User Manual – AS5x40/AS5x45-AB-v2.1 AS5x40/AS5x45 10-bit Rotary Position Sensor with Digital Angle (Interface), ABI, UVW and PWM output www.ams.com Revision 1.4 / 09.08.2013 page 1/16 User Manual – AS5x40/AS5x45 – AB – 2.1 Table of Contents 1 General Description ............................................................................................................. 3 2 The AS5040 adapter board .................................................................................................. 3 2.1 Board description ................................................................................................................. 3 2.2 Mounting the AS5040 adapter board ................................................................................... 4 3 AS5040 Adapterboard and pinout ........................................................................................ 6 4 Operation cases ................................................................................................................... 8 4.1 Standalone SSI output mode ............................................................................................... 8 4.2 Standalone PWM output mode ............................................................................................ 9 4.3 Standalone incremental Output ......................................................................................... 10 4.4 Daisy chain mode ............................................................................................................... 12 5 Programming the AS5040 .................................................................................................. 13 6 AS5040 differences to AS5045 .......................................................................................... 14 7 AS5040 AB-Hardware ........................................................................................................ 15 7.1 AS5040-AB-2.1 schematics ............................................................................................... 15 7.2 AS5040 – AB – 2.1 PCB layout ......................................................................................... 15 8 Copyright ............................................................................................................................ 16 9 Disclaimer .......................................................................................................................... 16 10 Contact Information ............................................................................................................ 16 Revision History Revision Date 1.0 01.10.2009 1.3 05.07.2013 azen Updated to new template 1.4 09.08.2013 azen Minor corrections www.ams.com Owner Description Initial revision Revision 1.4 / 09.08.2013 page 2/16 User Manual – AS5x40/AS5x45 – AB – 2.1 1 General Description The AS5x40/AS5x45 series are contactless magnetic position sensors for accurate angular measurement over a full turn of 360°. They are system-on-chip, combining integrated Hall elements, analog front end and digital signal processing in a single device. To measure the angle, only a simple two-pole magnet, rotating over the center of the chip, is required. The magnet may be placed above or below the IC. (See Figure 1:) Figure 1: Rotary Position Sensor AS5040 + Magnet 2 The AS5040 adapter board The AS5040 adapter board is a simple circuit allowing test and evaluation of the AS5x40/AS5x45 position sensor without building a test fixture or PCB. 2.1 Board description The PCB can be used as standalone unit or attached to a microcontroller. The standalone operation requires a 5V power supply only; the magnet’s angle can be read on the PWM or analog output. (See Figure 2:). www.ams.com Revision 1.4 / 09.08.2013 page 3/16 User Manual – AS5x40/AS5x45 – AB – 2.1 Figure 2: AS5040 Adapterboard AS5x40/AS5x45magnetic