TMC8670

TRINAMIC Motion Control...

Torque Control (FOC), Velocity Control, Position Control

Manufacturer: TRINAMIC Motion Control...

Document: 123 Pages / 16Mb

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3.6 COMMUNICATIONINTERFACES
4 DEVICE0INDE 1NITIONS
5 DEVICE5SAGEAND(ANDLING
5.5.1 DIGITAL(ALL3ENSORINTERFACEWITHOPTIONAL INTERIM0OSITION INTERPOLATION
5.5.2 DIGITAL(ALL3ENSOR-INTERIM0OSITION INTERPOLATION
5.5.3 DIGITAL(ALL3ENSORS--ASKINGAND&ILTERING
5.5.4 DIGITAL(ALL3ENSORSTOGETHERWITHINCREMENTAL%NCODER
6.5.1 COORDINATE4RANSFORMATIONS-CLARKE,0ARK,ICLARKEI0ARK

ETHERCA4-OTIONCONTROLLERFOR2-/3-0HASE0-3- I.4EG2A4EDC I2C5I43 4-C8670DATASHEET (ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 4HE4-C8670ISACA.OPEN-OVERETHERCA4(COE) 1ELDORIENTEDCONTROL(&/C)SERVOCONTROLLERFOR TORqUE,VELOCITY,ANDPOSITIONCONTROL. ITCOMESWITHAFULLYINTEGRATEDETHERCA43LAVECONTROLLER (E3C),A2EXIBLESENSORENGINEFORDI ﬀ ERENTPOSITIONFEEDBACKANDCURRENTSENSINGOPTIONS,ASWELL ASACOMPLETECA.OPEN-OVER-ETHERCA41RMWARESTACKFORTHECIAD3402DEVICEPRO 1LE. 4-C8670 ISABUILDINGBLOCKTHATENABLESASERVOCONTROLLERWITHONLYACOUPLEOFCOMPONENTS. &EATURES

&IELD/RIENTEDCONTROL(&/C) 3ERVOCONTROLLER
4ORQUECONTROL(&/C), 6ELOCITYCONTROL,0OSITIONCONTROL
3ENSOR%NGINE((ALLANALOG/DIGITAL, %NCODERANALOG/DIGITAL)
3UPPORTFOR3-0HASE0-3-AND 2-0HASE3TEPPER-OTORS
07-%NGINEINCLUDING3607-
INTEGRATED%THERC!43LAVECONTROLLER, CO%PROTOCOLCI!402DRIVEPRO 1LE
5!24INTERFACE !PPLICATIONS
2OBOTICS
3EMICONDUCTOR(ANDLING
&ACTORY!UTOMATION
,ABORATORY!UTOMATION
-ANUFACTURING
IIO4!PPLICATIONS 3IMPLI1ED"LOCKDIAGRAM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 3/123 6.5.6 +NOWLEDGEOF2ELEVANT-OTOR0ARAMETERSAND0OSITION3ENSOR(%NCODER)0ARAMETERS 38 6.5.8 0ULSE7IDTH-ODULATION(07-)AND3PACE6ECTOR0ULSE7IDTH-ODULATION(3607-) . 38

7 ETHERCA43LAVECONTROLLERDESCRIPTION 46

8 ELECTRICAL2ATINGS 112

h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 4/123 11&IGURESINDEX 120 124ABLESINDEX 121 132EVISION(ISTORY 123 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 5/123 1 0RODUCT&EATURES 4-C8670ISAHIGHLYINTEGRATED3OCPROVIDINGTHEINTERFACEBETWEENAN%THERC!4REAL-TIME 1ELDBUSAND THELOCALDRIVEAPPLICATION. ITINCLUDESTHEREAL-TIME-!CLAYERFOR%THERC!4,THEAPPLICATIONSOFTWARESTACK FORTHECI!D3402C!.OPENDEVICEPRO 1LE,ANDTHECOMPLETESERVOCONTROLBLOCKINDEDICATEDHARDWARE WITHINTERFACESTO!DCSANDPOSITIONFEEDBACK. 4-C8670OﬀERSANEXTREMELYHIGHFUNCTIONDENSITYINASMALLSCALEPACKAGE. ADVANTAGES:

&ULLYSTANDARDCOMPLIANTANDPROVEN%THERC!43LAVECONTROLLERAND3TATE-ACHINE
(IGHLYINTEGRATED3ERVOCONTROLLERWITHRICHFEATURESETVS.PACKAGESIZE
2OBUSTSILICONTECHNOLOGY
3AVESBOARDSPACE&REDUCES"/-
,ONG-TERMAVAILABILITY -AjOR&EATURES:
INTEGRATED%THERC!43LAVECONTROLLERWITH2- IIPORTSFOR%THERNETBUSINTERFACING
COMPLETE1RMWARESTACKWITH%THERC!43TATE-ACHINEANDC!.OPENOVER%THERC!4STACKBASEDON CI!D3402DEVICEPRO 1LE
&IRMWAREUPDATEVIA%THERC!4ORVIA5!24
&ULLYINTEGRATEDHARDWARESERVOCONTROLLERWITH 1ELD-ORIENTEDCONTROLANDRICHINTERFACESUPPORT
4WODIGITALINCREMENTALENCODERINTERFACES
!NALOG3INCOSENCODERINTERFACE
DIGITALHALLSENSORINTERFACE
!NALOGHALLSENSORINTERFACE
&LEXIBLE!DCINTERFACETOCONNECTTOEXTERNAL30 I!DCSORDELTASIGMAMODULATORS
INDUSTRIALTEMPERATURERANGE-40oCTO+125oC
0ACKAGE:325-PIN"G!CHIPSCALEPACKAGEWITH0.5MMPITCH,11MMX11MM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 6/123 2 /RDERCODES /RDERCODE DESCRIPTION 3IZE 4-C8670-"I 4-C8670!DVANCED%THERC!4m3ERVOCONTROLLERIN325-PIN"G!CHIP SCALEPACKAGEWITH0.5MMPITCH 11MMX11MM 4-C8670-%6!,%VALUATION"OARDFOR4-C8670-"I,COMPATIBLEWITHTHEMODULAR ,ANDUNGSBRUECKESYSTEM,2*45TWISTEDPAIRCOPPERINTERFACE 79MMX85MM 4ABLE1:4-C8670ORDERCODES 4RADEMARKAND0ATENTS %THERC!4mISAREGISTEREDTRADEMARKANDPATENTEDTECHNOLOGY,LICENSEDBY"ECKHO ﬀ !UTOMATIONGMB(, GERMANY. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 7/123 3 0RINCIPLESOF/PERATION/KEYCONCEPTS

3.1 GENERALDEVICEARCHITECTURE

&IGURE1SHOWSTHEGENERALDEVICEARCHITECTUREANDMAJORCONNECTIONSOF4-C8670. 4HE%THERC!43LAVECONTROLLER(%3C)ISREALIZEDINDEDICATEDLOGICANDPROVIDESTWO- IIINTERFACESTOEXTERNAL %THERNET0(9SSUITABLEFOR%THERC!4. 4HE%3CCONNECTSTOTHEINTEGRATEDMICROCONTROLLER,WHICHEXECUTESTHE%THERC!43TATE-ACHINE(%3-)AND THECI!D3402C!.OPENPROTOCOLSTACK.!DEBUG5!24INTERFACECONNECTSTOTHE-C5FORDEBUGGINGAND 1RMWAREUPDATES. 4HE1RMWAREINTHE-C5CONTROLSTHESERVOAND 1ELD-ORIENTEDCONTROL(&/C)BLOCK,WHICHISCOMPLETELY REALIZEDINDEDICATEDLOGIC.!LL0 I-LOOPSFORPOSITION,VELOCITY,ANDTORQUEAREFULLYCON 1GURABLE. 4HE&/CBLOCKDRIVESEXTERNALGATEDRIVER,WHICHINTURNARESWITCHINGAPOWERSTAGEFOR3-PHASEBRUSHLESS MOTORSOR2-PHASESTEPPERMOTORS. 4HE&/CBLOCKPROVIDESASETOFINTERFACESFORDI ﬀERENTTYPESOFCURRENTSENSINGANDPOSITIONFEEDBACK. CURRENTSENSINGANDENCODERSAREEXTERNALCOMPONENTSTOTHE4-C8670. &IGURE1:GENERALDEVICEARCHITECTURE

3.2 ETHERCA43LAVECONTROLLER

4-C8670CONTAINSASTANDARD-CONFORMANDPROVEN%3CENGINEPROVIDINGREAL-TIME%THERC!4-!CLAYER FUNCTIONALITYTO%THERC!4SLAVES. ITCONNECTSVIA- IIINTERFACETOSTANDARD%THERNET0(9SANDPROVIDESA DIGITALCONTROLINTERFACETOALOCALAPPLICATIONCONTROLLER 4HE%3CPARTOF4-C8670PROVIDESTHEFOLLOWING%THERC!4-RELATEDFEATURES.-OREINFORMATIONISAVAILABLE IN3ECTION7.

4WO-IIINTERFACESTOEXTERNAL%THERNET0(9SPLUSMANAGEMENTINTERFACE
&OUR&IELDBUS-EMORY-ANAGEMENT5NITS(&--5)
&OUR3YNC-ANAGERS(3-)
4+"YTEOF0ROCESSDATA2!-(0D2!-)
64BITDISTRIBUTEDCLOCKSSUPPORT
IICINTERFACEFORANEXTERNAL3 II-%%02/-FOR%3CCON1GURATION 3.3 -ICROCONTROLLERAND&IRMWARE3TACK 4HEINTEGRATEDMICROCONTROLLERSYSTEMCONTAINSANDCONTROLSTHEAPPLICATIONLAYEROF4-C8670.4HEREBY, THE1RMWAREISSPLITUPINTOABOOTLOADERSECTIONANDTHEAPPLICATIONLAYERSECTION.4HEBOOTLOADERALLOWS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 8/123 FORFUTURE 1RMWAREUPDATES. 4HEAPPLICATIONLAYERCOMPRISESTHE%3-TOCOMMUNICATEWITHTHE%3C ANDTHEC!.OPEN-OVER-%THERC!4(CO%)PROTOCOLSTACK.4HECO%STACKISBASEDONTHECI!D3402DEVICE PRO1LEFORDRIVES.ITCONTROLSTHEHARDWARESERVO/&/CCONTROLLERBLOCK.4HEAPPLICATIONLAYERALSOSUPPORTS &ILE-4RANSFER-OVER-%THERC!4(&O%),WHICHISUSEDFORREMOTE1RMWAREUPDATESVIATHE%THERC!4MASTER. 3.4 3ERVO/&/CCONTROLLER 4HEINTEGRATEDSERVO/&/CCONTROLLERISCOMPLETELYREALIZEDINDEDICATEDLOGIC. ITSCONTROLREGISTERSARE DIRECTLYMAPPEDINTOTHEMICROCONTROLLERSADDRESSSPACE. ITO[OADSTHEMICROCONTROLLERFROMTHEREPETITIVE ANDTIME-CONSUMINGCOMPUTATIONTASKSOFCONTROLLOOPPROCESSING,&/C0ARKANDCLARKTRANSFORMATIONS, 07-GENERATION,ANDINTERFACINGTO!DCSANDPOSITIONFEEDBACK.4HESERVO/&/CCONTROLLERSUPPORTS07- FREQUENCIESANDCURRENTLOOPFREQUENCIESOFUPTO100K(:. ITNOTONLYSUPPORTS3-PHASEBRUSHLESSMOTORS BUTALSO2-PHASESTEPPERMOTORSANDSINGLEPHASEMOTORS,FOREXAMPLEDCMOTORS. -OREINFORMATIONISGIVENTHE&/C"ASICS3ECTION. 3.5 &LEXIBLE3ENSORENGINE !VERSATILEAND 2EXIBLESENSORENGINEISPARTOFTHESERVO/&/CCONTROLLERBLOCKOF4-C8670.4HESENSOR ENGINEHANDLESDIGITALHALLSENSORS,DIGITALINCREMENTALENCODERS,ANALOGHALLSENSORS,ANDANALOGSIN-COS- SENSORS.4OGETHERWITHTHERELEVANTSENSORPARAMETERS,ITMAPSTHEMEASUREDSENSORPOSITIONTO16BIT SIGNEDVALUES(S16)FORTHE&/CENGINE. &IGURE2:4-C86703ENSORENGINEMAPSPOSITIONSENSORSIGNALSTOMECHANICALANGELSANDELECTRICALANGELSAS DIRECTINPUTFORTHE&/CENGINE. ADC INTERFACES 4HE4-C8670 ISAPUREDIGITAL ICWITHINTERFACESFOREXTERNAL!DCS. !S!DCONECAN EITHERSELECT,4C2351FROM,INEAR4ECHNOLOGYORDELTA3IGMA-ODULATORS(!D7401).!SANALTERNATIVETO DELTA3IGMA-ODULATORS,THE4-C8670 SUPPORTSLOWCOSTCOMPARATORS(E.G.,-339)TOGETHERWITHSOME PASSIVECOMPONENTSTOFORMDELTASIGMAMODULATORS. DIGITALENCODER INTERFACES 4HEDIGITALENCODERINTERFACESUPPORTAWIDERANGEOFENCODERSWITHDI ﬀERENT RESOLUTIONS,SIGNALPOLARITIESANDZEROPULSES. ANALOGENCODER INTERFACES 4HEANALOGENCODERINTERFACEISFORANALOGHALLSIGNALS-TWOPHASE3INCOS ORTHREEPHASE-ANDFORANALOG(INCREMENTAL)ENCODERS.!NINTERPOLLATORFOR3INCOSENCODERSISINTEGRATED. DIGITAL(ALL3ENSOR INTERFACE 4HEDIGITALHALLSIGNALINTERFACEENABLESDIGITALHALLSIGNALSFORINITIALIZATION OFINCREMENTALENCODERS.4HEDIGITALHALLSIGNALINTERFACECANBEUSEDDIRECTLYFORTHE&/C.&ORTORQUERIPPLE REDUCTIONANINTERPOLATORFORTHEDIGITALHALLSIGNALSISINTEGRATED. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 9/123 ANALOG(ALL3ENSOR INTERFACE 4HEINTERFACEFORANALOGHALLSIGNALSISTHESAMEINTERFACEASAVAILABLEFOR 3INCOSANALOGENCODERS.

3.6 COMMUNICATIONINTERFACES

&IELDBUS INTERFACE 4-C8670PROVIDESTWO- IIPORTSTOCONNECTTO100--BIT%THERNET0(9STHATCONNECT TOTHE 1ELDBUS./NEPORTISTHEDEDICATED%THERC!4 I.PORT.4HESECONDPORTISTHEDEDICATED%THERC!4 /54PORT.DEPENDINGONTHEPHYSICALMEDIUM(TWISTEDPAIRCOPPERORPASSIVEOPTICAL 1BER)ANEXTERNAL TRANSFORMERCIRCUITCONNECTSTOTHE28AND48LINES. IIC3IIEE02/-INTERFACE 4HEIIC%%02/-INTERFACEISINTENDEDTOBEAPOINT-TO-POINTINTERFACEBETWEEN 4-C8670ANDTHE3 II%%02/-WITH4-C8670BEINGTHEMASTER.DEPENDINGONTHE%%02/- ’SCAPACITYTHE ADDRESSINGMODEMUSTBEPROPERLYSETUSINGTHE02/-?3 I:%CON1GURATIONPIN. CON1GURATIONOFTHE%THERC!43LAVECONTROLLERISDONEDURINGBOOTTIMEWITHCON 1GURATIONINFORMATION READFROMTHE3 II%%02/-AFTERRESETORPOWERCYCLING.4HISINFORMATIONMUSTBE(PRE)PROGRAMMEDINTO THE3II%%02/-.4HISCANBEDONEVIATHE%THERC!4MASTERUSINGASO-CALLED%THERC!43LAVE INFORMATION (%3I)1LEINSTANDARDIZED8-,FORMAT. DEBUG5A24 INTERFACES 4-C8670HASTWO5!24INTERFACESTHATALLOWFORBASICLOCALDEBUGGING.4HE -C55!24DIRECTLYCONNECTSTOTHEMICROCONTROLLERANDCANALSOBEUSEDFORLOCAL 1RMWAREUPDATES.4HE (75!24DIRECTLYCONNECTSTOTHESERVO/&/CCONTROLLERBLOCKANDALLOWSFORDIRECTCONTROLVIAREGISTER READ/WRITEOFTHISFUNCTIONBLOCKALONE.4HISISUSABLEFORLOCALTUNING,MONITORINGOFTHEREGISTERS,AND DEBUGGING. -OREDETAILSONTHETWODEBUG5!24INTERFACESAREGIVENINTHEDEBUG5!24S ’SECTION 3.7 3OFTWARE-AND4OOL-3UPPORT EVALUATIONBOARD !NEVALUATIONBOARDISAVAILABLEFORTHE4-C8670WITHSTANDARD2*45CONNECTORSAND TRANSFORMERSFORINTERFACINGTWISTEDPAIRCOPPERMEDIA. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 10/123 &IGURE3:4-C8670EVALUATIONBOARD 4HECOMPLETEBOARDDESIGN 1LESAREAVAILABLEFORDOWNLOADANDCANBEUSEDASREFERENCE.!LLINFORMATION ISAVAILABLEFORDOWNLOADONTHESPECI 1CPRODUCTPAGEON42 I.!-IC’SWEBSITEAT https://www.trinamic.com/support/eval-kits/. 4-C,-IDE 4HE4-C,-ID%IS42 I.!-IC’SPRIMARYTOOL(FOR7INDOWS0CS)TOCONTROL42 I.!-ICMODULESAND EVALUATIONBOARDS."ESIDES,ITPROVIDESFEATURELIKEREMOTE 1RMWAREUPDATES,MODULEMONITORINGOPTIONS, ANDSPECI1C7IZARDSUPPORT.4HE4-C,-ID%CANBEUSEDALONGWITH42 I.!-IC’SMODULAREVALUATIONBOARD SYSTEM. INfo 4HE4-,C-ID%ISNOTAN%THERC!4MASTERSYSTEM! 4HE4-C8670-%6!,CANBEACCESSEDVIATHE5!24INTERFACEOFTHEEVALUATIONBOARDTOTRYOUTTHESERVO FUNCTIONSWITHOUTUSINGAN%THERC!4MASTERINTHE 1RSTPLACE. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 11/123 &IGURE4:4-CL-IDE 4HELATESTVERSIONANDADDITIONALINFORMATIONISAVAILABLEFORDOWNLOADFROM42 I.!-IC’SWEBSITEAT https://www.trinamic.com/support/software/tmcl-ide/. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 12/123

4 DEVICE0INDE 1NITIONS

4.1 0INOUTAND0INCOORDINATESOF4-C8670-BA 1 2 3 4 5 6 7 8 9 101112131415161718192021 C D G &IGURE5:4-C8670-BI0INOUTTOPVIEW 4.2 0IN.UMBERSAND3IGNALDESCRIPTIONS 0INSNOTLISTEDINTHEFOLLOWINGTABLEARE..C.(NOTCONNECTED). 0INTYPESARE I=INPUT,/=OUTPUT,05=HASPULL-UP,0D=HASPULL-DOWN. .AME 0IN 4YPE &UNCTION GENERAL3IGNALS .2%3%4 -9 I ,OWACTIVESYSTEMRESET,PULLUPTO6DD?363WITH10+ C,+?25-(: 01 I 25-(Z2EFERENCECLOCK INPUT,CONNECTTOCLOCKSOURCE WITH<25PPMORBETTER,TYPICALLYSAMECLOCKSOURCE ASUSEDFORTHE%4(0(9S. C,+/54?25-(: (17 / h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 13/123 .AME 0IN 4YPE &UNCTION ETHERCA43IIEE02/-I/S 02/-?C,+ &1 / %XTERNALIIC3II%%02/-CLOCKSIGNAL, USE1KPULLUP RESISTORTO6DD?363 02/-?D!4! &2 I// %XTERNALIIC3II%%02/-DATASIGNAL, USE1KPULLUP RESISTORTO6DD?363 02/-?3I:% +1 I,05 3ELECTSBETWEENTWODI ﬀERENT%%02/-SIZESSINCE THECOMMUNICATIONPROTOCOLFOR3 II%%02/-ACCESS CHANGESIFASIZE>16K"ITISUSED(ANADDITIONALAD- DRESSBYTEISREQUIREDTHEN).0=UPTO16K"IT%%02/-, 1=32K"IT-4-BIT%%02/-,HASWEAKINTERNALPULL-UP ETHERCA43TATUS,EDS ,%D?25. D1 / %3-2UN3TATUS,%D,CONNECTTOGREEN,%D(!NODE)0 =,%DO ﬀ,1=,%DON ,%D?%22 D2 / %3-%RROR3TATUS,%D,CONNECTTORED,%D(!NODE)0= ,%DOﬀ,1=,%DON ,%D?,I.+?I. %1 / %4(,INK IN0ORT3TATUSAND!CTIVITY,CONNECTTOGREEN ,%D(!NODE)0=,%DO ﬀ,1=,%DON ,%D?,I.+?/54 &3 / %4(,INK/UT0ORT3TATUSAND!CTIVITY, CONNECTTO GREEN,%D(!NODE)0=,%DO ﬀ,1=,%DON DISTRIBUTEDCLOCKS3YNCHRONIzATION ,!4C(?I.0 +2 I,0D DISTRIBUTEDCLOCKS,ATCH INPUT,HASWEAKINTERNALPULL- DOWN 39.C?/540 +4 / DISTRIBUTEDCLOCKS3YNCHRONIZATION/UTPUT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 14/123 .AME 0IN 4YPE &UNCTION -II INTERFACETOEXTERNALE4(0(9(ETHERCA4 I.0ORT) -II1?,I.+ &18 I ,INKINDICATIONINPUT -II1?28C,+ G18 I 2ECEIVECLOCK -II1?28D;0= &19 I 2ECEIVEDATABIT0 -II1?28D;1= &20 I 2ECEIVEDATABIT1 -II1?28D;2= %21 I 2ECEIVEDATABIT2 -II1?28D;3= %20 I 2ECEIVEDATABIT3 -II1?28D6 G21 I 2ECEIVEDATAVALIDSIGNAL -II1?28%2 G20 I 2ECEIVEERRORSIGNAL -II1?48C,+ %18 I 4RANSMITCLOCK -II1?48D;0= D21 / 4RANSMITDATABIT0 -II1?48D;1= C21 / 4RANSMITDATABIT1 -II1?48D;2= C20 / 4RANSMITDATABIT2 -II1?48D;3= "21 / 4RANSMITDATABIT3 -II1?48?%. %17 / 4RANSMITENABLE -II INTERFACETOEXTERNALE4(0(9(ETHERCA4/540ORT) -II2?,I.+ +18 I ,INKINDICATIONINPUT -II2?28C,+ ,18 I 2ECEIVECLOCK -II2?28D;0= .21 I 2ECEIVEDATABIT0 -II2?28D;1= -20 I 2ECEIVEDATABIT1 -II2?28D;2= ,20 I 2ECEIVEDATABIT2 -II2?28D;3= ,21 I 2ECEIVEDATABIT3 -II2?28D6 .20 I 2ECEIVEDATAVALIDSIGNAL -II2?28%2 -18 I 2ECEIVEERRORSIGNAL -II2?48C,+ *17 I 4RANSMITCLOCK -II2?48D;0= ,19 / 4RANSMITDATABIT0 -II2?48D;1= +21 / 4RANSMITDATABIT1 -II2?48D;2= *20 / 4RANSMITDATABIT2 -II2?48D;3= *21 / 4RANSMITDATABIT3 -II2?48?%. *18 / 4RANSMITENABLE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 15/123 .AME 0IN 4YPE &UNCTION E4(0(9 INTERFACECON1GURATION0INSAND-ANAGEMENT INTERFACE ,I.+?0/,!2I49 29 I,0D SELECTSPOLARITYOFTHE%4(0(9SLINKSIGNAL:0=LOW ACTIVE,1=HIGHACTIVE -II1?48?3(I&4;0= +15 I 5SEDFORCLOCKSHIFTCOMPENSATIONON48PORT -II1?48?3(I&4;1= +17 I 5SEDFORCLOCKSHIFTCOMPENSATIONON48PORT -II2?48?3(I&4;0= ,15 I 5SEDFORCLOCKSHIFTCOMPENSATIONON48PORT -II2?48?3(I&4;1= ,17 I 5SEDFORCLOCKSHIFTCOMPENSATIONON48PORT -C,+ (20 / 0(9MANAGEMENTCLOCK,CONNECTALL%4(0(9STOTHIS BUS -DI/ (21 I// 0(9MANAGEMENTDATA,CONNECTALL%4(0(9STOTHIS BUSIFREQUIRED,USE4K7PULLUPRESISTORTO6DD?363 -OTOR0OSITION&EEDBACK3IGNALS %.C?! .1 I,05 INCREMENTALENCODERSIGNAL! %.C?" .2 I,05 INCREMENTALENCODERSIGNAL" %.C?. 02 I,05 INCREMENTALENCODERNULLPULSE. %.C?2?! 66 I,05 2NDINCREMENTALENCODERSIGNAL! %.C?2?" 67 I,05 2NDINCREMENTALENCODERSIGNAL" %.C?2?. 76 I,05 2NDINCREMENTALENCODERNULLPULSE. (!,,?58 -4 I,05 DIGITAL(ALLSIGNALASSOCIATEDTO5((1) (!,,?6 .4 I,05 DIGITAL(ALLSIGNALASSOCIATEDTO6((2) (!,,?79 04 I,05 DIGITAL(ALLSIGNALASSOCIATEDTO7((1) %.C?!DC?C3. ,3 / ANALOGENCODER30 I!DC,4C2351C/.6 %.C?!DC?-I3/ ,1 I ANALOGENCODER30 I!DC,4C23513D/ %.C?!DC?3C+ ,2 / ANALOGENCODER30 I!DC,4C23513C+ 2EFERENCE3WITCH3IGNALS 2%&?37?( (5 I,05 (OME2EFERENCE3WITCH 2%&?37?, (4 I,05 ,EFT2EFERENCE3WITCH 2%&?37?2 *4 I,05 2IGHT2EFERENCE3WITCH h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 16/123 .AME 0IN 4YPE &UNCTION -OTORAND3UPPLYCURRENT-EASUREMENT3IGNALS 30I?!DC?C3. 58 / ANALOGCURRENTMEASUREMENT30 I!DC,4C2351C/.6 30I?!DC?3C+ 59 / ANALOGCURRENTMEASUREMENT30 I!DC,4C23513C+ 30I?!DC?-I3/ 510 I,05 ANALOGCURRENTMEASUREMENT30 I!DC,4C23513D/ !DC?0(!3%?-I3/?2.D 511 I,05 ANALOGCURRENTMEASUREMENT30 I!DC,4C23513D/ -C,+?!%.C?58 05 I/ D3--ODCLOCKANALOGENCODER/ANALOG(ALL5OR8 -C,+?!%.C?6. 24 I/ D3--ODCLOCKANALOGENCODER/ANALOG(ALL6OR. -C,+?!%.C?79 54 I/ D3--ODCLOCKANALOGENCODER/ANALOG(ALL7OR9 -C,+?!G0I?! 42 I/ D3--OD CLOCK FOR !NALOG GENERAL 0URPOSEINPUT !G0I?! -C,+?!G0I?" 52 I/ D3--OD CLOCK FOR !NALOG GENERAL 0URPOSEINPUT !G0I?" -C,+?I?58 61 I/ D3--ODCLOCKFOR!NALOGCURRENT3ENSE6OLTAGEOF I?5OR I?8 -C,+?I?79 !!2 I/ D3--ODCLOCKFOR!NALOGCURRENT3ENSE6OLTAGEOF I?7OR I?9 -C,+?6- 43 I/ D3--ODCLOCKFOR(DOWN-DIVIDED)MOTORSUPPLYVOLT- AGEOF6?- -D!4?!%.C?58 25 I D3--ODDATA3TREAMFORANALOGENCODER/ANALOG(ALL 5OR8 -D!4?!%.C?6. 45 I D3--ODDATA3TREAMFORANALOGENCODER/ANALOG(ALL 6OR. -D!4?!%.C?79 55 I D3--ODDATA3TREAMFORANALOGENCODER/ANALOG(ALL 7OR9 -D!4?!G0I?! 41 I D3--ODDATA3TREAMFOR!NALOGGENERAL0URPOSE INPUT!G0I?! -D!4?!G0I?" 51 I D3--ODDATA3TREAMFOR!NALOGGENERAL0URPOSE INPUT!G0I?" -D!4?I?58 71 I D3--ODDATA3TREAMFOR!NALOGCURRENT3ENSE6OLT- AGEOF I?5OR I?8 -D!4?I?79 72 I D3--ODCLOCKFOR!NALOGCURRENT3ENSE6OLTAGEOF I?7OR I?9 -D!4?I?58?2.D 91 I,05 D3--ODDATASTREAMFOR!NALOGCURRENT3ENSE6OLT- AGEOF I?5OR I?8 -D!4?I?79?2.D 92 I,05 D3--ODDATASTREAMFOR!NALOGCURRENT3ENSE6OLT- AGEOF I?7OR I?9 -D!4?6- 22 I D3--ODDATASTREAMFOR(DOWN-DIVIDED)MOTORSUPPLY VOLTAGEOF6?- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 17/123 .AME 0IN 4YPE &UNCTION 07-3IGNALS 07-?581?( 97 / DIGITALGATECONTROLSIGNALFOR(IGH3IDEOF0HASE5 (&/C3)OR81(&/C2) 07-?581?, !!7 / DIGITALGATECONTROLSIGNALFOR,OW3IDEOF0HASE5 (&/C3)OR81(&/C2) 07-?682?( 98 / DIGITALGATECONTROLSIGNALFOR(IGH3IDEOF0HASE6 (&/C3)OR82(&/C2) 07-?682?, !!8 / DIGITALGATECONTROLSIGNALFOR,OW3IDEOF0HASE6 (&/C3)OR82(&/C2) 07-?791?( 910 / DIGITALGATECONTROLSIGNALFOR(IGH3IDEOF0HASE7 (&/C3)OR91(&/C2) 07-?791?, !!10 / DIGITALGATECONTROLSIGNALFOR,OW3IDEOF0HASE7 (&/C3)OR91(&/C2) 07-?92?( !!11 / DIGITALGATECONTROLSIGNALFOR(IGH3IDEOF0HASE92 (&/C2) 07-?92?, 911 / DIGITALGATECONTROLSIGNALFOR,OW3IDEOF0HASE92 (&/C2) ADDITIONALCONTROL3IGNALS %.!",%?/54 711 / ENABLEOUTPUT "2!+%?C(/00%2 99 / BRAKECHOPPERCONTROLSIGNAL DEBUG5A24 INTERFACESANDDEBUG I//S 34!453?/54 -5 / STATUSSIGNALOUTPUT 28D?(7I G5 I,05 (7DEBUG5!24,2XDINPUT 48D?(7/ G4 / (7DEBUG5!24,4XDOUTPUT 28D?-C5 G2 I,05 -C5DEBUG5!24,2XDINPUT 48D?-C5 G1 / -C5DEBUG5!24,4XDOUTPUT -C5?G0/?15 68 / RESERVED,KEEPOPEN -C5?G0/?16 610 / RESERVED,KEEPOPEN -C5?G0/?17 611 / RESERVED,KEEPOPEN -C5?G0/?18 512 / RESERVED,KEEPOPEN 0DI?I21 +5 / RESERVED,KEEPOPEN(G0I/?3ON4-C8670%6!,6.1.1) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 18/123 .AME 0IN 4YPE &UNCTION DEVICE3UPPLYANDGROUND 6DD?162 +10,+11,,10,,11, 1.26DCCORESUPPLYVOLTAGE, -12,-13,.12,.13, USE100N&1LTERCAPACITORS 212,213,514,614, 616,716 6DD?363 -7,515,612,+9, 3.36SUPPLYVOLTAGEFOR I//S,0,,,AND.6-, (7,G15,214,%2, USE100N&1LTERCAPACITORS *5,-2,.5,62, 65,!!9,210,69, D20,&17,*15,+20 G.D G7,(15,215,!1, 3UPPLYGROUND !11,!16,!21, D12,D17,D7,&21, &4,G14,(1,(18, *10,*11,*7,+12, +13,,12,,13,,4, -10,-11,-17,-21, .10,.11,015,07, 21,421,44,513, 516,517,56,57, 613,615,912,914, 915,916,918,919, 920,96,*9 EXPLICITLY.OTCONNECTED0INS ..C. 211,94,617,618, NOTCONNECTED 913,917,95,D18, G12,G8,!!5,!!4, "3,"8,%14,%9, h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 19/123 .AME 0IN 4YPE &UNCTION 4EST0INSONLY D5--9?/54 G17 / RESERVED,KEEPOPEN *4!G?4C+ ,9 I *4!GTESTCLOCK,PULLUPTO6DD?363WITH1+ *4!G?4DI .9 I *4!G4ESTDATA,..C. *4!G?4D/ 27 / *4!G4ESTDATA,..C. *4!G?4-3 !!3 I *4!G4ESTMODESELECT,..C. *4!G?4234" 93 I *4!G4ESTRESET,PULLDOWNTOG.DWITH1+ *4!G3%, 64 I *4!G3ELECTLINE,PULLUPTO6DD?363WITH1+ 4ABLE2:0INAND3IGNALDESCRIPTIONFOR4-C8670-BA h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 20/123

