TW307002B - - Google Patents

Description

According to side A7 V. Description of the invention (”Identified Fanyuan _ This invention is related to removable card hard drive, especially the loading and unloading of magnetic read / write heads in the removable card hard drive system The device and method on the magnetic disk. 2) Relevant technology tear-back number removable card hard disk drive system has been on the market for some time. Just like the fixed disk drive, the removable card hard disk drive system Provides large storage capacity at low cost and relatively fast access time. However, unlike fixed disk drives, removable card hard drive systems allow users to easily replace relatively high-capacity hard drives, allowing Conveniently exchange large amounts of information between remote locations and greatly increase the storage capacity of the system. Just like a fixed disk drive, a removable card hard drive system uses a magnetic reader / writer to read and write data and use the disk surface The magnetic field is stored. The surface of the disk is divided into concentric circular tracks for data storage. To read or write data to the disk, the surface of the disk rotates rapidly and the read / write head depends on the data to be stored or The path taken around the track passes over the surface of the disk. Therefore, the disk drive needs some way to position the read / write head above the disk surface of the track where the data is to be written or read. Traditionally, the read / write head Connected to the voice coil motor (VCM) transmission device loaded and unloaded by the disk surface. To start the VCM, control the current to generate acceleration through the voice coil and the VCM and the connected read / write head to produce speed. The control voice coil current 'read / write head can be positioned on the disk position where the data is to be imported or read out. This paper music standard is applicable to China National Standard (CNS) A4 specification (210X297 mm) ------- --Approved clothing ------ ir ------ Μ,-·-(please read the notes on the back before filling out this page) Printed head of the consumer consumption cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs : When the card drawer inserts the removable card hard drive, read, write, +, are loaded onto the surface of the disk to start the read / write operation. Conversely: when not in use 'or when the card g is to be transferred from the hard drive When the actuator is ejected, the read / write head • item is unloaded from the disk surface. To uninstall the read / write head, be sure to Make sure that the read / write head is parked in the docked position to prevent it from moving back to the surface of the disk in case of shock or vibration. Figure 1 shows the magnetic loading and unloading of the read / write head to the removable card hard drive in the prior art Movable ramp and latch mechanism on the disc. The combination of VCM drive and read / write head 102 includes the read / socket head 4 connected to the VCM drive through a loading lever. The combination of VCM drive and read head 102 Connected to the disk drive base n 〇. 1> (. Printed by the Central Bureau of Standards of the Ministry of Economic Affairs-Industrial and Consumer Cooperation Co., Ltd. is also connected to the disk drive base 丨 10 is there-for inclined to the surface of the card hard drive Movable ramps of the ramp surfaces 114, 116 During the loading or unloading operation of the read / write head, the read / write head 104 (one on each side of the disk) is rotated down the ramp surface by the VCM actuator 106 or Load or dock the read / write head with the above. The movable slope 112 has a protrusion 1 mm on each slope surface. When in the docking position, the combination of VCM and the read / write head 1〇2 was suddenly pushed down onto the surface of the disk until it was locked by the color gold_lock = as shown in Figure 2A As shown, the movable ramp 112 can be moved to the retracted position where the ramp is fully retracted when the read / write head 104 is not in use, for example, when the disk cartridge is to be inserted or ejected from the drive. The movable slop 112 is moved to the retracted position by a combination of links not shown in the figure. As shown in FIG. 2B, the movable slope 112 can also be moved to the front of the slope. The paper size is applicable to the Chinese National Falcon (CMS) A4 specification (210X 297 mm). V. Description of the invention (A7 B7 Central Ministry of Economic Affairs Bureau staff consumer cooperative printing = position so that the reading Λ socket 104 can be loaded onto the surface of the disk. Thus the slope = into the position 'the full width of the read / write head manned lever ⑽ must move the reading Ί towards the disk The required torque is greatly reduced. Before passing over the protrusions 4 To unload and retract the read / write head on the same place, the loading lever must completely remove the protrusions before the read / write head is locked. A further need is to lower the VCM drive in the disk drive The torque requirement of the drive can reduce the related electronic cost in the disk drive. When the reader head is to be unloaded when the power is turned off, the speed and rhythm of the loading rod must be climbed when the loading bar reaches the slope. Make a trade-off between the total torque surface of the transmission required for the slope and over the protrusions. To reduce the torque, when it is correct, and ... the speed of the manned lever must be increased when reaching and climbing the slope. This The vertical acceleration of unloading the read / write heads over the slopes and over the protrusions may damage the precise read socket assembly. The prior art in Figures 1 and 2 has been affected. The repressive force of the protrusions is read In the case of unloading, the write head must ensure that the worst case g / socket can pass the limitation of the protrusion. This leads to the loss of some immunity to collisions, especially the rotary collision, increasing the reading socket head fork can accidentally The possibility of falling off the ramp and falling onto the disk. The grip of the protruding protrusion is too light and the ramp moves too fast, the loading lever may be off the ramp and the read / write head may fall on the disk. Therefore, one It is helpful to provide a fixed interlock in the removable card hard disk drive system to fix the read / write head in the docking position. The rear sound ^ allows the combination of the VCM transmission and the read / write head to climb up with lower kinetic energy The improved latch of the removable slope is more helpful. Provided in the removable card hard drive. ≫ (please read the precautions on the back first and then fill out this page) -Install ---- 线 线 -6- This paper standard is applicable to China National Standard (CMS) A4 Grid (210x297 competition, the Ministry of Commerce, the Ministry of Public Security, the Central Committee of the Ministry of Industry and Commerce, the Consumer Cooperative, A7 _____ B7. Fifth, the description of the invention (4) The servo control algorithm for loading and unloading the read / write head with improved latch in the device is more Help. Other objectives and advantages will appear below. SUMMARY OF THE INVENTION The present invention includes a device and method for loading and unloading magnetic read / socket heads onto a magnetic disk in a removable card hard disk drive system. In one form, a removable card hard drive combined with a magnetic flash lock locks or locks the read / write head when it is unloaded from the disk, or locks it to a docking position on a removable slope. Magnetic suction is used to Even if the read / write head is moved instantaneously due to collision, the read / write head is returned to its locked position. In another form of the invention, an improved latch is used to lock the read / write head in the docked position and allow The combination of VCM transmission and read / write head uses 2 pairs of smaller kinetic energy or torque of the transmission to climb up the slope: the kinetic energy required to climb the slope does not need to overcome the frictional engagement of the protrusions on the slope and is driven by the suction of the magnetic latch The combination of VCM drive and read / write head climbs up the movable slope and lowers. In another form of the invention, a servo control algorithm enables the speed of the read / write head on a removable ramp with a magnetic latch in a removable card hard drive during the loading of the read / write head Maintain a constant speed. It shows various objectives, features and advantages of the present invention. By reviewing the following description of the preferred embodiment, it will be easier to understand together with the accompanying drawings. Among them: Figure 1 The voice coil motor transmission device and the combination of the read and write head and With the prior art question lock mechanism used to #% V docked read / write in the removable card hard drive system ^ Zhang Niuzi (please read the precautions on the back before filling this page) Install- * Line 5 , Invention Description (5

