AMS AS5134 Position Sensor Datasheet
Mainos
Mainos
austriamicrosystems AG is now ams AG
The technical content of this austriamicrosystems datasheet is still valid.
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ams AG
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8141 Unterpremstaetten, Austria
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Datasheet
AS5134
360 Step Programmable High Speed Magnetic Rotary Encoder
1 General Description
The AS5134 is a contactless magnetic rotary encoder for accurate angular measurement over a full turn of 360º. It is a system-on-chip, combining integrated Hall elements, analog front-end and digital signal processing in a single device.
To measure the angle, only a simple two-pole magnet, rotating over the center of the chip is required. The absolute angle measurement provides instant indication of the magnet’s angular position with a resolution of 8.5 bit = 360 positions per revolution. This digital data is available as a serial bit stream and as a PWM signal. In addition to the angle information, the strength of the magnetic field is also available as a 6-bit code.
Data transmission can be configured for 1-wire (PWM), 2-wires
(DCLK, DIO) or 3-wires (DCLK, DIO, CS).
A software programmable (OTP) zero position simplifies assembly as the zero position of the magnet does not need to be mechanically aligned.
A Power Down Mode together with fast startup and measurement cycles allows a very low average power consumption.
Two digital 360 step (8.5 bit) absolute outputs: Serial interface and Pulse width modulated (PWM) output
User programmable zero position and sensitivity
High speed: up to 76875 rpm
Direct measurement of magnetic field strength allows exact determination of vertical magnet distance
Incremental Outputs ABI Quadrature: 90 ppr, step direction:
180ppr, fixed pulse width 360ppr
BLDC Outputs UVW, selectable for 1,2,3,4,5,6 pole pairs
Daisy-Chain mode for cascading of multiple sensors
valid
9-bit multi turn counter
Low power mode with fast startup
Wide magnetic field input range: 20- 80 mT
Wide temperature range: -40ºC to +140ºC
Fully automotive qualified to AEC-Q100
Small Pb-free package: SSOP 20
2 Key Features
360º contactless angular position encoding
Figure 1. AS5134 Magnetic Rotary Encoder Block Diagram
3 Applications
The AS5134 is suitable for contactless rotary position sensing, rotary
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U V W A B Index
VDD 5 V
PWM Decoder
PWM
Commutation
Interface
Incremental
Interface
Multiturn
Tracking ADC
Counter
Zero
& Angle
Pos.
Angle
Decoder
Hall Array Absolute
GND
&
AS5134
Mag
AGC
Serial
Frontend
Amplifier
AGC
Interface
(SSI)
Technical content still
CLK
PROG
C2
DX
CS
DIO
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AS5134
Datasheet - C o n t e n t s
Contents
1
1
1
3
3
4
5
6
9
21
27
31
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AS5134
Datasheet - P i n A s s i g n m e n t s
4 Pin Assignments
Figure 2. Pin Assignments (Top View)
Prog
VSS
DX
CS
C2
PWM
VDD
TestCoil
DCLK
DIO
5
6
7
8
9
10
1
2
3
4
15
14
13
12
11
20
19
18
17
16
V
U
TB3
TB2
TB1
A
W
TB0
Index
B
4.1 Pin Descriptions
Table 1. Pin Descriptions
Pin Name
Prog
VSS
DX
CS
Pin Number
1
2
3
4
Description
Programming voltage input, must be left open in normal operation.
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Chip select input for 3-wire mode
Select between 2-wire (C2
VDD) and 3-wire (C2
VSS) mode
5 C2
PWM 6
PWM output
VDD 7
Positive supply voltage (double bond to VDD_A and VDD_D)
Test Coil 8
Test pin
DDCLK 9
Clock input for serial interface
DIO 10
Data I/O for serial interface
U
TB3
11
20
Commutation output
V
TB2
12
19
Commutation output
W
TB1
13
18
Commutation output
A
B
Index
TB0
14
15
16
17
Incremental output
Incremental output
Incremental output
Test pin
Test pin
Test pin
Test pin
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Datasheet - A b s o l u t e M a x i m u m R a t i n g s
5 Absolute Maximum Ratings
Stresses beyond those listed in
Table 2
may cause permanent damage to the device. These are stress ratings only, and functional operation of the device at these or any other conditions beyond those indicated in
Electrical Characteristics on page 5
is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect device reliability.
Table 2. Absolute Maximum Ratings
Parameter
Electrical Parameters
Supply voltage (V
DD
)
Input Pin Voltage (V
IN
)
Input Current (latch up immunity), (I scr
)
Electrostatic Discharge
ESD
Temperature Ranges and Storage Conditions
Storage Temperature (T strg
)
Min
-0.3
VSS-0.5
-100
-55
Max
7
VDD
100
±2
150
Units
V
V mA kV
ºC
Comments
Except during OTP programming
Norm: EIA/JESD78 ClassII Level A
Norm: JESD22-A114E
valid
Body temperature, (T body
)
260 ºC
The reflow peak soldering temperature (body temperature) specified is in accordance with
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).
Humidity non-condensing
Moisture Sensitive Level (MSL)
5 85 %
3 Represents a maximum floor time of 168h
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AS5134
Datasheet - E l e c t r i c a l C h a r a c t e r i s t i c s
6 Electrical Characteristics
T
AMB
= -40 to 140ºC, VDD5V = 4.5-5.5V, all voltages referenced to V
SS
, unless otherwise noted.
Table 3. Electrical Characteristics
Symbol
V
DD
Parameter
Positive Supply Voltage
Conditions
I
I
DD off
System Parameters
Operating Current
Power down current
No load on outputs. Supply current can be reduced by using stronger magnets.
