Datasheet

TMC8462 Datasheet • Document Revision V1.5 • 2019-June-21
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6.4.5.2 AL Status (0x0130:0x0131)
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)
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)
5 Device Identification:
0: Device Identification not valid
1: Device Identification loaded
r*/- r/(w)
15:6 Reserved, write 0 r*/- r/(w)
Table 30: Register 0x0130:0x0131 (AL Status)
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.
6.4.5.3 AL Status Code (0x0134:0x0135)
Bit Description ECAT PDI Reset Value
15:0 AL Status Code r/- r/w
Table 31: Register 0x0134:0x0135 (AL Status Code)
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