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LM628 Datasheet(PDF) 12 Page - National Semiconductor (TI) |
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LM628 Datasheet(HTML) 12 Page - National Semiconductor (TI) |
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12 / 24 page  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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