HCTL-1100 Datasheet, PDF (20/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

Status Register (R07H)
The Status register indicates the
status of the HCTL-1100. Each bit
decodes into one signal. All 8 bits
are user readable and are decoded
as shown below. Only the lower 4
bits can be written to by the user
to configure the HCTL-1100. To
set or clear any of the lower 4
bits, the user writes an 8-bit word
to R07H. The upper 4 bits are
ignored. Each of the lower 4 bits
directly sets/clears the corre-
sponding bit of the Status register
as shown below. For example,
writing XXXX0101 to R07H sets
the PWM Sign Reversal Inhibit,
sets the Commutator Phase
Configuration to “3 Phase,” and
sets the Commutator Count
Configuration to “full.”
Motor Command Register (R08H)
The 8-bit Motor Command Port
consists of register R08H. The
register is connected to external
pins MC0-MC7. MC7 is the most
significant bit. R08H can be read
and written to; however, it should
be written to only in the
Initialization/Idle mode. During
any of the four control modes, the
HCTL-1100 writes values to
register R08H.
The Motor Command Port
operates in two modes, bipolar
and unipolar, when under control
of internal software. Bipolar mode
allows the full range of values in
R08H (-128D to +127D). The
data written to the Motor
Command Port by the control
algorithms is the internally
computed 2’s-complement motor
command with an 80H offset
added. This allows direct interfac-
ing to a DAC. Connecting the
Motor Command Port to a DAC,
Bipolar mode allows the full
voltage swing (positive and
negative).
Unipolar mode functions such
that with the same DAC circuit,
the motor command output is
restricted to positive values
(80H to FFH) when in a control
mode. Unipolar mode is used with
multi-phase motors when the
commutator controls the direction
of movement. (If needed, the Sign
pin could be used to indicate
direction). In Unipolar mode, the
user can still write a negative
value to R08H in INIT/IDLE
mode.
Table 3. Status Register
Status Bit
0
1
2
3
4
5
6
7
Function
PWM Sign Reversal Inhibit
0 = off
1 = on
Commutator Phase Configuration
0 = 3 phase
1 = 4 phase
Commutator Count Configuration
0 = quadrature
1 = full
Should always be set to 0
Trapezoidal Profile Flag F0
1 = in Profile Control
Initialization/Idle Flag F1
1 = in Initialization/Idle Mode
Stop Flag
0 = set (Stop triggered)
1 = cleared (no Stop)
Limit Flag
0 = set (Limit triggered)
1 = cleared (no Limit)
Unipolar mode or Bipolar mode is
programmed by setting or
clearing flag F2 in the Flag
Register R00H.
Internally, the HCTL-1100
operates on data of 24, 16 and 8-
bit lengths to produce the
8-bit motor command, available
externally. Many times the
computed motor command will be
greater than 8 bits. At this point,
the motor command is saturated
by the controller. The saturated
value output by the controller is
not the full scale value 00H
(00D), or FFH (255D). The
saturated value is adjusted to 0FH
(15D) (negative saturation) and
F0H (240D) (positive saturation).
Saturation levels for the Motor
Command port are in Figure 4.
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