AVAGO AEAT-6600-T16

AEAT-6600-T16
10 to16-Bit Programmable Angular Magnetic Encoder IC
Data Sheet
Description
Features
The Avago AEAT-6600 angular magnetic encoder IC is a
contact less magnetic rotary encoder for accurate angular
measurement over a full turn of 360 degrees.
• 5 V or 3.3 V operation
It is a system-on-chip, combining integrated Hall elements,
analog front end and digital signal processing in a single
device.
To measure the angle, only a simple two-pole magnet,
rotating over the center of the chip, is required. The
magnet may be placed above or below the IC.
The absolute angle measurement provides instant indication of the magnet’s angular position with a resolution of
0.005° = 65 536 positions per revolution. This digital data
is available as a serial bit stream and as a PWM signal.
An internal voltage regulator allows the AEAT-6600 to
operate at either 3.3 V or 5 V supplies.
• 3-wire or 2-wire SSI interface mode for absolute output
• Incremental ABI or UVW, and PWM output modes
• User-programmable zero position, direction & index
pulse width
• Easy magnet alignment with magnetic field strength
output and alignment mode
• Power-down mode to reduce current consumption
• TSSOP-16 IC package
• RoHS compliant
Specifications
• Absolute 10-bits to 16-bits resolution
• Incremental output resolutions 8 to 1024 CPR
• -40° C to 125° C operating temperature range
Applications
• 3-phase commutation for brushless DC motor
• Resolver and potentiometer replacement
• Industrial automation and robotics
Figure 1. AEAT-6600 Series TSSOP-16 IC Package
NOTE: This product is not specifically designed or manufactured for use in any specific device. Customers are
solely responsible for determining the suitability of this
product for its intended application and solely liable for
all loss, damage, expense or liability in connection with
such use.
Definitions
Functional Description
Electrical Degree (°e): Resolution x 360 electrical degrees =
The AEAT-6600 is manufactured with a CMOS standard
process and uses a Hall technology for sensing the
magnetic field distribution across the surface of the
chip. The integrated Hall elements are placed around the
center of the device and deliver a voltage representation
of the magnetic field at the surface of the IC. The Digital
Signal Processing (DSP) circuit converts the data from the
Hall sensor into absolute angular position (DO/DI pin) as
an absolute output or converted into digital output (A/U,
B/V, I/W pins) by the incremental circuit.
360 mechanical degrees.
Cycle (C): One cycle of the incremental signal is 360 me-
chanical degrees/Resolution and is equal to 360 electrical
degrees (°e).
Cycle Error (ΔC): The difference between the actual cycle
width and the ideal cycle width corresponding to a shaft
angle displacement of 1/Resolution. The accumulated
cycle error leads to position error.
Pulse Width (P): The number of electrical degrees that an output is high during one cycle, nominally 180°e or ½ a cycle.
Pulse Width Error (ΔP): The deviation in electrical degrees of
the pulse width from its ideal value of 180°e.
State Width (S): The number of electrical degrees between
The DSP circuit also provides digital information at the
outputs MagHi and MagLo that indicate movements of
the used magnet towards or away from the device’s surface.
A small low cost diametrically magnetized (two-pole) standard magnet provides the angular position information.
Phase (φ): The number of electrical degrees between the
The AEAT-6600 senses the orientation of the magnetic
field and calculates a 10 to 16-bit binary code. This code
can be accessed via a Synchronous Serial Interface (SSI).
In addition, an absolute angular representation is given
by a Pulse Width Modulated signal at pin 8 (PWM). The
AEAT-6600 is tolerant to magnet misalignment and
magnetic stray fields due to local measurement technique
and Hall sensor conditioning circuitry.
Phase Error (Δφ): The deviation in electrical degrees of the
The OTP block provides an access to program to a specific
resolution and output modes through a PROG pin
(pin 13).
a transition in the output of channel A and the neighboring transition in the output of channel B. There are 4 states
per cycle, each nominally 90°e.
State Width Error (ΔS): The deviation in electrical degrees of
each state width from its ideal value of 90°e.
center of the high state on channel A and the center of the
high state on channel B.
phase from its ideal value of 90°e.
