HCTL1100 Datasheet, PDF (31/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

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these control flags is set, the
control modes are entered either
automatically 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:
Register
Function
R00H R00D 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 position
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 command 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 two’s-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). Writing to R0EH latches
all 24 bits at once for the control
algorithm. Therefore, the com-
mand 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 cor-
rect instantaneous position data.
The largest position move possi-
ble in Position Control mode is
7FFFFFH (8,388,607D) quadra-
ture encoder counts.
Proportional Velocity Mode
Flags: F0 Cleared
F3 Set
F5 Cleared
Registers Used:
Register
Function
R00H R00D 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 “Digital Filter”
section of this data sheet.)
Example Code to Program Position Moves
{ Begin }
Hard Reset { HCTL-1100 goes into INIT/IDLE Mode }
Initialize Filter, Timer, Command Position Registers
Write 03H to Register R05H
{ HCTL-1100 is now in Position Mode }
Write Desired Command Position to Command Position Registers
{ Controller Moves to new position }
Continue writing in new Command Positions
{ end }