Hardware Documentation D at a S h e e t ® HAL 371x, HAL 372x, HAL 373x Robust Programmable 2D Position Sensor Family with Arbitrary Output Function Edition Oct. 27, 2017 DSH000192_001EN DATA SHEET HAL 371x, HAL 372x, HAL 373x Copyright, Warranty, and Limitation of Liability The information and data contained in this document are believed to be accurate and reliable. The software and proprietary information contained therein may be protected by copyright, patent, trademark and/or other intellectual property rights of TDK-Micronas. All rights not expressly granted remain reserved by TDK-Micronas. TDK-Micronas assumes no liability for errors and gives no warranty representation or guarantee regarding the suitability of its products for any particular purpose due to these specifications. By this publication, TDK-Micronas does not assume responsibility for patent infringements or other rights of third parties which may result from its use. Commercial conditions, product availability and delivery are exclusively subject to the respective order confirmation. Any information and data which may be provided in the document can and do vary in different applications, and actual performance may vary over time. All operating parameters must be validated for each customer application by customers’ technical experts. Any new issue of this document invalidates previous issues. TDK-Micronas reserves the right to review this document and to make changes to the document’s content at any time without obligation to notify any person or entity of such revision or changes. For further advice please contact us directly. Do not use our products in life-supporting systems, military, aviation and aerospace applications! Unless explicitly agreed to otherwise in writing between the parties, TDK-Micronas’ products are not designed, intended or authorized for use as components in systems intended for surgical implants into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the product could create a situation where personal injury or death could occur. No part of this publication may be reproduced, photocopied, stored on a retrieval system or transmitted without the express written consent of TDK-Micronas. TDK-Micronas Trademarks – HAL – 3D HAL Third-Party Trademarks All other brand and product names or company names may be trademarks of their respective companies. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 2 HAL 371x, HAL 372x, HAL 373x DATA SHEET Contents Page Section Title 4 5 6 1. 1.1. 1.2. Introduction Major Applications Features 7 7 2. 2.1. Ordering Information Device-Specific Ordering Codes 9 9 10 10 10 11 13 19 21 23 25 3. 3.1. 3.2. 3.2.1. 3.2.2. 3.2.2.1. 3.2.2.2. 3.3. 3.4. 3.5. 3.6. Functional Description General Function Signal Path and Register Definition Signal Path Register Definition RAM Registers EEPROM Registers Output Linearization NVRAM Register On-board Diagnostic Features SENT Output 27 27 29 29 29 29 30 30 31 31 32 33 38 4. 4.1. 4.2. 4.3. 4.3.1. 4.3.2. 4.3.3. 4.4. 4.5. 4.6. 4.7. 4.8. 4.9. Specifications Outline Dimensions Soldering, Welding, Assembly Sensitive Area Physical Dimension Definition of Magnetic Field Vectors Package Parameters and Position Pin Connections and Short Description Absolute Maximum Ratings Storage and Shelf Life Recommended Operating Conditions Characteristics Magnetic Characteristics 40 40 40 40 41 42 42 5. 5.1. 5.2. 5.3. 5.4. 5.5. 5.6. Application Notes Ambient Temperature EMC and ESD Application Circuit for HAL 3715 and HAL 372x Application Circuit for HAL 3711 and HAL 373x Measurement of a PWM Output Signal of HAL 3711 & HAL 373x Recommended Pad Size SOIC8 Package 43 43 44 45 6. 6.1. 6.2. 6.3. Programming of the Sensor Programming Interface Programming Environment and Tools Programming Information 46 7. Document History TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 3 HAL 371x, HAL 372x, HAL 373x DATA SHEET Robust Programmable 2D Position Sensor Family with Arbitrary Output Function Release Note: Revision bars indicate significant changes to the previous document. 1. Introduction The HAL 37xy family comprises the second generation of sensors using the proprietary Micronas 3D HAL technology. This new family has several members. HAL 372x provides a linear, ratiometric analog output signal with integrated wire-break detection working with pull-up or pull-down resistors. Compared to HAL 372x, the HAL 371x is splitting the 360° measurement range either into four repetitive 90° (MOD 90°) or three 120° (MOD 120°) segments. HAL 373x features digital output formats like PWM and SENT (according to SAE-J2716 release 2010). The digital output format is customer programmable. The PWM output is configurable with frequencies between 0.2 kHz and 2 kHz with up to 12 bit resolution. Conventional planar Hall technology is only sensitive to the magnetic field orthogonal to the chip surface. In addition to the orthogonal magnetic field, HAL 37xy is also sensitive for magnetic fields applied in parallel to the chip surface. This is possible by integrating vertical Hall plates into the standard CMOS process. The sensor cell can measure three magnetic-field components BX, BY, and BZ. This enables a new set of applications for position detection, like wide distance, angle or through-shaft angular measurements. The Table 1–1 below describes the different family members. Table 1–1: HAL 37xy family overview Type Output Format Detectable Field Component HAL 3711 PWM/Modulo BX and BY HAL 3715 Analog/Modulo BX and BY HAL 3725 Analog BX and BY HAL 3726 Analog BY and BZ HAL 3727 Analog BX and BZ HAL 3735 PWM & SENT BX and BY HAL 3736 PWM & SENT BY and BZ HAL 3737 PWM & SENT BX and BZ TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 4 DATA SHEET HAL 371x, HAL 372x, HAL 373x On-chip signal processing calculates the angle from two of the magnetic field components and converts this value to an output signal. Due to the measurement method, the sensor exhibits excellent drift performance over the specified temperature range resulting in a new class of accuracy for angular or linear measurements. Additionally to the built-in signal processing, the sensor features an arbitrary programmable linear characteristic for linearization of the output signal (with up to 33 setpoints). Major characteristics like gain and temperature dependent offset of X/Y- and Z-channel, reference position, phase shift between X/Y- and Z-signal, hysteresis, low-pass filter frequency, output slope, and offset and clamping levels can be adjusted to the magnetic circuitry by programming the non-volatile memory. The sensors contain advanced on-board diagnostic features that enhance fail-safe detection. In addition to standard checks, such as overvoltage and undervoltage detection and wire break, internal blocks such as ROM and signal path are monitored during normal operation. For devices with a selected PWM output, the error modes are indicated by a changing PWM frequency and duty-cycle. For SENT output a dedicated error code will be transmitted. The devices are designed for automotive and industrial applications and operate in a junction temperature range from 40 °C up to 170 °C. The sensors are available in a four-pin leaded transistor package TO92UP, as well as in a SOIC8 package. 