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