Datasheet

TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 116
6.5 MFCIO Block Example Configuration and Example XML/ESI File
This section provides two examples on how to parameterize the Trinamic MFCIO block for a specific
application. It provides examples of the final XML/ESI files.
The manual configuration requires the following steps:
1.) Define which functional units and their registers shall be used from ECAT master side
set the RegisterEnable-Bits in the respective register configuration.
Configuration of the Trigger Source for each Configuration or Data Register of the MFCIO
block functional units.
This defines how and when the content of a register is transferred to the slave controller’s
SyncManager memory areas for readable registers and how and when new content/data is
updated to a writable register inside the MFCIO block.
2.) The base addresses of the used Memory Blocks are fix for the TMC8460.
Memory Block MB0 is used for write access data.
Memory Block MB1 is used for read only data.
In addition, the explicit address of registers inside the memory blocks are fix.
For each memory block, a sync manager shall be configured using the start and end address
of the memory block. Usually not all functional units and registers are required. It is also
possible to use only a contiguous part of the memory block in a SyncManager to reduce the
amount of data.
3.) The XML entry for the ESI-file including the EEPROM configuration string is generated.
Later on, this will be done using a graphical tool that allows for simple and easy visual configuration.
6.5.1 Example 1
TMC8460 with active device emulation used as an ABN decoder
Figure 29 - Connections to TMC8460 in Example 1
In the first example, the device emulation feature is used instead of adding a microcontroller for the
EtherCAT state machine. In this example, the status is not evaluated, so the ENC_STATUS register is not
enabled and the encoder position will never be set, so ENC_X (W) is also not enabled.
Step 1:
The following registers should be accessed via EtherCAT:
Register 0, ENC_MODE, Shadow register triggered when value changes Configuration 0x1E
Register 3, ENC_X (R), Shadow register is transparent (always triggered) Configuration 0x10
Register 4, ENC_CONST, Shadow register triggered when value changes Configuration 0x1E
Register 5, ENC_LATCH, Shadow register is transparent (always triggered) Configuration 0x10
The configuration data for the whole MFC block is (ABN-Decoder block underlined):
0x1E0000101E100000000000000000000000000000000000000000000000000000000000000000000000000000