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AS5047D
14-Bit On-Axis Magnetic Rotary
Position Sensor with 11-Bit Decimal
and Binary Incremental Pulse Count
General Description
The AS5047D is a high-resolution rotary position sensor for fast
absolute angle measurement over a full 360-degree range. This
new position sensor is equipped with revolutionary integrated
dynamic angle error compensation (DAEC™) with almost 0
latency and offers a robust design that suppresses the influence
of any homogenous external stray magnetic field.
A standard 4-wire SPI serial interface allows a host
microcontroller to read 14-bit absolute angle position data
from the AS5047D and to program non-volatile settings
without a dedicated programmer.
Incremental movements are indicated on a set of ABI signals
with a maximum resolution of 2000 steps / 500 pulses per
revolution in decimal mode and 2048 steps / 512 pulses per
revolution in binary mode. The resolution of the ABI signal is
programmable and can be reduced to 32 steps per revolution,
or 8 pulses per revolution.
Brushless DC (BLDC) motors are controlled through a standard
UVW commutation interface with a programmable number of
pole pairs from 1 to 7. The absolute angle position is also
provided as PWM-encoded output signal.
The AS5047D is available as a single die in a compact 14-pin
TSSOP package.
Ordering Information and Content Guide appear at end of
datasheet.
Key Benefits & Features
The benefits and features of AS5047D, 14-Bit On-Axis Magnetic
Rotary Position Sensor with 11-Bit Decimal and Binary
Incremental Pulse Count are listed below:
Figure 1:
Added Value of Using the AS5047D
Benefits
Features
• Easy to use – saving costs on DSP
• DAEC™ Dynamic angle error compensation
• Good resolution for motor and position
control
• 14-bit core resolution
• Simple optical encoder replacement
• ABI programmable decimal and binary pulse-count:
500, 400, 300, 200, 100, 50, 25, 8, 512, 256 ppr
• No programmer needed (via SPI
command)
• Zero position, configuration programmable
ams Datasheet
[v1-07] 2016-Apr-27
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AS5047D − General Description
Benefits
Features
• Versatile choice of the interface
• Independent output interfaces: SPI, ABI, UVW, PWM
• Lower system costs (no shielding)
• Immune to external stray field
Applications
The AS5047D is ideally suited to support BLDC motor
commutation for the most challenging industrial applications
such as factory automation, building automation, robotics,
PMSM (permanent magnet synchronous motor) and stepper
motors closed loop regulation, as well as optical encoder
replacement.
Block Diagram
The functional blocks of this device are shown below:
Figure 2:
AS5047D Block Diagram
VDD3V3
AS5047D
CSn
SCL
MISO
MOSI
Volatile Memory
SPI
VDD
OTP
LDO
ABI
Hall
Sensors
Analog
Front-End
A/D
AGC
ATAN
(CORDIC)
INTERPOLATOR
Dynamic Angle
Error
Compensation
UWV
A
B
I/PWM
U
V
W / PWM
PWM Decoder
Selectable
on I or W
GND
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[v1-07] 2016-Apr-27
AS5047D − Pin Assignment
Pin Assignment
Figure 3:
TSSOP-14 Pin Assignment
I / PWM
CLK
GND
MISO
VDD3V
MOSI
TEST
B
AS5047D
CSn
A
VDD
U
V
W / PWM
Figure 4:
Pin Description
Pin Number
Pin Name
Pin Type
1
CSn
Digital input
SPI chip select (active low)
2
CLK
Digital input
SPI clock
3
MISO
Digital output
SPI master data input, slave output
4
MOSI
Digital input
SPI master data output, slave input
5
Test
6
B
Digital output
Incremental signal B
7
A
Digital output
Incremental signal A
ams Datasheet
[v1-07] 2016-Apr-27
Description
Test pin (connect to ground)
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AS5047D − Pin Assignment
Pin Number
Pin Name
Pin Type
Description
8
W/PWM
Digital output
Commutation signal W or PWM
9
V
Digital output
Commutation signal V
10
U
Digital output
Commutation signal U
11
VDD
Power supply
5V power supply voltage for on-chip regulator
12
VDD3V3
Power supply
3.3V on-chip low-dropout (LDO) output. Requires an
external decoupling capacitor (1μF)
13
GND
Power supply
Ground
14
I
Digital output
Incremental signal I (index) or PWM
Note(s) and/or Footnote(s):
1. Floating state of a digital input is not allowed.
2. If SPI is not used, a Pull up resistor on CSn is required.
3. If SPI is not used, a Pull down resistor on CLK and MOSI is required.
4. If SPI is not used, the pin MISO can be left open.
5. If ABI, UVW or PWM is not used, the pins can be left open.
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[v1-07] 2016-Apr-27
AS5047D − Absolute Maximum Ratings
Absolute Maximum Ratings
Stresses beyond those listed parameters under Absolute
Maximum Ratings may cause permanent damage to the device.
These are stress ratings only. Exposure to absolute maximum
rating conditions for extended periods may affect device
reliability. Parameters regarding normal operation of the sensor
are listed in section Electrical Characteristics.
