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General Description
AS5601
12-Bit Programmable Contactless
Encoder
The AS5601 is an easy-to-program magnetic rotary position sensor with incremental quadrature (A/B) and 12-bit digital outputs. Additionally, the PUSH output indicates fast airgap changes between the AS5601 and magnet which can be used to implement a contactless pushbutton function in which the knob can be pressed to move the magnet toward the AS5601.
This AS5601 is designed for contactless encoder applications, and its robust design rejects the influence of any homogenous external stray magnetic fields.
Based on planar Hall sensor technology, this device measures the orthogonal component of the flux density (Bz) from an external magnet.
The industry-standard I²C interface supports user programming of non-volatile parameters in the AS5601 without requiring a dedicated programmer.
The AS5601 also provides a smart low-power mode which automatically reduces power consumption
and
Content Guide appear at end of
datasheet.
Key Benefits & Features
The benefits and features of AS5601, 12-bit Programmable
Contactless Encoder are listed below:
Figure 1:
Added Value of Using AS5601
Benefits
•
Highest reliability and durability
•
Simple programming
•
Flexible choice of the number of A/B pulses per revolution
•
Contactless pushbutton functionality
•
Low power consumption
•
Easy setup
•
Small form factor
•
Robust environmental tolerance
Features
•
Contactless angle measurement insensitive to dust and dirt
•
Simple user-programmable zero position and device configuration
•
Quadrature output configurable from 8 up to 2048 positions
•
Pushbutton output by detecting sudden airgap changes
•
Automatic entry into low-power mode
•
Automatic magnet detection
•
SOIC-8 package
•
Wide temperature range: -40°C to 125°C
ams Datasheet
[v1-07] 2016-Sep-09
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AS5601 −
General Description
Applications
The AS5601 is ideally suited for:
•
Encoder replacement
•
Contactless rotary knobs with push buttons
•
Other angular position measurement solutions
Block Diagram
The functional blocks of this device are shown below:
Figure 2:
AS5601 Block Diagram
VDD3V3
VDD5V
Low-Dropout
(LDO) Regulator
(internal load only)
Hall Sensors
Analog
Front-End
AFE 12-bit A/D
Register Setting
One-Time
Programmable
(OTP) Memory
ATAN
(CORDIC)
I²C
Magnetic Core
Automatic
Gain Control
(AGC)
SDA
SCL
A/B Quadrature
Output Encoder
A
B
Dynamic
Magnitude
Monitoring
AS5601
PUSH
GND
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AS5601 −
Pin Assignments
Pin Assignments
Figure 3:
SOIC-8 Pin-Out
VDD5V
VDD3V3
PUSH
GND
1
2
3
4
8
7
6
5
A
SCL
SDA
B
Pin Description
Figure 4:
Pin Description
Pin Number
1
2
5
6
3
4
7
8
Name
VDD5V Supply
Type
VDD3V3 Supply
PUSH
GND
B
SDA
SCL
A
Digital output
Supply
Digital output
Digital input/output
Digital input
Digital output
Description
Positive voltage supply in 5V mode
Positive voltage supply in 3.3V mode (requires an external 1-μF decoupling capacitor in 5V mode)
Contactless pushbutton function output
Ground
Quadrature incremental signal B
I²C Data
I²C Clock
Quadrature incremental signal A
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AS5601 −
Absolute Maximum R atings
Absolute Maximum Ratings
Stresses beyond those listed under
may cause permanent damage to the device. These are stress ratings only. Functional operation of the device at these or any other conditions beyond those indicated under
is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability.
Figure 5:
Absolute Maximum Ratings
Symbol
VDD5V
VDD3V3
VAIO
I
SCR
P
T
ESD
HBM
T
STRG
T
BODY
RH
NC
MSL
Parameter Min Max Units Comments
Electrical Parameters
DC supply voltage at
VDD5V pin
DC supply voltage at
VDD3V3 pin
-0.3
-0.3
6.1
4.0
50
V
V mW
5.0V operation mode
3.3V operation mode
Voltage at all digital or analog pins
Input current (latch-up immunity)
-0.3
-100
VDD + 0.3
100
V mA
Continuous Power Dissipation (T
A
= 70°C)
JESD78
Continuous power dissipation
Electrostatic Discharge
Electrostatic discharge
HBM (human body model)
±1 kV MIL 883 E method 3015.7
Temperature Ranges and Storage Conditions
Storage temperature range -55 125 °C
Package body temperature 260 °C
ICP/JEDEC J-STD-020
The reflow peak soldering temperature (body temperature) is specified according to IPC/JEDEC
J-STD-020 “Moisture/Reflow
Sensitivity Classification for
Non-hermetic Solid State
Surface Mount Devices.” The lead finish for Pb-free leaded packages is “Matte Tin” (100%
Sn)
Relative humidity
(non-condensing)
Moisture sensitivity level
5
3
85 %
ICP/JEDEC J-STD-033
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AS5601 −
Electrical Characteristics
Electrical Characteristics
All limits are guaranteed. The parameters with min and max values are guaranteed with production tests or SQC (Statistical
Quality Control) methods.
