Actuator motor control | Fujitsu MPB3021AT, MPB3054AT, MPB3032AT

(1)Write/read recovery

This area is used to absorb the write/read transient and to stabilize the AGC.

(2)Servo mark

This area generates a timing for demodulating the gray code and position-demodulating the servo A to D by detecting the servo mark.

(3)Gray code (including index bit)

This area is used as cylinder address. The data in this area is converted into the binary data by the gray code demodulation circuit.

(4)Servo A, servo B, servo C, servo D

This area is used as position signals between tracks, and the IDD control at on-track so that servo A level equals to servo B level.

(5)PAD

This area is used as a gap between servo and data.

4.7.4Actuator motor control

The voice coil motor (VCM) is controlled by feeding back the servo data recorded on the data surface. The MPU fetches the position sense data on the servo frame at a constant interval of sampling time, executes calculation, and updates the VCM drive current.

The servo control of the actuator includes the operation to move the head to the reference cylinder, the seek operation to move the head to the target cylinder to read or write data, and the track-following operation to position the head onto the target track.

(1)Operation to move the head to the reference cylinder

The MPU moves the head to the reference cylinder when the power is turned. The reference cylinder is in the data area.

When power is applied the heads are moved from the inner circumference shunt zone to the normal servo data zone in the following sequence:

a)Micro current is fed to the VCM to press the head against the inner circumference.

b)A current is fed to the VCM to move the head toward the outer circumference.

c)When the servo mark is detected the head is moved slowly toward the outer circumference at a constant speed.

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C141-E045-02EN

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Fujitsu MPB3021AT, MPB3054AT, MPB3032AT, MPB3052AT, MPB3043AT manual Actuator motor control

