
command velocity of zero until
the Stop flag is cleared and a new
command velocity is specified.
Notes on Limit and Stop Flags
Stop and Limit flags are set by a
low level input at their respective
pins. The flags can only be
cleared when the input to the
corresponding pin goes high,
signifying that the emergency
condition has been corrected,
AND a write to the Status register
(R07H) is executed. That is, after
the emergency pin has been set
and cleared, the flag also must be
cleared by writing to R07H. Any
word that is written to R07H after
the emergency pin is set and
cleared will clear the emergency
flag. The lower four bits of that
word will also reconfigure the
Status register.
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