Datasheet

TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)

</Entry>

</TxPdo>

Step 3:

Additional to the MFC Block Configuration, the ESI-File contains the configuration for the EtherCAT Slave

Controller itself. This configuration is later read from the EEPROM on reset.

In the order, it is defined in the ConfigData section of the ESI file:

0x0003: No PDI Interface, Enhanced Link Detection and Device Emulation are enabled

0x0000: No configuration for PDI and Sync/Latch IOs since they are disabled

0x0000: Sync-Pulse length unconfigured (disabled)

0x0000: Extended PDI configuration is unused

0x0000: Station alias

0x0000: reserved (0)

The complete Eeprom section of the ESI file looks like this:

</Category>

</Eeprom>

Step 5:

To use the unit, ENC_MODE and ENC_CONST must be set via EtherCAT, a basic setting for testing that

everything is working correctly would be:

ENC_MODE = 0x18

ENC_CONST = 0x00010000

For every A/B quadrature step, ENC_X counts up respectively down by one. In case of an N event, the

position is latched into ENC_LATCH.

6.5.2 Example 2

TMC8460 used to generate step/direction signals via EtherCAT and a microcontroller for the EtherCAT

state machine and to control the PWM block.

Figure 30 - Connections to TMC8460 in Example 2

In this example the MFC block configuration consists of two parts, the EtherCAT enabled access to the

step/direction unit and the access to the PWM unit via the MFC CTRL SPI.

Step 1:

Unused registers are 16 (SD_DLY), 23, 24 (PWM_VALUE_1 and 2), 26, 27 (PWM_CNTRSHIFT_1 and 2), 28,

29 (PWM_PULSE_A and B) and 30 (PWM_PULSE_LENGTH). The configuration for these registers is 0x00.

Since configuration bytes for all registers must be included unless no more active registers are following,

the configuration data has to start with the bytes for the unused first 12 registers (0-11):

0x000000000000000000000000