Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 2
Table of Contents
TABLE OF CONTENTS ........................................................................................................................................................... 2
LIST OF FIGURES .................................................................................................................................................................. 5
LIST OF TABLES .................................................................................................................................................................... 6
1 ABBREVIATIONS ........................................................................................................................................................ 10
2 PRINCIPLES OF OPERATION .................................................................................................................................. 11
2.1 K EY C ONCEPTS ........................................................................................................................................................ 11
2.1.1 General Information on EtherCAT .................................................................................................... 11
2.1.2 EtherCAT Slave Controller (ESC) ......................................................................................................... 11
2.1.3 Trinamic Multi-Function and Control IO Block ............................................................................. 12
2.2 C ONFIGURATION O PTIONS ..................................................................................................................................... 13
2.3 C ONTROL I NTERFACES ............................................................................................................................................ 13
2.3.1 Ethernet Interface ................................................................................................................................... 13
2.3.2 Process Data Interface .......................................................................................................................... 13
2.3.3 Multi-Function and Control IO Block Interface ............................................................................ 13
2.3.4 SPI Bus Sharing ....................................................................................................................................... 13
2.3.5 Configuration Inputs ............................................................................................................................. 14
2.3.6 EEPROM Interface .................................................................................................................................... 14
2.4 S OFTWARE V IEW .................................................................................................................................................... 14
3 DEVICE USAGE AND HANDLING ........................................................................................................................... 20
3.1 S AMPLE B LOCK D IAGRAMS ..................................................................................................................................... 20
3.1.1 Typical EtherCAT Slave architecture ................................................................................................ 20
3.1.2 MFCIO block based Microcontroller Architecture ........................................................................ 20
3.1.3 Device Emulation Example .................................................................................................................. 21
3.2 S AMPLES C IRCUITS ................................................................................................................................................. 22
3.2.1 IC supply .................................................................................................................................................... 22
3.2.2 PDI interface ............................................................................................................................................. 22
3.2.3 Miscellaneous signals ............................................................................................................................ 22
3.2.4 MII 1 (EtherCAT Input) .......................................................................................................................... 23
3.2.5 MII 2 (EtherCAT Output) ....................................................................................................................... 23
3.2.6 MFC I/Os ..................................................................................................................................................... 24
3.3 P INOUT AND P IN D ESCRIPTION ............................................................................................................................ 25
3.4 E THERNET PHY S ..................................................................................................................................................... 33
3.4.1 Ethernet PHY MII interface and MI interface ............................................................................... 33
3.4.2 PHY Configuration Pins ......................................................................................................................... 34
3.5 PDI SPI ................................................................................................................................................................. 34
3.5.1 SPI protocol description ...................................................................................................................... 35
3.5.2 Timing example ....................................................................................................................................... 38
3.6 MFC CTRL SPI ..................................................................................................................................................... 39
3.6.1 Timing example ....................................................................................................................................... 41
3.6.2 Sharing Bus Lines with PDI SPI ........................................................................................................ 41
3.7 EEPROM I NTERFACE .............................................................................................................................................. 42
3.8 V ENDOR ID, ESC T YPE , ESC R EVISION AND B UILD H ISTORY ............................................................................ 43
3.9 E LECTRICAL C HARACTERISTICS ............................................................................................................................... 44
3.9.1 Operating Conditions ............................................................................................................................. 44
3.9.2 External CLK Source ................................................................................................................................ 44
3.9.3 IO Characteristics .................................................................................................................................... 44
3.9.4 Power Consumption .............................................................................................................................. 45
3.9.5 Package Thermal Behavior .................................................................................................................. 45
3.10 M ARKING AND O RDER C ODES ................................................................................................................................ 46
3.11 P ACKAGE D IMENSIONS ........................................................................................................................................... 46
3.12 L AYOUT C ONSIDERATIONS ..................................................................................................................................... 48