Low Power Mode
Min
4.5
Typ
70
Max
+5.5
22
120
Units
V mA
µA
N Resolution
T
PwrUp
Startup from zero t s
Power Up Time
Tracking rate
Startup from Low Power mode
Step rate of tracking ADC;
1 step = 1º
INL cm
INL dm t delay
TN
Magnet Specifications
Accuracy
Propagation delay
Transition noise
Centered Magnet
Within horizontal displacement radius
Internal signal processing time
Peak-Peak
B i
V i
PWM Output
t
PWM f
PWM
Programming Parameters
Magnetic Input Range
Magnet rotation speed
PWM period
PWM frequency
Required vertical component of the magnetic field strength on the chip surface, measured along a concentric circle with a radius of 1 mm
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1 / PWM period
V
PROG
Tamb
PROG t
PROG
Programming Voltage
Programming ambient temperature
Programming time
V
R,prog
Analog readback voltage
V
R,unprog
Hall Element Sensitivity Options
Static voltage at pin Prog
During programming
Timing is internally generated
During analog readback mode at pin Prog
-2
-3
20
600
1.11
8.0
0
2
2
8.5
1
750
1.33
4100
500
5.2
80
76875
900
1.66
8.5
85
4
2
3
22
1.41
0.5
3.5
sens = 00 (default) 1.60
1.65
1.75
DC Characteristics of Digital Inputs and Outputs
V
IH
V
IL
Low level input voltage sens = 01
CMOS Inputs: DDCLK, CS, DIO, C2
1.79
0
1.88
1.98
sens
Hall Element sensitivity setting sens = 10 sens = 11
2.01
2.23
2.11
2.35
2.22
2.47
High level input voltage
0.7*V
DD
V
DD
0.3*V
DD
I
LEAK
Input leakage current 1
V
ºC
µs
Deg
Deg
µs
Deg mT rpm
µs kHz
V
X
V
V
µA
Bit
Deg
µs
valid
µs/step
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AS5134
Datasheet - E l e c t r i c a l C h a r a c t e r i s t i c s
Table 3. Electrical Characteristics (Continued)
Symbol Parameter
V
V
OH
OL
CL
High level output voltage
Low level output voltage
Capacitive load
IO
Z
Tristate leakage current
6.1 Timing Characteristics
Table 4. Timing Characteristics
Symbol
2-/3-Wire Data Transmission
Parameter
f
DCLK f
DCLK,P
Clock Frequency
Clock Frequency f
DCLK
Clock Frequency f
DCLK,P
Clock Frequency
General Data Transmission
t0 t1
Rising DCLK to CS t2 t3 t4 t5
Chip select to drive bus externally
Setup time command bit,
Data valid to positive edge of DCLK
Hold time command bit,
Data valid after positive edge of DCLK
Float time,
Positive edge of DCLK for last command bit to bus float t t t6 t7 t8
TO
CLK
Bus driving time,
Positive edge of DCLK for last command bit to bus drive
Setup time data bit,
Data valid to positive edge of DCLK
Hold time data bit,
Data valid after positive edge of DCLK
Hold time chip select,
Positive edge DCLK to negative edge of chip select
Bus floating time,
Negative edge of chip select to float bus
Timeout period in 2-wire mode (from rising edge of DCLK)
Clock Timing
Conditions
CMOS Outputs: DIO, PWM, DX
Source current < 4mA
Sink current < 4mA
CMOS Tristate Output: DIO
CS = low
Conditions
3-Wire Interface
Normal operation
During OTP programming
2-Wire Interface
Normal operation
During OTP programming
Min
V
DD
-0.5
0
Typ Max Units
V
DD
V
SS
+0.4
35
V
V pF
1 µA
Min Typ Max
200
5 6
650
MHz kHz
0.1
200
5 6
500
MHz kHz
15
15
-
30
30
-
-
-
-
30
DCLK/2
+0
DCLK/2
+0
DCLK/2
+0
17
DCLK/2 ns
200
DCLK/2
+30
DCLK/2
+30
DCLK/2
+30 ns ns ns ns
30
27 ns
µs ns ns ns ns ns ns
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7 Detailed Description
Figure 3. Typical Arrangement of AS5134 and Magnet
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7.1 Connecting the AS5134
The AS5134 can be connected to an external controller in several ways as listed below:
Serial 3-wire R/W connection
Serial 3-wire Read-only connection
Serial 2-Wire connection (R/W Mode)
Serial 2-Wire Differential SSI connection
1-Wire PWM connection
Analog output
Quadrature A/B/Index output
Brushless DC Motor Commutation Mode
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.2 Serial 3-Wire R/W Connection
In this mode, the AS5134 is connected to the external controller via three signals: Chip Select (CS), Clock (DCLK) inputs and bi-directional DIO
(Data In/Out) output. The controller sends commands over the DIO pin at the beginning of each data transmission sequence, such as reading the angle or putting the AS5134 in and out of the reduced power modes.
Figure 4. SSI Read/Write Serial Data Transmission
+5V
VDD
VDD
Output
Output
I/O
VSS
CS
DCLK
DIO
VDD
C2 VSS
100nF
valid
VSS
A pull-down resistor (as shown in
Figure 5
) is not required. C2 is a hardware configuration input. C2 selects 3-wire mode (C2 = low) or 2-wire mode (C2 = high).
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command phase data phase t
CLK
DCLK
1 2
3 4
5 6 7 20 t9
21 t1
CS
DIO
DIO t3
CMD4 t4
CMD3 t5
CMD0 t6 t7
D15 t8
D14 D1 D0 t10
DIO read
DIO write
Write Command Read/Write Data
C4 C3 C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.3 Serial 3-Wire Read-only Connection
This connection is possible when the AS5134 is only used to provide the angular data (no power down or OTP access). The Chip Select (CS) and Clock (DCLK) connection is the same as in the R/W mode, but only a digital input pin (not an I/O pin) is required for the DIO connection. As the first 5 bits of the data transmission are command bits sent to the AS5134, both the microcontroller and the AS5134 are configured as digital inputs during this phase. Therefore, a pull-down resistor must be added to make sure that the AS5134 reads “00000” as the first 5 bits, which sets the Read_Angle command.