Operating Conditions
Figure 6:
System Electrical Characteristics and Temperature Range
Symbol Parameter Conditions
VDD5V
VDD3V3
Positive supply voltage in
5.0V mode
5.0V operation mode
3.3V operation mode
Positive supply voltage in
3.3V mode
IDD
Supply current in NOM
PM = 00 Always on lDD_LPM1
LPM1
PM = 01
Polling time = 5 ms lDD_ LPM2
PM = 10
Polling time = 20 ms lDD_ LPM3
PM = 11
Polling time = 100 ms
IDD_BURN
Supply current per bit for burn procedure
Initial peak, 1 μs
Steady burning, <30 μs
T
A
Operating temperature
T
P
Programming temperature
Min Typ Max Units
4.5
3.0
3.3
-40
20
5.0
3.3
3.4
5.5
3.6
3.5
6.5
3.4
1.8
1.5
100
40
125
30
V
V
V mA mA mA mA mA mA
°C
°C
Note(s):
1. For typical magnetic field (60 mT) excluding current delivered to the external load and tolerance on polling times.
2. For OTP burn procedure the supply line source resistance should not exceed 1Ohm.
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AS5601 −
Electrical Characteristics
Digital Inputs and Outputs
Figure 7:
Digital Inputs and Outputs
Symbol
V_IH
V_IL
V_OH
V_OL
I_O
C_L
I_LKG
Parameter
High-level input voltage
Low-level input voltage
High-level output voltage
Low-level output voltage
Output current for A, B, and PUSH
Capacitive load for A, B, and PUSH
Leakage current
Conditions Min
0.7 × VDD
VDD - 0.5
-2
Typ Max
0.3 × VDD
0.4
2
50
±1
Units
V
V
V
V mA pF
μA
Timing Characteristics
Figure 8:
Timing Conditions
Symbol
T_DETWD
T_PU
F_S
T_SETTL1
T_SETTL2
T_SETTL3
T_SETTL4
Parameter
Watchdog detection time
Power-up time
Sampling rate
Settling time
Settling time
Settling time
Settling time
Conditions
WD = 1
SF = 00
SF = 01
SF = 10
SF = 11
Min
57
Typ
60
Max
63
10
150
2.2
1.1
0.55
0.286
Units
seconds ms
μs ms ms ms ms
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AS5601 −
Electrical Characteristics
Magnetic Characteristics
Figure 9:
Magnetic Characteristics
Symbol Parameter Conditions
Bz
Orthogonal magnetic field strength, regular output noise ON_SLOW and
ON_FAST
Required orthogonal component of the magnetic field strength measured at the die's surface along a circle of 1 mm
Minimum required orthogonal magnetic field strength, magnet detection level
Min Typ Max Units
30 60 90
8 mT mT
System Characteristics
Figure 10:
System Characteristics
Symbol Parameter Conditions
RES Core Resolution
RES_AB A/B output resolution
VMAX_AB
Maximum rotation speed for incremental output
Continuous Rotation ≥ 360deg
INL_BL
ON_SLOW
ON_FAST
System INL
RMS output noise
(1 sigma)
RMS output noise
(1 sigma)
Deviation from best line fit; 360° maximum angle, no magnet displacement, no zero-programming performed
Orthogonal component for the magnetic field within the specified
range Bz , after 2.2 ms; SF = 00
Orthogonal component for the magnetic field within the specified
range Bz , after 286 μs; SF = 11
Min Typ Max Units
12
8 bit
2048 positions
456
±1 rpm degree
0.015
degree
0.043
degree
Note(s):
1. An infinite fast change <180deg results in angle output with maximum configured update frequency.
2. An infinite fast change >= 180deg results in angle output to the shortest next absolute position with maximum configured update frequency. e.g. A change from 0 to 270deg will be indicated as angle output from 0 to -90deg.
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Detailed Description
AS5601 −
Detailed Description
The AS5601 is a Hall-based rotary magnetic position encoder that converts the magnetic field component perpendicular to the surface of the chip into voltages which are used to produce incremental A/B outputs and absolute position indication in registers that can be read over an industry-standard I²C bus.
The analog signals from the Hall sensors are first amplified and filtered before being converted by the analog-to-digital converter (ADC) into binary data. The output of the ADC is processed by the hardwired CORDIC block (Coordinate Rotation
Digital Computer) to compute the angle and magnitude of the magnetic field vector. The intensity of the magnetic field is used by the automatic gain control (AGC) to adjust the amplification level to compensate for temperature and magnetic field variations.
The angle value provided by the CORDIC algorithm is used by the internal logic to generate the incremental quadrature signals A and B. The magnitude and AGC value is dynamically monitored and generates the PUSH output for fast changes of the airgap between the magnet and the AS5601. Very slow changes are suppressed to provide a robust and reliable pushbutton output that tolerates temperature variation and magnet degradation.
The AS5601 is programmed through an industry-standard I²C interface to write an on-chip one-time programmable (OTP) memory. This interface can be used to program a zero angle and to configure the chip.
Power Management
The AS5601 is powered from a 5.0V supply using the on-chip
LDO regulator, or it can be powered directly from a 3.3V supply.
The internal LDO is not intended to power other external ICs and needs a 1μF capacitor to ground, as shown in
In 3.3V operation, the VDD5V and VDD3V3 pins must be tied together. VDD is the voltage level present at the VDD5V pin.
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AS5601 −
Detailed Description
Figure 11:
5.0V and 3.3V Power Supply Options
4.5 - 5.5V
VDD5V
100n
F
5.0V Operation
LDO
VDD3V3
3.0 – 3.6V*
VDD5V
1µF
100n
F
3.3V Operation
LDO
GND
AS5601
GND
AS5601
* 3.3-3.5V for OTP programming
** Required for OTP programming only
VDD3V3
10µF**
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AS5601 −
Detailed Description
I²C Interface
The AS5601 supports the 2-wire Fast-mode Plus I²C-slave protocol in device mode, in compliance with the NXP
Semiconductors (formerly Philips Semiconductors) specification UM10204. A device that sends data onto the bus is a transmitter and a device receiving data is a receiver. The device that controls the message is called a master. The devices that are controlled by the master are called slaves. A master device generates the serial clock (SCL), controls the bus access, and generates the START and STOP conditions that control the bus. The AS5601 always operates as a slave on the I²C bus.
Connections to the bus are made through the open-drain I/O lines SDA and the input SCL. Clock stretching is not included.
The host MCU (master) initiates data transfers. The 7-bit slave address of the AS5601 is 0x36 (0110110 in binary).