position sensor J1 connector (Prg, power supply, serial interface) J2 connector (PWM, incremental and status output) 4 x 2.6mm mounting holes 2.2 Mounting the AS5040 adapter board A diametric magnet must be placed over on under the AS5x40/AS5x45 sensor and should be centered on the middle of the package with a tolerance of 0.5mm. The airgap between the magnet and the sensor casing should be maintained in the range 0.5mm~2mm. The magnet holder must not be ferromagnetic. Materials as brass, copper, aluminum, stainless steel are the best choices to make this part. (See Figure 3:) www.ams.com Revision 1.4 / 09.08.2013 page 4/16 User Manual – AS5x40/AS5x45 – AB – 2.1 Figure 3: AS5040 adapter board mounting and dimension Magnet 0.5~2mm AS5x4x 22mm B A Mag Mag GND DEC INC J2 PWM Ind 5V 3V3 CSn CLK DO GND 4x2.6mm Diametral Magnet N AS5040 S 11mm 28mm J1 Prg 18mm www.ams.com Revision 1.4 / 09.08.2013 page 5/16 User Manual – AS5x40/AS5x45 – AB – 2.1 3 AS5040 Adapterboard and pinout The Adapterboard Pinout is shown below. Figure 4: AS5040 adapter board connectors and sensor pinout A Prg 3V3 CSn CLK DO GND J1 5V Mag Mag GND DEC INC AS5x40-AB-2.1 AS5x45-AB-2.1 AS5040 MagINCn 1 16 VDD5V MagDECn 2 15 VDD3V3 A_LSB_U 3 14 NC B_Dir_V 4 13 NC NC 5 12 PWM_LSB Index_W 6 11 CSn VSS 7 10 CLK Prog 8 9 DO AS5x40/ AS5x45 B J2 PWM Ind Table 1: Pin description Pin# Board Pin# AS5x40 AS5x45 Symbol Board Type Description JP1 - 1 7 GND S JP1 - 2 9 DO DO_T Data Output of Synchronous Serial Interface JP1 - 3 10 CLK DI_ST Clock Input of Synchronous Serial Interface; Schmitt-Trigger input JP1 - 4 11 CSn DI_PU_ST JP1 - 5 15 3V3 S 3V-Regulator Output JP1 - 6 16 5V S 5V Supply JP1 - 7 8 Prg DI_PD JP2 - 1 7 GND S JP2 - 2 1 MagINC DO_OD Magnet Field Magnitude INCrease; active low, indicates a distance reduction between the magnet and the device surface. JP2 - 3 2 MagDEC DO_OD Magnet Field Magnitude DECrease; active low, indicates a distance increase between the device and the magnet JP2 - 4 3 A DO www.ams.com Supply ground Chip Select, active low; Schmitt-Trigger input, internal pull-up resistor (~50k) connect to VSS in incremental mode OTP Programming Input and Data Input for Daisy Chain mode. Internal pulldown resistor (~74k). May be connected to VSS if programming is not used Supply ground AS5040 – AS5140 – AS5145 (programmed) only Mode1.x: Quadrature A channel Mode2.x: Least Significant Bit Revision 1.4 / 09.08.2013 page 6/16 User Manual – AS5x40/AS5x45 – AB – 2.1 Pin# Board Pin# Symbol AS5x40 Board AS5x45 Type Description Mode3.x: U signal (phase1) JP2 - 5 4 B DO AS5040 – AS5140 – AS5145 (programmed) only Mode1.x: Quadrature B channel quarter period shift to channel A. Mode2.x: Direction of Rotation Mode3.x: V signal (phase2) JP2 - 6 6 Ind DO AS5040 – AS5140 – AS5145 (programmed) only Mode1.x and Mode2.x : Index signal indicates the absolute zero position Mode3.x: W signal (phase3) AS5045 – AS5145 (unprogrammed) Mode input, connect to VDD5 (Fast mode) or GND (Slow mode); do not change during operation JP2 - 7 12 PWM DO Pulse Width Modulation of approx. 1kHz; LSB in Mode3.x Pin types: www.ams.com DO_OD digital output open drain S DI_PD digital input pull-down DO_T digital output /tri-state DI_PU digital input pull-up ST schmitt-trigger input DI digital input DO digital output Revision 1.4 / 09.08.2013 supply pin page 7/16 User Manual – AS5x40/AS5x45 – AB – 2.1 4 Operation cases The most complete and accurate solution for a MCU to read the angle of a magnet is the serial interface. 