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Fujitsu MPD3XXXAT manual Actuator motor control

Models: MPD3XXXAT

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(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)Pos A, Pos B, Pos C, Pos D

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

d)If the head is stopped at the reference cylinder from there. Track following control starts.

(2)Seek operation

Upon a data read/write request from the host, the MPU confirms the necessity of access to the disk. If a read or instruction is issued, the MPU seeks the desired track.

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C141-E069-02EN

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Fujitsu MPD3XXXAT manual Actuator motor control

Contents

C141-E069-02EN MPD3xxxAT DISK DRIVES PRODUCT MANUALThe contents of this manual is subject to Revised contentsREVISION RECORD EditionThis page is intentionally left blank INSTALLATION CONDITIONS DEVICE CONFIGURATIONPREFACE ChapterConventions for Alert Messages C141-E069-02EN LIABILITY EXCEPTIONThis page is intentionally left blank CHAPTER CONTENTSCHAPTER CHAPTERLocation of setting jumpers Jumper SettingsFactory default setting Jumper configurationHost Commands Command block registersCommand code and parameters Command descriptionsPower-on and reset Device pausing an Ultra DMA data out burstDevice Response to the Reset Response to power-onFIGURES WRITE SECTORS command protocol Protocol for command abortProtocol for the command execution without data transfer Multiword DMA data transfer timing modeTABLES This page is intentionally left blank 1.4 Environmental Specifications 1.5 Acoustic Noise 1.1 Features 1.2 Device Specifications 1.3 Power Requirements1.6 Shock and Vibration 1.7 Reliability 1.8 Error Rate 1.1 Features 1.1.1 Functions and performance1.1.3 Interface 1.1.2 AdaptabilityC141-E069-02EN 5 Error correction and retry by ECC6 Write cache Specifications 1.2 Device Specifications 1.2.1 Specifications summaryTable 1.1 shows the specifications of the disk drive C141-E069-02ENTable 1.2 Model names and product numbers 1.3 Power Requirements1.2.2 Model and product number C141-E069-02EN Table 1.3 Current and power dissipationFigure 1.1 Current fluctuation Typ. when power is turned on Environmental specifications 1.4 Environmental SpecificationsTable 1.5 Acoustic noise specification 1.5 Acoustic Noise1.7 Reliability Table 1.6 Shock and vibration specification1.6 Shock and Vibration 1.9 Media Defects 1.8 Error Rate2.1 Device Configuration 2.2 System Configuration CHAPTER 2 DEVICE CONFIGURATION2.1 Device Configuration Figure 2.1 Disk drive outerviewMPD3043AT 1 disk MPD3064AT, MPD3084AT 2 disks 1 DiskMPD3108AT, MPD3130AT 3 disks MPD3173AT 4 disks 2 Head 3 Spindle motorFigure 2.2 1 drive system configuration 2.2.3 2 drives connection 2.2 System Configuration 2.2.1 ATA interfaceFigure 2.3 2 drives configuration 2.2.2 1 drive connectionC141-E069-02EN 3.1 Dimensions CHAPTER 3 INSTALLATION CONDITIONS3.1 Dimensions 3.2 Mounting 3.3 Cable Connections 3.4 Jumper Settings C141-E069-02EN Figure 3.1 DimensionsFigure 3.2 Orientation 3.2 MountingFigure 3.4 Mounting frame structure Figure 3.3 Limitation of side-mountingTable 3.1 Surface temperature measurement points and standard values Figure 3.5 Surface temperature measurement pointsFigure 3.6 Service area Figure 3.7 Connector locations 3.3 Cable Connections 3.3.1 Device connector∙ Power supply connector CN1 ∙ ATA interface connector CN1 Power supply connector CN1 Mode Setting Pins ATA interface connectorCable connector specifications 3.3.2 Cable connector specifications3.3.3 Device connection Figure 3.8 Cable connections3.3.5 System configuration for Ultra DMA 3.3.4 Power supply connector CN1Figure 3.9 Power supply connector pins CN1 Cable configuration Figure 3.11 Cable type detection using CBLID- signal Host sensing the condition of the CBLID- signal Figure 3.13 Jumper location 3.4 Jumper Settings 3.4.1 Location of setting jumpersDC Power Connector Interface ConnectorFigure 3.15 Jumper setting of master or slave device 3.4.2 Factory default settingFigure 3.14 Factory default setting 3.4.3 Jumper configuration Figure 3.18 Example 2 of Cable Select Figure 3.16 Jumper setting of Cable SelectFigure 3.17 Example 1 of Cable Select Master Device 3 Special jumper settings a 2.1 GB clip Limit capacity to 2.1 GBSlave Device Cable SelectThis page is intentionally left blank 4.4 Power-on sequence 4.5 Self-calibration 4.6 Read/write Circuit 