Note:
All further application examples are shown in R/W mode, however read-only mode is also possible unless otherwise noted.
Figure 5. SSI Read-only Serial Data Transmission
+5V
VDD
VDD
valid
VDD
Output
Output
Input
CS
DCLK
DIO
100nF
1
VSS
10k…
100k
VSS command phase
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data phase
C2 VSS
2 3 4 5 6 7 8
DCLK
CS
DIO
DIO t1
D15 D14
20 t9
21
D13 D12 D1 D0 t10
DIO read
DIO write
Command Read Data
C4 C3 C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
0 0 0 0 0 lock AGC Angle
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.4 Serial 2-Wire Connection (R/W Mode)
By connecting the configuration input C2 to VDD, the AS5134 is configured to 2-wire data transmission mode. Only Clock (DCLK) and Data
(DIO) signals are required. A Chip Select (CS) signal is automatically generated by the DX output, when a time-out of DCLK occurs.
Note:
Read-only mode is also possible in this configuration.
Figure 6. 2-Wire R/W Mode
+5V
VDD
VDD
C2 VDD
100nF
Output
I/O
DCLK
DIO
VSS
VSS
VSS
DCLK
3 command phase
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data phase
4
5
6 7 8 timeout phase t
TO
22 t0
1 t1
2
DX
CS
DIO
CMD4
CMD3 CMD2
CMD1
DIO read t5
CMD0 t6
DIO
D15 D14 D1 D0
Technical content still
DIO write
valid
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.5 Serial 2-Wire Differential SSI Connection
With the addition of a RS-422 / RS-485 transceiver, a fully differential data transmission, according to the 21-bit SSI interface standard is possible. To be compatible with this standard, the DCLK signal must be inverted. This is done by reversing the Data+ and Data- lines of the transceiver.
Note:
This type of transmission is read-only.
Figure 7. 2-Wire SSI Read-only Mode
DCLK
DI
VSS
+5V
VDD
1
DCLK
DIO
C2 VDD
VDD
VSS
Output
DCLK
Input
DI
MAX 3081 or similar
D+
D-
D-
D+
D+
D-
D+
D-
VSS
100nF
2 3
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5 7
4 6
D14
8 20
D1
21 timeout t
TO
D0 D15
valid
Refer to
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.6 1-Wire PWM Connection
This configuration uses the least number of wires: only one line (PWM) is used for data, leaving the total number of connection to three, including the supply lines. This type of configuration is especially useful for remote sensors. Ultra Low Power Mode is not possible in this configuration, as there is no bi-directional data transmission. Pins that are not shown may be left open.
Figure 8. Data Transmission with Pulse Width Modulated (PWM) Output
+5V
VDD
VDD
Micro Controller
Input
VSS
VSS
CS VDD
PWM
AS5134
C2 VSS
100nF
valid
t
PWM t high low
Init
Zero degree
8 clocks
Lock
Angle Position
359 clocks exit
8 clocks
The PWM signal will be generated from the actual stored angle information. The zero-angle corrected value is buffered and fixed until the next
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Datasheet - D e t a i l e d D e s c r i p t i o n
Figure 9. Output PWM Signal After Start-up at 0º Unprogrammed Zero Position
T-high T-low
Init
Init + Lock Diagnostic
8 clocks
Angle Position
359 clocks
Figure 10. Output PWM Signal After Start-up at Initial 0º with a Programmed Zero Position
T-high
Init
Init + Lock Diagnostic
8 clocks
T-low
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Angle Position
359 clocks exit
8 clocks exit
8 clocks
valid
After a startup of the AS5134 at the initial zero position the PWM signal indicates a permanent lock diagnostic. This behavior can be ignored
during elaboration of the PWM duty cycle.
Figure 9
Figure 10
show the different outputs depending on the OTP zero position programming.
After a mechanical movement (1º) the signal will change as shown in
Figure 8
. A startup at any other position will also look like as shown in
Figure 8
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.7 Analog Output
This configuration is similar to the PWM connection (only three lines including supply are required). With the addition of a lowpass filter at the
PWM output, this configuration produces an analog voltage that is proportional to the angle. This filter can be either passive (as shown in
Figure 11
) or active. The lower the bandwidth of the filter, the less ripple of the analog output can be achieved. If the AS5134 angular data is invalid, the PWM output will remain at low state and thus the analog output will be 0V. Pins that are not shown may be left open.
Figure 11. Data Transmission with Pulse Width Modulated (PWM) Output
+5V
VDD
100nF
CS
VDD
5V
AS5134
PWM
C2 VSS
>=4k7 >=4k7
>=1µF >=1µF
Analog out
0V
0º
180º
360º
Analog out
valid
PWM out
Angle
VSS
7.8 Quadrature A/B/Index Output
The phase shift between channel A and B indicates the direction of the magnet movement. Channel A leads channel B at a clockwise rotation of
Figure 12. Incremental Output Modes
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Mechanical
Zero Position
Mechanical
Zero Position
Quad A/B/Index-Mode
Rotation Direction
Change
A
B
Index=0
1 LSB
Hyst=
2LSB
Index max.
3 LSB
Table 7. Programming Options for the Quadrature Signals A/B/Index
0
Technical content still
0
1
1
0 step
pin A, direction
pin B, I(index)
pin I pulse
pin A, direction
pin B, I(index)
pin I off: LO
pin A, LO
pin B, LO
pin I 1 1
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.9 Brushless DC Motor Commutation Mode
The BLDC signals will be used to control the electrical angle information – according to the amount of pole pairs and the actual mechanical angle position. Refer
Figure 13
for an example of n_pole_pairs:=2. For the programming, refer to
Serial Synchronous Interface (SSI) on page 18
.
