AMS AS5040 Position Sensor User Guide
AMS AS5040 is a system-on-chip device that combines integrated Hall elements, analog front end and digital signal processing. It provides incremental output signals and the absolute angular position of a magnet placed either above or below the device. The AS5040 can be configured to specific customer requirements by programming the integrated OTP (one time programmable) register. An internal voltage regulator allows the AS5040 to operate at either 3.3 V or 5 V supplies.
Oglas
Oglas
austriamicrosystems AG is now ams AG
The technical content of this austriamicrosystems document is still valid.
Contact information:
Headquarters:
ams AG
Tobelbaderstrasse 30
8141 Unterpremstaetten, Austria
Tel: +43 (0) 3136 500 0 e-Mail: [email protected]
Please visit our website at
www.ams.com
AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
AS5040
10 BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
ADAPTER PCB OPERATION MANUAL
1 The AS5040 adapter PCB:
The AS5040 adapter PCB is a simple circuit allowing customers to test and evaluate the AS5040 rotary encoder rapidly without having to build their own test fixture or PCB.
The PCB can be used as standalone unit or plugged onto the AS5040 demoboard as external encoder.
For Standalone operation, it can be supplied with 3.3V, 5V or 7,5...12V DC supply voltages.
AG ams
Figure 1: AS5040 Adapter PCB: top and bottom view
Features:
100mil connector for direct connection to AS5040 demoboard
Provision for a 600mil DIP socket
Hole in PCB to center a 6mm magnet at the bottom of the IC
LEDs for Incremental outputs A,B, Index
LED for PWM output
LEDs for magnet status outputs MagInc, MagDec
On-board 5V linear voltage regulator for 7,5…12V supplies
9V battery connector for standalone operation
Technical still valid
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2 General Description
The AS5040 is a system-on-chip, combining integrated Hall elements, analog front end and digital signal processing in a single device. It provides incremental output signals and the absolute angular position of a magnet that is placed either above or below the device.
The AS5040 can be configured to specific customer requirements by programming the integrated OTP
(one time programmable) register. An internal voltage regulator allows the AS5040 to operate at either 3.3 V or 5 V supplies.
Pin Symbol
1 MagINCn
Type Description
DO_OD
Magnet Field Magnitude
INCrease; active low, indicates a distance reduction between the magnet and the device surface.
Magnet Field Magnitude a distance increase between the device and the magnet.
3 A_LSB_U DO
Mode1: Quadrature A channel
Mode2: Least Significant Bit
Mode3: U signal (phase1)
4 B_Dir_V DO
5
7
NC
VSS
AG
9 DO
-
S
Mode1: Quadrature B channel quarter period shift to channel A.
Mode2: Direction of Rotation
Mode3: V signal (phase2) must be left unconnected
Mode1 and Mode2 : Index signal indicates the absolute zero position
Mode3: W signal (phase3)
valid
Negative Supply Voltage (GND)
Programming and Data Input for
Mode configuration, incremental
DI_PD
still
mode configuration. Internal pulldown resistor (~74k
Ω
)
Figure 2: Typical arrangement AS5040 and magnet
3 Pin Configuration
MagINCn
MagDECn
A_LSB_U
B_Dir_V
NC
1
2
3
4
5
16
15
14
13
12
ams
VDD5V
VDD3V3
NC
NC
PWM_LSB
10 CLK
11 CSn
content
14
15 VDD3V3 S 3V-Regulator
16
NC
VDD5V
DI,
ST
DI_PU,
ST
-
S must be left unconnected must be left unconnected
Positive Supply Voltage 5 V
Index_W 6
11
CSn
Clock Input of
Synchronous Serial Interface;
Schmitt-Trigger input
Chip Select, active low; Schmitt-
Trigger input, internal pull-up resistor (~50k
Ω
)
VSS 7
10
CLK
Table 1: Pin description
Prog
8
9 DO
Figure 3: Pin configuration SSOP16
4 Pin Description
Technical
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
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5 Principle of Operation
2.433 mm
2.433 mm
1
3.9 mm
Circle of Hall elements on chip: 2.2mm diameter
Area of allowed magnet misalignment: 0.5mm diameter
Figure 4:Tolerances of magnet placement
3.9 mm
Defined
center
The AS5040 chip consists of a ring of hall elements, placed at the center of the IC at a circle diameter of 2.2mm (86.6mil).
The hall elements pick up the field of a magnet, placed atop this hall array circle. This information is digitized and fed into a digital signal processor (DSP), which calculates the angle of the magnet with a resolution of 0.35 degrees or 1024 positions per revolution (10bit) at a sampling rate of 100µs (10kHz).
