HCTL1100 Datasheet, PDF (19/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

19
Register Descriptions –
General Control, Output,
Filter, and Commutator
Flag Register (R00H)
The Flag register contains flags
F0 through F5. This register is a
read/write register. Each flag is
set and cleared by writing an 8-bit
data word to R00H. When writing
to R00H, the upper four bits are
ignored by the HCTL-1100, bits
0,1,2 specify the flag address, and
bit 3 specifies whether to set
(bit=1) or clear (bit=0) the
addressed flag.
Flag Descriptions
F0–Trapezoidal Profile Flag – set
by the user to execute Trape-
zoidal Profile Control. The flag is
reset by the controller when the
move is completed. The status of
F0 can be monitored at the Profile
pin and in Status register R07H
bit 4.
F1–Initialization/Idle Flag – set/
cleared by the HCTL-1100 to
indicate execution of the
Initialization/Idle mode. The
status of F1 can be monitored at
the Initialization/Idle pin and in
bit 5 of the Status register
(R07H). The user should not
attempt to set or clear F1.
F2–Unipolar Flag – set/cleared by
the user to specify Bipolar (clear)
or Unipolar (set) mode for the
Motor Command port.
F3–Proportional Velocity Control
Flag – set by the user to specify
Proportional Velocity control.
F4–Hold Commutator flag – set/
cleared by the user or auto-
matically by the Align mode.
When set, this flag inhibits the
internal commutator counters to
allow open loop stepping of a
motor by using the commutator.
(See “Offset register” description
in the “Commutator section.”)
F5–Integral Velocity Control – set
by the user to specify Integral
Velocity Control. Also set and
cleared by the HCTL-1100 during
execution of the Trapezoidal
Profile mode. This is transparent
to the user except when the Limit
flag is set (see “Emergency Flags”
section).
Writing to the Flag Register
When writing to the flag register,
only the lower four bits are used.
Bit 3 indicates whether to set or
clear a certain flag, and bits
0,1,and 2 indicate the desired
flag. The following table shows
the bit map of the Flag register:
Bit Number
7-4
3
2
1
0
Function
Don’t Care
1 = set
0 = clear
AD2
AD1
AD0
The following table outlines the
possible writes to the Flag
Register:
Flag
F0
F1
F2
F3
F4
F5
SET
08H
-
0AH
0BH
0CH
0DH
CLEAR
00H
-
02H
03H
04H
05H
Reading the Flag Register
Reading register R00H returns
the status of the flags in bits 0 to
5. For example, if bit 0 is set
(logic 1), then flag F0 is set. If bit
4 is set, then flag F4 is set. If bits
0 and 5 are set, then both flags F0
and F5 are set.
The following table outlines the
Flag Register Read:
Bit
Number
8-6
5
4
3
2
1
0
Flag
(1 = set)
(0 = clear)
Don’t Care
F5
F4
F3
F2
F1
F0
Notes:
1. A soft reset (writing 00H to R05H) will
not reset the flags in the flag register. A
hard reset (RESET pin low) is required
to reset all the flags. The flags can also
be reset by writing the proper word to
the Flag register as explained above.
2. While in Trapezoid Profile Mode, Flag
F0 will be set, and Flag F5 may be set.
F5 is used for internal purposes. Both
flags will be cleared at the end of the
profile.
Program Counter Register
(R05H)
The Program Counter, which is a
write-only register, executes the
preprogrammed functions of the
controller. The program counter
is used along with the control
flags F0, F3, and F5 in the Flag
register (R00H) to change control
modes. The user can write any of
the following four commands to
the Program Counter.
Value
written
to R05H
Action
00H
Software Reset
01H
Enter Init/Idle Mode
02H
Enter Align Mode
(only from INIT/
IDLE Mode)
03H
Enter Control Mode
(only from INIT/
IDLE Mode)
These Commands are discussed in
more detail in the “Operating
Modes” section.