Features ■ True power-on system ■ Right angled or straight line connector ■ Output over CAN bus ■ Various column mounting proposals Non-Contacting Multiturn Angle Sensor Type 6000 Introduction Bourns® Type 6000 Non-Contacting Multiturn Angle Sensor is based on two magneto-resistive (AMR) sensor chips. Each sensor chip converts an angle position of a permanent magnet into two analog signals (one sine and one cosine signal). A highly efficient algorithm enables estimating the absolute angular position of a drive shaft that is connected to the device. Electrical Connection Specifications Angular Position Range ............................................................. -780 ° to +780 ° Resolution ......................................................................... 0.1 ° Absolute Linearity ........................................................... ±1.4 ° Angular Speed Range ......................................................... -1016 to +1016 °/s Resolution ........................................................................ *4 °/s Data and Control Interface CAN 2.0A (Optional CAN 2.0B) .................. See CAN Protocol Baud Rate ................................................................. 500 kbit/s Data Rate........................................................................10 ms Measure Data Delay ........................................................< 10 ms Adjusting a Zero Position..........................................via CAN bus Calibration Control ....................................................via CAN bus “On Board” Software Update ....................................via CAN bus Automatic Self-Test......................................... See CAN Protocol Power Supply Voltage ............................................+8 V to +16 V Supply Current................................................................... 50 mA Ambient Temperature ........................................ -40 °C to +85 °C 1 2 PBT 3 X 4 X 2:1 Mating Connector: AMP 0-936119-1 (064 MQS 4P PLUG Assembly) Pin No. Pin Assignment 1 GND 2 Supply 3 CAN HIGH 4 CAN LOW * The sensor measures positive and negative speed, but only the absolute value is output in the CAN message CAN Protocol The device sends a CAN message with the measurement data every 10 msec. The layout of the transmitted message is shown below. CAN Transmit Message CAN-ID Kind of Message 0 x 2B0 transmit Byte Bits Signal Destination Unit Measure Range Measure Range (Digit) Offset Resolution (Unit/Digit) Comments 0-1 (0-LB 1-HB) 2 00-15 Absolute angle position Degree -780...+780 57735...7800 0 0,1 16-23 Angle speed Degree/s 0...+1016 0...254 0 4 Fault/not calibrated/ default: 0x7FFF Fault default: 0xFF 3 24-27 0...3 0...3 0 1 3 4 28-31 32-35 Internal status: 111 = Calibrated and OK 101 = Not calibrated 110 = Fault 100 = Fault and not calibrated 000 = Not trimmed Free Message counter 0 0...15 0 0...15 1 4 36-39 Check sum 0...15 0...15 1 Absolute Angle Position: • Signed (integer) • Angle position [degree] = N · 0.1, for 0 < N ≤ 32767 (N - digital value of the message) = (N-65536) · 0.1, for N > 32767 Angle Speed: • Unsigned (char) • Rotation speed [degree/s] = S · 4, for 0 < S ≤ 254 (S - digital value of the message) = 0xFF, for S > 254 Specifications are subject to change without notice. Customers should verify actual device performance in their specific applications. Internal use only Should be incremented by each message Check sum: see below Non-Contacting Multiturn Angle Sensor Type 6000 CAN Protocol (Continued) Rule to build the check sum: The device is also able to receive messages. They are shown below. Temp_result = lower byte (Angle position) XOR higher byte CAN Receive Message CAN-ID Kind of Byte Bits Message 0x7C0 0 0-3 receive 0 4-7 (Angle position) XOR (Angle speed) XOR (Internal status) Check sum = higher nibble (Temp_result) XOR lower nibble (Temp_result) XOR (Message counter) 1 8-14 1 15 Signal Destination Unit Measure Range Measure Resolution Comments Range Offset (Unit/Digit) (Digit) Command word SAS transmit identifier (SAS ID) bits 0-3 SAS transmit identifier (SAS ID) bits 4-10 Free Command Word (CW) Automatic Self-Test CW bit3 0 0 The device checks the angular speed value, which is limited to 1016 degrees per second. If this limit exceeded, the device sends an error message according to the CAN Transmit Message (page 1). CW bit2 CW bit1 0 1 1 0 Other combinations CW bit0 1 1 Instruction Set up the zero position Clear the old zero position Only for internal use Note: To set up a new zero position, first it is necessary to delete the old zero position. Design and Mechanical Interface Housing - Device View 0° + - 50.5 14.5 28 DELIVERING STATUS DIMENSIONS: MM Specifications are subject to change without notice. Customers should verify actual device performance in their specific applications. Non-Contacting Multiturn Angle Sensor Type 6000 Typical Test Results @ R.T. The first graph shows a typical linearity measurement curve taken at room temperature. The second graph shows the deviation (absolute nonlinearity) over four turns of the steering wheel. Output Code and Absolute Linearity 800 0.3 600 0.2 400 0.1 200 0 0 -0.1 -200 -400 -0.2 -600 -0.3 -800 -800 -700 -600 -500 -400 -300 -200 -100 0 100 200 300 400 500 600 700 800 -0.4 -800 -700 -600 -500 -400 -300 -200 -100 0 100 200 300 400 500 600 700 800 Definition of Output Signal According to Rotation of Steering Wheel + TURN LEFT TURN RIGHT - DIGITAL OUTPUT +780 ° 0° +780 ° 0° -780 ° -780 ° STEERING WHEEL ANGLE Europe: Bourns Sensors GmbH Robert-Bosch-Str. 14 D-82054 Sauerlach Phone: +49 (0) 8104 646-0 The Americas: Bourns, Inc. 1660 N. Opdyke Road, Ste. 200 Auburn Hills, MI 48326-2655 USA Phone: +1 248 926-4088 Asia: Bourns, Inc. 10F, No. 146, Sung Jiang Road Taipei, Taiwan, 104 PRC Phone: +886 2 2562-4117 www.bourns.com [email protected] REV. 01/12 Specifications are subject to change without notice. Customers should verify actual device performance in their specific applications