Figure 13. Commutation Mode
electrical
:=
mechanical
*n pole_pairs pole pair : 2
U
V
W
0
0
60
30
120
60
180
90
240
120
300
150
0
180
60
210
120
240
180 angle electrical
valid
270 angle mechanical
Table 8. Programming Options for the Commutation Signals U/V/W
1
1
1
0
0
0
0
uvw (11:9)
0
0
1
0
1
1
0
0
1
0
1
0
1
1
BLDC Pole Pairs : 1
electrical angle of 60º = mechanical angle: 60º
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Function
BLDC Pole Pairs : 2
electrical angle of 60º = mechanical angle: 30º
BLDC Pole Pairs : 3
electrical angle of 60º = mechanical angle: 20º
BLDC Pole Pairs : 4
electrical angle of 60º = mechanical angle: 15º
BLDC Pole Pairs : 5
electrical angle of 60º = mechanical angle: 12º
BLDC Pole Pairs : 6
electrical angle of 60º = mechanical angle: 10º off
LO pad U, V, W, PWM
7.10 Daisy Chain Mode
The angle information from the device and the setup for the device is handled over the digital interface. A special port (Dx) can be used to implement a daisy chain mode. Depending on the configuration, it is possible to implement a two wire or a three wire mode. In the three wire mode, each communication starts with the rising edge of the chip select signal. The Port Dx is used to transfer the chip select information from one device to the next. Refer to
Figure 14
Figure 15
. In the two wire interface mode, a timeout logic ensures that the digital interface will be
reset if there is no clock source available for a certain time. The synchronization between the internal free running analog clock oscillator and the external used digital clock source for the digital interface is done in a way that the digital clock frequency can vary in a wide range.
Remark:
Reset for the digital interface:
3 wire mode
via chip select
Technical content still
Chip Select CS
Indicates the start of a new access cycle to the device
CS = LO
reset of the digital interface.
Clock source for the communication over the digital interface. The maximum and minimum frequency depends on the mode.
DCLK DCLK
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Datasheet - D e t a i l e d D e s c r i p t i o n
Port
Bidirectional data input output
Symbol
DIO
Function
Command and data information over one single line. The first bit of the command defines a read or write access.
This port enables the daisy chain configuration of several devices.
Three wire mode:
Indicates the end of an interface cycle. Dx can be used as the chip select signal for the next device in the chain.
Daisy Chain Port Dx
Two wire mode:
Will be set with the first falling edge of DCLK and hence, indicates
Waveform – Digital Interface at Three Wire Daisy Chain Mode
Note:
Defined if the Pin C2 is set to LO at all devices.
a running clock; it will be cleared at the end of the command sequence or after a timeout phase. Dx can be used as a chip select signal in the two wire mode.
valid
Figure 14. 3-Wire Daisy Chain Mode
DCLK
CS(1)
CS_INT(1)
DX(1) = CS(2)
CS_INT(2)
DX(2) = CS(3)
CS_INT(3)
CMD(1) Data(1)
C4 C3 C2 C1 C0 D15 D14 D13 D0 C4
CMD(2) Data(2) CMD(3) Data(3)
C0 D15 D14 D0 C4 C0 D15 D14 D0
CMD(1)
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DX
DX(1)
DX
DX(2)
DX
DIO
CLK
CS
DIO
CLK
CS
DIO
CLK
CS
C2 C2 C2
DIO
CS
CLK
LO LO LO
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
Waveform – Digital Interface at Two Wire Daisy Chain Mode
Note:
Defined, if the Pin C2 is set to LO at all devices except the last one where the Pin C2 is set to HI.
Figure 15. 2-Wire Daisy Chain Mode
t14_2
DCLK
DX(3)
CS(1)
CS_INT(1)
DX(1) = CS(2)
CS_INT(2)
DX(2) = CS(3)
CS_INT(3)
CMD(1)
C4 C3 C2 C1 C0 D15 D14 D13
Data(1)
D0 C4
CMD(2)
C0 D15 D14
Data(2)
D0 C4
CMD(3)
C0 D15 D14
Data(3)
D0
CMD(1)
C4
valid
t14_3 t16
DIO
CS
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DX
DX(1)
CS
DX
DX(2)
CS
DIO DIO
CLK
LO
C2
CLK
LO
C2
CLK
LO
C2
DX
DX(3)
DIO
DCLK
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.11 Serial Synchronous Interface (SSI)
Normal mode is used for normal operations, whereas extended mode is for accessing the OTP.
Table 9. Commands of the SSI in Normal Mode
#
23
cmd
WRITE
CONFIG 1
bin mode 15
10111 write LP
Digital interface at normal mode
14 13 12 11 10 9 8
SM_
RES tst tst Hyst <1:0> tst tst
7
tst
6 5 4 3 2 1 0
20 10100 write multi-turn-counter <8:0>
SET MT
COUNTER
16 EN PROG 10000 write
4
RD MT
COUNTER
00100 read
0 RD_ANGLE 00000 read
1 lock_ adc
0 0 0 1 agc <5:0>
1 multi-turn-counter <8:0>
0 0 1 0
OTP
_OK
1 0 angle <8:0>
1 1
SM_RES:
State machine reset of the digital part of the device (soft reset).
EN PROG:
Enables the access to the OTP register in Extended Mode.
WRITE CONFIG:
LP HI activates the sleep mode of the AS5134. The power consumption is significantly reduced. LP LO returns to normal operation mode. During sleep mode, the lock_adc bit in command 0 is LO.
RD_MT Counter:
Command for read out of multi turn register.
OTP_OK:
Bit shows correct readout of the OTP register after startup. The bit is valid till the next OTP access.
RD_ANGLE:
Command for read out of angle value and AGC value (agc). “Lock” indicates a locked ADC.
1 0
valid tst:
Test bits for internal testing (must be left unchanged).