Figure 5:
Absolute Maximum Ratings
Symbol
Parameter
Min
Max
Units
VDD5
DC supply voltage at VDD pin
-0.3
7.0
V
VDD3
DC supply voltage at VDD3V3
pin
-0.3
5.0
V
VSS
DC supply voltage at GND pin
-0.3
0.3
V
Vin
Input pin voltage
VDD+0.3
V
Iscr
Input current
(latch-up immunity)
100
mA
AEC-Q100-004
kV
AEC-Q100-002
ESDHBM
-100
Electrostatic discharge
Pt
Total power dissipation
(all supplies and outputs)
Ta5V0
Ambient temperature 5V0
Ta3V3
TaProg
±2
150
mW
-40
125
°C
Ambient temperature 3V3
-40
125
°C
Programming temperature
5
45
°C
-55
150
°C
260
°C
85
%
Tstrg
Storage temperature
Tbody
Package body temperature
RHNC
Relative humidity
non-condensing
MSL
Moisture sensitivity level
ams Datasheet
[v1-07] 2016-Apr-27
5
3
Note
Programming @ room
temperature (25°C ± 20°C)
IPC/JEDEC J-STD-020
Represents a maximum floor
lifetime of 168h
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AS5047D − Electrical Characteristics
Electrical Characteristics
All limits are guaranteed. The parameters with min and max
values are guaranteed with production tests or SQC (Statistical
Quality Control) methods.
Figure 6:
Electrical Characteristics
Symbol
Parameter
VDD
Positive supply voltage
VDD3V3
VDD_Burn
VREG
Conditions
Min
Typ
Max
Units
5.0V operation mode
4.5
5.0
5.5
V
Positive supply voltage
3.3V operation mode;
only from -40 to 125°C
3.0
3.3
3.6
V
Positive supply voltage
Supply voltage required
for programming in 3.3V
operation
3.3
3.5
V
Regulated Voltage
Voltage at VDD3V3 pin if
VDD ≠ VDD3V3
3.2
3.6
V
15
mA
3.4
IDD
Supply current
VIH
High-level input
voltage
VIL
Low-level input
voltage
VOH
High-level output
voltage
VOL
Low-level output
voltage
VSS+0.4
V
I_Out
Current on digital
output (ABI, UVW)
1
mA
I_Out_MISO
Current on digital
output (MISO)
4
mA
C_L
Capacitive load on
digital output
50
pf
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0.7×VDD
V
0.3×VDD
VDD-0.5
V
V
ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Magnetic Characteristics
Magnetic Characteristics
Figure 7:
Magnetic Specifications
Symbol
Parameter
Conditions
Min
Max
Unit
Bz
Orthogonal magnetic field
strength, normal operating
mode
Required orthogonal component of the
magnetic field strength measured at the
die's surface along a circle of 1.1mm
35
70
mT
Note(s) and/or Footnote(s):
1. it is possible to operate the AS5047D below 35mT with reduced noise performance.
System Characteristics
Figure 8:
System Specifications
Symbol
RES
Parameter
Conditions
Min
Core resolution
RES_ABI
Resolution of the ABI
interface
INLOPT @
25°C
Typ
Max
14
bit
2048
Steps per
revolution
Non-linearity, optimum
placement of the
magnet
±0.8
degree
INLOPT+TEMP
Non-linearity optimum
placement of the
magnet over the full
Temperature Range
±1
degree
INLDIS+TEMP
Non-linearity @
displacement of
magnet and
temperature -40°C to
150°C
Assuming N35H Magnet
(D=8mm, H=3mm) 500um
displacement in x and y
z-distance @ 2000um
±1.2
degree
ONL
RMS output noise
(1 sigma). Not tested,
guaranteed by design.
Orthogonal component for
the magnetic field within the
specified range (Bz)
0.068
degree
RMS output noise
(1 sigma) on PWM
interface
Orthogonal component for
the magnetic field within the
specified range (Bz)
0.068
degree
tdelay
System propagation
delay –core
Reading angle via SPI
90
110
μs
tdelay_
System propagation
delay after dynamic
angle error correction.
At ABI and UVW interfaces
1.5
1.9
μs
ON_PWM
DAEC
ams Datasheet
[v1-07] 2016-Apr-27
Programmable with register
setting (ABIRES)
Units
32
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AS5047D − Timing Characteristics
Symbol
tsampl
Parameter
Conditions
Min
Typ
Max
Units
225
250
275
ns
Sampling rate
Refresh rate at SPI
DAE1700
Dynamic angle error
At 1700 RPM constant speed
0.02
degree
DAEmax
Dynamic angle error
At 14500 RPM constant
speed
0.18
degree
DAEacc
Dynamic angle error at
constant acceleration
(25krad/s²)
25k radians/s² constant
acceleration
0.175
degree
14500
RPM
MS
Maximum speed
Reference magnet: N35H, 8mm diameter; 3mm thickness.
Timing Characteristics
Figure 9:
Timing Specifications
Symbol
Parameter
tpon
Power-on time
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Conditions
Time frame between VDD > VDDmin and
first valid angular value. Not tested,
guaranteed by design.
Min
Typ
Max
Units
10
ms
ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
The AS5047D is a Hall-effect magnetic sensor using a CMOS
lateral technology. The lateral Hall sensors convert the
magnetic field component perpendicular to the surface of the
chip into a voltage.
Detailed Description
The signals from the Hall sensors are amplified and filtered by
the analog front-end (AFE) before being converted by the
analog-to-digital converter (ADC). The output of the ADC is
processed by the hardwired CORDIC (coordinate rotating
digital computer) block to compute the angle and magnitude
of the magnetic vector. The intensity of the magnetic field
(magnitude) is used by the automatic gain control (AGC) to
adjust the amplification level for compensation of the
temperature and magnetic field variations.
The internal 14-bit resolution is available by readout register
via the SPI interface. The resolution on the ABI output can be
programmed from 2048 to 32 steps per revolution.