Supported Modes
•
Random/Sequential read
•
Byte/Page write
•
Automatic increment (ANGLE register)
•
Standard-mode
•
Fast-mode
•
Fast–mode Plus
The SDA signal is the bidirectional data line. The SCL signal is the clock generated by the I²C bus master to synchronize sampling data from SDA. The maximum SCL frequency is 1 MHz.
Data is sampled on the rising edge of SCL.
I²C Interface Operation
Figure 12:
I²C Electrical Specifications
SDA t buf t
LOW t
R
SCL
Stop Start t
HD.STA
t
HD.DAT
t
HIGH t
F t
SU.DAT
t
SU.STA
Repeated
Start t
HD.STA
t
SU.STO
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AS5601 −
Detailed Description
I²C Electrical Specification
Figure 13:
I²C Electrical Specifications
Symbol
VIL
VIH
VHYS
VOL
IOL t
OF t
SP
I
I
C
B
C
I/O
Parameter Conditions Min
Logic low input voltage
Logic high input voltage
Hysteresis of Schmitt trigger inputs
Logic low output voltage
(open-drain or open-collector) at 3 mA sink current
VDD > 2.5V
VDD > 2.5V
Logic low output current VOL = 0.4V
Output fall time from
VIHmax to VILmax
Pulse width of spikes that must be suppressed by the input filter
Input current at each I/O
Pin
Input voltage between 0.1 x VDD and 0.9 x VDD
Total capacitive load for each bus line
I/O capacitance (SDA,
-0.3
0.7 x VDD
0.05 x VDD
20
10
-10
Max
0.3 x VDD
VDD + 0.3
0.4
120
50
550
10
Units
V
V
V
V mA ns ns
μA pF pF
Note(s):
1. In Fast-mode Plus, fall time is specified the same for both output stage and bus timing. If series resistors are used this has to be considered for bus timing.
2. Input filters on the SDA and SCL inputs suppress noise spikes of less than 50 ns.
3. I/O pins of Fast-mode and Fast-mode Plus devices must not load or drive the SDA and SCL lines if VDD is switched OFF.
4. Special-purpose devices such as multiplexers and switches may exceed this capacitance because they connect multiple paths together.
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AS5601 −
Detailed Description
I²C Timing
Figure 14:
I²C Timing
Symbol
f
SCLK t
BUF t
HD;STA t
LOW t
HIGH t
SU;STA t
HD;DAT t
SU;DAT t
R t
F t
SU;STO
Parameter
SCL clock frequency
Bus free time (time between the STOP and
START conditions)
Hold time; (Repeated)
START condition
Low phase of SCL clock
High phase of SCL clock
Setup time for a
Repeated START condition
Data hold time
Rise time of SDA and SCL signals
Fall time of SDA and SCL signals
Setup time for STOP condition
Conditions Min
0.5
0.26
0.5
0.26
0.26
50
10
0.26
Max
1.0
0.45
120
120
Units
MHz
μs
μs
μs
μs
μs
Note(s):
1. After this time, the first clock is generated.
2. A device must internally provide a minimum hold time of 120 ns (Fast-mode Plus) for the SDA signal (referred to the VIH min
of SCL) to bridge the undefined region of the falling edge of SCL.
3. A Fast-mode device can be used in a standard-mode system, but the requirement t
SU;DAT
= 250 ns must be met. This is automatic if the device does not stretch the low phase of SCL. If such a device does stretch the low phase of SCL, it must drive the next data bit on SDA (t
Rmax
+ t
SU;DAT
= 1000 + 250 = 1250 ns) before SCL is released.
4. In Fast-mode Plus, fall time is specified the same for both output stage and bus timing. If series resistors are used, this has to be considered for bus timing.
ns
μs
μs ns ns
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AS5601 −
Detailed Description
I²C Modes
Invalid Addresses
There are two addresses used to access an AS5601 register. The first is the slave address used to select the AS5601. All I²C bus transactions include a slave address. The slave address of the
AS5601 is 0x36 (0110110 in binary). The second address is a word address sent in the first byte transferred in a write transaction. The word address selects a register on the AS5601.
The word address is loaded into the address pointer on the
AS5601. During subsequent read transactions and subsequent bytes in the write transaction, the address pointer provides the address of the selected register. The address pointer is incremented after each byte is transferred, except for certain read transactions to special registers.
If the user sets the address pointer to an invalid word address, the address byte is not acknowledged (the A bit is high).
Nevertheless, a read or write cycle is possible. The address pointer is increased after each byte.
Reading
When reading from an invalid address, the AS5601 returns all zeros in the data bytes. The address pointer is incremented after each byte. Sequential reads over the whole address range are possible including address overflow.
Automatic increment of the address pointer for ANGLE, RAW
ANGLE, and MAGNITUDE registers:
These are special registers which suppress the automatic increment of the address pointer on reads, so a re-read of these registers requires no I²C write command to reload the address pointer. This special treatment of the pointer is effective only if the address pointer is set to the high byte of the register.
Writing
A write to an invalid address is not acknowledged by the
AS5601, although the address pointer is incremented. When the address pointer points to a valid address again, a successful write accessed is acknowledged. Page write over the whole address range is possible including address overflow.
Supported Bus Protocol
Data transfer may be initiated only when the bus is not busy.
During data transfer, the data line must remain stable whenever
SCL is high. Changes in the data line while SCL is high are interpreted as START or STOP conditions.
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AS5601 −
Detailed Description
Accordingly, the following bus conditions have been defined:
Bus Not Busy
Both SDA and SCL remain high.
Start Data Transfer
A change in the state of SDA from high to low while SCL is high defines the START condition.
Stop Data Transfer
A change in the state of SDA from low to high while SCL is high defines the STOP condition.
Data Valid
The state of the data line represents valid data when, after a
START condition, SDA is stable for the duration of the high phase of SCL. The data on SDA must only be changed during the low phase of SCL. There is one clock period per bit of data.
