TMC8460 PRELIMINARY, CONFIDENTIAL TARGET, NON-RELEASE VERSION Datasheet (V014 / 2015-Aug-31) TMC8460-BI Integrated EtherCAT Slave Controller with Enhanced Functionality TRINAMIC Motion Control GmbH & Co. KG Hamburg, GERMANY www.trinamic.com The TMC8460 is an EtherCAT Slave Controller (ESC) used for EtherCAT communication. It provides the interface for data exchange between EtherCAT master and the slaves local application controller. TMC8460 also provides a large set of complex real-time IO features in hardware with focus on motor and motion control applications and systems. Focus Easiest to use ESC / Simplicity / Industrial License-free / requirements for customer Robust / Availability / Flexibility / Motor Control / Motion Control Features Standard compliant EtherCAT Slave Controller register set with 2 MII ports, 6 FMMU, 6 Sync Managers, Distributed clocks (64 bit), 16 Kbyte ESC RAM size External IC EEPROM SPI Process Data Interface (PDI) with up to 30Mbit/s SPI interface for Trinamic Multi-Function and Control IO Block (MFCIO) with up to 30Mbit/s Optional Device Emulation mode Trinamic Multi-Function and Control IO Block (MFCIO) o 8 Digital general purpose IO, individually configurable o Incremental encoder input (ABN), single ended o Step & direction output with internal step rate generator o 3-ch PWM block with configurable frequency, duty cycle, dead times o Generic SPI master interface with up to 4 slaves, e.g., to connect Trinamic ICs o Configurable IRQ and event signal o Configurable watchdog for outputs and inputs o Simple configuration via EEPROM or from MCU 16MHz CLK output, e.g., for MCU or Trinamic ICs or other peripherals Operating voltages: 3V3 and 1V2 Industrial temperature range: -40C to +100C Package: VFGG400, 17mmx17mm Very Fine Pitch Ball Grid Array, 0.8mm pitch preliminaryTMC8460 PRELIMINARY, CONFIDENTIAL TARGET, NON-RELEASE VERSION Datasheet (V014 / 2015-Aug-31) Table of Contents TABLE OF CONTENTS ........................................................................................................................................................... 2 LIST OF FIGURES .................................................................................................................................................................. 5 LIST OF TABLES .................................................................................................................................................................... 6 1 ABBREVIATIONS .......................................................................................................................................................... 9 2 PRINCIPLES OF OPERATION .................................................................................................................................. 10 2.1 KEY CONCEPTS ........................................................................................................................................................ 10 2.1.1 EtherCAT Slave Controller (ESC)......................................................................................................... 10 2.1.2 Trinamic Multi-Function and Control IO Block ............................................................................. 10 2.2 CONFIGURATION OPTIONS ..................................................................................................................................... 11 2.3 CONTROL INTERFACES ............................................................................................................................................ 12 2.3.1 Ethernet Interface ................................................................................................................................... 12 2.3.2 Process Data Interface .......................................................................................................................... 12 2.3.3 Multi-Function and Control IO Block Interface ............................................................................ 12 2.3.4 SPI Bus Sharing ....................................................................................................................................... 12 2.3.5 Configuration Inputs ............................................................................................................................. 12 2.3.6 EEPROM Interface .................................................................................................................................... 12 2.4 SOFTWARE VIEW .................................................................................................................................................... 12 3 DEVICE USAGE AND HANDLING ........................................................................................................................... 18 3.1 SAMPLE BLOCK DIAGRAMS..................................................................................................................................... 18 3.1.1 Typical EtherCAT Slave architecture ................................................................................................ 18 3.1.2 MFCIO block based Microcontroller Architecture ........................................................................ 18 3.1.3 Device Emulation Example .................................................................................................................. 19 3.2 SAMPLES CIRCUITS ................................................................................................................................................. 20 3.2.1 IC supply .................................................................................................................................................... 20 3.2.2 PDI interface ............................................................................................................................................. 20 3.2.3 Miscellaneous signals ............................................................................................................................ 20 3.2.4 MII 1 (EtherCAT Input) .......................................................................................................................... 21 3.2.5 MII 2 (EtherCAT Output) ....................................................................................................................... 21 3.2.6 MFC I/Os ..................................................................................................................................................... 22 3.3 PINOUT AND PIN DESCRIPTION ............................................................................................................................ 23 3.4 ETHERNET PHYS ..................................................................................................................................................... 31 3.4.1 Ethernet PHY MII interface and MI interface ............................................................................... 31 3.4.2 PHY Configuration Pins ......................................................................................................................... 32 3.5 PDI SPI ................................................................................................................................................................. 32 3.5.1 SPI protocol description ...................................................................................................................... 33 3.5.2 Timing example ....................................................................................................................................... 36 3.6 MFC CTRL SPI ..................................................................................................................................................... 37 3.6.1 Timing example ....................................................................................................................................... 39 3.6.2 Sharing Bus Lines with PDI SPI ........................................................................................................ 39 3.7 EEPROM INTERFACE .............................................................................................................................................. 40 3.8 VENDOR ID, ESC TYPE, ESC REVISION AND BUILD HISTORY ............................................................................ 41 3.9 ELECTRICAL CHARACTERISTICS ............................................................................................................................... 42 3.9.1 Operating Conditions............................................................................................................................. 42 3.9.2 External CLK Source ................................................................................................................................ 42 3.9.3 IO Characteristics .................................................................................................................................... 42 3.9.4 Power Consumption .............................................................................................................................. 43 3.9.5 Package Thermal Behavior .................................................................................................................. 43 3.10 MARKING AND ORDER CODES ................................................................................................................................ 44 3.11 PACKAGE DIMENSIONS ........................................................................................................................................... 44 3.12 LAYOUT CONSIDERATIONS ..................................................................................................................................... 46 3.12.1 Example layout of the TMC8460-Eval ............................................................................................... 47 3.13 SOLDERING PROFILE ............................................................................................................................................... 48 preliminary