The digital angle information is available in several formats: as serial 10-bit data stream, as pulse-width modulated (PWM) signal or as quadrature incremental signal
valid
5.1
Magnet considerations
A magnet, having one north / one south pole in the horizontal axis is placed right above the ring of hall elements
(see Figure 2). The magnet does not necessarily need to be circular, it can be rectangular as well, as long as the north and south pole are arranged horizontally over the center of the hall array ring.
±
still
45….75 milliTesla (mT).
5.1.1
Magnet size
The size of the magnet should be at least the size of the hall array ring (2.2mm). Smaller magnets are more critical in terms of misalignment due to the non-linear magnetic field distribution along the circumference of the magnet.
The recommended magnet diameter is 4….6mm
5.1.2
ams
magnets, such as Samarium-Cobalt (SmCo) or Neodyne-Iron-Boron (NdFeB) magnets.
5.1.3
Magnet misalignment
In theory, the magnet misalignment is not critical for this type of angular measurement. In practice however, magnets are not perfectly linear. The magnetic field strength does not increase linearly with the radius. As you get towards the boundary of the magnet, the magnetic field comes to a maximum and then weakens as you move further away from the center. Therefore, a magnet should be chosen, that is still in the linear range at a <3mm diameter.
5.1.4
Non-linearity errors
A non-linear magnetic field results in a non-sinusoidal representation of the magnet, which in turn causes nonlinearities in the calculated angle (calculated angle differs from actual angle).
With a perfectly centered magnet, the maximum error is <
±
0,5 degrees. This error is caused by internal mismatch and gain errors.
Technical
±
1.4degrees (including internal errors and temperature related errors) can be achieved while the magnet is off-center by a radius of
<0.25mm (see Figure 4).
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
6 AS5040 Adapter PCB Schematic:
AG
Figure 5: AS5040 Adapter PCB schematic still
For normal operation, the only required external components are the buffer cap at VDD3V3 (C4) and the pull-down resistor for CSn (R7; 0
Ω
….4k7).
The PCB operates at several power supply levels:
Power Supply options:
Supply voltage
3,0….3,6V
4,5….5,5V
7,5…20V apply at
VDD5V and VDD3V3
VDD5V ext. voltage regulator
ams
ext. voltage regulator not required *) not required *)
3.3V type, e.g. LE33C remark
3.0….3.6V short VDD5V and VDD3V3
4.5….5.5V
3.3V short VDD5V and VDD3V3
7,5…20V
(pin 1, J2) ext. voltage regulator
(pin 1, J2)
(ST Micro)
5.0V type e.g. 75L05
*) if already installed, external voltage regulator can be left installed.
5.0V PCB delivery status
valid
Technical
Figure 6: how to connect various power supply levels to the adapter PCB
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
Output modes: a) PWM output: no additional components are necessary. Once the power supply has been applied, the angle information is available at the PWM pin (pin1 of J1) b) Incremental output: no additional components are necessary. Once the power supply has been applied, the angle information is available at the incremental outputs: A,B and Index (pins 6, 5 and 3 of J1) c) absolute angle information
To access the 10-bit absolute angle information, an external microcontroller must be connected as shown in
Figure 5. Make sure that the controller is able to drive the CSn pin with the connected pulldown resistor (R7). If necessary, remove this resistor.
The clock rate can be as high as 1MHz. There is no minimum clock rate. Data can also be clocked manually.
The digital I/O's of the AS5040 are buffered by VDD5V, therefore the digital I/O's of the controller should be at the same voltage level (see power supply options table). d) Magnetic field strength status; Pushbutton function no additional components are necessary. The two open-drain outputs MagInc and MagDec (pins 8 and 7 of J1) will turn on/off as the magnetic field (distance between magnet and chip surface) changes. When both outputs are
valid
on, the magnetic field is not within the recommended range (see datasheet).
Programming (zapping) the Chip.
For programming the AS5040, 3 digital signals are required: CSn, Prog and CLK (see datasheet). For permanent
AG still
Technical
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
AS5040 adapter PCB layout and component placement:
The PCB has several connection options. All required pins are accessible via the two 100mil- connectors J1 and J2.
These connectors are 600mil apart, which allows them to be soldered to a wide 16-pin DIL IC socket for easier access or ribbon cable connection.
Furthermore, J2 (pins 3..9) fit to the AS5040 demoboard and allow this PCB to be used as external encoder.
The hole in the PCB underneath the chip allows centering of a 6mm diameter magnet.
The 6 LEDs and voltage regulators are optional.
Minimum required components are C4 (1µF) and R7
(0…4k7).
