Datasheet
TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 117
Since the reset value of the configuration block is 0x00, the trailing configuration bytes for registers 6
to 43 can be omitted in the EEPROM.
Step 2:
The memory areas where all register values for the MFC-Block are located are shown below.
Base
Address
+0x0 +0x1 +0x2 +0x3 +0x4 +0x5 +0x6 +0x7 +0x8 +0x9 +0xA +0xB
0x4000 ENC_MODE Padding ENC_X (W) ENC_CONST
0x4800 ENC_STATUS Padding ENC_X (R) ENC_LATCH (R) (7:0)
In this example, the ENC_X (W) and ENC_STATUS registers are unused. While the ENC_X (W) register is
in the middle of the contiguous block, the ENC_STATUS register and the next three padding bytes can
be excluded from the SyncManager address range.
One SyncManager covers the writable registers with the address range 0x4000:0x400B.
The other SyncManager covers only the smaller address range of the readable registers 0x4804:0x480B.
The definition of FMMUs, SMs and the PDOs in the ESI file looks like this:
<Fmmu Sm="0">Outputs</Fmmu>
<Fmmu Sm="1">Inputs</Fmmu>
<Sm DefaultSize="12" StartAddress="#x4000" ControlByte="#x04" Enable="1">Outputs</Sm>
<Sm DefaultSize="8" StartAddress="#x4804" ControlByte="#x00" Enable="1">Inputs</Sm>
<RxPdo Mandatory="true" Fixed="true" Sm="0">
<Index>#x1601</Index>
<Name>Writable-Registers</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>ENC_MODE</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x7001</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Padding</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x7002</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>ENC_X</Name>
<DataType>UDINT</DataType>
</Entry>
<Entry>
<Index>#x7003</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>ENC_CONST</Name>
<DataType>UDINT</DataType>
</Entry>
</RxPdo>
<TxPdo Mandatory="true" Fixed="true" Sm="1">
<Index>#x1a00</Index>
<Name>Readable-Registers</Name>
<Entry>
<Index>#x6004</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>ENC_X</Name>
<DataType>UDINT</DataType>
</Entry>
<Entry>
<Index>#x6005</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>ENC_LATCH</Name>
<DataType>UDINT</DataType>