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AS5134 360 step programmable high speed magnetic rotary encoder data sheet www.austriamicrosystems.com revision 1.6 1 - 29 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, co mbining 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 info rmation, the st rength 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 positio n of the magnet does not need to be mechanically aligned. a power down mode together with fast startup and measurement cycles allows for very low average power consumption. figure 1. block diagram 2 key features 360o contactless angular position encoding two digital 360 step (8.5 bit) absolute outputs: serial interface and pulse width modulated (pwm) output user programmable zero position, sensitivity high speed: up to 30.000 rpm direct measurement of magnetic field strength allows exact determination of vertical magnet dis- tance 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 9-bit multiturn counter low power mode with fast startup wide magnetic field input range: 20 ? 80 mt wide temperature range: - 40oc to +140oc small pb-free package: ssop 20 3 applications the AS5134 is suitable for contactless rotary position sensing, rotary switches (human machine interface), ac/dc motor position control and brushless dc motor position control. hall array & frontend amplifier tracking adc & angle decoder zero pos. pwm decoder absolute serial interface (ssi) agc otp power management commutation interface pwm dio cs clk c2 prog mag agc angle multiturn counter dx incremental interface u v w a b index gnd vdd5v AS5134
www.austriamicrosystems.com revision 1.6 2 - 29 AS5134 data sheet - applications contents 1 general description......................................................................................................... ..................... 1 2 key features ................................................................................................................ ........................ 1 3 applications ................................................................................................................ .......................... 1 4 pin assignments............................................................................................................. ...................... 3 pin descriptions ............................................................................................................... .................................... 3 5 absolute maximum ratings... ................................................................................................. .............. 4 6 electrical characteristics .................................................................................................. .................... 5 timing characteristics ............. ............................................................................................ ................................. 7 7 detailed description ........................................................................................................ ..................... 8 connecting the AS5134 ..... .............. .............. .............. .............. ........... ........... ........... ............ ............................. 8 serial 3-wire r/w connection ....... .............. .............. .............. .............. .............. ............ .......... ...................... 8 serial 3-wire read-only connection ..................... ........................................................................ ................... 9 serial 2-wire connection (r/w mode) ..................... ....................................................................... ............... 10 serial 2-wire differential ssi connection ............. ......................................................................... ................ 11 1-wire pwm connection.......................................................................................................... ...................... 12 analog output .................................................................................................................. .............................. 12 analog sin/cos outputs with external interpolator .............................................................................. .......... 13 quadrature a/b/index output.................................................................................................... ..................... 13 brushless dc motor commutation mo de............................................................................................ ........... 14 serial synchronous interface (ssi) ..................... ........................................................................ ....................... 15 AS5134 programming ............................................................................................................. ........................... 16 otp programming connection ..................................................................................................... ................. 16 programming verification . ...................................................................................................... ........................ 16 AS5134 status indicators ....................................................................................................... ............................ 17 c2 status bit .................................................................................................................. ................................ 17 lock status bit ................................................................................................................ ............................... 17 magnetic field strength indicators ............................................................................................. .................... 18 multi turn counter................... .......................................................................................... ................................. 