Trinamic TMC8462-EVAL User Manual

Evaluation Board for TRINAMIC’s EtherCAT Slave Controller

EVALUATION BOARD

TMC8462-EVAL

Document Revision V1.00 • 2018-May -28

The TMC8462-EVAL is designed for evaluating all features of the TMC8462-BA EtherCAT Slave Con­troller. It can be used as bus interface module for EtherCAT applications.

Features

•

TMC8462-BA EtherCAT Slave Con­troller

• Board supply voltage: 5V to 35V

• Dual RJ45 TPC connector

• SPI PDI interface

•

SPI interface for TRINAMIC’s Multi­Function and Control IO Block (MFC IO)

•

Access to all chip functions via pin
headers and connectors

•

Interface to TRINAMIC’s evaluation
board concept

•

CAD design files available for down­load on www.trinamic.com

Applications

• Laboratory Automation

• Drives

• Semiconductor Handling

• Robotics

• Factory Automation

• Connected Sensors

Simplified Block Diagram

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com

Read entire documentation.

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 2 / 13

Contents

1 Getting Started 3

1.1 First Start-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Evaluation Board Sections and Components 5

2.1 Evaluation Board Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.2 Evaluation Board Pin Headers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.3 Evaluation Board Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Evaluation Board Design Files 10

4 Example XML File 10

5 Revision History 13

5.1 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 3 / 13

1 Getting Started

You need

• TMC8462-EVAL

• TRINAMIC’s Landungsbruecke or Startrampe

•

Firmware for Landungsbruecke or Startrampe
with simple implementation of the ESM (Ether­CAT State Machine)

• Eselsbruecke connector board

•

Power Supply 5V-35V for the evaluation board
itself

• Latest TMCL-IDE

• RJ45 TPC cable

•

EtherCAT master system (Beckhoff TwinCAT,
SOEM, Omron, Ancosys...)

• Additional cables you need for your setup

Precautions

•

Do not mix up connections or short-circuit pins.

•

Do not exceed the maximum rated supply sup­ply voltage!

• START WITH POWER SUPPLY OFF!

Foto eines kompletten Kits! Landungsbruecke+Eval+Kabel

Figure 1: TMC8462-EVAL kit

NOTICE

The Landungsbruecke operates on USB Power Supply.
All other voltages are generated from the evaluation board supply 5V-35V.
The kit works only when both supplies are connected.

1.1 First Start-Up

1.

Make sure that the latest version of the TMCL-IDE is installed. The TMCL-IDE can be downloaded
from www.trinamic.com/support/software/tmcl-ide/.

2. Open the TMCL-IDE and connect the Landungsbruecke or Startrampe via USB to the computer. For
Windows 8 and higher is no driver needed, on Windows 7 machines the TMCL-IDE is installing the
driver automatically.

3.

Verify that the Landungsbruecke or Startrampe is using the latest firmware version. The firmware
version is shown in the connected device tree. The latest firmware is always available online at

https://www.trinamic.com/support/eval-kits/details/landungsbruecke/ or
https://www.trinamic.com/support/eval-kits/details/startrampe/

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 4 / 13

Figure 2: Firmware Version

4.

The TMCL-IDE needs room to show all important information and to provide a good overview.
Therefore, arrange the main window related to your needs. We recommend using full screen.

Figure 3: Landungsbruecke Dialogue

5.

The TMCL-IDE includes a dialogue for diagnostic tasks for the controller board. Further, the dialogue
provides an overview of the connected evaluation board (controller and/or driver). The TMC8462-EVAL
should appear under "controller" by automatic detection. In case it does not appear, the evaluation
board can also be selected manually. A window should pop up immediately after connecting the
evaluation kit the first time. The window shows the general status of the connected evaluation board.
The second tab of the dialogue offers the possibility to choose basic settings or to reset the module.

6.

If not yet done also connect your Ethernet TPC cables into the RJ45 bus connections of the TMC8462­EVALto connect to other EtherCAT slaves and your EtherCAT master system.

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 5 / 13

Figure 4: Top view of TMC8462-EVAL

2 Evaluation Board Sections and Components

Figure 4 top view of the TMC8462-EVAL shows the main connectors (green), signal pin headers (light blue),
and jumper options (red).
The on-chip reset circuit takes care for proper power-on reset.
The tactile switch S1 in the upper right corner triggers a manual reset of the ESC and the PHYs.