Hyst (11:10):
Digital Hysteresis can be set via the digital interface 0, 1, 2 (default), 3 LSB
0
0
Hyst
0
1
0
ams AG
1
Function
2 LSB (default value)
1
3
1 1 0
The hysteresis can be changed over the interface. An activation of the SM_RES bit is required. This can be performed in two steps -
1. Use WRITE CONFIG 1 command and write the selected hysteresis and SM_RES = ‘1’ into the device.
2. Use again WRITE CONFIG 1 command and release SM_RES = ‘0’ with the same hysteresis setting.
SET MT COUNTER:
Command for setting the Multi Turn Counter to a defined value.
LP:
Default "0"; "1" for using the low power function.
lock_adc:
Indicates that the tracking adc is in a locked status. For a valid angle (the magnetic field has to be in a certain range, which is indicated by the agc value) or a missing magnet the lock_adc is set.
Technical content still
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Revision 2.3
18 - 32
9
Table 10. Commands of the SSI in Extended Mode
#
Number of bits cmd
31 WRITE OTP
25 PROG_OTP
bin
11111
11001
Digital interface at extended mode
Factory Settings Customer Settings
2 18 1 1 4 4 1 4 2 3 1 4 1 2 2 mode 61 ..60 59 ..42 41 40 39 ..36 35 ..32 31 30 ..27 26 ..25 24 ..22
xt write xt write tst tst
ID
ID tst tst tst tst tst tst tst tst tst tst tst tst tst tst tst tst
21 20 ..17 16 15 ..14
13 ..12 11 ..9
valid
uvw uvw xt read tst ID tst tst tst tst tst tst tst tst lock_otp (*) r_ add r_bit sensitivity abi uvw
3
15 READ_OTP 01111
READ ANA 01001 xt read tst ID tst tst tst tst tst tst tst tst lock_otp (*) r_ add r_bit sensitivity abi uvw
9
8..0
zero angle zero angle zero angle zero angle
WRITE OTP:
Writing of the OTP register. The written data is volatile. “Zero Angle” is the angle, which is set for zero position. “Sensitivity” is the gain setting in the signal path. “Redundancy” is the number of bits, which allows the customer to overwrite one of the customer OTP bits <0:15>.
PROG_OTP:
Programming of the OTP register. Only Bits <0:20> can be programmed by the customer. The internal factory settings are locked by an “internal lock bit” and cannot be programmed.
READ_OTP:
Read out the content of the OTP register. Data written by WRITE_OTP and PROG_OTP is read out.
READ ANA:
Analog read out mode. The analog value of every OTP bit is available at pin 1 (PROG), which allows for a verification of the fuse process. No data is available at the SSI.
tst:
Test bits for internal testing (must be left unchanged).
ID (59:42):
Chip identifier to track the device in the field
lock_otp (21): r_add (20:17): ams AG r_bit (16):
Redundancy bit (functionality is only implemented in the user region)
Sensitivity (15:14):
Trim bit for the gain of the amplifier after the demodulator
abi (13:12):
Mode selection for the incremental signals
uvw (11:9):
Number of poles of the brush less dc motor - impact to the uvw signals
zero angle (8:0):
Trim bit for the zero angle information
LP:
Enables the low power mode to reduce the current consumption - digital registers are not reset.
Notes:
1. The Extended Mode can be enabled by sending command 16 (EN PROG).
2. The lock bit will be deleted during power down or sleep mode to ensure that the user is able to detect that the read out angle value is computed after the wake up sequence.
3. In extended mode 1 data bit (wirte/read) requires 4 clock cycles (see Figure 19)
.
Technical content still
7.12 Redundancy
For a better programming reliability, a redundancy is implemented. This function can be used in case if the programming of one bit fails. With an address RA(4:0) one bit can be selected and programmed.
Table 11. Redundancy Addressing
1
1
1
1
1
1
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
0
0
20 19 18 17 16 15 14 13
R_add R_add R_add R_add R_bit Sensitivity Sensitivity ABI
0
0
0
0
0
0
0
1
1
1
/
/
/
/ /
/
0
0
1
1
1
1
0
0
0
1
0
1
1
1
1
1
/
/
/
/
/
/
/
/ /
/
/
/
/
/
/
0
0
1
1
1
1
0
0
1
1
0
1
0
1
0
1
0
1
0
1
1
1
1
1
1
1
1
1
1
1
/
/
/
/
/
1
/
/
/
/
/
/
/
/
/
1
/
/
/
/
/
/
/
/
/
/
/
12
ABI
/
/
/
/
/
/
/
/
/
/
11
U
/
/
/
/
/
/
/
/
/
/
10
V
/
/
/
1
/
/
/
/
/
1
/
/
/
/
/
1
/
/
/
/
/
1
/
/
/
/
/
1 ams AG
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
1
/
/
/
/
/
/
/
/
/
9
W
/
/
/
/
/
/
8
ZA
/
/
/
/
/
/
/
/
1
/
/
/
/
/
/
/
7
ZA
/
/
/
/
/
/
/
/
1
/
/
/
/
/
/
/
6
ZA
/
/
/
/
/
/
/
/
/
/
/
1
/
/
/
/
5
ZA
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
1
/
/
/
/
/
4
ZA
/
/
3
ZA
/
/
2
ZA
/
1
1
/
1
/
1
/
/
/
/
/
/
/
/
/
/ /
/
/
/
/
/
/
/
/
/
/
/ /
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
/
1
0
ZA
Technical content still
AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
8 Application Information
The benefits of AS5134 are as follows:
Complete system-on-chip, no angle calibration required
Flexible system solution provides absolute serial, ABI, UVW and PWM outputs
Ideal for applications in harsh environments due to magnetic sensing principle
High reliability due to non-contact sensing
Robust system, tolerant to horizontal misalignment, airgap variations, temperature variations and external magnetic fields
8.1 AS5134 Programming
The AS5134 offers the following user programmable options:
Zero Position Programming.