AS5040 adapter board: top view
AG still valid
Layout: Bottom View
1.46
(37.0)
ams
Layout: Bottom Components content
1.30
(33.1)
Ø 0.24
(6.1)
0.92
(23.25)
Ø 0.12 (3.0)
(4 places)
0.12
(3.1)
1.26
(32.1)
1.38
(34.95)
0.59
(14.95)
0.08
(2.1)
All Dimensions in inch (mm)
0
Figure 7: AS5040 / AS5035 Adapter board dimensions.
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
7 Supporting tools
austria
micro
systems
provides the following tools for developments using the AS5040 rotary encoder IC:
AS5040 Demoboard (see Figure 8)
AS5040 Demoboard Operation Manual
AS5040 Demoboard Software
AS5040 Adapter PCB (see Figure 1)
These supporting tools are available at local distributors http://www.austriamicrosystems.com/06contactcenter/sales_start.htm
or can be ordered online: http://www.austriamicrosystems.com/03products/request_5040.htm
8 AS5040 Demoboard
The AS5040 Demoboard is a complete rotary encoder system with built-in microcontroller, USB interface , 4-digit
7-segment display, incremental output LEDs , a LED displaying the PWM output and two magnet status LEDs.
It also supports external AS5040 applications, such as the AS5040 adapter PCB or in-system AS5040 customer applications that can be connected to the demoboard and displayed, modified and permanently programmed using the AS5040 Demoboard Software.
The AS5040 demoboard can be used in several ways: valid
8.1.1
as standalone unit supplied by a 9V-battery
Connect a 7,5V..12V supply to pins "GND" and "+9V" at the right side of the board. No other connections are required
8.1.2
as standalone unit supplied by an USB port still
Connect the demoboard to a PC using a USB cable (included in demoboard shipment). The board is supplied by the 5V supply of the USB port. No other connections are required
8.1.3
This configuration uses the same hardware connection as 8.1.2, but additionally the AS5040 demoboard software is running. All indicators on the demoboard will be displayed on the PC screen as well.
ams
Technical
Figure 8: AS5040 demoboard and Adapter PCB
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
9 AS5040 Demoboard Software
The AS5040 Demoboard Software can be downloaded for free from the Internet at: http://www.austriamicrosystems.com/04segments/industry/AS5040.htm
It has several indicators and extra features, such as:
Displaying the absolute angle as 10bit-word
(0..1023), as absolute angle and as rotary dial
Emulating the incremental output LEDs A, B and
Index
Displaying the incremental outputs as waveform in a sub-window
Displaying the pulse-width-modulated (PWM) output as bar-graph
Programming the incremental output mode
(quadrature, single channel / direction, brushless
DC motor commutation )
Programming the resolution at 7,8,9 or 10 bits
Programming the Index bit width at 1 or 3 bits
valid
Putting the AS5040 in Alignment mode
Permanently programming (OTP) the incremental
mode, resolution and Index bit width.
AG still
Technical
(see: 7 Supporting tools)
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
9.1
Connecting the AS5040 adapter PCB to the demoboard
The AS5040 Adapter PCB is intended as a standalone device that allows easy and quick testing of the AS5040 without the need of having to make your own PCB. It allows access to each IC pin via a standard 100mil pitch,
600mil Dual-In-Line connector, has LEDs on all digital outputs and comes with an onboard 5V linear voltage regulator (78L05) and a battery clip to supply the board from a 9V battery.
The 7-pin female connector is designed to fit directly onto the AS5040 Demoboard and use the Adapter PCB as external encoder (software setting: Encoder = external).
The demoboard however, runs at 3.3V supply voltage. The Adapter PCB is configured for 5V supply voltage.
Connecting both boards without modifications will not harm any of the boards, but may lead to data transmission errors due to the different digital levels, especially when an extension cable is used between demoboard and
Adapter PCB.
If you use the Adapter PCB as external encoder for the
AS5040 demoboard with an extension cable or experience data transmission errors, it is recommended to configure the Adapter PCB for 3.3V supply voltage.