1.1. Major Applications Due to the sensor’s versatile programming characteristics and its high accuracy, the HAL 37xy is the optimal system solution for applications such as: – Linear movement measurement, • EGR valve position • Clutch pedal position • Cylinder and valve position sensing – Rotary position measurement, like • Gear selector • Throttle valve position, etc. • Chassis position sensors (ride-height control) with HAL 371x – Joystick – Non-contact potentiometer TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 5 HAL 371x, HAL 372x, HAL 373x DATA SHEET 1.2. Features – Angular and position measurement extremely robust against temperature and stress influence – 12 bit ratiometric linear analog output for HAL 3715/HAL 372x – Modulo 90°/120° for HAL 371x – 0.2 kHz to 2 kHz PWM (up to 12 bit) or 12 bit SENT output for HAL 3711/HAL 373x – Programmable arbitrary output characteristic with up to 33 setpoints – 8 kHz sampling frequency – Operates from 4.5 V up to 5.5 V supply voltage – Operates from 40 °C up to 150 °C ambient temperature – Programming via the sensor’s output pin – Programmable characteristics in a non-volatile memory (EEPROM) with redundancy and lock function – Programmable first-order low-pass filter – Programmable hysteresis on X/Y- or Z-channel – Programmable output gain and offset – X/Y- and Z-channel gain of signal path programmable – Second-order temperature-dependent offset of signal path programmable for X/Y- or Z-channel – Phase shift between X/Y- and Z-channel programmable – Programmable offset before angle calculation block – Programmable output clamping for error band definition – Programmable reference position – Programmable magnetic detection range – 32 bit identification number for customer – 32 bit identification number with TDK-Micronas production information (like X,Y position on production wafer) – On-board diagnostics of different functional blocks of the sensor – Short-circuit protected push-pull output – Over- and reverse voltage protection at VSUP – Under- and overvoltage detection of VSUP – Wire-break detection with pull-up or pull-down resistor – EMC and ESD robust design TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 6 HAL 371x, HAL 372x, HAL 373x DATA SHEET 2. Ordering Information A Micronas device is available in a variety of delivery forms. They are distinguished by a specific ordering code: XXX NNNN PA-T-C-P-Q-SP Further Code Elements Temperature Range Package Product Type Product Group Fig. 2–1: Ordering Code Principle For a detailed information, please refer to the brochure: “Hall Sensors: Ordering Codes, Packaging, Handling”. 2.1. Device-Specific Ordering Codes The HAL 37xy is available in the following package and temperature variants. Table 2–1: Available packages Package Code (PA) Package Type DJ SOIC8-1 UP TO92UP-1 Table 2–2: Available temperature ranges Temperature Code (T) Temperature Range A TJ = 40 °C to +170 °C The relationship between ambient temperature (TA) and junction temperature (TJ) is explained in Section 5.1. on page 40. For available variants for Configuration (C), Packaging (P), Quantity (Q), and Special Procedure (SP) please contact TDK-Micronas. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 7 HAL 371x, HAL 372x, HAL 373x DATA SHEET Table 2–3: Available ordering codes and corresponding package marking Available Ordering Codes Package Marking HAL3711DJ-A-[C-P-Q-SP] 3711A HAL3711UP-A-[C-P-Q-SP] 3711A HAL3715DJ-A-[C-P-Q-SP] 3715A HAL3715UP-A-[C-P-Q-SP] 3715A HAL3725DJ-A-[C-P-Q-SP] 3725A HAL3725UP -A-[C-P-Q-SP] 3725A HAL3726DJ-A-[C-P-Q-SP] 3726A HAL3726UP-A-[C-P-Q-SP] 3726A HAL3727DJ-A-[C-P-Q-SP] 3727A HAL3727UP-A-[C-P-Q-SP] 3727A HAL3735DJ-A-[C-P-Q-SP] 3735A HAL3735UP -A-[C-P-Q-SP] 3735A HAL3736DJ-A-[C-P-Q-SP] 3736A HAL3736UP-A-[C-P-Q-SP] 3736A HAL3737DJ-A-[C-P-Q-SP] 3737A HAL3737UP-A-[C-P-Q-SP] 3737A TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 8 HAL 371x, HAL 372x, HAL 373x DATA SHEET 3. Functional Description 3.1. General Function HAL 371x, HAL 372x and HAL 373x are 2D position sensors based on the Micronas 3D HAL technology. The sensors include two vertical and one horizontal Hall plate with spinning current offset compensation for the detection of X, Y or Z magnetic field components, a signal processor for calculation and signal conditioning of two magnetic field components, protection devices, and a ratiometric linear analog, PWM or SENT output. The spinning current offset compensation minimizes the errors due to supply voltage and temperature variations as well as external package stress. The signal path of HAL 37xy consists of two channels (CH1 and CH2). Depending on the product variant two out of the three magnetic field components are connected to Channel 1 and Channel 2. The sensors can be used for angle measurements in a range between 0° and 360° (end of shaft and through shaft setup) as well as for robust position detection (linear movement or position). The in-system calibration can be utilized by the system designer to optimize performance for a specific system. The calibration information is stored in an on-chip EEPROM. The HAL 37xy is programmable by modulation of the output voltage. No additional programming pin is needed. VSUP Internally stabilized Supply and Protection Devices Temperature Dependent Bias Open-circuit, Overvoltage, Undervoltage Detection Oscillator TEST X/Y/Z Hall Plate D/A Converter A/D DSP X/Y/Z Hall Plate 33 Setpoints Linearization A/D Protection Devices Analog Output OUT PWM/SENT Module EEPROM Memory Temperature Sensor A/D Converter Digital Output Lock Control GND Fig. 3–1: HAL 37xy block diagram TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 9 HAL 371x, HAL 372x, HAL 373x DATA SHEET 3.2. Signal Path and Register Definition 3.2.1. Signal Path fsample CH1_COMP CUST_OFFSET CH1/CH2_GAIN GAIN_CH1 X Channel 1 (CH1) A CUST_OFFSETCH1 Adjusted Values LP D 1st order LP + X + X CUST_OFFSETCH2 BCH2 A LP D 1st order LP Adjusted Values + X Hysteresis BCH1 ANGLE_IN_CH2 ANGLE_IN_CH1 X Angle calculation ANGLE_AMP LP_FILTER + Channel 2 (CH2) GAIN_CH2 Tw (temp.) MAG_LOW MAG_HIGH OUT_ZERO CH2_COMP TADC A ADJ D TADJ MOD 90°/120° D/A scale CI ANGLE_OUT Linearization 33 Setpoints CP D A VOUT ANGLE_OUT DAC MOD_REG (HAL 371x only) OUT_OFFSET SP0 to SP32 CLAMP-HIGH OUT_GAIN CLAMP-LOW PRE_OFFSET SENT SENTOUT PWM PWMOUT PWM FREQUENCY Fig. 3–2: Signal path of HAL 37xy 3.2.2. Register Definition The DSP part of this sensor performs the signal conditioning. The parameters for the DSP are stored in the EEPROM/NVRAM register. Details of the signal path are shown in Fig. 3.2. Terminology: GAIN: name of the register or register value Gain: name of the parameter Blue color: register names The sensor signal path contains two kinds of registers. Registers that are readout only (RAM) and programmable registers EEPROM/NVRAM. The RAM registers contain measurement data at certain steps of the signal path and the EEPROM/NVRAM registers have influence on the sensors signal processing. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 10 DATA SHEET HAL 371x, HAL 372x, HAL 373x 3.2.2.1. RAM Registers TADJ The TADJ register contains the digital value of the sensor junction temperature. It has a length of 16 bit and is binary coded. From the 16 bit only the range between 0 32767 is used for the temperature information. Typically the temperature sensor is calibrated in the way that at 40 °C the register value is 100 LSB and at 160 °C it is 12000 LSB. CH1_COMP and CH2_COMP CH1_COMP and CH2_COMP register contain the temperature compensated magnetic field information of channel 1 and channel 2. Both registers have a length of 16 bit each and are two’s-complement coded. Therefore, the register values can vary between 32768 32767. ANGLE_IN_CH1 and ANGLE_IN_CH2 ANGLE_IN_CH1 and ANGLE_IN_CH2 register contain the customer compensated magnetic field information of channel 1 and channel 2 used for the angle calculation. These registers include already customer phase-shift, gain and offset correction as well as an hysteresis. Both registers have a length of 16 bit each and are two’s-complement coded. Therefore, the register values can vary between 32768 32767. ANGLE_OUT The ANGLE_OUT register contains the digital value of the position calculated by the angle calculation algorithm. It has a length of 16 bit and is binary. From the 16 bit only the range between 0 32767 is used for the position information. Position can either be an angular position (angle) or a virtual angle calculated out of two magnetic field directions in case of linear position measurements. DAC The DAC register contains the digital equivalent of the output voltage, PWM output duty-cycle or the SENT data. It has a length of 16 bit and is binary. From the 16 bit only the range between 0 32767 is used for the position