Top view of the movable slope of the 307002 head. FIG. 2A is a plan view of the retractable movable oblique assembly of the voice coil motor placement and read socket head using the previous flash lock mechanism technology in FIG. 1. FIG. ⑨Upwards and rearwards of the slope Figure 2B is the top view of the slope forward position of Figure β using the combination of the voice coil motor and the read / write head of the previous interlocking mechanism technology to the movable slope. FIG. 3 is a sub-view of a combination of a magnetically-advancing voice coil motor transmission device and a read / write head in one embodiment of a magnetic latch in accordance with one or more embodiments of the present invention. FIG. 4A is a front view of a latch assembly used on a removable ramp in a removable card hard drive to lock a read / write head in a parked position. FIG. 4B is a plan view of the latch assembly in FIG. 4A. 4C is a side elevation view of the latch assembly of FIGS. 4A and 4B. 4D is a perspective view of the magnetic latch. Figure 5 is a side view of a magnetic latched steel spring. 6A is a front view of the magnetic latch bracket. 6B is a top view of the bracket in FIG. 6A. Fig. 6C is a side elevation view of the bracket in Figs. 6A and 6B. Fig. 7 is a plan view of the combination of a voice coil motor transmission device and a read / write head on a movable slope with a magnetic latch back to the slope retreat position. Figure 8 shows the servo control loop used to control the speed of the read / write head in a removable card hard drive combined with a magnetic latch. Figure 9A-9C shows the control of read / write during the loading operation of the read / write head Head speed-8 This paper scale is applicable to the Chinese National Standard (CNS) Α4 specification (2ΙΟΧ 297mm). ---- ^ —— 1T ------ line (please read the precautions on the back before filling in " This page] Printed by the Ministry of Economic Affairs, Central Bureau of Standards, Employee Consumer Cooperative Printed by the Ministry of Economic Affairs, Central Bureau of Standards, Employee Cooperative Printed A7 ______B7_-V. Flowchart of the servo control algorithm for invention description (6) ~~. Detailed description of preferred embodiments FIG. 3 shows one or more forms of the voice coil motor (Vcm) transmission device and the read / write head combination 302 according to the present invention in the forward position of the slope on the movable slope 304 with the magnetic latch 306. Slope forward position. The VCM drive and read / write head combination 302 includes a read / write head 308 connected to the CVM drive 310 via a load bar 312. The VCM drive includes a voice coil 311. The VCM drive and read / Write head combination 302 and movable slope 304 A part of the structure that is self-linked to the disk drive containing the base plate 34. The magnetic latch 306 includes a latch assembly 6 'connected to the base plate 34 and a latch piece connected to the VCM actuator and head assembly 302 3 18. A preferred embodiment of the latch assembly 3 16 is shown in FIGS. 4A-4C. The interlock assembly 316 includes a magnet 410 attached to the spring yellow 412. When the read / write head 308 is docked on the movable ramp 304 When fully retracted, the magnet _ emits a magnetic field of sufficient strength to attract and hold the latch piece 3 1 8 on the VCM actuator and read / write head assembly 302. In a preferred embodiment, the magnet 410 may be a samarium go magnet , For example, Magnet Sales Co. company produced part number 18DRE0704 magnet "When the movable slope 304 is in the slope forward position, the magnetic latch 306 grabs the stain socket head 308 on the slope. As shown in Figure 3, when reading The write head is loaded onto the disk from the ramp, and the magnet 410 begins to be separated from the latch piece 318, opening the magnetic latch 306. Although in the preferred embodiment, the latch assembly 316 is loaded on the substrate 314, it must be understood Latch combination can be attached to disk drive junction Any suitable structure ___—_____-9-This paper scale is applicable to Chinese National Standard (.CNS) A4 specification (210 X 297 mm) '-^ ---- T-, 1τ ------ 0 .--(Please read the precautions on the back before filling in this page) A7 ----------- B7 _-__ printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs V. Invention Description (7) Copies. The position of the interlock combination 3 16 is related to the movable ramp 304, so that the magnet 410 can contact the interlock plate 3 18 when the read / write head 308 is parked on the movable ramp. The latch combination must also be far enough from the voice coil 3 11 so that the magnetic field of the magnet 410 does not affect the operation of the voice coil. In a preferred embodiment, the latch assembly 316 is approximately 3 cm from the point closest to the voice coil 31. In a preferred embodiment, the latching plate 318 is made of magnetic material, such as steel plate, steel flat head screw, or similar device, and is fixed to the transmission device 31 on the VCM transmission device and the reader / socket combination . Although in the preferred embodiment that appears, the magnet 410 is included in the latch assembly 316, it must be known that other possible arrangements do not depart from the scope and spirit of the present invention. In a variation, the latch piece 318 may be magnetized to be magnetically opposite to the magnet 410 so that the latch piece 318 and the magnet 410 attract each other. In another variation, the latch piece 318 may be magnetized and the latch assembly may include an unmagnetized magnetic piece instead of the magnet 41. Figure 40 shows a magnetic latch 306 in a preferred embodiment that includes a flash lock combination 3 16 and a latch plate 3 1 8. FIG. 5 shows a preferred embodiment of the spring 412. In short, the embodiment of the latch assembly 316 in FIGS. 4A-4C also provides a bracket 414. The spring 412 is fixed to the bracket 414 by a fixing device 416. The fixing device may be a screw and a screw nut, spot welding, or the like. The bracket 414 is connected to the base plate 314 again. When viewing the advantages in 6A-6C, the bracket 414 has a first arm 61 including a socket 612 for receiving a screw or screw for coupling to the base plate 314. The bracket also has a first arm 6 ~ 4 including an opening 616, through which the magnet 410 can make initial contact with the latch piece 3 ~ 8. Although the preferred embodiment in the package ___________- 10- This paper scale is applicable to China's national counties 7 ^^ · ^ (2l0 ^ jy installed ------ ordered ------ line.-,-(Please first Read the precautions on the back and then fill out this page) A7 A7 Du Printed by the Ministry of Economic Affairs, Central Bureau of Standards, Consumer Cooperation V. Invention Instructions (8) The bracket 414 is included. It must be understood that the spring 412 can be directly fixed to the base plate 314 without the bracket 411. , The bracket improves the operation of the magnetic flash lock 306 by preventing the forward movement of the magnet 410 and the spring 412 to the flash lock piece 318 when the read / write head 308 is loaded on the magnetic disk. The opening 616 on the bracket 414 The magnet 410 is allowed to stay in contact with the latch piece 318 when the spring 412 is compressed. Figure 7 shows the VCM transmission with the magnetic latch 3〇6 in FIG. 3 and the read / write when the movable ramp itself retreats back to the ramp back position The head assembly 302 retreats back onto the movable slope 304. The slope 304 is moved to the retreat position by the link combination discussed previously, and does not appear or form part of the present invention. When reading / writing When the head 38 is in the fully retracted position, the magnet 41〇 and the interlocking piece 318 can contact each other. When the ramp 304 is in the retracted position, the spring da is compressed. When the disk is to be read and / or written, the voice coil motor transmission device 31〇 loads the read / write head onto the surface of the disk. To finish In this action, the disk drive transmits-(t) to the voice coil 311, which generates force into acceleration and causes the angular velocity of the read / write head 308. The servo control loop can be used to control the speed of the read / write head. To determine the read / write head 'Speed' measures the voltage of the voice coil through the VCM actuator 31. The measured voltage of the voice coil is the sum of the two elements' return power (E MF), which is proportional to the angular velocity of the read / write head, and the conduction through the coil The IR voltage drops after the resistance. By subtracting the flood voltage from the measured voice coil voltage, the angular velocity of the read / write head is calculated. The relevant control current can then be applied to the voice coil to obtain Target speed. More detailed information about the methods related to controlling the speed of the read / write head can be found in the assignment ________— -11- The paper size is appropriate. Gill: County (CNS) Α4 Specification (2T〇 ^ 297 ^ i ~ y ΙCloth ^ Ordering line * I (Please read the note on the back first Items and then Complete this page) 307002 A 7 B7 Ministry of Economic Affairs Bureau of Standards employees consumer cooperatives printed V. invention is described in (9

