HCTL-1101 Datasheet, PDF(31/40 Page) AVAGO TECHNOLOGIES LIMITED – General Purpose Control ICs Position and Velocity Control Low Power CMOS

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HCTL-1101 Datasheet, PDF (31/40 Pages) AVAGO TECHNOLOGIES LIMITED – General Purpose Control ICs Position and Velocity Control Low Power CMOS

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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 sys-

tem sampling periods (t). For proper operation, the motor

must come to a complete stop during the last phase en-

able. At this point the Commutator is enabled and com-

mutation is closed loop.

The HCTL-1101 then automatically switches from the

Align mode to Position Control mode.

Control Modes

Control flags F0, F3, and F5 in the Flag register (R00H) de-

ter-mine which control mode is executed. Only one con-

trol flag can be set at a time. After one of these control

flags is set, the control modes are entered either auto-

matically from Align or from the Initialization/Idle mode

by writing 03H to the Program Counter (R05H).

Position Control Mode

Flags: F0 Cleared

F3 Cleared

F5 Cleared

Registers Used:

R00H R00D

Function

Flag Register

R12H R18D Read Actual Position MSB

R13H R19D Read Actual Position

R14H R20D Read Actual Position LSB

R0CH R12D Command Position MSB

R0DH R13D Command Position

R0EH R14D

Command Position LSB

Position Control performs point-to-point position moves

with no velocity profiling. The user specifies a 24-bit posi-

tion command, which the controller compares to the 24-

bit actual position. The position error is calculated, the full

digital lead compensation is applied and the motor com-

mand is output.

The controller will remain position-locked at a destination

until a new position command is given.

The actual and command position data is 24-bit twoâs-

complement data stored in six 8-bit registers. Position is

measured in encoder quadrature counts.The command

position resides in R0CH (MSB), R0DH, R0EH (LSB). Writ-

ing to R0EH latches all 24 bits at once for the control algo-

rithm. Therefore, the command position is written in the

sequence R0CH, R0DH and R0EH. The command registers

can be read in any desired order.

The actual position resides in R12H (MSB), R13H, and R14H

(LSB). Reading R14H latches the upper two bytes into an

internal buffer. Therefore, Actual Position registers are

read in the order of R14H, R13H, and R12H for correct in-

stantaneous position data.

The largest position move possible in Position Con-

trol mode is 7FFFFFH (8,388,607D) quadrature encoder

counts.

Proportional Velocity Mode

Flags: F0 Cleared

F3 Set

F5 Cleared

Registers Used:

R00H R00D

Function

Flag Register

R23H R35D Command Velocity LSB

R24H R36D Command Velocity MSB

R34H R52D Actual Velocity LSB

R35H R53D Actual Velocity MSB

Proportional Velocity Control performs control of motor

speed using only the gain factor, K, for compensation. The

dynamic pole and zero lead compensation are not used.

(See the âDigital Filterâ section of this data sheet.

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