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EtherCAT Slave Controller (ESC) Overview

EtherCAT Slave Controller Overview (1/3) as of December 2021 NameAX58100AX58200AX58400fido5200ET1100E T1810/ET1811/ET1812 ET1851/ET1816/ET1817netX90netX 100netX 500 TypeASICARM MPUDual Core ARM MPUASICASICI ntel (Altera) FPGA + IP CoreXilinx FPGA + IP CoreASICASICASIC Supplier Package80 pin mm pitch144 pin HSFBGA mm pitch225LD EHS mm pitch144 FBGA ( mm)144 LQFP ( mm)BGA128 mm pitchFPGA dependentFPGA mm pitchBGA3451 mm pitchBGA3451 mm pitch Size12 x 12 mm10 x 10 mm13 x 13 mm10 x 10 mm (FBGA)20 x 20 mm (LQFP)10 x 10 mmFPGA dependentFPGA dependent10 x 10 mm22 x 22 mm22 x 22 mm C InterfaceSPI/parallel(8/16 bit, asynchronous)uC bus(Internal, AHB)uC bus(Internal, AHB)parallel(16/32 bit)serial/parallel(8/16bit, sync/async)*serial/parallel(8 /16 bit, async)AVALON *serial/parallel(8 /16 bit, async)OPB * and PLB * C bus(internal, 32bit) C bus(internal, 32bit) C bus(internal, 32bit) Digital I/O32 208(Event Output/Capture)8 32*8

EtherCAT Slave Controller Overview (3/3) as of December 2021 Name Sitara AM3357/9 Sitara AM4377/9 Sitara AM571xE Sitara AM572xE Sitara AMIC110 SoC TMC8460 TMC8461 TMC8462 ANTAIOS Type ARM MPU ARM MPU ARM MPU ARM MPU Arm MPU ASIC ASIC ASIC ARM MPU Supplier Package 324NFBGA 0.8 mm pitch 491 BGA, 0.65mm pitch

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Transcription of EtherCAT Slave Controller (ESC) Overview

1 EtherCAT Slave Controller Overview (1/3) as of December 2021 NameAX58100AX58200AX58400fido5200ET1100E T1810/ET1811/ET1812 ET1851/ET1816/ET1817netX90netX 100netX 500 TypeASICARM MPUDual Core ARM MPUASICASICI ntel (Altera) FPGA + IP CoreXilinx FPGA + IP CoreASICASICASIC Supplier Package80 pin mm pitch144 pin HSFBGA mm pitch225LD EHS mm pitch144 FBGA ( mm)144 LQFP ( mm)BGA128 mm pitchFPGA dependentFPGA mm pitchBGA3451 mm pitchBGA3451 mm pitch Size12 x 12 mm10 x 10 mm13 x 13 mm10 x 10 mm (FBGA)20 x 20 mm (LQFP)10 x 10 mmFPGA dependentFPGA dependent10 x 10 mm22 x 22 mm22 x 22 mm C InterfaceSPI/parallel(8/16 bit, asynchronous)uC bus(Internal, AHB)uC bus(Internal, AHB)parallel(16/32 bit)serial/parallel(8/16bit, sync/async)*serial/parallel(8 /16 bit, async)AVALON *serial/parallel(8 /16 bit, async)OPB * and PLB * C bus(internal, 32bit) C bus(internal, 32bit) C bus(internal, 32bit) Digital I/O32 208(Event Output/Capture)8 32*8 32*8 32* General Purpose I/O32up to 76*up to 97* 0 32*0 128*0 128*161616 DPRAM9 kByte160 kByte1 Mbyte10 kByte8 kByte* kByte*6 kByte256/512 Byte (Mailbox/Process Data)256/512 Byte (Mailbox/Process Data)

2 SyncManager * *844 FMMU * *833 Distributed Clock Supportyes (64 bit)yes (64 bit)yes (64 bit)yesyesyes*yes*yesyesyes No. of Ports2 (100 BaseTX) + Opt. 1 (MII)2 (100 BaseTX) + Opt. 1 (MII)2 (100 BaseTX) + Opt. 1 (MII)2 (MII/RMII)2 4 (MII/E BUS)*1 3 (MII/max. 2 RMII)1 3 (MII/max. 2 RMII)2 (100 BaseTX)2 (100 BaseTX)2 (100 BaseTX) Specials100 BASE FX support2 integrated PHYs3 ch PWM and S/D I/FABZ and Hall encoder I/FSPI master I/F 2 integrated Ethernet PHYs, USB HS OTG, 10/100 Mbps Ethernet MAC with RMII and hardware cryptography accelerator6xLPUARTs, 3xISO 7816 3, 1xQuad SPI, 3xI2C, 1xI2S, 2xUSCI, 2xCAN, 1xSPI Flash I/F, 2xSDHC, 1x16 ch/12 bit ADC, 2x12 bit DAC, 2xAnalog Comparators, 2xOperational Amplifiers , 4x32 bit timers, 24x16 bit PWM counters, 2xQEI, 1xECAP, supports Real Time Clock (RTC) , Built in Die Temperature Sensor (DTS)

