AS5134 D a ta S he e t 3 6 0 St e p P r o g r a m m a b l e H i g h Sp e e d M a g n e t i c R o ta r y E n c o d e r 1 General Description 2 Key Features The AS5134 is a contactless magnetic rotary encoder for accurate angular measurement over a full turn of 360º. 360º contactless angular position encoding It is a system-on-chip, combining integrated Hall elements, analog front end and digital signal processing in a single device. User programmable zero position, sensitivity To measure the angle, only a simple two-pole magnet, rotating over the center of the chip is required. Direct measurement of magnetic field strength allows exact determination of vertical magnet distance Two digital 360 step (8.5 bit) absolute outputs: Serial interface and Pulse width modulated (PWM) output High speed: up to 30.000 rpm The absolute angle measurement provides instant indication of the magnet’s angular position with a resolution of 8.5 bit = 360 positions per revolution. This digital data is available as a serial bit stream and as a PWM signal. Incremental Outputs ABI Quadrature: 90 ppr, step direction: 180ppr, fixed pulse width 360ppr BLDC Outputs UVW, selectable for 1,2,3,4,5,6 pole pairs In addition to the angle information, the strength of the magnetic field is also available as a 6-bit code. Daisy-Chain mode for cascading of multiple sensors Data transmission can be configured for 1-wire (PWM), 2-wires (DCLK, DIO) or 3-wires (DCLK, DIO, CS). Low power mode with fast startup 9-bit multiturn counter Wide magnetic field input range: 20 – 80 mT A software programmable (OTP) zero position simplifies assembly as the zero position of the magnet does not need to be mechanically aligned. Wide temperature range: - 40ºC to +140ºC Small Pb-free package: SSOP 20 A Power Down Mode together with fast startup and measurement cycles allows for very low average power consumption. 3 Applications The AS5134 is suitable for contactless rotary position sensing, rotary switches (human machine interface), AC/DC motor position control and Brushless DC motor position control. Figure 1. Block Diagram U V W VDD5V A B Index Hall Array & Frontend Amplifier AS5134 Commutation Incremental Interface Interface tracking ADC & Angle decoder Zero Pos. Angle Mag AGC AGC power management OTP PWM Decoder Multiturn Counter PWM DIO Absolute Serial Interface (SSI) CS CLK C2 DX PROG GND www.austriamicrosystems.com Revision 1.6 1 - 29 AS5134 Data Sheet - A p p l i c a t i o n s Contents 1 General Description.............................................................................................................................. 1 2 Key Features ........................................................................................................................................ 1 3 Applications .......................................................................................................................................... 1 4 Pin Assignments................................................................................................................................... 3 Pin Descriptions ................................................................................................................................................... 3 5 Absolute Maximum Ratings.................................................................................................................. 4 6 Electrical Characteristics ...................................................................................................................... 5 Timing Characteristics .......................................................................................................................................... 7 7 Detailed Description ............................................................................................................................. 8 Connecting the AS5134 ....................................................................................................................................... 8 Serial 3-Wire R/W Connection ......................................................................................................................... 8 Serial 3-Wire Read-only Connection ................................................................................................................ 9 Serial 2-Wire Connection (R/W Mode) ........................................................................................................... 10 Serial 2-Wire Differential SSI Connection ...................................................................................................... 11 1-Wire PWM Connection................................................................................................................................ 12 Analog Output ................................................................................................................................................ 12 Analog Sin/Cos Outputs with External Interpolator ........................................................................................ 13 Quadrature A/B/Index Output......................................................................................................................... 13 Brushless DC Motor Commutation Mode....................................................................................................... 14 Serial Synchronous Interface (SSI) .................................................................................................................... 15 AS5134 Programming ........................................................................................................................................ 16 OTP Programming Connection ...................................................................................................................... 16 Programming Verification ............................................................................................................................... 16 AS5134 Status Indicators ................................................................................................................................... 17 C2 Status Bit .................................................................................................................................................. 