HCTL-1101 Datasheet, PDF (35/40 Pages) AVAGO TECHNOLOGIES LIMITED – General Purpose Control ICs Position and Velocity Control Low Power CMOS

Trapezoid Profile Mode
Flags: F0 Set to begin move
F3 Cleared
F5 Cleared
Registers Used:
Register
R00H R00D
Function
Flag Register velocity
R07H R07D Status Register
R12H R18D Read Actual Position MSB
R13H R19D Read Actual Position
R14H R20D Read Actual Position LSB
R29H R41D Final Position LSB
R2AH R42D Final Position
R2BH R43D Final Position MSB
R26H R38D Acceleration LSB
R27H R39D Acceleration MSB
R28H R40D Maximum Velocity
Trapezoid Profile Control performs point-to-point position
moves and profiles the velocity trajectory to a trapezoid or
triangle. The user specifies only the desired final position,
acceleration and maximum velocity. The controller com-
putes the necessary profile to conform to the command
data. If maximum velocity is reached before the distance
halfway point, the profile will be trapezoidal; otherwise
the profile will be triangular. Figure 14 shows the possible
trajectories with Trapezoidal Profile Control.
The command data for trapezoidal Profile Control mode
consists of a final position, command acceleration, and
a maximum velocity. The 24-bit two’s-complement final
position is written to registers R2BH, (MSB), R2AH, and
R29H (LSB). The 16-bit command acceleration resides in
registers R27H (MSB) and R26H (LSB). The command ac-
celeration has the same integer and fraction format as dis-
cussed in the Integral Velocity Control mode section. The
7-bit maximum velocity is a scalar value with the range of
00H to 7FH (0D to 127D). The maximum velocity has the
units of quadrature counts per sample time, and resides in
register R28H. The command data registers may be read
or written to in any order.
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