HCTL-1101
General Purpose Control ICs.
Data Sheet
Description
The HCTL-1101 series is a high performance, general
purpose motion control IC, fabricated in Avago CMOS
technology. It frees the host processor for other tasks
by performing all the time-intensive functions of digital
motion control. The programmability of all control para-
meters provides maximum flexibility and quick design of
control systems with a minimum number of components.
In addition to the HCTL-1101, the complete control sys-
tem consists of a host processor to specify commands, an
amplifier, and a motor with an incremental encoder (such
as the HEDS-5XXX, -6XXX, -9XXX series). No analog com-
pensation or velocity feedback is necessary.
Note: HCTL-1101 series are a pin-to-pin and functionability compatible
with the HCTL-1100 series. Customers are advised to evaluate the HCTL-
1101 series for their production use.
Features
•
Low Power CMOS
•
PDIP and PLCC Versions Available
•
DC, DC Brushless, and Step Motor Control
•
Position and Velocity Control
•
Programmable Digital Filter and Commutator
•
8-Bit Parallel, and PWM Motor Command Ports
•
TTL Compatible
•
SYNC Pin for Coordinating Multiple HCTL-1101 ICs
•
100 kHz to 2 MHz Operation
•
Encoder Input Port.
Applications
Typical applications for the HCTL-1101 include printers,
medical instruments, material handling machines, and
industrial automation.
Pinout
HCTL-1101:
40 Pin DIP Package
HCTL-1101-PLC:
44 Pin PLCC Package
ESD WARNING:
NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE.
System Block Diagram
HOST
PROCESSOR
Theory of Operations
The HCTL-1101 is a general purpose motor controller
which provides position and velocity control for DC, DC
brushless and stepper motors. The internal block dia-
gram of the HCTL-1101 is shown in Figure 1. The HCTL-
1101 receives its input commands from a host processor
and position feedback from an incremental encoder with
quadrature output. An 8-bit bi-directional multiplexed ad-
dress/data bus interfaces the HCTL-1101 to the host pro-
cessor. The encoder feedback is decoded into quadrature
counts and a 24-bit counter keeps track of position. The
HCTL-1101 executes any one of four control algorithms
selected by the user.
M
HCTL-
1101
AMP
The four control modes are:
•
Position Control
•
Proportional Velocity Control
•
Trapezoidal Profile Control for point to point moves
HCTL-1101
30 mA
165 mW
5 µA
100 kHz-2 MHz
-20°C to +85°C
-55°C to +125°C
Yes
Yes
Yes
Must be pulled up to VDD if
not used.
Required
Yes
E
Description
Max. Supply Current
Max. Power Dissipation
Max. Tri-State Output
Leakage Current
Operating Frequency
Operating Temperature
Range
Storage Temperature Range
Synchronize 2 or More ICs
Preset Actual Position Reg-
isters
Read Flag Register
LIMIT and STOP Pins
Hard Reset
PLCC Package Available
•
Integral Velocity Control with continuous velocity
profiling using linear acceleration.
The resident Position Profile Generator calculates the nec-
essary profiles for Trapezoidal Profile Control and Integral
Velocity Control. The HCTL-1101 compares the desired
position (or velocity) to the actual position (or veloc-
ity) to compute compensated motor commands using a
programmable 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-1101 has the capability of providing electronic
commutation for DC brushless and stepper motors. Using
the encoder position information, the motor phases are
enabled in the correct sequence. The commutator is fully
programmable to encompass most motor/encoder com-
binations. In addition, phase overlap and phase advance
can be programmed to improve torque ripple and high
speed performance. The HCTL-1101 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-1101
to be interrupted under emergency conditions.
The HCTL-1101 controller is a digitally sampled data sys-
tem. While information from the host processor is accept-
ed asynchronously with respect to the control functions,
the motor command is computed on a discrete sample
time basis. The sample timer is programmable.
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