17 Lock Status Bit ............................................................................................................................................... 17 Magnetic Field Strength Indicators................................................................................................................. 18 Multi Turn Counter.............................................................................................................................................. 18 High Speed Operation ........................................................................................................................................ 19 Propagation Delay.......................................................................................................................................... ADC Sampling Rate ....................................................................................................................................... Chip Internal Lowpass Filtering ...................................................................................................................... Digital Readout Rate ...................................................................................................................................... Total Propagation Delay of the AS5134 ......................................................................................................... Reduced Power Modes ...................................................................................................................................... 19 19 19 20 20 20 Low/Mid Power Mode..................................................................................................................................... 20 Power Cycling Mode ...................................................................................................................................... 21 8 Application Information ....................................................................................................................... 23 Benefits of AS5134............................................................................................................................................ 9 Package Drawings and Markings ....................................................................................................... Recommended PCB Footprint ........................................................................................................................... 10 Ordering Information......................................................................................................................... www.austriamicrosystems.com Revision 1.6 23 26 27 28 2 - 29 AS5134 Data Sheet - P i n A s s i g n m e n t s 4 Pin Assignments Figure 2. Pin Assignments (Top View) 1 20 TB3/COS VSS 2 19 TB2/COSN DX 3 18 TB1/SIN CS 4 17 TB0/SINN 16 Index 15 B 14 A 8 13 W 9 12 V 10 11 U C2 5 PWM 6 VDD 7 TestCoil DCLK DIO AS5134 Prog Pin Descriptions Table 1. Pin Descriptions Pin Name Pin Number Prog 1 Programming voltage input, must be left open in normal operation. Maximum load = 20pF (except during programming). VSS 2 Supply ground. DX 3 Chip select output for 2-wire mode and Daisy Chain cascading. CS 4 Chip select input for 3-wire mode. C2 5 Select between 2-wire and 3-wire mode (tbd). PWM 6 PWM output. VDD 7 Positive supply voltage (double bond to VDD_A and VDD_D). Test Coil 8 Test pin. DDCLK 9 Clock input for serial interface. DIO 10 Data I/O for serial interface. U 11 Commutation output. V 12 Commutation output. W 13 Commutation output. A 14 Incremental output. B 15 Incremental output. Index 16 Incremental output. TB0/SINN 17 Test pin / inv. sin output. TB1/SIN 18 Test pin / sin output. TB2/COSN 19 Test pin / inv. cos output. TB3/COS 20 Test pin / cos output. www.austriamicrosystems.com Description Revision 1.6 3 - 29 AS5134 Data Sheet - A b s o l u t e M a x i m u m R a t i n g s 5 Absolute Maximum Ratings Stresses beyond those listed in Table 2 may cause permanent damage to the device. These are stress ratings only, and functional operation of the device at these or any other conditions beyond those indicated in Electrical Characteristics on page 5 is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability. Table 2. Absolute Maximum Ratings Parameter Min Max Units Comments Supply voltage -0.3 7 V Except during OTP programming Input Pin Voltage VSS-0.5 VDD V Input Current (latch up immunity) -100 100 mA Norm: EIA/JESD78 ClassII Level A ESD ±2 kV Norm: JESD22-A114E 145 ºC/W Still Air / Single Layer Still Air / Multi Layer Package Thermal Resistance SL Package Thermal Resistance ML Storage Temperature -55 Soldering conditions, Body temperature (Pb-free package) Humidity non-condensing www.austriamicrosystems.com 5 90 ºC/W 140 ºC 260 ºC 85 % Revision 1.6 T=20 to 40s, Norm: IPC/JEDEC J-Std-020C. Lead finish 100%Sn “matte tin” 4 - 29 AS5134 Data Sheet - E l e c t r i c a l C h a r a c t e r i s t i c s 6 Electrical Characteristics TAMB = -40 to 140ºC, VDD5V = 4.5-5.5V, all voltages referenced to VSS, unless otherwise noted. Table 3. Electrical Characteristics Symbol Parameter VDD Positive Supply Voltage IDD Operating Current Ioff Power down current TJ Junction Temperature Conditions Min Typ Max Units +5.5 V No load on outputs. Supply current can be reduced by using stronger magnets. 15 mA Low Power Mode 120 µA 170 ºC 4.5 System Parameters 8.5 Bit 1 Deg N Resolution TPwrUp Power Up Time ts Tracking rate Step rate of tracking ADC; 1 step = 1º 3.0 INLcm Accuracy Centered Magnet -2 2 Within horizontal displacement radius (4.4) -3 3 Deg 22 µs 1.41 Deg tdelay Propagation delay TN Transition noise Startup from zero ≤4100 Startup from Low/Mid Power mode ≤500 4 17 Peak-Peak 5,2 µs µs/ step Magnet Specifications MD Magnet diameter MT Magnet thickness Bi Magnetic Input Range At chip surface Vi Magnet rotation speed To maintain locked state B Magnetic field low detection <20 <36 B Magnetic field high detection >44 >80 Diametrically magnetized 6 mm 2.5 mm 20 80 30.000 Hall Array radius 1 Vertical distance of magnet 0,5 1 Max X-Y Offset between defined IC Package center and magnet axis Horizontal magnet displacement radius Max X-Y Offset between chip center and magnet axis 1,8 0.25 mm 0.48 PWM Output 8.5 Bit 1 Step = 1º 2 µs/ step PWM pulse width Angle = 0º (00H) 16 µs PWMAX PWM pulse width Angle = 360º (FFH) 736 µs PWP PWM period 750 µs fPWM PWM frequency 1.43 kHz NPWM PWM