Index Pulse Width (PO): The number of electrical degrees
that an index pulse is active within the cycle that coincides
with the absolute zero position. The index pulse width is
also expressed in terms of LSB (least significant bit) counts
corresponding to the encoder resolution.
NOTE: For further information regarding the operating
mode and application, please refer to the Application Note
(AV02-2791EN). For programming tool and software application, please refer to the User Manual (AV02-2803EN).
Integral non-linearity (INL): The maximum deviation bet-
ween actual angular position and the position indicated
by the encoder’s output count, over one revolution. It is
defined as the most positive linearity error +INL or the
most negative linearity error –INL from the best fit line,
whichever is larger.
Encoder Output Count
1024
ALIGN
PROG
512
DSP
Hall
Sensor
Most Postive Linearity Error +INL
0
ICFE
Data
0
90
180
270
Angular Position (Mechanical Degree)
Absolute
Absolute data
Data 1
Synchronous
Serial Interface
Absolute
Data 2
Incremental
Conversion
DO_DI
CLK
NCS
A/U
B/V
I/W
Configuration Registers
Ideal Curve
Actual Curve
Figure 2. Integral Non-Linearity Example
2
PWM
Most Negative Linearity Error -INL
MAG_HI
MAG_LO
PWM_ATST
OTP
360
Figure 3. Polaris block diagram
VPP_OTP
Pin Assignments
1
16
2
15
3
14
4
5
AEAT-6600
13
12
6
11
7
10
8
9
Figure 4. Pin Configuration TSSOP-16
Pin-out Description
Pin
Symbol
I/O Type
Description
1
A/U
Output
Incremental A output (ABI mode)
U Commutation output (UVW mode)
2
B/V
Output
Incremental B output (ABI mode)
V Commutation output (UVW mode)
3
I/W
Output
Index output (ABI mode)
W Commutation output (UVW mode)
4
MAG_HI/OTP_ERR
Output
5
MAG_LO/OTP_PROG_STAT
Output
1 indicates magnetic field strength too high
(Normal operation mode)
1 indicates OTP programming error (OTP program mode)
1 indicates magnetic field strength too low
(Normal operation mode)
1 indicates OTP programming completed (OTP program mode)
6
GND
Ground
Supply Ground
7
ALIGN
Input
(internal pull-down)
0: Normal operation mode
8
PWM
Output
PWM output
9
VDD
Supply
5 V Supply input
(connected to VDD_F for 3.3 V operation)
10
VDD_F
Supply
Filtered VDD
11
PWRDOWN
Input
0: Normal operation mode
1: Alignment mode
1: Power-down mode
12
VPP
High Supply
6.5 V voltage supply for OTP programming.
VDD at normal operation mode
13
PROG
Input
(internal pull-down)
0: Normal operation mode
1: OTP programming mode
14
NCS
Input
(internal pull-up)
SSI data strobe input
15
CLK
Input
SSI clock input
16
DO/DI
Input/Output
(tri-state)
SSI data output (Absolute Output mode)
3
Serial data input (OTP Program Mode)
Table 1. Absolute Maximum Ratings
Parameter
Symbol
Min.
Max.
Units
Storage Temperature
TS
-40
125
°C
DC supply voltage
VDD pin
VPP pin
Input Voltage Range
VDD
VPP
Vin
-0.3
-0.3
-0.25
7
7
VDD+0.25
Volts
Notes
Volts
CAUTION: Subjecting the product to stresses beyond those listed under this section may cause permanent damage to the
devices. These are stress ratings only and do not imply that the devices will function beyond these ratings. Exposure to
the extremes of these conditions for extended periods may affect product reliability.
Table 2. Recommended Operating Conditions
Parameter
Symbol
Min.
Typical
Max.
Units
Operating Ambient Temperature
TA
-40
–
125
°C
VDD
5.0
3.3
6.5
5.5
3.6
6.7
Volts
VPP
4.5
3.0
6.3
Incremental Output Frequency
fMAX
–
–
512
kHz
Load Capacitance
CL
–
–
50
pF
DC Supply Voltage to VDD pin
5 V operation
3.3 V operation
OTP Programming Voltage at VPP pin
Volts
Notes
VDD pin tied to VDD_F pin for
3.3 V operation.
VPP tied to VDD during normal
operation mode
Frequency = Velocity (rpm) x
Resolution/60
Max RPM = 30000 rpm
Table 3. Electrical Characteristics
Condition: Electrical Characteristics over the Recommended Operating Conditions. Typical values specified at VDD = 5.0 V
and 25° C
Parameter
Current Consumption
Symbol
Min.