Each I²C bus transaction is initiated with a START condition and terminated with a STOP condition. The number of data bytes transferred between START and STOP conditions is not limited, and is determined by the I²C bus master. The information is transferred byte-wise and each receiver acknowledges with a ninth bit.
Acknowledge
Each I²C slave device, when addressed, is obliged to generate an acknowledge after the reception of each byte. The I²C bus master device must generate an extra clock period for this acknowledge bit.
A slave that acknowledges must pull down SDA during the acknowledge clock period in such a way that SDA is stable low during the high phase of the acknowledge clock period. Of course, setup and hold times must be taken into account. A master must signal an end of a read transaction by not generating an acknowledge bit on the last byte that has been clocked out of the slave. In this case, the slave must leave SDA high to enable the master to generate the STOP condition.
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AS5601 −
Detailed Description
Figure 15:
Data Read
SDA
SCL
Start
Condition
MSB
Slave Address
LSB R/W ACK
Repeated if more Bytes are transferred
ACK
1 2 ...
6 7 8 9 1 ...
7 8 9
Stop Condition or
Repeated Start Condition
Depending on the state of the R/W bit, two types of data transfer are possible:
Data Transfer from a Master Transmitter to a Slave Receiver
The first byte transmitted by the master is the slave address, followed by R/W = 0. Next follows a number of data bytes. The slave returns an acknowledge bit after each received byte. If the slave does not understand the command or data it sends a not acknowledge (NACK). Data is transferred with the most significant bit (MSB) first.
Data Transfer from a Slave Transmitter to a Master Receiver
The master transmits the first byte (the slave address). The slave then returns an acknowledge bit, followed by the slave transmitting a number of data bytes. The master returns an acknowledge bit after all received bytes other than the last byte.
At the end of the last received byte, a NACK is returned. The master generates all of the SCL clock periods and the START and
STOP conditions. A transfer is ended with a STOP condition or with a repeated START condition. Because a repeated START condition is also the beginning of the next serial transfer, the bus is not released. Data is transferred with the most significant bit (MSB) first.
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Figure 16:
Data Write (Slave Receiver Mode)
AS5601 −
Detailed Description
AS5601 Slave Modes
Slave Receiver Mode (Write Mode)
Serial data and clock are received through SDA and SCL. Each byte is followed by an acknowledge bit or by a NACK depending on whether the address pointer selects a valid address. START and STOP conditions are recognized as the beginning and end of a bus transaction. The slave address byte is in the first byte received after the START condition. The 7-bit AS5601 address is
0x36 (0110110 in binary).
The 7-bit slave address is followed by the direction bit (R/W), which, for a write, is 0 (low). After receiving and decoding the slave address byte, the slave device drives an acknowledge on
SDA. After the AS5601 acknowledges the slave address and write bit, the master transmits a register address (word address) to the AS5601. This is loaded into the address pointer on the
AS5601. If the address is a valid readable address, the AS5601 answers by sending an acknowledge (A bit low). If the address pointer selects an invalid address, a NACK is sent (A bit high).
The master may then transmit zero or more bytes of data. If the address pointer selects an invalid address, the received data are not stored. The address pointer will increment after each byte transferred whether or not the address is valid. If the address pointer reaches a valid position again, the AS5601 answers with an acknowledge and stores the data. The master generates a
STOP condition to terminate the write transaction.
S
<Slave address>
0110110
<Word address (n)> <Data(n)>
0 A XXXXXXXX A XXXXXXXX A
<Data(n+1)>
XXXXXXXX A
S – Start
A – Acknowledge (ACK)
P – Stop
<Data(n+X)>
XXXXXXXX A P
Data transferred: X+1 Bytes + Acknowledge
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AS5601 −
Detailed Description
Figure 17:
Data Read (Slave Transmitter Mode)
Slave Transmitter Mode (Read Mode)
The first byte is received and handled as in the slave receiver mode. However, in this mode, the direction bit indicates that the AS5601 will drive data on SDA. START and STOP conditions are recognized as the beginning and end of a bus transaction.
The slave address byte is the first byte received after the master generates a START condition. The slave address byte contains the 7-bit AS5601 address. The 7-bit slave address is followed by the direction bit (R/W), which, for a read, is 1 (high). After receiving and decoding the slave address byte, the slave device drives an acknowledge on the SDA line. The AS5601 then begins to transmit data starting with the register address pointed to by the address pointer. If the address pointer is not written before the initiation of a read transaction, the first address that is read is the last one stored in the address pointer. The AS5601 must receive a not acknowledge (NACK) to end a read transaction.
S
<Slave address>
0110110
<Data(n)> <Data(n+1)>
1 A XXXXXXXX A XXXXXXXX A
<Data(n+2)>
XXXXXXXX A
S – Start
A – Acknowledge (ACK)
NA – Not Acknowledge (NACK)
P – Stop
<Data(n+X)>
XXXXXXXX NA P
Data transferred: X+1 Bytes + Acknowledge
Note: Last data byte is followed by NACK
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AS5601 −
Detailed Description
Figure 18:
Data Read with Address Pointer Reload (Slave Transmitter Mode)
S
<Slave address>
0110110
<Word Address (n)>
0 A XXXXXXXX A Sr
<Slave Address>
0110110 1 A
<Data(n)>
XXXXXXXX A
<Data(n+1)>
XXXXXXXX A
S – Start
Sr – Repeated Start
A – Acknowledge (ACK)
NA – Not Acknowledge (NACK)
P – Stop
Data transferred: X+1 Bytes + Acknowledge
Note: Last data byte is followed by NACK
<Data(n+X)>
XXXXXXXX NA P
SDA and SCL Input Filters
Input filters for SDA and SCL inputs are included to suppress noise spikes of less than 50 ns.