information. Position can either be an angular position (angle) or a virtual angle calculated out of two magnetic field directions in case of linear position measurements. ANGLE_AMP The ANGLE_AMP register contains the digital value of the magnetic field amplitude calculated by the angle calculation algorithm. From mathematical point of view the amplitude can be calculated from the signals in channel 1 and channel 2 (X/Y/Z-components). TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 11 HAL 371x, HAL 372x, HAL 373x DATA SHEET Example: Amplitude = 2 CH1 + CH2 2 The angle calculation algorithm adds a factor of roughly 1.6 to the equation for the magnetic amplitude. So the equation for the amplitude is defined as follows: 2 ANGLE_AMP 1,6 CH1 + CH2 2 DIAGNOSIS The DIAGNOSIS register identifies certain failures detected by the sensor. HAL 37xy performs self-tests during power-up of the sensor and also during normal operation. The result of these self tests is stored in the DIAGNOSIS register. DIAGNOSIS register is a 16 bit register. Table 3–1: Bit definition of the DIAGNOSIS register Bit no. Function Description 15:10 None Reserved 9 DAC Output High Clamping This bit is set to 1 in case that the high clamping value of the DAC is reached. 8 DAC Output Low Clamping This bit is set to 1 in case that the low clamping value of the DAC is reached. 7 Channel 1 Clipping 6 Channel 2 Clipping These bits are set to 1 in case that the A/D converter in channel 1 and/or 2 detects an under- or overflow 5 DSP Self Test The DSP is doing the internal signal processing like angle calculation, temperature compensation, etc. This bit is set to 1 in case that the DSP self test fails. (continuously running) 4 EEPROM Self Test This bit is set to 1 in case that the EEPROM self-test fails. (Performed during power-up or continuously running). Bit for diagnosis latching must be set to 1. 3 ROM Check This bit is set to 1 in case that ROM parity check fails. (continuously running). 2 None Reserved 1 MAGHI This bit is set to 1 in case that the magnetic field is exceeding the MAG-HI register value (magnetic field to high) 0 MAGLO This bit is set to 1 in case that the magnetic field is below the MAG-LOW register value (magnetic field to low) Details on the sensor self tests can be found in Section 3.5. on page 23. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 12 HAL 371x, HAL 372x, HAL 373x DATA SHEET PROG_DIAGNOSIS The PROG_DIAGNOSIS register allows the customer to identify errors occurring during programming and writing of the EEPROM or NVRAM. The customer must check the first and second acknowledge. It is mandatory to activate the Diagnosis Latch bit during end of line testing. Additionally, CLAMP-LOW must be set to 100% in case of HAL 3711 and HAL 373x. Otherwise programming errors will not be indicated by the second acknowledge. To enable debugging of the production line it is recommended to read back the PROG_DIAGNOSIS register and the DIAGNOSIS register in case of a missing second acknowledge. Please check the “HAL 37xy, HAR 37xy User Manual” for further details. The PROG_DIAGNOSIS register is a 16 bit register. The following table shows the different bits indicating certain error possibilities. Table 3–2: Bit definition of the PROG_DIAGNOSIS register Bit no. Function Description 15:11 None Reserved 10 Charge Pump Error This bit is set to 1 in case that the internal programming voltage was too low 9 Voltage Error during Program/Erase This bit is set to 1 in case that the internal supply voltage was too low during program or erase 8 NVRAM Error This bit is set to 1 in case that the programming of the NVRAM failed 5:0 Programming These bits are used for programming the memory 3.2.2.2. EEPROM Registers Note For production and qualification tests it is mandatory to set the LOCK bit after final adjustment and programming. Note Please refer to the “HAL 37xy, HAR 37xy User Manual” for further details on register settings/calculation and programming of the device. Micronas IDs The MIC_ID1 and MIC_ID2 registers are both 16 bit organized. They are read-only and contain TDK-Micronas production information, like X/Y position on the wafer, wafer number, etc. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 13 HAL 371x, HAL 372x, HAL 373x DATA SHEET Customer IDs The CUST_ID1 and CUST_ID2 registers are both 16 bit organized. These two registers can be used to store customer production information, like serial number, project information, etc. CH1/CH2_GAIN CH1/CH2_GAIN can be used to compensate a phase-shift between channel 1 and channel 2. The register has a length of 16 bit. It is possible to make a phase shift correction of 75°. The step size and therefore the smallest possible correction is 0.002°. The register is two’s-complement coded and ranges from 32768 to 32767. The register value is sin function based. Neutral value for this register is zero (no Phase-shift correction). Note In case the phase-shift correction is used, then it is necessary to adapt the settings of GAIN_CH2 too. For details see definition of GAIN_CH2. GAIN_CH1 and GAIN_CH2 GAIN_CH1 and GAIN_CH2 can be used to compensate amplitude mismatches between channel 1 and channel 2. TDK-Micronas delivers pre calibrated sensors with compensated gain mismatch between channel 1 and channel 2. Nevertheless it is possible that due to the magnetic circuit a mismatch between channel 1 and channel 2 gain occurs. This can be compensated with GAIN_CH1 and GAIN_CH2. Both registers have a length of 16 bit and are two’s-complement coded. Therefore, they can have values between 32768 and 32767 (2 2). For neutral settings both register values have to be set to 1 (register value 16384). In case that the phase-shift correction is used it is necessary to change also the gain of channel 2 (see also CH1/CH2_GAIN). If phase-shift correction is used the corresponding register has to be set to 16384 GAIN_CH2 = ---------------------------------------cos Phase-shift Note In case GAIN_CH1 or GAIN_CH2 exceed the range of 2 2 (32768 32767), then it is possible to reduce the gain of the opposite channel for compensation. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 14 DATA SHEET HAL 371x, HAL 372x, HAL 373x CUST_OFFSET CUST_OFFSET can be used to compensate an offset in channel 1 and channel 2. TDK-Micronas delivers pre calibrated sensors. Nevertheless it is possible that due to the magnetic circuit an offset in channel 1 and channel 2 occurs. This can be compensated with CUST_OFFSET. The customer offset can also have a temperature coefficient to follow the temperature coefficient of a magnet. The customer offset consists of a polynomial of second-order represented by the three registers CUST_OFFSET1...3. The customer offset can be added to channel 1 and/or channel 2 by the selection coefficients CUST_OFFSETCH1 and CUST_OFFSETCH2. Additionally these two registers can be used to scale the temperature dependent offset between 0% and 100%. All five registers have a length of 16 bit each and are two’s-complement coded. Therefore, they can have values between 32768 and 32767. HYSTERESIS HYSTERESIS defines the number of digital codes used as an hysteresis on channel 1 and channel 2 before the angle calculation. The purpose of this register is to avoid angle variation on the ANGLE_OUT register and finally on the output signal due to the noise on the ANGLE_IN_CH1 and ANGLE_IN_CH2 signals. The register has a length of 16 bit and is two’s complement number. It is possible to program a hysteresis between 1 LSB and 16383 LSB. The register value itself must be stored as a negative value. The hysteresis function is deactivated by setting the register value to zero. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 15 HAL 371x, HAL 372x, HAL 373x DATA SHEET OUT_ZERO OUT_Zero defines the reference position for the angle output. It can be set to any value of the output range. It is the starting point/reference for the 33 setpoints. OUT_ZERO has a register length of 16 bit and it is two’s-complement coded. Note Before reading ANGLE_OUT it is necessary to set OUT_ZERO to 0. 