Perform the following modifications:
disconnect the 5V supply between Demoboard and
Adapter PCB: remove or cut off pin "+5VUSB" at the
bottom of the AS5040 demoboard
AG
joint.
still valid ams
Figure 9: configuring the Adapter PCB for 3.3V operation
you may also remove the 78L05 voltage regulator from the Adapter PCB to prevent accidental damage of the IC when an input voltage is applied to the regulator (and the 5V output is fed to the VDD3V3 supply pin)
content
AS5040 Demoboard
For programming, keep these 6 wires
IC1
16 as short as possible!
max. length = 2 inches (5cm)
1 MagINCn
VDD5V connect to USB
2
MagDECn VDD3V3
15
22k
*see Text interface on PC
3
4
5
A_LSB_U
B_Dir_V
OTP programming
NC
NC
14
13
12
10n
6
7
8
NC
Index_W
VSS
Prog
PWM_LSB
AS5040
Cap only required for
CSn
CLK
DO
11
10
9
1µF
+
7
6
5
4
3
2
1
PROG
CSN
DO
CLK
5VUSB
VDD3V3
VSS
µC
GND
3
2
1
VPROG
+
10µF
VSS
7.5 … 8.0V
GND only required for
OTP programming
Figure 10: Connecting an external AS5040 application to the demoboard
* If longer cables are used, a pull-down resistor at the DO line of 22k - 56k Ohms is recommended to discharge the signal between data transmissions and no static voltage is built up.
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
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9.2
Reading the Adapter PCB with the AS5040 Demoboard Software:
Further information on the AS5040 Demoboard Software is available in the AS5040 Demoboard Operation Manual
(see: 7 Supporting tools)
The AS5040 Adapter PCB can be read as “external encoder” in the same way as the internal encoder. Switching from internal to external encoder can be done on the bottom left corner of the demoboard software screen :
Encoder = onboard / external. Additionally, when Encoder = external is selected, the buttons "Permanent write" and "Read" are enabled in the "Zero Position" and "Incremental Mode" screens to allow OTP programming of the external encoder
Changing the incremental mode, Zero Position, etc.:
The programming options incremental mode, resolution, index bit width and zero position and ccw operation can be modified at any time during normal operation. Permanently programming these registers will set the default setting after power-up. Programmed settings can again be modified during normal operation but will be reset to default when the power supply is disconnected.
OTP programming of the external AS5040 encoder:
To program the external AS5040 encoder, a programming voltage of 7.5 to 8V DC (130mA) must be applied to pins Vzapp and GND of the 3-pin connector at the right hand side of the demoboard. A 10µF buffer cap is recommended for this voltage (see
Figure 10
).
Programming is not recommended with long wires between demoboard and external encoder, as the inductance of the cable may generate high voltage spikes, that can cause wrong programming or even harm the IC. The maximum wire length between the demoboard connector and the PROG pin of the external encoder should be
50mm (2”). Additionally, a 10nF ceramic capacitor should be connected close to pin PROG and VSS.
.
The default (non-programmed) logic state is "0" , consequently the programmed logic state is "1".
It is possible to write "1"s into the OTP register at subsequent programming cycles. However, a programmed "1" cannot be cleared any more after programming.
AG valid
Note that the chip will not be programmed, as long as no programming voltage is applied to Vzapp, although the software will issue a warning message that the chip will be permanently programmed.
Technical
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
Adapter PCB Operation Manual
10 Applications
10.1
Replacing Optical Encoders
The following graphs show how to replace an optical encoder by the AS5040. It can be configured for 3.3V and
5V operation. Higher operating voltages can be handled with an external voltage regulator (e.g. > 7,5V with an external 78L05).
The maximum output voltage level on the A,B and Index pins corresponds to the voltage at pin VDD5V.
AG still valid
Figure 11: Incremental Outputs and power supply options
Technical
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
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The incremental outputs A,B, Index can be used in the same way as the incremental outputs of an optical encoder. The maximum output current is 4mA for 5V output voltage and 2mA for 3.3V output voltage.
Per default, the AS5040 provides 256 pulses per revolution. Optionally, further resolutions can be programmed by
OTP (one-time-programming):
Operating Mode OTP Mode Register bit Output A Output B
0.0: Default
1.0 Quad 10bit
Md1 Md0 Div1 Div0
0
0
0
1
0
0
0
0
1.2 Quad 9 bit
1.4 Quad 8 bit
1.6 Quad 7 bit
2.0: LSB/Dir 10bit
2.2: LSB/Dir 9bit
2.4: LSB/Dir 8bit
2.6: LSB/Dir 7bit
1
1
1
0
1
0
0
0
0
0
1
0
1
1
0
1
1
1
0
0
1
1
0
1
1
0
1
0
128ppr
64ppr
32ppr
512ppr
256ppr
128ppr
64ppr
128ppr
64ppr
32ppr direction cw/ccw direction cw/ccw direction cw/ccw direction cw/ccw
Table 2: Incremental Programming mode options
Furthermore, the Index Pulse width can be programmed to 1LSB or 3LSB in the OTP register.