The Dynamic Angle Error Compensation block corrects the
calculated angle regarding latency, by using a linear prediction
calculation algorithm. At constant rotation speed the latency
time is internally compensated by the AS5047D, reducing the
dynamic angle error at the SPI, ABI and UVW outputs. The
AS5047D allows to switch OFF the UVW output interface to
display the absolute angle as PWM-encoded signal on the
pin W.
At higher speeds, the interpolator fills in missing ABI pulses and
generates the UVW signals with no loss of resolution. The
non-volatile settings in the AS5047D can be programmed
through the SPI interface without any dedicated programmer.
Power Management
The AS5047D can be either powered from a 5.0V supply using
the on-chip low-dropout regulator or from a 3.3V voltage
supply. The LDO regulator is not intended to power any other
loads, and it needs a 1 μF capacitor to ground located close to
the chip for decoupling as shown in Figure 10.
In 3.3V operation, VDD and VREG must be tied together.
Figure 10:
5.0V and 3.3V Power Supply Options
5.0V Operation
4.5 - 5.5V
VDD
LDO
100nF
GND
VDD3V3
3.0 – 3.6V
1µF
100nF
VDD
VDD3V3
LDO
GND
AS5047D
ams Datasheet
[v1-07] 2016-Apr-27
3.3V Operation
AS5047D
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AS5047D − Detailed Description
After applying power to the chip, the power-on time (t pon) must
elapse before the AS5047D provides the first valid data.
Dynamic Angle Error Compensation
The AS5047D uses 4 integrated Hall sensors which produce a
voltage proportional to the orthogonal component of the
magnetic field to the die. These voltage signals are amplified,
filtered, and converted into the digital domain to allow the
CORDIC digital block to calculate the angle of the magnetic
vector. The propagation of these signals through the analog
front-end and digital back-end generates a fixed delay between
the time of measurement and the availability of the measured
angle at the outputs. This latency generates a dynamic angle
error represented by the product of the angular speed (ω)and
the system propagation delay (tdelay ):
DAE = ω x tdelay
The dynamic angle compensation block calculates the current
magnet rotation speed (ω) and multiplies it with the system
propagation delay (t delay) to determine the correction angle to
reduce this error. At constant speed, the residual system
propagation delay is t delay_DAEC.
The angle represented on the PWM interface is not
compensated by the Dynamic Angle Error Compensation
algorithm. It is also possible to disable the Dynamic Angle Error
Compensation with the setting DAECDIS. Disabling the
Dynamic Angle Error Compensation gives a noise benefit of
0.016 degree rms.This setting can be advantageous for low
speed (under 100rpm) respectively static positioning
applications.
SPI Interface (slave)
The SPI interface is used by a host microcontroller (master) to
read or write the volatile memory as well as to program the
non-volatile OTP registers. The AS5047D SPI only supports slave
operation mode. It communicates at clock rates up to 10 MHz.
The AS5047D SPI uses mode=1 (CPOL=0, CPHA=1) to exchange
data. As shown in Figure 11, a data transfer starts with the
falling edge of CSn (SCL is low). The AS5047D samples MOSI
data on the falling edge of SCL. SPI commands are executed at
the end of the frame (rising edge of CSn). The bit order is MSB
first. Data is protected by parity.
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
SPI Timing
The AS5047D SPI timing is shown in Figure 11.
Figure 11:
SPI Timing Diagram
tCSn
CSn
(Input)
tL
tclk
tclkH
tH
tclkL
CLK
(Input)
tMISO
tOZ
MISO
(Output)
Data[15]
Data[14]
Data[0]
tOZ
tMOSI
MOSI
(Input)
Data[15]
Data[14]
Data[0]
Figure 12:
SPI Timing
Parameter
Description
Min
tL
Time between CSn falling edge and CLK rising edge
350
ns
tclk
Serial clock period
100
ns
tclkL
Low period of serial clock
50
ns
tclkH
High period of serial clock
50
ns
tclk / 2
ns
tH
Time between last falling edge of CLK and rising
edge of CSn
Max
Units
tCSn
High time of CSn between two transmissions
350
ns
tMOSI
Data input valid to falling clock edge
20
ns
tMISO
CLK edge to data output valid
51
ns
Release bus time after CS rising edge.
10
ns
tOZ
ams Datasheet
[v1-07] 2016-Apr-27
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AS5047D − Detailed Description
SPI Transaction
An SPI transaction consists of a 16-bit command frame followed
by a 16-bit data frame. Figure 13 shows the structure of the
command frame.
Figure 13:
SPI Command Frame
Bit
Name
Description
15
PARC
Parity bit (even) calculated on the lower 15 bits of
command frame
14
R/W
0: Write
1: Read
13:0
ADDR
Address to read or write
To increase the reliability of communication over the SPI, an
even parity bit PARC must be generated and sent. A wrong
setting of the parity bit causes a parity bit error, which is shown
as PARERR bit in the ERRFL register.The parity bit is calculated
from the lower 15 bits of the command frame. The complete
16-bit command frame consists of a register address, read/write
bit and the parity bit. Figure 14 shows the read data frame.
Figure 14:
SPI Read Data Frame
Bit
Name
15
PARD
14
EF
13:0
DATA
Description
Parity bit (even) for the data frame
0: No command frame error occurred
1: Error occurred
Data
The data is sent on the MISO pin. The parity bit PARD is
calculated by the AS5047D of the lower 15 bits of data frame. If
an error occurred in the previous SPI command frame, the EF
bit is set high. The SPI read is sampled on the rising edge of CSn
and the data is transmitted on MISO with the next read
command, as shown in Figure 15.
