Contents
C141-E192-01EN 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..................................................................................... 5-107
5.4 Command Protocol............................................................................. 5-109
5.4.1 PIO Data transferring commands from device to host......................5-109
5.4.2 PIO Data transferring commands from host to device......................5-111
5.4.3 Commands without data transfer...................................................... 5-113
5.4.4 Other commands............................................................................... 5-115
5.4.5 DMA data transfer commands.......................................................... 5-115
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