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AS5601 −
Register Description
Register Description
The following registers are accessible over the serial I²C interface. The 7-bit device address of the AS5601 is 0x36
(0110110 in binary). To permanently program a configuration, a non-volatile memory (OTP) is provided.
Figure 19:
Register Map
0x00
0x01
0x02
0x07
0x08
0x09
0x0A
Address
0x0B
0x1A
0x1B
0x1C
0x0C
0x0D
0x0E
0x0F
0xFF
Name
R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
R
R
R
R
R
R
R
R
R
R/W/P
R/W/P
R/W/P
R/W/P
,
WD
ZPOS(7:0)
FTH(2:0)
HYST(1:0)
ZMCO(1:0)
ZPOS(11:8)
SF(1:0)
PM(1:0)
ABN(3:0)
PUSHTHR(7:0)
Output Registers
W
RAW ANGLE(11:8)
RAW ANGLE(7:0)
ANGLE(11:8)
ANGLE(7:0)
Status Registers
MD ML MH
AGC(7:0)
MAGNITUDE(7:0)
MAGNITUDE (11:8)
Burn Command
Burn_Angle = 0x80; Burn_Setting = 0x40
Note(s):
1. To change a configuration, read out the register, modify only the desired bits and write the new configuration. Blank fields may contain factory settings.
2. During power-up, configuration registers are reset to the permanently programmed value. Not programmed bits are zero.
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AS5601 −
Register Description
ZPOS Registers
These registers are used to configure the zero position (ZPOS).
This register is used to align the electric grid of the incremental output with the mechanical grid of an encoder switch.
CONF Register
The CONF register supports customizing the AS5601.
shows the mapping of the
register.
PUSHTHR Register
This register is used to set-up the contactless pushbutton function. This register must be adjusted according to the airgap and magnet configuration. The swing of the pushbutton function can be found by subtracting the AGC value of the pressed button from the AGC value of the released button. The threshold value for the contactless pushbutton should be half of the swing.
Figure 20:
CONF and ABN Mapping
Name Bit Position
1:0
3:2
9:8
12:10
13
3:0
Description
CONF Mapping
00 = NOM, 01 = LPM1, 10 = LPM2, 11 = LPM3
00 = OFF, 01 = 1 LSB, 10 = 2 LSBs, 11 = 3 LSBs
00 = 16x
000 = slow filter only, 001 = 6 LSBs, 010 = 7 LSBs, 011 = 9 LSBs,100 = 18
LSBs, 101 = 21 LSBs, 110 = 24 LSBs, 111 = 10 LSBs
0 = OFF, 1 = ON (automatic entry into LPM3 low-power mode enabled)
ABN Mapping
Output Positions and Update Rate
0000 : 8 (61 Hz)
0001 : 16 (122 Hz)
0010 : 32 (244 Hz)
0011 : 64 (488 Hz)
0100 : 128 (976 Hz)
0101 : 256 (1.9 kHz)
0110 : 512 (3.9 kHz)
0111 : 1024 (7.8 kHz) others : 2048 (15.6 kHz))
Note(s):
1. Forced in Low Power Mode (LPM)
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AS5601 −
Register Description
Figure 21:
STATUS Register
Name
MH
ML
MD
ANGLE/RAW ANGLE Register
The RAW ANGLE register contains the unscaled and unmodified angle. The scaled output value is available in the ANGLE register.
Note(s):
The ANGLE register has a 10-LSB hysteresis at the limit of the 360 degree range to avoid discontinuity points or toggling of the output within one rotation.
STATUS Register
The STATUS register provides bits that indicate the current state of the AS5601.
State When Bit Is High
AGC minimum gain overflow, magnet too strong
AGC maximum gain overflow, magnet too weak
Magnet was detected
AGC Register
The AS5601 uses automatic gain control (AGC) in a closed loop to compensate for variations of the magnetic field strength due to changes of temperature, airgap between IC and magnet, and magnet degradation. The AGC register indicates the gain. For the most robust performance, the gain value should be in the center of its range. The airgap of the physical system can be adjusted to achieve this value.
In 5V operation, the AGC range is 0-255 counts. The AGC range is reduced to 0-128 counts in 3.3V mode.
MAGNITUDE Register
The MAGNITUDE register indicates the magnitude value of the internal CORDIC output.
Non-Volatile Memory (OTP)
The non-volatile memory is used to permanently program the configuration. To program the non-volatile memory, the I²C interface is used. The programming can be either performed in the 5V supply mode or in the 3.3V operation mode but using a minimum supply voltage of 3.3V and a 10 μF capacitor at the
VDD3V3 pin to ground. This 10 μF capacitor is needed only during the programming of the device. Two different commands are used to permanently program the device:
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AS5601 −
Register Description
Burn_Angle Command (ZPOS)
The host microcontroller can perform a permanent programming of ZPOS with a BURN_ANGLE command. To perform a BURN_ANGLE command, write the value 0x80 into register 0xFF. The BURN_ANGLE command can be executed up to 3 times. ZMCO shows how many times ZPOS have been permanently written.
This command may only be executed if the presence of the magnet is detected (MD = 1).
Burn_Setting Command (CONF)
The host microcontroller can perform a permanent writing of
CONFIG with a BURN_SETTING command. To perform a
BURN_SETTING command, write the value 0x40 into register
0xFF.
The BURN_ SETTING command can be performed only one time.
Zero Position and Resolution Programming
A fundamental feature is to program the zero position (ZPOS) of the magnetic position encoder. This is required to adjust the
A/B outputs to the mechanical pattern (grid) of a contactless encoder by setting the count transitions (transition of A and or
B) between two adjacent mechanical positions. An example of a 3-bit contactless encoder is shown in
.
The electrical positions represent the positions where an A or
B transition occurs. The zero position can be placed in correspondence of one of the electrical positions (yellow).
