HCTL-1100PLC Datasheet, PDF (29/40 Pages) AVAGO TECHNOLOGIES LIMITED – General Purpose Motion Control ICs

To create the 3 mechanical
degree offset, the Offset
register (R1CH) could be
programmed with either A6H
(-90D) or 06H (+06D).
However, because 06H (+06D)
would violate the commutator
constraints Equation 8, A6H
(-90D) is used.
(2°) (4) (192)
Y = overlap = –––––––––– ≅ 4
360°
X + Y = 96/3
Therefore, X = 28
Y=4
For the purposes of this example,
the Velocity Timer and Maximum
Advance are set to 0.
Operation Flowchart
The HCTL-1100 executes any one
of three setup routines or four
control modes selected by the
user. The three setup routines
include:
– Reset
– Initialization/Idle
– Align.
The four control modes available
to the user include:
– Position Control
– Proportional Velocity Control
– Trapezoidal Profile Control
– Integral Velocity Control
The HCTL-1100 switches from
one mode to another as a result of
one of the following three
mechanisms:
1. The user writes to the Program
Counter.
2. The user sets/clears flags F0,
F3, or F5 by writing to the Flag
register (R00H).
3. The controller switches auto-
matically when certain initial
conditions are provided by the
user.
Figure 12. Operation Flowchart.
This section describes the func-
tion of each setup routine and
control mode and the initial
conditions which must be pro-
vided by the user to switch from
one mode to another. Figure 12
shows a flowchart of the setup
routines and control modes, and
shows the commands required to
switch from one mode to another.
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