AS5140H
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
AS5140H 360° PROGRAMMABLE MAGNETIC ROTARY ENCODER HIGH AMBIENT TEMPERATUES
General Description
Benefits
Complete system-on-chip Flexible system solution provides absolute, incremental outputs simultaneously Ideal applications harsh environments contactless position sensing Tolerant magnet misalignment airgap variations Tolerant external magnetic fields Operates +150°C ambient temperature temperature compensation necessary calibration required
AS5140H contactless magnetic rotary encoder accurate angular measurement over full turn 360° over extended ambient temperature range -40°C.+150°C. system-on-chip, combining integrated Hall elements, analog front digital signal processing single device. measure angle, only simple two-pole magnet, rotating over center chip, required. magnet placed above below absolute angle measurement provides instant indication magnet's angular position with resolution 0.35° 1024 positions revolution. This digital data available serial stream signal. Furthermore, user-programmable incremental output available. internal voltage regulator allows AS5140H operate either supplies. AS5140H pin-compatible AS5040; however uses low-voltage programming cells with additional programming options.
Features
Contactless high resolution rotational position encoding over full turn degrees digital 10bit absolute outputs: Serial interface Pulse width modulated (PWM) output Three incremental output modes: Quadrature Index output signal Step Direction Index output signal 3-phase commutation brushless motors 7-bit user programmable resolution User programmable zero index position Failure detection mode magnet placement monitoring loss power supply Rotational speeds 10,000 Push button functionality detects movement magnet Z-axis Serial read-out multiple interconnected AS5140H devices using Daisy Chain mode Fully automotive qualified AEC-Q100, grade Wide ambient temperature range: 40°C 150°C Small Pb-free package: SSOP (5.3mm 6.2mm)
Figure Typical arrangement AS5140H magnet
Applications
Engine compartment sensors Transmission gearbox encoder Throttle Valve position control
Automotive applications:
Industrial applications rotary sensors high temperature environment
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Configuration
MagINCn MagDECn A_LSB_U B_Dir_V Index_W Prog
Symbol
MagINCn
Type
DO_OD
Description
Magnet Field Magnitude INCrease; active low, indicates distance reduction between magnet device surface. Magnet Field Magnitude DECrease; active low, indicates distance increase between device magnet. Mode1.x: Quadrature channel Mode2.x: Least Significant Mode3.x: signal (phase1) Mode1.x: Quadrature channel quarter period shift channel Mode2.x: Direction Rotation Mode3.x: signal (phase2) Must left unconnected Mode1.x Mode2.x Index signal indicates absolute zero position Mode3.x: signal (phase3) Negative Supply Voltage (GND) Programming Input Data Input Daisy Chain mode. Internal pulldown resistor (~74k). connected programming used Data Output Synchronous Serial Interface Clock Input Synchronous Serial Interface; SchmittTrigger input Chip Select, active low; Schmitt-Trigger input, internal pull-up resistor (~50k) connect incremental mode (see 5.2.1) Pulse Width Modulation approx. 1kHz; Mode3.x Must left unconnected Must left unconnected 3V-Regulator Output (see Figure Positive Supply Voltage
VDD5V VDD3V3 PWM_LSB
Figure configuration SSOP16
AS5140H
MagDECn
DO_OD
A_LSB_U
B_Dir_V Index_
Description
Table shows description each standard SSOP16 package (Shrink Small Outline Package, leads, body size: 5.3mm 6.2mmm; Figure Pins supply pins, pins internal must connected. Pins magnetic field change indicators, MagINCn MagDECn (magnetic field strength increase decrease through variation distance between magnet device). These outputs used detect valid magnetic field range. Furthermore those indicators also used contact-less push-button functionality. Pins incremental pulse output pins. functionality these pins configured through programming one-time programmable (OTP) register: Output Mode 1.x: quadrature 2.x:step/direction 3.x: commutation Direction Index Index
Prog
DI_PD
DO_T DI_PU,
PWM_LSB VDD3V3 VDD5V
Table assignment different incremental output modes
Table description SSOP16 DO_OD DI_PD DI_PU digital digital digital digital output open drain output input pull-down input pull-up DO_T supply digital input digital output /tri-state Schmitt-Trigger input
Mode 1.x: Quadrature Output: Represents default quadrature signal mode.
Mode 3.x: Brushless Motor Commutation Mode: Mode 2.x: Step Direction Output: Configures deliver pulses 1024 state changes) revolution. equivalent (least significant bit) absolute position value. provides information rotational direction. Both modes (mode mode 2.x) provide index signal pulse/revolution) with adjustable width three LSB's. addition absolute encoder output over interface, this mode provides commutation signals brushless motors with either pole pair pole pair rotors. commutation signals usually provided discrete Hall switches, which longer required, AS5140H fulfill tasks parallel: absolute encoder BLDC motor commutation. this mode, provides output instead (Pulse-Width-Modulation) signal.
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
(Prog) also used program different incremental interface modes, incremental resolution zero position into (see page 11). This also used digital input shift serial data through device Daisy Chain configuration, (see page Chip Select (CSn; active low) selects device within network AS5140H encoders initiates serial data transfer. logic high puts data output (DO) tri-state terminates serial data transfer. This also used alignment mode (page programming mode (page allows single wire output 10-bit absolute position value. value encoded into pulse width modulated signal with pulse width step (1µs 1024µs over full turn). using external pass filter, digital signal converted into analog voltage, allowing direct replacement potentiometers.
position information. this purpose Coordinate Rotation Digital Computer (CORDIC) calculates angle magnitude Hall array signals. also used provide digital information outputs that indicate movements used magnet towards away from device's surface. small cost diametrically magnetized (two-pole) standard magnet provides angular position information (see Figure 17). AS5140H senses orientation magnetic field calculates 10-bit binary code. This code accessed Synchronous Serial Interface (SSI). addition, absolute angular representation given Pulse Width Modulated signal (PWM). Besides absolute angular position information device simultaneously provides incremental output signals. various incremental output modes selected programming mode register bits (see page 11). long programming voltage applied Prog, setting overwritten time will reset default when power turned off. make setting permanent, register must programmed (see page ff.). default setting quadrature mode including Index signal with pulse width LSB. Index signal logic high user programmable zero position. AS5140H tolerant magnet misalignment magnetic stray fields differential measurement technique Hall sensor conditioning circuitry.
