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HCTL-1100PLC Datasheet(PDF) 3 Page - AVAGO TECHNOLOGIES LIMITED |
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HCTL-1100PLC Datasheet(HTML) 3 Page - AVAGO TECHNOLOGIES LIMITED |
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3 / 40 page  3 Theory of Operation The HCTL-1100 is a general pur- pose motor controller which provides position and velocity control for DC, DC brushless and stepper motors. The internal block diagram of the HCTL-1100 is shown in Figure 1. The HCTL- 1100 receives its input commands from a host processor and position feedback from an incremental encoder with quadra- ture output. An 8-bit bi-directional multiplexed address/data bus interfaces the HCTL-1100 to the host processor. The encoder The resident Position Profile Generator calculates the neces- sary profiles for Trapezoidal Pro- file Control and Integral Velocity Control. The HCTL-1100 com- pares the desired position (or velocity) to the actual position (or velocity) to compute compensated motor commands using a pro- grammable digital filter D(z). The motor command is externally available at the Motor Command port as an 8-bit byte and at the PWM port as a Pulse Width Modulated (PWM) signal. The HCTL-1100 has the capability of providing electronic commu- tation for DC brushless and stepper motors. Using the encoder position information, the motor phases are enabled in the correct sequence. The commu- tator is fully programmable to encompass most motor/encoder combinations. In addition, phase overlap and phase advance can be programmed to improve torque ripple and high speed perform- ance. The HCTL-1100 contains a number of flags including two externally available flags, Profile and Initialization, which allow the user to see or check the status of the controller. It also has two emergency inputs, Limit and Stop, which allow operation of the HCTL-1100 to be interrupted under emergency conditions. The HCTL-1100 controller is a digitally sampled data system. While information from the host processor is accepted asyn- chronously with respect to the control functions, the motor command is computed on a discrete sample time basis. The sample timer is programmable. Package Dimensions feedback is decoded into quadrature counts and a 24-bit counter keeps track of position. The HCTL-1100 executes any one of four control algorithms selected by the user. The four control modes are: • Position Control • Proportional Velocity Control • Trapezoidal Profile Control for point to point moves • Integral Velocity Control with continuous velocity profiling using linear acceleration 4.83 0.190 1.27 0.050 ± 0.15 0.006 0-15 ° 13.72 0.540 13.72 0.540 0.25 0.010 ± |
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