The trustee of the invention is found in US Patent No. 4,864,4: 37 with the heading " HEAD L〇ADING VELICITY CONTROL and refers here to β. FIG. The preferred embodiment of the head speed speech control circuit 800. The servo control loop contains a differential gear amplifier 802 to measure the shunt through the voice coil in the voice coil motor 804. The measured voltage is supplied to an analog-to-digital converter (ADC) 806. It periodically samples and converts it into a digital block suitable for processing by the digital microprocessor 808. The digital microprocessor 808 executes an algorithm to periodically update the output digital control voltage block based on the measured voice coil voltage. The digital control voltage block is provided to a digital-to-analog converter (DAC) 810 to generate an analog voltage signal. The analog voltage signal is supplied to the transfer amplifier 812 and in turn supplies control current to the voice coil. • In a preferred embodiment, one or more forms of servo control algorithms according to the present invention control the speed of the read / write head by switching between the two control modes according to the size of the voice coil control current on the voice coil . In response to the magnitude of the control current exceeding a predetermined limit, the algorithm operates in a sudden high current speed control servo mode, as will be explained in more detail below, otherwise the algorithm operates in a continuous low current speed control servo mode. The algorithm operates in a sudden high current speed servo control mode in response to the size of the voice coil control current sufficient for the differential gear amplifier input to penetrate the IR element forming the voice coil voltage. "The sudden high current speed control mode by removing the voice coil Current to prevent differential gear amplifier input during voice coil voltage measurement. The sudden high current speed servo control mode operates in two stages, that is, -12-This paper is applicable to the Chinese National Standard (CNS) A4 specifications (210 X 297 mm). --- A '-· (Please read the precautions on the back before filling in this page) A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention description (1〇) Speed control stage and measurement stage. During the speed control phase, the voice coil control current is set to the calculated value to produce the target read / write head speed. During the measurement phase, the voice coil control current is removed. After a delay period where the coil current decays to near zero, measure the voice coil voltage. By removing the current, the voice coil voltage is measured without penetration of the differential gear amplifier. After removing the voice coil control current, due to the decay time constant, L / R, there is still residual current through the coil. The residual voltage generated by the residual current after the delay period is subtracted from the measured voice coil voltage to obtain the back EMF proportional to the angular velocity of the read / socket head. From the measured back EMF, the angular velocity of the reader / head is calculated and compared with the target value, resulting in a velocity error value. Then adjust the voice coil control current to reduce the speed error. In the continuous low current speed servo control mode, the voice coil control current is continuously applied to the voice coil. The algorithm periodically samples the differential gear amplifier output to obtain the coil voltage. Using the known value of the measured voice coil control current during system detection, the IR voltage is calculated and subtracted from the measured voice coil voltage to produce a return EMF. From the EMF, the angular velocity of the read / write head is calculated and compared with the target value, resulting in a velocity error value. Then adjust the voice coil control current to reduce the speed error. Algorithms with a sudden high current speed servo control mode are particularly suitable for one or more forms of removable ramp disk drives with magnetic latches in accordance with the present invention. At the beginning of the read socket loading process, when the read / write heads are parked on a slope, they are held in place by the force of the magnetic latch. To overcome this force, the voice coil control current can be increased to the level where the generated IR voltage through the voice coil penetrates the differential gear amplifier. Through the operation in the control mode of rapid change of high current speed, the reading / nesting speed can be measured and used in _-13- this paper "standard universal Chinese national standard (CNS) A4 specification (.2 丨 0X 297mm ) (Please read the precautions on the back before filling out this page)-Outfit-Printed by the Staff Consumer Cooperative of the Central Kneading Bureau of the Ministry of Economic Affairs