Functional Description
AS5140H manufactured CMOS standard process uses spinning current Hall technology sensing magnetic field distribution across surface chip. integrated Hall elements placed around center device deliver voltage representation magnetic field surface Through Sigma-Delta Analog Digital Conversion Digital Signal-Processing (DSP) algorithms, AS5140H provides accurate high-resolution absolute angular
VDDV3V
MagINCn VDD5V
3.3V Interface
MagDECn
PWM_LSB
Hall Array Frontend Amplifier
Absolute Interface (SSI)
Register
A_LSB_U
Programming Parameters
Incremental Interface
B_Dir_V Index_W
Prog
Figure AS5140H block diagram Revision 1.1, 02-03-2007 www.austriamicrosystems.com Page
AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
4.CSn
10-bit Absolute Angular Position Output
Synchronous Serial Interface (SSI)
Even
active
valid
Angular Position Data
Status Bits
Tristate
Figure Synchronous serial interface with absolute angular position data
changes logic low, Data (DO) will change from high impedance (tri-state) logic high read-out will initiated. After minimum time data latched into output shift register with first falling edge CLK. Each subsequent rising edge shifts data. serial word contains bits, first bits angular information D[9:0], subsequent bits contain system information, about validity data such OCF, COF, LIN, Parity Magnetic Field status (increase/decrease) subsequent measurement initiated log. "high" pulse with minimum duration CSn.
used, contain invalid data. This warning resolved bringing magnet within X-Y-Z tolerance limits. MagINCn, (Magnitude Increase) becomes HIGH, when magnet pushed towards thus magnetic field strength increasing. MagDECn, (Magnitude Decrease) becomes HIGH, when magnet pulled away from thus magnetic field strength decreasing. Both signals HIGH indicate magnetic field that allowed range (see Table
INCn DECn Description
distance change Magnetic Input Field range) Distance increase: Pull-function. This state dynamic, only active while magnet moving away from chip Z-axis Distance decrease: Push- function. This state dynamic, only active while magnet moving towards chip Z.axis. Magnetic Input Field invalid range: large, small (missing magnet)
Data Content:
D9:D0 absolute angular position data (MSB clocked first) (Offset Compensation Finished), logic high indicates finished Offset Compensation Algorithm. fast startup, this polled external microcontroller. soon this set, AS5140H completed startup data valid (see Table (Cordic Overflow), logic high indicates range error CORDIC part. When this set, data D9:D0 invalid. absolute output maintains last valid angular value. This alarm resolved bringing magnet within X-Y-Z tolerance limits. (Linearity Alarm), logic high indicates that input field generates critical output linearity. When this set, data D9:D0 still
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Table Magnetic magnitude variation indicator
Note: Pins (MagINCn, MagDECn) open drain outputs require external pull-up resistors. magnetic field range, both outputs turned off. pins also combined with single pull-up resistor. this case, signal high when magnetic field range. other cases (see Table Even Parity transmission error detection bits 1.15 (D9.D0, OCF, COF, LIN, MagINCn, MagDECn)
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
absolute angular output always resolution bit. Placing magnet above chip, angular values increase clockwise direction default. Data D9:D0 valid, when status bits have following configurations: INCn DECn Parity even checksum bits 1:15
Daisy Chain Mode
Daisy Chain mode allows connection several AS5140H's series, while still keeping just digital input data transfer (see "Data Figure below). This mode accomplished connecting data output (DO; data input (Prog; subsequent device. serial data connected devices read from first device chain. Prog last device chain should connected VSS. length serial stream increases with every connected device, (16+1) bits: e.g. devices, three devices, etc. last data first device (Parity) followed logic first data second device (D9), etc. (see Figure 4.2.1 Programming Daisy Chained Devices
Table Status outputs
absolute angular position sampled rate 10kHz (0.1ms). This allows reading 1024 positions degrees within seconds 9.76Hz (~10Hz) without skipping position. Multiplying 10Hz results corresponding maximum rotational speed rpm. Readout every second angular position allows rotational speeds 1200rpm. Consequently, increasing rotational speed reduces number absolute angular positions revolution (see Table Regardless rotational speed number positions read out, absolute angular value always given highest resolution bit. incremental outputs affected rotational speed restrictions implemented interpolator. incremental output signals used highspeed applications with rotational speeds 10,000 without missing pulses.
Daisy Chain mode, Prog connected directly subsequent device chain (see Figure During programming (see section programming voltage 7.5V must applied Prog. This voltage level exceeds limits following precautions must made during programming: open connection programming Prog during
Schottky diode between Prog (Anode Cathode Prog)
parallel connection CSn, connected devices programmed simultaneously.
Data
AS5140H Device
Prog
AS5140H Device
Prog
AS5140H last Device
Prog
Figure Daisy Chain hardware configuration
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
tCLK
TCLK/2
Even
active
valid
Angular Position Data Device
Status Bits
Angular Position Data Device
Figure Daisy Chain mode data transfer
Incremental Outputs
Output (Step Direction Mode)
Three different incremental output modes possible with quadrature being default mode. Figure shows two-channel quadrature well step direction incremental signal (LSB) direction clockwise (CW) counter-clockwise (CCW) direction.