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
Figure 15:
SPI Read
Figure 16:
SPI Write Data Frame
Bit
Name
Description
15
PARD
Parity bit (even)
14
0
Always low
13:0
DATA
Data
Figure 16 shows the structure of the Write Data Frame.
The parity bit PARD must be calculated from the lower 15 bit of
write data frame.
In a SPI write transaction, the write command frame is followed
by a write data frame at MOSI. The write data frame consists of
the new register content, which was addressed is in the
previous command frame.
During data transmission on MOSI, the current register content
is send on MISO. At the next command on MOSI the updated
content of the register is transmitted on MISO, as shown in
Figure 17.
ams Datasheet
[v1-07] 2016-Apr-27
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AS5047D − Detailed Description
Figure 17:
SPI Write Transaction
Volatile Registers
The volatile registers are shown in Figure 18. Each register has
a 14-bit address.
Figure 18:
Volatile Register Table
Address
Name
Default
Description
0x0000
NOP
0x0000
No operation
0x0001
ERRFL
0x0000
Error register
0x0003
PROG
0x0000
Programming register
0x3FFC
DIAAGC
0x0180
Diagnostic and AGC
0x3FFD
MAG
0x0000
CORDIC magnitude
0x3FFE
ANGLEUNC
0x0000
Measured angle without dynamic angle
error compensation
0x3FFF
ANGLECOM
0x0000
Measured angle with dynamic angle error
compensation
Reading the NOP register is equivalent to a nop (no operation)
instruction for the AS5047D.
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
Figure 19:
ERRFL (0x0001)
Name
Read/Write
Bit Position
Description
PARERR
R
2
Parity error
INVCOMM
R
1
Invalid command error: set to 1 by reading or writing
an invalid register address
FRERR
R
0
Framing error: is set to 1 when a non-compliant SPI
frame is detected
Reading the ERRFL register automatically clears its contents
(ERRFL=0x0000).
Figure 20:
PROG (0x0003)
Name
Read/Write
Bit Position
Description
PROGVER
R/W
6
Program verify: must be set to 1 for verifying the
correctness of the OTP programming
PROGOTP
R/W
3
Start OTP programming cycle
OTPREF
R/W
2
Refreshes the non-volatile memory content with the
OTP programmed content
PROGEN
R/W
0
Program OTP enable: enables programming the entire
OTP memory
The PROG register is used for programming the OTP memory.
(See programming the zero position.)
Figure 21:
DIAAGC (0x3FFC)
Name
Read/Write
Bit Position
MAGL
R
11
Diagnostics: Magnetic field strength too low; AGC=0xFF
MAGH
R
10
Diagnostics: Magnetic field strength too high; AGC=0x00
COF
R
9
Diagnostics: CORDIC overflow
LF
R
8
Diagnostics: Offset compensation
LF=0:internal offset loops not ready regulated
LF=1:internal offset loop finished
AGC
R
7:0
ams Datasheet
[v1-07] 2016-Apr-27
Description
Automatic gain control value
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AS5047D − Detailed Description
Figure 22:
MAG (0x3FFD)
Name
Read/Write
Bit Position
CMAG
R
13:0
Name
Read/Write
Bit Position
CORDICANG
R
13:0
Description
CORDIC magnitude information
Figure 23:
ANGLE (0x3FFE)
Description
Angle information without dynamic angle error
compensation
Figure 24:
ANGLECOM (0x3FFF)
Name
Read/Write
Bit Position
DAECANG
R
13:0
Description
Angle information with dynamic angle error
compensation
Non-Volatile Registers (OTP)
The OTP (One-Time Programmable) memory is used to store the
absolute zero position of the sensor and the customer settings
permanently in the sensor IC. SPI write/read access is possible
several times for all nonvolatile registers (soft write). Soft
written register content will be lost after a hardware reset.
The programming itself can be done just once. Therefore the
content of the nonvolatile registers is stored permanently in the
sensor. The register content is still present after a hardware
reset and cannot be overwritten. For a correct function of the
sensor, the OTP programming is not required.
Figure 25:
Non-Volatile Register Table
Address
Name
Default
0x0016
ZPOSM
0x0000
Zero position MSB
0x0017
ZPOSL
0x0000
Zero position LSB /MAG diagnostic
0x0018
SETTINGS1
0x0001
Custom setting register 1
0x0019
SETTINGS2
0x0000
Custom setting register 2
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Description
ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
Figure 26:
ZPOSM (0x0016)
Name
Read/Write/Program
Bit Position
ZPOSM
R/W/P
7:0
Description
8 most significant bits of the zero position
Figure 27:
ZPOSL (0x0017)
Name
Read/Write/Program
Bit Position
Description
ZPOSL
R/W/P
5:0
6 least significant bits of the zero position
comp_l_error_en
R/W/P
6
This bit enables the contribution of
MAGH (magnetic field strength too high)
to the error flag
comp_h_error_en
R/W/P
7
This bit enables the contribution of MAGL
(magnetic field strength too low) to the
error flag
Figure 28:
SETTINGS1 (0x0018)
Name
Read/Write/Program
Bit Position
Description
Factory
Setting
R
0
Pre-Programmed to 1
Not used
R/W/P
1
Pre-Programmed to 0, must not be overwritten.
DIR
R/W/P
2
Rotation direction
UVW_ABI
R/W/P
3
Defines the PWM Output
(0 = ABI is operating, W is used as PWM
1 = UVW is operating, I is used as PWM)
DAECDIS
R/W/P
4
Disable Dynamic Angle Error Compensation
(0 = DAE compensation ON, 1 = DAE
compensation OFF)
ABIBIN
R/W/P
5
ABI decimal or binary selection of the ABI
pulses per revolution
Dataselect
R/W/P
6
This bit defines which data can be read form
address 16383dec (3FFFhex).