360° 270° 90° 0° 180° Fig. 3–3: Example definition of zero degree point Secondly this angle can be used to shift the PI discontinuity point of the angle calculation to the maximum distance from the required angular range in order to avoid the 360°-wrapping of the output due to noise. PRE_OFFSET The PRE_OFFSET register allows to shift the angular range to avoid an overflow of the internal 16 bit calculation/signal path. The PRE_OFFSET register has a length of 16 bit and is two’s-complement coded. OUT_GAIN OUT_GAIN defines the gain of the output signal. The register has a length of 16 bit and is two’s-complement coded. OUT_GAIN = 1 is neutral setting and leads to a change of the output signal from 0% to 100% for an angle change from 0° to 360° (if OUT_OFFSET is set to 0). OUT_GAIN can be changed between 64 and 64. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 16 DATA SHEET HAL 371x, HAL 372x, HAL 373x OUT_OFFSET OUT_OFFSET defines the offset of the output signal. The register has a length of 16 bit and is two’s complement coded. OUT_OFFSET = 0 is neutral setting and leads to a change of the output signal from 0% to 200% of full scale for an angle change from 0° to 360° (If OUT_GAIN is set to 1). OUT_OFFSET can be changed between 200% and 200% of full scale. OUT_OFFSET = 0 leads to a voltage offset of 0% of full scale and OUT_OFFSET = 32768 leads to a offset of 200% of VSUP. Clamping Levels (CLAMP-LOW & CLAMP-HIGH) The clamping levels CLAMP_LOW and CLAMP_HIGH define the maximum and minimum output voltage of the analog output. The clamping levels can be used to define the diagnosis band for the sensor output. Both registers have a bit length of 16 bit and are two’s-complemented coded. Both clamping levels can have values between 0% and 100% of full scale. Magnetic Range Check The magnetic range check uses the magnitude output and compares it with an upper and lower limit threshold defined by the registers MAG-LOW and MAG-HIGH. If either low or high limit is exceeded then the sensor will indicate it with an overflow on the sensors output (output high clamping). MAG-LOW MAG-LOW defines the low level for the magnetic field range check function. This register has a length of 16 bit and is two’s complement number. MAG-HIGH MAG-HIGH defines the high level for the magnetic field range check function. This register has a length of 16 bit and is two’s complement number. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 17 HAL 371x, HAL 372x, HAL 373x DATA SHEET Low-Pass Filter With the LP_Filter register it is possible to select different 3 dB frequencies for HAL 37xy. The low-pass filter is a 1st-order digital filter and the register is 16 bit organized. Various typical filter frequencies between 4 kHz (no filter) and 10 Hz are available. 35000 30000 LP_Filter [LSB] 25000 20000 15000 10000 5000 0 0 500 1000 1500 2000 2500 3000 3500 4000 3 dB Frequency [Hz] Fig. 3–4: 3dB filter frequency vs. LP_FILTER codes Modulo Select The MODULO_Select register is only available in HAL 371x. With this register, the customer can switch between Modulo 90° and 120° output. HAL 371x is splitting the 360° measurement range either into four repetitive 90° (MOD 90°) or three 120° (MOD 120°) segments. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 18 HAL 371x, HAL 372x, HAL 373x DATA SHEET 3.3. Output Linearization In certain applications (e.g. through shaft applications or position measurements) it is required to linearize the output characteristic. The resulting output characteristic “value vs. angle/position” is not a linear curve as in the ideal case. But it can be linearized by applying an inverse nonlinear compensation curve. 4 Output Signal [counts] 4 x 10 3 2 1 0 -1 Input signal [counts] -2 Linearized Distorted Compensation -3 -4 -4 -3 -2 -1 0 1 2 3 4 4 x 10 Fig. 3–5: Example for output linearization output For this purpose the compensation curve will be divided into 33 segments with equal distance. Each segment is defined by two setpoints, which are stored in EEPROM. Within the interval, the output is calculated by linear interpolation according to the position within the interval. xnl: non linear distorted input value yl: linearized value remaining error ysn+1 yl ysn xsn xnl xsn+1 input Fig. 3–6: Linearization - detail TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 19 DATA SHEET HAL 371x, HAL 372x, HAL 373x The constraint of the linearization is that the input characteristic has to be a monotonic function. In addition, it is recommended that the input does not have a saddle point or inflection point, i.e. regions where the input is nearly constant. This would require a high density of set points. To do a linearization the following steps are necessary: – Measure output characteristics over full range – Find the inverse (Point-wise mirroring the graph on the bisectrix) – Do a spline fit on the inverse – Insert digital value of set point position into spline fit function for each set point (0, 1024, 2048, , 32768) – Resulting values can be directly entered into the EEPROM TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 20 HAL 371x, HAL 372x, HAL 373x DATA SHEET 3.4. NVRAM Register Customer Setup The CUST_SETUP register is a 16 bit register that enables the customer to activate various functions of the sensor like diagnosis modes, functionality mode, customer lock, communication protocol speed, etc. Table 3–3: Customer Setup Register Bit no. Function Description 15 None Reserved 14 EEPROM Self-Test EEPROM Self-Test Mode 0: Running during Power-Up 1: Continuously 13 Communication speed Communication protocol bit time speed 0: typ. 1 ms 1: typ. 0.25 ms 12 DIGMOD Output format for HAL 3711/HAL 373x devices 0: PWM output 1: SENT output 11:10 PWMFREQ Defines the frequency of the PWM output for HAL 3711/HAL 373x devices only 0: 1 kHz 1: 500 Hz 2: 200 Hz 3: 2 kHz (11 bit) 9:8 Output Short Detection 0: Disabled 1: High & low side over current detect. Error Band = High: OUT = VSUP Error Band = Low: OUT = GND 2: High & low side over current detect. Error Band = High: OUT = GND Error Band = Low: OUT = VSUP 3: Low side over current detection OUT = Tristate in error case 7 Error Band Error band selection for locked devices (Customer Lock bit set). 0: High error band (VSUP) 1: Low error band (GND) The sensor will always go to high error band as long as it is not locked (Customer Lock bit not set). 6 Burn-In Mode 0: Disabled 1: Enabled 5 Functionality Mode 0: Extended 1: Normal (see Section 4.8. on page 33) 4 Communication Mode (POUT) TDK-Micronas GmbH Communication via output pin 0: Disabled 1: Enabled Oct. 27, 2017; DSH000192_001EN 21 HAL 371x, HAL 372x, HAL 373x DATA SHEET Table 3–3: Customer Setup Register, continued Bit no. Function Description 3 Overvoltage Detection 0: Overvoltage detection active 1: Overvoltage detection disabled 2 Diagnosis Latch Latching of diagnosis bits 0: No latching 1: Latched till next POR (power-on reset) 1 Diagnosis 0: Diagnosis errors force output to error band (VSUP) 1: Diagnosis errors do not force output to error band (VSUP) 0 Customer Lock Bit must be set to 1 to lock the sensor memory The Output Short Detection feature is implemented to detect a short circuit between two sensor outputs. The customer can define how the sensor should signalize a detected short circuit (see table above). The time interval in which the sensor is checking for an output short and the detectable short circuit current are defined in Section 4.8. on page 33. This feature should only be used in case that two sensors are used in one module. In case that the Output Short Detection is not active both sensors will try to drive their output voltage and the resulting voltage will be within the valid signal band. Note The Output Short Detection feature is only active after setting the Customer Lock bit and a power-on reset. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 22 DATA SHEET HAL 371x, HAL 372x, HAL 373x 3.5. On-board Diagnostic Features The HAL 37xy features two groups of diagnostic functions. The first group contains basic functions that are always active. The second group can be activated by the customer and contains supervision and self-tests related to the signal path and sensor memory. Diagnostic features that are always active: – Wire break detection for supply and ground line – Undervoltage detection – Thermal supervision of output stage (overcurrent, short circuit, etc.) – EEPROM self-test at power-on Diagnostic features that can be activated by customer: – Continuous EEPROM self-test – ROM parity check – Output signal clamping – A/D converter clipping – Continuous DSP self-test – Magnetic range detection – Overvoltage detection In case of HAL 3715 and HAL 372x, the sensor indicates a fault immediately by switching the output signal to the selected error band in case that the diagnostic mode is activated by the customer. The customer can select if the output goes to the upper or lower error band by setting bit number 7 in the CUST_SETUP register (Table on page 21). An output short drives the output to VSUP, GND or tristate depending of the customer settings as described in Table 3–3 on page 21. Further details can be found in Section 4.8. on page 33. The sensor switches the output to tristate if an overtemperature is detected by the thermal supervision. The sensor switches the output to ground in case of a VSUP wire break and to VSUP in case of a GND wire break. HAL 3711 and HAL 373x indicate a failure by changing the PWM frequency. The different errors are then coded in different duty-cycles. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 23 HAL 371x, HAL 372x, HAL 373x DATA SHEET Table 3–4: Failure indication for HAL 373x Failure Mode Frequency Duty-Cycle EEPROM, ROM and DSP self-test 50% 95% Magnetic field too low 50% 62.5% Magnetic field too high 50% 55% Overvoltage 50% 75% Undervoltage No PWM n.a. A/D converter clipping 50% 70% In case of undervoltage, the PWM signal will be constantly 'high' or 'low' depending on the setting of bit number 7 in the CUST_SETUP register. Default setting is 'high' level. Note In case of an error, the sensor changes the selected PWM frequency. Example: During normal operation the PWM frequency is 1 kHz, in case of an error 500 Hz. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 24 DATA SHEET HAL 371x, HAL 372x, HAL 373x 3.6. SENT Output The SENT (Single-Edge Nibble Transmission) interface of HAL 373x is implemented according to SAE J2716 release 2010-01. Fig. 3–7 shows the general SENT protocol format. Every transmission starts with a low pulse. The signal is transmitted by the sensor as a series of pulses, whereby the data content is evaluated by time interval between falling edges. The SENT telegram consists of a synchronization/calibration period, a status & communication nibble, three data nibbles, and a CRC nibble and a pause period. See Section 4.8. on page 33 for the timing parameters of a telegram. All timing values in a SENT protocol are referenced to the clock tick time ttick. After reset the output is recessive high. The transmission starts with a low pulse of the synchronization phase (Fig. 3–7). Every low pulse has the same length specified by the parameter tnlow. The synchronization period has always the same length of clock cycles. The clock variation is included in the parameter tsync. The following status and data nibbles always start with a low pulse with tnlow. The nibble high time of the status tstat, the data td3,2,1 and the CRC tcrc depends on the transmitted value. Therefore, the message time of a SENT message depends on the tick time and the value which is transmitted by the message. In order to synchronize the SENT messages to the measurement sampling rate an additional pause period is added, which is transmitted after the checksum nibble. The time to transmit one message is calculated by: tmessage = tsync + tstat + td3 + td2 + td1+ tcrc The checksum nibble is a 4 bit CRC of the data nibbles only. The status & communication nibble is not included in the CRC calculation. The CRC is calculated using polynomial x4+x3+x2+1 with seed value of 5. See SAE J2716 for further CRC implementation details. As recommended by the SAE J2716 an additional zero nibble in addition to the 3 data nibbles for the CRC calculation has been implemented. This is a safety measure against common errors in the last data nibble and the checksum. In HAL 373x the transmitted data nibbles are generated based on the DAC register value. Special data codes have been implemented for error indication via the SENT interface. The angular or linear position information is coded in the signal range from 2 ... 4087 LSB in the 12 bit range. Table 3–5 gives an overview on the data nibble content. HAL 373x is not using the status nibble for additional information transmission. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 25 HAL 371x, HAL 372x, HAL 373x DATA SHEET Table 3–5: Data Nibble Content SENT 12-bit value Definition 4092 to 4095 Reserved 4091 Device Error: Device is failing in one of the self tests (EEPROM, ROM, DSP, Overvoltage) 4090 Signal Path Error: MAG-HIGH or -LOW are exceeded, adder overflow or clipping of channel 1 or 2 4089 Reserved 4088 Clamp-High: Upper signal range violation 2 to 4087 Angular or Position information 1 Clamp-Low: Lower signal range violation 0 During Initialization - Power Up The SENT protocol starts after the initialization time of the sensor to ensure valid data after power-up. tnlow tnlow tsync PAUSE (previous telegram) calibr. / synchron. tnibble tnibble status D[11:8] tnibble D[7:4] tnibble D[3:0] tnibble CRC tnibble PAUSE tmessage Fig. 3–7: SENT protocol format with 3 data nibbles and pause period TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 26 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4. Specifications 4.1. Outline Dimensions DETAIL Z x 5 8 Bd E E1 y center of sensitive area L PIN 1 INDEX 4 1 e A4 hx45° D bbb A c b* A1 A2 CO C SEATING PLANE C Z "D" and "E1" are reference data and do not include mold flash or protrusion. Mold flash or protrusion shall not exceed 150 μm per side. * does not include dambar protrusion of 0.1 max. per side 5 0 A4, Bd, x,y=these dimensions are different for each sensor type and are specified in the data sheet 10 mm scale UNIT A A1 A2 b bbb c CO D E E1 e h L Θ mm 1.65 0.25 0.1 1.45 0.4 0.25 0.22 0.1 5.0 4.8 6.0 4.0 3.8 1.27 0.3 0.41 min. 8° max. JEDEC STANDARD ISSUE ITEM NO. F MS-012 ISSUE DATE YY-MM-DD DRAWING-NO. ZG-NO. 09-07-21 06690.0001.4 Bl. 1 ZG001090_Ver.05 © Copyright 2009 Micronas GmbH, all rights reserved Fig. 4–1: SOIC8-1: Plastic Small Outline IC package, 8 leads, gullwing bent, 150 mil Ordering code: DJ Weight approximately 0.076 g TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 27 HAL 371x, HAL 372x, HAL 373x DATA SHEET E1 A2 Bd x Center of sensitive area F1 D1 y A3 1 2 3 4 L F2 b e P A4 c 0 physical dimensions do not include moldflash. A4, Bd, x, y= these dimensions are different for each sensor type and are specified in the data sheet. 2.5 5 mm scale solderability is guaranteed between end of pin and distance F1. Sn-thickness might be reduced by mechanical handling. Due to delivery in ammopack, L is defined by the cutting process of the customer. UNIT A2 A3 b c D1 e E1 F1 F2 P mm 1.55 1.45 0.85 0.42 0.36 5.60 5.50 1.27 5.38 5.28 1.20 0.80 0.60 0.42 0.3x45° JEDEC STANDARD ANSI ISSUE ITEM NO. - - ISSUE DATE YY-MM-DD DRAWING-NO. ZG-NO. 11-07-08 06691.0001.4 ZG001091_001_04 © Copyright 2009 Micronas GmbH, all rights reserved Fig. 4–2: TO92UP: Plastic Transistor Standard UP package, 4 leads Weight approximately 0.22 g TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 28 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4.2. Soldering, Welding, Assembly Information related to solderability, welding, assembly, and second-level packaging is included in the document “Guidelines for the Assembly of Micronas Packages”. It is available on the TDK-Micronas website (https://www.micronas.com/en/service-center/ downloads) or on the service portal (https://service.micronas.com). 