4.1 Outline 4.2 Subassemblies 4.3 Circuit ConfigurationCHAPTER 4 THEORY OF DEVICE OPERATION 4.7 Servo ControlC141-E069-02EN 4.2.2 HeadMPD3043AT Model Figure 4.1 Head structureMPD3064AT Model MPD3108AT Model4.2.5 Air filter 4.2.3 Spindle4.2.4 Actuator 4.3 Circuit Configuration C141-E069-02EN Figure 4.2 MPD3xxxAT Block diagram4.4 Power-on Sequence Figure 4.3 Power-on operation sequence 4.5 Self-calibration 4.5.1 Self-calibration contents4.5.3 Command processing during self-calibration Table 4.1 Self-calibration execution timechart4.6.2 Write circuit 4.6 Read/write Circuit4.6.1 Read/write preamplifier PreAMP C141-E069-02EN Figure 4.4 Read/write circuit block diagram4.6.3 Read circuit 4.7 Servo Control 4.6.4 Time base generator circuitTable 4.2 Write clock frequency and transfer rate of each zone 4.7.1 Servo control circuit Figure 4.5 Block diagram of servo control circuitServo frame 96 servo frames per revolution Figure 4.6 Physical sector servo configuration on disk surface2 Servo burst capture circuit 5 Power amplifier3 A/D converter ADC 4 D/A converter DAC4.7.3 Servo frame format 4.7.2 Data-surface servo formatFigure 4.7 Servo frame format 4.7.4 Actuator motor control 4.7.5 Spindle motor control C141-E069-02EN 2 Acceleration mode3 Stable rotation mode CHAPTER 5 INTERFACE 5.1 Physical Interface 5.2 Logical Interface 5.3 Host Commands5.4 Command Protocol 5.5 Ultra DMA feature set 5.6 Timing Table 5.1 Interface signals 5.1 Physical Interface 5.1.1 Interface signalsTable 5.1 shows the interface signals C141-E069-02ENTable 5.2 Signal assignment on the interface connector 5.1.2 Signal assignment on the connectorsignal device is ready to receive Ultra DMA data out bursts. The device may 5.2.1 I/O registers 5.2 Logical InterfaceTable 5.3 I/O registers 5.2.2 Command block registers X03 Data Buffer Compare Error X05 ROM Sum Check Error Diagnostic code X01 No Error Detected X02 HDC Register Compare Error3 Features register X1F1 X80 Device 1 slave device FailedBit 7 Unused Bit 6 L. 0 for CHS mode and 1 for LBA mode Bit 5 Unused The contents of this register indicate the device and the head numberBit 3 HS3 CHS mode head address 3 23. LBA bit Bit 2 HS2 CHS mode head address 3 22. LBA bitC141-E069-02EN 9 Status register X1F7DRDY Always 10 Command register X1F7Always C141-E069-02EN5.2.3 Control block registers 5.3 Host CommandsTable 5.4 Command code and parameters 1 of 5.3.1 Command code and parametersTable 5.4 Command code and parameters 2 of 5.3.2 Command descriptions 1 READ SECTORS X20 or At command issuance I/O registers setting contents1F7 HCM 1F6 HDHError information At command completion I/O registers contents to be read1F7 HST Status informationFigure 5.1 Execution example of READ MULTIPLE command In LBA mode ∙ The data transfer starts at the timing of DMARQ signal assertion1 Multiword DMA transfer mode 2 Ultra DMA transfer modeError information At command completion I/O registers contents to be readAt command issuance I/O registers setting contents 1F7 HSTError information At command completion I/O registers contents to be readAt command issuance I/O registers setting contents 1F7 HSTError information At command completion I/O registers contents to be read1F7 HST Status informationAt command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information ∙ The data transfer starts at the timing of DMARQ signal assertion2 Ultra DMA transfer mode 1 Multiword DMA transfer modeAt command issuance I/O registers setting contents R = 0 or At command completion I/O registers contents to be readError information At command completion I/O registers contents to be readThis command can be issued in the LBA mode At command issuance I/O registers setting contentsAt command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information 10 SEEK X7x, x X0 to XFAt command issuance I/O registers setting contents In LBA modeAt command completion I/O registers contents to be read Error InformationAt command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information 1F7HCMC141-E069-02EN Table 5.5 Information to be read by IDENTIFY DEVICE command 1 ofTable 5.5 Information to be read by IDENTIFY DEVICE command 2 of Table 5.5 Information to be read by IDENTIFY DEVICE command 3 of Table 5.5 Information to be read by IDENTIFY DEVICE command 4 of At command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information 14 SET FEATURES XEFTable 5.6 Features register values and settable modes xx or transfer mode At command issuance I/O registers setting