resolution PWMIN =1 / PWM period Programming Parameters www.austriamicrosystems.com Revision 1.6 5 - 29 AS5134 Data Sheet - E l e c t r i c a l C h a r a c t e r i s t i c s Table 3. Electrical Characteristics (Continued) Symbol Parameter Conditions Min VPROG Programming Voltage Static voltage at pin Prog 8.0 Typ Max Units 8.5 V 100 mA IPROG Programming Current TambPROG Programming ambient temperature During programming 0 85 ºC tPROG Programming time Timing is internally generated 2 4 µs Analog readback voltage During analog readback mode at pin Prog VR,prog VR,unprog 0.5 2,2 3,5 V Hall Element Sensitivity Options sens Hall Element sensitivity setting sens = 00 (default; high sensitivity) 1.65 sens = 01 1.88 sens = 10 2.11 sens = 11 (low sensitivity) 2.35 X DC Characteristics of Digital Inputs and Outputs CMOS Inputs: DDCLK, CS, DIO, C1, C2 0.7*VD VIH High level input voltage VIL Low level input voltage 0.3 V ILEAK Input leakage current 1 µA V D CMOS Outputs: DIO, PWM, DX VOH High level output voltage Source current < 4mA VOL Low level output voltage Sink current < 4mA CL Capacitive load IOZ Tristate leakage current VDD0.5 V VSS+0.4 V 35 pF 1 µA CMOS Tristate Output: DIO www.austriamicrosystems.com CS = low Revision 1.6 6 - 29 AS5134 Data Sheet - E l e c t r i c a l C h a r a c t e r i s t i c s Timing Characteristics Table 4. Timing Characteristics Symbol Parameter Conditions Min Typ Max Units 5 6 MHz 650 kHz 6 MHz 2-/3-Wire Data Transmission 3-Wire Interface fDCLK Clock Frequency Normal operation No limit fDCLK,P Clock Frequency During OTP programming 200 2-Wire Interface fDCLK Clock Frequency Normal operation 0.1 fDCLK,P Clock Frequency During OTP programming 200 500 kHz 5 General Data Transmission t0 Rising DCLK to CS 15 - ns t1 Chip select to positive edge of DCLK 15 - ns t2 Chip select to drive bus externally - - ns t3 Setup time command bit, Data valid to positive edge of DCLK 30 - ns t4 Hold time command bit, Data valid after positive edge of DCLK 30 t5 Float time, Positive edge of DCLK for last command bit to bus float 30 DCLK/2 ns t6 Bus driving time, Positive edge of DCLK for last command bit to bus drive DCLK/2 +0 DCLK/2 +30 ns t7 Setup time data bit, Data valid to positive edge of DCLK DCLK/2 +0 DCLK/2 +30 ns t8 Hold time data bit, Data valid after positive edge of DCLK DCLK/2 +0 DCLK/2 +30 ns t9 Hold time chip select, Positive edge DCLK to negative edge of chip select 30 t10 Bus floating time, Negative edge of chip select to float bus 0 30 ns tTO Timeout period in 2-wire mode (from rising edge of DCLK) 20 24 µs www.austriamicrosystems.com Revision 1.6 ns ns 7 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n 7 Detailed Description Connecting the AS5134 The AS5134 can be connected to an external controller in several ways as listed below: Serial 3-wire R/W connection Serial 3-wire Read-only connection Serial 2-Wire connection (R/W Mode) Serial 2-Wire Differential SSI connection 1-Wire PWM connection Analog output Analog Sin/Cos outputs with external interpolator Quadrature A/B/Index output Brushless DC Motor Commutation Mode Serial 3-Wire R/W Connection In this mode, the AS5134 is connected to the external controller via three signals: Chip Select (CS), Clock (DCLK) inputs and bi-directional DIO (Data In/Out) output. The controller sends commands over the DIO pin at the beginning of each data transmission sequence, such as reading the angle or putting the AS5134 in and out of the reduced power modes. Figure 3. SSI Read/Write Serial Data Transmission +5V VDD VDD Output CS Output DCLK I/O DIO AS5134 Micro Controller VDD 100n C2 VSS VSS VSS A pull-down resistor (as shown in Figure 4) is not required. C1 and C2 are hardware configuration inputs. C1 must always be connected to VSS, C2 selects 3-wire mode (C2 = low) or 2-wire mode (C2 = high). www.austriamicrosystems.com Revision 1.6 8 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n command phase data phase tCLK DCLK 1 2 3 5 4 6 7 21 20 t1 t9 CS t5 DIO CMD4 t3 DIO CMD0 CMD3 t7 t6 t4 DIO read t8 t10 D15 D14 D1 DIO write D0 Table 5. Serial Bit Sequence (16bit read/write) Write Command C4 C3 C2 C1 Read/Write Data C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Serial 3-Wire Read-only Connection This simplified connection is possible when the AS5134 is only used to provide the angular data (no power down or OTP access). The Chip Select (CS) and Clock (DCLK) connection is the same as in the R/W mode, but only a digital input pin (not an I/O pin) is required for the DIO connection. As the first 5 bits of the data transmission are command bits sent to the AS5134, both the microcontroller and the AS5134 are configured as digital inputs during this phase. Therefore, a pull-down resistor must be added to make sure that the AS5134 reads “00000” as the first 5 bits, which sets the Read_Angle command. Note: All further application examples are shown in R/W mode, however read-only mode is also possible unless otherwise noted. Figure 4. SSI Read-only Serial Data Transmission +5V VDD VDD Output CS Output DCLK Input VSS DIO 10k… 100k AS5134 Micro Controller VDD 100n C2 VSS VSS www.austriamicrosystems.com Revision 1.6 9 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n command phase DCLK 3 2 1 data phase 4 6 5 8 7 21 20 t1 t9 CS DIO DIO read t10 DIO D15 D13 D14 D12 D1 DIO write D0 Table 6. 2-or 3-wire Read-only Serial Bit Sequence (21bit read) Read D20 D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 0 0 0 0 0 C2 lock D8 D7 D6 D5 AGC D5 D4 D3 D2 D4 D3 D2 D1 D0 D2 D1 D0 Angle D1 D0 D7 D6 D5 D4 D3 Serial 2-Wire Connection (R/W Mode) By connecting the configuration input C2 to VDD, the AS5134 is configured to 2-wire data transmission mode. Only Clock (DCLK) and Data (DIO) signals are required. A Chip Select (CS) signal is automatically generated by the DX output, when a time-out of DCLK occurs (typ. 20µs). Note: Read-only mode is also possible in this configuration. Figure 5. 2-Wire R/W Mode +5V VDD C2 Output I/O DCLK DIO VDD AS5134 Micro Controller VDD 100n VSS VSS VSS www.austriamicrosystems.com Revision 1.6 10 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n command phase data phase timeout phase tTO DCLK 2 3 4 5 CMD4 CMD3 CMD2 CMD1 1 t0 6 7 22 8 t1 DX CS t5 DIO DIO read CMD0 t6 DIO D15 D14 D1 D0 DIO write Serial 2-Wire Differential SSI Connection With the addition of a RS-422 / RS-485 transceiver, a fully differential data transmission, according to the 21-bit SSI interface standard is possible. To be compatible with this standard, the DCLK signal must be inverted. This is done by reversing the Data+ and Data- lines of the transceiver. Note: This type of transmission is read-only. Figure 6. 