4.3. Sensitive Area 4.3.1. Physical Dimension 275 µm x 275 µm 4.3.2. Definition of Magnetic Field Vectors Bz Bx By Fig. 4–3: Definition of magnetic field vectors for SOIC-8 package BZ BX BY FRONT VIEW Fig. 4–4: Definition of magnetic field vectors for TO92-UP package TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 29 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4.3.3. Package Parameters and Position SOIC8-1 TO92UP-1 A4 0.38 mm nominal 0.45 mm nominal Bd 0.3 mm 0.3 mm x 0 mm nominal (center of package) 0 mm nominal (center of package) y 0 mm nominal (center of package) 1.90 mm nominal 4.4. Pin Connections and Short Description Pin No. Pin Name Type Short Description TO92UP Package SOIC8 Package 1 1 VSUP SUPPLY Supply Voltage Pin 2 2 Gnd GND Ground 3 3 TEST IN Test 4 4 OUT I/O Push-Pull Output and Programming Pin 5, 6, 7, 8 NC GND connect to GND 1 VSUP OUT 4 2 GND 3 TEST (5 - 8) Fig. 4–5: Pin configuration Note It is recommended to connect the TEST pin with the GND pin. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 30 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4.5. Absolute Maximum Ratings Stresses beyond those listed in the “Absolute Maximum Ratings” may cause permanent damage to the device. This is a stress rating only. Functional operation of the device at these conditions is not implied. Exposure to absolute maximum rating conditions for extended periods will affect device reliability. This device contains circuitry to protect the inputs and outputs against damage due to high static voltages or electric fields; however, it is advised that normal precautions be taken to avoid application of any voltage higher than absolute maximum-rated voltages to this high-impedance circuit. All voltages listed are referenced to ground (GND). Symbol Parameter Pin No. Min. Max. Unit Condition VSUP Supply Voltage VSUP 20 20 V t < 1 hr3) VOUT Output Voltage VSUP 6 20 V t < 1 hr3) VOUT VSUP Excess of Output Voltage over Supply Voltage OUT, VSUP 2 V IOUT Continuous Output Current OUT 10 10 mA TJ Junction Temperature under Bias 50 190 °C 1)3) TA Ambient Temperature 40 160 °C 4) Tstorage Transportation/Short Term Storage Temperature 55 150 °C Device only without packing material Bmax Magnetic Field - T VESD ESD Protection VSUP, OUT, TEST, GND, NC 4 4 kV 2)3) 1) For 96 h - Please contact TDK-Micronas for other temperature requirements AEC-Q100-002 (100 pF and 1.5 k) 3) No cumulated stress 4) Consider current consumption, mounting condition (e.g. overmold, potting) and mounting situation for TA in relation to TJ 2) 4.6. Storage and Shelf Life Information related to storage conditions of Micronas sensors is included in the document “Guidelines for the Assembly of Micronas Packages”. It gives recommendations linked to moisture sensitivity level and long-term storage. It is available on the TDK-Micronas website (https://www.micronas.com/en/service-center/ downloads) or on the service portal (https://service.micronas.com). TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 31 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4.7. Recommended Operating Conditions Functional operation of the device beyond those indicated in the “Recommended Operating Conditions/Characteristics” is not implied and may result in unpredictable behavior, reduce reliability and lifetime of the device. All voltages listed are referenced to ground (GND). Symbol Parameter Pin No. Min. Typ. Max. Unit Condition VSUP Supply Voltage VSUP 4.5 5.7 5 6.0 5.5 6.5 V Normal Operation During Programming IOUT Continuous Output Current OUT 1.2 1.2 5.5 mA mA HAL 3715 and HAL 372x HAL 3711 and HAL 373x RL Load Resistor OUT 5 10 k HAL 3715 and HAL 372x pull-up & pull-down resistor 1 k HAL 3711 and HAL 373x pull-up resistor CL Load Capacitance OUT 0.33 47 330 1 nF nF HAL 3715 and HAL 372x HAL 3711 and HAL 373x NPRG Number of Memory Programming Cycles1) - - - 100 cycles 0 °C < Tamb < 55 °C BAMP Recommended Magnetic Field Amplitude - 20 - 100 mT TJ Junction Temperature 2) 40 170 °C TA Ambient Temperature 3) 40 150 °C for 1000 hrs 1) The EEPROM is organized in three banks. Each bank contains up to 32 addresses. It is not allowed to program only one single address within one of the three banks. In case of programming one single address the complete bank has to be programmed. 2) Depends on the temperature profile of the application. Please contact TDK-Micronas for life time calculations. 3) Consider current consumption, mounting condition (e.g. overmold, potting) and mounting situation for TA in relation to TJ Note It is also possible to operate the sensor with magnetic fields down to 5 mT. For magnetic fields below 20 mT the sensor performance will be reduced. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 32 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4.8. Characteristics at TA = 40 °C to 150 °C, VSUP = 4.5 V to 5.5 V, GND = 0 V, after programming and locking of the sensor, at Recommended Operation Conditions if not otherwise specified in the column “Conditions”. Typical Characteristics for TJ = 25 °C and VSUP = 5 V. Symbol ISUP tStartup Parameter Pin No. Limit Values Min. Typ. Max. Supply Current over Temperature Range VSUP 8 13 mA Resolution 1) OUT 12 bit 12 bit OUT 1.7 ms CL = 10 nF (see Fig. 4–6 on page 36), LP-FILTER = OFF VSUP 3.3 3.9 4.3 V Functionality Mode: Normal CUST_SETUP register bit 5 3.1 3.7 4.1 V Functionality Mode: Extended CUST_SETUP register bit 5 200 mV 5.6 6.2 6.9 V Functionality Mode: Normal 8.5 9.5 10.4 V Functionality Mode: Extended CUST_SETUP register bit 5 225 mV Start-up Time2) Unit Test Conditions for HAL 3715/HAL 372x ratiometric to VSUP for HAL 3711/HAL 373x (depends on PWM Period) Overvoltage and Undervoltage Detection VSUP,UV Undervoltage Detection Level VSUP,UVhyst Undervoltage Detection Level Hysteresis2) VSUP,OV Overvoltage Detection Level VSUP VSUP,OVhyst VSUP Overvoltage Detection Level VSUP Hysteresis2) Output Voltage in Case of Error Detection VSUP,DIAG Supply Voltage required to get defined Output Voltage Level2) VSUP 2.3 V VError,Low Output Voltage Range of Lower Error Band2) OUT 0 4 %VSUP VSUP > VSUP,DIAG Analog Output 5 k RL200 k VError,High Output Voltage Range of Upper Error Band2) OUT 96 100 %VSUP VSUP > VSUP,DIAG Analog Output 5 k RL 200 k 1) 2) Output behavior see Fig. 4–7 Guaranteed by Design Characterized on small sample size, not tested. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 33 HAL 371x, HAL 372x, HAL 373x DATA SHEET Symbol Parameter Pin No. Limit Values Unit Min. Typ. Max. Test Conditions Output Short Detection Parameter tOCD Over Current Detection Time2) OUT 128 µs tTimeout Time Period without Over Current Detection2) OUT 256 ms IOVC Detectable Output Short Current2) OUT 10 mA OUT 0.312 0.343 ms HAL 3715 and HAL 372x (Analog Output) tOSD Overall Signal Delay1) Overall signal delay from magnetic field input to sensor output. Based on 8 kHz sample frequency DNL Differential Non-Linearity of D/A converter OUT 3 0 3 LSB ER Ratiometric Error of Output over temperature OUT 0.12 0 0.12 % Max of [VOUT5 VOUT4.5 and VOUT5.5 VOUT5] at VOUT = 10% and 90% VSUP % of supply voltage (Error in VOUT/VSUP) INL Non-Linearity of D/A converter OUT 0.1 0 0.1 % VOFFSET D/A converter offset drift over temperature range related to 25 °C 2) OUT 0.2 0 0.2 %VSUP VOUTH Output High Voltage 3) OUT 93 %VSUP RL Pull-up/-down = 5 k VOUTL Output Low Voltage 3) OUT 7 %VSUP RL Pull-up/-down = 5 k VOUTCL Accuracy of Output Voltage at Clamping Low Voltage over Temperature Range 2) OUT 30 0 30 mV VOUTCH Accuracy of Output Voltage at Clamping High Voltage over Temperature Range 2) OUT 30 0 30 mV OUTNoise Output Noise RMS 2)5) OUT 2 5.2 mV Output range 10% to 90% ROUT Output Resistance over Recommended Operating Range OUT 1 10 VOUTLmax VOUT VOUTHmin RL Pull-up/-down = 5 k VSUP = 5V 1) Guaranteed by Design Characterized on small sample size, not tested. 