5 DEVICE5SAGEAND(ANDLING

5.1 2EFERENCECLOCK 4-C8670ANDTHEEXTERNAL%THERNET0(9SMUSTSHARETHESAMECLOCKSOURCE.&ORPROPEROPERATIONASTABLE ANDACCURATE25-(ZCLOCKSOURCEISREQUIRED.4HERECOMMENDEDINITIALACCURACYMUSTBEATLEAST25PPM ORBETTER. 4-C8670HASBEENSUCCESSFULLYUSEDWITHTHEFOLLOWINGCRYSTALOSCILLATORSSOFAR(THISLISTISTNOTLIMITEDTO THEMENTIONEDPARTS):

&/8%LECTRONICS&/8924"4C8/,25.0-(Z,2.5PPM,3.36
C43636,5C025-00000,25-(Z,25PPM

5.2 ETHERNET0(9CONNECTION

&ORCONNECTIONTOTHE%THERNETPHYSICALMEDIUMANDTOTHE%THERC!4MASTER,4-C8670O ﬀERSTWO- IIPORTS (MEDIAINDEPENDENTINTERFACE)ANDCONNECTSTOSTANDARD100-BIT/S%THERNET0(9SOR1GBIT/S%THERNET 0(9SRUNNINGIN100-BIT/SMODE. &IGURE6:-IIINTERFACE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 21/123 4-C8670PIN DESCRIPTION -IIX?,I.+ !CTIVELINKINPUTSIGNAL,ACTIVEHIGH/ACTIVELOWDETERMINEDBY ,I.+?0/,!2I49PIN -IIX?28C,+ 2ECEIVECLOCKINPUT -IIX?28D;3:0= 2ECEIVEDATAINPUTS(4BITWIDE) -IIX?28D6 2ECEIVEDATAVALIDINPUT -IIX?28%2 2ECEIVEERRORINPUT -IIX?48?%. 4RANSMITENABLEOUTPUT -IIX?48C,+ 4RANSMITCLOCKINPUT,OPTIONALFORAUTOMATICPHASECOMPENSATION -IIX?48D;3:0= 4RANSMITDATAOUTPUT(4BITWIDE) -C,+ 0(9-ICON1GURATIONCLOCKOUTPUT -DI/ 0(9-ICON1GURATIONDATAIN-/OUTPUT -IIX?48?3(I&4;1:0= 0HASECOMPENSATIONOF- II48SIGNALS,TIEEITHERTOG.DOR6DD?363 ,I.+?0/,!2I49 !CTIVELEVELOF- IIX?,I.+SIGNAL,TIEEITHERTOG.DOR6DD?363 4ABLE3:-IISIGNALDESCRIPTION 4-C8670REQUIRES%THERNET0(9SWITH- IIINTERFACE.4HE-IIINTERFACEOF4-C8670ISOPTIMIZEDFORLOW ADDITIONALDELAYSBYOMITTINGATRANSMIT& I&/.!DDITIONALREQUIREMENTSTO%THERNET0(9SEXISTANDNOTEVERY %THERNET0(9ISSUITED.0LEASESEETHE%THERNET0(93ELECTIONGUIDEPROVIDEDBYTHE%4G: http://download. beckhoff.com/download/Document/EtherCAT/Development_products/AN_PHY_Selection_GuideV2.6.pdf. 4-C8670HASBEENSUCCESSFULLYTESTEDINCOMBINATIONWITHTHEFOLLOWING%THERNET0(9SSOFAR:

IC+I0101G!:http://www.icplus.com.tw
-ICREL+3:8721",I:http://www.micrel.com
-ICREL+3:8081:http://www.micrel.com 4HECLOCKSOURCEOFTHE%THERNET0(9SISTHESAMEASFORTHE4-C8670. ,I.K?0/,A2I49 4HISPINALLOWSCON 1GURINGTHEPOLARITYOFTHELINKSIGNALOFTHE0(9.0(9SOFDI ﬀERENTMANUFACTURERSMAY USEDIﬀERENTPOLARITIESATTHE0(9 ’SPINS. INADDITION,SOME0(9SALLOWFORBOOTSTRAPCON 1GURATIONWITHPULL-UPANDPULL-DOWNRESISTORS.4HISBOOT- STRAPINFORMATIONISUSEDBYTHE0(9ATPOWER-UP/RESETANDALSOIN 2UENCESTHEPOLARITYOFTHEORIGINALPIN FUNCTION. E4(0(9ADDRESSING 4HE4-C8670ADDRESSES%THERNET0(9SUSINGTHELOGICALPORTNUMBERS0(, I.+I. PORT)AND1(,I.+/54PORT).4YPICALLY,THE%THERNET0(9ADDRESSESSHOULDCORRESPONDWITHTHELOGICAL PORTNUMBER,SO0(9ADDRESSESHAVETOBESETTO0AND1ACCORDINGLYUSINGTHE%4(0(9S ’BOOTSTRAPAND CON1GURATIONOPTIONS. -II?48?3(I&4[1:0]4-C8670AND%THERNET0(9SSHARETHESAMECLOCKSOURCE.48?C,+FROMTHE0(9HASA 1XEDPHASERELATIONTOTHE- IIINTERFACE48PARTOF4-C8670 L4HUS,48?C,+MUSTNOTBECONNECTEDANDTHE DELAYOFA48& I&/INSIDETHE I0COREISSAVED. INORDERTOFUL 1LLTHESETUP/HOLDREQUIREMENTSOFTHE0(9,THE PHASESHIFTBETWEEN48?C,+AND- IIX?48?%.AND- IIX?48D;3:0=HASTOBECONTROLLED. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 22/123

-ANUAL483HIFTCOMPENSATIONWITHADDITIONALDELAYSFOR- IIX?48?%./-IIX?48D;3:0=OF10,20,OR 30NS. 3UCHDELAYSCANBEADDEDUSINGTHE483HIFTFEATUREANDAPPLYING- IIX?48?3(I&4;1:0=. -IIX?48?3(I&4;1:0=DETERMINETHEDELAYINMULTIPLESOF10NSFOREACHPORT. 3ET- IIX?48C,+TO ZEROIFMANUAL483HIFTCOMPENSATIONISUSED.
!UTOMATIC483HIFTCOMPENSATIONIFTHE483HIFTFEATUREISSELECTED:CONNECT- IIX?48C,+ANDTHE AUTOMATIC483HIFTCOMPENSATIONWILLDETERMINECORRECTSHIFTSETTINGS.3ET- IIX?48?3(I&4;1:0=TO0IN THISCASE.

5.3 EXTERNALCIRCUITRYANDAPPLICATIONSEXAMPLES

5.3.1 3UPPLYAND&ILTERING 4HERESHOULDBEONE100N&CAPFOREACHTWO6DD?162PINS.4HERESHOULDBEONE100N&CAPFORCIRCAEACH TWO6DD?3632PINS.4HEYSHOULDBEPLACEDASNEARASPOSSIBLETOTHEPINS. 4-C8670 6DD?162*14 100N&*7 6DD?363*20 100N&*12 6DD?3636DD?162 &IGURE7:0LLSUPPLY 1LTER 5.3.2 3TATUS,EDCIRCUIT 4HE4-C8670HAS4STATUS,%DOUTPUTS. !LLOUTPUTSARESUPPLIEDFROM6DD?363,ANDDRIVEA,%DWITH CURRENTLIMITINGRESISTORTOG.D.4HEUSEOFLOWCURRENT,%DISRECOMMENDEDTOKEEPSUPPLYCURRENTLOW ANDTOSTAYWITHINTHECURRENTLIMITOF10M!PERPIN.4HEAPPROPRIATERESISTORVALUEMUSTBECHOSENFORTHE SELECTED,%D’SFORWARDVOLTAGE. &ORA26FORWARDVOLTAGEAT2M!,AVALUEOFCA.680/HMISAREASONABLEVALUE. 4HE,%DCOLORSAREDE 1NEDBY E4G.1300(AVAILABLEONwww.ethercat.org). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 23/123 4-C8670 ,%D?25. 680Ω ,%D?%22 680Ω ,%D?,I.+?I. 680Ω ,%D?,I.+?/54 680Ω &IGURE8:3TATUSLEDCIRCUIT 5.3.3 3IIEE02/-CIRCUIT !NIIC%%02/-ISREQUIREDFOROPERATIONWITHTHE3 IIINTERFACE.ITSSIZECANBEUPTO4-"IT.7HILETHEACCESS PROTOCOLOFTHE IIC%%02/-SISSTANDARDIZED,THEADDRESSINGPROCEDURECHANGESFROMONEADDRESSBYTEUP TO16K"ITTOTWOADDRESSBYTESFROM32K"IT. 5PTO16K"ITTHE02/-?3 I:%PINMUSTBETIEDTOG.D,ABOVETHAT,ITMUSTBETIEDTO6DD?363. 4-C8670 EE02/- 02/-?C,+ 1KΩ 6DD?363 02/-?D!4! 1KΩ 6DD?363 3C, 3D! 6CC 6DD?363 100N& G.D &IGURE9:3IIEE02/-CIRCUIT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 24/123 5.4INCREMENTALENCODERCONNECTION &IGURE10:EXAMPLECIRCUITFORCONNECTINGANINCREMENTALENCODERWITHLEVELSHIFTERSFROMTYPICALLY56TO3.36 5.4.1INCREMENTALAB.ENCODER 4HEINCREMENTALENCODERSGIVETWOPHASESHIFTEDINCREMENTALPULSESIGNALS!AND".3OMEINCREMENTAL ENCODERSHAVEANADDITIONALNULLPOSITIONSIGNAL.ORZEROPULSESIGNAL:.!NINCREMENTALENCODER(CALLED !".ENCODEROR!":ENCODER)HASANINDIVIDUALNUMBEROFINCREMENTALPULSESPERREVOLUTION.4HENUMBER OFINCREMENTALPULSESDE 1NETHENUMBEROFPOSITIONSPERREVOLUTION(002).4HE002MIGHTMEANPULSES PERREVOLUTIONORPERIODSPERREVOLUTION. INSTEADOFPOSITIONSPERREVOLUTIONSOMEINCREMENTALENCODER VENDORSCALLTHESEC02COUNTSPERREVOLUTION. 4HE002PARAMETERISTHEMOSTIMPORTANTPARAMETEROFTHEINCREMENTALENCODERINTERFACE.7ITHTHAT,IT FORMSAMODULO(002)COUNTER,COUNTINGFROM0TO(002-1).DEPENDINGONTHEDIRECTION,ITCOUNTSUPOR DOWN.4HEMODULO002COUNTERISMAPPEDINTOTHEREGISTERBANKASADUALPORTEDREGISTER.THEUSERCAN OVEROVERWRITEITWITHANINITIALPOSITION.4HE!".ENCODERINTERFACEPROVIDESBOTH,THEELECTRICALPOSITION ANDTHEMULTI-TURNPOSITIONAREDUAL-PORTEDREAD-WRITEREGISTERS. Note 4HE002PARAMETERMUSTBESETEXACTLYACCORDINGTOTHEUSEDENCODER. 4HE.PULSEFROMANENCODERTRIGGERSEITHERSAMPLINGOFTHEACTUALENCODERCOUNTTOFETCHTHEPOSITIONAT THE.PULSEORITRE-WRITESTHEFETCHEDNPOSITIONONAN.PULSE.4HE.PULSECANEITHERBEUSESASSTAND ALONEPULSEORAND-EDWITH.!"=.AND!AND". ITDEPENDSONTHEDECODERWHATKINDOF.PULSEHASTO BEUSED.&ORTHOSEENCODERSWITH.PULSEOVERFOUR!"QUADRANTSONECANENHANCETHEPRECISIONOFTHE. PULSEPOSITIONDETECTIONBYUSING.!"INSTEADOF.. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 25/123 &IGURE11:AB.INCREMENTALENCODER.0ULSE 4HEPOLARITYOF.PULSE,!PULSEAND"PULSEAREPROGRAMMABLE.4HE.PULSEISFORRE-INITIALIZATIONWITH EACHTURNOFTHEMOTOR./NCEFETCHED,THE!".DECODERCANBECON 1GUREDTOWRITEBACKTHEFETCHED. PULSEPOSITIONWITHEACH.PULSE. Note INCREMENTALENCODERSAREAVAILABLEWITH.PULSEANDWITHOUT.PULSE. Note 4HE!".ENCODERINTERFACEHASADIRECTIONBITTOSETONCETHEDIRECTIONOFMOTION FORTHEAPPLICATION. ,OGICAL!".=!AND"AND.MIGHTBEUSEFULFORINCREMENTALENCODERSWITHLOWRESOLUTION.PULSETO ENHANCETHERESOLUTION./NTHEOTHERHAND,FORINCREMENTALENCODERSWITHHIGHRESOLUTIONNPULSEALOGICAL ABN=AANDBANDNMIGHTTOTALLYSUPPRESSTHERESULTINGNPULSE. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 26/123 &IGURE12:ENCODERAB.4IMING-HIGHPRECISENPULSEANDLESSPRECISE.PULSE 5.4.2 3ECONDARYINCREMENTALAB.ENCODER &ORCOMMUTATINGAMOTORWITH&/CONESELECTSAPOSITIONSENSORSOURCE(DIGITALINCREMENTALENCODER, DIGITALHALL,ANALOGHALL,ANALOGINCREMENTALENCODER,...)THATISMOUNTEDCLOSETOTHEMOTOR.4HEINNER &/CLOOPCONTROLTORQUEAND 2UXOFTHEMOTORBASEDONTHEMEASUREDPHASECURRENTSANDTHEELECTRICAL ANGLEOFTHEROTOR. 4HE4-C8670 ISEQUIPPEDWITHASECONDARYINCREMENTALENCODERSINTERFACE. 4HISSECONDARYENCODER INTERFACEISAVAILABLEASSOURCEFORVELOCITYCONTROLORPOSITIONCONTROL. 4HISISFORAPPLICATIONSWHEREA MOTORTURNSANOBJECTWITHAGEARTOPOSITIONTHEOBJECT.!NEXAMPLEISAROBOTARMWHEREAMOTORMOVES ANANGLEWITHATHEMECHANICALANGLEOFTHEARMASTHETARGET. INfo 4HESECONDARYINCREMENTALENCODERISNOTAVAILABLEFORCOMMUTATION(PHI?E)FOR THEINNER&/C.INOTHERSWORDS,THEREISNOELECTRICALANGLEPHI?ESELECTABLEFROM THESECONDARYENCODER. 5.4.3 /PEN,OOPENCODER &ORINITIALSYSTEMSETUPTHEENCODERENGINEISEQUIPPEDWITHANOPENLOOPPOSITIONGENERATOR.7ITHONE CANTURNTHEMOTOROPEN-LOOPBYSPECIFYINGSPEEDINRPMANDACCELERATIONINRPM/STOGETHERWITHAVOLTAGE 5D?%84INDDIRECTION. 3O,THEOPEN-LOOPENCODERITISNOTAREALENCODER,ITJUSTGIVESPOSITIONSASAN ENCODERDOES.4HEOPEN-LOOPDECODERHASADIRECTIONBITTODE 1NEONCETHEDIRECTIONOFMOTIONFORTHE APPLICATION. Note 4HEOPENLOOPENCODERISUSEFULFORINITIAL!DCSETUP,ENCODERSETUP,HALLSIGNAL VALIDATION,ANDFORVALIDATIONOFTHENUMBEROFPOLEPAIRSOFAMOTOR.4HEOPEN LOOPENCODERTURNSAMOTOROPENWITHPROGRAMMABLEVELOCITYINUNIT;20-=WITH PROGRAMMABLEACCELERATIONINUNIT;20-/S=. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 27/123 3O,WITHTHEOPENLOOPENCODERONECANTURNAMOTORWITHOUTANYPOSITIONSENSORANDWITHOUTANYCURRENT MEASUREMENTASTHE 1RSTSTEPOFDOINGTHESYSTEMSETUP.7ITHTHETURNINGMOTORONECANADJUSTTHE!DC SCALESANDO ﬀSETSANDSETUPPOSITIONSSENSORS(HALL,INCREMENTALENCODER,...)ACCORDINGTORESOLUTION, ORIENTATION,DIRECTIONOFROTATION. 5.5 (ALL3IGNALCONNECTION &IGURE13:EXAMPLECIRCUITFORCONNECTING(ALLSENSORSIGNALSWITHLEVELSHIFTERSFROMTYPICALLY56TO3.36

5.5.1 DIGITAL(ALL3ENSORINTERFACEWITHOPTIONAL INTERIM0OSITION INTERPOLATION

4HEDIGITALHALLINTERFACEISTHEPOSITIONSENSORINTERFACEFORDIGITAL(ALLSIGNALS. 4HEDIGITAL(ALLSIGNAL INTERFACE1RSTMAPSTHEDIGITAL(ALLSIGNALSTOANELECTRICALPOSITION0( I?%?2!7.!NOﬀSET0(I?%?/&&3%4CAN BEUSEDTOROTATETHEORIENTATIONOFTHE(ALLSIGNALANGLE.4HEELECTRICALANGLE0( I?%ISFORCOMMUTATION. /PTIONALLY,THEDEFAULTELECTRICALPOSITIONSOFTHE(ALLSENSORSCANBEADJUSTEDBYWRITESINTOTHEASSOCIATED REGISTERS. &IGURE14:(ALL3ENSORANGLES h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 28/123 (ALLSENSORSGIVEANABSOLUTEPOSITIONSWITHINANELECTRICALPERIODWITHARESOLUTIONOF60 oAS16BITPOSITIONS (S16RESP.U16)0(I.7ITHACTIVATEDINTERIM(ALLPOSITIONINTERPOLATIONTHEUSERGETSHIGHRESOLUTIONINTERIM POSITIONS,WHENTHEMOTORISRUNNINGATSPEEDBEYOND60RPM.

5.5.2 DIGITAL(ALL3ENSOR-INTERIM0OSITION INTERPOLATION

&ORLOWERTORQUERIPPLETHEUSERCANSWITCHONTHEPOSITIONINTERPOLATIONOFINTERIM(ALLPOSITIONS.4HIS FUNCTIONISUSEFULFORMOTORSTHATARECOMPATIBLEWITHSINEWAVECOMMUTATION,BUTEQUIPPEDWITHDIGITAL HALLSENSORS. 7HENTHEPOSITIONINTERPOLATIONISSWITCHEDON,ITBECOMESACTIVEONSPEEDBEYOND60RPM.&ORLOWER SPEEDITAUTOMATICALLYDISABLES.4HISISIMPORTANTESPECIALLY,WHENTHEMOTORHASTOBEATREST. (ALL3ENSORPOSITIONINTERPOLATIONMIGHTFAIL,WHEN(ALLSENSORSSIGNALSARENOTPROPERLYPLACEDINTHE MOTOR.0LEASEADJUSTHALLSENSORPOSITIONSFORTHISCASE.

5.5.3 DIGITAL(ALL3ENSORS--ASKINGAND&ILTERING

3OMETIMESDIGITAL(ALLSENSORSIGNALSGETDISTURBEDBYSWITCHINGEVENTSINTHEPOWERSTAGE.4HE4-C8670 CANAUTOMATICALLYMASKSWITCHINGDISTORTIONSBYCORRECTSETTINGOFTHE(!,,?-!3+ I.GREGISTER. 7HEN ASWITCHINGEVENTOCCURS,THE(ALLSENSORSIGNALSAREHELDFOR(!,,?-!3+ I.GVALUETIMES10NS. INTHIS WAY(ALLSENSORDISTORTIONSAREELIMINATED.5NCORRELATEDDISTORTIONSCANBE 1LTEREDVIAADIGITAL 1LTEROF PARAMETRIZABLELENGTH.IFTHEINPUTSIGNALTOTHE 1LTERDOESNOTCHANGEFOR(!,,?D IG?&I,4%2TIMES5US,THE SIGNALCANPASSTHE 1LTER.4HIS1LTERELIMINATESISSUESWITHBOUNCING(ALLSIGNALS.

5.5.4 DIGITAL(ALL3ENSORSTOGETHERWITHINCREMENTALENCODER

IFAMOTORISEQUIPPEDWITHBOTH(ALLSENSORSANDINCREMENTALENCODER,THE(ALLSENSORSCANBEUSEDFOR THEINITIALIZATIONASALOWRESOLUTIONABSOLUTEPOSITIONSENSORANDLATERTHEINCREMENTALENCODERCANBE USEDASAHIGHRESOLUTIONSENSORFORCOMMUTATION. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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5.6 ADCINTERFACES

4HE!DCINTERFACEISFORMEASUREMENTOFSENSEVOLTAGESFROMSENSERESISTORAMPLI 1ERSFORCURRENT MEASUREMENTANDFORMEASUREMENTOFANALOGHALLSIGNALSORANALOGENCODERSIGNALS. 4HEREARETWO VARIANTSOFEXTERNAL!DCINTERFACESSUPPORTED:DELTA3IGMA!DCFORMEDBYLINEARCOMPARATOR,-339WITH TWORESISTORSANDONECAPARITORPERCHANNEL.%XTERNAL30 I!DC,4C2351FROM,INEAR4ECHNOLOGY."OTH!DC GROUPS(!AND")CANBESELECTEDSEPARATELYTOPROCESSEITHERDS!DCOR30 I!DC. 4HE4-C8670EVALUATIONBOARD(4-C8670%6!,6.1.1)ISEQUIPPEDWITH,-C339DELTASIGMA!DCFRONTENDS AND,4C235130I!DCFRONTENDSTOENABLEEVALUATIONOFBOTHALTERNATIVES.

5.6.1 ADCINTERFACE-DELTA3IGMA-ODULATOR

!SEXTERNALDELTASIGMAMODULATORTHELINEARQUADCOMPARATOR,-339ISRECOMMENDEDTOGETHERWITH RPU = 1KΩ(1%),RC = 100KΩ(1%),ANDRI = 100KΩ(1%),ANDC = 100pF(5%). &IGURE15:4-C8670DELTA3IGMAADCCON 1GURATION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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5.6.2 ADCINTERFACE-30IADC

&IGURE16:4-C8670CON1GURATIONFORL4C235130 IADCS 7HENEUSING,4C2351AS!DCFRONTENDFORTHE4-C8670,ONECANADD 1LTERELEMENTS RCHP = 50Ω(1%) ANDCPN = 47pF(5%) FORSPIKESUPPRESSENONEACH!DCANALOGINPUTCHANNELOFGROUP!(C(0,C(1,C(2, C(3,C(4,C(5)ANDOFGROUP"(C(0,C(1,CG(2,C(3). &IGURE17:L4C2351WITHINPUT 1LTERELEMENTSFORNOISEREDUCTIONANDSPIKEREDUCTION

5.6.3 ANALOG(ALLANDANALOGENCODERINTERFACE(3INCOSOF0o90oOR0o120o240o)

!NANALOGENCODERINTERFACEISPARTOFTHEDECODERENGINE. ITISABLETOHANDLEANALOGPOSITIONSIGNALSOF 0oAND90oAND0o120o240o.4HEANALOGDECODERENGINEADDSO ﬀSETANDSCALESTHERAWANALOGENCODER SIGNALSANDCALCULATESTHEELECTRICALANGLE0( I?%FROMTHESEANALOGPOSITIONSIGNALS. !NINDIVIDUALSIGNEDO ﬀSETISADDEDEACHASSOCIATEDRAW!DCCHANNELANDSCALEDBYITSASSOCIATEDSCALING FACTORSACCORDINGTO h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 31/123 INADDITION,THE!%.C?/&&3%4ISFORCONVERSIONOFUNSIGNED!DCVALUESINTOSIGNED!DCVALUESASREQUIRED FORTHE&/C. INfo &ORDETAILSONTHEINDIVIDUALREGISTERSANDHOWTOACCESSTHEMPLEASECHECKTHE 4-C86701RMWAREMANUAL. &IGURE18:ANALOGENCODER(AE.C)3ELECTOR&3CALERW// ﬀSETCORRECTION INfo 4HEANALOG.PULSEISJUSTARAW!DCVALUE. 3CALING,O ﬀSETCORRECTION,HAND HANDLINGOFANALOG.PULSESIMILARTO.PULSEHANDLINGOFDIGITALENCODER.PULSE ISNOTIMPLEMENTEDFORANALOGENCODER.

5.6.4 ANALOG0OSITIONDECODER(3INCOSOF0o90oOR0o120o240o)

4HEEXTRACTEDPOSITIONSFROMTHEANALOGDECODERAREAVAILABLEFORREADOUTFROMREGISTERS.