0->DAECANG
1->CORDICANG
PWMon
R/W/P
7
Enables PWM (setting of UVW_ABI Bit
necessary)
ams Datasheet
[v1-07] 2016-Apr-27
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AS5047D − Detailed Description
Figure 29:
SETTINGS2 (0x0019)
Name
Read/Write/Program
Bit Position
Description
UVWPP
R/W/P
2:0
UVW number of pole pairs
(000 = 1, 001 = 2, 010 = 3, 011 = 4, 100 = 5, 101 =
6, 110 = 7, 111 = 7)
HYS
R/W/P
4:3
Hysteresis setting
ABIRES
R/W/P
7:5
Resolution of ABI
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[v1-07] 2016-Apr-27
AS5047D − Detailed Description
ABI Incremental Interface
The AS5047D can send the angle position to the host
microcontroller through an incremental interface. This
interface is available simultaneously with other interfaces. By
default, the incremental interface is set to work at the highest
resolution 2000 step per revolution, or 500 pulses per
revolution (ppr). It is possible to select between a decimal and
binary pulses per revolution, respectively with the bit ABIBIN
and select the pulses per revolution with the bit ABIRES as
shown in Figure 30.
Figure 30:
ABI Resolution Setting
ABIRES
ABIBIN
Steps Per Revolution
Pulses Per Revolution
000
0
2000
500
001
0
1600
400
010
0
1200
300
011
0
800
200
100
0
400
100
101
0
200
50
110
0
100
25
111
0
32
8
000
1
2048
512
001
1
1024
256
The phase shift between the signals A and B indicates the
rotation direction: e.g. DIR-Bit = 0, clockwise (A leads, B follows)
or counterclockwise (B leads, A follows). During the start-up
time, after power on to the chip, all three ABI signals are high.
ams Datasheet
[v1-07] 2016-Apr-27
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AS5047D − Detailed Description
Figure 31:
ABI Signals at 11-Bit Resolution
A
B
I
Steps
N-7 N-6 N-5 N-4 N-3 N-2 N-1 0
1
2
3
Clockwise rotation
4
5
6
7
8
7
6
5
4
3
2
1
0 N-1 N-2 N-3 N-4
Counter-clockwise rotation
The Figure 31 shows the ABI signal flow if the magnet rotates
in clockwise direction and counter-clockwise direction (DIR=0).
In this example the sensor to magnet arrangement is done like
shown in Figure 43. With the bit DIR, it is possible to invert the
rotation direction.
Page 20
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
UVW Commutation Interface
The AS5047D can emulate the UVW signals generated by the
three discrete Hall switches commonly used in BLDC motors.
The UVWPP field in the SETTINGS register selects the number
of pole pairs of the motor (from 1 to 7 pole pairs). The UVW
signals are generated with 14-bit resolution.
During the start-up time, after power on of the chip, the UVW
signals are low.
Figure 32:
UVW Signals
U
V
W
angle
0°
60°
120°
180°
240°
Clockwise rotation
300°
360°
360°
300°
240°
180°
120°
60°
0°
Counter-clockwise rotation
The Figure 32 shows the UVW signal flow if the magnet rotates
in clockwise direction and counter-clockwise direction (DIR=0).
In this example the sensor to magnet arrangement is done like
shown in Figure 43.
With the bit DIR, it is possible to invert the rotation direction.
ams Datasheet
[v1-07] 2016-Apr-27
Page 21
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AS5047D − Detailed Description
PWM
The PWM can be enabled with the bit setting PWMon. The PWM
encoded signal is displayed on the pin W or the pin I. The bit
setting UVW_ABI defines which output is used as PWM.The
PWM output consists of a frame of 4119 PWM clock periods, as
shown in Figure 33. The PWM frame has the following sections:
• 12 PWM clocks for INIT
• 4 PWM clocks for error detection
• 4095 PWM clock periods of data
• 8 PWM clock periods low
The angle is represented in the data part of the frame with a
12-bit resolution. One PWM clock period represents 0.088
degree and has a typical duration of 444 ns.
If the embedded diagnostic of the AS5047D detects any error
the PWM interface displays only 12 clock periods high
(0.3% duty-cycle). Respectively the 4 clocks for error detection
are forced to low.
Figure 33:
Pulse Width Modulation Encoded Signal
$+,
!"+,- 0
./.
Page 22
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$)(*
$)*)
$)*!
$)*"
$)*#
$)*$
$)*%
0
!
"
#
$
%
&
'
(
$)*%+,
(+,-
+
ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Detailed Description
Hysteresis
The hysteresis can be programmed in the HYS bits if the
SETTINGS2 register and depends on the chosen resolution of
the incremental interface (ABIRES), as shown in the Figure 34.
Figure 34:
Hysteresis Settings
HYS
Hysteresis (degree) - ABIRES ≥
1600 steps per revolution
Hysteresis (degree) - ABIRES ≤
1024 steps per revolution
00
0.53
0.7
01
0.35
0.35
10
0.175
No hysteresis
11
No hysteresis
1.05
Automatic Gain Control (AGC) and CORDIC
Magnitude
The AS5047D uses AGC to compensate for variations in the
magnetic field strength due to changes of temperature, air gap
between the chip and the magnet, and demagnetization of the
magnet. The automatic gain control value can be read in the
AGC field of the DIAAGC register. Within the specified input
magnetic field strength (Bz), the Automatic Gain Control works
in a closed loop and keeps the CORDIC magnitude value (MAG)
constant. Below the minimum input magnetic field strength,
the CORDIC magnitude decreases and the MAGL bit is set.
