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MOTION SENSING

AND CONTROL

General Purpose Motion
Control ICs

Technical Data

HCTL-1100 Series

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

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

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

2-140

Applications

Typical applications for the
HCTL-1100 include printers,
medical instruments, material
handling machines, and industrial
automation.

HCTL-1100 vs.
HCTL-1000

The HCTL-1100 is designed to
replace the HCTL-1000. Some
differences exist, and some
enhancements have been added.

Comparison of HCTL-1100 and HCTL-1000

Description

HCTL-1100

HCTL-1000

Max. Supply Current

30 mA

180 mA

Max. Power Dissipation

165 mW

950 mW

Max. Tri-State Output
Leakage Current

150 nA

Operating Frequency

100 kHz-2 MHz

1 MHz-2 MHz

Operating Temperature
Range

-20

C to +85

C to 70

Storage Temperature Range

-55

C to +125

- 40

C to +125

Synchronize 2 or More ICs

Yes

Preset Actual Position
Registers

Yes

Read Flag Register

Yes

Limit and Stop Pins

Must be pulled

Can be left

up to V

floating if not

not used.

used.

Hard Reset

Required

Recommended

PLCC Package Available

Yes

System Block Diagram

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MOTION SENSING

AND CONTROL

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

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.

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.

Package Dimensions

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

4.83

0.190

1.27

0.050

0.15

0.006

0-15

13.72
0.540

0.25

0.010

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MOTION SENSING

AND CONTROL

Electrical Specifications

Absolute Maximum Ratings
Operating Temperature, T

A ...................................................................

-20

C to 85

Storage Temperature, T

S ......................................................................

-55

C to 125

Supply Voltage, V

DD ......................................................................................

-0.3 V to 7 V

Input Voltage, V

IN .........................................................................

-0.3 V to V

+0.3 V

Maximum Operating Clock Frequency, f

CLK ...............................................

2 MHz

DC Electrical Characteristics

= 5 V

5%; T

= -20

C to +85

Parameter

Symbol

Min.

Typ.

Max.

Units

Test Conditions

Supply Voltage

4.75

5.00

5.25

Supply Current

Input Leakage Current

100

= 0.00 and 5.25 V

Input Pull-Up Current

SYNC PIN

- 40

150

= 0.00 V

Tristate Output Leakage

-150

Sync, LIMIT, STOP

Current

pin #35 (PDIP)

OUT

= -0.3 to 5.25 V

pin #38 (PLCC)

Input Low Voltage

-0.3

0.8

Input High Voltage

2.0

Output Low Voltage

-0.3

0.4

= 2.2 mA

Output High Voltage

2.4

= -200

Power Dissipation

165

Input Capacitance

Output Capacitance

OUT

100

Part Number HCTL-1100

Document Outline