HCTL-1100 Datasheet, PDF (30/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

Setup Modes
Hard Reset
Executed by:
-Pulling the RESET pin low
(required at power up)
When a hard reset is executed
(RESET pin goes low), the
following conditions occur:
– All output signal pins are held
low except Sign, Data bus, and
Motor Command.
– All flags (F0 to F5) are cleared.
– The Pulse pin of the PWM port
is set low while the Reset pin is
held low. After the Reset pin is
released (goes high) the Pulse
pin goes high for one cycle of
the external clock driving the
HCTL-1100. The Pulse pin then
returns to a low output.
– The Motor Command port
(R08H) is preset to 80H
(128D).
– The Commutator logic is
cleared.
– The I/O control logic is cleared.
– A soft reset is automatically
executed.
Soft Reset
Executed by:
- Writing 00H to R05H, or
- Automatically called after a
hard reset
When a soft reset is executed, the
following conditions occur:
– The digital filter parameters are
preset to
A (R20H) = E5H (229D)
B (R21H) = K (R22H) = 40H
(64D)
– The Sample Timer (R0FH) is
preset to 40H (64D).
– The Status register (R07H) is
cleared.
– The Actual Position Counters
(R12H, R13H, R14H) are
cleared to 0.
From Reset mode, the HCTL-1100
goes automatically to
Initialization/Idle mode.
Initialization/Idle
Executed by:
- Writing 01H to R05H, or
- Automatically executed after a
hard reset, soft reset, or
- Limit pin goes low.
The Initialization/Idle mode is
entered either automatically from
Reset, by writing 01H to the
Program Counter (R05H) under
any conditions, or pulling the
Limit pin low.
In the Initialization/Idle mode, the
following occur:
– The Initialization/Idle flag (F1)
is set.
– The PWM port R09H is set to
00H (zero command).
– The Motor Command port
(R08H) is set to 80H (128D)
(zero command).
– Previously sampled data stored
in the digital filter is cleared.
It is at this point that the user
should pre-program all the
necessary registers needed to
execute the desired control mode.
The HCTL-1100 stays in this
mode (idling) until a new mode
command is given.
Align
Executed by:
- Writing 02H to R05H
The Align mode is executed only
when using the commutator
feature of the HCTL-1100. This
mode automatically aligns mul-
tiphase motors to the HCTL-
1100’s internal Commutator.
The Align mode can be entered
only from the Initialization/Idle
mode by writing 02H to the
Program Counter register (R05H).
Before attempting to enter the
Align mode, the user should clear
all control mode flags and set
both the Command Position
registers (R0CH, R0DH, and
R0EH) and the Actual Position
registers (R12H, R13H, and
R14H) to zero. After the Align
mode has been executed, the
HCTL-1100 will automatically
enter the Position Control mode
and go to position zero. By
following this procedure, the
largest movement in the Align
mode will be one torque cycle of
the motor.
The Align mode assumes: the
encoder index pulse has been
physically aligned to the last
motor phase during encoder/
motor assembly, the Commutator
parameters have been correctly
preprogrammed (see the section
called Commutator for details),
and a hard reset has been
executed while the motor is
stationary.
The Align mode first disables the
Commutator and with open loop
control enables the first phase
(PHA) and then the last phase
(PHC or PHD) to orient the motor
on the last phase torque detent.
Each phase is energized for 2048
system sampling periods (t). For
proper operation, the motor must
come to a complete stop during
the last phase enable. At this
point the Commutator is enabled
and commutation is closed loop.
The HCTL-1100 then automati-
cally switches from the Align
mode to Position Control mode.
Control Modes
Control flags F0, F3, and F5 in
the Flag register (R00H) deter-
mine which control mode is
executed. Only one control flag
can be set at a time. After one of
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