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NO
$7137"78
Functional Description
7936 and 7937
SEEK (2)
2
CALCULATE INITIAL ACCELERATION TIME rROM COMBINATION or STARTING QUADRANT.
SEEK DIRECTION AND
DTG~lr
DTG (COMMANDED
or
ADJUSTED)<>O
or
Ir TCHOLD-I.
SET A 2ms T.O. rOR THE
~IRST
TRACK CROSSING--"DIVS-O
T.O.
STATUS-26
SET A
20m,
SEEK
T.O~SET
UP TRACK
COUNTER~WAIT
F'OR
ACCELT.O.~
CALCULATE INITIAL DECELERATION DUTY CYCLE BASED ON DTG
SET COMMANDED
OUAD VALUE
APPLY ONE
90ul
PULSE/TC UNTIL
MEASURE TRACK CROSSING TIMES AND COMPARE VALUE TO A TABLE (INDEXED BY DTG)--"
COAST IF' GOING TOO SLOW, ADO A DECELERATION PULSE IF' GOING TOO F'AST (DUTY CYCLE
OF' THE PULSE IS A CALCULATED VALUE --.. DIVS-O WHEN DTG<21--" CONTINUE UNTIL DTG-1
YES
STATUS-11
COAST --.. STOP TIMER ____ REPORT "SEEK NEAR COMPLETE" (OPCOOE 84H)
ABORT
SSS-1
QUAO-O
DONE
SETTLE
5-43
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