18 high speed operation ........................................................................................................... ............................. 19 propagation delay.............................................................................................................. ............................ 19 adc sampling rate .............................................................................................................. ......................... 19 chip internal lowpass filtering .......................... ...................................................................... ...................... 19 digital readout rate ........ .............. .............. .............. .............. ............ ........... ........... ......... ........................... 20 total propagation delay of the as513 4 ............. .............. .............. .............. .............. ........... .......... ............... 20 reduced power modes .......................................... .................................................................. .......................... 20 low/mid power mode............................................................................................................. ........................ 20 power cycling mode ............................................................................................................. ......................... 21 8 application information ..................................................................................................... .................. 23 benefits of AS5134............................................................................................................ ................................ 23 9 package drawings and markings ............................................................................................... ........ 26 recommended pcb footprint ............ .............. .............. .............. .............. .............. ........... ......... ..................... 27 10 ordering information....................................................................................................... .................. 28
www.austriamicrosystems.com revision 1.6 3 - 29 AS5134 data sheet - pin assignments 4 pin assignments figure 2. pin assignments (top view) pin descriptions table 1. pin descriptions pin name pin number description prog 1 programming voltage input, must be left open in normal operation. maximum load = 20pf (except during programming). vss 2 supply ground. dx 3 chip select output for 2-wire mode and daisy chain cascading. cs 4 chip select input for 3-wire mode. c2 5 select between 2-wire and 3-wire mode (tbd). 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. u11 commutation output. v12 commutation output. w13 commutation output. a14 incremental output. b15 incremental output. index 16 incremental output. tb0/sinn 17 test pin / inv. sin output. tb1/sin 18 test pin / sin output. tb2/cosn 19 test pin / inv. cos output. tb3/cos 20 test pin / cos output. AS5134 1 2 3 4 5 6 7 8 12 16 15 14 13 vdd prog vss te s t c o i l pwm c2 cs dx tb0/sinn tb1/sin b w u v 11 10 9 index a 20 19 18 17 tb2/cosn tb3/cos dclk dio
www.austriamicrosystems.com revision 1.6 4 - 29 AS5134 data sheet - absolute maximum ratings 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 de vice at these or any other cond itions beyond those indicated in electrical characteristics on page 5 is not implied. exposure to absolute maxi mum rating conditions for extended periods may affect device reliability. table 2. absolute maximum ratings parameter min max units comments supply voltage -0.3 7 v except during otp programming input pin voltage vss-0.5 vdd v input current (latch up immunity) -100 100 ma norm: eia/jesd78 classii level a esd 2 kv norm: jesd22-a114e package thermal resistance sl 145 oc/w still air / single layer package thermal resistance ml 90 oc/w still air / multi layer storage temperature -55 140 oc soldering conditions, body temperature (pb-free package) 260 oc t=20 to 40s, norm: ipc/jedec j-std-020c. lead finish 100%sn ?matte tin? humidity non-condensing 5 85 %
www.austriamicrosystems.com revision 1.6 5 - 29 AS5134 data sheet - electrical characteristics 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 parameter conditions min typ max units v dd positive supply voltage 4.5 +5.5 v i dd operating current no load on outputs. supply current can be reduced by using stronger magnets. 15 ma i off power down current low power mode 120 a t j junction temperature 170 oc system parameters n resolution 8.5 bit 1deg t pwrup power up time startup from zero 4100 s startup from low/mid power mode 500 t s tracking rate step rate of tracking adc; 1 step = 1o 3.0 4 5,2 s/ step inl cm accuracy centered magnet -2 2 within horizontal displacement radius (4.4) -3 3 deg t delay propagation delay 17 22 s tn transition noise peak-peak 1.41 deg magnet specifications md magnet diameter diametrically magnetized 6 mm mt magnet thickness 2.5 mm b i magnetic input range at chip surface 20 80 v i magnet rotation speed to maintain locked state 30.000 b magnetic field low detection <20 <36 b magnetic field high detection >44 >80 hall array radius 1 vertical distance of magnet 0,5 1 1,8 horizontal magnet displacement radius max x-y offset between defined ic package center and magnet axis 0.25 mm max x-y offset between chip center and magnet axis 0.48 pwm output n pwm pwm resolution 8.5 bit 1 step = 1o 2 s/ step pw min pwm pulse width angle = 0o (00h) 16 s pw max pwm pulse width angle = 360o (ffh) 736 s pw p pwm period 750 s f pwm pwm frequency =1 / pwm period 1.43 khz programming parameters
