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what is the use of Icmd , in UC3638

hello Sir,

I am doing one project on Sliding door automation, here in this project I want a precise control over the brushed dc motor and to track its position i am using one encoder pulley. here to solve my purpose i want to use UC3638Dw Ic which is advanced Pwm controller. After reading the datasheet, i didnt understand , that to which pin i have to apply the control signal from the micro-controller . 


could you explain me, how could i get, forward and reverse motion of the rotor of dc motor, if i am using positive supply(20v) and negative supply as gnd(0) to power this ic, I have used external h-bridge according to the circuit shown in the datasheet, motor voltage would be around 30 to 35v .

Please help me regarding this IC, or any application notes apart from datasheet, or any hint.

please mail me on my email id - Harpreet2feb1991@gmail.com.

its urgents, 

thanks and regards,

harpreet Singh