V. Description of the invention (H 5) Service control loop. Although the algorithm with sudden speed mode is particularly suitable for the magnetic disk drive with magnetic | ± door lock and movable slope, it is the same as the prior art movable type The combination of ramping and interlocking mechanisms is also useful, for example, the related system described earlier in Figure 1. Figures 9A-9C contain one or more forms according to the present invention-used to read / write during read / write operations of the read / write head Flow chart of the algorithm 900 for servo control of the head speed. The algorithm 900 can be executed regardless of whether the data reading or data writing operation is initiated when the read / write head is loaded on the disk. The comparison of the servo control algorithm The complete firmware program printing of the preferred embodiment is provided at the end of this patent specification in accordance with 37 CFR § ι · 96. This firmware program can be executed using the 80C196KR microprocessor produced by Intel Corp. In the first vice In the routine 910, shown in FIG. 9A, the algorithm 900 measures the servo control loop before loading or unloading the read / write head from the disk. In the measurement routine, the algorithm measures the circuit generated by the servo control loop. Voltage offset, such as differential Gear amplifier, and the voltage generated by the residual current through the voice coil due to the L / R decay time constant. Measure the abrupt change value in the servo control mode of high current speed during the first sequence of steps from 9 1 2 to 9 3 4. Starting with the control current set to zero, 64 periodic voice coil voltage measurements are used. Then the 64 high current offset voltage measurement values are averaged to find the high current offset value. The second sequence of steps starting from 936 and branch From 916 to 934, both the offset value and the voice coil resistance value are measured in the continuous low current speed servo control mode. As before, 64 regular voice coil voltage measurements are performed starting with the control current set to zero. On average 64 A low current offset voltage measurement value to obtain a low -14- This paper is suitable for the Chinese National Standard (CNS) A4 specification (210X297 mm) I ------- • Subscribe ------ 0 I-*. (Please read the precautions on the back before filling in this page) A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs 5. Invention description (12) Current offset value. These 64 low current offset measurements The value can be set to 64 with a small amount of voice coil control current The voice coil voltage measurement values alternate with each other. This trace voice coil control current is selected to drive the voice coil upward in the direction of the slope and to resist latch-up so that no net movement is generated. "So, when the voice coil control current is set to trace values The resulting voice coil voltage is equivalent to the IR voltage loss through the voice coil. The 64 measurement values are averaged to find the low current IR correction parameter. In the second subroutine 940, shown in Figure 9B, the algorithm 900 operates in a sudden high current speed servo control mode to control the read / write head speed. In the first sequence of steps 942 to 946, including the measurement phase, the control current is set to zero and the back EMF through the coil is measured. The result of subtracting the high current offset value to find the read / head speed. The measured read / write head speed is then compared with the target speed to produce a speed error. If necessary, limit the speed error to ensure that its size does not exceed the predetermined positive and negative error range. In steps 952 through 958, the speed error and the previous error measurement are proportionally integrated to generate a servo loop filter response. If necessary, limit the integrated error signal to ensure that its size does not exceed the predetermined plus or minus range. In a preferred embodiment, the measurement phase of subroutine 940 occurs during approximately 300 picoseconds and at approximately 1.3 microsecond intervals. Part of the measurement phase time is the delay time corresponding to the L / R time constant required to eliminate the voice coil control current to zero. Next includes the first sequence of steps in the measurement phase, subroutine 940 executes the second sequence from 966 to 970, including the speed control phase. The integrated error signal is -15- This paper size is applicable to the Chinese National Standard (CNS) A4 specification (2l 〇xW7mm) (Please read the precautions on the back before filling out this page), v9 D7 A7 B7 printed by the employee consumer cooperative of the Central Standards Bureau of the Ministry of Economy V. Invention description (13) to arrange the servo control loop during the speed control The mid-DAC uses the voltage on the voice coil. The updated DAC voltage during the speed control phase produces an updated voice coil control current and corresponding read / write head speed. Furthermore, the calculated updated voice coil control current is compared with a predetermined penetration limit. When the magnitude of the current exceeds the limit, the algorithm continues to operate in the servo control mode with a sudden high current speed. If the current is low enough so that the IR voltage passing through the coil does not penetrate the differential gear amplifier, the algorithm switches to continuous low current speed servo control mode β. In the third subroutine 972 shown in FIG. 9C, the algorithm The 900 operates in a continuous low current speed servo control mode to control the read / write head speed. The measured voice coil voltage is compared with the positive and negative penetration limits of the ADC in the servo control loop. If the limit is exceeded, the size of the voice coil current is reduced and the new voice coil voltage is measured in steps 994 and 996 after a fixed delay time. In a preferred embodiment, the fixed delay time is about 200 picoseconds. The square voice coil electrical history is within the penetration limit of the ADC, and the read / write head speed is obtained by subtracting the low current voltage offset and low current IR correction parameters from the obtained voice coil electrical meal. Then, the measured read / write head speed is compared with the target speed to produce a speed error. If necessary, limit the size of the speed error not to exceed the predetermined range of positive and negative errors. The speed error and the previous error measurement are proportionally integrated to generate the servo loop filter response. If necessary, limit the integrated error signal to ensure that its size does not exceed the predetermined positive and negative range. The integrated error signal is used to arrange the Dac to be used during the next measurement period. _____ 16-& Zhang Jicheng uses the Chinese National Standard (CNS) Α4 specification (2 丨 0X 297mm) '---- 一 — ( Please read the precautions on the back first and then fill out this page) 装 ·, ιτ A7 B7 V. Description of the invention (14) The voltage on the circle. In a preferred embodiment, each measurement period in the continuous low current speed servo control mode is 200 picoseconds. The updated DAC voltage produces the voice coil current and the corresponding read / write head speed during the measurement. Furthermore, the calculated new voice coil current is compared with the predetermined penetration limit. When the current does not exceed the limit, the algorithm continues to operate in the continuous low current speed servo control mode. If the limit is exceeded, the algorithm switches to the suddenly high current speed servo control mode. As such, the algorithm 900 provides servo control of speed when loading the read / write head onto the disk. The algorithm 900 can also be executed when the read / write head is unloaded from the disk. The invention has been described in terms of its preferred embodiments. Despite this, the modifications that the artist can make to the magnetic latches and related servo control algorithms included herein do not depart from the scope and spirit of the present invention. ^ Clothing line (please read the precautions on the back before filling in this page) Du Printing -17-Consumer Cooperation of Employees of the Central Standards Bureau of the Ministry of Economic Affairs-This paper is based on China ’s National Standards (CNS) A4 (UlOXM7) 5. Description of the invention (15… Head load constants