2-Wire SSI Read-only Mode +5V VDD VDD C2 Micro Controller Output VSS Input DCLK DI D+ D- D- D+ D+ D+ D- D- DCLK DIO AS5134 MAX 3081 or similar VDD 100n VSS VSS www.austriamicrosystems.com Revision 1.6 11 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n 2 1 DCLK 3 5 4 7 6 8 21 20 timeout tTO DI D14 D15 D1 D0 Read D20 D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 0 0 0 0 0 C2 lock D8 D7 D6 D5 AGC D5 D4 D3 D2 D4 D3 D2 D1 D0 D2 D1 D0 Angle D1 D0 D7 D6 D5 D4 D3 1-Wire PWM Connection This configuration uses the least number of wires: only one line (PWM) is used for data, leaving the total number of connection to three, including the supply lines. This type of configuration is especially useful for remote sensors. Ultra Low Power Mode is not possible in this configuration, as there is no bi-directional data transmission. If the AS5134 angular data is invalid, the PWM output will remain at low state. Pins that are not shown may be left open. Figure 7. Data Transmission with Pulse Width Modulated (PWM) Output +5V VDD CS VDD AS5134 Micro Controller Input VDD 100n PWM C2 VSS VSS VSS Analog Output This configuration is similar to the PWM connection (only three lines including supply are required). With the addition of a lowpass filter at the PWM output, this configuration produces an analog voltage that is proportional to the angle. This filter can be either passive (as shown in Figure 8) or active. The lower the bandwidth of the filter, the less ripple of the analog output can be achieved. If the AS5134 angular data is invalid, the PWM output will remain at low state and thus the analog output will be 0V. Pins that are not shown may be left open. www.austriamicrosystems.com Revision 1.6 12 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Figure 8. Data Transmission with Pulse Width Modulated (PWM) Output +5V VDD CS VDD 5V Analog out 100n AS5134 >=4k7 >=4k7 PWM 0V Analog out 0º C2 VSS >=1µF 180º 360º PWM out Angle >=1µF VSS Analog Sin/Cos Outputs with External Interpolator By connecting C1 to VDD, the AS5134 provides analog Sine and Cosine outputs (Sin, Cos) of the Hall array front-end for test purposes. These outputs allow the user to perform the angle calculation by an external ADC + µC, e.g. to compute the angle with a high resolution. In addition, the inverted Sine and Cosine signals (SINN, COSN; see dotted lines) are available for differential signal transmission. The input resistance of the receiving amplifier or ADC should be greater than 100kΩ. The signal lines should be kept as short as possible, longer lines should be shielded in order to achieve best noise performance. The SIN / COS / SINN / COSN signals are amplitude controlled to ~1.3Vpp (differential) by the internal AGC controller. The DC bias voltage is ~2.25V. Note: These outputs are high impedance and not resilient, (Load max. 10µA). Figure 9. Sine and Cosine Outputs for External Angle Calculation +5V VDD VDD VDD Micro Controller D A SIN AS5134 D A SINN COS 100n COSN C2 VSS VSS VSS Quadrature A/B/Index Output The phase shift between channel A and B indicates the direction of the magnet movement. Channel A leads channel B at a clockwise rotation of the magnet (top view) by 90 electrical degrees. Channel B leads channel A at a counterclockwise rotation. www.austriamicrosystems.com Revision 1.6 13 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Figure 10. Incremental Output Modes Mechanical Zero Position Mechanical Zero Position Quad A/B/Index-Mode Rotation Direction Change A B Index=0 1 LSB Hyst= 2LSB Index Index=1 3 LSB Brushless DC Motor Commutation Mode The BLDC signals will be used to control the electrical angle information – according to the amount of pole pairs and the actual mechanical angle position. Refer Figure 11 for an example of n_pole_pairs:=2. For the programming, refer to Serial Synchronous Interface (SSI) on page 15. Figure 11. Commutation Mode αelectrical := αmechanical*npole_pairs pole pair : 2 U V W 0 60 120 180 240 300 0 60 120 180 angle electrical 0 30 60 90 120 150 180 210 240 270 angle mechanical www.austriamicrosystems.com Revision 1.6 14 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Serial Synchronous Interface (SSI) Table 7. Commands of the SSI in Normal Mode Digital interface @ normal mode # cmd bin mode 15 10111 write LP 20 SET MT COUNTER 10100 write 23 WRITE CONFIG 1 19 SET AGC 10011 write 16 EN PROG 10000 write 4 RD MT COUNTER 00100 read 0 RD_ANGLE 00000 read 14 13 12 11 10 9 8 7 analog AGC_mux Sig gen_rst MTC2 (*) MTC1 (*) Hyst<1:0> 6 5 4 3 2 1 0 0 1 0 1 1 1 0 AGC2 PWM multi-turn-counter <8:0> agc_code <2:0> 1 0 agc_tst_value <5:0> 0 0 1 1 0 0 1 multi-turn-counter <8:0> lock_adc ez_error agc <5:0> angle <8:0> Table 8. Commands of the SSI in Extended Mode Digital interface @ extended mode number of bits # cmd bin 2 mode 61.. 60 18 59.. 42 1 1 4 2 1 4 2 3 41 40 39.. 36 35.. 32 31 30.. 27 26.. 25 24.. 22 1 4 21 20..1 7 1 2 2 3 9 16 15..1 4 13.. 12 11.. 9 8..0 31 WRITE OTP 11111 xt write otp tst ID hyst_2x cfg off_ cos off_ sin FM osc vref Hall lock_otp Bias (*) r_ad d r_bit sensi tivity abi uvw zero angle 25 PROG_OTP 11001 xt write otp tst ID hyst_2x LP osc vref LP osc vref Hall lock_otp Bias (*) r_ad d r_bit sensi tivity abi uvw zero angle 15 READ_OTP 01111 xt read otp tst ID hyst_2x LP osc vref LP osc vref Hall lock_otp Bias (*) r_ad d r_bit sensi tivity abi uvw zero angle 9 READ ANA 01001 xt read otp tst ID hyst_2x LP osc vref LP osc vref Hall lock_otp Bias (*) r_ad d r_bit sensi tivity abi uvw zero angle Notes: 1. Empty fields should be described with “logical 0”. 2. The lock_adc signal indicates that the tracking adc is in a locked status – remark, that for valid angle conditions the magnetic field has to be in a certain range which is indicated by the agc_counter value. 