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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