C_hd_ref C_hd_calib ADC ^ LIMIT AOCJi_UMT LOU_P_UKIT LOW9 LIMIT HIGH_P_liHIT HIGHeN_UMlT IMT_P_LIHIT IMT_K_UMtT UM-P-SAT UNJLSAT VEL OFFSET hdldv ^ setup: A7 B7 00U0H Target velocity Vtlocity limit (chopped) 0FWCH -Velocity limit (chopped) 002A0H + 60H + Velocity limit (continuous) 0FC9CH-6QH -Velocity limit (continuous) 07C00H ♦ Integrator rail 08A00H • Integrator raU 00180K + Vbernf saturation Ccontinuou -00180H saturation • Vb « (cootinuou 00080H Velocity offset dr un; Initiali2e current OAC output Idb all, P2REG; Set high gain mode orb aU, # BwHGAIN seb all # P2R £ G ret Printed by the Employee Consumer Cooperative of the Ministry of Economic Affairs Central Standards Bureau • SSSSS = SSZ9SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS : Id c, # dac_zero; Set zero VCM current St cf0AC Id c, # C_hd_ref; lnitialize target velocity St c, 0 ^ hd_ref Id c, 丨 C_hd_calib initialize calibration current St c, D_hd_calib St R〇, Dh 《_ofst; Clear Vbemf offset register; Clear Vbernf sense register sc R0,0_hd_sns Idb cl4 # 40K; Average 64 conversions stb cl, AVE_COUNT Id C, # 0SC4M; Start A / 0 by OC on TIMER2 stb Ch, A0_CHO; Set A / 0 to convert Vbemf / ch5 srb cl, EPA_CTRL5; Set £ PAS to start A / d on TIMERS Id c, TIMeR2; Get TIM6R2 value add CJW39C40H; add to it 10 msec sc c, EPA_TIM £ 5; Set OC time to start: A / 0 in 10 msec Idb ret stat lvl, OAD ^ HEAD S; Set next interrupt state Copyright of American Mercer Technology Co., Ltd. in 1995. -18- This paper uses the Chinese National Moumou (CNS) A4 specification (210X 297 g; t) ---------- Kunyi ------ i = r ----- -^ (Please read the precautions on the back before filling in this page) A 7 B7 V. Description of invention (16) Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs

