Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 56
5 EtherCAT Register Description
5.1 Type (0x0000)
Table 12: Register Type (0x0000)
Bit
Description
ECAT PDI Reset Value
7:0 Type of EtherCAT controller r/- r/-
Trinamic ESC Type: 0xD0
5.2 Revision (0x0001)
Table 13: Register Revision (0x0001)
Bit
Description
ECAT PDI Reset Value
7:0 Revision of EtherCAT controller. r/- r/-
TMC8460: 0x60
TMC8461: 0x61
5.3 Build (0x0002:0x0003)
Table 14: Register Build (0x0002:0x0003)
Bit
Description
ECAT PDI Reset Value
15:0 Actual build of EtherCAT controller. r/- r/-
TMC8460:
0x02 = Version 1.0
TMC8461:
0x10 = Version 1.0
5.4 FMMUs supported (0x0004)
Table 15: Register FMMUs supported (0x0004)
Bit
Description
ECAT PDI Reset Value
7:0 Number of supported FMMU channels (or
entities) of the EtherCAT Slave Controller.
r/- r/-
TMC8460: 6
TMC8461: 8
5.5 SyncManagers supported (0x0005)
Table 16: Register SyncManagers supported (0x0005)
Bit
Description
ECAT PDI Reset Value
7:0 Number of supported SyncManager channels
(or entities) of the EtherCAT Slave Controller
r/- r/-
TMC8460: 6
TMC8461: 8
5.6 RAM Size (0x0006)
Table 17: Register RAM Size (0x0006)