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 6 / 13

2.1 Evaluation Board Connectors

Connector ID Description

J1

Power supply connector for the evaluation board. Connect Ground and
Supply here (5V-35V). Type: AKL320-02 by RIA

J2

Left side 44-pin connector with control signals going to TRINAMIC’s Lan­dungsbruecke or Startrampe controller board or a users own controller
board. The Eselsbruecke connector board fits onto this connector. Type:

HLE-122-02-F-DV by Samtec

J3

Right side 44-pin connector with configurable MFC IO singnals of TMC8462­BA. Type: HLE-122-02-F-DV by Samtec

J9

Double RJ45 twisted pair copper (TPC) connector to connect the TMC8462­EVAL to the EtherCAT bus. 10/100BaseT with integrated transformers. Type:

7499021125 by Wuerth Elektronik

Table 1: Board connectors

Please check the online available design files and schematic data for the connectors’ signal connections
and pinning.

2.2 Evaluation Board Pin Headers

There are 5 pin header groups on the TMC8462-EVAL– J4 to J8.

Pin Header ID Description

J4 General control signals

J5 MFC IO 16x low-voltage/digital IOs

J6 MFC IO 3x high-voltage IOs, pin group 1 using VIO1

J7 MFC IO 3x high-voltage IOs, pin group 2 using VIO2

J7 MFC IO 2x high-voltage IOs, pin group 3 using VIO3

Table 2: Pin header groups

J4 contains various control and debug signals.
The distributed clocks synchronization output trigger signals and input latch signals are available along
with some PDI debug signals.
Using a 2-pin jumper bridge across pin 5 and pin 6 (RESET_OUT to RST_IN) enables using the internal reset
signal of the ESC. Thereby, the EtherCAT master or the local host can issue a TMC8462-BA device reset by
writing a special character sequence into ESC registers 0x0040 or 0x0041.

Pin # Description Pin # Description

1 SYNC_OUT0 2 LATCH_IN0

3 SYNC_OUT1 4 LATCH_IN1

5 RESET_OUT 6 RST_IN

7 +3.3V (= TMC8462-BA SW0 output) 8 MFC_NES_EXT

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TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 7 / 13

Pin # Description Pin # Description

9 PDI_SOF 10 GND

11 PDI_EOF 12 +3.3V (= TMC8462-BA SW0 output)

13 CLK_16MHZ_OUT 14 +5V (from LDO U1)

15 GND 16 GND

Table 3: Pin header J4 pinning – general control signals

J5 allows access to all 16 low-voltage MFC IOs. They are using VCCIO = +3.3V. The actual function of these
16 MFC IOs is defined by the configuration of the MFC IO block’s crossbar matrix and functional sub-blocks.

Pin # Description Pin # Description

1 GND 2 +3.3V (= TMC8462-BA SW0 output)

3 MFCIO08 4 MFCIO00

5 MFCIO09 6 MFCIO01

7 MFCIO10 8 MFCIO02

9 MFCIO11 10 MFCIO03

11 MFCIO12 12 MFCIO04

13 MFCIO13 14 MFCIO05

15 MFCIO14 16 MFCIO06

17 MFCIO15 18 MFCIO07

19 GND 20 +3.3V (= TMC8462-BA SW0 output)

Table 4: Pin header J5 pinning – MFC IO 16x low-voltage/digital IOs

J6, J7, and J8 allow access to all 8 high-voltage MFC IOs. The voltage at these pins is configurable and can be
up to the supply voltage. The 8 high-voltage MFC IOs are divided into three groups where each group has
its own supply voltage. On the TMC8462-EVAL VIO1 and VIO2 are the same and directly driven by VOUT .
VIO2 can be selected using The actual function of these 8 MFC IOs is defined by the configuration of the
MFC IO block’s crossbar matrix and functional sub-blocks.

Pin # Description

1 VOUT (= TMC8462-BA SW1 output, configurable)

2 MFCHVIO00

3 MFCHVIO01

4 MFCHVIO02

5 GND

Table 5: Pin header J6 pinning – MFC IO 3x high-voltage IOs, pin group 1 using VIO1

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 8 / 13

Pin # Description

1 VIO2 (= selectable and configurable)

2 MFCHVIO03

3 MFCHVIO04

4 MFCHVIO05

5 GND

Table 6: Pin header J7 pinning – MFC IO 3x high-voltage IOs, pin group 2 using VIO2

Pin # Description

1 VOUT (= TMC8462-BA SW1 output, configurable)

2 MFCHVIO06

3 MFCHVIO07

4 GND

Table 7: Pin header J8 pinning – MFC IO 2x high-voltage IOs, pin group 3 using VIO3

2.3 Evaluation Board Jumper Settings

Jumper ID Default Connection Pins Description

JP1 2-3

JP1 selects the voltage used for bank 2 of the high voltage IOs
VIO2. The default setting selects VOUT of the configurable
buck regulator of TMC8462-BA. The VOUT itself can further
be selected with JP2. The second option of JP1 is to used a
dedicated fixed 5V voltage regulator output.

