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     Level 3    , 'b'

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     LoadUnloadHeads, b[Cmd],[Velocity],[Dwell],[Lock]

Load/Unload Heads (Level 3 'b')
Description: The command loads or unloads the heads for drives that support this feature. Input Parameters: 0 - Command Type ID. This parameter specifies which operation is to be performed. 0x00: LOAD_HEADS_CMD - Indicates that a Load Heads servo command will be issued. 0x01: UNLOAD_HEADS_CMD - Indicates that an Unload Heads servo command will be issued. Type: Unsigned hexadecimal value Range: 0 to Maximum valid command type Default: 0 1 - Load or Unload Velocity. For a 'Load Heads' command, this parameter specifies the load velocity. For a 'Unload Heads' command, this parameter specifies the unload velocity. If a value of 0 is entered then the load/unload velocity will not be modified and the default value in the servo firmware will be used. If a non-zero value is entered, then the velocity will be modified for the load/unload command. After completion of the command, the original value will then be restored. The units are ADC counts. Type: Signed decimal value Range: -999 to 999 Default: 0 2 - Enable Demod Sync. This parameter will enable or disable Demod Sync during the Load command. A value of 1 will enable Sync, a value of 0 will disable Sync. This parameter is ignored by the Unload command. Type: Unsigned hexadecimal value Range: 0 or 1 Default: 0 3 - Enable Dwell. This parameter will enable or disable Dwell during the Load command. A value of 1 will enable Dwell, a value of 0 will disable Dwell. This parameter is ignored by the Unload command. Type: Unsigned hexadecimal value Range: 0 or 1 Default: 0 4 - Unload Type. This parameter specifies the unload type to be done. 0: VCM_BEMF_VELOCITY_CONTROL - Vcm Bemf Control will be used. 1: UNLOAD_IMMEDIATE - Unload Immediate will be used. 2: HARDWARE_RETRACT - Hardware Retract will be used. This parameter is ignored by the Load command. Type: Unsigned hexadecimal value Range: 0 or Maximum number of supported unload types. Default: 0 Output Data: If an error occurred, the following information will be displayed. "DiagError aaaaaaaa" where aaaaaaaa is the Diagnostic Error Code If no error occurred and Verbose Output Mode is selected, Load/Unload Heads results will be displayed as follows. " AAAA LOAD/UNLOAD TYPE" " Elapsed Time bbb.bbb msecs" " cc Velocity in firmware" " d Velocity Cmd" \ These values are 'echoed' from the command line. " e Enable Demod Sync Cmd" | " f Enable Dwell Cmd" | " g Unload Type Cmd" / " hhhh Load/Unload Time" \ These remaining values are data returned by servo " iiiii Bemf Calibrated Gain" | after the Load or Unload command completes. " j Calibrated Vcm Bemf Offset" | " kkk Bemf Calibrated Residual Error" | " l Bemf Cal Retries" | " mmmmm Load/Unload Peak Current" | " nn Load/Unload Max Spin Dip Error" | " ooo Load/Unload Peak Velocity" | " p Load Heads Retries" | " qqqq Load/Unload Status Code" / where AAAA is the servo command: 0F00 for a Load operation or 0E00 for a Unload operation. bbb.bbb is the time in miliseconds for the execution of the servo command. cc is the Velocity as read from servo, which will be used as the default value. For a Load operation, the value of the load heads target velocity will be displayed. For an Unload operation, the value of unload heads target velocity will be displayed. d is the requested Velocity as entered via the command line. e is the Enable Demod Sync value as entered via the command line. f is the Enable Dwell value as entered via the command line. g is the Unload Type value as entered via the command line. hhhh is the Load/Unload Time iiiii is the Bemf Calibrated Gain j is the value of the Calibrated Vcm Bemf Offset kkk is the value of Bemf Calibrated Residual Error l is the number Bemf Cal Retries used mmmmm is the value of Load/Unload Peak Current nn is the value of Load/Unload Max Spin Dip Error ooo if the value of Load/Unload Peak Velocity p is the nuber of Load Heads Retries qqqq is the value of Load/Unload Status Code Examples: Example #1: To load the heads with a velocity of -85. F3 3>b0,-85 Example #2: To unload the heads with a velocity of 317. F3 3>b1,317 Revision History: 0001.0000 Initial revision.