Output reflects (least significant bit) programmed incremental resolution (OTP Register Div0, Div1). Output provides information about rotational direction magnet, which placed above below device (1=clockwise; 0=counter clockwise; view). updated with every change. both modes (quad A/B, step/direction) resolution index output user programmable. index pulse indicates zero position default angular step (1LSB) wide. However, three LSBs programming Index-bit register accordingly (see Table
Quadrature Output (Quad Mode)
phase shift between channel indicates direction magnet movement. Channel leads channel clockwise rotation magnet (top view) electrical degrees. Channel leads channel counter-clockwise rotation.
A/B-M
echanical Zero Position
Rotation Direction Change
echanical Zero Position
Index=0 1LSB
Index
Step Dir-Mode
Index=1
Clockwise
Counterclockwise
Increm ental outputs valid
valid
Figure Incremental output modes
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
5.2.
Incremental Power-up Lock Option
After power-up, incremental outputs optionally locked unlocked, depending status pin: power-up: internal pull-up resistor must externally pulled 5k). power-up, incremental outputs Index) will high until internal offset compensation finished. This unique state (A=B=Index high) used indicator external controller shorten waiting time power-up. Instead waiting specified maximum power up-time (0), controller start requesting data from AS5140H soon state (A=B=Index high) cleared. high open power-up: this mode, incremental outputs Index) will remain logic high state, until goes pulse applied CSn. This mode allows intentional disabling incremental outputs until example system microcontroller ready receive data.
Incremental Output Indication
Hysteresis:
0.7°
Clockwise Direction
Magnet Position
Counterclockwise Direction
Figure Hysteresis window incremental outputs
Pulse Width Modulation (PWM) Output
AS5140H provides pulse width modulated output (PWM), whose duty cycle proportional measured angle:
Position
1025 (ton toff
frequency internally trimmed accuracy
Incremental Output Hysteresis
avoid flickering incremental outputs stationary magnet position, hysteresis introduced. case rotational direction change, incremental outputs have hysteresis LSB. Regardless hysteresis highest resolution hysteresis programmed incremental resolution, always corresponds bit. absolute terms, 0.704 degrees resolutions.
(±10% over full temperature range). This tolerance cancelled measuring complete duty cycle shown above.
Angle (Pos
1025µs
359.65 (Pos 1023)
1024µs
constant rotational directions, every magnet position change indicated incremental outputs (see Figure example magnet turns clockwise from position ,,x+3" ,,x+4", incremental output would also indicate this position accordingly. change magnet's rotational direction back position ,,x+3" means, that incremental output still remains unchanged duration LSB, until position ,,x+2" reached. Following this direction, incremental outputs will again updated with every change magnet position.
1/fPWM
Figure output signal
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
R1,R2 Parameter frequency pulse width pulse width Symbol fPWM PWMIN PWMAX 0.9756 1024 Unit Note Signal period: 1025µs Position Angle Position 1023d Angle 359,65
C1,C2
should avoid loading output. Larger values will provide better filtering less ripple, will also slow down response time.
Table signal parameters
Brushless Motor Commutation Mode
Analog Output
analog output generated averaging signal, using external active passive lowpass filter. analog output voltage proportional angle: 360° VDD5V. Using this method, AS5140H used direct replacement potentiometers.
Brushless motors require angular information stator commutation. AS5140H provides U-V-W commutation signals pole pair motors. addition three-phase output signals, step (LSB) output allows high accuracy speed measurement. resolutions bit) selected programming Div0 according Table Mode (3.1) used brush-less motors with one-pole pair rotors. three phases degrees apart, each phase degrees degrees off. Mode (3.3) used motors with pole pairs requiring higher pulse count ensure proper current commutation. this case pulse width positions, equal degrees.
Pin12
analog
Pin7
360°
Figure Simple passive order lowpass filter
precise physical angle which signals change state ("Angle" Figure Figure calculated multiplying each transition position angular value count: Angle [deg] Position (360 degree 1024)
Commutation Mode
Width: Steps
(One-pole-pair)
Width: Steps
Direction
Position: Angle:
1760.12
34119.88
180.0
240.12
299.88
360.0
Figure V-signals BLDC motor commutation (Div1=0, Div0=0)
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Commutation Mode
Width: Steps
(Two-pole-pairs)
Width: Steps
Direction
Position: Angle:
29.88
1760.12
90.0
34119.88
150.12
180.0
209.88
240.12
270.00
299.88
330.12
360.0
Figure W-signals 2pole BLDC motor commutation (Div1=1; Div0=0)
Programming AS5140H
memory accessed several ways: memory accessed several ways: Load Operation Load operation reads fuses loads contents into register. Note: Load operation automatically executed after each power-on-reset. Write Operation Write operation allows temporary modification register. does program OTP. This operation invoked multiple times will remain while chip supplied with power while register modified with another Write Load operation. Read Operation Read operation reads contents register, example verify Write command read memory after Load command Program Operation Program operation writes contents register permanently into ROM. Analog Readback Operation Analog Readback operation allows quantifiable verification programming. each programmed unprogrammed bit, there representative analog value essence, resistor value) that read verify whether been successfully programmed
Note: detailed description austriamicrosystems voltage polyfuse programming method given Application Note AN5000-30, which downloaded from austriamicrosystems website. programming description this datasheet general information only.
