Datasheet

TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 112
All functional output signals of the MFCIO block are linked to the OP state of the EtherCAT state machine.
As long as the actual state is not OP, all functional output states are not driven but in high impedance
state.
6.2 MFCIO Block Address Space Overview
The MFCIO block provides functionality useful in an embedded system with focus on motor and motion
control.
Table 133 : MFCIO Block Register Overview
Reg.
no.
Register name MFC block R/W
Configuration
address
(EEPROM)
Configuration
address
(PDRAM)
Memory
Block 0
Address
(PDRAM)
Memory
Block 1
Address
(PDRAM)
Data
size
0 ENC_MODE
ABN-
Decoder
W 0x0084 0x0580 0x4000 - 2
1 ENC_STATUS R 0x0085 0x0581 - 0x4800 1
2 ENC_X W 0x0086 0x0582 0x4004 - 4
3 ENC_X R 0x0087 0x0583 - 0x4804 4
4 ENC_CONST W 0x0088 0x0584 0x4008 - 4
5 ENC_LATCH R 0x0089 0x0585 - 0x4808 4
6 SPI_RX_DATA
SPI-
Master
R 0x008A 0x0586 - 0x480C 8
7 SPI_TX_DATA W 0x008B 0x0587 0x400C - 8
8 SPI_CONF W 0x008C 0x0588 0x4014 - 2
9 SPI_STATUS R 0x008D 0x0589 - 0x4814 1
10 SPI_LENGTH W 0x008E 0x058A 0x4016 - 1
11 SPI_TIME W 0x008F 0x058B 0x4017 - 1
12 SD_SR
Step/Dir-
Generator
W 0x0090 0x058C 0x4018 - 4
13 SD_SC R 0x0091 0x058D - 0x4818 4
14 SD_ST W 0x0092 0x058E 0x401C - 4
15 SD_SL W 0x0093 0x058F 0x4020 - 2
16 SD_DLY W 0x0094 0x0590 0x4022 - 2
17 SD_CFG W 0x0095 0x0591 0x4024 - 1
18 PWM_MAXCNT
3-ch PWM
W 0x0096 0x0592 0x4026 - 2
19 PWM_CHOPMODE W 0x0097 0x0593 0x4028 - 2
20 PWM_ALIGNMENT W 0x0098 0x0594 0x402A - 1
21 PWM_POLARITIES W 0x0099 0x0595 0x402B - 1
22 PWM_VALUE_0 W 0x009A 0x0596 0x402C - 2
23 PWM_VALUE_1 W 0x009B 0x0597 0x402E - 2
24 PWM_VALUE_2 W 0x009C 0x0598 0x4030 - 2
25 PWM_CNTRSHIFT_0 W 0x009D 0x0599 0x4032 - 2
26 PWM_CNTRSHIFT_1 W 0x009E 0x059A 0x4034 - 2
27 PWM_CNTRSHIFT_2 W 0x009F 0x059B 0x4036 - 2
28 PWM_PULSE_A W 0x00A0 0x059C 0x4038 - 2
29 PWM_PULSE_B W 0x00A1 0x059D 0x403A - 2
30 PWM_PULSE_LENGTH W 0x00A2 0x059E 0x403C - 1
31 PWM_BBM_H W 0x00A3 0x059F 0x403D - 1
32 PWM_BBM_L W 0x00A4 0x05A0 0x403E - 1
33 GPO_OUT_VAL
GPIO
W 0x00A5 0x05A1 0x4040 - 2
34 GPI_IN_VAL R 0x00A6 0x05A2 - 0x481C 1
35 GPIO_CONFIG W 0x00A7 0x05A3 0x4042 - 1
36 IRQ_CFG
MFCIO-
IRQ
W 0x00A8 0x05A4 0x4044 - 2
37 IRQ_FLAGS R 0x00A9 0x05A5 - 0x481E 2
38 WD_TIME
GPIO-
Watch-
dog
W 0x00AA 0x05A6 0x4048 - 4
39 WD_CFG W 0x00AB 0x05A7 0x404C - 1
40 WD_OUT_MASK_POL W 0x00AC 0x05A8 0x4050 - 8
41 WD_OE_POL W 0x00AD 0x05A9 0x4058 - 4
42 WD_IN_MASK_POL W 0x00AE 0x05AA 0x405C - 4
43 WD_MAX R 0x00AF 0x05AB - 0x4820 4
44 AL_STATE_OVERRIDE Override W - - - - 1