3 Dual Core 480 MHz ARM Cortex M7 & 240 MHz Cortex M4 MCU,2 Mbytes embedded Flash memory, 2 ESC Integrated PHY, USB HSOTG, Additional RMII/MII Ethernet MAC with IEEE 1588 for multiprotocolsupport, TFT LCD display Controller , Security andCryptographic Accelerator , 96 bit UID, Watchdog, RTC /SysTicktimers, Rich communication/control interfaces such as SPI/UART/I2C/I2S/SAI/CAN/SDMMC/ADC/DAC/H DMI CEC/PWM/DFSDM, protocol support,Gigabit Ethernet support,Event Output/Capture I/OBGA routable with standard PCBV arious license models and OpenCore Plus are wide range of Intel (former: Altera) FPGAs are supportedVarious license models and evaluation Versionare wide range of Xilinx FPGAs are supportedMulti protocol support,Integrated PHYs,Integrated C,OnChip Flash 1,5 Mbytes,OnChip DC DC Converter,(ARM Cortex M4 100 MHz)Additional integrated Application Controller (ARM Cortex M4 100 MHz)Multi protocol support,Integrated PHYs,Integrated C(ARM9 200 MHz)Multi protocol support,Integrated PHYs,Integrated C(ARM9 200 MHz) Further Data * and PatentsEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

4 Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the Slave Controller Overview (2/3) as of December 2021 NamenetX51netX52 Anybus NP40 XMC4300 XMC4800 LAN9252EC 1RZ/T1R IN32M3 EC TypeASICASICARM MPUARM MPUARM MPUASICARM MPUARM MPUARM MPU Supplier PackagePBGA3241 mm pitchPBGA2441 mm pitchBGA mm pitch100 LQFP ( mm)100 LQFP ( mm)64 pin QFN ( mm pitch)64 pin TQFP EP ( mm pitch)196 pin BGA ( mm) mm pitchBGA3241 mm pitch Size19 x 19 mm15 x 15 mm17 x 17 mm16 x 16 mm20 x 20 mm16 x 16 mm12 x 12 mm9 x 9 mm12 x 12 mm12 x 12 mm17 x 17 mm19 x 19 mm C Interface C bus(internal, 32bit) C bus(internal, 32bit)Anybus interface (8 / 16 bit 30 ns parallel, 20 MHz SPI, Shift register, UART) C bus(internal, AHB) C bus(internal, AHB)Host Bus/SPI/SQIUSB Host/Function, CAN, SCIFA, I2C RSPI, Flash16/32 bit parallel and various serial (SPI/I2C/UART)16/32 bit parallel (master/ Slave ) and serial (SPI/I2C/UART) Digital I/O 256 / 256(Shift register mode)

5 0 16* General Purpose I/O3224 0 460 1230 16*115* GPIOs / 8 Input (port multiplexed, partial 5V tolerant, open drain, input pull up)0 209*0 96* DPRAM6 kByte6 kByte12 kByte8 kByte8 kByte4 kByte512 KB (ATCM) with ECC32 KB (BTCM) with ECC8 kByte8 kByte SyncManager Entities884884888 FMMU Entities884883888 Distributed Clock Supportyesyesyesyes (64 Bit)yes (64 Bit)yesyes (64 bit)yesyes No. of Ports2 (100 BaseTX)2 (100 BaseTX)2 (MII)2 (MII)2 (MII)2 (100 BaseTX) + opt. 1 (MII)2 (MII)2 (RMII/MII)2 (100 BaseTX) SpecialsMulti protocol support,Integrated PHYs,Integrated C(ARM9 100 MHz)Multi protocol support,Integrated PHYs,Integrated C(ARM9 100 MHz)Multi protocol support, ESC Frame forwarding delay: 114 ns, MDP, possible to implement several device profilesEtherCAT node on an ARM Cortex M4 processor with up to 256kB on chip flash, 128kB on chip RAM and analog/mixed signal capabilities.