Typ.
Max.
Units
Notes
IDD
IPD
IPP
–
–
–
17
–
–
21
100
2
mA
µA
mA
VPP supply pin
High Level Output Voltage
VOH
VDD - 0.5
–
–
Volts
Normal Operation
Low Level Output Voltage
VOL
–
–
GND + 0.4
Volts
Output Leakage Current
IOZ
-1
–
1
µA
Power-up time10-bits

Absolute Output 12-bits

Incremental Output14-bits

PWM Output16-bits
tPwrUp
–
–
11
11
11
11
ms
Input High Level
VIH
0.7xVDD
–
–
Volts
Input Low Level
VIL
–
–
0.3xVDD
Volts
Input Leakage Current
ILEAK
-1
–
1
µA
CLK, DI pins
Pull-up low level input current
IIL
–
–
30
µA
NCS pin
Pull-down high level input current
IIH
–
–
30
µA
ALIGN, PROG
Supply Current
Normal Operation Mode
Power-down Mode
OTP Programming Current
Digital Outputs (DO)
Digital Inputs (DI)
4
Table 4. Encoding Characteristics
Parameter
Absolute Output
Symbol
Min.
Typ.
Max.
Units
Notes
Resolution
RES
10
–
16
Bit
10 and 16 Bits (Slow Mode)
10 and 14 Bits (Fast Mode)
Integral Non-Linearity
(optimum)
INLnom
–
±0.4
±0.9
Deg.
Maximum Error with respect to
best line fit. Verified at nominal
mechanical magnet placement.
Tamb = 25° C
Integral Non-Linearity
INL
–
–
±1.9
Deg.
Best line fit = (Errmax – Errmin)/2
Over displacement tolerance
with 9mm diameter magnet,
Tamb = -40 to +125° C
Output Sampling Rate
fS
–
12
–
kHz
Refer to table5 for AEAT-6600-T16
Internal Sampling Time
Resolution
RINC
8
–
1024
CPR
Options 8, 16, 32, 64, 128, 256,
512 or 1024 CPR
Index Pulse Width
PO
90
–
360
°e
Options: 90, 180, 270 or 360 ºe
Cycle Error
ΔC
–
7
60
80
100
°e
8, 16, 32, 64, 128 CPR
256 CPR
512, 1024 CPR
Pulse Width Error
ΔP
–
5
40
50
60
°e
8, 16, 32, 64, 128 CPR
256 CPR
512, 1024 CPR
State Width Error
ΔS
–
3
40
50
60
°e
8, 16, 32, 64, 128 CPR
256 CPR
512, 1024 CPR
Phase Error
Δφ
–
2
20
25
30
°e
8, 16, 32, 64, 128 CPR
256 CPR
512, 1024 CPR
Index Pulse Width Error
Po
60
150
240
330
90
180
270
360
120
210
300
390
°e
Index Pulse Width Gated 90ºe
Index Pulse Width Gated 180ºe
Index Pulse Width Gated 270ºe
Index Pulse Width Gated 360ºe
1
–
30,000
RPM
Incremental Output (Channel ABI)
Velocity
Note: Encoding Characteristics above are based on 12-bits resolution.
Commutation Characteristic (Channel U,V,W)
Commutation Format
Four phase 1,2,4 or 8 pole pairs
Commutation Accuracy
ΔUVW
-2
–
+2
°mechanical
Velocity
1, 2, 4, 8
Poles
1
–
30,000
RPM
PWM frequency
10 bits
fPWM
3040
3800
4560
Hz
Minimum pulse width
10 bits
PWMIN
0.8
1
1.2
µs
Maximum pulse width
10 bits
PWMAX
210
263
315
µs
PWM Output
Note: Encoding Characteristics over Recommended Operating Range unless otherwise specified.
5
Table 5. Encoding Timing Characteristics
Parameter
Symbol
Min.
Typ.
Max.
