INTEGRATEDCIRCUITS EtherCATSlaveControllerfor TMC8462Datasheet DocumentRevisionV1.4 2018-May-09 TheTMC8462isacompleteEtherCAT SlaveControlleroptimizedforrealtime. Itcomprisesall blocksrequiredforanEtherCATslaveincludingtwo100-MbitPHYs,adualswitchregulatorpower supplyand24Vcapablehighvoltage I/Osforindustrialenvironments. Timer,watchdog,PWM andSPI/IICmasterunitsallowforenhancedcapabilitieseitherindeviceemulationmodeorin combinationwithanexternalCPU. Features StandardcompliantEtherCAT Slave DualIntegrated100-MbitEthernet PHY SPIProcessDataInterface(PDI) IOBlockwith24Multi-FunctionI/Os Internal3.3Vplusfree5V-24Vswitch regulator 8HighVoltageI/Os(upto35V,100mA) MultifunctionblockcomprisesWatch- dog,4PWMoutputsandStep/Dir generator DirectEtherCATaccesstoexternal ADCs,steppermotorcontrollers,etc. EtherCAT-Pcompatiblevoltagerange Applications FactoryAutomation IndustrialIoT Robotics ProcessAutomation Industry4.0 IndustrialMotionControl CommunicationModules Sensors&Encoders BuildingAutomation SimpliedBlockDiagram 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.TMC8462DatasheetDocumentRevisionV1.4 2018-May-09 2/204 Contents 1 ProductFeatures 5 2 OrderCodes 6 3 PrinciplesofOperation/KeyConcepts 7 3.1 GeneralDeviceArchitecture . 7 3.2 EtherCATSlaveController 8 3.3 Multi-FunctionandControlIOBlock 8 3.4 AnalogandHighVoltageBlock . 9 3.5 Interfaces 10 3.6 Software-andTool-Support . 10 4 DevicePinDenitions 15 4.1 PinoutandPinCoordinatesofTMC8462-BA . 15 4.2 SignalDescriptions 15 5 DeviceUsageandHandling 23 5.1 ProcessDataInterface 23 5.1.1 SPIprotocoldescription . 24 5.1.2 Timingexample 26 5.2 MFCIOControlInterface . 27 5.2.1 SPIProtocoldescription . 27 5.2.2 Timingexample 28 5.2.3 SharingBusLineswiththePDISPI . 28 5.3 EthernetPhysicalLayerConnection 30 5.4 ExternalCircuitryandApplicationsExamples . 31 5.4.1 DeviceReset 31 5.4.2 SupplyFilteringforPLLSupply . 31 5.4.3 PHYPowerRegulatorFiltering . 32 5.4.4 ExternalCircuitforFixedSwitchingRegulator0 . 33 5.4.5 ExternalCircuitforAdjustableSwitchingRegulator1 34 5.4.6 MinimumExternalSupplyCircuitforSingle3.3VSupply 35 5.4.7 MinimumExternalSupplyCircuitforSingle5VSupply . 36 5.4.8 MinimumExternalSupplyCircuitforSingleSupply>5V 37 5.4.9 TypicalPowerSupplyChainUsingBothBuckConverters . 38 5.4.10StatusLEDCircuit . 38 5.4.11SIIEEPROMCircuit 38 5.4.12ConsiderationsonPHYtoPHYConnection 39 6 EtherCATSlaveControllerDescription 40 6.1 GeneralEtherCATInformation . 40 6.2 OverviewofAvailableChipFeatures 41 6.3 EtherCATRegisterOverview . 43 6.4 EtherCATRegisterSet 49 6.4.1 ESCInformation 49 6.4.2 StationAddress 53 6.4.3 WriteProtection . 54 6.4.4 DataLinkLayer 56 6.4.5 ApplicationLayer . 61 6.4.6 PDI . 64 6.4.7 Interrupts . 68 6.4.8 ErrorCounters 71 6.4.9 Watchdogs . 74 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com