4.1 Standalone SSI output mode The serial word contains 16 bits for AS5x40 or 18 bits for AS5x45 and consists of 10 bit (AS5x40) or 12 bit (AS5x45) angle value and some other indicator bits like MagINC, MagDEC, which can be read at the same time. Figure 5: Using the analog output with the adapter board MCU VDDp out B A in Mag Mag GND DEC INC J2 PWM Ind out Prg 5V 3V3 CSn CLK DO GND J1 +5V GND GND Regulated Power Supply OR +3V3 GND 3.3V reg. Power Supply N AS5040 S www.ams.com Revision 1.4 / 09.08.2013 page 8/16 User Manual – AS5x40/AS5x45 – AB – 2.1 4.2 Standalone PWM output mode The AS5040 provides a pulse width modulated output (PWM), whose duty cycle is proportional to the measured angle. The PWM signal (J2 pin #7) with a period of 1025us (1us step) and 5V pulse voltage can be connected to the capture/timer input of a microcontroller in order to decode the angle value. Figure 6: Using the PWM output with the adapter board MCU VDDp in B A Mag Mag GND DEC INC J2 PWM Ind Prg 5V 3V3 CSn CLK DO GND J1 +5V GND Regulated Power Supply GND N AS5040 S www.ams.com Revision 1.4 / 09.08.2013 page 9/16 User Manual – AS5x40/AS5x45 – AB – 2.1 Figure 7: PWM duty cycle depending on magnet position Angle PWMIN 0 deg (Pos 0) 1µs 1025µs PWMAX 359.65 deg (Pos 1023) 1024µs 4.3 Standalone incremental Output Three different incremental output modes are possible with quadrature A/B being the default mode (two-channel quadrature, step / direction incremental signal (LSB) and the direction bit in clockwise (CW) and counter-clockwise (CCW) direction. The pre-programmed version AS5145-I10 provides a 10bit and AS5145-I12 a 12bit incremental output. The AS5045 doesn’t provide an incremental output. For further information, please refer to the datasheet. www.ams.com Revision 1.4 / 09.08.2013 page 10/16 User Manual – AS5x40/AS5x45 – AB – 2.1 Figure 8: Using the Incremental output with the adapter board MCU VDDp in B A Mag DEC Mag GND INC J2 PWM Ind in in Prg 5V 3V3 CSn CLK DO GND J1 +5V GND Regulated Power Supply GND N AS5040 S www.ams.com Revision 1.4 / 09.08.2013 page 11/16 User Manual – AS5x40/AS5x45 – AB – 2.1 4.4 Daisy chain mode By using more than one adapter board, a setup in daisy chain mode is possible. Note: In this mode capacitor C3 (refer to Fig.12) must be disconnected when using the 1nF capacitor shown in Fig.9 or directly replaced by this capacitor. The serial data of all connected devices is read from the DO pin of the first device in the chain. The Prog pin of the last device in the chain should be connected to VSS. The length of the serial bit stream increases with every connected device (board) by n * (16+1) bits. Due to R = 100R and C = 1nF, the CLK is limited the maximum 1MHz. Figure 9: Using Daisy-Chain mode with the adapter board MCU VDDp out in out +5V Ind B A Mag DEC GND Mag GND INC Regulated Power Supply J2 PWM 5V 3V3 CSn CLK DO GND J1 Prg N AS5040 S 100R Ind B A Mag DEC Mag GND INC J2 PWM 1nF 5V 3V3 CSn CLK DO GND J1 Prg N AS5040 S next Board www.ams.com Revision 1.4 / 09.08.2013 page 12/16 User Manual – AS5x40/AS5x45 – AB – 2.1 5 Programming the AS5040 After power-on, programming the AS5040 is enabled with the rising edge of CSn with Prog = high and CLK = low. 16 bit configuration data must be serially shifted into the OTP register via the Prog-pin. The first “CCW” bit is followed by the zero position data (MSB first / 10 bit for AS5x40 and 12 bit for AS5x45) and some mode settings (please refer to datasheet). Data must be valid at the rising edge of CLK. After writing data into the OTP register it can be permanently programmed by rising the Prog pin to the programming voltage VPROG of 7.3-7.5V. 16 CLK pulses must be applied to program the fuses. For exiting the programming mode, the chip must be reset by a power-on-reset. The programmed data is available after the next power-up. Figure 10: Programming the AS5040 MCU VDDp out out Ind B A 5V 3V3 Mag DEC Mag GND INC J2 PWM out Prg CSn CLK DO GND J1 +5V GND Regulated Power Supply N AS5040 S www.ams.com Revision 1.4 / 09.08.2013 page 13/16 User Manual – AS5x40/AS5x45 – AB – 2.1 6 AS5040 differences to AS5045 The Table below shows the differences between AS5040 and AS5045 Table 2: Differences AS5040/ AS5045 Building