Datasheet

TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 120
<Index>#x6010</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>SD_SC</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
Step 4:
The configuration of the EtherCAT Slave Controller, which is read from the EEPROM, is
0x0502030000000000000000000000 .
0x0503: SPI PDI, Enhanced Link Detection enabled
0x0300: SPI mode 3
0x0000: Sync-Pulse length unconfigured (disabled)
0x0000: Extended PDI configuration is 0
0x0000: Station alias
0x0000: reserved (0)
0x0000: reserved (0)
The complete Eeprom section of the ESI file looks like this:
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>0003000000000000000000000000</ConfigData>
<Category>
<CatNo>1</CatNo>
<Data>0000000000000000000000001E101E1E001E0E0E0E0E0E00000E00000000000E0E</Data>
</Category>
</Eeprom>
Step 5:
To set up the Step/Direction-Unit via EtherCAT to generate a constant step frequency, the following
PDOs must be set (Steprate and –length are example values):
SD_SR = 180000
SD_SL = 100
SD_CFG = 2
The Stepcount PDO (SD_SC) shows the number of steps made.
The PWM registers are accessible only from the microcontroller via the MFC_CTRL_SPI interface using
the register number and the addressing scheme described in Section 2.3.3
Since it is not configured to be used via EtherCAT, the register SD_DLY can also be written from the
microcontroller.