HCTL-1100 Datasheet, PDF (18/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

Table 2. Register Reference Table by Register Number
Register
Hex
R00H
R05H
R07H
R08H
Dec.
R00D
R05D
R07D
R08D
R09H
R0CH
R09D
R12D
R0DH R13D
R0EH R14D
R0FH
R12H
R13H
R14H
R15H
R16H
R17H
R18H
R19H
R1AH
R1BH
R1CH
R1FH
R20H
R15D
R18D
R19D
R20D
R21D
R22D
R23D
R24D
R25D
R26D
R27D
R28D
R31D
R32D
R21H R33D
R22H
R23H
R24H
R26H
R34D
R35D
R36D
R38D
R27H R39D
R28H
R29H
R2AH
R2BH
R34H
R35H
R3CH
R40D
R41D
R42D
R43D
R52D
R53D
R60D
Function
Flag Register
Program Counter
Status Register
8 bit Motor Command Port
PWM Motor Command Port
Command Position (MSB)
Command Position
Command Position (LSB)
Sample Timer
Read Actual Position (MSB)
Read Actual Position
Read Actual Position (LSB)
Preset Actual Position (MSB)
Preset Actual Position
Preset Actual Position (LSB)
Commutator Ring
Commutator Velocity Timer
X
Y Phase Overlap
Offset
Maximum Phase Advance
Filter Zero, A
Filter Pole, B
Gain, K
Command Velocity (LSB)
Command Velocity (MSB)
Acceleration (LSB)
Acceleration (MSB)
Maximum Velocity
Final Position (LSB)
Final Position
Final Position (MSB)
Actual Velocity (LSB)
Actual Velocity (MSB)
Command Velocity
Mode Used
All
All
All
All
All
All except Proportional
Velocity
All except Proportional
Velocity
All except Proportional
Velocity
All
All
All
All
INIT/IDLE
INIT/IDLE
INIT/IDLE
All
All
All
All
All
All
All except Proportional
Velocity
All except Proportional
Velocity
All
Proportional Velocity
Proportional Velocity
Integral Velocity and
Trapezoidal Profile
Integral Velocity and
Trapezoidal Profile
Trapezoidal Profile
Trapezoidal Profile
Trapezoidal Profile
Trapezoidal Profile
Proportional Velocity
Proportional Velocity
Integral Velocity
Data Type
–
scalar
–
2’s complement
+ 80H
2’s complement
2’s complement
2’s complement
2’s complement
scalar
2’s complement
2’s complement
2’s complement
2’s complement
2’s complement
2’s complement
scalar^[6,7]
scalar
scalar^[6]
scalar^[6]
2’s complement^[7]
scalar^[6,7]
scalar
scalar
scalar
2’s complement
2’s complement
scalar
scalar^[6]
scalar^[6]
2’s complement
2’s complement
2’s complement
2’s complement
2’s complement
2’s complement
User
Access
r/w
w
r/w^[2]
r/w
r/w
r/w^[3]
r/w^[3]
r/w^[3]
r/w
r^[4]
r^[4]/w^[5]
r^[4]
w^[8]
w^[8]
w^[8]
r/w
w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r
r
r/w
Notes:
1. Consult appropriate section for data format and use.
2. Upper 4 bits are read only.
3. Writing to R0EH (LSB) latches all 24 bits.
4. Reading R14H (LSB) latches data in R12H and R13H.
5. Writing to R13H clears Actual Position Counter to zero.
6. The scalar data is limited to positive numbers (00H to 7FH).
7. The commutator registers (R18H, R1CH, R1FH) have further limits which are discussed in the Commutator section of this data sheet.
8. Writing to R17H (R23D) latches all 24 bits (only in INIT/IDLE mode).
18