Diagnostic Features
The AS5047D supports embedded self-diagnostics.
MAGH: magnetic field strength too high, set if AGC = 0x00 . This
indicates the non-linearity error may be increased.
MAGL: magnetic field strength too low, set if AGC = 0xFF. This
indicates the output noise of the measured angle may be
increased.
COF: CORDIC overflow. This indicates the measured angle is not
reliable.
LF: offset compensation completed. At power-up, an internal
offset compensation procedure is started, and this bit is set
when the procedure is completed.
ams Datasheet
[v1-07] 2016-Apr-27
Page 23
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AS5047D − Detailed Description
LF Error / COF Error
In case of a LF or COF error, all outputs are changing into a safe
state:
SPI Output: Information in the DIAAGC (0x3FFC) register. The
angle information is still valid.
PWM Output: PWM Clock Period 13 - 16 of the first 16 PWM Clock
Periods = low. Additional there is no angle information valid
(all 4096 clock periods = low)
ABI Output: The state of ABI is frozen to ABI = 111
UVW Output: The state of UVW is frozen to UVW = 000
MAGH Error / MAGL Error
Default diagnostic setting for MAGH error /MAGL error:
In case of a MAGH error or MAGL error, there is no safe state on
the PWM, ABI or UVW outputs if comp_h_error_en= 0 and
comp_l_error_en = 0.
The error flags can be read out with the DIAAGC (0x3FFC)
register.
Enhanced diagnosis setting for MAGH error / MAGL error:
In case of a MAGH error or MAGL error, the PWM, ABI or UVW
outputs are going into a safe state if comp_h_error_en= 1 and
comp_l_error_en = 1. The device is operating with the
performance as explained.
SPI Output: Information in the DIAAGC (0x3FFC) register. The
angle information is still valid, if the MAGH or MAGL error flag
is on.
PWM Output: PWM Clock Period 13 - 16 of the first 16 PWM Clock
Periods = low. Additional there is no angle information valid (all
4096 clock periods = low)
ABI Output: The state of ABI is frozen to ABI = 111
UVW Output: The state of UVW is frozen to UVW = 000
Important: When comp_(h/l)_error_en is enabled a marginal
magnetic field input can cause toggling of MAGH or MAGL
which will lead to toggling of the ABI/UVW outputs between
operational mode and failure mode.
Page 24
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Application Information
Application Information
Burn and Verification of the OTP Memory
Step-by-step procedure to permanently program the
non-volatile memory (OTP):
Figure 35:
Minimum Programming Diagram for the AS5047D in 5 V Operation
5V operation
VDD during programming 4.5 – 5.5V
VDD
CSn
I
CLK
GND
MISO
Programmer
TEST
A
B
AS5047D
MOSI
VDD3V
VDD
U
V
100nF
1μF
W
GND
Note(s) and/or Footnote(s):
1. In terms of EMC and for remote application, additional circuits are necessary.
ams Datasheet
[v1-07] 2016-Apr-27
Page 25
Document Feedback
AS5047D − Application Information
Figure 36:
Minimum Programming Diagram for the AS5047D in 3.3V Operation
3.3V operation
VDD during programming: 3.3V – 3.5V
VDD
CSn
I
CLK
GND
MISO
TEST
Programmer
A
AS5047D
MOSI
VDD3V
B
VDD
U
V
100nF
W
GND
Note(s) and/or Footnote(s):
1. In terms of EMC and for remote application, additional circuits are necessary.
Figure 37:
Programming Parameter
Symbol
Parameter
Conditions
Min
TaProg
Programming
temperature
Programming @ room
temperature (25°C ± 20°C)
VDD
Positive supply
voltage
5 V operation mode. Supply
voltage during
programming
4.5
VDD
Positive supply
voltage
3.3 V operation mode.
Supply voltage during
programming
3.3
IProg
Current for
programming
Max current during OTP burn
procedure.
Page 26
Document Feedback
Typ
5
5
Max
Units
45
°C
5.5
V
3.5
V
100
mA
ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Application Information
The programming can either be performed in 5V operation
using the internal LDO (1μF on regulator output pin), or in 3V
operation but using a supply voltage between 3.3V and 3.5V.
1.
Power on cycle
2. Write the SETTINGS1 and SETTINGS2 registers with the
custom settings for this application (Bit0 of Settings1 is
a factory bit. For programming its mandatory to set this
bit to 0).
3. Place the magnet at the desired zero position
4. Read out the measured angle from the ANGLE register
5. Write ANGLE [5:0] into the ZPOSL register and ANGLE
[13:6] into the ZPOSM register
6. Read reg(0x0016) to reg(0x0019) → Read register step1
7. Comparison of written content (settings and angle) with
content of read register step1 (Removing of Bit0 of
Settings1 from the comparison is mandatory. Bit0 is
preprogrammed)
8. If point 7 is correct, enable OTP read / write by setting
PROGEN = 1 in the PROG register
9. Start the OTP burn procedure by setting PROGOTP = 1
in the PROG register
10. Read the PROG register until it reads 0x0001
(Programming procedure complete)
11. Clear the memory content writing 0x00 in the whole
non-volatile memory
12. Set the PROGVER = 1 to set the guard band for the guard
band test (1).
13. Refresh the non-volatile memory content with the OTP
content by setting OTPREF = 1
14. Read reg(0x0016) to reg(0x0019) → Read register step2
15. Comparison of written content (settings and angle) with
content of read register step2.
