HCTL1100 Datasheet, PDF (17/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

17
Table 1. (continued).
Register
Hex
Dec.
Function
Trapezoid Profile Control Mode
R00H
R00D
Flag Register
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
Integral Velocity Mode
R00H
R00D
Flag Register
R12H
R18D
Read Actual Position MSB
R13H
R19D
Read Actual Position
R14H
R20D
Read Actual Position LSB
R26H
R38D
Acceleration LSB
R27H
R39D
Acceleration MSB
R3CH
R60D
Command Velocity
Proportional Velocity Mode
R00H
R00D
Flag Register
R12H
R18D
Read Actual Position MSB
R13H
R19D
Read Actual Position
R14H
R20D
Read Actual Position LSB
R23H
R35D
Command Velocity LSB
R24H
R36D
Command Velocity MSB
R34H
R52D
Actual Velocity LSB
R35H
R53D
Actual Velocity MSB
Data Type
-
-
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
scalar
scalar^[6]
scalar^[6]
-
2’s Complement
2’s Complement
2’s Complement
scalar
scalar^[6]
2’s Complement
-
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
2’s Complement
User
Access
r/w
r/w^[2]
r^[4]
r^[4]/w^[5]
r^[4]
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r^[4]
r^[4]/w^[5]
r^[4]
r/w
r/w
r/w
r/w
r^[4]
r^[4]/w^[5]
r^[4]
r/w
r/w
r
r
Notes:
1. Consult appropriate section for data format and use.
2. Upper 4 bits are read only.
3. Writing to R0EH (LSB) latches all 24 bits.
4. Reading R14H (LSB) latches data in R12H and R13H.
5. Writing to R13H clears Actual Position Counter to zero.
6. The scalar data is limited to positive numbers (00H to 7FH).
7. The commutator registers (R18H, R1CH, R1FH) have further limits which are discussed in the Commutator section of this data sheet.
8. Writing to R17H (R23D) latches all 24 bits (only in INIT/IDLE mode).