This programming option allows the user to program any rotation angle of the magnet as the new zero position. This useful feature simplifies the assembly process as the magnet does not need to be mechanically adjusted to the electrical zero user programmable zero position can be applied both temporarily (command WRITE OTP, #31) or permanently (command PROG OTP, #25).
valid
Magnetic Field Optimization.
This programming option allows the user to match the vertical distance of the magnet with the optimum magnetic field range of the AS5134 by setting the sensitivity level. The 2-bit user programmable sensitivity setting can be applied both temporarily (command WRITE OTP, #31) or permanently (command PROG OTP, #25).
8.1.1 OTP Programming Connection
Programming of the AS5134 OTP memory does not require a dedicated programming hardware. The programming can be simply accomplished
over the serial 3-wire interface
(see Figure 17)
or the optional 2-wire interface
(see Figure 6)
. For permanent programming (command PROG
OTP, #25), a constant DC voltage of 8.0-8.5V must be connected to pin 1 (PROG). For temporary OTP write (“soft write”; command WRITE OTP,
#31), the programming voltage is not required. The capacitors must be as close as possible to the pin, to ensure that a serial inductance of 50nH is not to be exceeded. The 50nH inductance could translate into a cable length of approximately 5cm.
Figure 16. OTP Programming Connection
ams AG
+5V
VDD
VDD
VDD
Output
Output
I/O
8.0 – 8.5V
CS
DCLK
DIO
PROG
100nF
VSS C2
VSS
+
-
VSS
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AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
Figure 17. OTP Programming Connection
Standard Case
V zapp
C1 maximum parasitic cable inductance
L<50nH
V prog
C2
V
DD
PROG
GND
PROM Cell
100nF 10µF
V
SUPPLY
Remove for normal operation
Special Case
V
SUPPLY
V zapp
C1
C2
100nF
10µF
L<50nH
V
DD
V prog
PROG
GND
PROM Cell
valid
Note:
The maximum capacitive load at PROG in normal operation is less than 20pF. However, during programming the capacitors C1+C2 are needed to buffer the programming voltage during current spikes, but they must be removed for normal operation. To overcome this contradiction, the recommendation is to add a diode (4148 or similar) between PROG and V
DD
as shown in
Figure 17
(special case
ams AG
In the standard case (see
Figure 17
), the verification of a correct OTP readout can be done either by analog readback of the OTP register or with the aid of the OTP_OK bit. The special case setup provides only the OTP_OK bit for verifying the correct reading of the
OTP. Analog readback is not usable in the special case mode, as the diode pulls the PROG pin to V
DD
.
The OTP_OK bit can be accessed with command #4
(see Table 9)
.
As long as the PROG pin is accessible it is recommended to use standard setup. In case the PROG pin is not accessible at final assembly, the special setup is recommended.
8.1.2 Programming Verification
After programming, the programmed OTP bits must be verified in two ways:
Digital Read Out (Mandatory):
After sending a READ OTP command, the readback information must be the same as programmed information. Otherwise, it indicates that the programming was not performed correctly.
Note:
Either “Digital Verification” or “Analog Verification” must be carried out in addition to the “Digital Read Out”.
Digital Verification:
Checking the OTP_OK bit (0 = OK, 1 = error)
Technical content still
Analog Verification:
By switching into Extended Mode and sending a READ ANA command, the pin PROG becomes an output sending an analog voltage with each clock representing a sequence of the bits in the OTP register (starting with D61). A voltage of <500mV indicates a correctly programmed bit (“1”) while a voltage level between 2V and 3.5V indicates a correctly unprogrammed bit (“0”). Any voltage level in between indicates incorrect programming.
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AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
Figure 18. Analog OTP Verification
+5V
VDD
VSS
VDD
Output
Output
I/O
8.0 – 8.5V
VSS
V
CS
DCLK
DIO
PROG
VDD
C2 VSS
100nF
Figure 19. Extended Operation Mode: Timing of Analog Readout
CMD_PHASE
DCLK
CS
DIO
DIO t0 t1
CMD4 t3 t4
HI
CMD2
DIO t5
CMD0 t6
D61
D61 t7 t8 t12
D60 t11
D60 t9
D0
D0 t10
CMD
READ t10
WRITE
valid
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AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
8.2 AS5134 Status Indicators
8.2.1 Lock Status Bit
The Lock signal indicates, whether the angle information is valid (ADC locked, Lock = high) or invalid (ADC unlocked, Lock = low). To determine a valid angular signal at best performance, the following indicators can be set:
Lock = 1
AGC = >00H and < 3FH
After a startup of the AS5134 at the initial zero position the lock status bit will remain at (Lock=0). After a mechanical rotation (1º) the lock status bit will change to (Lock=1).
Note:
The angle signal is also valid (Lock = 1), when the AGC is out of range (00H or 3FH), but the accuracy of the AS5134 is reduced due to the out of range condition of the magnetic field strength.
8.2.2 Magnetic Field Strength Indicators
The AS5134 is not only able to sense the angle of a rotating magnet, it can also measure the magnetic field strength (and hence the vertical distance) of the magnet. This additional feature can be used for several purposes:
valid
- as a safety feature by constantly monitoring the presence and proper vertical distance of the magnet
- as a state-of-health indicator, e.g. for a power-up self test
- as a pushbutton feature for rotate-and-push types of manual input devices
The magnetic field strength information is available in two forms:
Magnetic Field Strength Software Indicator.
The serial data that is obtained by command READ ANGLE contains the 6-bit AGC information. The AGC is an automatic gain control that adjusts the internal signal amplitude obtained from the Hall elements to a constant level.
If the magnetic field is weak, e.g. with a large vertical gap between magnet and IC, with a weak magnet or at elevated temperatures of the magnet, the AGC value will be high. Likewise, the AGC value will be lower when the magnet is closer to the IC, when strong magnets are used and at low temperatures.