Contents

C141-E045-02EN Revision Record Page Chapter Preface Conventions for Alert Messages Liability Exception Page Contents Interface Theory of Device OperationPage Operations Figures Page Tables Page Device Overview Features Functions and performance Interface AdaptabilityPage Specifications Device Specifications Specifications summary Model names and product numbers Model and product number Current and power dissipation Current fluctuation Typ. when power is turned on Acoustic noise specification Shock and vibration specification Error Rate Disk drive outerview Device Configuration System ConfigurationPage MPB3043AT Model Configuration of disk media heads 2 1 drive connection System Configuration ATA interface 3 2 drives connection 2 drives configurationPage Dimensions Mounting Cable Connections Jumper Settings Installation Conditions Dimensions Orientation PCA Limitation of side-mountingPage Service area ATA Cable Connections Device connector Device connection Cable connector specificationsSpecters Strip AMP Power supply connector CN1 +12V Return +5V ReturnCN1 11 Factory default setting Jumper configuration Factory default setting 14 Example 1 of Cable Select 13 Jumper setting of Cable Select 092 Disk Outline Head MPB 3052AT M odelMPB3064AT Model Spindle ActuatorAir filter Circuit Configuration MPB30xxAT Block diagram Power-on Sequence Power-on operation sequence Self-calibration contents Command processing during self-calibration Self-calibration execution timechart Read/write preamplifier PreAMP Write circuitWrite precompensation algorithm Read/write circuit block diagram Read circuit Frequency characteristic of programmable filter PR4 signal transfer Time base generator circuit Write clock frequency and transfer rate of each zone Servo control circuit Physical sector servo configuration on disk surface Page Data-surface servo format Servo frame formatPAD Actuator motor control Spindle motor control Page Interface Shows the interface signals Host Physical Interface Interface signals Dasp Signal assignment on the connectorSignal assignment on the interface connector Reset Pidag DiorHdmardy Hstrobe Ddmardy Iordy 1 I/O registers DA2 DA1 DA0 I/O registers Icrc UNC Idnf Abrt TK0NF Amnf Command block registersPage DEV HS3 HS2 HS1 HS0 BSY Drdy DSC DRQ ERR Page Srst Control block registers Command code and parameters 1 Command code and parameters Standby Immediate Sleep Check Power Mode Smart Flush Cache Command code and parameters 2 Command descriptions LBALBA LSB LBA LSB Read Multiple XC4 BSY Drdy Intrq DRQ Execution example of Read Multiple command LBA LSB LBA LBA Write Multiple XC5 LBA LSB Write Verify X3C LBA LSB 1F4 HCL Cylinder No. LSB / LBA 1F3 HSN Sector No Identify Device XEC Initialize Device ParametersPage Information to be read by Identify Device command 1 Information to be read by Identify Device command 2 Information to be read by Identify Device command 3 Identify Device DMA XEE SET Features XEF ‘CC’ Features register values and settable modes‘AA’ ‘BB’ SET Multiple Mode XC6 Page Diagnostic code Page 1F7 HCM 1F6 HDH Head No. /LBA MSB 1F5 HCH Cylinder No. MSB LBA Write Buffer XE8 Page Page Page Page XFF Page ’DA’ Features Register values subcommands and functionsPage 1FE 1FF Format of device attribute value data Format of insurance failure threshold value data Page Page Page 10 Command code and parameters Error posting Data transferring commands from device to host ∙ Execute Device Diagnostic ∙ Initialize Device Parameters IOR BSYDrdy DRQ Intrq DRQ Intrq BSY Drdy DRQ Intrq Write Sectors command protocol BSY Drdy Intrq Commands without data transfer ∙ Read DMA ∙ Write DMA Other commandsDMA data transfer commands ∙ Read Multiple ∙ Sleep ∙ Write Multiple IOW DRQ Dmarq Dmack Ultra DMA feature set Overview Phases of operation Data in transfer Pausing an Ultra DMA data in burst Terminating an Ultra DMA data in burst Page Page Data out transfer Pausing an Ultra DMA data out burst Terminating an Ultra DMA data out burst Page Ultra DMA CRC rules DIOW-STOP Series termination required for Ultra DMA11 Recommended series termination for Ultra DMA DIOR-HDMARDY-HSTROBE Timing PIO data transfer IOCS16 Iordy DIOR-/DIOW Dmarq Dmack DIOR-/DIOW Single word DMA data transfer Multiword data transfer 11 Multiword DMA data transfer timing mode 12 Initiating an Ultra DMA data in burst Ultra DMA data transfer Dmardy NAM Mode Comment MIN MAX 12 Ultra DMA data burst timing requirements 2 13 Sustained Ultra DMA data in burst Sustained Ultra DMA data in burst 14 Host pausing an Ultra DMA data in burst Host pausing an Ultra DMA data in burst 15 Device terminating an Ultra DMA data in burst Device terminating an Ultra DMA data in burst 16 Host terminating an Ultra DMA data in burst Host terminating an Ultra DMA data in burst 17 Initiating an Ultra DMA data out burst 18 Sustained Ultra DMA data out burst Sustained Ultra DMA data out burst 19 Device pausing an Ultra DMA data out burst Device pausing an Ultra DMA data out burst 20 Host terminating an Ultra DMA data out burst Host terminating an Ultra DMA data out burst 21 Device terminating an Ultra DMA data out burst Power-on and reset BSY DaspPdiag Dasp Operations Response to power-on Response to hardware reset Response to software reset Response to diagnostic command MPB Default parameters LS1 LH1 LH2 LS2 Logical addressLS1 LH0 LBA0 LBA1 LBA2 Power save modePage Power commands Alternating defective sectors Spare area Alternate cylinder assignment Data buffer configuration Caching operation ∙ Read Sector S ∙ Read Multiple ∙ Read DMAWrite DMA, Write Multiple Usage of read segment ∙ Write Sectors ∙ Write DMA ∙ Write Multiple DAP HAP Mis-hit data Empty data Read-ahead data HAP HAP set to hit position for data transfer Partially hit data Lack data Write Cache ∙ Write Sectors ∙ Write Multiple ∙ Write DMA Fujitsu Canada INC Fujitsu Limited