Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 12
2.1.3 Trinamic Multi-Function and Control IO Block
Besides the proven EtherCAT functionality and the main EtherCAT data path, TMC8460 comes with a
dedicated hardware block providing a configurable set of complex real-time IO functions to smart
embedded systems. This IO functionality is called Multi-Function Control and IO block – MFCIO. Its
special focus is on motor and motion control applications and systems while it is not limited to this
application area.
The MFCIO block combines various functional sub-blocks that are helpful in an embedded design to
reduce complexity, simplify the bill of materials (BOM), and to provide hardware acceleration to compute
intensive tasks or time critical tasks. These functions can be used from the local application controller
using a dedicated SPI interface or can directly be mapped into the Process Data RAM for direct access
by the EtherCAT master.
G ENERAL P URPOSE IO S
• There are up to 8 outputs or up to 8 inputs
• Each IO is individually configurable
I NCREMENTAL E NCODER U NIT
• Incremental encoder inputs (ABN) with configurable counting constant, polarity, N-signal behavior
and latch on N-signal
• 32 bit count register
S TEP & D IRECTION U NIT
• Simple internal step rate generator
• Configurable step pulse width and polarity
• Continuous mode or one-shot mode with configurable step number
• Counter for steps that have been done
3- CH PWM
• configurable frequency, duty cycle, polarity, dead times, polarity per channel
SPI M ASTER I NTERFACE
• To directly connect to a TMC driver/controller or other SPI slaves
• Up to 4 slaves
• Configurable speed, mode, datagram width up to 64 bits (longer datagrams are possible)
IRQ / E VENT O UTPUT
• Common IRQ signal to indicate various events triggered by the MFCIO block
• Mask register to enable/disable certain event triggers