10.2
Generating the incremental pulses
AG still
Internally, the AS5040 always calculates absolute values. The incremental outputs are decoded from the absolute values as shown below:
Absolute value
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 …
Signal A:
Quad
Signal B:
Quad
ams
Signal A: LSB
valid
Table 3: Incremental signal generation
Four absolute values are required to generate one incremental pulse (see grey area in Table 3) and two absolute values are required to generate a single channel (LSB) pulse.
Consequently, the maximum number of incremental pulses in 10bit-mode is 1024 / 4 = 256 and the maximum number of single channel (LSB) pulses is 1024 / 2 = 515
Technical
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AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
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11.1
Sales Offices
austriamicrosystems Germany GmbH
Tegernseer Landstrasse 85
D-81539 München, Germany
Phone: +49 89 69 36 43 0
Fax: +49 89 69 36 43 66 austriamicrosystems Italy S.r.l.
Via A. Volta, 18
I-20094 Corsico (MI), Italy
Phone: +39 02 4586 4364
Fax: +39 02 4585 773 austriamicrosystems France S.A.R.L.
124, Avenue de Paris
F-94300 Vincennes, France
Phone: +33 1 43 74 00 90
Fax: +33 1 43 74 20 98 austriamicrosystems Switzerland AG
Rietstrasse 4
CH 8640 Rapperswil, Switzerland
Phone: +41 55 220 9008
Fax: +41 55 220 9001 austriamicrosystems UK, Ltd.
88, Barkham Ride,
Finchampstead, Wokingham
Berkshire RG40 4ET, United Kingdom
Phone: +44 118 973 1797
Fax: +44 118 973 5117 austriamicrosystems AG
Klaavuntie 9 G 55
FI 00910 Helsinki, Finland
Phone: +358 9 72688 170
Fax: +358 9 72688 171
11 Contact
Headquarters austriamicrosystems AG
A 8141 Schloss Premstätten, Austria
Phone: +43 3136 500 0
Fax: +43 3136 525 01 [email protected]
www.austriamicrosystems.com
S 19163 Sollentuna, Sweden
Phone: +46 8 6231 710 austriamicrosystems USA, Inc.
8601 Six Forks Road
Suite 400
Raleigh, NC 27615, USA
Phone: +1 919 676 5292
Fax: +1 509 696 2713 austriamicrosystems USA, Inc.
4030 Moorpark Ave
Suite 116
San Jose, CA 95117, USA
Phone: +1 408 345 1790
Fax:
AG
+1 509 696 2713 austriamicrosystems AG
Suite 811, Tsimshatsui Centre
East Wing, 66 Mody Road
still
Tsim Sha Tsui East, Kowloon, Hong Kong
valid
Phone: +852 2268 6899
Fax: +852 2268 6799
ams
austriamicrosystems AG
AIOS Gotanda Annex 5 th
Fl., 1-7-11,
Fax: +81 3 5792 4976 austriamicrosystems AG
#805, Dong Kyung Bldg.,
824-19, Yeok Sam Dong,
Kang Nam Gu, Seoul
Korea 135-080
Phone: +82 2 557 8776
Fax: +82 2 569 9823 austriamicrosystems AG
Singapore Representative Office
83 Clemenceau Avenue, #02-01 UE Square
239920, Singapore
Phone: +65 68 30 83 05
Fax: +65 62 34 31 20
Revision A.03 04. Jul.06 www.austriamicrosystems.com Page 13 of 14
AS5040 10-BIT PROGRAMMABLE MAGNETIC ROTARY ENCODER
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12 Revision History
R e v i i s i i o n
D a t t e
A03
A02
04. Jul. 2006
12. Jan. 2006
D e s c r r i i p t t i i o n
Figure 7: AS5040 / AS5035 Adapter board dimensions. added
Update: GUI screen shots.
Included Dimensions; Directly inserted all linked EPS add circuit diagram for OTP programming (
Figure 10
)
13 Copyright
Devices sold by austriamicrosystems are covered by the warranty and patent indemnification provisions appearing in its
Term of Sale. austriamicrosystems 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 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 austriamicrosystems for current information.
This product is intended for use in normal commercial applications. reproduced, adapted, merged, translated, stored, or used without the prior written consent of the copyright owner. To the best of its knowledge, austriamicrosystems asserts that the information contained in this publication is accurate and correct. However, austriamicrosystems shall not be liable to recipient or any third party for any damages, including but of the technical data herein. No obligation or liability to recipient or any third party shall arise or flow out of austriamicrosystems rendering of technical or other services.
AG still valid
Copyright © 2006 austriamicrosystems. Trademarks registered ®. All rights reserved. The material herein may not be
a leap ahead
Technical
Revision A.03 04. Jul.06 www.austriamicrosystems.com Page 14 of 14
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