After power-on, programming AS5140H enabled with rising edge with Prog high low. AS5140H programming one-time-programming (OTP) method, based polysilicon fuses. advantage this method that programming voltage only 3.3V required programming. consists bits, which bits available user programming. remaining bits contain factory settings unique chip identifier (Chip-ID). single cell programmed only once. default, cell "0"; programmed cell will contain "1". While possible reset programmed from "0", multiple writes possible, long only unprogrammed "0"-bits programmed "1". Independent programming, possible overwrite register temporarily with write command time. This setting will cleared overwritten with hard programmed settings each power-up sequence LOAD operation.
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
9.Bit
Memory Assignment
Symbol mbit1 Div0 Div1 Index ChipID0 ChipID1 ChipID17 mbit0 Factory Chip Factory Factory Factory Section Factory Redundancy Address Direction Zero Position
Incremental Output Mode Selection Customer Section
User selectable settings
Function Factory
AS5140H allows programming following user selectable options:
Md1, Div1,Div0 Index [9:0]
Incremental Output Mode Selection Divider Setting Incremental Output Index Pulse Width Selection: 1LSB 3LSB Programmable Zero Index Position Counter Clockwise
ccw=0 angular value increases clockwise direction ccw=1 angular value increases counterclockwise direction
[4:0]
Redundant Address: location
addressed this address always independent corresponding original setting
Default Setting
AS5140H also operated without programming. default, un-programmed setting Md0, MD1: incremental mode quadrature Div0,Div1 incremental resolution 10bit
Section
Index: CCW:
Index width 1LSB programmed zero position clockwise operation
RA0:0 selected
Table Assignment
Redundant programming option
addition regular programming, redundant programming option available. This option allows that selectable (programmed state) writing location that into 5-bit address decoder. This address stored bits RA5.0 user settings. Example: setting RA5.0 "00001" will select MD0, "00010" selects MD1, "10000" selects CCW, etc.
register entry exit condition
Setup Condition Access
PROG
Operation Mode Selection Exit Condition
avoid accidental modification during normal operation, each access (Load, Write, Read, Program) requires defined entry exit procedure, using CSn, PROG signals shown Figure
Figure 13:OTP access timing diagram
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Incremental Mode Programming
indicated direction, e.g. when magnet placed underneath angular value increases clockwise; angular value increases counterclockwise. default, zero index position pulse wide. increased three wide pulse setting Index-bit register. Further programming options (commutation modes) available brushless motor-control. changes incremental output pins 3-phase commutation signal. Div1 defines number pulses revolution either two-pole (Div1=0) four-pole (Div1=1) rotor. addition, available (the signal replaces PWM-signal), which allows high rotational speed measurement 10,000 rpm.
Three different incremental output modes available. Mode: Md1=0 Md0=1 sets AS5140H quadrature mode. Mode: Md1=1 Md0=0 sets AS5140H step direction mode (see Table both modes, incremental resolution reduced from down using divider bits Div1 Div0. (see Table below Mode: Md1=1 Md0=1 sets AS5140H brushless motor commutation mode with additional incremental signal (PWM_LSB). allow programming bits, default factory setting bits This mode equal mode (quadrature A/B, 1LSB index width, 256ppr). absolute angular output value, default, increases with clockwise rotation magnet (top view). Setting CCW-bit (see Table allows reversing
OTP-Mode-Register-Bit Mode Default (Mode0.0) quadAB-Mode1.0 quadAB-Mode1.1 quadAB-Mode1.2 quadAB-Mode1.3 quadAB-Mode1.4 quadAB-Mode1.5 quadAB-Mode1.6 quadAB-Mode1.7 Step/Dir-Mode2.0 Step/Dir-Mode2.1 Step/Dir -Mode2.2 Step/Dir -Mode2.3 Step/Dir -Mode2.4 Step/Dir -Mode2.5 Step/Dir -Mode2.6 Step/Dir -Mode2.7
Commutation-Mode3.0 Commutation-Mode3.1 Commutation-Mode3.2 Commutation-Mode3.3
1LSB 1LSB 3LSBs 1LSB 3LSBs 1LSB 3LSBs 1LSB 3LSBs 1LSB 3LSBs 1LSB 3LSBs 1LSB 3LSBs 1LSB 3LSBs
Pulses Incremental Revolution Resolution 2x256
Div1
Div0 Index
2x128 2x64 2x32
Table Time Programmable (OTP) register options
*Note: Div1, Div0 Index cannot programmed Mode
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Zero Position Programming
This value written into register bits Z9:Z0 (see Figure programmed described section This absolute zero position also Index pulse position incremental output modes.
Zero position programming option that simplifies assembly system, magnet does need manually adjusted mechanical zero position. Once assembly completed, mechanical electrical zero positions matched software. position within full turn defined permanent zero/index position. zero position programming, magnet turned mechanical zero position (e.g. "off"-position rotary switch) actual angular value read.
Note: zero position value also modified before programming, e.g. program electrical zero position that 180° (half turn) from mechanical zero position, just value read mechanical zero position program value into register.
Alignment Mode
alignment mode simplifies centering magnet over center chip gain maximum accuracy. Alignment mode enabled with falling edge while Prog logic high (Figure 14). Data bits D9-D0 change 10-bit displacement amplitude output. high value indicates large displacement, also higher absolute magnetic field strength. magnet properly aligned, when difference between highest lowest value over full turn minimum. Under normal conditions, properly aligned magnet will result reading less than over full turn. MagINCn MagDECn indicators will when alignment mode reading 128. same time, both hardware pins MagINCn (#1) MagDECn (#2) will pulled VSS. properly aligned magnet will therefore produce MagINCn MagDECn signal throughout full 360° turn magnet. Stronger magnets short gaps between magnet show values larger than 128. These magnets still properly aligned long difference between highest lowest value over full turn minimum. Alignment mode reset normal operation power-on-reset (disconnect re-connect power supply) falling edge with Prog low.