«; ≪-Calibration and Setup for head load states… 4 ioad ^ heads: ;;-VCM current OH state ** · Id al, A0_RSLT; Read Vb« inf shr al # «06H add hd_ofst # al; Accunulate Vbemf for average Ldb al, P2ftEG; IF HCAIN is set calibration jbs all, 8N_HGA1H, load_heads10; at Ivan = 0 is in progress add un, hd calib, Wac_zero; Set OAC = calibration level St un, dac; 〇vcm! = 0 ) load-heads10 X ldb aUf «0SH; Setup A / 0 to convert Vbcmf stb aU, AD-CM〇id al, TIHER2; S« tup EPA5 to initiate A / 0 add al4 # usecA00; conversion 400us from now St al. EPAJIHES ldb State_lvl (# LOAO_H £ AOS2Q: Set next interrupt state br OONE ^ INTERRUPT: £ H0 of INTERRUPT loadwheads20: 1 --- VCM current OFF state ·-Id al ^ AOJSLT; Read Vbemf shr al, # 06H add hd- Sns, al; Accumulate Vb «nf for average Id un, # dac_zero; Set 0AC * 0 CIvcm = 0) St unfDAC td al # TIH £ R2; Co * npute time 400us from now add al« # usec400 ldb state ^ lvl. tflOAO ^ KEAOS; Sec next interrupt state djnz AVE_C0UNT, load_heads25; Repeat cycle times Process after calibration measurements… shr hde〇fst ## 06H Compute average Vbemf for lvcm = 0 shr hd_sns, «06H Compute« vera9 «Vbetnf for ivcm! = 0 ldb all # P2REG If HCAtK is not set (low gain) Jbc all, BH_KGA \ Hti oad_head $ 23 calibration is complete andb allf # not B ^ HGAIN ELSE setup to calibrate at stb allfP2R £ S low gain St hd_of st, hd_of s t_h Store high gain offset value call vsns1_setup Repeat calibration for low gain br DONE INTERRUPT ENO of INTERRUPT Copyright of 1995 by American Xicter Technology Co., Ltd. Approved Clothing ------ ir ------ ^-· (Please read the precautions on the back before filling this page) __- 19- This paper scale is applicable to China National Standard (CNS) A4 specification (210X297mm) A7 B7 V. Invention description (17): Setup for head load velocity control… load heads23: sub hd_cc (hd ^ ofst # hdesns; Compute Voffser-Veal Idb State tvl (# L0A0 ^ HeA0S30; Set next interrupt state Idb all, # 0ffh integrator reset stb all, xh_t (np; flags ctr x2 / Initialize veloc ity add un, Jlfdac ^ iero; IniciaLize OAC output st unf0AC Idb ail # P2REG; Set high gain mode orb aU r # S_HGAIN stb aU, P2REG td al, TIMHR2; Ser A / 0 conversion start add at,)! iusec500; 500us from now; ··· Enable next A / 0 conversion — load heads25: two at, EPA_TIME5; Set A / 0 conversion start time all, # 05 «; Setup A / 0 to convert Vbemf stb all, A0_CH0 br 00NE_INTeRRUPT; EN0 of IHTERRUPT 1;-· High VCM t rurrent “chopped " velocity control servo — * toad-heads〗. :; —VCM current OFF state — td hd_sns, A0_RSLT; Read Vbcfnf (unused) Id un (#dacezero; Set OAC ^ O (Ivcn = 0) st un (0AC Idb aLl, # 05H; Setup A / 0 cycle stb aU # A0_CH0; to convert Vbemf Id al # TIMeR2; 300us from now add ai f # usec300 sc al # £ PAeTIME5 Idb state_lvUL〇AD__HEA〇S4〇; Set next interrupt state br 0〇Ne_! HTeRRUPr; EN0 of INTERRUPT Load_heads40:;- VCM control state — Id hd_sns, AOeRSLT; Read Vbemf (please read the precautions on the back before filling out this page). Installed. ---- Ordered by the Ministry of Economic Affairs Central Standards Bureau Employee Consumer Cooperative Printed by U.S. Sikester Technology Co., Ltd. The copyright of the company in 1995. _____- 20- The size of this paper is moderate ϋϋ County (CNS) Α4 · _ (2⑴Here in the public cage) 307002 at B7 Printed by the Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention description (18 shr sub mut shral Id ctr sub sub subc Id Id Id cmpl jit Id clr cmpt Jle Id sjmp load_heads43: Id load_heads44: add cmpile cmp Jte Id sjmp load_heads4S: Id load_heads46: Id shra