5.7 BRAKECHOPPERCONNECTION

4HEBRAKECHOPPERSIGNALFROMTHE4-C8670ISJUSTADIGITAL363LOGICLEVELSIGNAL. ITCANBEUSEDAS SWITCHING/TRIGGERSIGNALFORANEXTERNALBRAKECHOPPERCIRCUIT. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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5.8 DEBUG5A24CONNECTIONS

4HE3OFTWARE5!24(48D?-C5,28D?-C5)ISFOROPTIONAL 1RMWAREUPGRADEDWITH4-C,- ID%WITHOUT %THERC!4-ASTERANDFORDEBUGGINGPURPOSESDURING%THERC!4STACKDEVELOPMENT. 7ITHAN%THERC!4 -ASTERONECANUPDATEVIA&O%. 4HEHARDWARE5!24(48D?(7/,28D?(7 I)ALLOWSDIRECTACCESSINTOTHE4-C8670REGISTERSHANDLEDBYAN ARBITER.ITISFORDEBUGGINGPURPOSESANDALLOWSTRANSPARENTACCESSTOINTERNALREGISTERSOFTHE4-C8670. IT ISINTENDEDTOSUPPORT%THERC!4SLAVECONTROLLERHARDWAREDEVELOPMENT. Note "OTHINTERFACESAREINTENDEDFORDEBUGGINGANDDEVELOPMENTANDMONITORING PURPOSES.ITISRECOMMENDEDNOTTOOVERWRITEDATAFROMOUTSIDETHE%THERC!4 INTOTHE4-C8670VIATHESEINTERFACESWITHINREGULAROPERATION.2EADOFDATAIS MIGHTBEUSEDFORMONITORINGPURPOSESDURINGDEBUGGINGORVALIDATIONOFOWN DEVELOPMENTS. 5.8.1 5A24(ARDWAREDEBUGINTERFACE 4HE5!24DEBUGINTERFACEISASIMPLETHREE0IN(G.D,28D?(7 I,48D?(7/)3.365!24INTERFACEWITHUPTO 3-BIT/STRANSFERSPEEDWITHONESTARTBIT,EIGHTDATABITS,ONESTOPBIT,ANDNOPARITYBITS(1.8).4HEDEFAULT SPEEDIS9600BPS./THERSUPPORTEDSPEEDSARE115200BPS,921600BPS,AND3000000BPS. 7ITHAN3.36-5!24-TO-53"ADAPTERCABLE(E.G.&4DI44,-2322-20I)THEUSERCANCOMMUNICATEWITHUPTO 3-BPS.4HE5!24DEBUGPORTENABLES IN-3YSTEM-3ETUP-3UPPORTBYMULTIPLE-PORTEDREGISTERACCESS. !N5!24DATAGRAMCONSISTSOF 1VEBYTES.4HE5!24INTERFACEHASATIMEOUTFEATURE:&IVEBYTESOFA5!24 DATAGRAMNEEDTOBESENDWITHINONESECOND.!PAUSEOFSENDINGMORETHANONESECONDCAUSESATIME OUTANDSETSTHE5!24PROTOCOLHANDLERBACKINTO ID,%STATE.INOTHERWORDS,WAITINGFORMORETHANONE SECONDINSENDINGVIA5!24ENSURESTHATTHE5!24PROTOCOLHANDLERISIN ID,%STATE.4HE5!24ISINACTIVE WITHTHE28DINPUTPULLEDTOHIGH. !SIMPLE5!24EXAMPLE: 0x81 0x00 0x00 0x00 0x00 // 1st write 0x00000000 into address 0x01 (CHIPINFO_ADDR) 0x00 0x00 0x00 0x00 0x00 // 2nd read register 0x00 (CHIPINFO_DATA), returns 0x38363730 7HY5!24 INTERFACE?ITMIGHTBEBECOMENECESSARYDURINGSYSTEMSETUPPHASETOSIMPLYACCESSSOME INTERNALREGISTERSWITHOUTDISTURBINGTHEAPPLICATIONANDWITHOUTCHANGINGTHEACTUALUSERAPPLICATION SOFTWAREANDWITHOUTADDINGADDITIONALDEBUGGINGCODETHATMIGHTDISTURBTHEAPPLICATIONSOFTWAREITSELF. 4HE5!24ENABLESTHISSUPPORTINGFUNCTION. INADDITIONITENABLESEASYACCESSFORMONITORINGPURPOSES WITHITSVERYSIMPLEANDDIRECT 1VEBYTEPROTOCOL. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 33/123 &IGURE20:5A242EADDATAGRAM(4-C8670REGISTERREADVIA5A24) &IGURE21:5A247RITEDATAGRAM(4-C8670REGISTERWRITEVIA5A24) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 34/123 6 &/CBASICS 4HISSECTIONGIVESASHORTINTRODUCTIONINTOSOMEBASICSOF&IELD/RIENTEDCONTROL(&/C)OFELECTRICMOTORS. 6.1 7HY&/C? 4HE&IELD/RIENTEDCONTROL(&/C)ALTERNATIVELYNAMED6ECTORCONTROL(6C)ISAMETHODFORMOSTENERGY EZCIENTTURNINGANELECTRICMOTOR. 6.2 7HATIS&/C? 4HE&IELD/RIENTEDCONTROLWASINDEPENDENTLYDEVELOPEDBY+.(ASSE,45DARMSTADT,1968,ANDBY&ELIX "LASCHKE,45"RAUNSCHWEIG,1973.4HE&/CISACURRENTREGULATIONSCHEMEFORELECTROMOTORSTHATTAKES THEORIENTATIONOFTHEMAGNETIC 1ELDANDTHEPOSITIONOFTHEROTOROFTHEMOTORINTOACCOUNTREGULATING THESTRENGTHINTHEWAYTHATTHEMOTORGIVESTHATAMOUNTOFTORQUETHATISREQUESTEDASTARGETTORQUE. 4HE&/CMAXIMIZESACTIVEPOWERANDMINIMIZEIDLEPOWER-THAT 1NALLYRESULTSINPOWERDISSIPATION-BY INTELLIGENTCLOSED-LOOPCONTROLILLUSTRATEDBYTHECARTOON 1GURE22. &IGURE22:ILLUSTRATIONOFTHE&/CBASICPRINCIPLEBYCARTOON:-AXIMIzEACTIVEPOWERANDMINIMIzEIDLEPOWER ANDMINIMIzEPOWERDISSIPATIONBYINTELLIGENTCLOSED-LOOPCONTROL. 6.3 7HY&/CASPURE(ARDWARE3OLUTION? 4HEINITIALSETUPOFTHE&/CISUSUALLYVERYTIMECONSUMINGANDCOMPLEX,ALTHOUGHSOURCECODEISFREELY AVAILABLEFORVARIOUSPROCESSORS.4HISISBECAUSETHE&/CHASMANYDEGREESOFFREEDOMTHATALLNEEDTO 1T TOGETHERINACHAININORDERTOWORK. 4HEHARDWARE&/CASANEXISTINGSTANDARDBUILDINGBLOCKDRASTICALLYREDUCESTHEE ﬀORTINSYSTEMSETUP. 7ITHTHATOFTHESHELFBUILDINGBLOCK,THESTARTINGPOINTOF&/CISTHESETUPOFTHEPARAMETERSFORTHE&/C ANDNOLONGERTHESETUPANDIMPLEMENTATIONOFTHE&/CITSELFANDBUILDINGANDPROGRAMMINGOFREQUIRED INTERFACEBLOCKS.4HEREALPARALLELPROCESSINGOFHARDWAREBLOCKSDE-COUPLESTHEHIGHERLEVERAPPLICATION SOFTWAREFROMHIGHSPEEDREALTIMETASKSANDSIMPLI 1ESTHEDEVELOPMENTOFAPPLICATIONSOFTWARE.7ITHTHE 4-C8670,THEUSERISFREETOUSEITSQUALI 1EDC05TOGETHERWITHITSQUALI 1EDTOOLCHAINANDITFREESTHEUSER FROM1GHTINGWITHPROCESSERSPECI 1CCHALLENGESCONCERNINGINTERRUPTHANDLINGANDDIRECTMEMORYACCESS. 4HEREISNONEEDFORADEDICATEDTOOLCHAINTOACCESS4-C8670REGISTERSANDTOOPERATEIT-JUST30 I(OR 5!24)COMMUNICATIONNEEDSTOBEENABLEDFORAGIVENC05. 4HEINTEGRATIONOFTHE&/CASA3OC(3YSTEM-ON-CHIP)DRASTICALLYREDUCESTHENUMBEROFREQUIREDCOMPO- NENTSANDREDUCESTHEREQUIRED0C"SPACE.4HISISINCONTRASTTOCLASSICAL&/CSERVOSFORMEDBYMOTOR h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 35/123 BLOCKANDSEPARATECONTROLLERBOXWIREDWITHMOTORCABLEANDENCODERCABLE.4HEHIGHINTEGRATIONOF&/C, TOGETHERWITHVELOCITYCONTROLLERANDPOSITIONCONTROLLERASA3OC,ENABLESTHE&/CASASTANDARDPERIPHERAL COMPONENTTHATTRANSFORMSDIGITALINFORMATIONINTOPHYSICALMOTION.COMPACTSIZETOGETHERWITHHIGH PERFORMANCEANDENERGYE ZCIENCYESPECIALLYFORBATTERYPOWEREDMOBILESYSTEMSAREENABLINGFACTORS WHENEMBEDDEDGOESAUTONOMOUS. 6.4 (OWDOES&/CWORK? 4WOFORCECOMPONENTSACTONTHEROTOROFANELECTRICMOTOR. /NECOMPONENTISJUSTPULLINGINRADIAL DIRECTION(ID)WHERETHEOTHERCOMPONENTTANGENTIALLYPULLING( I1)ISAPPLYINGTORQUE. 4HEIDEAL&/C PERFORMSACLOSEDLOOPCURRENTREGULATIONTHATRESULTSINAPURETORQUEGENERATINGCURRENT I1WITHOUTDIRECT CURRENTID. &IGURE23:&/COPTIMIzESTORQUEBYCLOSEDLOOPCONTROLWHILEMAXIMIzING I1ANDMINIMIzING IDTO0 &ROMTOPPOINTOFVIEW,THE&/CFORTHREEPHASEMOTORSUSESTHREEPHASECURRENTSOFTHESTATORINTERPRETED ASACURRENTVECTOR( IU;IV;IW)ANDCALCULATESTHREEVOLTAGESINTERPRETEDASAVOLTAGEVECTOR(5U;5V;5W) TAKINGTHEORIENTATIONOFTHEROTORINTOACCOUNTINAWAYTHATONLYATORQUEGENERATINGCURRENT I1RESULTS. &ROMTOPPOINTOFVIEW,THE&/CFORTWOPHASEMOTORSUSESTWOPHASECURRENTSOFTHESTATORINTERPRETED ASACURRENTVECTOR( IX;IY)ANDCALCULATESTWOVOLTAGESINTERPRETEDASAVOLTAGEVECTOR(5X;5Y)TAKINGTHE ORIENTATIONOFTHEROTORINTOACCOUNTINAWAYTHATONLYATORQUEGENERATINGCURRENT I1RESULTS. 4ODOSO,THEKNOWLEDGEOFSOMESTATICPARAMETERS(NUMBEROFPOLEPAIRSOFTHEMOTOR,NUMBEROFPULSES PERREVOLUTIONOFAUSEDENCODER,ORIENTATIONOFENCODERRELATIVETOMAGNETICAXISOFTHEROTOR,COUNT DIRECTIONOFTHEENCODER)ISREQUIREDTOGETHERWITHSOMEDYNAMICPARAMETERS(PHASECURRENTS,ORIENTATION OFTHEROTOR). 4HEADJUSTMENTOF0PARAMETERAND IPARAMETERSOFTWO0 ICONTROLLERSFORCLOSEDLOOPCONTROLOFTHEPHASE CURRENTSDEPENDSONELECTRICALPARAMETERS(RESISTANCE,INDUCTANCE,BACK%-&CONSTANTOFTHEMOTORTHATIS ALSOTHETORQUECONSTANTOFTHEMOTOR,SUPPLYVOLTAGE)OFTHEMOTOR. 6.5 7HATISREqUIREDFOR&/C? 4HE&/CNEEDSTOKNOWTHEDIRECTIONOFTHEMAGNETICAXISOFTHESTATOROFTHEMOTORTOGETHERWITHTHE MAGNETICAXISOFTHEROTOROFTHEMOTOR. 4HEMAGNETICDIRECTIONOFTHEMAGNETICAXISOFTHESTATORIS CALCULATEDFROMTHECURRENTSTHOUGHTTHEPHASESOFTHEMOTOR. 4HEMAGNETICDIRECTIONOFTHEROTORIS DETERMINEDBYANENCODERDEVICE. &ORTHE&/CONENEEDSTOMEASURETHECURRENTSTHROUGHTHECOILSOFTHESTATORANDTHEANGLEOFTHEROTOR. 4HEMEASUREDANGLEOFTHEROTORNEEDSTOBEADJUSTEDTOTHEMAGNETICAXES. 4HECHALLENGEOFTHE&/CISTHEHIGHNUMBEROFDEGREESOFFREEDOMOFALLPARAMETERSTOGETHER. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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6.5.1 COORDINATE4RANSFORMATIONS-CLARKE,0ARK,ICLARKEI0ARK

4HE&/CREQUIRESDI ﬀERENTCOORDINATETRANSFORMATIONSFORMULATEDASASETOFMATRIXMULTIPLICATIONS.4HESE ARETHECLARKE4RANSFORMATION(CLARKE),THE0ARK4RANSFORMATION(0ARK),THEINVERSE0ARK4RANSFORMA- TION(I0ARK)ANDTHEINVERSECLARKE4RANSFORMATION(ICLARKE).3OMEPUT0ARKANDCLARKETOGETHERASD1 TRANSFORMATIONAND0ARKANDCLARKEASINVERSED1TRANSFORMATION. 4HE4-C8670TAKESCAREOFTHEREQUIREDTRANSFORMATIONSANDGETTHEUSERRIDFROM 1GHTINGWITHDETAILSOF IMPLEMENTATIONOFTHESESTRANSFORMATIONS. 6.5.2 -EASUREMENTOF3TATORCOILCURRENTS 4HEMEASUREMENTOFTHESTATORCOILCURRENTSISREQUIREDFORTHE&/CTOCALCULATEAMAGNETICAXISOTOFTHE STATOR1ELDCAUSEDBYTHECURRENTS 2OWINGTHROUGHTHESTATORCOILS. COILCURRENTSTANDSFORMOTORTORQUEINCONTEXTOF&/C.4HISISBECAUSEMOTORTORQUEISPROPORTIONAL TOMOTORCURRENT,DE 1NEDBYTHETORQUECONSTANTOFAMOTOR. INADDITION,THETORQUEDEPENDSONTHE ORIENTATIONOFTHEROTOROFTHEMOTORRELATIVETOTHEMAGNETIC 1ELDPRODUCEDBYTHECURRENTTHROUGHTHE COILSOFTHESTATOROFTHEMOTOR. 6.5.3 3TATORCOILCURRENTSI?5,I?6,I?7ANDASSOCIATIONTO4ERMINAL6OLTAGES5?5,5?6,5?7 4HECORRECTASSOCIATIONBETWEENSTATORTERMINALVOLTAGES5?5,5?6,5?7ANDSTATORCOILCURRENTS I?5,I?6, I?7ISESSENTIALFORTHE&/C. INADDITIONTOTHEASSOCIATION,THESIGNSOFEACHCURRENTCHANNELNEEDSTO 1T.3IGNSOFTHECURRENTCANBEADAPTEDNUMERICALLYBYTHE!DCSCALER.4HEMAPPINGOF!DCCHANNLESIS PROGRAMMABLEVIACON1GURATIONSREGISTERSFORTHE!DCSELECTOR. INITIALSETUPISSUPPORTEDBYTHEINTEGRATED OPENLOOPENCODERBLOCKTHATCANTURNAMOTOROPENLOOP.

6.5.3.1 CHAINOFGAINSFORADC2AW6ALUES

!N!DCRAWVALUEISARESULTOFACHAINOFGAINSTHATDETERMINEIT.!COILCURRENT I?3%.3%2OWINGTHROUGHA SENSERESISTORCAUSESAVOLTAGEDI ﬀERENCEACCORDINGTO/HM ’SLAW.4HERESULTING!DCRAWVALUEISRESULTOF THEANALOGSIGNALPATHACCORDINGTO 4HE!DC?G! I.ISARESULTOFACHAINOFGAINSWITHINDIVIDUALSIGNS.4HESIGNOFTHE!DC?G! I.ISPOSITIVE ORNEGATIVE,DEPENDINGONTHEASSOCIATIONOFCONNECTIONSBETWEENSENSEAMPLI 1ERINPUTSANDTHESENSE RESISTORTERMINALS.4HE!DC?/&&3%4ISTHERESULTOFELECTRICALO ﬀSETSOFTHEPHASECURRENTMEASUREMENT SIGNALPATH.&ORTHE4-C8670THEMAXIMUM!DC?2!7VALUE!DC?2!7?-!8= (216 −1) ANDTHEMINIMUM !DCRAWVALUEIS!DC?2!7?- I.=0. (3) &ORTHE&/C,THE!DC?2!7ISSCALEDBYTHE!DCSCALEROFTHE4-C8670TOGETHERWITHSUBTRACTIONOFO ﬀSET TOCOMPENSATEIT. INTERNALLY,THE4-C8670&/CENGINECALCULATESWITHS16VALUES. 3O,THE!DCSCALING NEEDSTOBECHOSENTHATTHEMEASURESCURRENTS 1TINTOTHES16RANGE. 7ITHTHE!DCSCALER,ONECAN CHOOSEASCALINGWITHPHYSICALUNITSLIKE [mA].!SCALINGTO [mA] COVERSACURRENTRANGEOF −32A... + 32A WITHm[A] RESOLUTION. &ORHIGHERCURRENTSCONCANGOTOUN-USUALUNITSLIKECENTI!MPERE [cA] COVERING h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 37/123 !DCSCALERANDO ﬀSETCOMPENSATORSAREFORMAPPINGOFRAW!DCVALUESTOS16SCALEDANO ﬀSETCLEANED CURRENTMEASUREMENTVALUESTHATAREADEQUATEFORTHE&/C.!DCSCALINGFACTORAND!DCO ﬀSETREMOVAL VALUENEEDSTOBEPROGRAMMEDINTOASSOCIATEDREGISTERS.&INALLY,ACURRENTISMAPPEDTOAN!DCRAWVALUE THATISNUMERICALLYMAPPEDTOSIGNED!DCVALUEWITHREMOVEDO ﬀSETBYTHE!DCSCALER. 6.5.4 -EASUREMENTOF2OTORANGLE DETERMINATIONOFTHEROTORANGLEISEITHERBYDONEBYSENSORS(DIGITALENCODER,ANALOGENCODER,DIGITALHALL SENSORS,ANALOGHALLSENSORS)ORSENSORLESSBYRECONSTRUCTIONOFTHEROTORANGLEFROMMEASUREMENTSOF ELECTRICALPARAMETERSWITHORWITHOUTAMATHEMATICALMODELOFTHEMOTOR.CURRENTLY,THEREISNOSENSORLESS METHODSAVAILABLEFOR&/CTHATWORKINAGENERALPURPOSEWAYASASENSORDOWNTOVELOCITYZERO. 4HE4-C8670DOESNOTSUPPORTSENSORLESS&/C. 6.5.5 -EASURED2OTORANGLEVS.-AGNETICAXISOF2OTORVS.-AGNETICAXISOT3TATOR 4HEROTORANGLE,MEASUREDBYANENCODER,NEEDSTOBEADJUSTEDTOTHEMAGNETICAXISOTTHEROTOR.4HISIS BECAUSEANINCREMENTALENCODERHASANARBITRARYORIENTATIONRELATIVETOTHEMAGNETICAXISOFTHEROTORAND THEROTORHASANARBITRARYORIENTATIONTOMAGNETICAXISOFTHESTATOR. 4HEDIRECTIONOFCOUNTINGDEPENDSONTHEENCODER,ITSMOUNTING,ANDWIRINGANDPOLARITIESOFENCODER SIGNALSANDMOTORTYPE.3O,THEDIRECTIONOFENCODERCOUNTINGISPROGRAMMABLEFORCOMFORTABLEDE 1NITION FORAGIVENCOMBINATIONOFMOTORANDENCODER. 6.5.5.1 DIRECTIONOF-OTION--AGNETIC&IELDVS.0OSITION3ENSOR &OR&/CITISESSENTIAL,THATTHEDIRECTIONOFREVOLUTIONOFTHEMAGNETIC 1ELDISCOMPATIBLEWITHTHEDIRECTION OFMOTIONOFTHEROTORPOSITIONRECONSTRUCTEDFROMENCODERSIGNALS: &ORREVOLUTIONOFMAGNETIC 1ELD WITHPOSITIVEDIRECTIONTHEDECODERPOSITIONNEEDTOTURNINTOSAMEPOSITIVEDIRECTION.&ORREVOLUTIONOF MAGNETIC1ELDWITHNEGATIVEDIRECTIONTHEDECODERPOSITIONNEEDTOTURNINTOSAMENEGATIVEDIRECTION. 7ITHANABSOLUTEENCODER,ONCEADJUSTEDTOTHERELATIVEORIENTATIONOFTHEROTORANDTOTHERELATIVE ORIENTATIONOFTHESTATOR,ONECOULDSTARTTHE&/CWITHOUTINITIALIZATIONOFTHERELATIVEORIENTATIONS.

6.5.5.2 BANG-BANGENCODERINITIALIzATION

&OR"ANG-"ANGINITIALIZATIONONESETSACURRENTINTODIRECTIONDTHATISSTRONGENOUGHTHEMOVETHEROTOR INTOTHEDESIREDDIRECTION.

6.5.5.3 ENCODERINITIALIzATIONUSING(ALL3ENSORS

4HEENCODERCANINITIALIZEDUSINGDIGITAL(ALLSENSORSIGNALS.DIGITAL(ALLSENSORSIGNALGIVEABSOLUTEPOSITIONS WITHINEACHELECTRICALPERIODWITHARESOLUTIONOFSIXTYDEGREE. IFTHEHALLSENSORSIGNALSAREUSEDTOINITIALIZE THEENCODERPOSITIONONTHE 1RSTCHANGEOFA(ALLSENSORSIGNAL,ONEGETSANABSOLUTEREFERENCEWITHINTHE ELECTRICALPERIODFORCOMMUTATION.

6.5.5.4 ENCODER-INIMUM-OVEMENTINITIALIzATION

&ORENCODERMINIMALMOVEMENTINITIALIZATION,ONESLOWLYINCREASESACURRENTINTODIRECTIONDANDADJUSTS ANOﬀSETOFMEASUREDANGELINAWAYTHEROTOROFTHEMOTORDOESNOTMOVEDURINGINITIALIZATIONWHILETHE OﬀSETOFMEASUREDANGELISDETERMINED. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 38/123