3. These bits will be deleted during power down or sleep mode to ensure that the user is able to detect that the read out angle value is computed after the wake up sequence. EN PROG: Enables the access to the OTP register. WRITE CONFIG: go2sleep HI activates the sleep mode of the AS5134. The power consumption is significantly reduced. go2sleep LO returns to normal operation mode. During sleep mode, the lock bit in command 0 and command 1 is LO. RD_MT Counter: Command for read out of multi turn register (multiturn) and AGC value (agc). “Lock” indicates a locked ADC, and “parity” refers to an even parity checksum. RD_ANGLE: Command for read out of angle value and AGC value (agc). “Lock” indicates a locked ADC, and “parity” refers to an even parity checksum. WRITE OTP: Writing of the OTP register. The written data is volatile. “Zero Angle” is the angle, which is set for zero position. “Wake enable” enables the polling mode. “Sensitivity” is the gain setting in the signal path. “Redundancy” is the number of bits, which allows the customer to overwrite one of the customer OTP bits <0:11>. PROG_OTP: Programming of the OTP register. Only Bits <0:15> can be programmed by the customer. READ_OTP: Read out the content of the OTP register. Data written by WRITE_OTP and PROG_OTP is read out. READ ANA: Analog read out mode. The analog value of every OTP bit is available at pin 2 (PROG), which allows for a verification of the fuse process. No data is available at the SSI. www.austriamicrosystems.com Revision 1.6 15 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n AS5134 Programming The AS5134 offers the following user programmable options: Zero Position Programming This programming option allows the user to program any rotation angle of the magnet as the new zero position. This useful feature simplifies the assembly process as the magnet does not need to be mechanically adjusted to the electrical zero position. It can be assembled in any rotation angle and later matched to the mechanical zero position by zero position programming. The 8,5-bit user programmable zero position can be applied both temporarily (command WRITE OTP, #31) or permanently (command PROG OTP, #25). Magnetic Field Optimization This programming option allows the user to match the vertical distance of the magnet with the optimum magnetic field range of the AS5134 by setting the sensitivity level. The 2-bit user programmable sensitivity setting can be applied both temporarily (command WRITE OTP, #31) or permanently (command PROG OTP, #25). Low/Mid Power Mode Mid Power Mode is a power saving mode with fast start-up. In Mid Power Mode, all internal digital registers are frozen and the power consumption is reduced to max. 1,5 mA. Start-up from this mode to normal operation can be accomplished within 250µs. This mode is recommended for applications, where mid power, but fast start-up and short reading cycle intervals are required. OTP Programming Connection Programming of the AS5134 OTP memory does not require a dedicated programming hardware. The programming can be simply accomplished over the serial 3-wire interface(see Figure 12) or the optional 2-wire interface(see Figure 5). For permanent programming (command PROG OTP, #25), a constant DC voltage of 8.0 – 8.5V (=100mA) must be connected to pin 1 (PROG). For temporary OTP write (“soft write”; command WRITE OTP, #31), the programming voltage is not required. Figure 12. OTP Programming Connection +5V VDD VDD Output CS Output DCLK I/O DIO 8.0 – 8.5V VSS + AS5134 Micro Controller VDD 100n PROG 10µF100n C2 VSS - VSS Programming Verification After programming, the programmed OTP bits may be verified in two ways: By Digital Verification: This is simply done by sending a READ OTP command (#15). The structure of this register is the same as for the OTP PROG or OTP WRITE commands. By Analog Verification: By sending an ANALOG OTP READ command (#9), pin PROG becomes an output, sending an analog voltage with each clock, representing a sequence of the bits in the OTP register. A voltage of <500mV indicates a correctly programmed bit (“1”) while a voltage level between 2.2V and 3.5V indicates a correctly unprogrammed bit (“0”). Any voltage level in between indicates improper programming. www.austriamicrosystems.com Revision 1.6 16 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Figure 13. Analog OTP Verification +5V VDD VDD Output CS Output DCLK I/O AS5134 Micro Controller VDD DIO 8.0 – 8.5V VSS 100n PROG C2 VSS V VSS Figure 14. Extended Operation Mode (for OTP access only) CMD_PHASE DATA_PHASE_EXTENDED DCLK t0 t1 t9 CS DIO t5 CMD4 t3 DIO HI CMD2 t4 CMD0 CMD t7 t6 t10 t8 D61 D60 DIO t10 t12 D61 D60 READ D0 t11 D0 WRITE AS5134 Status Indicators C2 Status Bit This bit represents the hardware connection of the C2 configuration pin (#15) to determine, which hardware configuration is selected for the AS5134 in question. - C2 = low: Pin C2 is low, indicating that the AS5134 is in 3-wire mode - C2 = high: Pin C2 is high, indicating that the AS5134 is in 2-wire Lock Status Bit The Lock signal indicates, whether the angle information is valid (ADC locked, Lock = high) or invalid (ADC unlocked, Lock = low). To determine a valid angular signal at best performance, the following indicators should be set: Lock = 1 AGC = >00H and < 2FH Note: The angle signal may also be valid (Lock = 1), when the AGC is out of range (00H or 2FH), but the accuracy of the AS5134 may be reduced due to the out of range condition of the magnetic field strength. www.austriamicrosystems.com Revision 1.6 17 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Magnetic Field Strength Indicators The AS5134 is not only able to sense the angle of a rotating magnet, it can also measure the magnetic field strength (and hence the vertical distance) of the magnet. This additional feature can be used for several purposes: - as a safety feature by constantly monitoring the presence and proper vertical distance of the magnet - as a state-of-health indicator, e.g. for a power-up self test - as a pushbutton feature for rotate-and-push types of manual input devices The magnetic field strength information is available in two forms: Magnetic Field Strength Software Indicator The serial data that is obtained by command READ ANGLE contains the 6-bit AGC information. The AGC is an automatic gain control that adjusts the internal signal amplitude obtained from the Hall elements to a constant level. If the magnetic field is weak, e.g. with a large vertical gap between magnet and IC, with a weak magnet or at elevated temperatures of the magnet, the AGC value will be high. Likewise, the AGC value