INTEGRATEDCIRCUITS EtherCATMotionControllerfor2-/3-PhasePMSM TMC8670Datasheet HardwareVersionV1.0 DocumentRevisionV1.00 2018-June-11 TheTMC8670isaCANopen-overEtherCAT(CoE) eldorientedcontrol(FOC)servocontrollerfor torque,velocity,andpositioncontrol. ItcomeswithafullyintegratedEtherCATSlaveController (ESC),aexiblesensorenginefordierentpositionfeedbackandcurrentsensingoptions,aswell asacompleteCANopen-over-EtherCATrmwarestackfortheCiADS402deviceprole.TMC8670 isabuildingblockthatenablesaservocontrollerwithonlyacoupleofcomponents. Features FieldOrientedControl(FOC) ServoController TorqueControl(FOC), VelocityControl,PositionControl SensorEngine(Hallanalog/digital, Encoderanalog/digital) Supportfor3-PhasePMSMand 2-PhaseStepperMotors PWMEngineincludingSVPWM IntegratedEtherCATSlaveController, CoEprotocolCiA402driveprole UARTinterface Applications Robotics FactoryAutomation Manufacturing SemiconductorHandling LaboratoryAutomation IIoTApplications SimpliedBlockDiagram 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.TMC8670DatasheetHardwareVersionV1.0 DocumentRevisionV1.00 2018-June-11 2/123 Contents 1 ProductFeatures 5 2 OrderCodes 6 3 PrinciplesofOperation/KeyConcepts 7 3.1 GeneralDeviceArchitecture . 7 3.2 EtherCATSlaveController 7 3.3 MicrocontrollerandFirmwareStack 7 3.4 Servo/FOCController . 8 3.5 FlexibleSensorEngine 8 3.6 CommunicationInterfaces . 9 3.7 Software-andTool-Support . 9 4 DevicePinDenitions 12 4.1 PinoutandPinCoordinatesofTMC8670-BA . 12 4.2 PinNumbersandSignalDescriptions . 12 5 DeviceUsageandHandling 20 5.1 ReferenceClock 20 5.2 EthernetPHYConnection 20 5.3 ExternalCircuitryandApplicationsExamples . 22 5.3.1 SupplyandFiltering . 22 5.3.2 StatusLEDCircuit . 22 5.3.3 SIIEEPROMCircuit 23 5.4 IncrementalEncoderConnection 24 5.4.1 IncrementalABNEncoder 24 5.4.2 SecondaryIncrementalABNEncoder . 26 5.4.3 OpenLoopEncoder . 26 5.5 HallSignalConnection 27 5.5.1 DigitalHallSensorInterfacewithoptionalInterimPositionInterpolation 27 5.5.2 DigitalHallSensor-InterimPositionInterpolation . 28 5.5.3 DigitalHallSensors-MaskingandFiltering 28 5.5.4 DigitalHallSensorstogetherwithIncrementalEncoder 28 5.6 ADCInterfaces . 29 5.6.1 ADCInterface-DeltaSigmaModulator 29 5.6.2 ADCInterface-SPIADC . 30 5.6.3 AnalogHallandAnalogEncoderInterface(SinCosof090or0120240) . 30 5.6.4 AnalogPositionDecoder(SinCosof090or0120240) . 31 5.7 BrakeChopperConnection . 31 5.8 DebugUARTConnections 32 5.8.1 UARTHardwareDebugInterface 32 6 FOCBasics 34 6.1 WhyFOC . 34 6.2 WhatisFOC 34 6.3 WhyFOCaspureHardwareSolution . 34 6.4 HowdoesFOCwork . 35 6.5 WhatisrequiredforFOC 35 6.5.1 CoordinateTransformations-Clarke,Park,iClarkeiPark 36 6.5.2 MeasurementofStatorCoilCurrents . 36 6.5.3 StatorCoilCurrentsI U,I V,I WandAssociationtoTerminalVoltagesU U,U V,U W 36 6.5.4 MeasurementofRotorAngle 37 6.5.5 MeasuredRotorAnglevs.MagneticAxisofRotorvs.MagneticAxisotStator . 37 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com