Block AS5045 AS5040 Resolution 12bits, 0.088°/step. 10bit, 0.35°/step Data length read: 18bits (12bits data + 6 bits status) OTP write: 18 bits (12bits zero position + 6 bits mode selection) read: 16bits (10bits data + 6 bits status) OTP write: 16 bits (10bits zero position + 6 bits mode selection) incremental encoder Not used Pin 3: not used Pin 4:not used quadrature, step/direction and BLDC motor commutation modes Pin 3:incremental output A_LSB_U Pin 4:incremental output B_DIR_V Pins 1 and 2 MagINCn, MagDECn: same feature as AS5040, additional OTP option for redyellow-green magnetic range MagINCn, MagDECn indicate in-range or out-of-range magnetic field plus movement of magnet in z-axis Pin 6 MODE pin, switch between fast and slow mode Pin 6:Index output Pin 12 PWM output: frequency selectable by OTP: 1µs / step, 4096 steps per revolution, f=244Hz 2µs/ step, 4096 steps per revolution, f=122Hz PWM output: 1µs / step, 1024 steps per revolution, 976Hz PWM frequency sampling frequency selectable by MODE input pin: 2.5kHz, 10kHz fixed at 10kHz @10bit resolution Propagation delay 384µs (slow mode) 96µs (fast mode) 48µs Transition noise (rms; 1sigma) 0.03 degrees max. (slow mode) 0.06 degrees max. (fast mode) 0.12 degrees OTP programming options zero position, rotational direction, PWM disable, 2 Magnetic Field indicator modes, 2 PWM frequencies zero position, rotational direction, incremental modes, index bit width www.ams.com Revision 1.4 / 09.08.2013 page 14/16 User Manual – AS5x40/AS5x45 – AB – 2.1 7 AS5040 AB-Hardware Below the schematic and layout can be found. 7.1 AS5040-AB-2.1 schematics Figure 11: AS5040-AB-2.1-Schematics 1 2 3 4 5 6 J2 PWM Index B A MagDECn MagINCn A 7 6 5 4 3 2 1 GND A Header 7 3.3V 5V U1 B MagINCn MagDECn A B Index GND PROG C3 1 2 3 4 5 6 7 8 MagINCn VDD5V MagDECn VDD3V3 A_LSB_U nc B_DIR_V nc nc PWM_LSB Index_W CSn VSS CLK Prog DO 16 15 14 13 12 11 10 9 J1 C1 PWM CSn CLK DO GND C2 10u/10V 10u/10V 3.3V 5V GND AS5040 C B 1 2 3 4 5 6 7 DO CLK CSn PROG Header 7 100n C GND Title AS5040-AB-2.0 Size D AS5040 – AB – 2.1 PCB layout 7.2 1 2 Figure 12: AS5040-AB-2.1-Layout www.ams.com 3 Number Revision 2.0 A Date: File: D 28.08.2013 Sheet of Y:\AS5040\..\AS5040-AB-2.0.SchDoc Drawn By: 4 Revision 1.4 / 09.08.2013 5 6 page 15/16 User Manual – AS5x40/AS5x45 – AB – 2.1 8 Copyright Copyright ams AG, Tobelbader Strasse 30, 8141 Unterpremstätten, 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. 9 Disclaimer Devices sold by ams AG are covered by the warranty and patent indemnification provisions appearing in its Term of Sale. ams AG makes no warranty, express, statutory, implied, or by description regarding the information set forth herein. ams 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 ams AG for current information. This product is intended for use in 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 ams AG for each application. This Product is provided by ams “AS IS” and any express or implied warranties, including, but not limited to the implied warranties of merchantability and fitness for a particular purpose are disclaimed. ams AG shall not be liable to recipient or any third party for any damages, including but not limited to personal injury, property damage, loss of profits, loss of use, interruption of business or indirect, special, incidental or consequential damages, of any kind, in connection with or arising out of the furnishing, performance or use of the technical data herein. No obligation or liability to recipient or any third party shall arise or flow out of ams AG rendering of technical or other services. 10 Contact Information Headquarters ams AG Tobelbader Strasse 30 8141 Unterpremstaetten Austria T. +43 (0) 3136 500 0 For Sales Offices, Distributors and Representatives, please visit: http://www.ams.com/contact www.ams.com Revision 1.4 / 09.08.2013 page 16/16