6.5.6 KNOWLEDGEOF2ELEVANT-OTOR0ARAMETERSAND0OSITION3ENSOR(ENCODER)0ARAMETERS

6.5.6.1 .UMBEROF0OLE0AIRSOFA-OTOR 4HENUMBEROFPOLEPAIRSISANESSENTIALMOTORPARAMETER. ITDE1NESTHERATIOBETWEENELECTRICALREVOLUTIONS ANDMECHANICALREVOLUTIONS.&ORAMOTORWITHONEPOLEPAIRONEMECHANICALREVOLUTIONISEQUIVALENTTO ONEELECTRICALREVOLUTION.&ORAMOTORWITHNPPPOLEPAIRS,ONEMECHANICALREVOLUTIONISEQUIVALENTTONPP ELECTRICALREVOLUTIONS,WITHN=1,2,3,4,.... 3OMEDE1NETHENUMBEROFPOLES.0INSTEADOFNUMBEROFPOLEPAIRS.00FORAMOTOR,WHICHRESULTSINA FACTOROFTWOTHATMIGHTCAUSECONFUSION.&ORTHE4-C8670WEUSE.00NUMBEROFPOLEPAIRS. 6.5.6.2 .UMBEROFENCODER0OSITIONSPER2EVOLUTION &ORTHEENCODER,THENUMBEROFPOSITIONSPERREVOLUTION(002)ISANESSENTIALPARAMETER.4HENUMBEROF POSITIONSPERREVOLUTIONISESSENTIALFORTHE&/C. 3OMEENCODERVENDORSGIVETHENUMBEROFLINESPERREVOLUTION(,02)ORJUSTNAMEDLINECOUNT(,C)AS ENCODERPARAMETER.,INECOUNTANDPOSITIONSPERREVOLUTIONMIGHTDI ﬀERBYAFACTOROFFOUR.4HISISBECAUSE OFTHEQUADRATUREENCODING-!SIGNALAND"SIGNALWITHPHASESHIFT-THATGIVEFOURPOSITIONSPERLINE ANDENABLESTHEDETERMINATIONOFDIRECTIONOFREVOLUTION.3OMEENCODERVENDORSASSOCIATECOUNTSPER REVOLUTION(C02)ORPULSESPERREVOLUTIONASSOCIATEDTO002ACRONYM. 4HE4-C8670USES002AS0OSITIONS0ER2EVOLUTIONASENCODERPARAMETER. 6.5.7 0ROPORTIONALINTEGRAL(0I)CONTROLLERSFORCLOSED,OOPCURRENTCONTROL ,ASTBUTNOTLEASTTWO0 ICONTROLLERSAREREQUIREDFORTHE&/C.4HE4-C8670ISEQUIPPEDWITHTWO0 I CONTROLLERS./NEFORCONTROLOFTORQUEGENERATINGCURRENT I?1ANDONETOCONTROLCURRENT I?DTOZERO. 6.5.8 0ULSE7IDTH-ODULATION(07-)AND3PACE6ECTOR0ULSE7IDTH-ODULATION(3607-) 4HE07-POWERSTAGEISMUSTHAVEFORENERGYE ZCIENTMOTORCONTROL.4HE07-ENGINEOFTHE4-C8670 JUSTNEEDSACOUPLEOFPARAMETERSTOSET07-FREQUENCYF07-ANDSWITCHINGPAUSESFORHIGHSIDESWITCHES T""-?(ANDFORLOWSIDESWITCHEST""-?,.3OMECONTROLBISAREFORPROGRAMMINGOFPOWERSWITCHPOLARITIES FORMAXIMUM 2EXIBILITYINSELECTIONINGATEDRIVERSFORTHEPOWER-/3-&%4S. !NADDITIONALCONTROLBIT SELECTS3607-ONORO ﬀ.4HE4-C8670ALLOWSCHANGEOF07-FREQUENCYBYASINGLEPARAMETERDURING OPERATION. 7HITTHIS,THE4-C8670ISADVANCEDCOMPAREDTOSOFTWARESOLUTIONSWHERE07-AND360-CON 1GURATION OFC05INTERNALPERIPHERALSNORMALLYNEEDSSETTINGSOFMANYPARAMETERS. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 39/123 6.5.9 /RIENTATIONS,-ODELSOF-OTORS,ANDCOORDINATE4RANSFORMATIONS 4HEORIENTATIONOFMAGNETICAXES(5,6,7FOR&/C3RESP.8,9FOR&/C2)ISESSENTIALFORTHE&/CTOGETHER WITHTHERELATIVEORIENTATIONOFTHEROTOR.(ERETHEROTORISMODELLEDBYABARMAGNETWITHONEPOLEPAIR (N?POLE?PAIRS=1)WITHMAGNETICAXISINNORTH-SOUTH-DIRECTION. 4HEACTUALMAGNETICAXISOFTHESTATOR-FORMEDBYTHEMOTORCOILS-ISDETERMINEDBYMEASUREMENTOFTHE COILCURRENTS. 4HEACTUALMAGNETICAXISOFTHEROTORISDETERMINEDBYINCREMENTALENCODERORBYHALLSENSORS. INCREMENTAL ENCODERSNEEDANINITIALIZATIONOFORIENTATION,WHEREHALLSENSORSGIVEANABSOLUTEORIENTATIONBUTWITHLOW RESOLUTION.!COMBINATIONOFHALLSENSORANDINCREMENTALENCODERISUSEFULFORSTART-UPINITIALIZATION. &IGURE24:/RIENTATIONS567(&/C3)AND89(&/C2) &IGURE25:COMPASS-OTOR-ODELW/30HASES567(&/C3)ANDCOMPASS-OTOR-ODELW/20HASES(&/C2) 6.6 &/C23ENGINE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 40/123 INfo 3UPPORTFORTHE4-C8670ISINTEGRATEDINTOTHE4-C,- ID%INCLUDINGWIZARDSFOR SETUPANDCON 1GURATION.7ITHTHE4-C,-ID%CON1GURATIONANDOPERATIONCANBE DONEINAFEWSTEPSANDTHEUSERGETSDIRECTACCESSTOALLREGISTERSOFTHE4-C8670. 4HE&/C23ENGINEPERFORMSTHEINNERCURRENTCONTROLLOOPFORTHETORQUECURRENT IQ ANDTHE 2UXCURRENT ID INCLUDINGTHEREQUIREDTRANSFORMATIONS.0ROGRAMMABLELIMITERSTAKECAREOFCLIPPINGOFINTERIMRESULTS. 0ERDEFAULT,THEPROGRAMMABLECIRCULARLIMITERCLIPS5?DAND5?1TO5?D?2= (2)·5?1AND5?2?2= (2)· 5?D.0ICONTROLLERSPERFORMTHEREGULATIONTASKS. 6.6.1 0ICONTROLLERS 0ICONTROLLERSAREUSEDFORCURRENTCONTROLANDVELOCITYCONTROL.!0CONTROLLERISUSEDFORPOSITIONCONTROL. 4HEDPARTISNOTYETSUPPORTED. 4HEUSERCANCHOOSEBETWEENTWO0 ICONTROLLERSTRUCTURES. CLASSIC0I CONTROLLERSTRUCTUREWHICHISALSOUSEDINTHE4-C4670ANDTHE!DVANCED0 ICONTROLLER3TRUCTURE. 4HE !DVANCED0ICONTROLLER3TRUCTURESHOWSBETTERPERFORMANCEINDYNAMICSANDISRECOMMENDEDFORHIGH PERFORMANCEAPPLICATIONS. 6.6.2 0ICONTROLLERCALCULATIONS-CLASSIC3TRUCTURE 4HE0ICONTROLLERSINTHECLASSIC3TRUCTUREPERFORMTHEFOLLOWINGCALCULATION D8D4= 0·E+ I· ∫ t E(T)dt (4) WITH E= 8?4!2G%4−8 (5) WHERE8?4!2G%4STANDSFORTARGET 2UX,TARGETTORQUE,TARGETVELOCITY,ORTARGETPOSITIONWITHERRORE,THATIS THEDIﬀERENCEBETWEENTARGETVALUEANDACTUALVALUES.4HETIMECONSTANT dtIS1µsWITHTHEINTEGRALPARTIS DIVIDEDBY256. INfo CHANGINGTHE I-PARAMETEROFTHECLASSIC0 ICONTROLLERDURINGOPERATIONCAUSESTHE CONTROLLEROUTPUTTOJUMP,ASTHECONTROLERRORIS 1RSTINTEGRATEDANDTHENGAINED BYTHE IPARAMETER."ECAREFULDURINGCONTROLLERTUNINGORUSETHEADVANCED0 I CONTROLLER3TRUCTURE. 6.6.3 0ICONTROLLERCALCULATIONS-ADVANCED3TRUCTURE 4HE0ICONTROLLERSINTHE!DVANCEDCONTROLLER3TRUCTUREPERFORMTHECALCULATION D8D4= 0·E+ ∫ t 0·I·E(T)dt (6) WITH E= 8?4!2G%4−8 (7) WHERE8?4!2G%4REPRESENTSTARGET 2UX,TARGETTORQUE,TARGETVELOCITY,ORTARGETPOSITIONWITHCONTROLERROR ETHATISTHEDI ﬀERENCEBETWEENTARGETVALUEANDACTUALVALUES.4HETIMECONSTANT dtISSETACCORDINGTOTHE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 41/123 07-PERIOD.6ELOCITYAND0OSITIONCONTROLLEREVALUATIONCANBEDOWNSAMPLEDBYACONSTANTFACTORWHEN NEEDED. &IGURE26:ADVANCED0 ICONTROLLER 6.6.4 0ICONTROLLER-CLIPPING 4HELIMITINGOFTARGETVALUESFOR0 ICONTROLLERSANDOUTPUTVALUESOF0 ICONTROLLERSISPROGRAMMABLE.0ER POWERONDEFAULTTHESELIMITSARESETTOMAXIMUMVALUES. DURINGINITIALIZATIONTHESELIMITSSHOULDBE PROPERLYSETFORCORRECTOPERATIONANDCLIPPING.4HETARGETINPUTISCLIPPEDTO8?4!2G%4?, I-I4.4HEOUTPUT OFA0 ICONTROLLERISNAMEDD8D4,BECAUSEITGIVESTHEDESIREDDERIVATIVED/DTASATARGETVALUETOTHE FOLLOWINGSTAGE:4HEPOSITION(X)CONTROLLERGIVESVELOCITY(DX/DT).4HEOUTPUTOFTHE0 ICONTROLLERISCLIPPED TOD8D4?,I-I4.4HEERRORINTEGRALOF(4)ISCLIPPEDTOD8D4?, I-I4/IINTHECLASSICCONTROLLERSTRUCTUREAND THEINTEGRATOROUTPUTISCLIPPEDTOD8D4?, I-I4INTHEADVANCEDCONTROLLERSTRUCTURE. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 42/123 &IGURE27:0IARCHITECTURES 6.6.5 0I&LUX&0 I4ORqUECONTROLLER 4HE0PARTISREPRESENTEDASQ8.8AND IISTHE IPARTREPRESENTEDASQ0.15. 6.6.6 0I6ELOCITYCONTROLLER 4HE0PARTISREPRESENTEDASQ8.8AND IISTHE IPARTREPRESENTEDASQ0.15. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 43/123 6.6.7 00OSITIONCONTROLLER &ORTHEPOSITIONREGULATOR,THE0PARTISREPRESENTEDASQ4.12TOBECOMPATIBLEWITHTHEHIGHRESOLUTION POSITIONS-ONESINGLEROTATIONISHANDLEDASANS16. 4HISISBECAUSEE=X-X?TARGETMIGHTRESULTINLARGERE;S32=FORX;S32=ANDX?TARGET;S32=REPRESENTEDASS32 FORE=X-X?TARGETFORX;S16=ANDX?TARGET;S16=REPRESENTEDASS16. 6.6.8INNER&/CCONTROL,OOP-&LUX&4ORqUE 4HEINNER&/CLOOP( 1GURE28)CONTROLSTHE 2UXCURRENTTOTHE 2UXTARGETVALUEANDTHETORQUECURRENTTO THEDESIREDTORQUETARGET.4HEINNER&/CLOOPPERFORMSTHEDESIREDTRANSFORMATIONSACCORDINGTO 1GURE 29FOR3-PHASEMOTORS(&/C3).&OR2-PHASEMOTORS(&/C2)BOTHCLARK(C,!2+)TRANSFORMATIONANDINVERSE CLARK(IC,!2+)ABY-PASSED.&ORCONTROLOFDCMOTORSTRANSFORMATIONSAREBYPASSEDANDONLYTHE 1RSTFULL BRIDGE(81AND82)ISUSED. 4HEINNER&/CCONTROLLOOPGETSATARGETTORQUEVALUE( I?1?4!2G%4),WHICHREPRESENTSACCELERATION,THEROTOR POSITION,ANDTHEMEASUREDCURRENTSASINPUTDATA.4OGETHERWITHTHEPROGRAMMED0AND IPARAMETERS, THEINNER&/CLOOPCALCULATESTHETARGETVOLTAGEVALUESASINPUTFORTHE07-ENGINE. &IGURE28:INNER&/CCONTROLLOOP 6.6.9 &/C4RANSFORMATIONSAND0I(D)FORCONTROLOF&LUX&4ORqUE 4HECLARKETRANSFORMATION(C,!2+%)MAPSTHREEMOTORPHASECURRENTS( IU,IV,IW)TOATWODIMENSIONAL COORDINATESYSTEMWITHTWOCURRENTS( Iα,Iβ)."ASEDONTHEACTUALROTORANGLEDETERMINEDBYANENCODER ORVIASENSORLESSTECHNIQUES,THE0ARKTRANSFORMATION(0!2+)MAPSTHESETWOCURRENTSTOAQUASI-STATIC COORDINATESYSTEMWITHTWOCURRENTS( ID,IQ).4HECURRENTID REPRESENTS2UXANDTHECURRENT IQ REPRESENTS TORQUE.4HE2UXJUSTPULLSONTHEROTORBUTDOESNOTE ﬀECTTORQUE.4HETORQUEISE ﬀECTEDBY IQ.4WO0I CONTROLLERSDETERMINETWOVOLTAGES( UD,UQ)TODRIVEDESIREDCURRENTSFORATARGETTORQUEANDATARGET 2UX.4HEDETERMINEDVOLTAGES(UD,UQ)ARERE-TRANSFORMEDINTOTHESTATORSYSTEMBYTHEINVERSE0ARKE TRANSFORMATION(I0!2+).4HEINVERSECLARKE4RANSFORMATION(IC,!2+%)TRANSFORMSTHESETWOCURRENTSINTO THREEVOLTAGES(UU,UV,UW).4HESESTHREEVOLTAGEARETHEINPUTOFTHE07-ENGINETODRIVETHEPOWER STAGE. INCASEOFTHE&/C2,CLARKETRANSFORMATIONC,!2+%ANDINVERSECLARKE4RANSFORMATIONIC,!2+%ARESKIPPED. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 44/123 &IGURE29:&/C34RANSFORMATIONS(&/C2jUSTSKIPSCLA2+EANDICLA2+E) 6.6.10 -OTION-ODES 4HEUSERCANOPERATETHE4-C8670INSEVERALMOTIONMODES.3TANDARD-OTION-ODESAREPOSITIONCONTROL, VELOCITYCONTROLANDTORQUECONTROL,WHERETARGETVALUESAREFEDINTOTHECONTROLLERSVIAREGISTERACCESS.4HE MOTIONMODE5D?51?%84%2.ALLOWSTHEUSERTOSETVOLTAGESFOROPENLOOPOPERATIONANDFORTESTSDURING SETUP. &IGURE30:3TANDARD-OTION-ODES INPOSITIONCONTROLMODETHEUSERCANFEEDTHESTEPANDDIRECTIONINTERFACETOGENERATEAPOSITIONTARGET VALUEFORTHECONTROLLERCASCADE.!DDITIONALMOTIONMODESARETHEMOTIONMODEFOR%NCODER INITIALISATION (%.C/D%2?I.I4?-I.I?-/6%)ANDMOTIONMODESWHERETARGETVALUESAREFEDINTOTHE4-C8670VIA07- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 45/123 INTERFACE(0IN: 07-?I.)ORANALOGINPUTVIAPIN!G0 I?!.4HESEMOTIONMODESARERECOMMENDEDFOR APPLICATIONS,WHEREREFERENCEVALUESHAVETOBEEASILYDISTRIBUTED. 4HEREAREADDITIONAL-OTION-ODES,WHICHAREUSINGINPUTFROMTHE07-? IINPUTANDTHE!G0 I?!INPUT. INPUTSIGNALSCANBESCALEDVIAASTANDARDSCALERPROVIDINGO ﬀSETANDGAINCORRECTION.4HEINTERFACECANBE CON1GUREDVIATHE2EGISTERS3 I.G,%?0I.?I&?/&&3%4?3C!,%AND3 I.G,%?0I.?I&?34!453?C&G,WHEREALSO THESTATUSOFTHEINTERFACECANBEMONITORED.07-INPUTSIGNALS,WHICHAREOUTOFFREQUENCYRANGECANBE NEGLECTED.INCASEOFWRONGINPUTDATA,LASTCORRECTPOSITIONISUSEDORVELOCITYANDTORQUEARESETTOZERO. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 46/123

7 ETHERCA43LAVECONTROLLERDESCRIPTION

7.1 GENERALETHERCA4INFORMATION

4-C8670CONTAINSAPROVENANDSTANDARD-CONFORM%THERC!43LAVECONTROLLER(%3C)PROVIDINGREAL-TIME %THERC!4-!CLAYERFUNCTIONALITYTO%THERC!4SLAVEDEVICES. 4HE%3CPARTOF4-C8670PROVIDESTHE FOLLOWING%THERC!4-RELATEDFEATURES:

4+"YTEOF0ROCESSDATA2!-(0D2!-):4HE0D2!-ISADUALPORTED2!-,WHICHALLOWSEXCHANGEOF DATAFROMTHE%THERC!4MASTERTOTHELOCALAPPLICATION.
&OUR3YNC-ANAGERS(3-):3YNC-ANAGERSAREUSEDTOCONTROLANDSECURETHEDATAEXCHANGEVIATHE 0D2!-INTERMSOFDATACONSISTENCY,DATASECURITY,ANDSYNCHRONIZEDREAD/WRITEOPERATIONSONTHE DATAOBJECTS.4WOMODES –BUﬀEREDMODEANDMAILBOXMODE –AREAVAILABLE.
&OUR&IELDBUS-EMORY-ANAGEMENT5NITS(&--5):&--5SAREUSEDFORMAPPINGOFLOGICALADDRESSES TOPHYSICALADDRESSES.4HE%THERC!4MASTERUSESLOGICALADDRESSINGFORDATATHANSPANSMULTIPLE SLAVES.!N&--5CANMAPSUCHALOGICALADDRESSRANGETOACONTINUOUSLOCALPHYSICALADDRESSRANGE.
64BITDISTRIBUTEDCLOCKSUPPORT(DC)ASCOREFUNCTIONFOR%THERC!4 ’SHARDREAL-TIMECAPABILITIES.
IICINTERFACEFOREXTERNAL3 II%%02/-FOR%3CCON 1GURATION:!FTERRESETANDATPOWERUP,THE%3C REQUIRESREADINGBASIC(ANDADVANCED)CON 1GURATIONDATAFROMANEXTERNAL3 II%%02/-TOPROPERLY CON1GUREINTERFACES,OPERATIONMODES,ANDANDFEATUREAVAILABILITY.4HE3 II%%02/-MAYBEREADAND WRITTENBYTHEMASTERORTHELOCALAPPLICATIONCONTROLLERASWELL.
30I0ROCESSDATA INTERFACE(0DI):4HE0DIISTHEINTERFACEBETWEENTHELOCALAPPLICATIONCONTROLLER ANDTHE%3C.!PPLICATION-SPECI1CPROCESSDATAAND%THERC!4CONTROLANDSTATUSINFORMATIONFOR THE%THERC!43TATE-ACHINE(%3-)ISEXCHANGEDVIATHISINTERFACE.4HISINTERFACEISINTERNALTOTHE 4-C8670. 4OMANUFACTUREOWNSLAVESDEVICES,AREGISTRATIONWITHTHE%THERC!44ECHNOLOGYGROUP(%4G)ISREQUIRED. -OREINFORMATIONANDRESOURCESONTHE%THERC!4TECHNOLOGYANDTHE%THERC!4STANDARDAREAVAILABLE HERE:
%THERC!44ECHNOLOGYGROUP(%4G)( http://www.ethercat.org/HTTP://WWW.ETHERCAT.ORG/)
%THERC!4ISSTANDARDIZEDBYTHE I%C(http://www.iec.ch/HTTP://WWW.IEC.CH/)AND1LEDASI%C-3TANDARD 61158. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 47/123

7.2 ETHERCA42EGISTER/VERVIEW

4-C8670HASANADDRESSSPACEOF8+"YTE. 4HE1RSTBLOCKOF4+"YTE( 0x0000:0x0FFF)ISRESERVEDFORTHESTANDARD%3C-AND%THERC!4-RELEVANTCON 1GU- RATIONANDSTATUSREGISTERS.4HE0ROCESSDATA2!-(0D2!-)STARTSATADDRESS 0x1000 ANDHASASIZEOF4 +"YTE. ADDRESS ,ENGTH (BYTE)

DESCRIPTION

0x0002:0x0003 2 "UILD 0x0004 1 &--5SSUPPORTED 0x0005 1 3YNC-ANAGERSSUPPORTED 0x0006 1 2!-3IZE 0x0007 1 0ORTDESCRIPTOR 0x0008:0x0009 2 %3C&EATURESSUPPORTED 3TATIONADDRESS 0x0010:0x0011 2 CON1GURED3TATION!DDRESS 0x0012:0x0013 2 CON1GURED3TATION!LIAS 7RITE0ROTECTION 0x0020 1 7RITE2EGISTER%NABLE 0x0021 1 7RITE2EGISTER0ROTECTION 0x0030 1 %3C7RITE%NABLE 0x0031 1 %3C7RITE0ROTECTION DATA,INK,AYER 0x0100:0x0103 4 %3CD,CONTROL 0x0108:0x0109 2 0HYSICAL2EAD/7RITE/ﬀSET 0x0110:0x0111 2 %3CD,3TATUS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 48/123 ADDRESS ,ENGTH (BYTE) APPLICATION,AYER 0x0120:0x0121 2 !,CONTROL 0x0130:0x0131 2 !,3TATUS 0x0134:0x0135 2 !,3TATUSCODE 0x0138 1 25.,%D/VERRIDE 0x0139 1 %22,%D/VERRIDE 0DI 0x0140 1 0DICONTROL 0x0141 1 %3CCON 1GURATION 0x014E:0x014F 1 0DI INFORMATION 0x0150 4 0DI30I3LAVECON1GURATION 0x0151 4 39.C/,!4C(0DICON1GURATION 0x0152:0x0153 4 %XTENDED0DI30I3LAVECON1GURATION INTERRUPTS 0x0200:0x0201 2 %C!4%VENT-ASK 0x0204:0x0207 4 !,%VENT-ASK 0x0210:0x0211 2 %C!4%VENT2EQUEST 0x0220:0x0223 4 !,%VENT2EQUEST ERRORCOUNTERS 0x0300:0x0307 4X2 28%RRORCOUNTER;3:0= 0x0308:0x030B 4X1 &ORWARD28%RRORCOUNTER;3:0= 0x030C 1 %C!40ROCESSING5NIT%RRORCOUNTER 0x030D 1 0DI%RRORCOUNTER 0x030E 1 0DI%RRORCODE 0x0310:0x0313 4X1 ,OST,INKCOUNTER;3:0= h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 49/123 ADDRESS ,ENGTH (BYTE) 0x0400:0x0401 2 7ATCHDOGDIVIDER 0x0410:0x0411 2 7ATCHDOG4IME0D I 0x0420:0x0421 2 7ATCHDOG4IME0ROCESSDATA 0x0440:0x0441 2 7ATCHDOG3TATUS0ROCESSDATA 0x0442 1 7ATCHDOGCOUNTER0ROCESSDATA 0x0443 1 7ATCHDOGCOUNTER0D I 3IIEE02/-INTERFACE 0x0500 1 %%02/-CON1GURATION 0x0501 1 %%02/-0DI!CCESS3TATE 0x0502:0x0503 2 %%02/-CONTROL/3TATUS 0x0504:0x0507 4 %%02/-!DDRESS 0x0508:0x050F 4/8 %%02/-DATA -II-ANAGEMENTINTERFACE 0x0510:0x0511 2 -II-ANAGEMENTCONTROL/3TATUS 0x0512 1 0(9!DDRESS 0x0513 1 0(92EGISTER!DDRESS 0x0514:0x0515 2 0(9DATA 0x0516 1 -II-ANAGEMENT%C!4!CCESS3TATE 0x0517 1 -II-ANAGEMENT0DI!CCESS3TATE 0x0518:0x051B 4 0(90ORT3TATUS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 50/123 ADDRESS ,ENGTH (BYTE) +0x0:0x3 4 ,OGICAL3TART!DDRESS +0x4:0x5 2 ,ENGTH +0x6 1 ,OGICAL3TARTBIT +0x7 1 ,OGICAL3TOPBIT +0x8:0x9 2 0HYSICAL3TART!DDRESS +0xA 1 0HYSICAL3TARTBIT +0xB 1 4YPE +0xC 1 !CTIVATE +0xD:0xF 3 2ESERVED 0X0800:0X087& 16X8 3YNC-ANAGER[15:0] +0x0:0x1 2 0HYSICAL3TART!DDRESS +0x2:0x3 2 ,ENGTH +0x4 1 CONTROL2EGISTER +0x5 1 3TATUS2EGISTER +0x6 1 !CTIVATE +0x7 1 0DICONTROL 0X0900:0X09&& DISTRIBUTEDCLOCKS(DC) DC2ECEIVE4IMES 0x0900:0x0903 4 2ECEIVE4IME0ORT0 0x0904:0x0907 4 2ECEIVE4IME0ORT1 0x0908:0x090B 4 2ECEIVE4IME0ORT2 0x090C:0x090F 4 2ECEIVE4IME0ORT3 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 51/123 ADDRESS ,ENGTH (BYTE) DC4IME,OOPCONTROL5NIT 0x0910:0x0917 4/8 3YSTEM4IME 0x0918:0x091F 4/8 2ECEIVE4IME%C!40ROCESSING5NIT 0x0920:0x0927 4/8 3YSTEM4IME/ ﬀSET 0x0928:0x092B 4 3YSTEM4IMEDELAY 0x092C:0x092F 4 3YSTEM4IMEDI ﬀERENCE 0x0930:0x0931 2 3PEEDCOUNTER3TART 0x0932:0x0933 2 3PEEDCOUNTERDI ﬀ 0x0934 1 3YSTEM4IMEDI ﬀERENCE&ILTERDEPTH 0x0935 1 3PEEDCOUNTER&ILTERDEPTH DCCYCLIC5NITCONTROL 0x0980 1 CYCLIC5NITCONTROL DC39.C/UT5NIT 0x0981 1 !CTIVATION 0x0982:0x0983 2 0ULSE,ENGTHOF39.CSIGNALS 0x0984 1 !CTIVATION3TATUS 0x098E 1 39.C03TATUS 0x098F 1 39.C13TATUS 0x0990:0x0997 4/8 3TART 4IME CYCLIC /PERATION / .EXT 39.C00ULSE 0x0998:0x099F 4/8 .EXT39.C10ULSE 0x09A0:0x09A3 4 39.C0CYCLE4IME 0x09A4:0x09A7 4 39.C1CYCLE4IME h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 52/123 ADDRESS ,ENGTH (BYTE) DC,A4C( IN5NIT 0x09A8 1 ,ATCH0CONTROL 0x09A9 1 ,ATCH1CONTROL 0x09AE 1 ,ATCH03TATUS 0x09AF 1 ,ATCH13TATUS 0x09B0:0x09B7 4/8 ,ATCH04IME0OSITIVE%DGE 0x09B8:0x09BF 4/8 ,ATCH04IME.EGATIVE%DGE 0x09C0:0x09C7 4/8 ,ATCH14IME0OSITIVE%DGE 0x09C8:0x09CF 4/8 ,ATCH14IME.EGATIVE%DGE DC3YNC-ANAGEREVENT4IMES 0x09F0:0x09F3 4 %THERC!4"UﬀERCHANGE%VENT4IME 0x09F8:0x09FB 4 0DI"UﬀER3TART%VENT4IME 0x09FC:0x09FF 4 0DI"UﬀERCHANGE%VENT4IME 0X0E00:0X0E&& 256 E3C3PECI1C 0X0%00:0X0%07 8 0RODUCTID 0X0%08:0X0%0& 8 6ENDORID 0X0&80:0X0&&& 128 5SER2A- 0x0F80:0x0FFF 20 RESERVED 0ROCESSDATA2A- 0x1000:0x1FFF 4+" 4-C8670 4ABLE4:4-C8670ETHERCA42EGISTERS &OR2EGISTERSLONGERTHANONEBYTE,THE,3"HASTHELOWESTAND-3"THEHIGHESTADDRESS. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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7.3 ETHERCA42EGISTER3ET

7.3.1 E3CINFORMATION

7.3.1.1 4YPE(0x0000) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 4YPEOF%THERC!4CONTROLLER R/- R/- 4-C8460:0xD0 4-C8461:0xD0 4-C8462:0xD0 4-C8670:0xD0 4ABLE5:2EGISTER0X0000(4YPE) 7.3.1.2 2EVISION(0x0001) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 2EVISIONOF%THERC!4CONTROLLER R/- R/- 4-C8460:0x60 4-C8461:0x61 4-C8462:0x61 4-C8670:0x70 4ABLE6:2EGISTER0X0001(2EVISION)

7.3.1.3 BUILD(0x0002:0x0003)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 !CTUALBUILDOF%THERC!4CONTROLLER, MINORVERSION,MAINTENANCEVERSION 4-C8461:0x11 4-C8462:0x11 4-C8670:0x10 4ABLE7:2EGISTER0X0002(BUILD) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 54/123 7.3.1.4 &--5SSUPPORTED(0x0004) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 .UMBEROFSUPPORTED&--5CHANNELS(ORENTI- TIES)OFTHE%THERC!4SLAVECONTROLLLER. R/- R/- 4-C8460:6 4-C8461:8 4-C8462:8 4-C8670:4 4ABLE8:2EGISTER0X0004(&--5S) 7.3.1.5 3YNC-ANAGERSSUPPORTED(0x0005) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 .UMBEROFSUPPORTED3YNC-ANAGERCHANNELS (ORENTITIES)OFTHE%THERC!43LAVECONTROLLER R/- R/- 4-C8460:6 4-C8461:8 4-C8462:8 4-C8670:4 4ABLE9:2EGISTER0X0005(3-S) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 0ROCESSDATA2!-SIZESUPPORTEDBYTHE%THER- C!43LAVECONTROLLERIN+"YTE R/- R/- 4-C8460:16 4-C8461:16 4-C8462:16 4-C8670:4 4ABLE10:2EGISTER0X0006(2A-3IzE) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 55/123 7.3.1.7 0ORTDESCRIPTOR(0x0007) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0ORTCON1GURATION: 00:.OTIMPLEMENTED 01:.OTCON1GURED(3II%%02/-) 10:%"53 11:-II2-II2G-II 1:0 0ORT0 R/- R/- 4-C8460:11 4-C8461:11 4-C8462:11 4-C8670:11 3:2 0ORT1 R/- R/- 4-C8460:11 4-C8461:11 4-C8462:11 4-C8670:11 7:4 NOTSUPPORTED R/- R/- 0 4ABLE11:2EGISTER0X0007(0ORTDESCRIPTOR)

7.3.1.8 E3C&EATURESSUPPORTED(0x0008:0x0009)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 &--5/PERATION: 0:"ITORIENTED 1:"YTEORIENTED R/- R/- 1 2ESERVED R/- R/-

2 DISTRIBUTEDCLOCKS:

0:.OTAVAILABLE 1:!VAILABLE R/- R/-

3 DISTRIBUTEDCLOCKS(WIDTH):

0:32BIT 1:64BIT R/- R/- 4 ,OW*ITTER%"53: 0:.OTAVAILABLE,STANDARDJITTER 1:!VAILABLE,JITTERMINIMIZED R/- R/- 0 5 %NHANCED,INKDETECTION%"53: 0:.OTAVAILABLE 1:!VAILABLE R/- R/- 0 6 %NHANCED,INKDETECTION- II 0:.OTAVAILABLE 1:!VAILABLE R/- R/- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 56/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7 3EPARATE(ANDLINGOF&C3%RRORS: 0:.OTSUPPORTED 1:3UPPORTED,FRAMESWITHWRONG&C3ANDAD- DITIONALNIBBLEWILLBECOUNTEDSEPARATELYIN &ORWARDED28%RRORCOUNTER R/- R/- 8 %NHANCEDDC39.C!CTIVATION 0:.OTAVAILABLE 1:!VAILABLE ./4%: 4HIS FEATURE REFERS TO REGISTERS 0x981.(7:3),0x0984 R/- R/- 9 %THERC!4,27COMMANDSUPPORT: 0:3UPPORTED 1:.OT3UPPORTED R/- R/- 10 %THERC!4READ/WRITECOMMANDSUPPORT 0:3UPPORTED 1:.OT3UPPORTED R/- R/- 11 &IXED&--5/3YNC-ANAGERCON1GURATION 0:6ARIABLECON1GURATION 1:&IXEDCON1GURATION(REFERTODOCUMENTATION OFSUPPORTING%3CS) R/- R/- 15:12 2ESERVED R/- R/- 4ABLE12:2EGISTER0X0008:0X0009(E3C&EATURES) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 57/123 7.3.2 3TATIONADDRESS

7.3.2.1 CON1GURED3TATIONADDRESS(0x0010:0x0011)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 !DDRESSUSEDFORNODEADDRESSING(&0XXCOM- MANDS) R/W R/- 4ABLE13:2EGISTER0X0010:0X0011(3TATIONADDR)

7.3.2.2 CON1GURED3TATIONALIAS(0x0012:0x0013)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 !LIAS!DDRESSUSEDFORNODEADDRESSING (&0XXCOMMANDS) 4HEUSEOFTHISALIASISACTIVATEDBY2EGISTER D,CONTROL"IT24( 0x0100.24/0x0103.0) ./4%: %%02/- VALUE IS ONLY TAKEN OVER AT1RST%%02/-LOADAFTERPOWER-ONRESET. R/- R/W 4ABLE14:2EGISTER0X0012:0X0013(3TATIONALIAS) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 58/123 7.3.3 7RITE0ROTECTION 7.3.3.1 7RITE2EGISTERENABLE(0x0020) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE

0 IFWRITEREGISTERPROTECTIONISENABLED,THISREG-

ISTERHASTOBEWRITTENINTHESAME%THERNET FRAME(VALUEDOESNOTCARE)BEFOREOTHERWRITES TOTHISSTATIONAREALLOWED. 7RITEPROTECTION ISSTILLACTIVEAFTERTHISFRAME(IF7RITE2EGISTER 0ROTECTIONREGISTERISNOTCHANGED). R/W R/- 7:1 2ESERVED,WIRTE0 R/- R/- 4ABLE15:2EGISTER0X0020(7RITE2EGISTERENABLE) 7.3.3.2 7RITE2EGISTER0ROTECTION(0x0021) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 7RITEREGISTERPROTECTION: 0:0ROTECTIONDISABLED 1:0ROTECTIONENABLED 2EGISTERS 0x0000-0x0137,0x013A-0x0F0F ARE WRITEPROTECTED,EXCEPTFOR 0x0030 R/W R/- 7:1 2ESERVED,WRITE0 R/- R/- 4ABLE16:2EGISTER0X0021(7RITE2EGISTER0ROT.)

