TMC8460 PRELIMINARY, CONFIDENTIAL TARGET, NON-RELEASE VERSION Datasheet (V014 / 2015-Aug-31)
4
5
ETHERCAT ADDRESS SPACE OVERVIEW.............................................................................................................49
ETHERCAT REGISTER DESCRIPTION....................................................................................................................54
5.1
TYPE (0X0000).......................................................................................................................................................54
REVISION (0X0001)...............................................................................................................................................54
BUILD (0X0002:0X0003).......................................................................................................................................54
FMMUS SUPPORTED (0X0004)..............................................................................................................................54
SYNCMANAGERS SUPPORTED (0X0005)................................................................................................................54
RAM SIZE (0X0006)..............................................................................................................................................54
PORT DESCRIPTOR (0X0007).................................................................................................................................55
ESC FEATURES SUPPORTED (0X0008:0X0009).....................................................................................................55
CONFIGURED STATION ADDRESS (0X0010:0X0011)............................................................................................56
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10 CONFIGURED STATION ALIAS (0X0012:0X0013).................................................................................................56
5.11 WRITE REGISTER ENABLE (0X0020) .....................................................................................................................56
5.12 WRITE REGISTER PROTECTION (0X0021).............................................................................................................57
5.13 ESC WRITE ENABLE (0X0030)..............................................................................................................................57
5.14 ESC WRITE PROTECTION (0X0031)......................................................................................................................57
5.15 ESC RESET ECAT (0X0040)..................................................................................................................................58
5.16 ESC RESET PDI (0X0041)....................................................................................................................................58
5.17 ESC DL CONTROL (0X0100:0X0103)...................................................................................................................58
5.18 PHYSICAL READ/WRITE OFFSET (0X0108:0X0109).............................................................................................60
5.19 ESC DL STATUS (0X0110:0X0111)......................................................................................................................60
5.20 AL CONTROL (0X0120:0X0121)............................................................................................................................63
5.21 AL STATUS (0X0130:0X0131)..............................................................................................................................63
5.22 AL STATUS CODE (0X0134:0X0135)....................................................................................................................64
5.23 RUN LED OVERRIDE (0X0138).............................................................................................................................64
5.24 ERR LED OVERRIDE (0X0139)..............................................................................................................................64
5.25 PDI CONTROL (0X0140).......................................................................................................................................65
5.26 ESC CONFIGURATION (0X0141)............................................................................................................................65
5.27 PDI INFORMATION (0X014E:0X014F).................................................................................................................66
5.28 PDI CONFIGURATION (0X0150:0X0153).............................................................................................................66
5.28.1
5.28.2
PDI SPI Slave Configuration...............................................................................................................66
Sync/Latch[1:0] PDI Configuration....................................................................................................67
5.29 ECAT EVENT MASK (0X0200:0X0201).................................................................................................................68
5.30 PDI AL EVENT MASK (0X0204:0X0207)..............................................................................................................68
5.31 ECAT EVENT REQUEST (0X0210:0X0211)............................................................................................................69
5.32 AL EVENT REQUEST (0X0220:0X0223).................................................................................................................69
5.33 RX ERROR COUNTER (0X0300:0X0307)................................................................................................................71
5.34 FORWARDED RX ERROR COUNTER (0X0308:0X030B).........................................................................................71
5.35 ECAT PROCESSING UNIT ERROR COUNTER (0X030C).........................................................................................71
5.36 PDI ERROR COUNTER (0X030D)...........................................................................................................................71
5.37 SPI PDI ERROR CODE (0X030E)..........................................................................................................................71
5.38 LOST LINK COUNTER (0X0310:0X0313)................................................................................................................72
5.39 WATCHDOG DIVIDER (0X0400:0X0401)..............................................................................................................72
5.40 WATCHDOG TIME PDI (0X0410:0X0411) ...........................................................................................................72
5.41 WATCHDOG TIME PROCESS DATA (0X0420:0X0421)..........................................................................................72
5.42 WATCHDOG STATUS PROCESS DATA (0X0440:0X0441).....................................................................................73
5.43 WATCHDOG COUNTER PROCESS DATA (0X0442).................................................................................................73
5.44 WATCHDOG COUNTER PDI (0X0443)...................................................................................................................73
5.45 SII EEPROM INTERFACE (0X0500:0X050F) .......................................................................................................73
5.45.1
EEPROM emulation with TMC8460.....................................................................................................77
5.46 MII MANAGEMENT INTERFACE (0X0510:0X0515)................................................................................................77
5.47 PARAMETER RAM (0X0580:0X05AB) FOR TMC8460 MFCIO BLOCK CONFIGURATION ...................................82
5.48 FMMU (0X0600:0X06FF)......................................................................................................................................83
5.49 SYNCMANAGER (0X0800:0X087F)........................................................................................................................85
5.50 DISTRIBUTED CLOCKS (0X0900:0X09FF)..............................................................................................................89
5.50.1
Receive Times...........................................................................................................................................89
5.50.2
Time Loop Control Unit ........................................................................................................................91
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