will be lower when the magnet is closer to the IC, when strong magnets are used and at low temperatures. The best performance of the AS5134 will be achieved when operating within the AGC range. It will still be operational outside the AGC range, but with reduced performance especially with a weak magnetic field due to increased noise. Factors Influencing the AGC Value In practical use, the AGC value will depend on several factors: The initial strength of the magnet. Aging magnets may show a reducing magnetic field over time which results in an increase of the AGC value. The effect of this phenomenon is relatively small and can easily be compensated by the AGC. The vertical distance of the magnet. Depending on the mechanical setup and assembly tolerances, there will always be some variation of the vertical distance between magnet and IC over the lifetime of the application using the AS5134. Again, vertical distance variations can be compensated by the AGC. The temperature and material of the magnet. The recommended magnet for the AS5134 is a diametrically magnetized, 5-6mm diameter NdFeB (Neodymium-Iron-Boron) magnet. Other magnets may also be used as long as they can maintain to operate the AS5134 within the AGC range. Every magnet has a temperature dependence of the magnetic field strength. The temperature coefficient of a magnet depends on the used material. At elevated temperatures, the magnetic field strength of a magnet is reduced, resulting in an increase of the AGC value. At low temperatures, the magnetic field strength is increased, resulting in a decrease of the AGC value. The variation of magnetic field strength over temperature is automatically compensated by the AGC. OTP Sensitivity Adjustment To obtain best performance and tolerance against temperature or vertical distance fluctuations, the AGC value at normal operating temperature should be in the middle between minimum and maximum, hence it should be around 100000 (20H). To facilitate the “vertical centering” of the magnet+IC assembly, the sensitivity of the AS5134 can be adjusted in the OTP register in 4 steps. A sensitivity adjustment is recommended, when the AGC value at normal operation is close to its lower limit (around 00H). The default sensitivity setting is 00H = high sensitivity. Any value >00H will reduce the sensitivity. Multi Turn Counter A 9-bit register is used for counting the magnet’s revolutions. With each zero transition in any direction, the output of a special counter is incremented or decremented. The initial value after reset is 0 LSB. The multi turn value is encoded as complement on two. Clockwise rotation gives increasing angle values and positive turn count. Counter clockwise rotation exhibits decreasing angle values and a negative turn count respectively. Bit Code Decimal Value 011111111 256 --- --- 01111111 127 --- --- 00000011 +3 www.austriamicrosystems.com Revision 1.6 18 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Bit Code Decimal Value 00000010 +2 00000001 +1 00000000 0 11111111 -1 11111110 -2 11111101 -3 --- --- 10000000 -128 --- --- 100000000 -255 The counter output can be reset by using command 20 – SET MT Counter. It is immediately reset by the rising clock edge of this bit. Any zero crossing between the clock edge and the next counter readout changes the counter value. High Speed Operation The AS5134 is using a fast tracking ADC (TADC) to determine the angle of the magnet. The TADC is tracking the angle of the magnet with cycle time of 4µs. Once the TADC is synchronized with the angle, it sets the LOCK bit in the status register. In worst case, usually at start-up, the TADC requires up to 255 steps (255 * 4µS = 1020µs) to lock. Once it is locked, it requires only one cycle (4µs) to track the moving magnet. The AS5134 can operate in locked mode at rotational speeds up to min. 30,000 rpm. In Low/Mid Power Mode, the position of the TADC is frozen. It will continue from the frozen position once it is powered up again. If the magnet has moved during the power down phase, several cycles will be required before the TADC is locked again. The tracking time to lock in with the new magnet angle can be roughly calculated as: 4μs∗ NewAngle – OldAngle t LOCK = -------------------------------------------------------------------------1.406 (EQ 1) Where: tLOCK = Time required to acquire the new angle after power up from one of the reduced power modes [µs] OldAngle = Angle position when one of the reduced power modes is activated [º] NewAngle = Angle position after resuming from reduced power mode [º] Propagation Delay The Propagation delay is the time required from reading the magnetic field by the Hall sensors to calculating the angle and making it available on the serial or PWM interface. While the propagation delay is usually negligible on low speeds, it is an important parameter at high speeds. The longer the propagation delay, the larger becomes the angle error for a rotating magnet as the magnet is moving while the angle is calculated. The position error increases linearly with speed. The main factors that contribute to the propagation delay are discussed in detail further in this document. ADC Sampling Rate For high speed applications, fast ADC’s are essential. The ADC sampling rate directly influences the propagation delay. The fast tracking ADC used in the AS5134 with a tracking rate of only 1.4 µs (typ) is a perfect fit for both high speed and high performance. Chip Internal Lowpass Filtering A commonplace practice for systems using analog-to-digital converters is to filter the input signal by an anti-aliasing filter. The filter characteristic must be chosen carefully to balance propagation delay and noise. The lowpass filter in the AS5134 has a cutoff frequency of typ. 23.8kHz and the overall propagation delay in the analog signal path is typ. 15.6µs. www.austriamicrosystems.com Revision 1.6 19 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Digital Readout Rate Aside from the chip-internal propagation delay, the time required to read and process the angle data must also be considered. Due to its nature, a PWM signal is not very usable at high speeds, as you get only one reading per PWM period. Increasing the PWM frequency may improve the situation but causes problems for the receiving controller to resolve the PWM steps. The frequency on the AS5134 