Features ■ True power-on system ■ Straight line connector ■ Output over CAN bus ■ Various column mounting proposals Non-Contacting Steering Angle Sensor Type 6002 Introduction Bourns® Type 6002 Non-contacting Steering Angle Sensor is based on two magneto-resistive (AMR) sensor chips. Each of them converts an angle position of a permanent magnet into two analogue signals (one sine and one cosine signal). A highly efficient algorithm allows for estimating the absolute angular position of a drive shaft that is connected to the device. Connector Specifications Angular Position Range ............................................................................ ±780 ° Resolution ...............................................0.1 ° (optional <0.1 °) Accuracy ............................................................................ ±2 ° Angular Speed Range ....................................................................... ±2000 °/s Resolution ......................................................................... 4 °/s Data and Control Interface CAN 2.0A (Optional CAN 2.0B) ................................ 500 kbit/s Data Rate............................................... 10 ms (optional 5 ms) OEM Specific CAN Handlers ...................................... Optional Zero Position ............... Adjustable at every position through CAN command Diagnostic and Error Handling................................. Via CAN bus Optional secure version with 2nd microcontroller) Firmware Upgrade ................................................... Via CAN bus (Optional OBD programmable) Power Supply Voltage Range ............................................................... 8-18 V Current Consumption............. 50 mA (no idle current required) Temperature Range ........................................... -40 °C to +85 °C Tyco-No. 1-1241370-3 The mating connector’s pin layout is shown below: PIN NO. 1 2 3 4 5 6 SIGNAL 1 CAN LOW 2 CAN LOW 3 CAN HIGH 4 CAN HIGH 5 12 V 6 GND CAN Protocol The device sends a CAN message with the measurement data every 10 msec. An example of a message layout is shown below. OEM-specific CAN handler is optional. CAN Transmit Message CAN-ID Kind of Message 0 x 280 transmit Byte Bits Signal Destination Unit Measure Range Measure Range (Digit) Offset Resolution (Unit/Digit) Comments 0-1 (0-LB 1-HB) 2 00-15 Absolute angle position Degree -780...+780 57735...7800 0 0,1 16-23 Angle speed Degree/s -2000...+2000 0...254 0 4 Fault/not calibrated/ default: 0x7FFF Fault default: 0xFF 3 24-27 0...3 0...3 0 1 3 4 28-31 32-35 Internal status: 111 = Calibrated and OK 101 = Not calibrated 110 = Fault 100 = Fault and not calibrated 000 = Not trimmed Free Message counter 0 0...15 0 0...15 1 4 36-40 Check sum 0...15 0...15 1 Absolute Angle Position: • Signed (integer) • Angle position [degree] = N · 0.1, for 0 < N ≤ 32767 (N - digital value of the message) = (N-65536) · 0.1, for N > 32767 Angle Speed: • Unsigned (char) • Rotation speed [degree/s] = S · 0.4 Specifications are subject to change without notice. Customers should verify actual device performance in their specific applications. Internal use only Should be incremented by each message Check sum: see below Non-Contacting Steering Angle Sensor Type 6002 CAN Protocol (Continued) Rule to build the check sum: An example of the message layout for a receive message is shown below. Temp_result = lower byte (Angle position) XOR higher byte CAN Receive Message CAN-ID Kind of Byte Bits Message 0 x 7C0 0 0-3 receive 0 4-7 (Angle position) XOR (Angle speed) XOR (Internal status) Check sum = higher nibble (Temp_result) XOR lower nibble (Temp_result) XOR (Message counter) 1 8-14 1 15 Signal Destination Unit Measure Range Measure Resolution Comments Range Offset (Unit/Digit) (Digit) Command word SAS transmit identifier (SAS ID) bits 0-3 SAS transmit identifier (SAS ID) bits 4-10 Free Command Word (CW) Automatic Self-Test CW bit3 0 0 The device checks the angular speed value, which is limited to 1016 degrees per second. If this limit exceeded, the device sends an error message according to the CAN Transmit Message (page 1). CW bit2 CW bit1 0 1 1 0 Other combinations CW bit0 1 1 Instruction Set up the zero position Clear the old zero position Only for internal use Note: To set up a new zero position, first it is necessary to delete the old zero position. Design and Mechanical Interface Housing - Device View MATERIAL IDENTIFICATION PER SAE J1344, METHOD 2 RAISED 0.3 - 0.4 8.3 ± 0.08 7.49 ± 0.5 40.0 ± 0.5 R5 4.0 ± 0.2 R2 25.5 3 R2 32.7 ± 0.5 DIA. R2 R4 6.2 60.1 49.0 0.45 ± 0.3 1.5 ± 0.2 58.6 1.6 ± 0.5 R12 R2 R1 15.24 ± 0.5 27.5 60.0 DIMENSIONS: MM Specifications are subject to change without notice. Customers should verify actual device performance in their specific applications. Non-Contacting Steering Angle Sensor Type 6002 Linearity Data The first graph shows a typical linearity measurement curve taken at room temperature. The second graph shows the deviation (absolute non-linearity) over four turns of the steering wheel. Output Code and Absolute Linearity 800 600 400 200 0 -200 -400 -600 -800 -800 -700 -600 -500 -400 -300 -200 -100 0 100 200 300 400 500 600 700 800 0.3 0.2 0.1 0 -0.1 -0.2 -0.3 -0.4 -800 -700 -600 -500 -400 -300 -200 -100 0 100 200 300 400 500 600 700 800 Europe: Bourns Sensors GmbH Robert-Bosch-Str. 14 D-82054 Sauerlach Phone: +49 (0) 8104 646-0 The Americas: Bourns, Inc. 1660 N. Opdyke Road, Ste. 200 Auburn Hills, MI 48326-2655 USA Phone: +1 248 926-4088 Asia: Bourns, Inc. 10F, No. 146, Sung Jiang Road Taipei, Taiwan, 104 PRC Phone: +886 2 2562-4117 www.bourns.com [email protected] 01/12 Specifications are subject to change without notice. Customers should verify actual device performance in their specific applications.