6 Qualified for up to 125 C ambient node on an ARM Cortex M4 processor with up to 2MB on chip flash, 352kB on chip RAM and analog/mixed signal capabilities. Qualified for up to 125 C ambient Diagnostics,100FX support,2 integrated PHYs,integrated regulatorSafety Functions, Multi Function Pin ControllerAdditional Ethernet port (RMII/MII), 2 axis high speed motion control support,digital encoder interfaces (EnDat, BiSS, others), Multi protocol support, security option, functional safety support, Cortex R4F (450/600 MHz), Cortex M3 (150 MHz) coresMulti protocol support, SPI, I2C, UART, Mbyte int. RAM, <1W typical incl. 2 PHYs Further Data Sheethttps c her.

7 C om/f ileadmin/c ms _upload/en- U S/R es our c es /pdf c her .c om/f ileadmin/c ms _upload/en- U S/R es our c es /pdf * and PatentsEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the Slave Controller Overview (3/3) as of December 2021 NameSitara AM3357/9 sitara AM4377/9 sitara AM571xESitara AM572xESitara AMIC110 SoCTMC8460 TMC8461 TMC8462 ANTAIOS TypeARM MPUARM MPUARM MPUARM MPUArm MPUASICASICASICARM MPU Supplier Package324 NFBGA mm pitch491 BGA, pitch( mm effective routing)760 mm pitch760 mm pitchVFGG400 Very Fine Pitch mm mm mm pitchTFBGA 380 ( mm pitch)TFBGA 385 ( mm pitch)

8 Size15 x 15 mm17 x 17 mm23 x 23 mm23 x 23 mm15x15mm17 x 17 mm10x10 mm9x9 mm15 mm x 15 mm 19 mm x 19 mm C Interface200 MHz interconnect(internal, 32bit)200 MHz interconnect(internal, 32bit)200 MHz interconnect(internal, 32bit)200 MHz interconnect(internal, 32bit)200 MHz interconnect (internal, 32bit)SPI or PDI emulationserial or standaloneserial or standaloneSPI / QSPI / 16 Bit asynchronous interface Digital I/O888880 (see specials) * * General Purpose I/O> 32> 32> 32> 32>320 (see specials) * *up to 32 DPRAM8 kByte32 kByte32 kByte32 kByte8 kByte16 kByte16 kByte16 kByteup to 32 kByte SyncManager Entities888886888 FMMU Entities888886888 Distributed Clock Supportyesyesyesyesyesyes (64 Bit)yesyesyes (64 bit) No.

9 Of Ports2 (MII)2 (MII)4 (MII)4 (MII)2 (MII)2 (MII)2 (MII)2 (100 BaseTX)2 (100 BaseTX) or 2 (MII) SpecialsIndustrial Communications Subsystem (PRU ICSS)for multi protocol support, Gigabit Switch, CAN, display, ARM Cortex A8(275 MHz 1000 MHz)Multi protocol support,Second PRU ICSS for Motor control (EnDat, sigma delta filtering etc), Gigabit Switch, CAN, Display subsystem, 2D/3D graphics, Camera I/F, Optional secure boot, ARM Cortex A9 (upto 1 GHz)Dual Industrial Communications Subsystem (PRU ICSS) for multi protocol support (2 EtherCAT Slave instances or EtherCAT Slave to protocol gateway), Motor control (EnDat, sigma delta filtering), 2D/3D Graphics, Display subsystem, Video acceleration, PCIe, SATA, Optional secure boot, ARM Cortex A15 (upto ), 2x M4 cores, 1x C66x DSP coreDual Industrial Communications Subsystem (PRU ICSS) for multi protocol support (2 EtherCAT Slave instances or EtherCAT Slave to protocol gateway), 2D/3D Graphics, Display subsystem, Video acceleration, PCIe, SATA, Optional secure boot, 2x ARM Cortex A15 (upto GHz), 2x M4 cores, 2x C66x DSP coresEntire EtherCAT Slave Controller can be implemented on internal memory (no external DDR needed)

10 , Industrial Communications Subsystem (PRU ICSS) for multi protocol support, CANMFCIO block additional multi function and control block in hardware for complex real time IO (GPIO, Watchdog, SPI Master, ABN interface, S/D output, 3ph PWM), direct MCU control or accessible via DPRAM/SyncManagersWide supply range (up to 35V),2x Integrated DC/DC regulators,8x Direct High Voltage I/Os,Multi function I/O block,BGA routable with standard PCBWide supply range (up to 35V),2x Integrated DC/DC regulators,8x Direct High Voltage I/Os,Multi function I/O block,Integrated PHYs,BGA routable with standard PCBM ulti fieldbus protocol support, 2 x integrated PHYs, 1 x integrated GBit Ethernet MAC, Integrated ARM Cortex A5 (288 MHz), Backplane communication: SliceBus master for profichip s SNAP+ ASIC, Integrated technology module (2xSII / 4xPWM / 4xCounter), QuadSPI interface ( NOR Flash for firmware), DDR2 external memory interface, Oth


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