LM629N-8/NOPB National Semiconductor, LM629N-8/NOPB Datasheet - Page 15

• Manufacturer Part Number: LM629N-8/NOPB
• Description: IC CONTROLLER PREC MOTION 28-DIP
• Manufacturer: National Semiconductor

Specifications of LM629N-8/NOPB

• Applications: DC Motor Controller, Servo
• Number Of Outputs: 1
• Voltage - Supply: 4.5 V ~ 5.5 V
• Operating Temperature: -40°C ~ 85°C
• Mounting Type: Through Hole
• Package / Case: 28-DIP (0.600", 15.24mm)
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant
• Current - Output: -
• Voltage - Load: -
• Other names: *LM629N-8; *LM629N-8/NOPB; LM629N-8

thru
Filter Control Commands
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
The UDF command is used to update the filter parameters,
the specifics of which have been programmed via the LFIL
command. Any or all parameters (derivative-term sampling
interval, kp, ki, kd, and/or il) may be changed by the appro-
priate command(s), but command UDF must be executed to
affect the change in filter tuning. Filter updating is synchro-
nized with the calculations to eliminate erratic or spurious
behavior.
Trajectory Control Commands
The following two LM628 user commands are used for set-
ting the trajectory control parameters (position, velocity, ac-
Note 8: Sampling intervals shown are when using an 8.0 MHz clock. The 256 corresponds to 2048/8 MHz; sample intervals must be scaled for other clock
frequencies.
The trajectory control parameters which are written to the
LM628 to control motion are: acceleration, velocity, and po-
sition. In addition, indications as to whether these three
parameters are to be considered as absolute or relative
inputs, selection of velocity mode and direction, and manual
stopping mode selection and execution are programmable
via this command. After writing the command code, the first
two data bytes that are written specify which parameter(s)
is/are being changed. The first byte written is the more
significant. Thus the two data bytes constitute a trajectory
control word that informs the LM628 as to the nature and
number of any following data bytes. See Table 6.
Bit Position
Command Code:
Data Bytes:
Executable During Motion: Yes
TABLE 6. Trajectory Control Word Bit Allocation
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
15
0
0
0
0
1
Not Used
Not Used
Not Used
Forward Direction (Velocity Mode Only)
Velocity Mode
Stop Smoothly (Decelerate as
Programmed)
14
0
0
0
0
1
04 Hex
None
TABLE 5. Derivative-Term Sampling Interval Selection Codes
Function
13
0
0
0
0
1
Bit Position
(Continued)
12
0
0
0
0
1
11
0
0
0
0
1
15
celeration), mode of operation (position or velocity), and
direction (velocity mode only) as required to describe a
desired motion or to select the mode of a manually directed
stop, and to control the timing of these system changes.
LTRJ COMMAND: LOAD TRAJECTORY PARAMETERS
Bit 12 determines the motor direction when in the velocity
mode. A logic one indicates forward direction. This bit has no
effect when in position mode.
Bit 11 determines whether the LM628 operates in velocity
mode (Bit 11 logic one) or position mode (Bit 11 logic zero).
Bits 8 through 10 are used to select the method of manually
stopping the motor. These bits are not provided for one to
merely specify the desired mode of stopping, in position
mode operations, normal stopping is always smooth and
Bit Position
Command Code:
Data Bytes:
Data Ranges…
Acceleration:
Executable During
10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Trajectory Control
Position:
Velocity:
Motion:
0
0
0
0
1
Word:
Stop Abruptly (Maximum Deceleration)
Turn Off Motor (Output Zero Drive)
Not Used
Not Used
Acceleration Will Be Loaded
Acceleration Data Is Relative
Velocity Will Be Loaded
Velocity Data Is Relative
Position Will Be Loaded
Position Data Is Relative
9
0
0
1
1
1
8
0
1
0
1
1
1F Hex
Two to Fourteen
See Text
C0000000 to 3FFFFFFF Hex
00000000 to 3FFFFFFF Hex
(Pos Only)
00000000 to 3FFFFFFF Hex
(Pos Only)
Conditionally, See Text
Function
65,536 µs
1024 µs, etc…
Selected Derivative
256 µs
512 µs
768 µs
Sampling Interval
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