hd_sns, S06H hd_sns, hd_afst_h a, hd_snsf # 250 x2 · at bh bt, h < ^ 「ef, # VEL_OFFS £ T bl.albh, ah un, bt aL ^ HIGH ^ LIHIT ah ^ ffffh b. a loac_headsC3 at ## HlGH_P_UMiT ah b, a toad_heads4A un (#HIGH_P_UMrT load_heads "un, # HIGH_N_LlHIT

x4 # un x4, # INTmM_LIM1T toad_heads45 x4, # lHT_P_UHiT load ^ headsC6 x4 ## INT_P_LIMIT (oad_heads46 x4, KilMT_N_UMlT al · χ4 al.tfOSH add unral cmp He cmpjle Id sjmp load_s

un, # HlGH_M_UHIT load_heads47 unt # tUGH people LIMIT load_headsA8 unjHIGHj > _UMIT load_heads ^ 8 unltfHIGH_N_UM! T

Adjust Vbemf by offset level VELOCITY = Vb «mf · Voffset Scale velocity; Save scaled velocity; Compute velocity error; Saturate velocity; for velocity limits exceeded; Integrate X4 = XA + UH; SaCurate X4; Apply integrator gain

; Add proportional term; to integrator; Sacurate UN Copyright of 1995 by Xicter Technology Co., Ltd. 21 This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm). --- " ------- ^ (Please read the precautions on the back before filling out this page) A7 B7 5. Description of the invention (19)

load_heads4S: Idb aU ^ xh ^ tmp; Skip high-velocity reset jbc aLl.O.dac ^ output; if reset occured before cmp x2fmL „TRIP; Check for velocity outside igt nuU_tnt € grator; trip t im -.s cmp x2f # -V £ L_TRIP JU null_integrator simp dac_output nul ^ integrator Id x4 (R0; Reset integrator if velocity td untfR〇; is outside trip limits SCO R〇, xh_tmp-dac ^ output: add al, u ~ # <dac_zer〇; S € t OAC to control level sc at, 0AC cmp al, # 800H >80H; Check for VCM current over jh load_heads ^ 9z; threshold cmp at, # 300H-60H jnh load_h € adsA9i call switch2tow; Switch to low gain br toad_heads59; ..continuous · control load_heads49z: idb allf # 0SH; Setup A / 0 to convert Vbcfnf stb aU, A0eCH0; 1ms from now Id al, TIH £ R2 add al, # msec001 St al # EPA_TIHE5 Idb state_lvl ## LOA0_HeAOS30; Set next interrupt state br DON £ _IHTERRUPT; EN0 of INTERRUPT; ·-· Low VCM current Mcontinuous " velocity control servo… * load ^ headsSO: Id hd__sns # AO_RSLT; Read Vbemf shr hd snsfiV06H --------- Clothing --------- 1T ------ 0 (Please read the notes on the back before filling out this page) Employee Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs Print αηρ hd_sns, #AOC_PeL IΜIT; Process saturation of Vfcwfflf jnh load_heads51

cmp uni # UH_P_SAT je load_heads510

Id ur \ tmHJ > JSAT simp load_heads65 load_heads51:

cmp hd_snsl # AOC-H_LIMiT jh Load_heads52 load_heads510:

Id un, «00H sjmp load_heads65 Copyright of American Xicter Technology Co., Ltd. 1995. -22- This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X 297mm) 5. Description of the invention (20 load_heads52: sub hd sns, hd-〇fst_ A7 B7 RXjl muL sub subc shral Id clr sub subc Id Id td cmpl jit Id clr cmpl jle Id simp load headsSS: Id

a, hdesns, # 256 b, un # hd_cc al, bl ah, bh a, #A x2, al bh bl, hd_ref, cl bh, ah un.bl 3 l, # 1〇υ_Ν_ΙΙΜΙΤ ah, # 0ffffhb, a load one heads55 at, # lOW_P_LIMIT

Adjust Vb € < nf by offset leveL VELOCITY = Vb «fflf * Voffset Scale velocity Compute velocity adjustment Veloc ity = hd_sns · (un * hd_cc); Save velocity; Ccfrpute velocity error; v €« hd ref-velocity .-Saturate velocity ; For velocity limits exceeded ah b, a

loadeheads57 un ## tOW_PeUMn toadeheads57 un, # L〇W N LIMIT load heads57: 0 < 3 wpepe- ^ 5 ό Φ I ^ I d -J s JQ 3 C -ί ο Ι IV s d II a e h ad

x4, un x4 # lKlHT_M_llMiT load_heads58 x4 ## INT_P_UHIT toad_heads59 x4f # IMT_P_UMIT load_heads59 X4, # INT_M LIMIT

; Integrate X4 = X4 + UN. • Saturate XC --------- Yiyi ---- L-# ------- ^ '.-(Please read the notes on the back first (Fill in this page) Copyright of 1995 by American Xicester Technology Co., Ltd. is printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. -23- The size of this paper is printed by China National Standard (CNS) A4 (210X 297mm) 307002 Printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 5. Description of the invention (21)

