TMC8462 Datasheet • Document Revision V1.4 • 2018-May -09
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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
R
2
1
4
4
4
4
8
8
2
1
1
1
1
1
1
1
1
1
4
4
4
4
4
4
4
4
4
4
2
3
0
0
0
0
0
0
2
3
3
3
3
3
3
3
3
3
0
0
0
0
0
0
0
0
0
0
1
ENC_STATUS
2
X_ENC
W
R
3
X_ENC
4
ENC_CONST
W
R
5
ENC_LATCH
6
SPI_RX_DATA
R
7
SPI_TX_DATA
W
W
R
8
SPI_CONF
9
SPI_STATUS
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
SPI_LENGTH
W
W
W
W
R
SPI_TIME
I2C_TIMEBASE
I2C_CONTROL
I2C_STATUS
I2C_ADDRESS
I2C_DATA_R
W
R
I2C_DATA_W
W
W
W
W
R
SD_CH0_STEPRATE
SD_CH1_STEPRATE
SD_CH2_STEPRATE
SD_CH0_STEPCOUNT
SD_CH1_STEPCOUNT
SD_CH2_STEPCOUNT
SD_CH0_STEPTARGET
SD_CH1_STEPTARGET
SD_CH2_STEPTARGET
SD_CH0_COMPARE
R
R
W
W
W
W
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