Prog
AlignMode enable
Read-out
min. min.
Figure Enabling alignment mode
Prog
exit AlignMode
Read-out
Figure Exiting alignment mode
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
3.3V Operation
AS5140H operates either 3.3V ±10% ±10%. This made possible internal 3.3V LowDropout (LDO) voltage regulator. internal supply voltage always taken from output LDO, meaning that internal blocks always operating 3.3V. 3.3V operation, must bypassed connecting VDD3V3 with VDD5V (see Figure 16). operation, supply connected VDD5V, while VDD3V3 (LDO output) must buffered 2,2.10µF capacitor, which supposed placed close supply (see Figure 16). VDD3V3 output intended internal only must loaded with external load. output voltage digital interface I/O's corresponds voltage VDD5V, buffers supplied from this (see Figure 16).
Operation
2,2.10µF
VDD3V3
100n
VDD5V
Internal
5.5V
PWM_LSB A_LSB_U B_Dir_V Index_W Prog
3.3V Operation
VDD3V3
100n
buffer capacitor 100nF recommended both cases close VDD5V. Note that VDD3V3 must always buffered capacitor. must left floating, this cause instable internal 3.3V supply voltage which lead larger than normal jitter measured angle.
VDD5V
Internal
3.6V
PWM_LSB A_LSB_U B_Dir_V Index_W Prog
Figure Connections 3.3V supply voltages
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Choosing Proper Magnet
Typically magnet should diameter 2.5mm height. Magnetic materials such rare earth AlNiCo, SmCo5 NdFeB recommended.
2.433
magnet's field strength perpendicular surface should verified using gauss-meter. magnetic field given distance, along concentric circle with radius 1.1mm (R1), should range ±45mT.±75mT. (see Figure 17).
typ. diameter
Defined center
2.433 Area recommended maximum magnet misalignment
Figure Defined center magnet displacement radius
Magnet Placement:
Magnet axis
Magnet axis
Vertical field component
magnet's center axis should aligned within displacement radius 0.25mm from defined center with reference edge (see Figure 18). This radius includes placement tolerance chip within SSOP-16 package (+/- 0.235mm). displacement radius 0.485mm with reference center chip (see section 10:Alignment Mode:). vertical distance should chosen such that magnetic field surface within specified limits (see Figure 17). typical distance between magnet package surface 0.5mm 1.8mm with recommended magnet (6mm 2.5mm). Larger gaps possible, long required magnetic field strength stays within defined limits. magnetic field outside specified range still produce usable results, out-of-range condition will indicated MagINCn (pin MagDECn (pin Table
concentric circle; radius 1.1mm Vertical field component (45.75mT)
Figure Typical magnet magnetic field distribution
Package surface
12.1 Physical Placement Magnet
best linearity achieved placing center magnet exactly over defined center package shown Figure
surface
0.576mm 0.1mm 1.282mm 0.15mm
Figure Vertical placement magnet
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Simulation Modelling
±0.235mm
removes common mode error components introduced magnetic source itself external disturbing magnetic fields. ratiometric division sine cosine vectors removes need accurate absolute magnitude magnetic field thus accurate Z-axis alignment magnetic source.
2.433 ±0.235mm
recommended differential input range magnetic field strength (X1-X2) (Y1-Y2) ±75mT surface die. addition this range, additional offset ±5mT, caused unwanted external stray fields allowed.
AS5140H
Center
Radius circular Hall sensor array: 1.1mm radius
Figure Arrangement Hall sensor array chip (principle)
chip will continue operate, with degraded output linearity, signal field strength outside recommended range. strong magnetic fields will introduce errors saturation effects internal preamplifiers. weak magnetic fields will introduce errors noise becoming more dominant.
With reference Figure diametrically magnetized permanent magnet placed above below surface AS5140H. chip uses array Hall sensors sample vertical vector magnetic field distributed across device package surface. area magnetic sensitivity circular locus 1.1mm radius with respect center die. Hall sensors area magnetic sensitivity grouped configured such that orthogonally related components magnetic fields sampled differentially. differential signal Y1-Y2 will give sine vector magnetic field. differential signal X1-X2 will give orthogonally related cosine vector magnetic field. angular displacement magnetic source with reference Hall sensor array then modelled
Failure Diagnostics
AS5140H also offers several diagnostic failure detection features:
14.1 Magnetic Field Strength Diagnosis
software: MagINCn MagDECn status bits will both high when magnetic field range. hardware: Pins (MagINCn) (MagDECn) open-drain outputs will both turned with external pull-up resistor) when magnetic field range. only outputs low, magnet either moving towards chip (MagINCn) away from chip (MagDECn).
14.2 Power Supply Failure Detection
software: power supply AS5140H interrupted, digital data read will "0"s. Data only valid, when high, hence data stream with "0"s invalid. ensure adequate levels failure case, pull-down resistor (~10k) should added between receiving side. hardware: MagINCn MagDECn pins open drain outputs require external pull-up resistors. normal operation, these pins high ohmic outputs high (see Table failure case, either when magnetic field range power supply missing, these outputs will become low. ensure adequate levels case broken power
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0.5° arctan
±0.5° angular error assumes magnet optimally aligned over center result gain mismatch errors AS5140H. Placement tolerances within package ±0.235mm direction, using reference point edge (Figure 20). order neglect influence external disturbing magnetic fields, robust differential sampling ratiometric calculation algorithm been implemented. differential sampling sine cosine vectors
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AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
supply AS5140H, pull-up resistors (>10k) from each must connected positive supply (VDD5V). hardware: output: output constant stream pulses with 1kHz repetition frequency. case power loss, these pulses missing. hardware: Incremental outputs: normal operation, pins A(#3), B(#4) Index (#6) will never high same time, Index only high when A=B=low. However, after power-on-reset, powered restarts after power supply interruption, three outputs will remain high state until pulled low. already tied during power-up, incremental outputs will high until internal offset compensation finished (within PwrUp
covers square (79x79mil) with step size 100µm. each misalignment step, measurement shown Figure repeated accuracy (Err (e.g. 0.25° Figure entered Z-axis 3D-graph.
