Datasheet

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

6.15 AL-State Override Configuration

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 ports are not driven but in high impedance

state.

The AL_STATE_OVERRIDE register allows overriding this behavior.

The AL_STATE_OVERRIDE register can only be accessed from MFC CTRL SPI interface.

It can be accessed neither from ECAT interface nor from PDI SPI interface.

While the main purpose for AL_STATE_OVERRIDE is for testing it can also be used in the applications

when the application controller has access to the MFC CTRL SPI interface. Nevertheless, special care

must be taken since it overrides the original behavior of the outputs with respect to the EtherCAT

state machine.

Each bit in the AL_STATE_OVERRIDE register controls override configuration of a specific MFCIO sub-

block regarding the output ports availability.

If a bit is set to ‘1’, the AL status register (0x0130:0x0131) is ignored and the output ports of this MFCIO

sub-block are fully available using the MFC CTRL SPI interface.

The incremental encoder block, the IRQ configuration, and the watchdog block are not affected by the

AL_STATE_OVERRIDE register since they only have input ports.

Table 156 : AL-state override register

MFCIO

direct

access

address

Size

[byte]

Description

44 AL_STATE_OVERRIDE

(only from MFC CTRL SPI)

–

SPI block

1 – S/D block

2 – PWM block

3 – GPIO block

7:4 - reserved