The best performance of the AS5134 will be achieved when operating within the AGC range. It will still be operational outside the AGC range, but with reduced performance especially with a weak magnetic field due to increased noise.
Factors Influencing the AGC Value.
The initial strength of the magnet.
ams AG
the vertical distance between magnet and IC over the lifetime of the application using the AS5134. Again, vertical distance variations can be
The vertical distance of the magnet.
Depending on the mechanical setup and assembly tolerances, there will always be some variation of compensated by the AGC.
The temperature and material of the magnet.
The recommended magnet for the AS5134 is a diametrically magnetized, 5-6mm diameter
NdFeB (Neodymium-Iron-Boron) magnet. Other magnets may also be used as long as they can maintain to operate the AS5134 within the
AGC range. Every magnet has a temperature dependence of the magnetic field strength. The temperature coefficient of a magnet depends on the used material. At elevated temperatures, the magnetic field strength of a magnet is reduced, resulting in an increase of the AGC value. At low temperatures, the magnetic field strength is increased, resulting in a decrease of the AGC value. The variation of magnetic field strength over temperature is automatically compensated by the AGC.
OTP Sensitivity Adjustment.
To obtain best performance and tolerance against temperature or vertical distance fluctuations, the AGC value at normal operating temperature is in the middle between minimum and maximum, hence it is around 100000 bin (20hex). To facilitate the
“vertical centering” of the magnet+IC assembly, the sensitivity of the AS5134 can be adjusted in the OTP register in 4 steps. A sensitivity adjustment is recommended, when the AGC value at normal operation is close to its lower limit (around 00H). The default sensitivity setting is
00
H
= low sensitivity. Any value >00
H
will increase the sensitivity
(see Table 3)
Technical content still
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AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
8.3 Multi Turn Counter
A 9-bit register is used for counting the magnet’s revolutions. With each zero transition in any direction, the output of a special counter is incremented or decremented. The initial value after reset is 0 LSB. The multi turn value is encoded as complement on two. Clockwise rotation gives increasing angle values and positive turn count. Counter clockwise rotation exhibits decreasing angle values and a negative turn count respectively.
00000000
11111111
11111110
11111101
---
10000000
---
100000000
Bit Code
011111111
---
01111111
---
00000011
00000010
00000001
---
-128
---
-255
-2
-3
0
-1
Decimal Value
256
---
127
---
+3
+2
+1
valid
crossing between the clock edge and the next counter readout changes the counter value.
8.4 High Speed Operation
The AS5134 is using a fast tracking ADC (TADC) to determine the angle of the magnet. Once the TADC is synchronized with the angle, it sets the LOCK bit in the status register. In worst case, usually at start-up, the TADC requires up to 179 steps to lock. Once it is locked, it requires only one cycle to track the moving magnet. The AS5134 can operate in locked mode at rotational speeds up to 76875 rpm.
In Low Power Mode, the position of the TADC is frozen. It will continue from the frozen position once it is powered up again. If the magnet has moved during the power down phase, several cycles will be required before the TADC is locked again. The tracking time to lock in with the new magnet angle can be roughly calculated as:
t
LOCK
=
2
s
NewAngle OldAngle
(EQ 1)
Where:
t
LOCK
= Time required to acquire the new angle after power up from one of the reduced power modes [µs]
OldAngle = Angle position when one of the reduced power modes is activated [º]
NewAngle = Angle position after resuming from reduced power mode [º]
8.4.1 Propagation Delay
Technical content still
document.
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AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
8.4.2 Digital Readout Rate
Apart from the chip-internal propagation delay, the chip requires time to read and process the angle data. Due to its nature, a PWM signal is not usable at high speeds, as you get only one reading per PWM period. Increasing the PWM frequency improves it. But problems will occur at the receiving controller to resolve the PWM steps. The frequency on the AS5134 PWM output is typical 1.33kHz with a resolution of 2µs/step. A more suitable approach for high speed absolute angle measurement is using the serial interface. With a clock rate of up to 6MHz, a complete set of data (21bits) can be read in >3.5µs.
8.4.3 Low Power Mode
The target of this mode is to reduce the long time power consumption of the device for battery powered applications, without losing the actual angle information.
In Low Power Mode, the AS5134 is inactive. The last state (for e.g. the angle, AGC value, etc.) is frozen and the chip starts from this frozen state when it resumes active operation. This method provides much faster start-up than a “cold start” from zero. If the AS5134 is cycled between when the status bit LOCK has been set. Once a valid angle has been measured, the AS5134 can be put back to reduced power mode. The average power consumption can be calculated as:
valid
I
=
I active
t on
+
I powerdown
t off
sampling interval = t on
+ t off
(EQ 2) avg t on
+
t off
I
Where:
avg
= Average current consumption
I active
= Current consumption in active mode
I power_down
= I off
: Current consumption in reduced power mode (max. 120µA) t on
= Time period during which the chip is operated in active mode t off
= Time period during which the chip is in reduced power mode
To access the Low Power Mode, the bit ‘LP’ <15> of the digital interface has to be set to “1”.
Figure 20. Low Power Mode Connection
C1
I
I on off t on t off
VDD
100nF
S
N
AS5134
VSS C2
CS
DCLK
DIO
VDD on/off
Micro
Controller
+5V
VDD
VSS
VSS add an RC-filter (R1/C1) to avoid peak currents at power supply. The value of R1 is set that it maintains a VDD voltage of 4.5V – 5.5V and especially during long active periods the R1 must maintain the charge which C1 has expired. C1 can be set in such a way as it can support peak currents during the active operation period. In case of long active periods, C1 has a great value and R1 has a small value.
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AS5134
Datasheet - P a c k a g e D r a w i n g s a n d M a r k i n g s
9 Package Drawings and Markings
The device is available in a 20-Lead Shrink Small Outline package.