7.3.3.3 E3C7RITEENABLE(0x0030)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE

0 IF%3CWRITEPROTECTIONISENABLED,THISREGISTER

HASTOBEWRITTENINTHESAME%THERNETFRAME (VALUEDOESNOTCARE)BEFOREOTHERWRITESTOTHIS STATIONAREALLOWED.%3CWRITEPROTECTIONISSTILL ACTIVEAFTERTHISFRAME(IF%3C7RITE0ROTECTION REGISTERISNOTCHANGED). R/W R/- 7:1 2ESERVED,WRITE0 R/- R/- 4ABLE17:2EGISTER0X0030(E3C7RITEENABLE) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 59/123

7.3.3.4 E3C7RITE0ROTECTION(0x0031)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 7RITEPROTECT: 0:0ROTECTIONDISABLED 1:0ROTECTIONENABLED !LLAREASAREWRITEPROTECTED,EXCEPTFOR 0x0030. R/W R/- 7:1 2ESERVED,WRITE0 R/- R/- 4ABLE18:2EGISTER0X0031(E3C7RITE0ROT.) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 60/123

7.3.4 DATA,INK,AYER

7.3.4.1 E3CD,CONTROL(0x0100:0x0103)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 &ORWARDINGRULE: 0:%THERC!4FRAMESAREPROCESSED, .ON-%THERC!4FRAMESAREFORWARDEDWITHOUT PROCESSING 1: %THERC!4 FRAMES ARE PROCESSED, .ON- %THERC!4FRAMESAREDESTROYED 4HESOURCE-!CADDRESSISCHANGEDFOREVERY FRAME(3/52C%?-!C;1=ISSETTO1-LOCALLYAD- MINISTEREDADDRESS)REGARDLESSOFTHEFORWARD- INGRULE. R/- R/- 1 4EMPORARYUSEOFSETTINGSIN2EGISTER 0x101: 0:PERMANENTUSE 1:USEFORABOUT1SECOND,THENREVERTTOPREVI- OUSSETTINGS R/- R/- 7:2 2ESERVED,WRITE0 R/- R/- 9:8 ,OOP0ORT0: 00:!UTO 01:!UTOCLOSE 10:/PEN 11:CLOSED .OTE,OOPOPENMEANSSENDING/RECEIVINGOVER THISPORTISENABLED,LOOPCLOSEDMEANSSEND- ING/RECEIVINGISDISABLEDANDFRAMESAREFOR- WARDEDTOTHENEXTOPENPORTINTERNALLY.!UTO: LOOPCLOSEDATLINKDOWN,OPENEDATLINKUP !UTOCLOSE:LOOPCLOSEDATLINKDOWN,OPENED WITHWRITING01AGAINAFTERLINKUP(ORRECEIVING AVALID%THERNETFRAMEATTHECLOSEDPORT)/PEN: LOOPOPENREGARDLESSOFLINKSTATECLOSED:LOOP CLOSEDREGARDLESSOFLINKSTATE R/W* R/- 11:10 ,OOP0ORT1: 00:!UTO 01:!UTOCLOSE 10:/PEN 11:CLOSED R/W* R/- 13:12 ,OOP0ORT2: 00:!UTO 01:!UTOCLOSE 10:/PEN 11:CLOSED R/W* R/- 15:14 ,OOP0ORT3: 00:!UTO 01:!UTOCLOSE 10:/PEN 11:CLOSED R/W* R/- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 61/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 18:16 28&I&/3IZE(%3CDELAYSSTARTOFFORWARDING UNTIL&I&/ISATLEASTHALFFULL).28& I&/3IZE/28 DELAYREDUCTION**: 6ALUE(FOR-II): 0:-40NS 1:-40NS 2:-40NS 3:-40NS 4:NOCHANGE 5:NOCHANGE 6:NOCHANGE 7:DEFAULTDEFAULT ./4%: %%02/- VALUE IS ONLY TAKEN OVER AT1RST%%02/-LOADAFTERPOWER-ONORRESET R/W R/- 19 %"53,OW*ITTER: 0:.ORMALJITTER/1:2EDUCEDJITTER R/W R/- 0 21:20 2ESERVED,WRITE0 R/W R/- 22 %"53REMOTELINKDOWNSIGNALINGTIME: 0:DEFAULT(≈660MS) 1:2EDUCED(≈80µS) R/W R/- 0 23 2ESERVED,WRITE0 R/W R/- 24 3TATIONALIAS: 0:IGNORE3TATION!LIAS 1:!LIASCANBEUSEDFORALLCON 1GUREDADDRESS COMMANDTYPES(&02D,&072,...) R/W R/- 31:25 2ESERVED,WRITE0 R/- R/- 4ABLE19:2EGISTER0X0100:0X0103(DLCONTROL) *,OOPCON 1GURATIONCHANGESAREDELAYEDUNTILENDOFCURRENTLYRECEIVEDORTRANSMITTEDFRAMEATTHEPORT. **4HEPOSSIBILITYOF28& I&/3IZEREDUCTIONDEPENDSONTHECLOCKSOURCEACCURACYOFTHE%3CANDOFEVERY CONNECTED%THERC!4/%THERNETDEVICES(MASTER,SLAVE,ETC.). 28&I&/3IZEOF7ISSU ZCIENTFOR100PPM ACCURACY,&I&/3IZE0ISPOSSIBLEWITH25PPMACCURACY(FRAMESIZEOF1518/1522"YTE). 7.3.4.2 0HYSICAL2EAD/7RITE/ﬀ SET(0x0108:0x0109) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 /ﬀSET OF 2/7 COMMANDS (&027, !027) BETWEEN 2EAD ADDRESS AND 7RITE ADDRESS. /ﬀSET0 R/W R/- 4ABLE20:2EGISTER0X0108:0X0109(2/7/ﬀSET) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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7.3.4.3 E3CD,3TATUS(0x0110:0x0111)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 0DIOPERATIONAL/%%02/-LOADEDCORRECTLY: 0:%%02/-NOTLOADED,0D INOTOPERATIONAL(NO ACCESSTO0ROCESSDATA2!-) 1: %%02/-LOADEDCORRECTLY,0DIOPERATIONAL (ACCESSTO0ROCESSDATA2!-) R*/- R/- 1 0DI7ATCHDOG3TATUS: 0:7ATCHDOGEXPIRED 1:7ATCHDOGRELOADED R*/- R/- 2 %NHANCED,INKDETECTION: 0:DEACTIVATEDFORALLPORTS 1:!CTIVATEDFORATLEASTONEPORT ./4%:%%02/-VALUEISONLYTAKENOVERAT 1RST %%02/-LOADAFTERPOWER-ONORRESET R*/- R/- 3 2ESERVED R*/- R/- 4 0HYSICALLINKON0ORT0: 0:.OLINK 1:,INKDETECTED R*/- R/- 5 0HYSICALLINKON0ORT1: 0:.OLINK 1:,INKDETECTED R*/- R/- 6 0HYSICALLINKON0ORT2: 0:.OLINK 1:,INKDETECTED R*/- R/- 7 0HYSICALLINKON0ORT3: 0:.OLINK 1:,INKDETECTED R*/- R/- 8 ,OOP0ORT0: 0:/PEN 1:CLOSED R*/- R/-

9 COMMUNICATIONON0ORT0:

0:.OSTABLECOMMUNICATION 1:COMMUNICATIONESTABLISHED R*/- R/- 10 ,OOP0ORT1: 0:/PEN 1:CLOSED R*/- R/-

11 COMMUNICATIONON0ORT1:

0:.OSTABLECOMMUNICATION 1:COMMUNICATIONESTABLISHED R*/- R/- 12 ,OOP0ORT2: 0:/PEN 1:CLOSED R*/- R/-

13 COMMUNICATIONON0ORT2:

0:.OSTABLECOMMUNICATION 1:COMMUNICATIONESTABLISHED R*/- R/- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 63/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 14 ,OOP0ORT3: 0:/PEN 1:CLOSED R*/- R/-

15 COMMUNICATIONON0ORT3:

0:.OSTABLECOMMUNICATION 1:COMMUNICATIONESTABLISHED R*/- R/- 4ABLE21:2EGISTER0X0110:0X0111(DL3TATUS) *2EADINGD,3TATUSREGISTERFROM%C!4CLEARS%C!4%VENT2EQUEST 0x0210.2. 2EGISTER 0x0111 0ORT3 0ORT2 0ORT1 0ORT0 0x55 .OLINK,CLOSED .OLINK,CLOSED .OLINK,CLOSED .OLINK,CLOSED 0x56 .OLINK,CLOSED .OLINK,CLOSED .OLINK,CLOSED ,INK,OPEN 0x59 .OLINK,CLOSED .OLINK,CLOSED ,INK,OPEN .OLINK,CLOSED 0x5A .OLINK,CLOSED .OLINK,CLOSED ,INK,OPEN ,INK,OPEN 0x65 .OLINK,CLOSED ,INK,OPEN .OLINK,CLOSED .OLINK,CLOSED 0x66 .OLINK,CLOSED ,INK,OPEN .OLINK,CLOSED ,INK,OPEN 0x69 .OLINK,CLOSED ,INK,OPEN ,INK,OPEN .OLINK,CLOSED 0x6A .OLINK,CLOSED ,INK,OPEN ,INK,OPEN ,INK,OPEN 0x95 ,INK,OPEN .OLINK,CLOSED .OLINK,CLOSED .OLINK,CLOSED 0x96 ,INK,OPEN .OLINK,CLOSED .OLINK,CLOSED ,INK,OPEN 0x99 ,INK,OPEN .OLINK,CLOSED ,INK,OPEN .OLINK,CLOSED 0x9A ,INK,OPEN .OLINK,CLOSED ,INK,OPEN ,INK,OPEN 0xA5 ,INK,OPEN ,INK,OPEN .OLINK,CLOSED .OLINK,CLOSED 0xA6 ,INK,OPEN ,INK,OPEN .OLINK,CLOSED ,INK,OPEN 0xA9 ,INK,OPEN ,INK,OPEN ,INK,OPEN .OLINK,CLOSED 0xAA ,INK,OPEN ,INK,OPEN ,INK,OPEN ,INK,OPEN 0xD5 ,INK,CLOSED .OLINK,CLOSED .OLINK,CLOSED .OLINK,CLOSED 0xD6 ,INK,CLOSED .OLINK,CLOSED .OLINK,CLOSED ,INK,OPEN 0xD9 ,INK,CLOSED .OLINK,CLOSED ,INK,OPEN .OLINK,CLOSED 0xDA ,INK,CLOSED .OLINK,CLOSED ,INK,OPEN ,INK,OPEN 4ABLE22:DECODINGPORTSTATEINE3CDL3TATUSREGISTER0X0111(TYPICALMODESONLY) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 64/123

7.3.5 APPLICATION,AYER

7.3.5.1 A,CONTROL(0x0120:0x0121)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3:0 INITIATE3TATE4RANSITIONOFTHEDEVICE3TATE-A- CHINE: 1:2EQUESTINIT3TATE 3:2EQUEST"OOTSTRAP3TATE 2:2EQUEST0RE-/PERATIONAL3TATE 4:2EQUEST3AFE-/PERATIONAL3TATE 8:2EQUEST/PERATIONAL3TATE R/(W) R/ (WACK)* 4 %RRORIND!CK: 0:.O!CKOF%RROR INDIN!,STATUSREGISTER 1:!CKOF%RROR INDIN!,STATUSREGISTER R/(W) R/ (WACK)*

4 DEVICEIDENTI1CATION:

0:.OREQUEST 1:DEVICEIDENTI1CATIONREQUEST R/(W) R/ (WACK)* 15:6 2ESERVED,WRITE0 R/(W) R/ (WACK)* 4ABLE23:2EGISTER0X0120:0X0121(ALCNTRL) Note !,CONTROLREGISTERBEHAVESLIKEAMAILBOXIFDEVICE%MULATIONISO ﬀ (0x0140.8=0): 4HE0D IHASTOREAD/WRITE*THE!,CONTROLREGISTERAFTER%C!4HASWRITTENIT. /THERWISE%C!4CANNOTWRITEAGAINTOTHE!,CONTROLREGISTER. !FTER2ESET,!, CONTROLREGISTERCANBEWRITTENBY%C!4.(2EGARDINGMAILBOXFUNCTIONALITY,BOTH REGISTERS0x0120 AND0x0121 AREEQUIVALENT,E.G. READING0x0121 ISSUZCIENTTO MAKETHISREGISTERWRITEABLEAGAIN.) IF DEVICE %MULATION IS ON, THE !, CONTROL REGISTER CAN ALWAYS BE WRITTEN, ITSCONTENTISCOPIEDTOTHE!,3TATUSREGISTER. *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED:2EADING!, CONTROLFROM0D ICLEARS!,%VENT2EQUEST 0x0220.0.7RITINGTOTHISREGISTERFROM 0DIISNOTPOSSIBLE. 0DIREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISENABLED: 7RITING!, CONTROLFROM0D ICLEARS!,%VENT2EQUEST 0x0220.0.7RITINGTOTHISREGISTERFROM 0DIISPOSSIBLE;WRITEVALUEISIGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 65/123

7.3.5.2 A,3TATUS(0x0130:0x0131)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3:0 !CTUAL3TATEOFTHEDEVICE3TATE-ACHINE: 1:INIT3TATE 3:2EQUEST"OOTSTRAP3TATE 2:0RE-/PERATIONAL3TATE 4:3AFE-/PERATIONAL3TATE 8:/PERATIONAL3TATE R*/- R/(W) 4 %RRORIND: 0: DEVICE IS IN 3TATE AS REQUESTED OR &LAG CLEAREDBYCOMMAND 1:DEVICEHASNOTENTEREDREQUESTED3TATEOR CHANGED3TATEASRESULTOFALOCALACTION R*/- R/(W)

5 DEVICEIDENTI1CATION:

0:DEVICEIDENTI1CATIONNOTVALID 1:DEVICEIDENTI1CATIONLOADED R*/- R/(W) 15:6 2ESERVED,WRITE0 R*/- R/(W) 4ABLE24:2EGISTER0X0130:0X0131(AL3TATUS) Note !,3TATUSREGISTERISONLYWRITABLEFROM0D IIFDEVICE%MULATIONISO ﬀ (0x0140.8=0), OTHERWISE!,3TATUSREGISTERWILLRE 2ECT!,CONTROLREGISTERVALUES. *2EADING!,3TATUSFROM%C!4CLEARS%C!4%VENT2EQUEST 0x0210.3.

7.3.5.3 A,3TATUSCODE(0x0134:0x0135)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 !,3TATUSCODE R/- R/W 4ABLE25:2EGISTER0X0134:0X0135(AL3TATUSCODE) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 66/123 7.3.5.4 25.,ED/VERRIDE(0x0138) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3:0 ,%DCODE:(&3-3TATE) 0x0:/ﬀ (1-INIT) 0x1-0xC:&LASH1X-12X(4-3AFE/P1X) 0xD:"LINKING(2-0RE/P) 0xE:&LICKERING(3-"OOTRAP) 0xF:/N R/W R/W 4 %NABLE/VERRIDE: 0:/VERRIDEDISABLED 1:/VERRIDEENABLED R/W R/W 7:5 2ESERVED,WRITE0 R/W R/W 4ABLE26:2EGISTER0X0138(25.LED/VERRIDE) Note CHANGESTO!,3TATUSREGISTER( 0x0130)WITHVALIDVALUESWILLDISABLE25.,%D /VERRIDE(0x0138.4=0).4HEVALUEREADINTHISREGISTERALWAYSRE 2ECTSCURRENT,%D OUTPUT.

7.3.5.5 E22,ED/VERRIDE(0x0139)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3:0 ,%DCODE: 0x0:/ﬀ 0x1-0xC:&LASH1X-12X 0xD:"LINKING 0xE:&LICKERING 0xF:/N R/W R/W 4 %NABLE/VERRIDE: 0:/VERRIDEDISABLED 1:/VERRIDEENABLED R/W R/W 7:5 2ESERVED,WRITE0 R/W R/W 4ABLE27:2EGISTER0X0139(E22LED/VERRIDE) Note .EWERRORCONDITIONSWILLDISABLE%22,%D/VERRIDE( 0x0139.4=0).4HEVALUEREAD INTHISREGISTERALWAYSRE 2ECTSCURRENT,%DOUTPUT. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 67/123 7.3.6 0DI 7.3.6.1 0DICONTROL(0x0140) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 0ROCESSDATAINTERFACE: 0x00:INTERFACEDEACTIVATED(NO0D I) ... 0x05:30I3LAVE ... 0x80:/N-CHIPBUS /THERS:2ESERVED 4-C8462,4-C8670:0x00 LATER%%02/-!D2 0x0000 ONLY 30I 3LAVE (0x05) IS SUPPORTEDINTHEHARDWARE 4ABLE28:2EGISTER0X0140(0DICONTROL)

7.3.6.2 E3CCON1GURATION(0x0141)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 DEVICEEMULATION(CONTROLOF!,STATUS): 0:!,STATUSREGISTERHASTOBESETBY0D I 1:!,STATUSREGISTERWILLBESETTOVALUEWRITTEN TO!,CONTROLREGISTER R/W R/- 1 %NHANCED,INKDETECTIONALLPORTS: 0:DISABLED(IFBITS;7:4==0) 1:ENABLEDATALLPORTS(OVERRIDESBITS;7:4=) R/- R/- 2 DISTRIBUTEDCLOCKS39.C/UT5NIT: 0:DISABLED(POWERSAVING)/1:ENABLED R/- R/-

3 DISTRIBUTEDCLOCKS,ATCH IN5NIT:

0:DISABLED(POWERSAVING)/1:ENABLED R/- R/- 4 %NHANCED,INKPORT0: 0:DISABLED(IFBIT1=0)/1:ENABLED R/- R/- 5 %NHANCED,INKPORT1: 0:DISABLED(IFBIT1=0)/1:ENABLED R/- R/- 6 %NHANCED,INKPORT2: 0:DISABLED(IFBIT1=0)/1:ENABLED R/- R/- 7 %NHANCED,INKPORT3: 0:DISABLED(IFBIT1=0)/1:ENABLED R/- R/- 4ABLE29:2EGISTER0X0141(E3CCON 1G) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 68/123 7.3.6.3 0DI INFORMATION(0x014E:0x014F) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 0DIREGISTERFUNCTIONACKNOWLEDGEBYWRITE: 0:DISABLED 1:%NABLED R/W R/- DEPENDSONCON 1GURATION 1 0DICON1GURED: 0:0DINOTCON1GURED 1:0DICON1GURED(%%02/-LOADED) R/W R/- 0 2 0DIACTIVE: 0:0DINOTACTIVE 1:0DIACTIVE R/W R/- 0 3 0DICON1GURATIONINVALID: 0:0DICON1GURATIONOK 1:0DICON1GURATIONINVALID R/W R/- 0 7:4 2ESERVED R/W R/- 0 4ABLE30:2EGISTER0X014E(0DI INFORMATION)) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 69/123 7.3.6.4 0DI30I3LAVECON1GURATION(0x0150) 4HE0DICON1GURATIONREGISTER0x0150 ANDTHEEXTENDED0D ICON1GURATIONREGISTERS0x0152:0x0153 DEPEND ONTHESELECTED0D I.4HE3YNC/,ATCH;1:0=0DICON1GURATIONREGISTER 0x0151 ISINDEPENDENTOFTHESELECTED 0DI.4HE4-C8460,4-C8461,4-C8462,AND4-C8670DEVICESSUPPORT30 I3LAVE0DIONLY. BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 1:0 30IMODE: 00:30IMODE0 01:30IMODE1 10:30IMODE2 11:30IMODE3 ./4%:30IMODE3ISRECOMMENDEDFOR3LAVE 3AMPLECODE ./4%:30ISTATUS2AGISNOTAVAILABLEIN30 I MODES0AND2WITHNORMALDATAOUTSAMPLE. R/- R/- 3:2 30I?I21OUTPUTDRIVER/POLARITY: 00:0USH-0ULLACTIVELOW 01:/PENDRAIN(ACTIVELOW) 10:0USH-0ULLACTIVEHIGH 11:/PEN3OURCE(ACTIVEHIGH) R/- R/- 4 30I?C3.,POLARITY: 0:!CTIVELOW 1:!CTIVEHIGH R/- R/-

5 DATA/UTSAMPLEMODE:

0:.ORMALSAMPLE(30I?-I3/AND30 I?-/3IARE SAMPLEDATTHESAME30 I?C,+EDGE) 1: ,ATESAMPLE(30I?-I3/AND30 I?-/3IARE SAMPLEDATDI ﬀERENT30I?C,+EDGES) R/- R/- 7:6 2ESERVED,SET%%02/-VALUE0 R/- R/- 4ABLE31:2EGISTER0X0150(0DI30IC&G) 7.3.6.5 39.C/,A4C(CON1GURATION(0x0151) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 1:0 39.C0OUTPUTDRIVER/POLARITY: 00:0USH-0ULLACTIVELOW 01:/PENDRAIN(ACTIVELOW) 10:0USH-0ULLACTIVEHIGH 11:/PEN3OURCE(ACTIVEHIGH) R/- R/- 4-C8461:10 4-C8462:10 2 39.C0/,!4C(0CON1GURATION: 0:,!4C(0INPUT 1:39.C0/UTPUT R/- R/- 4-C8461:1 4-C8462:1 3 39.C0MAPPEDTO!,%VENT2EQUESTREGISTER 0x0220.2: 0:DISABLED 1:%NABLED PENDSONCON 1GURATION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 70/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 5:4 39.C1OUTPUTDRIVER/POLARITY: 00:0USH-0ULLACTIVELOW 01:/PENDRAIN(ACTIVELOW) 10:0USH-0ULLACTIVEHIGH 11:/PEN3OURCE(ACTIVEHIGH) R/- R/- 4-C8461:10 4-C8462:10 6 39.C1/,!4C(1CON1GURATION*: 0:,!4C(1INPUT 1:39.C1OUTPUT R/- R/- 4-C8461:1 4-C8462:1 7 39.C1MAPPEDTO!,%VENT2EQUESTREGISTER 0x0220.3: 0:DISABLED 1:%NABLED PENDSONCON 1GURATION 4ABLE32:2EGISTER0X0151(39.C/LA4C(C&G) 7.3.6.6 0DI30I3LAVEEXTENDEDCON 1GURATION(0x0152:0x0153) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 2ESERVED,SET%%02/-VALUE0 R/- R/- 4-C8461:0 4-C8462:0 4ABLE33:2EGISTER0X0152:0X0153(0DI30IEXTC&G) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 71/123 7.3.7INTERRUPTS

7.3.7.1 ECA4EVENT-ASK(0x0200:0x0201)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 %C!4%VENTMASKINGOFTHE%C!4%VENT2EQUEST %VENTSFORMAPPINGINTO%C!4EVENT 1ELDOF %THERC!4FRAMES: 0:CORRESPONDING%C!4%VENT2EQUESTREGISTER BITISNOTMAPPED 1:CORRESPONDING%C!4%VENT2EQUESTREGISTER BITISMAPPED R/W R/- 4ABLE34:2EGISTER0X0200:0X0201(ECA4EVENT-.)

7.3.7.2 A,EVENT-ASK(0x0204:0x0207)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 !,%VENTMASKINGOFTHE!,%VENT2EQUESTREG- ISTER%VENTSFORMAPPINGTO0D I I21SIGNAL: 0:CORRESPONDING!,%VENT2EQUESTREGISTERBIT ISNOTMAPPED 1:CORRESPONDING!,%VENT2EQUESTREGISTERBIT ISMAPPED R/- R/W 4ABLE35:2EGISTER0X0204:0X0207(ALEVENT-ASK)

7.3.7.3 ECA4EVENT2EqUEST(0x0210:0x0211)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE

0 DC,ATCHEVENT:

0:.OCHANGEONDC,ATCH INPUTS 1:!TLEASTONECHANGEONDC,ATCH INPUTS("ITIS CLEAREDBYREADINGDC,ATCHEVENTTIMESFROM %C!4FOR%C!4CONTROLLED,ATCH5NITS,SOTHAT ,ATCH0/13TATUS 0x09AE:0x09AF INDICATESNO EVENT) R/- R/- 1 2ESERVED R/- R/-

2 D,3TATUSEVENT:

0:.OCHANGEIND,3TATUS 1:D,3TATUSCHANGE ("IT IS CLEARED BY READING OUT D, 3TATUS 0x0110:0x0111 FROM%C!4) R/- R/- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 72/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3 !,3TATUSEVENT: 0:.OCHANGEIN!,3TATUS 1:!,3TATUSCHANGE ("IT IS CLEARED BY READING OUT !, 3TATUS 0x0130:0x0131 FROM%C!4) R/- R/- ... -IRRORSVALUESOFEACH3YNC-ANAGER3TATUS: 0:.O3YNCCHANNEL0EVENT 1:3YNCCHANNEL0EVENTPENDING 0:.O3YNCCHANNEL1EVENT 1:3YNCCHANNEL1EVENTPENDING ... 0:.O3YNCCHANNEL7EVENT 1:3YNCCHANNEL7EVENTPENDING R/W R/- 15:12 2ESERVED R/- R/- 4ABLE36:2EGISTER0X0210:0X0211(ECA4EVENT2.)

7.3.7.4 A,EVENT2EqUEST(0x0220:0x0223)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 !,CONTROLEVENT: 0:.O!,CONTROL2EGISTERCHANGE 1: !, CONTROL 2EGISTER HAS BEEN WRITTEN1 ("ITISCLEAREDBYREADING!,CONTROLREGISTER 0x0120:0x0121 FROM0DI) R/- R/-

1 DC,ATCHEVENT:

0:.OCHANGEONDC,ATCH INPUTS 1:!TLEASTONECHANGEONDC,ATCH INPUTS ("IT IS CLEARED BY READING DC ,ATCH EVENT TIMES FROM 0DI, SO THAT ,ATCH 0/1 3TATUS 0x09AE:0x09AF INDICATESNOEVENT. !VAILABLE IF,ATCH5NITIS0D ICONTROLLED) R/- R/- 2 3TATEOFDC39.C0(IFREGISTER 0x0151.3=1): ("ITISCLEAREDBYREADING39.C0STATUS 0x098E FROM0DI,USEONLYIN!CKNOWLEDGEMODE) R/- R/- 3 3TATEOFDC39.C1(IFREGISTER 0x0151.7=1): ("IT IS CLEARED BY READING OF 39.C1 STATUS 0x098F FROM 0DI, USE ONLY IN !CKNOWLEDGE MODE) R/- R/- 1!,CONTROLEVENTISONLYGENERATEDIF0D IEMULATIONISTURNEDO ﬀ (0DICONTROLREGISTER 0x0140.8=0) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 73/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 4 3YNC-ANAGERACTIVATIONREGISTER(3YNC-ANAGER REGISTEROﬀSET0x6)CHANGED: 0:.OCHANGEINANY3YNC-ANAGER 1:!TLEASTONE3YNC-ANAGERCHANGED ("ITISCLEAREDBYREADING3YNC-ANAGER!CTIVA- TIONREGISTERS 0x0806 ETC.FROM0DI) R/- R/- 5 %%02/-%MULATION: 0:.OCOMMANDPENDING 1:%%02/-COMMANDPENDING ("ITISCLEAREDBYACKNOWLEDGINGTHECOMMAND IN%%02/-COMMANDREGISTER 0x0502 FROM0DI) R/- R/- 6 7ATCHDOG0ROCESSDATA: 0:(ASNOTEXPIRED 1:(ASEXPIRED ("ITISCLEAREDBYREADING7ATCHDOG3TATUS0RO- CESSDATA 0x0440 FROM0DI) R/- R/- 7 2ESERVED R/- R/- ... 3YNC-ANAGERINTERRUPTS(3YNC-ANAGERREGISTER OﬀSET0X5,BIT;0=OR;1=): 0:.O3YNC-ANAGER0INTERRUPT 1:3YNC-ANAGER0INTERRUPTPENDING 0:.O3YNC-ANAGER1INTERRUPT 1:3YNC-ANAGER1INTERRUPTPENDING ... 0:.O3YNC-ANAGER15INTERRUPT 1:3YNC-ANAGER15INTERRUPTPENDING R/- R/- 31:24 2ESERVED R/- R/- 4ABLE37:2EGISTER0X0220:0X0223(ALEVENT2.) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 74/123

7.3.8 ERRORCOUNTERS

%RRORSAREONLYCOUNTEDIFTHECORRESPONDINGPORTISENABLED. 7.3.8.1 28ERRORCOUNTER[3:0](0x0300:0x0307) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 INVALIDFRAMECOUNTEROF0ORTY(COUNTINGIS STOPPEDWHEN 0xFF ISREACHED). W(CLR) R/- 15:8 28%RRORCOUNTEROF0ORTY(COUNTINGISSTOPPED WHEN0xFF ISREACHED).4HISISCOUPLEDDIRECTLY TO28%22OF- IIINTERFACE. W(CLR) R/- 4ABLE38:2EGISTER0X0300:0X0307(28ERRCNT) 7.3.8.2 &ORWARD28ERRORCOUNTER[3:0](0x0308:0x030B) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 &ORWARDEDERRORCOUNTEROF0ORTY(COUNTINGIS STOPPEDWHEN0X&&ISREACHED). W(CLR) R/- 4ABLE39:2EGISTER0X0308:0X030B(&728ERRCNT) Note %RRORCOUNTERS 0x0300-0x030B ARECLEAREDIFONEOFTHE28%RRORCOUNTERS 0x0300- 0x030B ISWRITTEN.7RITEVALUEISIGNORED(WRITE0).