A BURN_ANGLE command can be executed up to 3 times to permanently program the zero position. It can only be executed if the presence of the magnet is detected (MD = 1).
ams Datasheet
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AS5601 −
Register Description
Figure 22:
Zero Position Setting of 3-Bit Encoder
Mechanical position 1
Mechanical position 8
Mechanical position 2
Electrical position 1
Electrical position 2
Mechanical position 7
Electrical position 8
Electrical position 7
Mechanical position 6
Electrical position 6
Electrical position 5
Electrical position 3
Mechanical position 3
Electrical position 4
Mechanical position 4
Mechanical position 5
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AS5601 −
Register Description
The configuration procedure for a rotary encoder is shown below in
Figure 23:
Zero Position and Resolution Programming Procedure
Use the correct hardware configuration as shown in
Step 1 Power up the AS5601.
Step 2
Step 3
Step 4
Configure the desired number of positions using ABN(3:0).
The mechanical configuration snapped into the grid.
Read out the actual RAW ANGLE.
Calculate the compensation value to adjust the mechanical grid and the encoder angle.
and
. Write the compensation value into ZPOS.
Wait at least 1ms.
Write the required setting into the configuration register CONF
and
Wait at least 1 ms.
Proceed with Step 5 to permanently program the configuration.
Step 5
Step 6
Step 7
Perform a BURN_ANGLE command to permanently program the zero position.
Wait at least 1 ms.
Perform a Burn_Setting command to permanently program the configuration.
Wait at least 1 ms.
Verify the BURN commands:
Write the commands 0x01, 0x11 and 0x10 sequentially into the register 0xFF to load the actual OTP content.
Read and verify the permanently programmed registers to verify that the
BURN_SETTINGS and BURN_ANGLE command was successful.
Step 8 Read and verify the permanently programmed registers again after a new power-up cycle.
Note(s):
1. After each register command, the new setting is effective at the output at least 1 ms later.
2. It is highly recommended to perform a functional test after this procedure.
3. At least 1 ms after each register command the new setting is effective at the output.
4. The BURN_ANGLE command can be executed up to 3 times and only if the presence of the magnet is detected (MD = 1).
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AS5601 −
Register Description
Quadrature Encoder Output
With the setting ABN(3:0) it is possible to configure the number of positions of the quadrature output. An example for a configuration with 8 positions is shown below.
Figure 24:
Example Quadrature Output for 8 Positions
Period
N/4-1 N/4 1
2
A
B
Position
N-3 N-2 N-1 N 0 1 2 3 4 5 6 7 8 ams Datasheet
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AS5601 −
Register Description
Absolute Position Feature for Quadrature
Output
The absolute angular position of the magnet is transmitted on the quadrature output of the position sensor after startup. By counting these pulses after startup, the absolute position within one turn of an encoder knob is known without separate initialization as shown in
.
Figure 25:
Example Quadrature Output for Position 8dec After Startup
Position
?
NO
Rotation
0 1 2 3 4 5 6 7 8
Absolut position known
A
B
Slower
Rotation
Faster
Rotation
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
time
Transmitting absolute position „8 dec“ after startup
Startup Position
Slower movement to position „16 dec“
Faster movement to position „32 dec“
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AS5601 −
Register Description
Pushbutton Detection
The AS5601 implements a pushbutton detection function through a dynamic and relative measurement of the orthogonal magnetic field strength. This pushbutton detection function drives the PUSH output pin high when the AS5601 detects a fast increase of the magnetic field (decrease of the airgap between the magnet and the AS5601). After a fast decrease of the magnetic field, the PUSH output is driven low.
Figure 26:
Pushbutton Detection Function Specifications
Symbol
PUSHTHR t pu_slope t pu_dur t pu_relax t pu_min_pulse t pu_recovery
BTH_VAR
Parameter
Magnetic field threshold
Push slope time
Push duration time NOM,
LPM1
Push duration time LPM2
Push duration time LPM3
Time gap between two consecutive pushes in
NOM, LPM1
Time gap between two consecutive pushes in
LPM2
Time gap between two consecutive pushes in
LPM3
Minimum duration of the
PUSH pulse
Recovery time after a very long pushbutton event
Push amplitude variation
Conditions
PM = 0X
PM = 10
PM = 11
PM = 0X
PM = 10
PM = 11
-20
Min
0
10
40
150
40
40
150
40
Max
255
500
10000
10000
10000
50
5000
+20 ms ms ms
Unit
LSB ms ms ms ms ms ms
%
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AS5601 −
Register Description
Figure 27:
Pushbutton Detection Function
Measured magnetic field
Present measured magnetic field
(button pressed)
Push detection treshold
(long time averaged)
Present measured magnetic field
(button released)
PUSHTHR tpu_slope tpu_dur tpu_slope tpu_relax time
PUSH time
The AS5601 continuously measures the magnetic field intensity. The programmable threshold (
a long time average of the magnetic field. A crossing of the current magnetic field and the threshold within a specified time
(tpu_slope) drives the PUSH output high.
Slow changes of the magnetic field, due for example to temperature variations, magnet drift mechanical tolerances, etc. do not generate any pushbutton detection events. The push detection threshold follows the drifts over the time as shown in
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AS5601 −
Register Description
Figure 28:
Magnetic Field Threshold Over Time
Long time averaged magnetic field
Push detection treshold
PUSHTHR
Long time averaged magnetic field
ams Datasheet
[v1-07] 2016-Sep-09 time
Step Response and Filter Settings
The AS5601 has a digital post-processing programmable filter which can be set in fast or slow modes. The fast filter mode can be enabled by setting a fast filter threshold in the
the CONF register.
If the fast filter is OFF, the step output response is controlled by the slow linear filter as shown in
of the slow filter is programmable with the SF bits in the CONF
shows the tradeoff between delay and noise for the different SF bit settings.
