HCTL-1100 Datasheet, PDF (16/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

Table 1. Register Reference By Mode
Register
Hex
Dec.
Function
General Control
R00H
R00D
R05H
R05D
R07H
R07D
R0FH
R15D
R12H
R18D
R13H
R19D
R14H
R20D
R15H
R21D
R16H
R22D
R17H
R23D
Flag Register
Program Counter
Status Register
Sample Timer
Read Actual Position MSB
Read Actual Position
Read Actual Position LSB
Preset Actual Position MSB
Preset Actual Position
Preset Actual Position LSB
Output Registers
R07H
R07D
R08H
R08D
R09H
R09D
Sign Reversal Inhibit
8 bit Motor Command
PWM Motor Command
Filter Registers
R20H
R32D
R21H
R33D
R22H
R34D
Filter Zero, A
Filter Pole, B
Gain, K
Commutator Registers
R07H
R07D
Status Register
R18H
R24D
Commutator Ring
R19H
R25D
Velocity Timer
R1AH
R26D
X
R1BH
R27D
Y Phase Overlap
R1CH
R28D
Offset
R1FH
R31D
Max. Phase Advance
Position Control Mode
R00H
R00D
Flag Register
R12H
R18D
Read Actual Position MSB
R13H
R19D
Read Actual Position
R14H
R20D
Read Actual Position LSB
R0CH
R12D
Command Position MSB
R0DH
R13D
Command Position
R0EH
R14D
Command Position LSB
Data Type^[1]
scalar
-
scalar
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
-
2’s Complement+80H
2’s Complement
scalar
scalar
scalar
-
scalar^[6,7]
scalar
scalar^[6,7]
scalar^[6,7]
2’s Complement^[7]
scalar^[6,7]
-
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
User
Access
r/w
r/w
r/w^[2]
r/w
r^[4]
r^[4]/w^[5]
r^[4]
w^[8]
w^[8]
w^[8]
r/w^[2]
r/w
r/w
r/w
r/w
r/w
r/w^[2]
r/w
w
r/w
r/w
r/w
r/w
r/w
r^[4]
r^[4]/w^[5]
r^[4]
r/w^[3]
r/w^[3]
r/w^[3]
16