HCTL-1101 Datasheet, PDF (29/40 Pages) AVAGO TECHNOLOGIES LIMITED – General Purpose Control ICs Position and Velocity Control Low Power CMOS

To create the 3 mechanical degree offset, the Offset regis-
ter (R1CH) could be programmed with either A6H (-90D)
or 06H (+06D). However, because 06H (+06D) would vio-
late the commutator constraints Equation 8, A6H (-90D)
is used.
For the purposes of this example, the Velocity Timer and
Maximum Advance are set to 0.
Operation Flowchart
The HCTL-1101 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-1101 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 automatically when certain
initial conditions are provided by the user.
This section describes the function of each setup routine
and control mode and the initial conditions which must
be provided by the user to switch from one mode to an-
other. Figure 12 shows a flowchart of the setup routines
and control modes, and shows the commands required to
switch from one mode to another.
Figure 12. Operational Flowchart.
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