TMC8462 Datasheet • Document Revision V1.4 • 2018-May -09
61 / 204
6.4.5 Application Layer
6.4.5.1 AL Control (0x0120:0x0121)
Bit
Description
ECAT
PDI
Reset Value
3:0
Initiate State Transition of the Device State Ma- r/(w)
chine:
1: Request Init State
r/
(wack)*
3: Request Bootstrap State
2: Request Pre-Operational State
4: Request Safe-Operational State
8: Request Operational State
4
Error Ind Ack:
0: No Ack of Error Ind in AL status register
1: Ack of Error Ind in AL status register
r/(w)
r/(w)
r/(w)
r/
(wack)*
4
Device Identification:
0: No request
1: Device Identification request
r/
(wack)*
15:6
Reserved, write 0
r/
(wack)*
Table 29: Register 0x0120:0x0121 (AL Cntrl)
Note
AL Control register behaves like a mailbox if Device Emulation is off (0x0140.8=0):
The PDI has to read/write* the AL Control register after ECAT has written it.
Otherwise ECAT cannot write again to the AL Control register. After Reset, AL
Control register can be written by ECAT. (Regarding mailbox functionality, both
registers 0x0120 and 0x0121 are equivalent, e.g. reading 0x0121 is sufficient to
make this register writeable again.)
If Device Emulation is on, the AL Control register can always be written,
its content is copied to the AL Status register.
* PDI register function acknowledge by Write command is disabled: Reading AL
Control from PDI clears AL Event Request 0x0220.0. Writing to this register from
PDI is not possible.
PDI register function acknowledge by Write command is enabled: Writing AL
Control from PDI clears AL Event Request 0x0220.0. Writing to this register from
PDI is possible; write value is ignored (write 0).
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