Figure 29:
Step Response Delay vs. Noise Band
00
01
10
11
Step Response
Delay (ms)
2.2
1.1
0.55
0.286
Max. RMS Output Noise
(1 Sigma) (Degree)
0.015
0.021
0.030
0.043
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AS5601 −
Register Description
Figure 30:
Step Response (fast filter OFF)
Noise
Input
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Sampling
Frequency
Output response
Settling Time according slow filter setting
100
101
110
111
000
001
010
011
For a fast step response and low noise after settling, the fast filter can be enabled. The fast filter works only if the input variation is greater than the fast filter threshold, otherwise the output response is determined only by the slow filter. The fast filter threshold is programmed with the
bits in the CONF register. As shown in
Figure 32 , the fast filter (corresponds with
SF=11) kicks in and takes care of a fast settling. The larger noise band of the fast filter is reduced again after the slow filter
(depicted is setting SF=00) has taken over. The different noise bands are shown in
Figure 31:
Fast Filter Threshold
FTH
Fast Filter Threshold (LSB)
Slow-to-Fast Filter Fast-to-Slow Filter
Slow Filter Only
18
21
24
10
6
7
9
2
4
2
2
1
1
1
ams Datasheet
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AS5601 −
Register Description
Figure 32:
Step Response (fast filter ON)
Noise
Fast Filter
Input
Output response
Threshold
Sampling
Frequency
Fast filter step response
Settling Time
according slow filter setting
Noise slow filter
Hysteresis
To suppress spurious toggling of the output when the magnet is not moving, a 1 to 3 LSB hysteresis of the 12-bit resolution can be enabled with the
Magnet Detection
As a safety and diagnostic feature, the AS5601 indicates the absence of the magnet. If the measured magnet field strength goes below the minimum specified level (
quadrature output is not updated and the
register is 0.
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Figure 33:
Watchdog Timer Function
Output Value
1 minute
AS5601 −
Register Description
Low Power Modes
A digital state machine automatically manages the low power modes to reduce the average current consumption. Three low-power modes are available and can be enabled with the
register.
In a low-power mode, the fast filter is automatically disabled, because there is no need for a fast settling time if the output refresh is as fast as the polling cycles.
Watchdog Timer
The watchdog timer allows saving power by switching into
LMP3 if the angle stays within the watchdog threshold of 4 LSB for at least one minute, as shown in
. The watchdog function can be enabled by setting the
bit in the
register.
Watchdog threshold
4 LSB
NOM,LPM1,
LPM2
LPM3
NOM,LPM1,
LPM2
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AS5601 −
Application Information
Application Information
Schematic
All required external components are shown below for the reference application diagram. To improve EMC and for remote applications, consider additional protection circuitry.
Figure 34:
Application Diagram for Angle Readout and Programming
4.5-5.5V
PUSH
C1 C2
GND
5V Operation
1 VDD5V
A 8
2 VDD3V3 SCL 7
AS5601
3 PUSH SDA 6
4 GND B 5
R
PU
R
PU
A
To MCU
B
3.3V Operation
3-3.6V*
1 VDD5V
A 8
2 VDD3V3 SCL 7
AS5601
3 PUSH SDA 6
4 GND B 5
R
PU
R
PU
PUSH
C1 C**
GND
* Supply voltage for permanent programming is 3.3–3.5V
** 10µF Capacitor required during permanent programming
A
To MCU
B
Figure 35:
Recommended External Components
Component
VDD5V buffer capacitor
LDO regulator capacitor
Optional pull-up for I²C bus
Symbol
C1
C2
RPU
Value
100
1
4.7
Units
nF
μF k
Ω
Note(s):
1. Given parameter characteristics have to be fulfilled over operation temperature and product lifetime
Notes
20%
20%; < 100 mΩ; Low
ESR ceramic capacitor refer to UM10204 for pull-up sizing
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Figure 36:
Magnetic Field Bz and Typical Airgap
AS5601 −
Application Information
Magnet Requirements
The AS5601 requires a minimum magnetic field component Bz perpendicular to the sensitive area on the chip. The center of the sensitive area is in the center of the package.
Along the circumference of the Hall element circle the magnetic field Bz should be sine-shaped. The magnetic field gradient of
Bz along the radius of the circle should be in the linear range of the magnet to eliminate displacement error by the differential measurement principle.
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The typical airgap is between 0.5 mm and 3 mm, and it depends on the selected magnet. A larger and stronger magnet allows a larger airgap. Using the AGC value as a guide, the optimal airgap can be found by adjusting the distance between the magnet and the AS5601 so that the AGC value is in the center of its range. The maximum allowed displacement of the rotational axis of the reference magnet from the center of the package is
0.25 mm when using a magnet with a diameter of 6mm.
ams Datasheet
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AS5601 −
Application Information
Figure 37:
Hall Element Positions
Mechanical Data
The internal Hall elements are located in the center of the package on a circle with a radius of 1 mm.
Note(s):
1. All dimensions in mm.
2. Die thickness 356
μ m nom.
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Package Drawings & Markings
Figure 38:
SOIC8 Package Outline Drawing
AS5601 −
Pack age Drawings & Mark ings
Symbol Min
R
R1 h
Q e
L
L1
L2 c
D
E
E1
A
A1
A2 b
Q1
Q2 aaa bbb ccc ddd eee fff ggg
-
0.40
-
-
0.07
0.07
0.25
0º
-
0.10
1.25
0.31
0.17
-
-
-
-
-
-
-
-
-
-
5º
0º
Nom Max
-
-
-
-
-
4.90 BSC
6.00 BSC
3.90 BSC
1.27 BSC
-
1.04 REF
0.25 BSC
-
-
-
-
-
-
0.10
0.20
0.10
0.25
0.10
0.15
0.15
-
1.27
-
-
-
-
0.50
8º
1.75
0.25
-
0.51
0.25
-
-
-
-
-
-
-
-
15º
-
-
-
RoHS
Green
Note(s):
