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LM628 Datasheet(PDF) 12 Page - National Semiconductor (TI)

[Old version datasheet] Texas Instruments acquired National semiconductor.
Part No. LM628
Description  Precision Motion Controller
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Manufacturer  NSC [National Semiconductor (TI)]
Direct Link  http://www.national.com
Logo NSC - National Semiconductor (TI)

LM628 Datasheet(HTML) 12 Page - National Semiconductor (TI)

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Theory of Operation (Continued)
TABLE 2. LM628 User Command Set (Continued)
Command
Type
Description
Hex
Data
Note
Bytes
MSKI
Interrupt
Mask Interrupts
1C
2
1
RSTI
Interrupt
Reset Interrupts
1D
2
1
LFIL
Filter
Load Filter Parameters
1E
2 to 10
1
UDF
Filter
Update Filter
04
0
1
LTRJ
Trajectory
Load Trajectory
1F
2 to 14
1
STT
Trajectory
Start Motion
01
0
3
RDSTAT
Report
Read Status Byte
None
1
1, 4
RDSIGS
Report
Read Signals Register
0C
2
1
RDIP
Report
Read Index Position
09
4
1
RDDP
Report
Read Desired Position
08
4
1
RDRP
Report
Read Real Position
0A
4
1
RDDV
Report
Read Desired Velocity
07
4
1
RDRV
Report
Read Real Velocity
0B
2
1
RDSUM
Report
Read Integration Sum
0D
2
1
Note 4: Commands may be executed “On the Fly” during motion.
Note 5: Commands not applicable to execution during motion.
Note 6: Command may be executed during motion if acceleration parameter was not changed.
Note 7: Command needs no code because the command port status-byte read is totally supported by hardware.
User Command Set
GENERAL
The following paragraphs describe the user command set of
the LM628. Some of the commands can be issued alone and
some require a supporting data structure. As examples, the
command STT (STarT motion) does not require additional
data; command LFIL (Load FILter parameters) requires ad-
ditional data (derivative-term sampling interval and/or filter
parameters).
Commands are categorized by function: initialization, inter-
rupt control, filter control, trajectory control, and data report-
ing. The commands are listed in
Table 2 and described in the
following paragraphs. Along with each command name is its
command-byte code, the number of accompanying data
bytes that are to be written (or read), and a comment as to
whether the command is executable during motion.
Initialization Commands
The following four LM628 user commands are used primarily
to initialize the system for use.
RESET COMMAND: RESET the LM628
Command Code:
00 Hex
Data Bytes:
None
Executable During Motion: Yes
This command (and the hardware reset input, Pin 27) results
in setting the following data items to zero: filter coefficients
and their input buffers, trajectory parameters and their input
buffers, and the motor control output. A zero motor control
output is a half-scale, offset-binary code: (80 hex for the 8-bit
output mode; 800 hex for 12-bit mode). During reset, the
DAC port outputs 800 hex to “zero” a 12-bit DAC and reverts
to 80 hex to “zero” an 8-bit DAC. The command also clears
five of the six interrupt masks (only the SBPA/SBPR interrupt
is masked), sets the output port size to 8 bits, and defines
the current absolute position as home. Reset, which may be
executed at any time, will be completed in less than 1.5 ms.
Also see commands PORT8 and PORT12.
PORT8 COMMAND: Set Output PORT Size to 8 Bits
Command Code:
05 Hex
Data Bytes:
None
Executable During Motion: Not Applicable
The default output port size of the LM628 is 8 bits; so the
PORT8 command need not be executed when using an 8-bit
DAC. This command must not be executed when using a
12-bit converter; it will result in erratic, unpredictable motor
behavior. The 8-bit output port size is the required selection
when using the LM629, the PWM-output version of the
LM628.
PORT12 COMMAND: Set Output PORT Size to 12 Bits
Command Code:
06 Hex
Data Bytes:
None
Executable During Motion: Not Applicable
When a 12-bit DAC is used, command PORT12 should be
issued very early in the initialization process. Because use of
this command is determined by system hardware, there is
only one foreseen reason to execute it later: if the RESET
command is issued (because an 8-bit output would then be
selected as the default) command PORT12 should be imme-
diately executed. This command must not be issued when
using an 8-bit converter or the LM629, the PWM-output ver-
sion of the LM628.
DFH COMMAND: DeFine Home
Command Code:
02 Hex
Data Bytes:
None
Executable During Motion: Yes
www.national.com
12


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