JP2 1-2

JP2 selects the configuration for the output voltage of
the configurable internal buck regulator of TMC8462-BA.
The default setting ("fixed") uses a voltage divider con­figuration for VOUT = 5V. The second option ("VAR") al­lows directly controlling VOUT with the potentiometer R23.

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 9 / 13

Jumper ID Default Connection Pins Description

JP3 1-2

JP3 selects the configuration of the two SPI control interfaces
of TMC8462-BA (PDI SPI interface and MFC IO SPI interface).
The default setting configures the interfaces to be two sepa­rate SPI buses with individual control and data signals. The
second option is to physically share the PDI SPI bus and also
allow access to the MFC IO SPI via the second chip select line.

JP4 1-2

JP4 selects the EtherCAT operation mode of TMC8462-BA.
With the default setting, the EtherCAT slave controller op­erates in standard mode. TMC8462-BA thereby expects a
controller including an EtherCAT State Machine (ESM) imple­mentation at the PDI interface. The second option is to
start-up the ESC in so-called PDI- or device-emulation mode,
which allows operation without an external controller. State
changes are then directly executed in hardware in the ESC.

JP5 2-3

JP5 selects the actual source of the low active (not) emergency
switch input MFC_NES. MFC_NES has a weak internal pull down
and must be driven high for normal operation. The default
setting of JP5 configures the source of MFC_NES coming from
pin header J4 at pin 8. The second option is that MFC_NES
is driven by pin 23 of the 44-pin connector J2, for example
by a connected TRINAMIC Landungsbruecke controller board.

Table 8: Board jumper options and defaults

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 10 / 13

3 Evaluation Board Design Files

All design files for our evaluation boards are available for free. We offer the original ECAD files, Gerber
data, the BOM, and PDF copies of schematic and layout.

The files are available on the evaluation board website at

https://www.trinamic.com/support/eval-kits/

.

Note

If files are missing on the website or something is wrong please send us a note.

4 Example XML File

The following example XML file is used as default configuration for the TMC8462-EVAL. This XML file is
available for download from the evaluation board’s webpage. Besides the standard ESI/XML configuration
it includes the following blocks:

•

The MFC IO configuration vector, which is defined as category 1 data to be automatically loaded in
the ESC Parameter RAM at 0x0580-0x05E1. It is all zero in this configuration.

• DC mode configuration example

• ESC configuration <ConfigData> with general/start-up PDI and interface configuration

1 <?xml v er sio n ="1. 0"? >

< Eth erC ATI nfo x mln s:x si=" h ttp : //www.w 3.or g /20 01/ X MLSch ema - ins tan ce"

3 x si: noN a mes pac e Sch ema L oca tio n = " Eth erC ATI nfo . x sd " Ver sio n ="1.6">

< V e ndo r >

5 < Id># x28 6 </I d >

< Na me>Tr ina mi c M ot ion C ont rol Gmb H & amp ; C o . KG</ Nam e >

7 < I mag eDa ta1 6 x1 4 > 424 dd 6 020 000 0 000 0000 360 0 000 028 0 000 001 0 000 000 0 e00 0 000 0

100 180 0 0 0 0 000 00 a00 2 000 013 0 b00 001 3 0b0 000 0 000 000 0 000 000

9 ...