Linearity Error over XY-misalignment
-200 1000 -400 -600 -200 -800 -400 -600 -1000 -800 -1000 1000
Angular Output Tolerances
15.1 Accuracy
Accuracy defined error between measured angle actual angle. influenced several factors: non-linearity analog-digital converters, internal gain mismatch errors, non-linearity misalignment magnet these errors, accuracy with centered magnet (Err specified better than ±0.5 degrees 25°C (see Figure 22). Misalignment magnet further reduces accuracy. Figure shows example 3D-graph displaying non-linearity over XY-misalignment. center square XY-area corresponds centered magnet (see center graph). axis extends misalignment ±1mm both directions. total misalignment area graph
Figure Example linearity error over misalignment
maximum non-linearity error this example better than degree (inner circle) over misalignment radius ~0.7mm. volume production, placement tolerance within package (±0.235mm) must also taken into account. total nonlinearity error over process tolerances, temperature misalignment circle radius 0.25mm specified better than ±1.4 degrees. magnet used this measurement cylindrical NdFeB (Bomatec® BMN-35H) magnet with diameter 2.5mm height.
linearity error with centered magnet [degrees] -0.1 -0.2 -0.3 -0.4 -0.5
transition noise
Figure Example linearity error over 360° Revision 1.1, 02-03-2007 www.austriamicrosystems.com Page
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15.2 Transition Noise
Transition noise defined jitter transition between steps. nature measurement principle (Hall sensors Preamplifier ADC), there always certain degree noise involved. This transition noise voltage results angular transition noise outputs. specified 0.06 degrees sigma)
Absolute Mode: With given sampling rate 10.4 kHz, number samples turn magnet rotating high speed calculated
practice, there upper speed limit. only restriction that there will fewer samples revolution speed increases. Regardless rotational speed, absolute angular value always sampled highest resolution bit. Likewise, given number samples revolution (n), maximum speed calculated
This repeatability indicated angle given mechanical position. transition noise different implications type output that used: Absolute output; interface: transition noise absolute output reduced user applying averaging readings. averaging readings will reduce transition noise 0.03° sigma). interface: interface used analog output adding pass filter, transition noise reduced lowering cutoff frequency filter. interface used digital interface with counter receiving side, transition noise again reduced averaging readings. Incremental mode: incremental mode, transition noise influences period, width phase shift output signals Index. However, algorithm used generate incremental outputs guarantees missing additional pulses even high speeds 10,000 higher)
absolute mode (serial interface output), maximum speed, where 1024 readings revolution obtained. incremental mode, maximum error caused sampling rate ADCs 0/+96µs. peak 1LSB 0.35° rpm. higher speeds this error reduced again interpolation output delay remains 192µs requires sampling periods (2x96µs) synthesize redistribute missing pulses. Incremental Mode: Incremental encoders usually required produce missing pulses several thousand rpm's. Therefore, AS5140H built-in interpolator, which ensures that there missing pulses incremental outputs rotational speeds 10,000 rpm, even highest resolution bits (512 pulses revolution). Absolute Output Mode 610rpm 1024 samples turn 122rpm samples turn Incremental Output Mode missing pulses resolution (512ppr): max. speed 10,000
statistically, sigma represents 68.27% readings, sigma represents 99.73% readings.
15.3 High Speed Operation
15.3.1 Sampling Rate
2441rpm samples turn etc.
Table Speed performance
AS5140H samples angular value rate 10.42k samples second. Consequently, incremental, well absolute outputs updated each 96µs. stationary position magnet, this sampling rate creates additional error.
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15.4 Propagation Delays
propagation delay delay between time that sample taken until converted available angular data. This delay 48µs absolute interface 192µs incremental interface. Using interface absolute data transmission, additional delay must considered, caused asynchronous sampling 0.1/f time takes external control unit read process data.
Position
1025 (ton toff
15.6 Temperature
15.6.1 Magnetic Temperature Coefficient
15.4.
Angular Error Caused Propagation Delay
rotating magnet will therefore cause angular error caused output delay. This error increases linearly with speed:
esampling prop.delay
where: sampling angular error rotating speed [rpm] prop.delay propagation delay [seconds] Note: since propagation delay known, automatically compensated control unit that processing data from AS5140H, thus reducing angular error caused speed.
major benefits AS5140H compared linear Hall sensors that much less sensitive temperature. While linear Hall sensors require compensation magnet's temperature coefficient, AS5140H automatically compensates varying magnetic field strength over temperature. magnet's temperature drift does need considered, AS5140H operates with magnetic field strengths from ±45.±75mT.
Example: NdFeB magnet field strength 75mT -40°C temperature coefficient -0.12% Kelvin. temperature change from -40° +150° 190K. magnetic field change -0.12% -22.8%, which corresponds 75mT -40°C 57.9mT 150°C AS5140H compensate this temperature related field strength change automatically, user adjustment required.
15.5 Internal Timing Tolerance
AS5140H does require external ceramic resonator quartz. internal clock timings AS5140H generated on-chip oscillator. This oscillator factory trimmed accuracy room temperature (±10% over full temperature range). This tolerance influences sampling rate pulse width output:
15.6.2
Accuracy over Temperature
influence temperature absolute accuracy very low. While accuracy ±0.5° room temperature, increase ±0.9° increasing noise high temperatures.