1. Dimensions & tolerancing confirm to ASME Y14.5M-1994.
2. All dimensions are in millimeters. Angles are in degrees.
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AS5601 −
Package Drawings & Markings
Figure 39:
Package Marking
AS5601
YYWWRZZ
@
Figure 40:
Packaging Code
YY WW R ZZ @
Last two digits of the manufacturing year
Manufacturing week Plant identifier
Free choice/traceability code
Sublot identifier
ams Datasheet
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AS5601 −
Ordering & Contac t Information
Ordering & Contact Information
Figure 41:
Ordering Information
Ordering Code Package Marking
AS5601-ASOT
AS5601-ASOM
SOIC-8
SOIC-8
AS5601
AS5601
Delivery Form
13” Tape & Reel in dry pack
7” Tape & Reel in dry pack
Delivery Quantity
2500 pcs
500 pcs
Buy our products or get free samples online at: www.ams.com/ICdirect
Technical Support is available at: www.ams.com/Technical-Support
Provide feedback about this document at: www.ams.com/Document-Feedback
For further information and requests, e-mail us at: [email protected]
For sales offices, distributors and representatives, please visit: www.ams.com/contact
Headquarters ams AG
Tobelbader Strasse 30
8141 Premstaetten
Austria, Europe
Tel: +43 (0) 3136 500 0
Website: www.ams.com
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AS5601 −
RoHS Compliant & ams Green Statement
RoHS Compliant & ams Green
Statement
RoHS:
The term RoHS compliant means that ams AG products fully comply with current RoHS directives. Our semiconductor products do not contain any chemicals for all 6 substance categories, including the requirement that lead not exceed
0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, RoHS compliant products are suitable for use in specified lead-free processes.
ams Green (RoHS compliant and no Sb/Br):
ams Green defines that in addition to RoHS compliance, our products are free of Bromine (Br) and Antimony (Sb) based flame retardants
(Br or Sb do not exceed 0.1% by weight in homogeneous material).
Important Information:
The information provided in this statement represents ams AG knowledge and belief as of the date that it is provided. ams AG bases its knowledge and belief on information provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. ams AG has taken and continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals. ams AG and ams AG suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release.
ams Datasheet
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Copyrights & Disclaimer
AS5601 −
Copyrights & Disclaimer
Copyright ams AG, Tobelbader Strasse 30, 8141 Premstaetten,
Austria-Europe. Trademarks Registered. All rights reserved. The material herein may not be reproduced, adapted, merged, translated, stored, or used without the prior written consent of the copyright owner.
Devices sold by ams AG are covered by the warranty and patent indemnification provisions appearing in its General Terms of
Trade. ams AG makes no warranty, express, statutory, implied, or by description regarding the information set forth herein. ams AG reserves the right to change specifications and prices at any time and without notice. Therefore, prior to designing this product into a system, it is necessary to check with ams AG for current information. This product is intended for use in commercial applications. Applications requiring extended temperature range, unusual environmental requirements, or high reliability applications, such as military, medical life-support or life-sustaining equipment are specifically not recommended without additional processing by ams AG for each application. This product is provided by ams AG “AS IS” and any express or implied warranties, including, but not limited to the implied warranties of merchantability and fitness for a particular purpose are disclaimed.
ams AG shall not be liable to recipient or any third party for any damages, including but not limited to personal injury, property damage, loss of profits, loss of use, interruption of business or indirect, special, incidental or consequential damages, of any kind, in connection with or arising out of the furnishing, performance or use of the technical data herein. No obligation or liability to recipient or any third party shall arise or flow out of ams AG rendering of technical or other services.
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AS5601 −
Document Status
Document Status
Document Status
Product Preview
Preliminary Datasheet
Datasheet
Datasheet (discontinued)
Product Status
Pre-Development
Pre-Production
Production
Discontinued
Definition
Information in this datasheet is based on product ideas in the planning phase of development. All specifications are design goals without any warranty and are subject to change without notice
Information in this datasheet is based on products in the design, validation or qualification phase of development.
The performance and parameters shown in this document are preliminary without any warranty and are subject to change without notice
Information in this datasheet is based on products in ramp-up to full production or full production which conform to specifications in accordance with the terms of ams AG standard warranty as given in the General Terms of
Trade
Information in this datasheet is based on products which conform to specifications in accordance with the terms of ams AG standard warranty as given in the General Terms of
Trade, but these products have been superseded and should not be used for new designs
ams Datasheet
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AS5601 −
Revision Information
Revision Information
Changes from 1-06 (2016-Apr-22) to current revision 1-07 (2016-Sep-09)
Updated ANGLE/RAW ANGLE Register
Note(s):
1. Page and figure numbers for the previous version may differ from page and figure numbers in the current revision.
2. Correction of typographical errors is not explicitly mentioned.
Page
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ams Datasheet
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AS5601 −
Content Guide
Content Guide
ams Datasheet
[v1-07] 2016-Sep-09
1 General Description
3 Pin Assignments
4 Absolute Maximum Ratings
5 Electrical Characteristics
8 Detailed Description
11 I²C Electrical Specification
13 Invalid Addresses
13 Reading
13 Writing
13 Supported Bus Protocol
14 Bus Not Busy
14 Start Data Transfer
14 Stop Data Transfer
14 Data Valid
14 Acknowledge
16 Slave Receiver Mode (Write Mode)
17 Slave Transmitter Mode (Read Mode)
18 SDA and SCL Input Filters
19 Register Description
22 Burn_Setting Command (CONF)
22 Zero Position and Resolution Programming
26 Absolute Position Feature for Quadrature Output
29 Step Response and Filter Settings
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AS5601 −
Content Guide
33 Application Information
36 Package Drawings & Markings
38 Ordering & Contact Information
39 RoHS Compliant & ams Green Statement
40 Copyrights & Disclaimer
41 Document Status
42 Revision Information
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ams Datasheet
[v1-07] 2016-Sep-09
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