Units
Notes
tRefresh
–
–
–
–
–
–
–
–
111
111
111
111
ms
ms
ms
ms
First SSI Absolute Output upon
Power-Up
tFast
–
–
–
–
–
–
111
111
111
ms
ms
ms
No averaging reaction time
tSlow
–
–
–
–
–
–
–
–
111
442
7.1
113
ms
ms
ms
ms
Averaging reaction time
tInc.
–
–
–
–
720
310
ms
ms
(for 400 to 1800rpm)
(for 1800rpm and above)
Absolute Output
System refresh time
10-bit
12-bit
14-bit
16-bit
System reaction time (Fast Mode)
10-bit
12-bit
14-bit
System reaction time (Slow Mode)
10-bit
12-bit
14-bit
16-bit
Incremental Output (ABI & UVW)
System reaction time (Fast Mode)
Notes:
The tRefresh, tFast, tSlow, tInc. are AEAT-6600-T16 internal sampling time.
Slow Mode is not recommended for Incremental Ouput. Contact factory for Slow Mode Application on Incremental Ouput.
Contact factory for Fast Mode 16 Bits Application.
Table 6. Recommended Magnetic Input Specifications
Parameter
Symbol
Diameter
d
Thickness
t
Magnet radial magnetic flux denstiy
B_radial
188
198
208
mT
Measured at 1.3 mm away from
center of magnet radial surface.
Magnet validation purpose
Magnet plane magnetic flux density
B_plane
106
112
118
mT
B_plane at 1.3 mm from
magnet flat surface.
Hall sensor required plane
components magnetic field
Magnetization vector tilt
Mag_Vec
+/- 5
Magnet displacement radius
R_m
0.1
mm
Displacement between magnet
axis to rotational axis
Hall sensor displacement radius
R_s
0.5
mm
Displacement between hall
sensor axis to rotational axis
%/°C
NdFeB (Neodymium Iron Boron),
grade N35SH
Recommended magnet material
and temperature drift
Min.
Typ.
Units
Notes
9
mm
3
mm
Recommended magnet:
Cylindrical magnet,
diametrically magnetized &
1 pole pair.
-0.11
Max.
Magnet magnetization
vector tilt
DISCLAIMER: The above information is based on the spec provided by the supplier of the magnet used for product characterization. The supplier of the magnet is solely responsible for the specification and performance of the magnet used.
6
Magnet and IC Package Placement
X = 2.2 mm
X = 2.2 mm
Y = 2.881 mm
Hall Sensor Center
Area of recommended maximum
magnet misalignment
Y = 2.119 mm
The magnet’s centre axis should be aligned within a displacement radius of 0.5mm from defined hall sensor center.
Figure 5. Magnet and IC Package Placement
Defined Chip Sensor Center and Magnet Displacement Radius
Magnet
1.3 +/-0.5mm
Package Surface
Die Surface
Vertical Placement of the magnet
Figure 6. Defined Chip Sensor Center and Magnet Displacement Radius
7
Table 7. SSI Timing Characteristics
Parameter
Sym
Min.
Typ.
Max.
Units
Notes
fclk
–
–
1000
kHz
tCLK FE
–
–
500
ns
tDO active
–
100
–
ns
tDO valid
–
50
–
ns
tCSn
–
500
–
ns
tDO Tristate
–
100
–
ns
tDELAY
–
500
-
ns
minimum time required for encoder to freeze data
and prepare shift registers before receiving the first
rising edge to prompt the MSB.
tREfresh
20
–
–
µs
required waiting time to refresh position data
between subsequent position reads
tTIMEOUT
–
–
20
µs
every falling edge of the clock
tWAIT
–
–
10
µs
max time to hold DO to low
minimum time required for encoder to freeze data
and prepare shift registers before receiving the first
rising edge to prompt the MSB
Note: SSI Timing Characteristics over Recommended Operating Range unless otherwise specified.