Absolute output; interface: angular value updated every 100µs (typ.) Incremental outputs: incremental outputs updated every 100µs (typ.) output: angular value updated every 100µs (typ.). pulse timings also have same tolerance internal oscillator. only pulse width used measure angle, resulting value also this timing tolerance. However, this tolerance cancelled measuring both calculating angle from duty cycle (see section
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15.6.3
Timing Tolerance over Temperature
internal oscillator factory trimmed ±5%. Over temperature, this tolerance increase ±10%. Generally, timing tolerance influence accuracy resolution system, used mainly internal clock generation. only concern user width output pulse, which relates directly timing tolerance internal oscillator. This influence however cancelled measuring complete duty cycle (see 15.5).
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Electrical Characteristics
16.1 AS5140H Differences AS5040
AS5140H AS5040 differ following features: Parameter assignment Ambient temperature range Alignment mode AS5140H AS5040 compatible
-40°C .+150°C
Exit alignment mode power-on-reset Exit alignment mode with PROG= falling edge
-40°C .+125°C Exit alignment mode power-on-reset only
programming voltage programming options
3,6V Incremental modes (quad step/dir, BLDC) Incremental resolution Incremental Index width 10-bit Zero position direction (cw/ccw) Redundancy address 18-bit Chip-Identifier CSn, PROG CLK; 52-bit serial data protocol
7.5V Incremental modes (quad step/dir, BLDC) Incremental resolution Incremental Index width 10-bit Zero position direction (cw/ccw)
Programming protocol
CSn, PROG CLK; 16-bit (32-bit) serial data protocol
16.2 Absolute Maximum Ratings (non operating)
Stresses beyond those listed under "Absolute Maximum Ratings" cause permanent damage device. These stress ratings only. Functional operation device these other conditions beyond those indicated under "Operating Conditions" implied. Exposure absolute maximum rating conditions extended periods affect device reliability.
Parameter supply voltage VDD5V supply voltage VDD3V3 Input voltage Input current (latchup immunity) Electrostatic discharge Storage temperature Body temperature (Lead-free package) Humidity non-condensing
Symbol VDD5V VDD3V3 Iscr Tstrg TBody
-0.3 -0.3 -0.3 -100
Unit
Note
Pins Prog, MagIncn, MagDecn, CLK, CSn, Norm: JEDEC Norm: method 3015 t=20 40s, Norm: IPC/JEDEC J-Std-020C Lead finish 100% "matte tin"
+150
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16.3 Automotive Qualification
AS5140H fully automotive qualified according AEC-Q100, grade
16.4 Operating Conditions
Parameter Ambient temperature Supply current External supply voltage VDD5V Internal regulator output voltage VDD3V3 External supply voltage VDD5V ,VDD3V3 External VDD3V3 supply voltage rise time power-up Symbol Tamb Isupp VDD5V VDD3V3 VDD5V VDD3V3 pwrup3 Unit operation 3.3V operation (pins VDD5V VDD3V3 connected) 10%-90% level 3.3V mode (pins VDD5V VDD3V3 connected) Note
16.5 Characteristics Digital Inputs Outputs
16.5.1 CMOS Schmitt-Trigger Inputs: CLK, (CSn internal Pull-up)
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter High level input voltage level input voltage Schmitt Trigger hysteresis Input leakage current Pull-up level input current
Symbol VIon- VIoff ILEAK
VDD5V
VDD5V
Unit
Note Normal operation
-100
only only, VDD5V: 5.0V
16.5.2
CMOS Program Input: Prog
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter High level input voltage High level input voltage level input voltage Pull-down high level input current
Symbol VPROG
VDD5V
Unit
Note
"programming conditions" VDD5V
During programming
VDD5V: 5.5V
16.5.3
CMOS Output Open Drain: MagINCn, MagDECn
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter level output voltage Output current Open drain leakage current
Symbol
VSS+0.4
Unit
Note VDD5V: 4.5V VDD5V:
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16.5.4
CMOS Output: Index,
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter High level output voltage level output voltage Output current
Symbol
VDD5V-0.5
VSS+0.4
Unit
Note
VDD5V: 4.5V VDD5V:
16.5.5
Tristate CMOS Output:
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter High level output voltage level output voltage Output current Tri-state leakage current
Symbol
VDD5V -0.5
VSS+0.4
Unit
Note
VDD5V: 4.5V VDD5V:
16.6 Magnetic Input Specification
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Two-pole cylindrical diametrically magnetised source: Parameter Diameter Thickness Magnetic input field amplitude Magnetic offset Field non-linearity Input frequency (rotational speed magnet) fmag_abs fmag_inc Symbol dmag tmag Boff 0.25 Displacement radius Disp 0.485 Chip placement tolerance Recommended magnet material temperature drift -0.12 -0.035 ±0.235
Unit
Note Recommended magnet: 2.5mm cylindrical magnets Required vertical component magnetic field strength die's surface, measured along concentric circle with radius 1.1mm Constant magnetic stray field Including offset gradient Absolute mode: readout 1024 positions (see table Incremental mode: missing pulses rotational speeds 10,000 (see table Max. offset between defined package center magnet axis (see Figure Max. offset between chip center magnet axis. Placement tolerance chip within package (see Figure NdFeB (Neodymium Iron Boron) SmCo (Samarium Cobalt)
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16.7 Electrical System Specifications
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter Resolution Integral non-linearity (optimum) Integral non-linearity (optimum)
Symbol
Unit
Note 0.352 Adjustable resolution only available incremental output modes; Least significant bit, minimum step
2.813 1.406 0.703 0.352 INLopt INLtemp Maximum error with respect best line fit. Verified optimum magnet placement, Tamb Maximum error with respect best line fit. Verified optimum magnet placement Tamb +150°C Best line (Errmax Errmin) Over displacement tolerance with diameter magnet, Tamb +150°C 10bit, missing codes equivalent sigma Incremental modes only supply voltage 3.3V (VDD3V3) supply voltage 3.3V (VDD3V3) Until offset compensation finished Includes delay Calculation over samples Internal sampling rate, Tamb 25°C Internal sampling rate, Tamb +150°C Max. clock frequency read serial data
Integral non-linearity Differential non-linearity Transition noise Hysteresis Power-on reset thresholds
voltage; 300mV typ. hysteresis voltage; 300mV typ. hysteresis
Hyst Voff tPwrUp tdelay 1,37 1.08 0.704
0.176 0.12
Power-up time System propagation delay absolute output System propagation delay incremental output Sampling rate absolute output Read-out frequency
9.90 9.38
10.42 10.42
10.94 11.46
1023
10bit code
Actual curve
1023 DNL+1LSB 0.35° Ideal curve
180°
[degrees]
Page
Figure Integral differential non-linearity example (exaggerated curve) Revision 1.1, 02-03-2007 www.austriamicrosystems.com
AS5140H 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Integral Non-Linearity (INL) maximum deviation between actual position indicated position. Differential Non-Linearity (DNL) maximum deviation step length from position next. Transition Noise (TN) repeatability indicated position.