b3b 3 b3b 3b3 b 3b3 b3 b 3 b3b 3 b3b 3b3 b 3b3 b3b 3 aca cac 1 c1c 1c

11 < / Ima geD a ta 1 6x1 4 >

</Ve nd or >

13 < Des cri pti ons >

< G r oup s >

15 < G ro up>

< Ty pe>Tr ina mic EVA L < /Ty pe>

17 < Na me LcI d ="1033 " > EVAL B oar ds </ N am e >

< Na me LcI d ="1031 " > EVAL B oar ds </ N am e >

19 </Gr ou p >

</Gr ou ps >

21 < Dev ic es >

< D e vic e Phy sic s =" Y Y ">

23 < Ty pe P rod uct Cod e ="# x 2 64 830 54" R evi sio nNo = "#x0 001 012 8 " >

TMC84 62 - EVA L D efa ult < / Type >

25 < Na me LcI d ="1033 " > T M C8462 - EVAL D efa ult < / Name>

< Na me LcI d ="1031 " > T M C8462 - EVAL D efa ult < / Name>

27 < In fo>

< Sta teM ach ine >

29 < Tim eo ut >

< Pre opT ime out >2000 < / Pre opT ime o ut>

31 < Saf eop OpT i m e o ut>9000 < / Saf e opO pTi meo ut >

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 11 / 13

< Bac kTo Ini t Tim eou t > 5000 </ Ba c kTo Ini tTi meo u t >

33 < Bac kTo S afe opT ime out >200</ B a ckT oSa feo p Tim eou t >

</Ti meo ut >

35 < / Sta teM ach ine >

< Mai lb ox >

37 < Tim eo ut >

< Req ues tTi meo u t >10 0 </Re que stT ime o ut>

39 < Res pon seT i m e o ut>2000 < / Res p ons eTi meo ut >

</Ti meo ut >

41 < / Mai lb ox >

</Info >

43 < Gro upT ype > T rin ami cEV AL </ Gr oup Typ e >

45 <Dc >

< O p Mod e >

47 < Na me>Sy nch ro n < / Na me>

< De sc>Fr ee Run / SM-Sy nch ron < / D e sc>

49 < Ass ign Act iva t e >#x 0 </As sig nAc tiv a te>

</Op Mo de >

51 < OpM ode >

< Na me>D C </ N ame >

53 < De sc>DC-Sy nch ron < / Desc >

< Ass ign Act iva t e >#x300 < / Ass i g n A cti vat e >

55 < Cyc leT ime Syn c 0 Facto r ="1" >0</ C ycl eTi meS ync 0 >

< Shi ftT ime Syn c 0 >0< / S hif tTi meS ync 0 >

57 < Cyc leT ime Syn c 1 Facto r ="1" >0</ C ycl eTi meS ync 1 >

< Shi ftT ime Syn c 1 >0< / S hif tTi meS ync 1 >

59 < / OpMod e >

</D c >

61

< E e pro m >

63 < Byt e S ize >2048 < / Byt eSi ze>

<!-- G ene ral / Start -up ESC C onf igu rat ion - ->

65 < Con fig Dat a > 05 0 E 034 EC4 090 0 000 000 < / Con fig Dat a >

67 <!-- M FC IO c onf igu rat i on vec tor -->

<!-- C ate gor y 1 dat a i s r equ ire d fo r th e M FC IO c onf i gur ati on -->

69 <!-- T his c onf igu rat ion i s a uto mat i ca l ly w rit te n fro m E EPR OM to -->

<!-- m emo ry are a 0 x 058 0:0 x05 FF ( ESC P ara m e t er R AM). -->

71 < C at ego ry >

< Ca tNo > 1 </ C atN o >

73 < Da ta>

000 0 000 000 0 000 0 000 000 0 000 000 0 000 0000 000 0 000 000 0 000 000 0 0

75 0 000 0 000 000 0 000 000 0 000 0 000 000 0 000 000 0 000 00 0 0 000 0 000 000 0

000 0 000 000 0 000 0 000 000 0 000 000 0 000 0000 000 0 000 000 0 000 000 0 0

77 0 000 000 0 000 000 0 000 000 0 000 000 0 00

</Data >

79 < / Cat ego ry >

</Ee pr om >

81

< Ima geD ata 16x 1 4 >42 4 d d60 200 0 000 0 000 003 6 000 000 2 800 000 0 100 0000 00e 0 000 000

83 100 180 0 0 0 0 000 00 a00 2 000 013 0 b00 001 3 0b0 000 0 000 000 0 000 000

...

85 b3b 3 b3b 3b 3 b 3b3 b 3b3 b3b 3 b3b 3b3 b 3b3 b3b 3 aca ca c 1 c1c 1 c

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 12 / 13

</Im age Dat a 16x 14>

87 </De vi ce >

</De vic es >

89 </De scr ipt ion s >

</Et her CAT Inf o >

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMC8462-EVAL • Document Revision V1.00 • 2018-May -28 13 / 13

5 Revision History

5.1 Document Revision

Version Date Author Description

1.00 2018-02-26 SK Initial release.

Table 9: Document Revision

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com