SSI Timing Diagram
3-Wire and 2-Wire SSI Mode
SSI 3-wired
tDO active
16-bit cycle
tDO active
tCsn
tTIMEOUT
NCS
tDELAY
CLK
1
2
3
n
tCLK_FE
tCLK_FE
DO/DI
HI-Z
MSB
MSB-1
MSB-2
LSB+1
tDO Valid
HI-Z
LSB
16bits
Angular Position Data
Previous data
tWAIT
MSB
tDO tristate
New data
SSI 2-wired
tREfresh
>20us
16-bit cycle
tTIMEOUT
NCS
CLK
DO/DI
tDELAY
1
2
MSB
3
MSB-1
n
MSB-2
LSB+1
LSB
MSB
MSB-1
16bits
tDOValid
Angular Position Data
Previous data
tWAIT
New data
Figure 7. SSI TIming Diagram
Generally, SSI protocol is using a master/slave relationship, in which the master initiates the data frame. CLK is generated
by the master (controller) and input to all slaves. In AEAT-6600-T16, position data is continually updated by the encoder
(AEAT-6600-T16) and made available to the shift register.
8
Incremental ABI Output
CCW DIRECTION
360 edeg.
QUADRATURE A
SIGNAL
(A LEAD B)
B
INDEX
SIGNAL
P
C
S1 S2 S3 S4
φ
Po
I
1 LSB
Po
2 LSB
Po
3 LSB
Po
4 LSB
Figure 8. Incremental ABI signals
With Incremental ABI output enable, AEAT-6600-T16 is able to provide position data and direction data with the resolution 8 to 1024 CPR. Index signal marks absolute angular position and typically occurs once per revolution, with the
options 90, 180, 270, 360. Lastly, Index signal will clear the counter after each full rotation.
UVW Commutation Output
12-bit Resolution, One-pole-pair
Width: 2048 Counts
Width: 2048 Counts
U
V
W
CW Direction
Position:
Angle:
0
0.0
683
60.12
1365
119.88
2048
180
Figure 9. UVW commutation signals – 12-bit resolution, one-pole-pair
9
2731
240.12
3413
299.88
4096
360.0
10-bit Resolution, two-pole-pair
Width: 256 Counts
Width: 256 Counts
U
V
W
CW Direction
0
0.0
Position:
Angle:
85
29.88
171
60.12
256
90
341
427
119.88 150.12
512
180
597
683
209.88 240.12
768
270
853
939
299.88 330.12
1024
360.0
Figure 10. UVW commutation signals – 10-bit resolution, two-pole-pairs
In this option, three channel integrated commutation output (U, V, W) will serve the purpose to emulate Hall sensor
feedback. With this, AEAT-6600-T16 is able to align commutation encoder signal to the correct phase of the motor.
Generally, the more the pole-pairs the finer commutation steps (AEAT-6600 up to 1, 2, 4, 8 Pole-pairs)
PWM Output
Position =
Angle
ton • 1025
–1
(ton + toff)
PWMIN
0 deg
(Pos 0)
1 µs
358.6 deg
(Pos 1020)
256 µs
PWMAX
255 µs
1/fPWM
Figure 11. PWM signals – 12 bit resolution
PWM output is considered as another Absolute output besides SSI. In PWM mode, duty cycle is proportional to the
measured angle. For full rotation angle, 360 degree is equivalent to position 0 to 1023. For instance, an angle position of
358.6° will generate a pulse width ton = 255 μs and a pause toff of 1μs resulting in Position = 1020 after the calculation:
255*1025 / (255+1)-1 = 1020
10
Package Drawings
5.0 ±0.1
PD
VDD_F
GNDD, GNDA
ALIGN
VDD
PROG
VPP
NCS
MAGHI
MAGLO
4.4 ±0.1
6.4 ±0.2
DO
CLK
0.65 BSC
ISO VIEW
1.20 max
A
B
0.25 (Gauge Plane)
0.19 ~ 0.30
0.05 ~ 0.15
FRONT VIEW
0.90 +0.15
-0.1
0 ~ 8°
0.60 ±0.15
1.0 REF
Seating Plane
RIGHT VIEW
All dimensions unit: mm
Figure 12. AEAT-6600, 16-Lead TSSOP dimensions
Ordering Information
AEAT-6600-T16
For product information and a complete list of distributors, please go to our web site: www.avagotech.com
Avago, Avago Technologies, and the A logo are trademarks of Avago Technologies in the United States and other countries.
Data subject to change. Copyright © 2005-2013 Avago Technologies. All rights reserved.
AV02-2792EN - September 24, 2013
PWM
TOP VIEW
I
PIN 1
ID Mark