Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 66
Bit
Description
ECAT PDI Reset Value
3:0
Actual State of the Device State Machine:
1: Init State
3: Request Bootstrap State
2: Pre-Operational State
4: Safe-Operational State
8: Operational State
r*/-
r/(w) 1
4
Error Ind:
0: Device is in State as requested or Flag
cleared by command
1: Device has not entered requested State
or changed State as result of a local
action
r*/-
r/(w) 0
5
Device Identification:
0: Device Identification not valid
1: Device Identification loaded
r*/-
r/(w) 0
15:6
Reserved, write 0
r*/-
r/(w) 0
NOTE: AL Status register is only writable from PDI if Device Emulation is off (0x0140.8=0), otherwise AL Status
register will reflect AL Control register values.
* Reading AL Status from ECAT clears ECAT Event Request 0x0210[3].
5.22 AL Status Code (0x0134:0x0135)
Table 34: Register AL Status Code (0x0134:0x0135)
Bit
Description
ECAT PDI Reset Value
15:0 AL Status Code r/- r/w 0
5.23 RUN LED Override (0x0138)
This register/function is not available with TMC8460-BI.
Table 35: Register RUN LED Override (0x0138)
Bit
Description
ECAT PDI Reset Value
3:0 LED code: (FSM State☺
0x0: Off (1-Init)
0x1-0xC: Flash 1x – 12x (4-SafeOp 1x)
0xD: Blinking (2-PreOp)
0xE: Flickering (3-Bootrap)
0xF: On (8-Op)
r/w
r/w 0
4 Enable Override:
0: Override disabled
1: Override enabled
r/w
r/w 0
7:5 Reserved, write 0 r/w r/w 0
NOTE: Changes to AL Status register (0x0130) with valid values will disable RUN LED Override (0x0138[4]=0). The
value read in this register always reflects current LED output.
5.24 ERR LED Override (0x0139)