Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 51
4 EtherCAT Address Space Overview
An EtherCAT Slave Controller (ESC) has an address space of 64Kbyte. The first block of 4Kbyte
(0x0000:0x0FFF) is dedicated for ESC- and EtherCAT-relevant configuration and status registers. The PD-
RAM starts at address 0x1000. The TMC8460-BI has a PD-RAM size of 16 Kbyte.
The following table lists the standard ESC register set which is also available in the TMC8460-BI.
Section 5 contains a detailed register description.
Section 0 lists the specific enabled EtherCAT features of the TMC8460-BI.
Table 11 : TMC8460 address space
Address
1
Length
(Byte)
Description
ESC Information
0x0000
1
Type
0x0001
1
Revision
0x0002:0x0003
2
Build
0x0004
1
FMMUs supported
0x0005
1
SyncManagers supported
0x0006
1
RAM Size
0x0007
1
Port Descriptor
0x0008:0x0009
2
ESC Features supported
Station Address
0x0010:0x0011
2
Configured Station Address
0x0012:0x0013
2
Configured Station Alias
Write Protection
0x0020
1
Write Register Enable
0x0021
1
Write Register Protection
0x0030
1
ESC Write Enable
0x0031
1
ESC Write Protection
Data Link Layer
0x0040
1
ESC Reset ECAT
0x0041
1
ESC Reset PDI
0x0100:0x0103
4
ESC DL Control
0x0108:0x0109
2
Physical Read/Write Offset
0x0110:0x0111
2
ESC DL Status
Application Layer
0x0120:0x0121
2
AL Control
0x0130:0x0131
2
AL Status
0x0134:0x0135
2
AL Status Code
0x0138
1
RUN LED Override
0x0139
1
ERR LED Override
1
Address areas not listed here are reserved. They are not writable. Read data from reserved addresses
has to be ignored. Reserved addresses must not be written.