16.8 Timing Characteristics
Synchronous Serial Interface (SSI)
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter Data output activated (logic high) First data shifted output register Start data output Data output valid Data output tristate Pulse width Read-out frequency
Symbol active tCLK valid tristate fCLK
Unit
Note Time between falling edge data output activated Time between falling edge first falling edge Rising edge shifts time Time between rising edge data output valid After last changes back "tristate" high; initiate read-out next angular position Clock frequency read serial data
Pulse Width Modulation Output
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter frequency Minimum pulse width Maximum pulse width Incremental Outputs
Symbol
0.927 0.878 0.95
0.976 0.976 1024
1.024 1.074 1.05 1075
Unit
Note Signal period 1025µs Tamb 25°C =1025µs ±10% Tamb +150°C Position angle degree Position 1023d; angle 359.65 degree
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter Incremental outputs valid after power-up Directional indication valid
Symbol Incremental
outputs valid
Unit
Note Time between first falling edge after power-up valid incremental outputs Time between rising falling edge output valid directional indication
valid
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16.9 Programming Conditions
(operating conditions: +150°C, VDD5V 3.0-3.6V operation) VDD5V 4.5-5.5V operation) unless otherwise noted)
Parameter Programming voltage Programming voltage level Programming current Programmed fuse resistance (log Unprogrammed fuse resistance (log Programming time Refresh time LOAD frequency
READ frequency WRITE frequency
Symbol PROG ProgOff PROG Rprogrammed Runprogrammed tPROG tCHARGE fLOAD fREAD fWRITE
Unit
Note Voltage applied during programming. Line must discharged this level Current during programming 10µA max. current 100mV max. current 100mV Time prog. singe fuse Time charge after tPROG Data loaded n*2µs. Read data from latch. Write data latch.
100k
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Package Drawings Markings
16-Lead Shrink Small Outline Package SSOP-16
AYWWIZZ AS5140H
Dimensions
Symbol 0.63 1.73 0.05 1.68 0.25 0.09 6.07 7.65 1.86 0.13 1.73 0.315 6.20 0.65 0.75 0.95 .025 1.99 0.21 1.78 0.38 0.20 6.33 5.38 .068 .002 .066 .010 .004 .239 .301 .205 inch .073 .005 .068 .012 .244 .307 .209 .0256 .030 .037 .078 .008 .070 .015 .008 .249 .311 .212
Marking: AYWWIZZ Pb-free Identifier Last Digit Manufacturing Year Manufacturing Week Plant Identifier Traceability Code
JEDEC Package Outline Standard: Thermal Resistance th(j-a) typ. still air, soldered IC's marked with white letters "ES" denote Engineering Samples
Packing Options
Delivery: Tape Reel reel 2000 devices) Tubes tubes devices)
Order AS5140HASSU Order AS5140HASST
delivery tubes delivery tape reel
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Recommended Footprint
Recommended Footprint Data 9.02 6.16 0.46 0.65 5.01 inch 0.355 0.242 0.018 0.025 0.197
Revision History
Revision Date Oct. 2006
Initial revision
Description
Contact
21.1 Headquarters
austriamicrosystems Fax: 3136 www.austriamicrosystems.com 8141 Schloss Austria Phone: 3136 Copyright
Devices sold austriamicrosystems covered warranty patent indemnification provisions appearing Term Sale. austriamicrosystems makes warranty, express, statutory, implied, description regarding information forth herein regarding freedom described devices from patent infringement. austriamicrosystems reserves right change specifications prices time without notice. Therefore, prior designing this product into system, necessary check with austriamicrosystems current information. This product intended normal commercial applications. Copyright 2006 austriamicrosystems. Trademarks registered rights reserved. material herein reproduced, adapted, merged, translated, stored, used without prior written consent copyright owner. best knowledge, austriamicrosystems asserts that information contained this publication accurate correct. However, austriamicrosystems shall liable recipient third party damages, including limited personal injury, property damage, loss profits, loss use, interruption business indirect, special, incidental consequential damages, kind, connection with arising furnishing, performance technical data herein. obligation liability recipient third party shall arise flow austriamicrosystems rendering technical other services.
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