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LM628 Datasheet(PDF) 14 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) 14 Page - National Semiconductor (TI)

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Interrupt Control Commands
(Continued)
TABLE 3. Mask and Reset Bit Allocations for Interrupts
Bit Position
Function
Bits 15 thru 7
Not Used
Bit 6
Breakpoint Interrupt
Bit 5
Position-Error Interrupt
Bit 4
Wrap-Around Interrupt
Bit 3
Index-Pulse Interrupt
Bit 2
Trajectory-Complete Interrupt
Bit 1
Command-Error Interrupt
Bit 0
Not Used
RSTI COMMAND: ReSeT Interrupts
Command Code:
1D Hex
Data Bytes:
Two
Data Range:
See Text
Executable During Motion: Yes
When one of the potential interrupt conditions of
Table 3 oc-
curs, command RSTI is used to reset the corresponding in-
terrupt flag bit in the status byte. The host may reset one or
all flag bits. Resetting them one at a time allows the host to
service them one at a time according to a priority pro-
grammed by the user. As in the MSKI command, bits 1
through 6 of the second (less significant) byte correspond to
the potential interrupt conditions shown in
Table 3. Also see
description of RDSTAT command. Any zero(s) in this 6-bit
field reset the corresponding interrupt(s). The remaining bits
have no effect.
Filter Control Commands
The following two LM628 user commands are used for set-
ting the derivative-term sampling interval, for adjusting the
filter parameters as required to tune the system, and to con-
trol the timing of these system changes.
LFIL COMMAND: Load FILter Parameters
Command Code:
1E Hex
Data Bytes:
Two to Ten
Data Ranges…
Filter Control Word:
See Text
Filter Coefficients:
0000 to 7FFF Hex (Pos Only)
Integration Limit:
0000 to 7FFF Hex (Pos Only)
Executable During Motion: Yes
The filter parameters (coefficients) which are written to the
LM628 to control loop compensation are: kp, ki, kd, and il (in-
tegration limit). The integration limit (il) constrains the contri-
bution of the integration term
(see Eq. 1) to values equal to or less than a user-defined
maximum value; this capability minimizes integral or reset
“wind-up” (an overshooting effect of the integral action). The
positive-only input value is compared to the absolute magni-
tude of the integration term; when the magnitude of integra-
tion term value exceeds il, the il value (with appropriate sign)
is substituted for the integration term value.
The derivative-term sampling interval is also programmable
via this command. After writing the command code, the first
two data bytes that are written specify the derivative-term
sampling interval and which of the four filter parameters is/
are to be written via any forthcoming data bytes. The first
byte written is the more significant. Thus the two data bytes
constitute a filter control word that informs the LM628 as to
the nature and number of any following data bytes. See
Table 4.
TABLE 4. Filter Control word Bit Allocation
Bit Position
Function
Bit 15
Derivative Sampling Interval Bit 7
Bit 14
Derivative Sampling Interval Bit 6
Bit 13
Derivative Sampling Interval Bit 5
Bit 12
Derivative Sampling Interval Bit 4
Bit 11
Derivative Sampling Interval Bit 3
Bit 10
Derivative Sampling Interval Bit 2
Bit 9
Derivative Sampling Interval Bit 1
Bit 8
Derivative Sampling Interval Bit 0
Bit 7
Not Used
Bit 6
Not Used
Bit 5
Not Used
Bit 4
Not Used
Bit 3
Loading kp Data
Bit 2
Loading ki Data
Bit 1
Loading kd Data
Bit 0
Loading il Data
Bits 8 through 15 select the derivative-term sampling inter-
val. See
Table 5. The user must locally save and restore
these bits during successive writes of the filter control word.
Bits 4 through 7 of the filter control word are not used.
Bits 0 to 3 inform the LM628 as to whether any or all of the
filter parameters are about to be written. The user may
choose to update any or all (or none) of the filter parameters.
Those chosen for updating are so indicated by logic one(s) in
the corresponding bit position(s) of the filter control word.
The data bytes specified by and immediately following the fil-
ter control word are written in pairs to comprise 16-bit words.
The order of sending the data words to the LM628 corre-
sponds to the descending order shown in the above descrip-
tion of the filter control word; i.e., beginning with kp, then ki,
kd and il. The first byte of each word is the more-significant
byte. Prior to writing a word (byte pair) it is necessary to
check the busy bit in the status byte for readiness. The re-
quired data is written to the primary buffers of a
double-buffered scheme by the above described operations;
it is not transferred to the secondary (working) registers until
the UDF command is executed. This fact can be used ad-
vantageously; the user can input numerous data ahead of
their actual use. This simple pipeline effect can relieve po-
tential host computer data communications bottlenecks, and
facilitates easier synchronization of multiple-axis controls.
UDF COMMAND: UpDate Filter
Command Code:
04 Hex
Data Bytes:
None
www.national.com
14


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