HCTL-1101 Datasheet, PDF (30/40 Pages) AVAGO TECHNOLOGIES LIMITED – General Purpose Control ICs Position and Velocity Control Low Power CMOS

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-1101. 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-1101 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 automati-
cally 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-1101 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 com-
mutator feature of the HCTL-1101. This mode automati-
cally aligns multiphase motors to the HCTL-1101’s internal
Commutator.
The Align mode can be entered only from the Initializa-
tion/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 Com-
mand 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-1101
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.
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