Datasheet

TMC8462 Datasheet • Document Revision V1.5 • 2019-June-21
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7.2 MFC IO Register Overview
The MFC IO block contains a range of registers dedicated to the specific sub-blocks.
The registers can always be read by a microcontroller via the MFC IO Control SPI Interface.
The registers can only be exclusively written by either the microcontroller via the MFC IO Control SPI
Interface or by the EtherCAT master via a mapping in the ESC’s DPRAM.
The analog and high voltage block can also be configured using dedicated registers of the MFC IO block.
Register Function Write/Read Size (Byte) Padding Bytes (see section
7.8)
0 ENC_MODE W 2 2
1 ENC_STATUS R 1 3
2 X_ENC W 4 0
3 X_ENC R 4 0
4 ENC_CONST W 4 0
5 ENC_LATCH R 4 0
6 SPI_RX_DATA R 8 0
7 SPI_TX_DATA W 8 0
8 SPI_CONF W 2 2
9 SPI_STATUS R 1 3
10 SPI_LENGTH W 1 3
11 SPI_TIME W 1 3
12 I2C_TIMEBASE W 1 3
13 I2C_CONTROL W 1 3
14 I2C_STATUS R 1 3
15 I2C_ADDRESS W 1 3
16 I2C_DATA_R R 1 3
17 I2C_DATA_W W 1 3
18 SD_CH0_STEPRATE W 4 0
19 SD_CH1_STEPRATE W 4 0
20 SD_CH2_STEPRATE W 4 0
21 SD_CH0_STEPCOUNT R 4 0
22 SD_CH1_STEPCOUNT R 4 0
23 SD_CH2_STEPCOUNT R 4 0
24 SD_CH0_STEPTARGET W 4 0
25 SD_CH1_STEPTARGET W 4 0
26 SD_CH2_STEPTARGET W 4 0
27 SD_CH0_COMPARE W 4 0
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