Figure 21. Package Drawings and Dimensions
YYWWMZZ
AS5134
valid ams AG
Symbol
A
A1
A2 b c
D
E
E1 e
L
L1
Min
1.73
0.05
1.68
0.22
0.09
6.90
7.40
5.00
-
0.55
-
Nom
1.86
0.13
1.73
0.30
0.17
7.20
7.80
5.30
0.65 BSC
0.75
1.25 REF
L2
R
-
0.09
0.25 BSC
-
0º 4º
Notes:
Technical content still
Marking: YYWWMZZ.
N 20
8º
-
-
Max
1.99
0.21
1.78
0.38
0.25
7.50
8.20
5.60
-
0.95
-
YY
Last two digits of the manufacturing year
WW
Manufacturing week
M
Plant identifier
ZZ
Assembly traceability code
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AS5134
Datasheet - P a c k a g e D r a w i n g s a n d M a r k i n g s
Figure 22. Vertical Cross Section of SSOP-20
valid ams AG
www.austriamicrosystems.com/AS5134
Revision 2.3
2. Die is slightly off centered.
28 - 32
AS5134
Datasheet - P a c k a g e D r a w i n g s a n d M a r k i n g s
9.1 Recommended PCB Footprint
Figure 23. PCB Footprint
ams AG
Recommended Footprint Data
Symbol mm inch
A
B
9.02
6.16
0.355
0.242
C
D
E
0.46
0.65
6.31
0.018
0.025
0.248
valid
Technical content still
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AS5134
Datasheet - R e v i s i o n H i s t o r y
Revision History
Revision
1.3
1.5
1.6
1.7
1.8
1.9
1.10
1.11
1.12
1.13
1.14
1.15
2.0
2.1
2.2
Date
Jun 01, 2007
May 21, 2008
Jul 07, 2008
Jul 23, 2008
Aug 12, 2008
Mar 10, 2009
Apr 29, 2009
Jun 24, 2009
Sep 25, 2009
Jan 27, 2010
Mar 30, 2010
Jun 29, 2010
May 23, 2011
Nov 25, 2011
Feb 29, 2012
Owner
apg rfu mub jja
Description
Initial revision
Added
Extended Operation Mode: Timing of Analog Readout (page 23)
Updated
Connecting the AS5134 (page 7)
Updated
Key Features (page 1)
DC Characteristics of Digital Inputs and
Outputs (page 5)
Added
Daisy Chain Mode (page 15)
Added
Low Power Mode (page 26)
Added topic on ‘Accuracy’
Added
Package Drawings and Markings (page 27)
Updated
Timing Characteristics (page 6)
2-or 3-wire Read-only Serial Bit
Sequence (21bit read) (page 9)
,
OTP Programming Connection (page 21)
,
valid
Programming Verification (page 22)
Updated
Electrical Characteristics (page 5)
Maximum speed modified from 25.000 rpm to 140.000 rpm across the datasheet.
Maximum speed modified from 140.000 rpm to 82.000 rpm across the datasheet.
apg Updated
Package Drawings and Markings (page 27)
Modified the following chapters:
Key Features (page 1)
mub apg
Absolute Maximum Ratings (page 4)
ams AG
PWM frequency (page 5)
mub
Updated Absolute Maximum Ratings, 1-Wire PWM Connection, Package
Updated PWM width
(see Table 3)
Programming Verification (page 22)
Vertical Cross Section of SSOP-20 (page 28)
ekno
Updated
Electrical Characteristics (page 5)
Vertical Cross Section of SSOP-
20 (page 28)
Digital Readout Rate (page 26)
Reducing Power
Supply Peak Currents (page 26)
mub
Lock Status Bit (page 24)
2.3
Apr 26, 2012
Note:
Typos may not be explicitly mentioned under revision history.
Technical content still
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AS5134
Datasheet - O r d e r i n g I n f o r m a t i o n
10 Ordering Information
The devices are available as the standard products shown in
Table 12
Table 12. Ordering Information
Ordering Code Description Delivery Form Package
AS5134-ZSST
, -ZSSM 3
60 Step Programmable High Speed Magnetic Rotary Encoder Tape & Ree l 2
0-pin SSOP
Note:
All products are RoHS compliant and austriamicrosystems green.
Buy our products or get free samples online at ICdirect:
http://www.austriamicrosystems.com/ICdirect
Technical Support is available at
http://www.austriamicrosystems.com/Technical-Support
For further information and requests, please contact us
mailto: [email protected]
or find your local distributor at
http://www.austriamicrosystems.com/distributor
valid ams AG
Technical content still
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AS5134
Datasheet - C o p y r i g h t s
Copyrights
Copyright © 1997-2012, austriamicrosystems AG, Tobelbaderstrasse 30, 8141 Unterpremstaetten, 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.
All products and companies mentioned are trademarks or registered trademarks of their respective companies.
Disclaimer
Devices sold by austriamicrosystems AG are covered by the warranty and patent indemnification provisions appearing in its Term of Sale. austriamicrosystems AG makes no warranty, express, statutory, implied, or by description regarding the information set forth herein or regarding the freedom of the described devices from patent infringement. austriamicrosystems AG reserves the right to change specifications and prices at current information. This product is intended for use in normal 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 austriamicrosystems AG for each application. For shipments of less than 100
valid
parts the manufacturing flow might show deviations from the standard production flow, such as test flow or test location.
The information furnished here by austriamicrosystems AG is believed to be correct and accurate. However, austriamicrosystems 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 austriamicrosystems AG rendering of technical or other services.
ams AG
Contact Information
Headquarters
austriamicrosystems AG
Tobelbaderstrasse 30
A-8141 Unterpremstaetten, Austria
Tel: +43 (0) 3136 500 0
Fax: +43 (0) 3136 525 01
For Sales Offices, Distributors and Representatives, please visit:
http://www.austriamicrosystems.com/contact
Technical content still
www.austriamicrosystems.com/AS5134
Revision 2.3
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