Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 4
5.49 S YNC M ANAGER (0 X 0800:0 X 087F) ........................................................................................................................ 88
5.50 D ISTRIBUTED C LOCKS (0 X 0900:0 X 09FF) .............................................................................................................. 92
5.50.1 Receive Times ........................................................................................................................................... 92
5.50.2 Time Loop Control Unit ........................................................................................................................ 94
5.50.3 Cyclic Unit Control .................................................................................................................................. 98
5.50.4 SYNC Out Unit ........................................................................................................................................... 99
5.50.5 Latch In unit ........................................................................................................................................... 102
5.50.6 SyncManager Event Times ................................................................................................................. 106
5.51 ESC S PECIFIC P RODUCT AND V ENDOR ID .......................................................................................................... 107
5.52 U SER RAM (0 X 0F80:0 X 0FFF) ............................................................................................................................. 107
5.53 P ROCESS D ATA RAM (0 X 1000:0 X FFFF) ............................................................................................................ 108
5.53.1 MFCIO Block ECAT Write Data Memory Block (0x4000:0x405F) ............................................. 108
5.53.2 MFCIO Block ECAT Read Data Memory Block (0x4800:0x4823) .............................................. 110
6 MFCIO BLOCK REGISTER AND FUNCTIONAL DESCRIPTION ...................................................................... 111
6.1 MFCIO B LOCK G ENERAL I NFORMATION ............................................................................................................. 111
6.2 MFCIO B LOCK A DDRESS S PACE O VERVIEW ....................................................................................................... 112
6.3 MFCIO B LOCK EEPROM P ARAMETER M AP ........................................................................................................ 113
6.4 MFCIO R EGISTER C ONFIGURATION .................................................................................................................... 114
6.5 MFCIO B LOCK E XAMPLE C ONFIGURATION AND E XAMPLE XML/ESI F ILE ......................................................... 116
6.5.1 Example 1 ................................................................................................................................................. 116
6.5.2 Example 2 ................................................................................................................................................. 118
6.6 MFCIO I NCREMENTAL E NCODER U NIT ................................................................................................................ 121
6.6.1 Incremental Encoder Unit Signals .................................................................................................. 121
6.6.2 Incremental Encoder Unit Register Set ........................................................................................ 121
6.6.3 ENC_MODE ................................................................................................................................................ 122
6.6.4 ENC_STATUS ............................................................................................................................................ 122
6.6.5 ENC_X (W) ................................................................................................................................................ 122
6.6.6 ENC_X (R) .................................................................................................................................................. 122
6.6.7 ENC_CONST .............................................................................................................................................. 123
6.6.8 ENC_LATCH ............................................................................................................................................... 123
6.7 MFCIO SPI M ASTER U NIT ................................................................................................................................. 125
6.7.1 SPI Master Unit Signals ...................................................................................................................... 125
6.7.2 SPI Master Unit Register Set ............................................................................................................ 125
6.7.3 SPI_RX_DATA .......................................................................................................................................... 126
6.7.4 SPI_TX_DATA .......................................................................................................................................... 126
6.7.5 SPI_CONF .................................................................................................................................................. 126
6.7.6 SPI_STATUS ............................................................................................................................................. 127
6.7.7 SPI_LENGTH ............................................................................................................................................. 127
6.7.8 SPI_TIME ................................................................................................................................................... 127
6.7.9 SPI Examples .......................................................................................................................................... 127
6.8 MFCIO S TEP D IRECTION U NIT ........................................................................................................................... 130
2.1.1 Step Direction Unit Timing ................................................................................................................ 130
2.1.2 Step Direction Unit Signals ............................................................................................................... 131
2.1.3 Step Direction Unit and Register Set ............................................................................................ 131
6.8.1 Step Direction Accumulation Constant ......................................................................................... 132
6.8.2 Step Counter ........................................................................................................................................... 133
6.8.3 Step Target .............................................................................................................................................. 133
6.8.4 Step Length ............................................................................................................................................. 133
6.8.5 Step-to-Direction Delay ....................................................................................................................... 133
6.8.6 Step Direction Unit Configuration .................................................................................................. 133
6.8.7 Interrupt Output Signal ...................................................................................................................... 133
6.9 MFCIO PWM U NIT ............................................................................................................................................ 134
2.1.4 PWM Unit Signals .................................................................................................................................. 135
2.1.5 PWM Unit and Register Set ............................................................................................................... 135
6.9.1 PWM_MAXCNT Configuration Register .......................................................................................... 138