Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 21
100
Mbit
ETH PHY
TMC8460-BI
µC / Application
Controller
with Slave Stack
Code
EEPROM
16MHz CLK
MII
MII
I2C
RJ45
+
Transformer
100
Mbit
ETH PHY
RXTX
I2C
RXTX
MFCIO Block
DIGI IO
Incr.
Encoder
Input
ABN
nES
TMC
Motion
Contr.
TMC
Driver
TMC
Driver
16MHz CLK
SPI
SPI
PDI SPI
25MHz
source
Other application
parts
Figure 7 - Application diagram using the MFCIO block features to reduce software overhead and provide
real-time hardware support to the MCU. Other application parts may still be connected to the MCU.
3.1.3 Device Emulation Example
The third application diagram shows a more compact architecture using device emulation mode. No µC
is required. State machine change requests by the EtherCAT master are directly processed inside the
ESC. The MFCIO block is the only application interface available in this architecture and provides the
features mentioned under Section 2.1.3. For example, a simple stepper motor slave with hardware
motion controller and encoder feedback can be set up without using a µC in the system by only using
the features provided by the TMC8460. Since the registers and functions of the MFCIO block can directly
be mapped into the PDRAM the EtherCAT master can control the slave.
PHY
TMC8460-BI
EEPROM
MII
MII
RJ45
+
Transformer
PHY
RXTX
I2C
RXTX
MFCIO Block
Incr.
Encoder
Input
ABN
TMC
Motion
Contr.
TMC
Driver
16MHz CLK
SPI
PDI_EMULATION = ‚1'
25MHz
source
Figure 8 - Application diagram without MCU. The TMC8460 is used in device emulation mode. SPI
slave chips and other application peripherals can be connected to the MFCIO block. The EtherCAT
master can directly control all the application functions.