Mandatory: guard band test (Removing of Bit0 of
Settings1 from the comparison is mandatory. Bit0 is
preprogrammed)
ams Datasheet
[v1-07] 2016-Apr-27
Page 27
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AS5047D − Application Information
16. New power on cycle, if point 16 is correct. If point 16
fails, the test with the guard band test 1 was not
successful and the device is incorrectly programmed. A
reprogramming is not allowed!
17. Read reg(0x0016) to reg(0x0019) → Read register step3
18. Comparision of written content (settings and angle)
with content of read register step3(Removing of Bit0 of
Settings1 from the comparison is mandatory. Bit0 is
preprogrammed).
19. If point 19 is correct, the programming was successful.
If point 19 fails, device is incorrectly programmed. A
reprogramming is not allowed
1. Guard band test:
- Restricted to temperature range: 25 °C ± 20 °C
- Right after the programming procedure (max. 1 hour with same conditions 25°C ± 20 °C), same VDD voltage.
The guard band test is only for the verification of the burned OTP fuses during the programming sequence.
A use of the guard band in other cases is not allowed.
Page 28
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Application Information
Figure 38:
OTP Memory Burn and Verification Flowchart
Power on cycle
START
AS5147 settings
Write reg(0x0018)
Write reg(0x0019)
Write
Reg(0x0016)=0x00
Reg(0x0017)=0x00
Reg(0x0018=0x00
Reg(0x0019)=0x00
Clear memory
Set the magnet to
the zero position
Write
Reg(0x0003)=0x40
Set Guardband
Position of the magnet to
the zero position
Read ANGLE
Not correct
Read reg(0x3FFF)
Write Angle into ZPOSL
and ZPOSM
Write
Reg(0x0017(5:0))= reg(0x3FFF(5:0))
Reg(0x0016(7:0))= reg(0x3FFF(13:6))
Read Register step 1
Read
Reg(0x0016)
Reg(0x0017)
Reg(0x0018)
Reg(0x0019)
Write
Reg(0003)=0x04
Refresh memory with OTP content
Read
Reg(0x0016)
Reg(0x0017)
Reg(0x0018)
Reg(0x0016)
Read Register step 2
Comparison of written content (settings and
angle) with content of Read Register step 2
mandatory Guardband-Test
Verify 2
Not correct
correct
Comparison of written content
(settings and angle) with content
of Read Register step 1
YES
Verify 1
Power-on cycle
Guardbandtest fails.
Wrong programming.
Reprogramming not allowed
correct
Unlock OTParea for burning
(PROGEN=1)
Start OTP burning procedure
(PROGOTP=1)
Write
Reg(0x0003)=0x01
Read
Reg(0x0016)
Reg(0x0017)
Reg(0x0018)
Reg(0x0016)
Write
Reg(0x0003)=0x08
Verify 3
Read Register step 3
Comparison of written content (settings
and angle) with content of Read Register
step 3
Not correct
correct
Read OTP_CTRL
END
Correct
programming and
verification
Read
Reg(0x0003)
END
Wrong programming
Reprogramming not
allowed
NO
OTP burning procedure
complete if Reg(0x0003) =0x01
ams Datasheet
[v1-07] 2016-Apr-27
Reg(0x0003)=0x01
Page 29
Document Feedback
AS5047D − Application Information
Figure 39:
Minimum Circuit Diagram for the AS5047D
4.5 – 5.5V
VDD
CSn
I
CLK
GND
MISO
MCU
TEST
A
AS5047D
MOSI
VDD3V
B
VDD
U
V
100nF
1µF
W
GND
Note(s) and/or Footnote(s):
1. In terms of EMC and for remote application, additional circuits are necessary.
Page 30
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Package Drawings & Markings
The axis of the magnet must be aligned over the center of the
package.
Package Drawings & Markings
Figure 40:
Package Outline Drawing
RoHS
Green
Symbol
Min
Nom
Max
Symbol
Min
Nom
Max
A
-
-
1.20
R
0.09
-
-
A1
0.05
-
0.15
R1
0.09
-
-
A2
0.80
1.00
1.05
S
0.20
-
-
b
0.19
-
0.30
Θ1
0º
-
8º
c
0.09
-
0.20
Θ2
-
12 REF
-
D
4.90
5.00
5.10
Θ3
-
12 REF
-
E
-
6.40 BSC
-
aaa
-
0.10
-
E1
4.30
4.40
4.50
bbb
-
0.10
-
e
-
0.65 BSC
-
ccc
-
0.05
-
L
0.45
0.60
0.75
ddd
-
0.20
-
L1
-
1.00 REF
-
N
14
Note(s) and/or Footnote(s):
1. Dimensioning and tolerancing conform to ASME Y14.5M - 1994.
2. All dimensions are in millimeters. Angles are in degrees.
3. N is the total number of terminals.
ams Datasheet
[v1-07] 2016-Apr-27
Page 31
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AS5047D − Package Drawings & Markings
Figure 41:
Packaging Code
YY
Last two digits of the
manufacturing year
WW
M
Manufacturing week
Plant identifier
ZZ
Free choice /
traceability code
@
Sublot identifier
Figure 42:
Package Marking
AS5047D
YYWWMZZ
@
Page 32
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Mechanical Data
Mechanical Data
Figure 43:
Angle Detection by Default (no zero position programmed)
%$'
ams Datasheet
[v1-07] 2016-Apr-27
"')/
%$'
!()/
%$'
*)/
%$'
)/
Page 33
Document Feedback
AS5047D − Mechanical Data
Figure 44:
Die Placement and Hall Array Position
Hall radius
0.306±0.100
3.200±0.235
2.130±0.235
0.236±0.100
0.694±0.150
Note(s) and/or Footnote(s):