7.3.8.3 ECA40ROCESSING5NITERRORCOUNTER(0x030C)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 %C!40ROCESSING5NITERRORCOUNTER(COUNTINGIS STOPPEDWHEN 0xFF ISREACHED).COUNTSERRORS OFFRAMESPASSINGTHE0ROCESSING5NIT(E.G.,&C3 ISWRONGORDATAGRAMSTRUCTUREISWRONG). W(CLR) R/- 4ABLE40:2EGISTER0X030C(0ROC.5NITERRCNT) Note %RRORCOUNTER 0x030C ISCLEAREDIFERRORCOUNTER 0x030C ISWRITTEN.7RITEVALUEIS IGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 75/123 7.3.8.4 0DIERRORCOUNTER(0x030D) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 0DI%RRORCOUNTER(COUNTINGISSTOPPEDWHEN 0xFF ISREACHED).COUNTSIFA0D IACCESSHASAN INTERFACEERROR. W(CLR) R/- 4ABLE41:2EGISTER0X030D(0DIERRCNT) Note %RRORCOUNTER 0x030D AND%RRORCODE 0x030E ARECLEAREDIFERRORCOUNTER 0x030D ISWRITTEN.7RITEVALUEISIGNORED(WRITE0). 7.3.8.5 0DIERRORCODE(0x030E) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 30IACCESSWHICHCAUSEDLAST0D I%RROR. CLEAREDIFREGISTER 0x030D ISWRITTEN. R/- R/- 2:0 .UMBEROF30 ICLOCKCYCLESOFWHOLEACCESS (MODULO8) R/- R/- 3 "USYVIOLATIONDURINGREADACCESS R/- R/- 4 2EADTERMINATIONMISSING R/- R/- 5 !CCESSCONTINUEDAFTERREADTERMINATIONBYTE R/- R/- 7:6 30ICOMMANDC-D;2:1= R/- R/- 4ABLE42:2EGISTER0X030E(0D IERRCODE) Note %RRORCOUNTER 0x030D AND%RRORCODE 0x030E ARECLEAREDIFERRORCOUNTER 0x030D ISWRITTEN.7RITEVALUEISIGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 76/123 7.3.8.6 ,OST,INKCOUNTER[3:0](0x0310:0x0313) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 ,OST,INKCOUNTEROF0ORTY(COUNTINGISSTOPPED WHEN0xff ISREACHED).COUNTSONLYIFPORTLOOP IS!UTO. R/W(CLR)R/- 4ABLE43:2EGISTER0X0310:0X0313(LLCOUNTER) Note /NLYLOSTLINKSATOPENPORTSARECOUNTED.,OST,INKCOUNTERS 0x0310-0x0313 ARE CLEAREDIFONEOFTHE,OST,INKCOUNTERS 0x0310-0x0313 ISWRITTEN.7RITEVALUEIS IGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 77/123 7.3.9 7ATCHDOGS 7.3.9.1 7ATCHDOGDIVIDER(0x0400:0x0401) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 7ATCHDOG4IME0D I:NUMBERORBASICWATCH- DOGINCREMENTS(DEFAULTVALUEWITH7ATCHDOG DIVIDER100µSMEANS100MS7ATCHDOG) R/W R/- 4ABLE44:2EGISTER0X0400:0X0401(7DDIVIDER) 7.3.9.2 7ATCHDOG4IME0DI(0x0410:0x0411) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 7ATCHDOG4IME0D I:NUMBERORBASICWATCH- DOGINCREMENTS(DEFAULTVALUEWITH7ATCHDOG DIVIDER100µSMEANS100MS7ATCHDOG) R/W R/- 4ABLE45:2EGISTER0X0410:0X0411(7D4IME0DI) Note 7ATCHDOGISDISABLEDIF7ATCHDOGTIMEISSETTO 0x0000.7ATCHDOGISRESTARTED WITHEVERY0D IACCESS. 7.3.9.3 7ATCHDOG4IME0ROCESSDATA(0x0420:0x0421) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 7ATCHDOG4IME0ROCESSDATA:NUMBEROFBASIC WATCHDOGINCREMENTS (DEFAULTVALUE WITH7ATCHDOG DIVIDER100µS MEANS100MS7ATCHDOG) R/W R/- 4ABLE46:2EGISTER0X0420:0X0421(7D4IME0D) Note 4HEREISONE7ATCHDOGFORALL3YNC-ANAGERS.7ATCHDOGISDISABLEDIF7ATCHDOG TIMEISSETTO 0x0000.7ATCHDOGISRESTARTEDWITHEVERYWRITEACCESSTO3YNC-AN- AGERSWITH7ATCHDOG4RIGGER%NABLE"ITSET. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 78/123 7.3.9.4 7ATCHDOG3TATUS0ROCESSDATA(0x0440:0x0441) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 7ATCHDOG3TATUSOF0ROCESSDATA(TRIGGEREDBY 3YNC-ANAGERS) 0:7ATCHDOG0ROCESSDATAEXPIRED 1:7ATCHDOG0ROCESSDATAISACTIVEORDISABLED R/- R/ ACK)* 0 2ESERVED R/- R/ ACK)* 4ABLE47:2EGISTER0X0440:0X0441(7D3TATUS0D) *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED:2EADINGTHISREGISTERFROM0D ICLEARS !,%VENT2EQUEST 0x0220.6.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISENABLED:7RITINGTHISREGISTERFROM0D ICLEARS!, %VENT2EQUEST 0x0220.6.7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEISIGNORED(WRITE0). 7.3.9.5 7ATCHDOGCOUNTER0ROCESSDATA(0x0442) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 7ATCHDOGCOUNTER0ROCESSDATA(COUNTINGIS STOPPEDWHEN 0xFF ISREACHED).COUNTSIF0RO- CESSDATA7ATCHDOGEXPIRES. W(CLR) R/- 4ABLE48:2EGISTER0X0442(7DCOUNTER0D) Note 7ATCHDOGCOUNTERS 0x0442-0x0443 ARECLEAREDIFONEOFTHE7ATCHDOGCOUNTERS 0x0442-0x0443 ISWRITTEN.7RITEVALUEISIGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 79/123 7.3.9.6 7ATCHDOGCOUNTER0DI(0x0443) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 7:0 7ATCHDOG 0DICOUNTER (COUNTING IS STOPPED WHEN0xFF ISREACHED). COUNTSIF0D I7ATCH- DOGEXPIRES. W(CLR) R/- 4ABLE49:2EGISTER0X0443(7DCOUNTER0D I) Note 7ATCHDOGCOUNTERS 0x0442 & 0x0443 ARECLEAREDIFONEOFTHE7ATCHDOGCOUNTERS 0x0442 & 0x0443 ISWRITTEN.7RITEVALUEISIGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 80/123 7.3.10 3IIEE02/-INTERFACE ADDRESS ,ENGTH (BYTE) 0x0500 1 %%02/-CON1GURATION 0x0501 1 %%02/-0DI!CCESS3TATE 0x0502:0x0503 2 %%02/-CONTROL/3TATUS 0x0504:0x0507 4 %%02/-!DDRESS 0x0508:0x050F 4/8 %%02/-DATA 4ABLE50:3IIEE02/-INTERFACE2EGISTER/VERVIEW

7.3.10.1 EE02/-CON1GURATION(0x0500)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 %%02/-CONTROLISO ﬀEREDTO0D I: 0:NO 1:YES(0DIHAS%%02/-CONTROL) R/W R/- 1 &ORCE%C!4ACCESS: 0:DONOTCHANGE"IT 0x0501.0 1:2ESET"IT0x0501.0 TO0 R/W R/- 7:2 2ESERVED,WRITE0 R/W R/- 4ABLE51:2EGISTER0X0500(02/-CON1G)

7.3.10.2 EE02/-0DIACCESS3TATE(0x0501)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 !CCESSTO%%02/-: 0:0DIRELEASES%%02/-ACCESS 1:0DITAKES%%02/-ACCESS(0DIHAS%%02/- CONTROL) R/- R/(W) 7:1 2ESERVED,WRITE0 R/- R/- 4ABLE52:2EGISTER0X0501(02/-0DIACCESS) Note R/(W):WRITEACCESSISONLYPOSSIBLEIF 0x0500.0=1AND 0x0500.1=0. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 81/123

7.3.10.3 EE02/-CONTROL/3TATUS(0x0502:0x0503)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 %C!4WRITEENABLE ∗2: 0:7RITEREQUESTSAREDISABLED 1:7RITEREQUESTSAREENABLED 4HISBITISALWAYS1IF0D IHAS%%02/-CONTROL. R/(W) R/- 4:1 2ESERVED,WRITE0 R/- R/- 5 %%02/-EMULATION: 0:.ORMALOPERATION(I2CINTERFACEUSED) 1:0DIEMULATES%%02/-(I2CNOTUSED) R/- R/- 6 3UPPORTEDNUMBEROF%%02/-READBYTES: 0:4"YTES 1:8"YTES R/- R/- 7 3ELECTED%%02/-!LGORITHM: 0:1ADDRESSBYTE(1+"IT...16+"IT%%02/-S) 1:2ADDRESSBYTES(32+"IT...4-"IT%%02/-S) R/- R/- R/;W= 10:8 COMMANDREGISTER∗1: 7RITE:INITIATECOMMAND. 2EAD:CURRENTLYEXECUTEDCOMMAND COMMANDS: 000: .OCOMMAND/%%02/-IDLE(CLEARERROR BITS) 001:2EAD 010:7RITE 100:2ELOAD /THERS: 2ESERVED/INVALIDCOMMANDS(DONOT ISSUE) %%02/-EMULATIONONLY:AFTEREXECUTION,0D I WRITESCOMMANDVALUETOINDICATEOPERATIONIS READY. R/(W) R/(W) R/;W= 11 CHECKSUM%RRORATIN%3CCON 1GURATION!REA: 0:CHECKSUMOK 1:CHECKSUMERROR R/- R/- 12 %%02/-LOADINGSTATUS: 0:%%02/-LOADED,DEVICEINFORMATIONOK 1:%%02/-NOTLOADED,DEVICEINFORMATIONNOT AVAILABLE(%%02/-LOADINGINPROGRESSOR 1N- ISHEDWITHAFAILURE) R/- R/- 13 %RROR!CKNOWLEDGE/COMMAND∗2: 0:.OERROR 1: -ISSING %%02/- ACKNOWLEDGE OR INVALID COMMAND %%02/-EMULATIONONLY:0D IWRITES1IFATEM- PORARYFAILUREHASOCCURRED. R/- R/- R/;W= h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 82/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 14 %RROR7RITE%NABLE ∗2: 0:.OERROR 1:7RITECOMMANDWITHOUT7RITEENABLE R/- R/- 15 "USY: 0:%%02/-INTERFACEISIDLE 1:%%02/-INTERFACEISBUSY R/- R/- 4ABLE53:2EGISTER0X0502:0X0503(02/-CNTRL) Note R/(W): WRITEACCESSDEPENDSUPONTHEASSIGNMENTOFTHE%%02/-INTERFACE (%C!4/0DI). 7RITE ACCESS IS GENERALLY BLOCKED IF %%02/- INTERFACE IS BUSY (0x0502.15=1). Note R/;W=:%%02/-EMULATIONONLY:WRITEACCESSISPOSSIBLEIF%%02/-INTERFACEIS BUSY(0x0502.15=1).0DIACKNOWLEDGESPENDINGCOMMANDSBYWRITINGA1INTO THECORRESPONDINGCOMMANDREGISTERBITS( 0x0502.10:8). %RRORSCANBEINDICATEDBYWRITINGA1INTOTHEERRORBIT 0x0502.13.!CKNOWLEDGING CLEARS!,%VENT2EQUEST 0x0220.5. *17RITE%NABLEBIT0ISSELF-CLEARINGATTHE3/&OFTHENEXTFRAME,COMMANDBITS;10:8=ARESELF-CLEARING AFTERTHECOMMANDISEXECUTED(%%02/-"USYENDS).7RITING" ‘000"’TOTHECOMMANDREGISTERWILLALSOCLEAR THEERRORBITS;14:13=.COMMANDBITS;10:8=AREIGNOREDIF%RROR!CKNOWLEDGE/COMMANDISPENDING(BIT13). *2%RRORBITSARECLEAREDBYWRITING" ‘000"’(ORANYVALIDCOMMAND)TOCOMMAND2EGISTER"ITS;10:8=.

7.3.10.4 EE02/-ADDRESS(0x0504:0x0507)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 %%02/-!DDRESS 0:&IRSTWORD(=16BIT) 1:3ECONDWORD ... !CTUALLYUSED%%02/-!DDRESSBITS: ;9:0=:%%02/-SIZEUPTO16K"IT ;17:0=:%%02/-SIZE32K"IT...4-BIT ;32:0=:%%02/-%MULATION R/(W) R/(W) 4ABLE54:2EGISTER0X0504:0X0507(02/-ADDRESS) Note R/(W): WRITEACCESSDEPENDSUPONTHEASSIGNMENTOFTHE%%02/-INTERFACE (%C!4/0DI). 7RITE ACCESS IS GENERALLY BLOCKED IF %%02/- INTERFACE IS BUSY (0x0502.15=1). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 83/123

7.3.10.5 EE02/-DATA(0x0508:0x050F)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 %%02/-7RITEDATA(DATATOBEWRITTENTO%%0- 2/-)OR %%02/-2EADDATA(DATAREADFROM%%02/-,. LOWERBYTES) R/(W) R/;W= 63:16 %%02/-2EADDATA(DATAREADFROM%%02/-, HIGHERBYTES) R/- R/- R;W= 4ABLE55:2EGISTER0X0508:0X050&(02/-DATA) Note R/(W): WRITEACCESSDEPENDSUPONTHEASSIGNMENTOFTHE%%02/-INTERFACE (%C!4/0DI). 7RITE ACCESS IS GENERALLY BLOCKED IF %%02/- INTERFACE IS BUSY (0x0502.15=1). Note R/;W=:WRITEACCESSFOR%%02/-EMULATIONIFREADORRELOADCOMMANDISPENDING. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 84/123 7.3.11 -II-ANAGEMENTINTERFACE ADDRESS ,ENGTH (BYTE) -II-ANAGEMENTINTERFACE 0x0510:0x0511 2 -II-ANAGEMENTCONTROL/3TATUS 0x0512 1 0(9!DDRESS 0x0513 1 0(92EGISTER!DDRESS 0x0514:0x0515 2 0(9DATA 0x0516 1 -II-ANAGEMENT%C!4!CCESS3TATE 0x0517 1 -II-ANAGEMENT0DI!CCESS3TATE 0x0518:0x051B 4 0(90ORT3TATUS 4ABLE56:-II-ANAGEMENTINTERFACE2EGISTER/VERVIEW 7.3.11.1 -II-ANAGEMENTCONTROL/3TATUS(0x0510:0x0511) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 7RITEENABLE*: 0:7RITEDISABLED 1:7RITEENABLED 4HISBITISALWAYS1IF0D IHAS-ICONTROL. R/(W) R/- 1 -ANAGEMENTINTERFACECANBECONTROLLEDBY 0DI(REGISTERS0x0516:0x0517): 0:/NLY%C!4CONTROL 1:0DICONTROLPOSSIBLE R/- R/- 2 -ILINKDETECTION(LINKCON1GURATION,LINKDETEC- TION,REGISTERS0x0518:0x051B): 0:.OTAVAILABLE 1:-ILINKDETECTIONACTIVE R/- R/- 7:3 0(9ADDRESSOFPORT0 R/- R/- 9:8 COMMANDREGISTER*: 7RITE:INITIATECOMMAND. 2EAD:CURRENTLYEXECUTEDCOMMAND COMMANDS: 00:.OCOMMAND/-IIDLE(CLEARERRORBITS) 01:2EAD 10:7RITE /THERS: 2ESERVED/INVALIDCOMMANDS(DONOT ISSUE) R/(W) R/(W) 12:10 2ESERVED,WRITE0 R/- R/- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 85/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 13 2EADERROR: 0:.OREADERROR 1: 2EADERROROCCURRED(0(9ORREGISTERNOT AVAILABLE) CLEAREDBYWRITINGTOTHISREGISTER. R/(W) R/(W)

14 COMMANDERROR:

0:,ASTCOMMANDWASSUCCESSFUL 1:INVALIDCOMMANDORWRITECOMMANDWITHOUT 7RITE%NABLE CLEAREDWITHAVALIDCOMMANDORBYWRITING "‘00"’TOCOMMANDREGISTERBITS;9:8=. R/- R/- 15 "USY: 0:-ICONTROLSTATEMACHINEISIDLE 1:-ICONTROLSTATEMACHINEISACTIVE R/- R/- 4ABLE57:2EGISTER0X0510:0X0511(-ICNTRL/3TATE) Note R/(W): WRITEACCESSDEPENDSONASSIGNMENTOF- I(%C!4/0DI).7RITEACCESSIS GENERALLYBLOCKEDIF-ANAGEMENTINTERFACEISBUSY( 0x0510.15=1). *7RITEENABLEBIT0ISSELF-CLEARINGATTHE3/&OFTHENEXTFRAME(ORATTHEENDOFTHE0D IACCESS),COMMAND BITS;9:8=ARESELF-CLEARINGAFTERTHECOMMANDISEXECUTED("USYENDS). 7RITING" ‘00"’TOTHECOMMAND REGISTERWILLALSOCLEARTHEERRORBITS;14:13=.4HECOMMANDBITSARECLEAREDAFTERTHECOMMANDISEXECUTED. 7.3.11.2 0(9ADDRESS(0x0512) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0:4 0(9!DDRESS R/(W) R/(W) 6:5 2ESERVED,WRITE0 R/- R/- 7 3HOWCON1GURED0(9ADDRESSOFPORT0-3IN REGISTER0x0510.7:3.3ELECTPORTXWITHBITS;4:0= OFTHISREGISTER(VALIDVALUESARE0-3): 0:3HOWADDRESSOFPORT0(O ﬀSET) 1:3HOWINDIVIDUALADDRESSOFPORTX R/(W) R/(W) 4ABLE58:2EGISTER0X0512(0(9ADDRESS) Note R/(W): WRITEACCESSDEPENDSONASSIGNMENTOF- I(%C!4/0DI).7RITEACCESSIS GENERALLYBLOCKEDIF-ANAGEMENTINTERFACEISBUSY( 0x0510.15=1). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 86/123 7.3.11.3 0(92EGISTERADDRESS(0x0513) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 4:0 !DDRESSOF0(92EGISTERTHATSHALLBEREAD/WRIT- TEN R/(W) R/(W) 7:5 2ESERVED,WRITE0 R/(W) R/(W) 4ABLE59:2EGISTER0X0513(0(92EGISTERADDRESS) Note R/(W): WRITEACCESSDEPENDSONASSIGNMENTOF- I(%C!4/0DI).7RITEACCESSIS GENERALLYBLOCKEDIF-ANAGEMENTINTERFACEISBUSY( 0x0510.15=1). 7.3.11.4 0(9DATA(0x0514:0x0515) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 0(92EAD/7RITEDATA R/(W) R/(W) 4ABLE60:2EGISTER0X0514:0X0515(0(9DATA) Note R/(W):WRITEACCESSDEPENDSONASSIGNMENTOF- I(%C!4/0DI).!CCESSISGENERALLY BLOCKEDIF-ANAGEMENTINTERFACEISBUSY( 0x0510.15=1). 7.3.11.5 -II-ANAGEMENTECA4ACCESS3TATE( 0x0516) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 !CCESSTO- IIMANAGEMENT: 0:%C!4ENABLES0D ITAKEOVEROF- IIMANAGE- MENTCONTROL 1:%C!4CLAIMSEXCLUSIVEACCESSTO- IIMANAGE- MENT R/(W) R/- 31:0 2ESERVED,WRITE0 R/- R/- 4ABLE61:2EGISTER0X0516(-IECA43TATE) Note R/(W):WRITEACCESSISONLYPOSSIBLEIF 0x0517.0=0. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 87/123 7.3.11.6 -II-ANAGEMENT0DIACCESS3TATE(0x0517) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 !CCESSTO- IIMANAGEMENT: 0:%C!4HASACCESSTO- IIMANAGEMENT 1:0DIHASACCESSTO- IIMANAGEMENT R/- R/(W) 1 &ORCE0DI!CCESS3TATE: 0:DONOTCHANGE"IT 0x0517.0 1:2ESET"IT0x0517.0 TO0 R/W R/- 7:2 2ESERVED,WRITE0 R/- R/- 4ABLE62:2EGISTER0X0517(-I0DI3TATE) 7.3.11.7 0(90ORT3TATUS(0x0518:0x051B) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 0HYSICALLINKSTATUS(0(9STATUSREGISTER1.2): 0:.OPHYSICALLINK/1:0HYSICALLINKDETECTED R/- R/- 1 ,INKSTATUS(100-BIT/S,&ULLDUPLEX,!UTONEGO- TIATION): 0:.OLINK/1:,INKDETECTED R/- R/- 2 ,INKSTATUSERROR: 0:.OERROR 1:,INKERROR,LINKINHIBITED R/- R/- 3 2EADERROR: 0:.OREADERROROCCURRED 1:!READERRORHASOCCURRED CLEAREDBYWRITINGANYVALUETOATLEASTONEOF THE0(93TATUS0ORTREGISTERS. (W/CLR) (W/CLR) 4 ,INKPARTNERERROR: 0:.OERRORDETECTED/1:,INKPARTNERERROR R/- R/- 5 0(9CON1GURATIONUPDATED: 0:.OUPDATE 1:0(9CON1GURATIONWASUPDATED CLEAREDBYWRITINGANYVALUETOATLEASTONEOF THE0(93TATUS0ORTREGISTERS. (W/CLR) (W/CLR) 31:0 2ESERVED R/- R/- 4ABLE63:2EGISTER0X0518+Y(0(90ORT3TATUS) Note R/(W):WRITEACCESSDEPENDSONASSIGNMENTOF- I(%C!4/0DI). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 88/123 7.3.12 &--5S ADDRESS ,ENGTH (BYTE) +0x0:0x3 4 ,OGICAL3TART!DDRESS +0x4:0x5 2 ,ENGTH +0x6 1 ,OGICAL3TARTBIT +0x7 1 ,OGICAL3TOPBIT +0x8:0x9 2 0HYSICAL3TART!DDRESS +0xA 1 0HYSICAL3TARTBIT +0xB 1 4YPE +0xC 1 !CTIVATE +0xD:0xF 3 2ESERVED 4ABLE64:&--52EGISTER/VERVIEW &ORTHEFOLLOWINGREGISTERSUSEYAS&--5NUMBER. 3EETHEDEVICEFEATURESONHOWMANY&--5SARESUPPORTEDINASPECI 1C%3CDEVICE. 7.3.12.1 ,OGICAL3TARTADDRESS(+0x0:0x3) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 ,OGICALSTARTADDRESSWITHINTHE%THERC!4!D- DRESS3PACE. R/W R/- 4ABLE65:2EGISTER0X06Y0:0X06Y3(LOG3TARTADDR) 7.3.12.2 ,ENGTH(+0x4:0x5) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 /ﬀSETFROMTHE 1RSTLOGICAL&--5"YTETOTHE LAST&--5"YTE+1(E.G.,IFTWOBYTESAREUSED THENTHISPARAMETERSHALLCONTAIN2) R/W R/- 4ABLE66:2EGISTER0X06Y4:0X06Y5(&--5LENGTH) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 89/123 7.3.12.3 ,OGICAL3TARTBIT(+0x6) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 2:0 ,OGICALSTARTINGBITTHATSHALLBEMAPPED(BITS ARECOUNTEDFROMLEASTSIGNI 1CANTBIT(=0)TO MOSTSIGNI1CANTBIT(=7) R/W R/- 7:3 2ESERVED,WRITE0 R/- R/- 4ABLE67:2EGISTER0X06Y6(LOG.3TARTBIT) 7.3.12.4 ,OGICAL3TOPBIT(+0x7) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 2:0 ,ASTLOGICALBITTHATSHALLBEMAPPED(BITSARE COUNTEDFROMLEASTSIGNI 1CANTBIT(=0)TOMOST SIGNI1CANTBIT(=7) R/W R/- 7:3 2ESERVED,WRITE0 R/- R/- 4ABLE68:2EGISTER0X06Y7(LOG.3TOPBIT)) 7.3.12.5 0HYSICAL3TARTADDRESS(+0x8:0x9) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0HYSICAL3TART!DDRESS(MAPPEDTOLOGICAL3TART ADDRESS) R/W R/- 4ABLE69:2EGISTER0X06Y8:0X06Y9(0HY.3TARTADDR 7.3.12.6 0HYSICAL3TARTBIT(+0xA) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 2:0 0HYSICALSTARTINGBITASTARGETOFLOGICALSTARTBIT MAPPING(BITSARECOUNTEDFROMLEASTSIGNI 1- CANTBIT(=0)TOMOSTSIGNI 1CANTBIT(=7) R/W R/- 7:3 2ESERVED,WRITE0 R/- R/- 4ABLE70:2EGISTER0X06YA(0HY.3TARTBIT) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 90/123 7.3.12.7 4YPE(+0xB) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 0:IGNOREMAPPINGFORREADACCESSES 1:5SEMAPPINGFORREADACCESSES R/W R/- 1 0:IGNOREMAPPINGFORWRITEACCESSES 1:5SEMAPPINGFORWRITEACCESSES R/W R/- 7:2 2ESERVED,WRITE0 R/- R/- 4ABLE71:2EGISTER0X06YB(&--54YPE)

7.3.12.8 ACTIVATE(+0xC)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 0:&--5DEACTIVATED 1:&--5ACTIVATED. &--5CHECKSLOGICALAD- DRESSED BLOCKS TO BE MAPPED ACCORDING TO MAPPINGCON1GURED R/W R/- 7:1 2ESERVED,WRITE0 R/- R/- 4ABLE72:2EGISTER0X06YC(&--5ACTIVATE) 7.3.12.9 2ESERVED(+0xD:0xF) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 23:0 2ESERVED,WRITE0 R/- R/- 4ABLE73:2EGISTER0X06YD:0X06Y&(2ESERVED) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 91/123 7.3.13 3YNC-ANAGERS ADDRESS ,ENGTH (BYTE) 0X0800:0X087& 16X8 3YNC-ANAGER[15:0] +0x0:0x1 2 0HYSICAL3TART!DDRESS +0x2:0x3 2 ,ENGTH +0x4 1 CONTROL2EGISTER +0x5 1 3TATUS2EGISTER +0x6 1 !CTIVATE +0x7 1 0DICONTROL 4ABLE74:3YNC-ANAGER2EGISTER/VERVIEW &ORTHEFOLLOWINGREGISTERSUSEYAS3-NUMBER. 3EETHEDEVICEFEATURESONHOWMANY3-SARESUPPORTEDINASPECI 1C%3CDEVICE. 7.3.13.1 0HYSICAL3TARTADDRESS(+0x0:0x1) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 3PECI1ES1RSTBYTETHATWILLBEHANDLEDBY3YNC- -ANAGER R/(W) R/- 4ABLE75:2EGISTER0X0800+Y*8:0X0801+Y*8(0HY.3TARTADDR) Note R/(W):2EGISTERCANONLYBEWRITTENIF3YNC-ANAGERISDISABLED(+ 0x6.0 =0). 7.3.13.2 ,ENGTH(+0x2:0x3) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 .UMBER OF BYTES ASSIGNED TO 3YNC-ANAGER (SHALLBEGREATER1,OTHERWISE3YNC-ANAGERIS NOTACTIVATED.IFSETTO1,ONLY7ATCHDOG4RIGGER ISGENERATEDIFCON 1GURED) R/(W) R/- 4ABLE76:2EGISTER0X0802+Y*8:0X0803+Y*8(3-LENGTH) Note R/(W):2EGISTERCANONLYBEWRITTENIF3YNC-ANAGERISDISABLED( +0x6.0 =0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 92/123

