H
General Purpose Motion
Control ICs
Technical Data
HCTL-1100 Series
MOTION SENSING
2-139
Features
• Low Power CMOS
• PDIP and PLCC Versions
Available
• Enhanced Version of the
HCTL-1000
• 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-1100 ICs
• 100 kHz to 2 MHz Operation
• Encoder Input Port
Description
The HCTL-1100 series is a high
performance, general purpose
motion control IC, fabricated in
HP 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 parameters provides
maximum flexibility and quick
design of control systems with a
minimum number of components.
In addition to the HCTL-1100, the
complete control system consists
of a host processor to specify
commands, an amplifier, and a
motor with an incremental
encoder (such as the HP HEDS-
5XXX, -6XXX, -9XXX series). No
analog compensation or velocity
feedback is necessary.
Pinouts
ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE.
5965-5893E
Package Dimensions
13.72 ± 0.25
0.540
0.010
1.27
±
0.15
0.050 0.006
0-15
°
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
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
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.
2-141
MOTION SENSING
4.83
0.190
13.72
0.540
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.
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