contentsAt command completion I/O registers contents to be read Error informationAt command issuance I/O registers setting contents 15 SET MULTIPLE MODE XC6At command completion I/O registers contents to be read Error informationdisabled = Word 59 = 0000 The READ MULTIPLE and WRITE MULTIPLE commands are16 EXECUTE DEVICE DIAGNOSTIC When device 1 is not presentTable 5.7 Diagnostic code At command issuance I/O registers setting contents The READ LONG command supports only single sector operationR = 0 or At command completion I/O registers contents to be read Error informationR = 0 or At command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information At command issuance I/O registers setting contentsError information At command completion I/O registers contents to be readAt command issuance I/O registers setting contents At command completion I/O registers contents to be readDisable of timer Point of timerAt command issuance I/O registers setting contents Period of timerError information At command completion I/O registers contents to be readAt command issuance I/O registers setting contents At command completion I/O registers contents to be readPeriod of timer At command issuance I/O registers setting contentsAt command completion I/O registers contents to be read Error informationAt command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information This command is the only way to make the device enter the sleep modeError information At command completion I/O registers contents to be read27 CHECK POWER MODE X98 or XE5 The host checks the power mode of the device with this commandAt command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information 1F7 HCMTable 5.8 Features Register values subcommands and functions Subcommand At command issuance I-O registers setting contentsAt command completion I-O registers setting contents Error informationTable 5.9 Format of device attribute value data Table 5.10 Format of insurance failure threshold value data Seek error rate Read error ratePower-on time Number of power-on-power-off times∙ Failure prediction capability flag ∙ Raw attribute value Raw attributes data is retainedBits 2 to 15 Reserved bits ∙ Check sum ∙ Insurance failure thresholdAt command issuance I/O registers setting contents NOTE - This command may take longer than 30 s to completeAt command completion I/O registers contents to be read Error informationTable 5.11 Contents of security password At command completion I-O registers setting contents At command issuance I-O registers setting contentsError information 1F7 HCMAt command completion I-O registers setting contents At command issuance I-O registers setting contentsError information 1F7 HCMAt command completion I-O registers setting contents At command issuance I-O registers setting contentsError information ∙ SECURITY SET PASSWORD ∙ SECURITY UNLOCK ∙ SECURITY DISABLE PASSWORDSECURITY SET PASSWORD SECURITY DISABLE PASSWORDAt command issuance I-O registers setting contents At command completion I-O registers setting contentsTable 5.13 Relationship Table 5.12 Contents of SECURITY SET PASSWORD databetween combination of Identifier and Security level, and operation of the lock functionAt command completion I-O registers setting contents At command issuance I-O registers setting contentsError information 35 SECURITY UNLOCK F2h This command cancels LOCKED MODEAt command completion I-O registers setting contents At command issuance I-O registers setting contentsError information 1F7 HCMAt command completion I/O registers contents to be read At command issuance I/O registers setting contentsError information At command issuance I/O registers setting contentsError information At command completion I/O registers contents to be read1F7HST Status informationDRDY 5.3.3 Error postingTable 5.14 Command code and parameters 5.4.1 Data transferring commands from device to host 5.4 Command ProtocolFigure 5.2 Read Sectors command protocol 5.4.2 Data transferring commands from host to device Figure 5.3 Protocol for command abortFigure 5.4 WRITE SECTORS command protocol Figure 5.5 Protocol for the command execution without data transfer 5.4.3 Commands without data transfer5.4.5 DMA data transfer commands 5.4.4 Other commandsFigure 5.6 Normal DMA data transfer 5.5 Ultra DMA feature set 5.5.1 Overview 5.5.3.1 Initiating an Ultra DMA data in burst 5.5.2 Phases of operation5.5.3 Ultra DMA data in commands 5.5.3.2 The data in transfer 5.5.3.3 Pausing an Ultra DMA data in burst5.5.3.4 