7.3.13.3 CONTROL2EGISTER(+0x4)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 1:0 /PERATION-ODE: 00:"UﬀERED(3BUﬀERMODE) 01:2ESERVED 10:-AILBOX(3INGLEBUﬀERMODE) 11:2ESERVED R/(W) R/- 3:2 DIRECTION: 00:2EAD:%C!4READACCESS,0D IWRITEACCESS. 01:7RITE:%C!4WRITEACCESS,0D IREADACCESS. 10:2ESERVED 11:2ESERVED R/(W) R/- 4 INTERRUPTIN%C!4%VENT2EQUEST2EGISTER: 0:DISABLED 1:%NABLED R/(W) R/-

5 INTERRUPTIN0D I%VENT2EQUEST2EGISTER:

0:DISABLED 1:%NABLED R/(W) R/- 6 7ATCHDOG4RIGGER%NABLE: 0:DISABLED 1:%NABLED R/W R/- 7 2ESERVED,WRITE0 R/- R/- 4ABLE77:2EGISTER0X0804+Y*8(3-CONTROL) Note R/(W):2EGISTERCANONLYBEWRITTENIF3YNC-ANAGERISDISABLED( +0x6.0 =0). 7.3.13.4 3TATUS2EGISTER(+0x5) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE

0 INTERRUPT7RITE:

1:INTERRUPTAFTERBU ﬀERWASCOMPLETELYAND SUCCESSFULLYWRITTEN 0:INTERRUPTCLEAREDAFTER 1RSTBYTEOFBU ﬀER WASREAD ./4%:4HISINTERRUPTISSIGNALEDTOTHEREADING SIDEIFENABLEDINTHE3-CONTROLREGISTER. R/- R/-

1 INTERRUPT2EAD:

1:INTERRUPTAFTERBU ﬀERWASCOMPLETELYAND SUCCESSFULREAD 0:INTERRUPTCLEAREDAFTER 1RSTBYTEOFBU ﬀER WASWRITTEN ./4%:4HISINTERRUPTISSIGNALEDTOTHEWRITING SIDEIFENABLEDINTHE3-CONTROLREGISTER. R/- R/- h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 93/123 BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 2 2ESERVED R/- R/- 3 -AILBOXMODE:MAILBOXSTATUS: 0:-AILBOXEMPTY 1:-AILBOXFULL "UﬀEREDMODE:RESERVED R/- R/- 5:4 "UﬀERED MODE: BUﬀER STATUS (LAST WRITTEN BUﬀER): 00:1.BUﬀER 01:2.BUﬀER 10:3.BUﬀER 11:(NOBUﬀERWRITTEN) -AILBOXMODE:RESERVED R/- R/- 6 2EADBUﬀERINUSE(OPENED) R/- R/- 7 7RITEBUﬀERINUSE(OPENED) R/- R/- 4ABLE78:2EGISTER0X0805+Y*8(3-3TATUS)

7.3.13.5 ACTIVATE(+0x6)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 3YNC-ANAGER%NABLE/DISABLE: 0: DISABLE: !CCESSTO-EMORYWITHOUT3YNC- -ANAGERCONTROL 1:%NABLE:3YNC-ANAGERISACTIVEANDCONTROLS -EMORYAREASETINCON 1GURATION R/W R/ ACK)* 1 2EPEAT2EQUEST: !TOGGLEOF2EPEAT2EQUESTMEANSTHATAMAIL- BOXRETRYISNEEDED(PRIMARILYUSEDINCONJUNC- TIONWITH%C!42EAD-AILBOX) R/W R/- 5:2 2ESERVED,WRITE0 R/- R/ ACK)* 6 ,ATCH%VENT%C!4: 0:.O 1: GENERATE,ATCHEVENTIF%THERC!4MASTER ISSUESABU ﬀEREXCHANGE R/W R/ ACK)* 7 ,ATCH%VENT0D I:0:.O1:GENERATE,ATCHEVENTS IF0D IISSUESABU ﬀEREXCHANGEORIF0D IAC- CESSESBUﬀERSTARTADDRESS R/W R/ ACK)* 4ABLE79:2EGISTER0X0806+Y*8(3-ACTIVATE) *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED:2EADINGTHISREGISTERFROM0D IINALL 3-SWHICHHAVECHANGEDACTIVATIONCLEARS!,%VENT2EQUEST 0x0220.4.7RITINGTOTHISREGISTERFROM0D IIS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 94/123 NOTPOSSIBLE. 0DIREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISENABLED: 7RITINGTHISREGISTERFROM0D IINALL 3-SWHICHHAVECHANGEDACTIVATIONCLEARS!,%VENT2EQUEST 0x0220.4.7RITINGTOTHISREGISTERFROM0D IIS POSSIBLE;WRITEVALUEISIGNORED(WRITE0). 7.3.13.6 0DICONTROL(+0x7) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE

0 DEACTIVATE3YNC-ANAGER:

2EAD: 0:.ORMALOPERATION,3YNC-ANAGERACTIVATED. 1: 3YNC-ANAGERDEACTIVATEDANDRESET3YNC- -ANAGERLOCKSACCESSTO-EMORYAREA. 7RITE: 0:!CTIVATE3YNC-ANAGER 1:2EQUEST3YNC-ANAGERDEACTIVATION ./4%:7RITING1ISDELAYEDUNTILTHEENDOFA FRAMEWHICHISCURRENTLYPROCESSED. R/- R/W 1 2EPEAT!CK: IFTHISISSETTOTHESAMEVALUEASSETBY2EPEAT 2EQUEST,THE0DIACKNOWLEDGESTHEEXECUTION OFAPREVIOUSSET2EPEATREQUEST. R/- R/W 7:2 2ESERVED,WRITE0 R/- R/- 4ABLE80:2EGISTER0X0807+Y*8(3-0D ICONTROL) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 95/123

7.3.14 DISTRIBUTEDCLOCKS2ECEIVE4IMES

DEPENDINGONTHEAVAILABLEWIDTHOFTHEDISTRIBUTEDCLOCKSFEATURETHETIMESTAMPREGISTERSAREEITHER32 BIT(4BYTES)OR64BITS(8BYTES)WIDE.0LEASECHECKTHEFEATURESUMMARYOFTHERESPECTIVE42 I.!-IC%3C DEVICE. 7.3.14.1 2ECEIVE4IME0ORT0(0x0900:0x0903) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 7RITE: !WRITEACCESSTOREGISTER 0x0900 WITH"72OR &072LATCHESTHELOCALTIMEOFTHEBEGINNINGOF THERECEIVEFRAME(START 1RSTBITOFPREAMBLE)AT EACHPORT. 2EAD: ,OCALTIMEOFTHEBEGINNINGOFTHELASTRECEIVE FRAMECONTAININGAWRITEACCESSTOTHISREGISTER. R/W (SPECIAL FUNC- TION) R/- 4ABLE81:2EGISTER0X0900:0X0903(2CV4IME00) Note 4HETIMESTAMPSCANNOTBEREADINTHESAMEFRAMEINWHICHTHISREGISTERWAS WRITTEN. 7.3.14.2 2ECEIVE4IME0ORT1(0x0904:0x0907) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 ,OCALTIMEOFTHEBEGINNINGOFAFRAME(START 1RSTBITOFPREAMBLE)RECEIVEDATPORT1CONTAIN- INGA"72OR&072TO2EGISTER 0x0900. R/- R/- 4ABLE82:2EGISTER0X0904:0X0907(2CV4IME01) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 96/123

7.3.15 DISTRIBUTEDCLOCKS4IME,OOPCONTROL5NIT

4IME,OOPCONTROLUNITISUSUALLYASSIGNEDTO%C!4.7RITEACCESSTO4IME,OOPCONTROLREGISTERSBY0D I (ANDNOT%C!4)DEPENDSONEXPLICITHARDWARECON 1GURATIONANDONTHEUSED%3CTYPE.CHECKTHEDEVICE FEATURESFORAVAILABILITY. 7.3.15.1 3YSTEM4IME(0x0910:0x0917) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0:63 %C!4READACCESS:,OCALCOPYOF3YSTEM4IME WHENFRAMEPASSEDTHEREFERENCECLOCK(I.E., INCLUDING3YSTEM4IMEDELAY).4IMELATCHEDAT BEGINNINGOFTHEFRAME(%THERNET3/&DELIMITER) R - 63:0 0DIREADACCESS:,OCALCOPYOFTHE3YSTEM4IME. 4IMELATCHEDWHENREADING 1RSTBYTE(0x0910) - R 31:0 7RITEACCESS:7RITTENVALUEWILLBECOMPARED WITHTHELOCALCOPYOFTHE3YSTEMTIME. 4HE RESULTISANINPUTTOTHETIMECONTROLLOOP. ./4%:WRITTENVALUEWILLBECOMPAREDATTHE ENDOFTHEFRAMEWITHTHELATCHED(3/&)LOCAL COPYOFTHE3YSTEMTIMEIFATLEASTTHE 1RSTBYTE (0x0910)WASWRITTEN. (W) (SPE- CIAL FUNC- TION) R/- 31:0 7RITEACCESS:7RITTENVALUEWILLBECOMPARED WITH,ATCH04IME0OSITIVE%DGETIME.4HERESULT ISANINPUTTOTHETIMECONTROLLOOP. ./4%:WRITTENVALUEWILLBECOMPAREDATTHE ENDOFTHEACCESSWITH,ATCH04IME0OSITIVE %DGE(0x09B0:0x09B3)IFATLEASTTHELASTBYTE (0x0913)WASWRITTEN. - (W) (SPE- CIAL FUNC- TION) 4ABLE83:2EGISTER0X0910:0X0917(3YSTEM4IME) Note 7RITEACCESSTOTHISREGISTERDEPENDSUPON%3CCON 1GURATION(TYPICALLY%C!4,0DI ONLYWITHEXPLICIT%3CCON 1GURATION:3YSTEM4IME0D ICONTROLLED). 7.3.15.2 2ECEIVE4IMEECA40ROCESSING5NIT(0x0918:0x091F) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 ,OCALTIMEOFTHEBEGINNINGOFAFRAME(START 1RSTBITOFPREAMBLE)RECEIVEDATTHE%C!40RO- CESSING5NITCONTAININGAWRITEACCESSTO2EGIS- TER0x0900 ./4%:%.G.,IFPORT0ISOPEN,THISREGISTERRE2ECTS THE2ECEIVE4IME0ORT0ASA64"ITVALUE. R/- R/- 4ABLE84:2EGISTER0X0918:0X091&(2CV4IMEE05) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 97/123 7.3.15.3 3YSTEM4IME/ﬀ SET(0x0920:0x0927) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 DIﬀERENCE BETWEEN LOCAL TIME AND 3YSTEM 4IME./ﬀSETISADDEDTOTHELOCALTIME. R/(W) R/(W) 4ABLE85:2EGISTER0X0920:0X0927(3YS4IME/ﬀSET) Note 7RITEACCESSTOTHISREGISTERDEPENDSUPON%3CCON 1GURATION(TYPICALLY%C!4,0DI ONLYWITHEXPLICIT%3CCON 1GURATION:3YSTEM4IME0D ICONTROLLED).2ESETINTERNAL SYSTEMTIMEDI ﬀERENCE1LTERANDSPEEDCOUNTER 1LTERBYWRITING3PEEDCOUNTER 3TART(0x0930:0x0931)AFTERCHANGINGTHISVALUE. 7.3.15.4 3YSTEM4IMEDELAY(0x0928:0x092B) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 DELAYBETWEEN2EFERENCECLOCKANDTHE%3C R/(W) R/(W) 4ABLE86:2EGISTER0X0928:0X092B(3YS4IMEDELAY) Note 7RITEACCESSTOTHISREGISTERDEPENDSUPON%3CCON 1GURATION(TYPICALLY%C!4,0DI ONLYWITHEXPLICIT%3CCON 1GURATION:3YSTEM4IME0D ICONTROLLED).2ESETINTERNAL SYSTEMTIMEDI ﬀERENCE1LTERANDSPEEDCOUNTER 1LTERBYWRITING3PEEDCOUNTER 3TART(0x0930:0x0931)AFTERCHANGINGTHISVALUE. 7.3.15.5 3YSTEM4IMEDIﬀ ERENCE(0x092C:0x092F) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 30:0 -EANDIﬀERENCEBETWEENLOCALCOPYOF3YSTEM 4IMEANDRECEIVED3YSTEM4IMEVALUES R/- R/- 31 0:,OCALCOPYOF3YSTEM4IMEGREATERTHANOR EQUALRECEIVED3YSTEM4IME 1:,OCALCOPYOF3YSTEM4IMESMALLERTHANRE- CEIVED3YSTEM4IME R/- R/- 4ABLE87:2EGISTER0X092C:0X092&(3YS4IMEDI ﬀ) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 98/123 7.3.15.6 3PEEDCOUNTER3TART(0x0930:0x0931) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 14:0 "ANDWIDTHFORADJUSTMENTOFLOCALCOPYOF3YS- TEM4IME(LARGERVALUES →SMALLERBANDWIDTH ANDSMOOTHERADJUSTMENT) ! WRITE ACCESS RESETS 3YSTEM 4IME DIﬀER- ENCE(0x092C:0x092F)AND3PEEDCOUNTERDI ﬀ (0x0932:0x0933). -INIMUMVALUE:0x0080 TO 0x3FFF R/(W) R/(W) 15 2ESERVED,WRITE0 R/(W) R/- 4ABLE88:2EGISTER0X0930:0X931(3PEEDCNT3TART) Note 7RITEACCESSTOTHISREGISTERDEPENDSUPON%3CCON 1GURATION(TYPICALLY%C!4,0DI ONLYWITHEXPLICIT%3CCON 1GURATION:3YSTEM4IME0D ICONTROLLED). 7.3.15.7 3PEEDCOUNTERDIﬀ (0x0932:0x0933) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 15:0 2EPRESENTATIONOFTHEDEVIATIONBETWEENLOCAL CLOCKPERIODANDREFERENCECLOCK ’SCLOCKPERIOD (REPRESENTATION: TWO’S COMPLEMENT) 2ANGE: ±(3PEEDCOUNTER3TART-0x7F) R/- R/- 4ABLE89:2EGISTER0X0932:0X0933(3PEEDCNTDI ﬀ) Note CALCULATETHECLOCKDEVIATIONAFTER3YSTEM4IMEDI ﬀERENCEHASSETTLEDATALOW VALUEASFOLLOWS: Deviation = SpeedCntDiff 5∗(SpeedCntStart+SpeedCntDiff +2)∗(SpeedCntStart−SpeedCntDiff +2) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 99/123 7.3.15.8 3YSTEM4IMEDIﬀ ERENCE&ILTERDEPTH(0x0934) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3:0 &ILTERDEPTHFORAVERAGINGTHERECEIVED3YSTEM 4IMEDEVIATION. !WRITEACCESSRESETS3YSTEM4IMEDI ﬀERENCE (0x092C:0x092F) R/(W) R/(W) 7:4 2ESERVED,WRITE0 R/- R/- 4ABLE90:2EGISTER0X0934(3YS4IMEDI ﬀ &ILTER) Note 7RITEACCESSTOTHISREGISTERDEPENDSUPON%3CCON 1GURATION(TYPICALLY%C!4,0DI ONLYWITHEXPLICIT%3CCON 1GURATION:3YSTEM4IME0D ICONTROLLED). 7.3.15.9 3PEEDCOUNTER&ILTERDEPTH(0x0935) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 3:0 &ILTERDEPTHFORAVERAGINGTHECLOCKPERIODDEVI- ATION.!WRITEACCESSRESETSTHEINTERNALSPEED COUNTER1LTER. R/(W) R/(W) 7:4 2ESERVED,WRITE0 R/- R/- 4ABLE91:2EGISTER0X0935(3PEEDCNT&ILTERDEPTH) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 100/123

7.3.16 DISTRIBUTEDCLOCKSCYCLIC5NITCONTROL

7.3.16.1 CYCLIC5NITCONTROL(0x0980)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 39.COUTUNITCONTROL: 0:%C!4CONTROLLED 1:0DICONTROLLED R/W R/- 3:1 2ESERVED,WRITE0 R/- R/- 4 ,ATCHINUNIT0: 0:%C!4CONTROLLED 1:0DICONTROLLED ./4%:!LWAYS1(0DICONTROLLED)IF3YSTEM4IME IS0DICONTROLLED.,ATCHINTERRUPTISROUTEDTO %C!4/0DIDEPENDINGONTHISSETTING R/W R/- 5 ,ATCHINUNIT1: 0:%C!4CONTROLLED 1:0DICONTROLLED ./4%:,ATCHINTERRUPTISROUTEDTO%C!4/0D I DEPENDINGONTHISSETTING R/W R/- 7:6 2ESERVED,WRITE0 R/- R/- 4ABLE92:2EGISTER0X0980(CYCLIC5NITCNTRL) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 101/123 7.3.17 DISTRIBUTEDCLOCKS39.C/UT5NIT 7.3.17.1 39.C/UTACTIVATION(0x0981) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 3YNC/UT5NITACTIVATION: 0:DEACTIVATED 1:!CTIVATED R/(W) R/(W) 0 1 39.C0GENERATION: 0:DEACTIVATED 1:39.C0PULSEISGENERATED R/(W) R/(W) 0 2 39.C1GENERATION: 0:DEACTIVATED 1:39.C1PULSEISGENERATED R/(W) R/(W) 0 3 !UTO-ACTIVATIONBYWRITING3TART4IMECYCLIC/P- ERATION(0X0990:0X0997): 0:DISABLED 1:!UTO-ACTIVATIONENABLED.0x0981.0 ISSETAU- TOMATICALLYAFTER3TART4IMEISWRITTEN. R/(W) R/(W) 0 4 %XTENSION OF 3TART 4IME CYCLIC /PERATION (0x0990:0x0993): 0:.OEXTENSION 1:%XTEND32BITWRITTEN3TART4IMETO64BIT R/(W) R/(W) 0 5 3TART4IMEPLAUSIBILITYCHECK: 0:DISABLED.3YNC3IGNALGENERATIONIF3TART4IME ISREACHED. 1:IMMEDIATE3YNC3IGNALGENERATIONIF3TART 4IMEISOUTSIDENEARFUTURE(SEE 0x0981.6) R/(W) R/(W) 0 6 .EARFUTURECON 1GURATION(APPROX.): 0:1/2 DCWIDTHFUTURE( 231 NSOR 263 NS) 1: 2.1SEC.FUTURE(231 NS) R/(W) R/(W) 0 7 3YNC3IGNALDEBUGPULSE(6ASILYBIT): 0:DEACTIVATED 1:IMMEDIATELY GENERATE ONE PING ONLY ON 39.C0-1ACCORDINGTO0x0981.(2:1) FORDEBUG- GING 4HISBITISSELF-CLEARING,ALWAYSREAD0. R/(W) R/(W) 0 4ABLE93:2EGISTER0X0981(39.C/UTACTIVATION) Note 7RITETOTHISREGISTERDEPENDSUPONSETTINGOF 0x0980.0. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 102/123 7.3.17.2 0ULSE,ENGTHOF39.CSIGNALS(0x0982:0x0983) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 0ULSELENGTHOF3YNC3IGNALS(IN5NITSOF10NS) 0: !CKNOWLEDGE MODE: 3YNC3IGNAL WILL BE CLEAREDBYREADING39.C;1:0=3TATUSREGISTER R/- R/- 0, LATER %%02/- !D2 0x0002 4ABLE94:2EGISTER0X0982:0X0983(39.C0ULSELENGTH)

7.3.17.3 ACTIVATION3TATUS(0x0984)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 39.C0ACTIVATIONSTATE: 0:&IRST39.C0PULSEISNOTPENDING 1:&IRST39.C0PULSEISPENDING R/- R/- 0 1 39.C1ACTIVATIONSTATE: 0:&IRST39.C1PULSEISNOTPENDING 1:&IRST39.C1PULSEISPENDING R/- R/- 0 2 3TART 4IME CYCLIC /PERATION (0x0990:0x0997) PLAUSIBILITYCHECKRESULTWHEN3YNC/UT5NIT WASACTIVATED: 0:3TART4IMEWASWITHINNEARFUTURE 1:3TART4IMEWASOUTOFNEARFUTURE( 0x0981.6) R/- R/- 0 7:3 2ESERVED R/- R/- 0 4ABLE95:2EGISTER0X0984(ACTIVATION3TATUS) 7.3.17.4 39.C03TATUS(0x098E) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 39.C0ACTIVATIONSTATE: 0:&IRST39.C0PULSEISNOTPENDING 1:&IRST39.C0PULSEISPENDING R/- R/ ACK)* 7:1 2ESERVED R/- R/ ACK)* 4ABLE96:2EGISTER0X098E(39.C03TATUS) *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED:2EADINGTHISREGISTERFROM0D ICLEARS !,%VENT2EQUEST 0x0220.2.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISENABLED:7RITINGTHISREGISTERFROM0D ICLEARS!, %VENT2EQUEST 0x0220.2.7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEISIGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 103/123 7.3.17.5 39.C13TATUS(0x098F) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 39.C1ACTIVATIONSTATE: 0:&IRST39.C1PULSEISNOTPENDING 1:&IRST39.C1PULSEISPENDING R/- R/ ACK)* 7:1 2ESERVED R/- R/ ACK)* 4ABLE97:2EGISTER0X098&(39.C13TATUS) *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED:2EADINGTHISREGISTERFROM0D ICLEARS !,%VENT2EQUEST 0x0220.3.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISENABLED:7RITINGTHISREGISTERFROM0D ICLEARS!, %VENT2EQUEST 0x0220.3.7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEISIGNORED(WRITE0). BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 7RITE:3TARTTIME(3YSTEMTIME)OFCYCLICOPERA- TIONINNS 2EAD:3YSTEMTIMEOFNEXT39.C0PULSEINNS R/(W) R/(W) 0 4ABLE98:2EGISTER0X0990:0X0997(3TART4IMECYCLIC/PERATION) Note 7RITE TO THIS REGISTER DEPENDS UPON SETTING OF0x0980.0. /NLY WRITABLE IF 0x0981.0=0. !UTO-ACTIVATION(0x0981.3=1): UPPER32BITSAREAUTOMATICALLYEX- TENDEDIFONLYLOWER32BITSAREWRITTENWITHINONEFRAME. BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 3YSTEMTIMEOFNEXT39.C1PULSEINNS R/- R/- 0 4ABLE99:2EGISTER0X0998:0X099&(.EXT39.C1) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 104/123 7.3.17.8 39.C0CYCLE4IME(0x09A0:0x09A3) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 74IMEBETWEENTWOCONSECUTIVE39.C0PULSES INNS. 0:3INGLESHOTMODE,GENERATEONLYONE39.C0 PULSE. R/(W) R/(W) 0 4ABLE100:2EGISTER0X09A0:0X09A3(39.C0CYCLE4IME) Note 7RITETOTHISREGISTERDEPENDSUPONSETTINGOF 0x0980.0. 7.3.17.9 39.C1CYCLE4IME(0x09A4:0x09A7) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 4IMEBETWEEN39.C1PULSESAND39.C0PULSE INNS R/(W) R/(W) 0 4ABLE101:2EGISTER0X09A4:0X09A7(39.C1CYCLE4IME) Note 7RITETOTHISREGISTERDEPENDSUPONSETTINGOF 0x0980.0. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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7.3.18 DISTRIBUTEDCLOCKS,A4C(IN5NIT

7.3.18.1 ,ATCH0CONTROL(0x09A8) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 ,ATCH0POSITIVEEDGE: 0:CONTINUOUS,ATCHACTIVE 1:3INGLEEVENT(ONLY1RSTEVENTACTIVE) R/(W) R/(W) 0 1 ,ATCH0NEGATIVEEDGE: 0:CONTINUOUS,ATCHACTIVE 1:3INGLEEVENT(ONLY1RSTEVENTACTIVE) R/(W) R/(W) 0 7:2 2ESERVED,WRITE0 R/- R/- 0 4ABLE102:2EGISTER0X09A8(LATCH0CONTROL) Note 7RITEACCESSDEPENDSUPONSETTINGOF 0x0980.4. 7.3.18.2 ,ATCH1CONTROL(0x09A9) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 ,ATCH1POSITIVEEDGE: 0:CONTINUOUS,ATCHACTIVE 1:3INGLEEVENT(ONLY1RSTEVENTACTIVE) R/(W) R/(W) 0 1 ,ATCH01NEGATIVEEDGE: 0:CONTINUOUS,ATCHACTIVE 1:3INGLEEVENT(ONLY1RSTEVENTACTIVE) R/(W) R/(W) 0 7:2 2ESERVED,WRITE0 R/- R/- 0 4ABLE103:2EGISTER0X09A9(LATCH1CONTROL) Note 7RITEACCESSDEPENDSUPONSETTINGOF 0x0980.5. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 106/123 7.3.18.3 ,ATCH03TATUS(0x09AE) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 %VENT,ATCH0POSITIVEEDGE. 0: 0OSITIVEEDGENOTDETECTEDORCONTINUOUS MODE 1:0OSITIVEEDGEDETECTEDINSINGLEEVENTMODE ONLY. &LAGCLEAREDBYREADINGOUT,ATCH04IME0OSI- TIVE%DGE. R/- R/- 0 1 %VENT,ATCH0NEGATIVEEDGE. 0:.EGATIVEEDGENOTDETECTEDORCONTINUOUS MODE 1:.EGATIVEEDGEDETECTEDINSINGLEEVENTMODE ONLY. &LAGCLEAREDBYREADINGOUT,ATCH04IME.EGA- TIVE%DGE. R/- R/- 0 2 ,ATCH0PINSTATE R/- R/- 0 7:3 2ESERVED R/- R/- 0 4ABLE104:2EGISTER0X09AE(LATCH03TATUS) 7.3.18.4 ,ATCH13TATUS(0x09AF) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 0 %VENT,ATCH1POSITIVEEDGE. 0: 0OSITIVEEDGENOTDETECTEDORCONTINUOUS MODE 1:0OSITIVEEDGEDETECTEDINSINGLEEVENTMODE ONLY. &LAGCLEAREDBYREADINGOUT,ATCH14IME0OSI- TIVE%DGE. R/- R/- 0 1 %VENT,ATCH1NEGATIVEEDGE. 0:.EGATIVEEDGENOTDETECTEDORCONTINUOUS MODE 1:.EGATIVEEDGEDETECTEDINSINGLEEVENTMODE ONLY. &LAGCLEAREDBYREADINGOUT,ATCH14IME.EGA- TIVE%DGE. R/- R/- 0 2 ,ATCH1PINSTATE R/- R/- 0 7:3 2ESERVED R/- R/- 0 4ABLE105:2EGISTER0X09A&(LATCH13TATUS) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 107/123 7.3.18.5 ,ATCH04IME0OSITIVEEDGE(0x09B0:0x09B7) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 2EGISTERCAPTURES3YSTEMTIMEATTHEPOSITIVE EDGEOFTHE,ATCH0SIGNAL. R(ACK)/-R/ ACK)* 4ABLE106:2EGISTER0X09B0:0X09B7(LATCH04IME0OSEDGE) Note 2EGISTERBITS;63:8=AREINTERNALLYLATCHED(%C!4/0D IINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE.2EADINGTHISREGISTERFROM %C!4CLEARS,ATCH03TATUS 0x09AE.0 IF0x0980.4=0.7RITINGTOTHISREGISTERFROM %C!4ISNOTPOSSIBLE. *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED: 2EADINGTHISREGISTERFROM0D IIF 0x0980.4=1CLEARS,ATCH03TATUS 0x09AE.0.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTER FUNCTION ACKNOWLEDGE BY 7RITE COMMAND IS ENABLED: 7RITING THIS REGISTER FROM 0DIIF 0x0980.4=1CLEARS,ATCH03TATUS 0x09AE.0. 7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEIS IGNORED(WRITE0). 7.3.18.6 ,ATCH04IME.EGATIVEEDGE(0x09B8:0x09BF) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 2EGISTERCAPTURES3YSTEMTIMEATTHENEGATIVE EDGEOFTHE,ATCH0SIGNAL. R(ACK)/-R/ ACK)* 4ABLE107:2EGISTER0X09B8:0X09B&(LATCH04IME.EGEDGE) Note 2EGISTERBITS;63:8=AREINTERNALLYLATCHED(%C!4/0D IINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE.2EADINGTHISREGISTERFROM %C!4CLEARS,ATCH03TATUS 0x09AE.1 IF0x0980.4=0.7RITINGTOTHISREGISTERFROM %C!4ISNOTPOSSIBLE. *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED: 2EADINGTHISREGISTERFROM0D IIF 0x0980.4=1CLEARS,ATCH03TATUS 0x09AE.1.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTER FUNCTION ACKNOWLEDGE BY 7RITE COMMAND IS ENABLED: 7RITING THIS REGISTER FROM 0DIIF 0x0980.4=1CLEARS,ATCH03TATUS 0x09AE.1. 7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEIS IGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 108/123 7.3.18.7 ,ATCH14IME0OSITIVEEDGE(0x09C0:0x09C7) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 2EGISTERCAPTURES3YSTEMTIMEATTHEPOSITIVE EDGEOFTHE,ATCH1SIGNAL. R(ACK)/-R/ ACK)* 4ABLE108:2EGISTER0X09C0:0X09C7(LATCH14IME0OSEDGE) Note 2EGISTERBITS;63:8=AREINTERNALLYLATCHED(%C!4/0D IINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE.2EADINGTHISREGISTERFROM %C!4CLEARS,ATCH13TATUS 0x09AF.0 IF0x0980.5=0.7RITINGTOTHISREGISTERFROM %C!4ISNOTPOSSIBLE. *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED: 2EADINGTHISREGISTERFROM0D IIF 0x0980.5=1CLEARS,ATCH13TATUS 0x09AF.0.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTER FUNCTION ACKNOWLEDGE BY 7RITE COMMAND IS ENABLED: 7RITING THIS REGISTER FROM 0DIIF 0x0980.5=1CLEARS,ATCH13TATUS 0x09AF.0. 7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEIS IGNORED(WRITE0). 7.3.18.8 ,ATCH14IME.EGATIVEEDGE(0x09C8:0x09CF) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 2EGISTERCAPTURES3YSTEMTIMEATTHENEGATIVE EDGEOFTHE,ATCH1SIGNAL. R(ACK)/-R/ ACK)* 4ABLE109:2EGISTER0X09C8:0X09C&(LATCH14IME.EGEDGE) Note 2EGISTERBITS;63:8=AREINTERNALLYLATCHED(%C!4/0D IINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE.2EADINGTHISREGISTERFROM %C!4CLEARS,ATCH13TATUS 0x09AF.0 IF0x0980.5=0.7RITINGTOTHISREGISTERFROM %C!4ISNOTPOSSIBLE. *0D IREGISTERFUNCTIONACKNOWLEDGEBY7RITECOMMANDISDISABLED: 2EADINGTHISREGISTERFROM0D IIF 0x0980.5=1CLEARS,ATCH13TATUS 0x09AF.1.7RITINGTOTHISREGISTERFROM0D IISNOTPOSSIBLE. 0DIREGISTER FUNCTION ACKNOWLEDGE BY 7RITE COMMAND IS ENABLED: 7RITING THIS REGISTER FROM 0DIIF 0x0980.5=1CLEARS,ATCH13TATUS 0x09AF.1. 7RITINGTOTHISREGISTERFROM0D IISPOSSIBLE;WRITEVALUEIS IGNORED(WRITE0). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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7.3.19 DISTRIBUTEDCLOCKS3YNC-ANAGEREVENT4IMES