1. Dimensions are in mm.
2. The Hall array center is located in the center of the IC package. Hall array radius is 1.1mm.
3. Die thickness is 203μm nominal.
Page 34
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Ordering & Contact Information
Ordering & Contact Information
Figure 45:
Ordering Information
Ordering
Code
Package
Marking
Delivery Form
Delivery
Quantity
AS5047D-ATST
TSSOP-14
AS5047D
13’’ Tape&Reel in dry pack
4500 pcs/reel
AS5047D-ATSM
TSSOP-14
AS5047D
7’’ Tape&Reel in dry pack
500 pcs/reel
Online product information is available at:
www.ams.com/AS5047D
Buy our products or get free samples online at:
www.ams.com/ICdirect
Technical Support is available at:
www.ams.com/Technical-Support
Provide feedback about this document at:
www.ams.com/Document-Feedback
For further information and requests, e-mail us at:
[email protected]
For sales offices, distributors and representatives, please visit:
www.ams.com/contact
Headquarters
ams AG
Tobelbaderstrasse 30
8141 Premstaetten
Austria, Europe
Tel: +43 (0) 3136 500 0
Website: www.ams.com
ams Datasheet
[v1-07] 2016-Apr-27
Page 35
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AS5047D − RoHS Compliant & ams Green Statement
RoHS Compliant & ams Green
Statement
RoHS: The term RoHS compliant means that ams AG products
fully comply with current RoHS directives. Our semiconductor
products do not contain any chemicals for all 6 substance
categories, including the requirement that lead not exceed
0.1% by weight in homogeneous materials. Where designed to
be soldered at high temperatures, RoHS compliant products are
suitable for use in specified lead-free processes.
ams Green (RoHS compliant and no Sb/Br): ams Green
defines that in addition to RoHS compliance, our products are
free of Bromine (Br) and Antimony (Sb) based flame retardants
(Br or Sb do not exceed 0.1% by weight in homogeneous
material).
Important Information: The information provided in this
statement represents ams AG knowledge and belief as of the
date that it is provided. ams AG bases its knowledge and belief
on information provided by third parties, and makes no
representation or warranty as to the accuracy of such
information. Efforts are underway to better integrate
information from third parties. ams AG has taken and continues
to take reasonable steps to provide representative and accurate
information but may not have conducted destructive testing or
chemical analysis on incoming materials and chemicals. ams AG
and ams AG suppliers consider certain information to be
proprietary, and thus CAS numbers and other limited
information may not be available for release.
Page 36
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ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Copyrights & Disclaimer
Copyrights & Disclaimer
Copyright ams AG, Tobelbader Strasse 30, 8141 Premstaetten,
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.
Devices sold by ams AG are covered by the warranty and patent
indemnification provisions appearing in its General Terms of
Trade. 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 AG “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.
ams Datasheet
[v1-07] 2016-Apr-27
Page 37
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AS5047D − Document Status
Document Status
Document Status
Product Preview
Preliminary Datasheet
Datasheet
Datasheet (discontinued)
Page 38
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Product Status
Definition
Pre-Development
Information in this datasheet is based on product ideas in
the planning phase of development. All specifications are
design goals without any warranty and are subject to
change without notice
Pre-Production
Information in this datasheet is based on products in the
design, validation or qualification phase of development.
The performance and parameters shown in this document
are preliminary without any warranty and are subject to
change without notice
Production
Information in this datasheet is based on products in
ramp-up to full production or full production which
conform to specifications in accordance with the terms of
ams AG standard warranty as given in the General Terms of
Trade
Discontinued
Information in this datasheet is based on products which
conform to specifications in accordance with the terms of
ams AG standard warranty as given in the General Terms of
Trade, but these products have been superseded and
should not be used for new designs
ams Datasheet
[v1-07] 2016-Apr-27
AS5047D − Revision Information
Revision Information
Changes from 1-06 (2016-Jan-28) to current revision 1-07 (2016-Apr-27)
Page
Updated text under Figure 37
26
Updated Figure 38
29
Note(s) and/or Footnote(s):
1. Page and figure numbers for the previous version may differ from page and figure numbers in the current revision.
2. Correction of typographical errors is not explicitly mentioned.
ams Datasheet
[v1-07] 2016-Apr-27
Page 39
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AS5047D − Content Guide
Content Guide
Page 40
Document Feedback
1
1
2
2
General Description
Key Benefits & Features
Applications
Block Diagram
3
5
6
7
7
8
Pin Assignment
Absolute Maximum Ratings
Electrical Characteristics
Magnetic Characteristics
System Characteristics
Timing Characteristics
9
9
10
10
11
12
14
16
19
21
22
23
23
23
24
24
Detailed Description
Power Management
Dynamic Angle Error Compensation
SPI Interface (slave)
SPI Timing
SPI Transaction
Volatile Registers
Non-Volatile Registers (OTP)
ABI Incremental Interface
UVW Commutation Interface
PWM
Hysteresis
Automatic Gain Control (AGC) and CORDIC Magnitude
Diagnostic Features
LF Error / COF Error
MAGH Error / MAGL Error
25
25
Application Information
Burn and Verification of the OTP Memory
31
33
35
36
37
38
39
Package Drawings & Markings
Mechanical Data
Ordering & Contact Information
RoHS Compliant & ams Green Statement
Copyrights & Disclaimer
Document Status
Revision Information
ams Datasheet
[v1-07] 2016-Apr-27