Terminating an Ultra DMA data in burst C141-E069-02EN b Host terminating an Ultra DMA data in burst5.5.4.1 Initiating an Ultra DMA data out burst 5.5.4 Ultra DMA data out commands5.5.4.2 The data out transfer 5.5.4.3 Pausing an Ultra DMA data out burst5.5.4.4 Terminating an Ultra DMA data out burst C141-E069-02EN b Device terminating an Ultra DMA data out burst5.5.5 Ultra DMA CRC rules Figure 5.7 Ultra DMA termination with pull-up or pull-down 5.5.6 Series termination required for Ultra DMATable 5.15 Recommended series termination for Ultra DMA Figure 5.8 PIO data transfer timing 5.6 Timing 5.6.1 PIO data transfer5.6.2 Multiword data transfer Figure 5.9 Multiword DMA data transfer timing modeFigure 5.10 Initiating an Ultra DMA data in burst 5.6.3 Ultra DMA data transfer5.6.3.1 Initiating an Ultra DMA data in burst Table 5.16 Ultra DMA data burst timing requirements 1 of 5.6.3.2 Ultra DMA data burst timing requirementstZIORDY Table 5.16 Ultra DMA data burst timing requirements 2 oftACK UIMLIFigure 5.11 Sustained Ultra DMA data in burst 5.6.3.3 Sustained Ultra DMA data in burstFigure 5.12 Host pausing an Ultra DMA data in burst 5.6.3.4 Host pausing an Ultra DMA data in burstFigure 5.13 Device terminating an Ultra DMA data in burst 5.6.3.5 Device terminating an Ultra DMA data in burstFigure 5.14 Host terminating an Ultra DMA data in burst 5.6.3.6 Host terminating an Ultra DMA data in burstFigure 5.15 Initiating an Ultra DMA data out burst 5.6.3.7 Initiating an Ultra DMA data out burstFigure 5.16 Sustained Ultra DMA data out burst 5.6.3.8 Sustained Ultra DMA data out burstFigure 5.17 Device pausing an Ultra DMA data out burst 5.6.3.9 Device pausing an Ultra DMA data out burstFigure 5.18 Host terminating an Ultra DMA data out burst 5.6.3.10 Host terminating an Ultra DMA data out burstFigure 5.19 Device terminating an Ultra DMA data out burst 5.6.3.11 Device terminating an Ultra DMA data in burstFigure 5.20 Power-on Reset Timing 5.6.4 Power-on and resetThis page is intentionally left blank 6.3 Power Save 6.4 Defect Management 6.5 Read-Ahead Cache 6.1 Device Response to the Reset 6.2 Address Translation6.6 Write Cache 6.1 Device Response to the Reset CHAPTER 6 OPERATIONSFigure 6.1 Response to power-on 6.1.1 Response to power-onFigure 6.2 Response to hardware reset 6.1.2 Response to hardware resetFigure 6.3 Response to software reset 6.1.3 Response to software resetFigure 6.4 Response to diagnostic command 6.1.4 Response to diagnostic commandTable 6.1 Default parameters 6.2.1 Default parameters6.2 Address Translation MPD3043AT6.2.2 Logical address Figure 6.5 Address translation example in CHS mode6.3.1 Power save mode Figure 6.6 Address translation example in LBA mode 6.3 Power SaveA device enters the active mode under the following conditions 1 Active mode∙ Power-on sequence is completed ∙ A command other than power commands is issued6.4 Defect Management 6.3.2 Power commands6.4.2 Alternating defective sectors 6.4.1 Spare areaFigure 6.7 Sector slip processing Defectiveunused Figure 6.8 Alternate cylinder assignment6.5 Read-Ahead Cache 6.5.1 Data buffer configurationFigure 6.9 Data buffer configuration 6.5.2 Caching operation 6.5.3 Usage of read segment 3 Sequential read a. Sequential command just after non-sequential commandMis-hit data Empty dataHAP Completion of transferring requested data b. Sequential hitRead-ahead data Hit dataDAP Last position at previous read command Last position at previous read command3 Full hit hit all HAP set to hit position for data transferstopped 6.6 Write Cache When the write cache function is enabled, the transferred data from the host by the WRITE SECTORS is not completely written on the disk medium at the time that the interrupt of command complete is generated. When the unrecoverable error occurs during the write operation, the command execution is stopped. Then, when the drive receives the next command, it generates an interrupt of abnormal end. However an interrupt of abnormal end is not generated when a write automatic assignment succeeds. However, since the host may issue several write commands before the drive generates an interrupt of abnormal end, the host cannot recognize that the occurred error is for which command generally. Therefore, it is very hard to retry the unrecoverable write error for the host in the write cache operation generally. So, take care to use the write cache function I, Place des Etas-Unis, SILIC 310, 94588 Rungis Cedex, FRANCE Reader Comment Form FUJITSU LIMITED