7.3.19.1 ETHERCA4BUﬀ ERCHANGEEVENT4IME( 0x09F0:0x09F3)

BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 2EGISTERCAPTURESLOCALTIMEOFTHEBEGINNING OFTHEFRAMEWHICHCAUSESATLEASTONE3-TO ASSERTAN%C!4EVENT R/- R/- 0 4ABLE110:2EGISTER0X09&0:0X09&3(ECA4BUﬀERCHANGEEVENT4IME) Note 2EGISTERBITS;31:8=AREINTERNALLYLATCHED(%C!4/0DIINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE. 7.3.19.2 0DIBUﬀ ER3TARTEVENT4IME( 0x09F8:0x09FB) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 2EGISTERCAPTURESLOCALTIMEWHENATLEASTONE 3YNC-ANAGERASSERTSAN0D IBUﬀERSTARTEVENT R/- R/- 0 4ABLE111:2EGISTER0X09&8:0X09&B(0DIBUﬀER3TARTEVENT4IME) Note 2EGISTERBITS;31:8=AREINTERNALLYLATCHED(%C!4/0DIINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE. 7.3.19.3 0DIBUﬀ ERCHANGEEVENT4IME( 0x09FC:0x09FF) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 31:0 2EGISTERCAPTURESLOCALTIMEWHENATLEASTONE 3YNC-ANAGERASSERTSAN0D IBUﬀERSTARTEVENT R/- R/- 0 4ABLE112:2EGISTER0X09&C:0X09&&(0DIBUﬀERCHANGEEVENT4IME) Note 2EGISTERBITS;31:8=AREINTERNALLYLATCHED(%C!4/0DIINDEPENDENTLY)WHENBITS;7:0= AREREAD,WHICHGUARANTEESREADINGACONSISTENTVALUE. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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7.3.20 E3C3PECI1C

7.3.20.1 0RODUCTID(0x0E00:0x0E07) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 0RODUCTID R/- R/- 4-C8460:0x0000000001008460 4-C8461:0x0000000001108461 4-C8462:0x0000000001108461 4-C8670:0x0000000001008670 4ABLE113:2EGISTER0X0E00:0X0E07(0RODUCTID) 7.3.20.2 6ENDORID(0x0E08:0x0E0F) BIT DESCRIPTION ECA4 0DI 2ESET6ALUE 63:0 6ENDORID: ;23:0=COMPANY ;31:24=DEPARTMENT ./4%:4EST6ENDORIDS;31:28==0xE R/- R/- 4-C8460:0x0000000100000286 4-C8461:0x0000000100000286 4-C8462:0x0000000100000286 4-C8670:0x0000000100000286 4ABLE114:2EGISTER0X0E08:0X0E0&(6ENDORID) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 111/123 7.3.21 0ROCESSDATA2A- 7.3.21.1 0ROCESSDATA2A-(0x1000:0xFFFF) 4HE0ROCESSDATA2!-STARTSATADDRESS 0x1000. 4HESIZEOFTHE0ROCESSDATA2!-DEPENDSONTHEDEVICE. BYTES DESCRIPTION ECA4 0DI 2ESET6ALUE --- 0ROCESSDATA2!- (R/W) (R/W) 2ANDOM/UNDE1NED 4ABLE115:0ROCESSDATA2A-(0X1000:0X&&&&) Note (R/W):0ROCESSDATA2!-ISONLYACCESSIBLEIF%%02/-WASCORRECTLYLOADED(REGISTER 0x0110.0 =1). DEVICE 0ROCESSDATA2A-3IzE 5PPER2A-ADDRESS 4-C8460 16K"YTES 0x4FFF 4-C8461 16K"YTES 0x4FFF 4-C8462 16K"YTES 0x4FFF 4-C8670 4K"YTES 0x1FFF 4ABLE116:0ROCESSDATA2A-3IzE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

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8 ELECTRICAL2ATINGS

8.1 ABSOLUTE-AXIMUM2ATINGS

Note 4HEMAXIMUMRATINGSMAYNOTBEEXCEEDEDUNDERANYCIRCUMSTANCES./PERATING THECIRCUITATORNEARMORETHANONEMAXIMUMRATINGATATIMEFOREXTENDED PERIODSSHALLBEAVOIDEDBYAPPLICATIONDESIGN. 0ARAMETER 3YMBOL -IN -AX 5NIT DCSUPPLY 6DD?363 -0.33.63 6 DCCORESUPPLYVOLTAGE 6DD?162 -0.31.32 6 I/SUPPLYVOLTAGE 6DD?363 -0.33.63 6 0,,SUPPLYVOLTAGE 6DD?363 -0.33.63 6 *UNCTIONTEMPERATURE TJ -55 125 oC 3TORAGETEMPERATURE TSTG -65 150 oC 4ABLE117:ABSOLUTE-AXIMUM2ATINGSFOR4-C8670-BI 8.2 /PERATIONAL2ATINGS 0ARAMETER 3YMBOL -IN 4YP -AX 5NIT DCSUPPLY 6DD?363 3.153.3 3.45 6 DCCORESUPPLYVOLTAGE 6DD?162 1.141.2 1.26 6 I/SUPPLYVOLTAGE 6DD?363 3.153.3 3.45 6 0,,SUPPLYVOLTAGE 6DD?363 3.153.3 3.45 6 /PERATING*UNCTIONTEMPERATURE TJ -40 25 100 oC 4ABLE118:/PERATIONAL2ATINGSFOR4-C8670-BI h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 113/123

8.3 DIGITALI//S

4HEFOLLOWINGTABLECONTAINSINFORMATIONONTHE I//CHARACTERISTICS.,6C-/3ISAWIDELYUSEDSWITCHING STANDARDANDISDE 1NEDBY*%D%C(*%3D8-5).4-C8670SUPPORTS,6C-/3STANDARD,6C-/333,WHICHISA GENERALSTANDARDFOR363APPLICATIONS. 0ARAMETER 3YMBOL CONDITIONS -IN 4YP -AX 5NIT INPUTVOLTAGELOWLEVEL 6I, 6DD?363=3.36 -0.3 0.8 6 INPUTVOLTAGEHIGHLEVEL 6I( 6DD?363=3.36 2.0 3.45 6 7EAKPULL-DOWN 20D AT6/, 9.9 14.5K/HM 7EAKPULL-UP 205 AT6/( 9.98 14.9 K/HM INPUTLOWCURRENT II, 6I.=06 - 10 t! INPUTHIGHCURRENT II, 6I.=6DD?363 - 10 t! /UTPUTVOLTAGELOWLEVEL 6/, 6DD?363=3.36 - 0.4 6 /UTPUTVOLTAGEHIGHLEVEL 6/( 6DD?363=3.36 6DD?363-0.4 - 6 /UTPUTDRIVERSTRENGTHSTAN- DARD I/54?D26 8 M! /UTPUTCAPACITANCE C/54 10 P& 4ABLE119:DIGITALI//SDCCHARACTERISTICS 8.4 0OWERCONSUMPTION 4HEVALUESGIVENHEREARETYPICALVALUESONLY. 4HEREALVALUESDEPENDONCON 1GURATION,ACTIVITY,AND TEMPERATURE. 0ARAMETER 3YMBOL 4YPICAL 5NIT % .OTES 4OTALPOWERCONSUMPTION PTOTAL 562 M7 100 PS + PD 3TATICPOWERCONSUMPTION PS 28 M7 5 DYNAMICPOWERCONSUMPTION PD 534 M7 95 4ABLE120:4-C8670POWERCONSUMPTION 0ARAMETER 3YMBOL 0OWER(M7) 6OLTAGE(6) CURRENT(M!) .OTES DCCORESUPPLYVOLTAGE 6DD?162 470 1.2 392 3UPPLYVOLTAGE I//SAND0,, 6DD?363 92 3.3 28 4ABLE121:4-C8670POWERCONSUMPTIONBYRAIL h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 114/123 8.5 0ACKAGE4HERMALBEHAVIOR DYNAMICANDSTATICPOWERCONSUMPTIONCAUSETHEJUNCTIONTEMPERATUREOFTHE4-C8670TOBEHIGHERTHAN THEAMBIENT,CASE,ORBOARDTEMPERATURE.4HEEQUATIONSBELOWSHOWTHERELATIONSHIPS. ThetaJA = (TJ −TA)/PTotal ThetaJB = (TJ −TB)/PTotal ThetaJC = (TJ −TC)/PTotal 0ARAMETER 3YMBOL 4YP 5NIT .OTES 27.03oC/7 ATSTILLAIR *UNCTION-TO-AMBIENTTHERMALRESISTANCE ThetaJA 22.91 oC/7 AT1.0M/S 21.25oC/7 AT2.5M/S *UNCTION-TO-BOARDTHERMALRESISTANCE ThetaJB 12.33 oC/7 *UNCTION-TO-CASETHERMALRESISTANCE ThetaJC 1.54 oC/7 4ABLE122:4-C8670PACKAGETHERMALBEHAVIOR 3YMBOLSUSED: TJ =*UNCTIONTEMPERATURE TA =!MBIENTTEMPERATURE TB ="OARDTEMPERATUREMEASURED1.0MMAWAYFROMTHEPACKAGE TC =CASETEMPERATURE ThetaJA =*UNCTION-TO-AMBIENTTHERMALRESISTANCEISDETERMINEDUNDERSTANDARDCONDITIONSSPECI 1ED BY*%D%C(*%3D-51),BUTITHASLITTLERELEVANCEINTHEACTUALPERFORMANCEOFTHEPRODUCT. ITMUSTBEUSED WITHCAUTION,BUTITISUSEFULFORCOMPARINGTHETHERMALPERFORMANCEOFONEPACKAGEWITHANOTHER.4HE MAXIMUMPOWERDISSIPATIONALLOWEDISCALCULATEDASFOLLOWS: -AXIMUMPOWERALLOWED= (TJMAX −TAMAX)/ThetaJA ThetaJB =*UNCTION-TO-BOARDTHERMALRESISTANCEMEASURESTHEABILITYOFTHEPACKAGETODISSIPATEHEAT FROMTHESURFACEOFTHECHIPTOTHE0C".!SDE 1NEDBYTHE*%D%C(*%3D-51)STANDARD,THETHERMALRESISTANCE FROMTHEJUNCTIONTOTHEBOARDUSESANISOTHERMALRINGCOLDPLATEZONECONCEPT. 4HERINGCOLDPLATEIS SIMPLYAMEANSTOGENERATEANISOTHERMALBOUNDARYCONDITIONATTHEPERIMETER.4HECOLDPLATEISMOUNTED ONA*%D%CSTANDARDBOARDWITHAMINIMUMDISTANCEOF5.0MMAWAYFROMTHEPACKAGEEDGE. ThetaJC =*UNCTION-TO-CASETHERMALRESISTANCEMEASURESTHEABILITYOFADEVICETODISSIPATEHEATFROMTHE SURFACEOFTHECHIPTOTHETOPORBOTTOMSURFACEOFTHEPACKAGE. ITISAPPLICABLETOPACKAGESUSEDWITH EXTERNALHEATSINKS.CONSTANTTEMPERATUREISAPPLIEDTOTHESURFACE,WHICHACTSASABOUNDARYCONDITION. 4HISONLYAPPLIESTOSITUATIONSWHEREALLORNEARLYALLOFTHEHEATISDISSIPATEDTHROUGHTHESURFACEIN CONSIDERATION. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 115/123 9 -ANUFACTURINGDATA 9.1 0ACKAGEDIMENSIONS &IGURE31:4-C8670-BIPACKAGEOUTLINEDRAWING(DIMENSIONSAREINMILLIMETER) 3YMBOL -IN .ORMAL -AX ! 1.01 !1 0.15 0.21 !2 0.40 0.45 0.50 AAA 0.08 B 0.25 0.30 0.35 BBB N.A. C 0.21 0.25 0.29 CCC 0.10 D 11.00 D1 10.00"3C h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 116/123 3YMBOL -IN .ORMAL -AX % 11.00 DDD 0.15 %1 10.00"3C E 0.5490 EEE 0.15 4ABLE123:DIMENSIONSOF4-C8670-BI(B3C=BASIC3PACINGBETWEENCENTERS) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 117/123 9.2 -ARKING 4HEDEVICEMARKINGISSHOWNBELOW. 0IN1LOCATIONISHIGHLIGHTEDWITHADOT. YYWW=DATECODE. ,,,,,=LOTNUMBER. &IGURE32:4-C8670-BIDEVICEMARKING

9.3 BOARDAND,AYOUTCONSIDERATIONS

%XAMPLEPARTLIBRARIESFORDI ﬀERENTC!DTOOLSAREAVAILABLEASDOWNLOADSONTHERESPECTIVE ICPRODUCT PAGEONTHE42 I.!-ICWEBSITEAT https://www.trinamic.com/products/integrated-circuits/.
0ACKAGEDRAWINGS,RECOMMENDEDLANDPATTERNS,ANDSOLDERINGPRO 1LESFORALL42 I.!-ICICPACKAGES AREAVAILABLEONLINEAT https://www.trinamic.com/support/help-center/ic-packages/
42I.!-IC’SEVALUATIONBOARDSAREFULLYAVAILABLEASLAYOUTEXAMPLESANDRECOMMENDATIONSAND AREFREEFORDOWNLOAD.DESIGNDATA,GERBERDATA,ANDADDITIONALINFORMATIONISAVAILABLEAT https: //www.trinamic.com/support/eval-kits/. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 118/123

10 ABBREVIATIONS

!BBREVIATION DESCRIPTION -C5 -ICROCONTROLLERUNIT,APPLICATIONCONTROLLER !, !PPLICATION,AYER !3IC !PPLICATION3PECI1CINTEGRATEDCIRCUIT CO% C!.APPLICATIONPROTOCOLOVER%THERC!4 C/-- COMMON!NODEORCOMMONCATHODE C05 CENTRAL0ROCESSING5NIT DC DISTRIBUTEDCLOCKS D02!- DUAL0ORTED2ANDOM!CCESS-EMORY D3--OD DELTA3IGMA-ODULATOR %C!4 %THERC!4 %.I %THERC!4.ETWORK INFORMATION(INFORMATIONON.ETWORKCON 1GURATIONIN8-,FORMAT) %/& %NDOF&RAME %3C %THERC!43LAVECONTROLLER %3I %THERC!43LAVE INFORMATION(DEVICEDESCRIPTION/CON1GURATIONDATAIN8-,FORMAT) %3- %THERC!43TATE-ACHINE %4G %THERC!44ECHNOLOGYGROUP %THERC!4 %THERNETFORCONTROL!UTOMATION4ECHNOLOGY &--5 &IELDBUS-EMORY-ANAGEMENT5NIT &O% &ILE!CCESSOVER%THERC!4 G0I/ GENERAL0URPOSE I// G0I GENERAL0URPOSE INPUT G0/ GENERAL0URPOSE/UTPUT ID% INTEGRATEDDEVELOPMENT%NVIRONMENT I%C INTERNATIONAL%LECTROTECHNICALCOMMISSION I21 INTERRUPT2EQUEST ,%D ,IGHT%MITTINGDIODE -I (0(9)-ANAGEMENTINTERFACE -II -EDIAINDEPENDENTINTERFACE -I3/ -ASTERIN-3LAVE/UT -/3I -ASTER/UT-3LAVE IN 0DI 0ROCESSDATA INTERFACE 0D/ 0ROCESSDATA/BJECT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 119/123 0D2!- 0ROCESSDATA2ANDOM!CCESS-EMORY 0/& 0LASTIC/POLYMER/PTICAL&IBER 2-3 2OOT-EAN3QUAREVALUE 3II 3LAVEINFORMATIONINTERFACE 3- 3YNC-ANAGER 3/& 3TARTOF&RAME 30I 3ERIAL0ERIPHERAL INTERFACE 4-C, 42I.!-IC-OTIONCONTROL,ANGUAGE 44!0 42I.!-IC4ECHNOLOGY!CCESS0ACKAGE 44, 4RANSISTOR4RANSISTOR,OGIC 5!24 5NIVERSAL!SYNCHRONOUS2ECEIVER4RANSMITTER 53" 5NIVERSAL3ERIAL"US 8-, %XTENDED-ARK-UP,ANGUAGE 4ABLE124:ABBREVIATIONSUSEDINTHIS-ANUAL h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 120/123 11 &IGURESINDEX 2 4-C86703ENSOR%NGINEMAPSPOSI- TIONSENSORSIGNALSTOMECHANICALAN- GELSANDELECTRICALANGELSASDIRECTIN- 10 %XAMPLECIRCUITFORCONNECTINGANIN- CREMENTALENCODERWITHLEVELSHIFTERS 11 !".INCREMENTAL%NCODER.0ULSEANY- 13 %XAMPLE CIRCUIT FOR CONNECTING (ALL SENSORSIGNALSWITHLEVELSHIFTERSFROM 15 4-C8670DELTA3IGMA!DCCON 1GURA- 16 4-C8670CON1GURATIONFOR,4C2351 17 ,4C2351WITHINPUT 1LTERELEMENTSFOR 19 4-C8670"RAKECHOPPERCONNECTOR . 32 23 0ID!RCHITECTURESAND-OTION-ODES 35 26 !DVANCED0ICONTROLLER3TRUCTURE. . . 41 27 0I!RCHITECTURESAND-OTION-ODES . 42 31 4-C8670-"IPACKAGEOUTLINEDRAWING (DIMENSIONSAREINMILLIMETER) . . . . 115 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 121/123 12 4ABLESINDEX 2 0IN AND 3IGNAL DESCRIPTION FOR 11 2EGISTER0X0007(0ORTDESCRIPTOR) . . 55 12 2EGISTER0X0008:0X0009(%3C&EATURES) 56 13 2EGISTER0X0010:0X0011(3TATION!DDR) 57 14 2EGISTER0X0012:0X0013(3TATION!LIAS) 57 15 2EGISTER0X0020(7RITE2EGISTER%NABLE) 58 16 2EGISTER0X0021(7RITE2EGISTER0ROT.) 58 17 2EGISTER0X0030(%3C7RITE%NABLE) . 58 18 2EGISTER0X0031(%3C7RITE0ROT.). . . 59 19 2EGISTER0X0100:0X0103(D,CONTROL). 61 20 2EGISTER0X0108:0X0109(2/7/ﬀSET) 61 21 2EGISTER0X0110:0X0111(D,3TATUS) . 63

22 DECODINGPORTSTATEIN%3CD,3TATUS

REGISTER0X0111(TYPICALMODESONLY). 63 23 2EGISTER0X0120:0X0121(!,CNTRL) . . 64 24 2EGISTER0X0130:0X0131(!,3TATUS) . 65 25 2EGISTER0X0134:0X0135(!,3TATUSCODE)65 26 2EGISTER0X0138(25.,%D/VERRIDE). 66 27 2EGISTER0X0139(%22,%D/VERRIDE) . 66 30 2EGISTER0X014%(0DI INFORMATION)). . 68 32 2EGISTER0X0151(39.C/,!4C(C&G) . 70 33 2EGISTER0X0152:0X0153(0DI30IEXTC&G) 70 34 2EGISTER0X0200:0X0201(%C!4%VENT-.)71 35 2EGISTER0X0204:0X0207(!,%VENT-ASK)71 36 2EGISTER0X0210:0X0211(%C!4%VENT2.) 72 37 2EGISTER0X0220:0X0223(!,%VENT2.) 73 38 2EGISTER0X0300:0X0307(28%RRCNT) . 74 39 2EGISTER0X0308:0X030"(&728%RRCNT)74 40 2EGISTER0X030C(0ROC.5NIT%RRCNT) . 74 42 2EGISTER0X030%(0DI%RRCODE) . . . . 75 43 2EGISTER0X0310:0X0313(,,COUNTER) 76 44 2EGISTER0X0400:0X0401(7DDIVIDER) 77 45 2EGISTER0X0410:0X0411(7D4IME0DI) 77 46 2EGISTER0X0420:0X0421(7D4IME0D) 77 47 2EGISTER0X0440:0X0441(7D3TATUS0D) 78 48 2EGISTER0X0442(7DCOUNTER0D) . . 78 49 2EGISTER0X0443(7DCOUNTER0D I) . . 79 50 3II%%02/-INTERFACE2EGISTER/VERVIEW 80 51 2EGISTER0X0500(02/-CON1G) . . . . 80 52 2EGISTER0X0501(02/-0DI!CCESS) . 80 53 2EGISTER0X0502:0X0503(02/-CNTRL) 82 54 2EGISTER0X0504:0X0507(02/-!DDRESS)82 55 2EGISTER0X0508:0X050&(02/-DATA) 83 56 -II-ANAGEMENT INTERFACE 2EGISTER 57 2EGISTER0X0510:0X0511(-ICNTRL/3TATE)85 58 2EGISTER0X0512(0(9!DDRESS) . . . . 85 59 2EGISTER0X0513(0(92EGISTER!DDRESS) 86 60 2EGISTER0X0514:0X0515(0(9DATA) . 86 61 2EGISTER0X0516(-I%C!43TATE) . . . 86 62 2EGISTER0X0517(-I0DI3TATE) . . . . 87 63 2EGISTER0X0518+Y(0(90ORT3TATUS) . 87 65 2EGISTER0X06Y0:0X06Y3(,OG3TART!DDR) 88 66 2EGISTER0X06Y4:0X06Y5(&--5,ENGTH) 88 69 2EGISTER0X06Y8:0X06Y9(0HY.3TART!DDR89 72 2EGISTER0X06YC(&--5!CTIVATE). . . 90 73 2EGISTER0X06YD:0X06Y&(2ESERVED) . 90 74 3YNC-ANAGER2EGISTER/VERVIEW . . . 91 75 2EGISTER0X0800+Y*8:0X0801+Y*8(0HY. 76 2EGISTER0X0802+Y*8:0X0803+Y*8(3- 77 2EGISTER0X0804+Y*8(3-CONTROL) . . 92 78 2EGISTER0X0805+Y*8(3-3TATUS) . . . 93 79 2EGISTER0X0806+Y*8(3-!CTIVATE) . . 93 80 2EGISTER0X0807+Y*8(3-0D ICONTROL) 94 81 2EGISTER0X0900:0X0903(2CV4IME00) 95 82 2EGISTER0X0904:0X0907(2CV4IME01) 95 83 2EGISTER0X0910:0X0917(3YSTEM4IME) 96 84 2EGISTER0X0918:0X091&(2CV4IME%05) 96 85 2EGISTER0X0920:0X0927(3YS4IME/ﬀ- 86 2EGISTER0X0928:0X092"(3YS4IMEDE- 87 2EGISTER0X092C:0X092&(3YS4IMEDIﬀ) 97 88 2EGISTER0X0930:0X931(3PEEDCNT3TART) 98 89 2EGISTER0X0932:0X0933(3PEEDCNTDI ﬀ)98 90 2EGISTER0X0934(3YS4IMEDI ﬀ &ILTER). 99 91 2EGISTER0X0935(3PEEDCNT&ILTERDEPTH) 99 92 2EGISTER0X0980(CYCLIC5NITCNTRL) . . 100 93 2EGISTER0X0981(39.C/UT!CTIVATION) 101 94 2EGISTER0X0982:0X0983(39.C0ULSE 95 2EGISTER0X0984(!CTIVATION3TATUS). . 102 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 122/123 98 2EGISTER 0X0990:0X0997 (3TART 4IME 99 2EGISTER0X0998:0X099&(.EXT39.C1) 103 1002EGISTER0X09!0:0X09!3(39.C0CYCLE 1012EGISTER0X09!4:0X09!7(39.C1CYCLE 102 2EGISTER0X09!8(,ATCH0CONTROL) . . . 105 103 2EGISTER0X09!9(,ATCH1CONTROL) . . . 105 104 2EGISTER0X09!%(,ATCH03TATUS). . . . 106 105 2EGISTER0X09!&(,ATCH13TATUS). . . . 106 1062EGISTER0X09"0:0X09"7(,ATCH04IME 1072EGISTER0X09"8:0X09"&(,ATCH04IME 1082EGISTER0X09C0:0X09C7(,ATCH14IME 1092EGISTER0X09C8:0X09C&(,ATCH14IME 1102EGISTER0X09&0:0X09&3(%C!4"UﬀER 1112EGISTER 0X09&8:0X09&" (0DI "UﬀER 1122EGISTER 0X09&C:0X09&& (0DI "UﬀER 113 2EGISTER0X0%00:0X0%07(0RODUCTID). 110 114 2EGISTER0X0%08:0X0%0&(6ENDORID) . 110 115 0ROCESSDATA2!-(0X1000:0X&&&&). . 111 117!BSOLUTE -AXIMUM 2ATINGS FOR 118 /PERATIONAL2ATINGSFOR4-C8670-"I . 112 120 4-C8670POWERCONSUMPTION . . . . 113 121 4-C8670POWERCONSUMPTIONBYRAIL 113 122 4-C8670PACKAGETHERMALBEHAVIOR. 114 123DIMENSIONSOF4-C8670-"I("3C="A- 124 !BBREVIATIONSUSEDINTHIS-ANUAL . . 119 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-C8670DATASHEET•(ARDWARE6ERSION61.0|DOCUMENT2EVISION61.00•2018-*UNE-11 123/123 13 2EVISION(ISTORY 13.1IC2EVISION 6ERSION DATE !UTHOR DESCRIPTION 61.00 2017-/C4-30,,/3,/%D &IRSTICVERSION. 4ABLE125:IC2EVISION

13.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 61.0 2017-/C4-313+,,, INITIALVERSION 61.0 2018-*5.-06,, PINNAMESUPDATED,!DCFRONT-ENDPART(,-339,,4C2351)UPDATED 61.0 2018-*5.-123+ TYPOS1XED 4ABLE126:DOCUMENT2EVISION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

Product Information

TMC8670 specifications and overview.

Summary

Torque Control (FOC), Velocity Control, Position Control

Description

Torque Control (FOC), Velocity Control, Position Control

Source title TMC8670 Datasheet(PDF) - TRINAMIC Motion Control GmbH & Co. KG.

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