HCTL-1101 Avago Technologies US Inc., HCTL-1101 Datasheet - Page 31

• Manufacturer Part Number: HCTL-1101
• Description: IC MOTION CONTROL GP 40DIP
• Manufacturer: Avago Technologies US Inc.

Specifications of HCTL-1101

• Applications: DC Motor Controller, Stepper Motor Controller
• Voltage - Supply: 4.75 V ~ 5.25 V
• Operating Temperature: -20°C ~ 85°C
• Mounting Type: Through Hole
• Package / Case: 40-DIP (0.600", 15.24mm)
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant
• Current - Output: -
• Number Of Outputs: -
• Voltage - Load: -
• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

The Align mode first disables the Commutator and with
open loop control enables the first phase (PHA) and then
the last phase (PHC or PHD) to orient the motor on the last
phase torque detent. Each phase is energized for 2048 sys-
tem sampling periods (t). For proper operation, the motor
must come to a complete stop during the last phase en-
able. At this point the Commutator is enabled and com-
mutation is closed loop.
The HCTL-1101 then automatically switches from the
Align mode to Position Control mode.
Control Modes
Control flags F0, F3, and F5 in the Flag register (R00H) de-
ter-mine which control mode is executed. Only one con-
trol flag can be set at a time. After one of these control
flags is set, the control modes are entered either auto-
matically from Align or from the Initialization/Idle mode
by writing 03H to the Program Counter (R05H).
Position Control Mode
Flags:
Registers Used:
Register
R00H R00D
R12H R18D
R13H R19D
R14H R20D
R0CH R12D
R0DH R13D
R0EH R14D
Position Control performs point-to-point position moves
with no velocity profiling. The user specifies a 24-bit posi-
tion command, which the controller compares to the 24-
bit actual position. The position error is calculated, the full
31
F0 Cleared
F3 Cleared
F5 Cleared
Function
Flag Register
Read Actual Position MSB
Read Actual Position
Read Actual Position LSB
Command Position MSB
Command Position
Command Position LSB
digital lead compensation is applied and the motor com-
mand 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). Writ-
ing to R0EH latches all 24 bits at once for the control algo-
rithm. Therefore, the command 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 correct in-
stantaneous position data.
The largest position move possible in Position Con-
trol mode is 7FFFFFH (8,388,607D) quadrature encoder
counts.
Proportional Velocity Mode
Flags:
Registers Used:
Register
R00H R00D
R23H R35D
R24H R36D
R34H R52D
R35H R53D
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.
F0 Cleared
F3 Set
F5 Cleared
Function
Flag Register
Command Velocity LSB
Command Velocity MSB
Actual Velocity LSB
Actual Velocity MSB