PWM output is typ. 1.95kHz with a resolution of 2µs/step. A more suitable approach for high speed absolute angle measurement is using the serial interface. With a clock rate of up to 6MHz, a complete set of data (21bits) can be read in >3.5µs. Total Propagation Delay of the AS5134 The total propagation delay of the AS5134 is the delay in the analog signal path and the tracking rate of the ADC: 15.6µs + 1.4µs = 17µs (EQ 2) If only the SIN-/COS-outputs are used, the propagation delay is the analog signal path delay only (typ. 15.6µs). Position Error Over Speed: The angle error over speed caused by the propagation delay is calculated as: -6 Δθpd = rpm * 6 * 17 * E in degrees (EQ 3) In addition, the anti-aliasing filter causes an angle error calculated as: Δθlpf = ArcTan [rpm / (60 * f0)] (EQ 4) Table 9. Examples of the Overall Position Error caused by Speed (includes both propagation delay and filter delay) Speed (rpm) Total Position Error (Δθpd + Δθlpf) 100 0,0175º 1000 0,175º 10000 1,75º Reduced Power Modes The AS5134 can be operated in two reduced power modes. Both these modes have in common that they switch off or freeze parts of the chip during intervals between measurements. In Low Power Mode or Ultra Low Power Mode, the AS5134 is not operational, but due to the fast start-up, an angle measurement can be accomplished very quickly and the chip can be switched to reduced power immediately after a valid measurement has been taken. Depending on the intervals between measurements, very low average power consumption can be achieved using such a strobed measurement mode. Low/Mid Power Mode: Reduced current consumption, very fast start-up. Ideal for short sampling intervals (<3ms). Power Cycling mode: Zero power consumption (externally switched off) during sampling intervals. Ideal for sampling intervals 200ms. Low/Mid Power Mode The AS5134 can be put in Low/Mid Power Mode by simple serial commands, using the regular connection for 2-wire or 3-wire serial data transmission. www.austriamicrosystems.com Revision 1.6 20 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Figure 15. Low/Mid Power Mode Connection R1 +5V VDD Ion ton toff Ioff VDD VDD on/off C1 S 100n CS N DCLK DIO AS5134 VSS Micro Controller C2 VSS VSS In Low/Mid Power Mode, the AS5134 is inactive. The last state, e.g. the angle, AGC value, etc. is frozen and the chip starts from this frozen state when it resumes active operation. This method provides much faster start-up than a “cold start” from zero. If the AS5134 is cycled between active and reduced current mode, a substantial reduction of the average supply current can be achieved. The minimum dwelling time is <0.5 ms. The actual active time depends on how much the magnet has moved while the AS5134 was in reduced power mode. The angle data is valid, when the status bit LOCK has been set. Once a valid angle has been measured, the AS5134 can be put back to reduced power mode. The average power consumption can be calculated as: I active∗ t on + I powerdown∗ t off I avg = --------------------------------------------------------------------t on + t off sampling interval = ton + toff (EQ 5) Where: Iavg = Average current consumption Iactive = Current consumption in active mode Ipower_down = Current consumption in reduced power mode ton = Time period during which the chip is operated in active mode toff = Time period during which the chip is in reduced power mode Reducing Power Supply Peak Currents An optional RC-filter (R1/C1) may be added to avoid peak currents in the power supply line when the AS5134 is toggled between active and reduced power mode. R1 must be chosen such that it can maintain a VDD voltage of 4.5 – 5.5V under all conditions, especially during long active periods when the charge on C1 has expired. C1 should be chosen such that it can support peak currents during the active operation period. For long active periods, C1 should be large and R1 should be small. Power Cycling Mode The power cycling method shown in Figure 16 cycles the AS5134 by switching it on and off, using an external PNP transistor high side switch. This mode provides the least power consumption of all three modes; when the sampling interval is more than 400ms, as the current consumption in off-mode is zero. It also has the longest start-up time of all modes, as the chip must always perform a “cold start“ from zero, which takes about 1.3 ms. The optional filter R1/C1 may again be added to reduce peak currents in the 5V power supply line. www.austriamicrosystems.com Revision 1.6 21 - 29 AS5134 Data Sheet - D e t a i l e d D e s c r i p t i o n Figure 16. Application Example III: Ultra-low Power Encoder R1 Ion 0 ton toff 10k VDD S DCLK N VDD C1 >1µF CS 100n +5V VDD ton toff DIO on/off Micro Controller AS5134 VSS C2 VSS VSS www.austriamicrosystems.com Revision 1.6 22 - 29 AS5134 Data Sheet - A p p l i c a t i o n I n f o r m a t i o n 8 Application Information Benefits of AS5134 Complete system-on-chip, no angle calibration required Flexible system solution provides absolute serial, ABI, UVW and PWM outputs Ideal for applications in harsh environments due to magnetic sensing principle High reliability due to non-contact sensing Robust system, tolerant to horizontal misalignment, airgap variations, temperature variations and external magnetic fields Figure 17. Typical Arrangement of AS5134 and Magnet AS5134 Parameter and Features List Table 10. Parameter and Features List Parameter AS5134 Supply Voltage 4.5 to 5.5 V Resolution 8.5 bit (360 steps, 1º per step) Incremental outputs (ABI) ABI quadrature: 90 ppr, (default) step/direction: 180 ppr (OTP option) fixed pulse width: 360ppr (tbd) BLDC outputs UVW ; selectable for 1,2,3,4,5,6, pole pairs Absolute output Serial 2-wire (DCLK,DIO) with timeout sync Serial 3-wire (DCLK, CS, DIO) PWM output Daisy Chain mode Available for 2-wire and 3-wire serial modes Automotive qualification AEC Q-100, grade 1 Chip Identifier 18 bit Ambient temperature -40 to +140ºC ESD protection ±2kV Propagation delay (in locked state) Max 22µs Transition noise (rms; 1 sigma) 0.24º Integral Nonlinearity (INL), centered magnet +/-2º www.austriamicrosystems.com Revision 1.6 23 - 29 AS5134 Data Sheet - A p p l i c a t i o n I n f o r m a t i o n Table 10. Parameter and Features List Parameter AS5134 Multiturn Counter 8-bit (+127/-128 turns). Optional: >8-bit (tbd) Automatically updated during active mode at every 360º-/0ºtransition in each rotating direction. The multiturn counter can be accessed over the serial interface and is reset with a power-on-reset. It will be frozen at the last valid state in low power mode. Low power mode Non-operational. Last status is frozen in Low power mode to allow low power consumption and fast startup from low power mode to operating mode. Serial interface is active in low power mode to allow wakeup over the serial interface. PWM, incremental and BLDC outputs are invalid in low power mode, they remain at their last valid state. Current consumption in low power mode: typ. 30µA PWM output 2µs / step. 360º angle range in all modes. Minimum pos. pulse width (@0º) = 16us (8 LSB; tbd) Minimum neg. pulse width (@359º) = 16us (8 LSB; tbd) Pulse width @0º = 16µs, Pause = 736µs Pulse width @1º = 18µs, Pause = 734µs Pulse width @2º = 20µs, Pause = 732µs ……….. Pulse width @359º = 736µs, Pause = 16µs In case of an error (LOCK = Low), the pulse width is 8 µs (4 LSB), pause = 744µs for all angles. Interface hardware Incremental ABI interface: 3 pins BLDC UWV interface: 3 pins Absolute interface: 2 or 3 pins All outputs are available at the same time on separate pins Maximum speed; no missing codes 30,000 rpm Alignment tolerance +/- 0.25 mm (reference to package center) Normal operating Current consumption Typ 14mA; max 22mA Power-Up time ≤1.3 ms from cold start (no AGC), ≤4.1ms from cold start (AGC locked) <0.5ms from low power mode Serial Interface read options 360-step Angle (9-bit), 6-bit AGC, 8-bit Multiturn, ADC Lock, (tbd) Zero Position Programming in OTP Serial interface program options Incremental mode(quad ABI, step/dir) BLDC pole pairs (1,2,3,4,5,6) Zero Position Hall sensor sensitivity Serial interface write options (temporary write; will be lost with POR) Incremental mode(quad ABI, step/dir) BLDC pole pairs (1,2,3,4,5,6) Zero Position Hall sensor sensitivity Multiturn counter reset to 00 Low power mode (on/off) www.austriamicrosystems.com Revision 1.6 24 - 29 AS5134 Data Sheet - A p p l i c a t i o n I n f o r m a t i o n Table 10. Parameter and Features List Parameter AS5134 IC package SSOP-20 magnetic range software indicator Field strength (AGC) readable through digital interface Magnetic input field range [mT] 20 – 80 mT BLDC Outputs BLDC outputs 3 separate digital outputs: U,V,W BLDC pole pair options Selectable for 1,2,3,4,5,6, pole pairs Hysteresis on BLDC outputs Same as incremental output hysteresis Pole pairs Switching position steps 1 60º 2 30º 3 20º 4 15º 5 12º 6 10º Switching positions Incremental Outputs Incremental modes 3 modes: Quad AB with Index (2x90 ppr), Step/direction (1x180 ppr) Fixed pulse width (360ppr, pulse width tbd) Step size 1º Incremental Hysteresis 2LSB (tbd) OTP Programming OTP programming technology Zener Zapping OTP programming options Zero position, Hall sensor sensitivity BLDC pole pairs (1,2,3,4,5,6) Incremental mode (quad AB, step/dir) Redundant Address Chip-Identifier OTP programming method Over serial interface and static 8 - 8.5V Programming voltage at Pin PROG OTP programming verification Digital and Analog www.austriamicrosystems.com Revision 1.6 25 - 29 AS5134 Data Sheet - P a c k a g e D r a w i n g s a n d M a r k i n g s 9 Package Drawings and Markings The device is available in a 20pin SSOP package. Figure 18. 20-pin SSOP Package Drawings A A2 K L A1 b E AYWWIZZ H e AS 5134 PIN 1 Identification X D Table 11. 20-pin SSOP Package Dimensions Symbol mm inch Min Typ Max Min Typ Max A 1.73 1.86 1.99 0.068 0.073 0.078 A1 0.05 0.13 0.21 0.002 0.005 0.008 A2 1.68 1.73 1.78 0.066 0.068 0.070 b 0.25 - 0.38 0.010 - 0.015 D 7.07 7.20 7.33 0.278 0.284 0.289 E 5.20 5.30 5.38 0.205 0.209 0.212 e 0.65 BSC 0.0256 BSC H 7.65 7.80 7.90 0.301 0.307 0.311 K 0º 4º 8º 0º 4º 8º L 0.63 0.75 0.95 0.025 0.030 0.037 X - (10-1)*e + b - - (10-1)e + b - www.austriamicrosystems.com Revision 1.6 26 - 29 AS5134 Data Sheet - P a c k a g e D r a w i n g s a n d M a r k i n g s Recommended PCB Footprint Figure 19. PCB Footprint Table 12. Recommended Footprint Data Symbol mm inch A 9.02 0.355 B 6.16 0.242 C 0.46 0.018 D 0.65 0.025 E 6.31 0.248 www.austriamicrosystems.com Revision 1.6 27 - 29 AS5134 Data Sheet - O r d e r i n g I n f o r m a t i o n 10 Ordering Information The devices are available as the standard products shown in Table 13. Table 13. Ordering Information Model Description Delivery Form Package AS5134ASST min. order quantity 2000pcs Tape&Reel SSOP20 www.austriamicrosystems.com Revision 1.6 28 - 29 AS5134 Data Sheet - O r d e r i n g I n f o r m a t i o n Copyrights Copyright © 1997-2008, austriamicrosystems AG, Schloss Premstaetten, 8141 Unterpremstaetten, Austria-Europe. Trademarks Registered ®. All rights reserved. The material herein may not be reproduced, adapted, merged, translated, stored, or used without the prior written consent of the copyright owner. All products and companies mentioned are trademarks or registered trademarks of their respective companies. Disclaimer Devices sold by austriamicrosystems AG are covered by the warranty and patent indemnification provisions appearing in its Term of Sale. austriamicrosystems AG makes no warranty, express, statutory, implied, or by description regarding the information set forth herein or regarding the freedom of the described devices from patent infringement. austriamicrosystems AG reserves the right to change specifications and prices at any time and without notice. Therefore, prior to designing this product into a system, it is necessary to check with austriamicrosystems AG for current information. This product is intended for use in normal commercial applications. Applications requiring extended temperature range, unusual environmental requirements, or high reliability applications, such as military, medical life-support or life-sustaining equipment are specifically not recommended without additional processing by austriamicrosystems AG for each application. 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Contact Information Headquarters austriamicrosystems AG A-8141 Schloss Premstaetten, Austria Tel: +43 (0) 3136 500 0 Fax: +43 (0) 3136 525 01 For Sales Offices, Distributors and Representatives, please visit: http://www.austriamicrosystems.com/contact www.austriamicrosystems.com Revision 1.6 29 - 29