HCTL1100 Datasheet, PDF (34/40 Pages) Agilent(Hewlett-Packard) – General Purpose Motion Control ICs

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loop stability is more difficult to
achieve. In Integral Velocity
Control mode the system is
actually a position control system
and therefore the complete
dynamic compensation D(z) is
used.
If the external Stop flag F6 is set
during this mode signalling an
emergency situation, the
controller automatically
decelerates to zero velocity at the
presently specified acceleration
factor and stays in this condition
until the flag is cleared. The user
then can specify new velocity
profiling data.
Trapezoid Profile Mode
Flags: F0 Set to begin move
F3 Cleared
F5 Cleared
Registers Used:
Register
Function
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
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 computes
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, a
command acceleration, and a
maximum velocity. The 24-bit,
Example Code for Programming Integral Velocity Mode
(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 Acceleration (if needed)
Write Desired Maximum Velocity (if needed)
Set Flag F5 {Integral Velocity Move Begins}
{System ramps to Maximum Velocity}
Continue writing new Accelerations and Velocities
{ end }