INTEGRATEDCIRCUITS EtherCATSlaveControllerfor TMC8461Datasheet DocumentRevisionV1.3 2018-Apr-13 TheTMC8461isacompleteEtherCAT SlaveControlleroptimizedforrealtime. Itcomprisesall blocksrequiredforanEtherCATslaveincludingtwoswitchregulatorpowersuppliesand24Vca- pablehighvoltage I/Osforindustrialenvironments. Timer,watchdog,PWMandSPI/IICmaster unitsallowforenhancedcapabilitieseitherindeviceemulationmodeorincombinationwithan externalCPU. Features StandardcompliantEtherCAT Slave 2MIIInterfacesforexternalEther- netPHY 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.TMC8461DatasheetDocumentRevisionV1.3 2018-Apr-13 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 PinoutandPinCoordinatesofTMC8461-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 EthernetInterface . 30 5.3.1 EthernetPHYs . 32 5.4 ExternalCircuitryandApplicationsExamples . 33 5.4.1 DeviceReset 33 5.4.2 SupplyFilteringforPLLSupply . 33 5.4.3 ExternalCircuitforFixedSwitchingRegulator0 . 34 5.4.4 ExternalCircuitforAdjustableSwitchingRegulator1 35 5.4.5 MinimumExternalSupplyCircuitforSingle3.3VSupply 36 5.4.6 MinimumExternalSupplyCircuitforSingle5VSupply . 37 5.4.7 MinimumExternalSupplyCircuitforSingleSupply>5V 38 5.4.8 TypicalPowerSupplyChainUsingBothBuckConverters . 39 5.4.9 StatusLEDCircuit . 39 5.4.10SIIEEPROMCircuit 40 6 EtherCATSlaveControllerDescription 41 6.1 GeneralEtherCATInformation . 41 6.2 OverviewofAvailableChipFeatures 42 6.3 EtherCATRegisterOverview . 44 6.4 EtherCATRegisterSet 50 6.4.1 ESCInformation 50 6.4.2 StationAddress 54 6.4.3 WriteProtection . 55 6.4.4 DataLinkLayer 57 6.4.5 ApplicationLayer . 62 6.4.6 PDI . 65 6.4.7 Interrupts . 69 6.4.8 ErrorCounters 72 6.4.9 Watchdogs . 75 6.4.10SIIEEPROMInterface . 78 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com