Load heads59: td al; Apply integrator gain shra al. «05H add un, al; Add proportional term; to integrator cmp un,« L〇U_H_lIKIT; Staurate UK Me load_heads60 cmp un, # L〇W_P_UHIT jle toad_heads65 td un, rolling 〇W_P_UMIT call swuch2high; Suitch to high gain uchopp «d br load_heads ^ 9z; mode if staurated load_hea < ls60 td un, zha 〇W_M_LIHiT call switch2high; Switch to high gain " chopped br load_heads ^ 9z; (node if saturated load_heads65 add al # un, # dac_zero; Output control c〇〇AC St at, 0AC tdb aLl, # 〇SH; Setup A / 0 to convert stb all, A0-CH0; Vbemf 200us from now Id alJIH £ R2 add al, # usec200 St al # EPA_TlM £ 5 br 〇CWe_INTERRUPT; £ N0 of 丨 MTERRUPT —Switch from continuous to chopped velocity control… switch2high: sc un ^ al. • Initialize OAC level St al # 0AC Idb aU, P2R £ G; Set high gain mode orb alt, # 8_HCAlH stb aU, P2R £ G ret… Switch From chopped to continuous velocity control — swi tch2low: Idb alt.PaftEG; Set low gain mode andb all, # not (BJ < GAiN) stb aU, P2REG Idb state__lvl, # LOA〇 ^ HEAOS50; Sec next interrupt state Copyright of American Mercury Technology Co., Ltd. in 199524- This paper scale is applicable to China Standard Falcon (CNS) A4 specification (210X 297mm) Install i to discuss the line (please read the precautions on the back before filling this page)

Claims (1)

A8 B8 C8 ☆ 、 Apply for patents Fan Yuan, Ministry of Economy, Central Standards Bureau, employee cooperation, cooperation, du printing, ι--used to lock the combination of the voice coil motor transmission device and the read / write head in the structure of the removable card disk drive The device for the parking position on the movable slope includes: a magnet; and a magnetic attraction structure, one of the magnet and the magnetic attraction structure is connected to the __ part of the disk drive structure, and the other one is connected to On the voice coil motor transmission device and the read / write head combination, when the read / write head is parked at the retracted position of the movable ramp, the magnet contacts the magnetic attraction structure. 2_ The device according to item j of the patent application scope, wherein the magnet is movably connected to a part of the structure of the disk drive. 3_ The device according to item 2 of the patent application scope further includes a spring device that movably connects the magnet to a part of the structure of the disk drive. The device according to item 3 of the patent application scope, wherein the magnet The magnetic poles are oriented vertically towards a part of the structure of the disk drive. 5. According to the device in item 4 of the scope of the patent application, further includes a support 'the first arm of the bracket is connected to a private part of the disk drive structure and the second arm' is substantially perpendicular to The first arm has an opening through which the magnet can be in contact with the magnetic attraction structure β 6. According to the device in item 5 of the patent application range, wherein the spring device moves the magnet by attaching the magnet to the bracket The magnet is attached to a part of the structure of the disk drive. 7. The device according to item 1 of the scope of the patent application, wherein the magnetic attraction structure includes a second magnet having a magnetic opposite to the first magnet. -25- This paper standard home ladder standard (CNS) Α4 ^ (210Χ297mm) --------- ^ ----, --IT------.it (please read first (Notes on the back and then fill this page) 307002 Bismuth 'Scope of patent application · —A removable card-type magnetic disk drive, including: a read / write head that reads data from and inserts data on the disk; a movable slope that docks the read / write head; and a docking The magnetic interlocking of the reader / head is locked during the movable ramp. 9. The removable card disk drive according to item 8 of the scope of the patent application further includes: a voice coil connected to the read / write head so that the read / write head is loaded onto the disk by the removable ramp A motor drive; and a servo control loop that controls the speed of the read / nested head by passing a voice coil control current to the voice coil of the voice coil motor drive when loading the read / write head onto the magnetic disk. 10. According to the removable cassette drive in item 9 of the patent application scope, the servo control loop operates in the servo control mode of sudden high current speed when the voice coil current exceeds the predetermined limit. When the size of the voice coil current does not exceed the predetermined limit, the servo control loop operates in the continuous low current speed servo control mode. 11. A method for controlling the angular velocity of a disk drive in which a reader / writer head is loaded onto a disk, including the following steps: Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs to make the voice coil control current connect to the reader / writer Angular velocity is generated on the voice coil drive of the head; in response to the voice coil control current exceeding the pre-selected limit, the voice coil control current is set to zero when measuring the back EMF, and the measured angular speed is obtained by the back EMF through the proportional parameter, Compare the measured angular velocity with the target velocity -26- The standard of this paper is applicable to China National Standard (CNS) A4 specification (2 x 297 mm) A8 B8 C8 __ D8 6. The scope of patent application is more to produce speed error Signal, and integrate this speed error signal to update the voice coil current to control the angular velocity of the reader / head; and in response to the voice coil control current not exceeding the pre-selected limit, measure the voice coil voltage and subtract the measured voice coil voltage Correct the parameters by IR to find the return EMF, find the measured angular velocity through the proportional parameter of the return EMF, and compare the measured angular velocity with the target angular velocity to produce a speed error Signal, the speed error signal is integrated to generate the speed update voice coil current to control the angular velocity of the read / write head. (Please read the precautions on the back and then fill in _write this page) Printed by the Employees ’Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs -27- This paper size is applicable to 11 Chinese standards (CNS) A4 specifications (210 X 297 mm)