TMC8462 Datasheet • Document Revision V1.4 • 2018-May -09
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3.2 EtherCAT Slave Controller
TMC8462 contains a standard-conform EtherCAT Slave Controller (ESC) providing real-time EtherCAT MAC
layer functionality to EtherCAT slaves. It connects via MII interface to standard Ethernet PHYs and provides
a digital control interface to a local application controller while also providing the option for standalone
operation.
The ESC part of TMC8462 provides the following EtherCAT-related features. More information is available
in Section 6.
• Two internal 100Mbit Ethernet PHYs
• Eight Fieldbus Memory Management Units (FMMU)
• Eight Sync Managers (SM)
• 16 KByte of Process Data RAM (PDRAM)
• 64B bit Distributed Clocks support
• I2C interface for external EEPROM for ESC configuration
• SPI Process Data Interface (PDI) with 30Mbit/s
• Proven EtherCAT State Machine (ESM)
• Device Emulation Mode
3.3 Multi-Function and Control IO Block
In addition to the EtherCAT functionality, the TMC8462 comes with a dedicated function block providing a
configurable set of complex real-time IO functionality for smart (embedded) EtherCAT slave systems. This
IO functionality is called Multi-Function Control and IO block (MFC IO). Its special focus is on motor and
motion control while it is not limited to this application area.
The MFC IO block combines various functional sub blocks that are helpful in an embedded design to
reduce complexity, to simplify bill of materials (BOM), and to provide hardware acceleration to compute
intensive or time critical tasks. More information is available in Section 7.
Configurable IO Ports The whole MFC IO block provides in total 24 IO ports that can be configured and
assigned to any of the available functional units inside the MFC IO block. If not used, each IO port can be
tristated.
General Purpose IOs Up to sixteen (16) general purpose IOs are available. Each IO can be configured
either as input or as output. For the outputs, a safe state can be configured which is used in case of
emergency event.
Incremental Encoder Interface Configurable incremental encoder interface with 32 bit position regis-
ters, single-ended or differential inputs, configurable counting constant for different resolutions, config-
urable polarity and N-signal behavior.
Step/Direction Generator Block The step and direction unit provides upt to 3 independent channels.
Various configuration options and modes allow for example for continuous or one-shot mode, reading of
the internal total step counters, pre-loading the next step frequency to be used at a certain counter value.
The step and direction outputs signals can be single-ended or differential.
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