3) Signal band area with full accuracy is located between V OUTL and VOUTH. The sensors accuracy is reduced below VOUTL and above VOUTH 5) 4 kHz digital low-pass filter (LP-Filter = off): 20 mT min. magnetic field amplitude; f BW = 22.5 kHz 2) TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 34 HAL 371x, HAL 372x, HAL 373x DATA SHEET Symbol Parameter Pin No. Limit Values Min. Typ. Max. OUT 0 0 0.15 Unit Test Conditions V VSUP = 5 V Open-Circuit Detection VOUT Output voltage at open VSUP line RL4) = 10 kto 200k 0 0 0.2 V VSUP = 5 V 5 kRL4) < 10k VOUT Output voltage at open GND OUT line 4.85 4.9 5.0 V VSUP = 5 V RL4) = 10 kto 200k 4.8 4.9 5.0 V VSUP = 5 V 5 kRL4) < 10k HAL 3711 and HAL 373x (Digital Output) VOUTH Output High Voltage OUT 4.8 4.9 V VSUP = 5 V RL Pull-up/-down = 5 k VOUTL Output Low Voltage OUT 0.1 0.2 V VSUP = 5 V RL Pull-up/-down = 5 k 0.4 0.65 V 2) VSUP = 5 V RL Pull-up = 1 k trise Rise Time of Digital Output2) OUT 0.2 0.4 µs VSUP = 5 V, RL Pull-up = 1 k, CL = 1 nF tfall Fall Time of Digital Output2) OUT 0.25 0.4 µs VSUP = 5 V, RL Pull-up = 1 k, CL = 1 nF ROUT_DIG On Resistance of Digital Pull-Up Driver OUT 100 200 tstartup Start-up Time OUT 1.3 1.7 ms tOSD Overall Signal Delay1) OUT 0.312 0.343 ms Overall signal delay from magnetic field input to sensor output. Transmission time of selected PWM frequency to be added. Based on 8 kHz sample frequency. OUTNoise Output Noise RMS 2)5) OUT 0.05 0.13 % Output range 100% DC fPWM PWM Frequency OUT 1800 900 450 180 2000 1000 500 200 2200 1100 550 220 Hz Customer programmable JPWM RMS PWM Jitter 2) OUT 1 2 LSB12 fPWM = 1 kHz PWM Output 1) Guaranteed by Design Characterized on small sample size, not tested. 4) RL can be pull-up or pull-down resistor 5) 4 kHz digital low-pass filter (LP-Filter = off): 20 mT min. magnetic field amplitude; f BW = 22.5 kHz 2) TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 35 HAL 371x, HAL 372x, HAL 373x DATA SHEET Symbol Parameter Pin No. Limit Values Unit Min. Typ. Max. Test Conditions SENT Output tstartup Start-up Time OUT 1.3 1.7 ms ttick Clock Tick Time OUT 2.75 µs tnlow Nibble Low Time OUT 5 ttick tsync Calibration / Synchronization Period OUT 56 ttick tnibble Status & Communication Nibble, Data Nibbles and CRC Nibble Period OUT 12 27 ttick tmessage Message Time OUT 116 176 ttick tpause Pause Period Time OUT 12 - 70 ttick 115 K/W Determined with a 1S1P board 110 K/W Determined with a 2S2P board 33 K/W Determined with a 1S1P board 198 K/W Determined with a 1S0P board 146 K/W Determined with a1S1P board 53 K/W Determined with a 1S0P board 38 K/W Determined with a1S1P board tnibble = 12 + [status|data|CRC] SOIC8 Package Rthja Thermal Resistance Junction to Air1) Rthjc Thermal Resistance Junction to Case1) TO92UP Package Rthja Thermal Resistance Junction to Air1) Rthjc Thermal Resistance Junction to Case1) 1) (Self-heating calculation see Section 5.1. on page 40) VSUP VSUP final value VOUT tStartup Fig. 4–6: POR timing TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 36 HAL 371x, HAL 372x, HAL 373x DATA SHEET Vout [V] VSUP,DIAG VSUP,UV 5 VSUP,OV VSUP [V] : Output Voltage will be between VSUP and GND : CUST_SETUP Register Bit no. 7 set to 1 : CUST_SETUP Register Bit no. 7 set to 0 Fig. 4–7: Behavior of HAL 3715 and HAL 372x for different VSUP Voltage [V] 5.0 Typ. 4.2 V Typ. 2.3 V VSUP First PWM period shall be disgarded. Might be invalid. PWM high duty PWM low duty 0 5.0 Error Band = 1 Customer Lock = 1 OUT 0 Drive Low 1/PWMF (2kHz-200Hz) 5.0 Drive High Error Band = X Customer Lock = 0 Or Error Band = 0 Customer Lock = 1 OUT 0 1/PWMF (2kHz-200Hz) tStartup time Start-up behavior customer programmable (high or low) Fig. 4–8: Start-up behavior of HAL 3711 and HAL 373x with PWM output TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 37 HAL 371x, HAL 372x, HAL 373x DATA SHEET 4.9. Magnetic Characteristics at TA = 40 °C to 150 °C, VSUP = 4.5 V to 5.5 V, GND = 0 V, after programming and locking of the sensor, at Recommended Operation Conditions if not otherwise specified in the column “Conditions”. Typical Characteristics for TJ = 25 °C and VSUP = 5 V. Symbol Parameter Pin No. Min. Typ. Max. Unit RANGE Detectable angle range OUT 0 360 ° res Angle resolution OUT 0.09 ° (3604096) Elinxy XY angle linearity error (on output of CORDIC filter) OUT 0.5 0.5 ° Min. BAMP = 30 mT, X/Y angle linearity error over temperature (on output of CORDIC filter) OUT Absolute sensitivity mismatch on raw signals between X/Y and Z channel OUT SenseXYZ Sensitivity of X/Y and Z Hall Plate OUT 118 128 138 LSB/ mT TA =25 C1) SMmX/Y_Z Thermal sensitivity mismatch drift of calibrated signals between X/Y and Z channel OUT 2.5 2.5 % over full temperature range related to 25 C1) SMmXY Thermal sensitivity mismatch drift of calibrated signals between X and Y channel OUT 2 2 % over full temperature range related to 25 C1) OffsetXY Offset of calibrated signals of X or Y channel OUT 20 20 LSB15 TA = 25 C1) Offset of calibrated signal of Z channel OUT OffsetXY Offset drift of calibrated signals of X or Y channel OUT 70 70 LSB15 over full temperature range related to 25 C1) OffsetZ Offset drift of calibrated signals of Z channel OUT 10 10 LSB15 over full temperature range related to 25 C1) SMmXYZlife Relative sensitivity mismatch drift of calibrated signals between X or Y channel and Z channel over life time OUT 1.0 % after 1000 h HTOL1) OffsetXYlife Offset drift of calibrated signals of X or Y channel OUT 30 LSB15 after 1000 h HTOL1) OffsetZlife Offset drift of calibrated signal of Z channel OUT 5 LSB15 after 1000 h HTOL1) Elinxy ASMmX/Y_Z OffsetZ Test Conditions TA = 25 C1) 2) 1.2 1.2 1.7 1.7 3 10 3 +10 ° Min. BAMP = 30 mT1) 2) Min. BAMP = 20 mT1) 2) % % for SOIC8 package for TO92UP package TA = 25 C1) Can be compensated in customer application 12 12 LSB15 TA = 25 C1) Can be compensated in customer application 1) Characterized 2) Calculated on sample base, 3-sigma values, not tested for each device angular error based on characterization and not on single error summation TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 38 DATA SHEET HAL 371x, HAL 372x, HAL 373x Fig. 4–9: Angular error versus magnetic field amplitude over full temperature range for devices using X and Y magnetic field component (for digital output) TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 39 HAL 371x, HAL 372x, HAL 373x DATA SHEET 5. Application Notes 5.1. Ambient Temperature Due to the internal power dissipation, the temperature on the silicon chip (junction temperature TJ) is higher than the temperature outside the package (ambient temperature TA). TJ = TA + T The maximum ambient temperature is a function of power dissipation, maximum allowable die temperature and junction to ambient thermal resistance (Rthja). With a maximum of 5.5 V operating supply voltage the power dissipation P is 0.0825 W per die. The junction to ambient thermal resistance Rthja is specified in Section 4.8. on page 33. The difference between junction and ambient air temperature is expressed by the following equation: At static conditions and continuous operation, the following equation applies: T = P * RthjX The X represents junction to air or case point. Note The calculated self-heating of the device is only valid for the Rth test boards. Depending on the application setup the final results in an application environment might deviate from those values. 5.2. EMC and ESD Please contact TDK-Micronas for detailed information on EMC and ESD results. 5.3. Application Circuit for HAL 3715 and HAL 372x For EMC protection, it is recommended to connect one ceramic 47 nF capacitor each between ground and the supply voltage, respectively the output voltage pin. VSUP HAL 3715 47 nF OUT HAL 372x 47 nF GND Fig. 5–1: Recommended application circuit for HAL 3715 and HAL 372x Note It is recommended to connect the TEST pin with the GND pin. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 40 HAL 371x, HAL 372x, HAL 373x DATA SHEET 5.4. Application Circuit for HAL 3711 and HAL 373x PWM Output In case of PWM output mode, it is recommended to connect one ceramic 47 nF capacitor between ground and the supply voltage and one ceramic 1 nF capacitor between the output pin and ground for EMC protection. VSUP OUT HAL373x 47 nF 1 nF GND Fig. 5–2: Recommended application circuit for HAL 3711 and HAL 373x in PWM mode SENT Output In case of SENT output mode, it is recommended to connect one ceramic 47 nF capacitor between ground and the supply voltage and a filter structure at the output pin for EMC protection as well for having a SENT standard compliant output slew rate. Following two setups have been tested: – C01 = 180 pF, C02 = 2.2 nF, R01 = 120 – C01 = 180 pF, C02 = 3.3 nF, R01 = 180 47 nF VSUP R01 OUT HAL 373x C02 C01 GND Fig. 5–3: Recommended application circuit for HAL 373x Note It is recommended to connect the TEST pin with the GND pin. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 41 HAL 371x, HAL 372x, HAL 373x DATA SHEET 5.5. Measurement of a PWM Output Signal of HAL 3711 & HAL 373x In case of the PWM output, the magnetic field information is coded in the duty cycle of the PWM signal. The duty cycle is defined as the ratio between the high time “s” and the period “d” of the PWM signal (see Fig. 5–4). Note The PWM signal is updated with the rising edge. Hence, for signal evaluation, the trigger-level must be the rising edge of the PWM signal. Out d s VHigh VLow time Update Fig. 5–4: Definition of PWM signal 5.6. Recommended Pad Size SOIC8 Package 2.200 0.600 1.270 5.200 Dimensions in mm TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 42 HAL 371x, HAL 372x, HAL 373x DATA SHEET 6. Programming of the Sensor HAL 37xy features two different customer modes. In Application Mode the sensors provide a ratiometric analog output voltage or a digital output signal (PWM or SENT). In Programming Mode it is possible to change the register settings of the sensor. After power-up the sensor is always operating in the Application Mode. It is switched to the Programming Mode by a pulse at the sensor output pin. 6.1. Programming Interface In Programming Mode HAL 37xy is addressed by modulating a serial telegram on the sensors output pin. Both sensors answer with a modulation of the output voltage. A logical “0” is coded as no level change within the bit time. A logical “1” is coded as a level change of typically 50% of the bit time. After each bit, a level change occurs (see Fig. 6–1). The serial telegram is used to transmit the EEPROM content, error codes and digital values of the angle information from and to the sensor. tbittime tbittime or logical 0 tbittime tbittime or logical 1 50% 50% 50% 50% Fig. 6–1: Definition of logical 0 and 1 bit A description of the communication protocol and the programming of the sensor is available in a separate document (HAL/HAR 37xy Programming Guide). TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 43 HAL 371x, HAL 372x, HAL 373x DATA SHEET Table 6–1: Telegram parameters (All voltages are referenced to GND.) Symbol Pin No. Limit Values Min. Typ. Max. Voltage for Output Low Level during Programming through Sensor Output Pin OUT 0 0.2*VSUP V Voltage for Output High Level during Programming through Sensor Output Pin OUT VSUPProgram VSUP Voltage for EEPROM & NVRAM programming (during Programming) VSUP tbittime Protocol Bit Time OUT VOUTL VOUTH Parameter Slew rate OUT Unit Test Conditions 0 1 V 0.8*VSUP VSUP V for VSUP = 5 V 4 5.0 V for VSUP = 5 V 5.7 6.0 6.5 V Supply voltage for bidirectional communication via output pin as well as for 3-wire communication via supply voltage modulation 900 225 1000 250 1100 275 µs µs 2 V/µs Cust. programmable, TJ = 25 °C Bit 13 of Customer Setup = 0 Bit 13 of Customer Setup = 1 6.2. Programming Environment and Tools For the programming of HAL 37xy during product development a programming tool including hardware and software is available on request. It is recommended to use the Micronas tool kit (USB kit and Lab View Programming Environment) in order to facilitate the product development. The details of programming sequences are also available on request. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 44 HAL 371x, HAL 372x, HAL 373x DATA SHEET 6.3. Programming Information For production and qualification tests, it is mandatory to set the LOCK bit to one and the POUT bit to zero after final adjustment and programming of HAL 37xy. Before locking the device, it is recommended to read back all register values to ensure that the intended data is correctly stored in the sensor’s memory. Alternatively, it is also possible to cross-check the sensor output signal with the intended output behavior. The success of the LOCK process shall be checked by reading the status of the LOCK bit after locking. It is also mandatory to check the acknowledge (first and second) of the sensor after each write and store sequence to verify if the programming of the sensor was successful. Additionally it is mandatory to set the Diagnosis Latch bit to ensure that programming errors are indicated by the second acknowledge. Additionally, CLAMP-LOW must be set to 100% in case of HAL 3711 and HAL 373x. This bit must be set back to zero to avoid unintended error indication during normal operation of the device. To enable debugging of the production line, it is recommended to read back the PROG_DIAGNOSIS register and the DIAGNOSIS register in case of a missing second acknowledge. Please check HAL/HAR 37xy Programming Guide for further details. Electrostatic Discharges (ESD) may disturb the programming pulses. Please take precautions against ESD. Note Please check also the “HAL 37xy, HAR 37xy User Manual” and relevant documentation for the USB-Kit. It contains additional information and instructions about the programming of the devices. TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 45 DATA SHEET HAL 371x, HAL 372x, HAL 373x 7. Document History 1. Advance Information: “HAL 372x, HAL 373x” Robust Programmable 2D Position Sensor Family with Arbitrary Output Function”, Oct. 10, 2013, AI000171_001EN. First release of the advance information. 2. Advance Information: “HAL 3715, HAL 372x, HAL 373x Robust Programmable 2D Position Sensor Family with Arbitrary Output Function”, June 26, 2014, AI000171_002EN. Second release of the advance information. Major changes: – HAL 3715 added to the document – Update of customer NVRAM table – Adaptation of parameter Y for SOIC-8 package – Adaptation of parameter L for TO92-UP package drawing – Recommended application circuit for SENT output mode added – Update of SENT interface timing 3. Preliminary Data Sheet: “HAL 3715, HAL 372x, HAL 373x Robust Programmable 2D Position Sensor Family with Arbitrary Output Function”, Feb. 2, 2015, PDI000217_001EN. First release of the preliminary data sheet. Major changes: – SOIC8 package drawing updated – Magnetic characteristics table completed – Electrical characteristics table completed 4. Data Sheet: “HAL 371x, HAL 372x, HAL 373x Robust Programmable 2D Position Sensor Family with Arbitrary Output Function”, Oct. 27, 2017, DS000192_001EN. First release of the data sheet. Major changes: – Update of signal path diagram – Recommendation added to connect TEST pin with GND pin – Typing error in electrical characteristics table for parameter fPWM corrected – Max. load capacitance for analog output reduced to 330 nF – Product shelf life recommendations modified – Ambient temperature specification added – HAL 3711 device added – Additional information about programming of the device added – Change of some characteristics (like noise, signal path delay,...) – Chart added showing the start-up behavior of HAL 3711 and HAL 373x – Chart with showing start-up behavior of HAL 3715 and HAL 372x updated – Removal of specification for sensitivity drift of vertical and horizontal Hall-Plates – Ammopack drawing removed. This is part of the document “Sensors and Controllers: Ordering Codes, Packaging, Handling”. TDK-Micronas GmbH Hans-Bunte-Strasse 19 D-79108 Freiburg P.O. Box 840 D-79008 Freiburg, Germany Tel. +49-761-517-0 Fax +49-761-517-2174 E-mail: [email protected] Internet: www.micronas.com TDK-Micronas GmbH Oct. 27, 2017; DSH000192_001EN 46