
6.0
TRACK
ACCESSI
NG
•Stepper Motor (4 Phase)
Ato be energized in the stepper. "Figure
15
and
16
shows the stepper control logic and timing."
•Stepper Control Logic
•Reverse Seek
•Forward Seek
•Track Zero Indication
Seeking the read/write head from one track to
an-
other
is
accomplished by selecting the desired direc-
tion utilizing the Direction Select Interface line,
loading the read/write head, and then pulsing the
Step line. Multiple track accessing
is
accomplished
by repeated pulsing
of
the Step line with write gate
inactive until the desired track has been reached.
Each pulse on the Step line will cause the read/
write head to move one track either in or
out
de-
pending
on
the Direction Select line.
6.1
STEPPER MOTOR
The 4phase stepper motor turns the head actuator
cam in 2step increments per track. Two incre-
ments will move the head one track
via
aball bear-
ing follower which
is
attached to the carriage
as-
sembly. This follower rides in aspiral groove in
the face
of
the actuator cam.
The stepper motor has 4phases. Phase Aand phase
Care the active positions which are energized when
the head
is
on
track. The phases
Band
Dare trans-
ient states.
Two
one shots to the stepper counter
logic provides the 2nd step pulse approximately
11
milliseconds after the step line goes negative pro-
viding the drive
is
selected and read enable
is
true.
6.2 STEPPER CONTROL
During Power on Reset time the stepper control
shift register
is
reset to zero. This will cause phase
With drive select and read enable true, this provides
the conditions which allows the step pulse to clock
the clock
input
to the stepper control shift register.
As
the stepper control shifts from one phase to
an-
other the
outputs
are fed back to the
2nd
pulse gen-
erator sis. When astep pulse causes the stepper
counter
to
go
from its
on
track phase via the clock
:input the two step sis
is
fired. In approximately
11
milliseconds a
2nd
clock
to
the shift register
is
provided, this causes the stepper
motor
to step from
its transient phase Bor Dto the
next
on
track phase
Aor C. This
is
the method
that
causes the stepper
to
step 2times for each step pulse on the interface.
The circuit will also interlock any possibility
of
writing
on
the transient phases
Band
D.
The stepper control
is
a 4
bit
parallel access shift
register with Jand Kinputs.
It
is
used in the shift
mode when stepping
out
and in the load mode
when stepping in. Only the A
Band
C
outputs
are
used. The
4th
output
is
D'
and
is
true when the
other outputs are zero.
6.3 STEPOUT
Figure 14 shows the logic for how the
bit
for step-
ping
is
shifted when direction
is
high and the shift
register is in ashift mode or step out.
6.4 STEP IN MODE
When direction
is
low the drive
is
in astep in mode.
The shift register
is
in aload mode. Its outputs are
being used to load the inputs. Figure
17
shows the
logic
on
this and how the outputs are shifted. Ref-
erence figure 16 for timing. Again only A B &C
outputs are used, the
4th
output
is
D'.
D'
INPUT
TO
SECOND
PULSE
GENERATOR
P
...
0
R
0A
,..,
0100
'"
0100B
,....
0
'"
0 0 0 10C
,...,
'-'
00 0 0 1D
--
STATES
A
B
C
D
D.LffiriIi]
eLK
nn n n
PULSE ---J UUU L
STEPPER
~
PHASE
~
FIGURE
14. STEP
OUT
LOGIC
10