Contents
C141-E192-02EN
xi
4.6.2
Write circuit
..........................................................................................
4-9
4.6.3
Read circuit
.........................................................................................
4-11
4.6.4
Digital PLL circuit
..............................................................................
4-12
4.7
Servo Control
........................................................................................
4-13
4.7.1
Servo control circuit
............................................................................
4-13
4.7.2
Data-surface servo format
...................................................................
4-16
4.7.3
Servo frame format
..............................................................................
4-18
4.7.4
Actuator motor control
........................................................................
4-19
4.7.5
Spindle motor control
..........................................................................
4-20
CHAPTER 5
Interface
.....................................................................................
5-1
5.1
Physical Interface
....................................................................................
5-2
5.1.1
Interface signals
....................................................................................
5-2
5.1.2
Signal assignment on the connector
......................................................
5-3
5.2
Logical Interface
.....................................................................................
5-6
5.2.1
I/O registers
...........................................................................................
5-7
5.2.2
Command block registers
......................................................................
5-8
5.2.3
Control block registers
........................................................................
5-13
5.3
Host Commands
....................................................................................
5-14
5.3.1
Command code and parameters
..........................................................
5-14
5.3.2
Command descriptions
........................................................................
5-18
5.3.3
Error posting
......................................................................................
5-108
5.4
Command Protocol
..............................................................................
5-110
5.4.1
PIO Data transferring commands from device to host
......................
5-110
5.4.2
PIO Data transferring commands from host to device
......................
5-112
5.4.3
Commands without data transfer
......................................................
5-114
5.4.4
Other commands
...............................................................................
5-116
5.4.5
DMA data transfer commands
..........................................................
5-116
5.5
Ultra DMA Feature Set
.......................................................................
5-118
5.5.1
Overview
...........................................................................................
5-118
5.5.2
Phases of operation
...........................................................................
5-119
5.5.3
Ultra DMA data in commands
..........................................................
5-119