www.austriamicrosystems.com revision 1.6 6 - 29 AS5134 data sheet - electrical characteristics v prog programming voltage static voltage at pin prog 8.0 8.5 v i prog programming current 100 ma ta m b prog programming ambient temperature during programming 0 85 oc t prog programming time timing is internally generated 2 4 s v r,prog analog readback voltage during analog readback mode at pin prog 0.5 v v r,unprog 2,2 3,5 hall element sensitivity options sens hall element sensitivity setting sens = 00 (default; high sensitivity) 1.65 x sens = 01 1.88 sens = 10 2.11 sens = 11 (low sensitivity) 2.35 dc characteristics of digital inputs and outputs cmos inputs: ddclk, cs, dio, c1, c2 v ih high level input voltage 0.7*v d d v v il low level input voltage 0.3 v i leak input leakage current 1a cmos outputs: dio, pwm, dx v oh high level output voltage source current < 4ma v dd - 0.5 v v ol low level output voltage sink current < 4ma v ss +0.4 v cl capacitive load 35 pf cmos tristate output: dio io z tristate leakage current cs = low 1 a table 3. electrical characteristics (continued) symbol parameter conditions min typ max units
www.austriamicrosystems.com revision 1.6 7 - 29 AS5134 data sheet - electrical characteristics timing characteristics table 4. timing characteristics symbol parameter conditions min typ max units 2-/3-wire data transmission 3-wire interface f dclk clock frequency normal operation no limit 5 6 mhz f dclk,p clock frequency during otp programming 200 650 khz 2-wire interface f dclk clock frequency normal operation 0.1 5 6 mhz f dclk,p clock frequency during otp programming 200 500 khz general data transmission t0 rising dclk to cs 15 - ns t1 chip select to positive edge of dclk 15 - ns t2 chip select to drive bus externally - - ns t3 setup time command bit, data valid to positive edge of dclk 30 - ns t4 hold time command bit, data valid after positive edge of dclk 30 ns t5 float time, positive edge of dclk for last command bit to bus float 30 dclk/2 ns t6 bus driving time, positive edge of dclk for last command bit to bus drive dclk/2 +0 dclk/2 +30 ns t7 setup time data bit, data valid to positive edge of dclk dclk/2 +0 dclk/2 +30 ns t8 hold time data bit, data valid after positive edge of dclk dclk/2 +0 dclk/2 +30 ns t9 hold time chip select, positive edge dclk to negative edge of chip select 30 ns t10 bus floating time, negative edge of chip select to float bus 030ns t to timeout period in 2-wire mode (from rising edge of dclk) 20 24 s
www.austriamicrosystems.com revision 1.6 8 - 29 AS5134 data sheet - detailed description 7 detailed description connecting the AS5134 the AS5134 can be connected to an external c ontroller 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 analog sin/cos outputs with external interpolator quadrature a/b/index output brushless dc motor commutation mode serial 3-wire r/w connection in this mode, the AS5134 is connected to the external cont roller via three signals: chip select (cs), clock (dclk) inputs and bi-directional dio (data in/out) output. the contro ller 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 3. ssi read/write serial data transmission a pull-down resistor (as shown in figure 4 ) is not required. c1 and c2 are hardware configuration inputs. c1 must always be connected to vss, c2 selects 3-wire mode (c2 = low) or 2-wire mode (c2 = high). +5v vdd AS5134 micro controller vdd cs dclk dio vss vss c2 100n vss vdd i/o output output
www.austriamicrosystems.com revision 1.6 9 - 29 AS5134 data sheet - detailed description serial 3-wire read-only connection this simplified connection is possible w hen the AS5134 is only used to provid e the angular data (no power down or otp access). the chip select (cs) and clock (dclk) connecti on is the same as in the r/w mode, but only a digital input pin (not an i/o pin) is required fo r the dio connection. as t he first 5 bits of the data transmission are command bits sent to the AS5134, both the microcontroller and th e 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 mo de, however read-only mode is also possible unless otherwise noted. figure 4. ssi read-only serial data transmission table 5. serial bit sequence (16bit read/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 cmd0 cmd4 cmd3 1 2 3 4 567 21 20 d15 d14 d1 d0 dclk dio cs dio command phase data phase t clk t1 t9 t5 t3 t4 t6 t7 t8 t10 dio read dio write +5v vdd AS5134 micro controller vdd cs dclk dio vss vss c2 100n vss vdd input output output 10k? 100k
www.austriamicrosystems.com revision 1.6 10 - 29 AS5134 data sheet - detailed description 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 (typ. 20s). note: read-only mode is also possible in this configuration. figure 5. 2-wire r/w mode table 6. 2-or 3-wire read-only serial bit sequence (21bit read) read d20 d19 d18 d17 d16 d15 d14 d13 d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 00000c2lock agc angle d5 d4 d3 d2 d1 d0 d7 d6 d5 d4 d3 d2 d1 d0 1 2 3 4 5 6 7 21 20 d15 d14 d1 d0 dclk dio cs dio command phase data phase t1 t9 t10 dio read dio write 8 d13 d12 +5v vdd AS5134 micro controller vdd dclk dio vss vss c2 100n vss vdd i/o output
www.austriamicrosystems.com revision 1.6 11 - 29 AS5134 data sheet - detailed description 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 st andard, 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 6. 2-wire ssi read-only mode 1 2 3 4 5 67 d15 d14 d1 d0 dclk dio cs dio command phase data phase t1 dio read dio write 8 dx cmd4 cmd3 cmd2 cmd1 cmd0 22 timeout phase t to t0 t5 t6 +5v vdd AS5134 micro controller vdd dclk dio vss vss c2 100n vss vdd input output dclk di d+ d- d+ d- d- d- d+ d+ max 3081 or similar
www.austriamicrosystems.com revision 1.6 12 - 29 AS5134 data sheet - detailed description 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 espe cially useful for remote sensors. ultra low power mode is not possible in this configuration, as th ere is no bi-directional data transmission. if the AS5134 angular data is invalid, the pwm output will remain at low state. pins that are not shown may be left open. figure 7. data transmission with pulse width modulated (pwm) output analog output this configuration is similar to the pwm connection (only three lines including supp ly are required). with the addition of a lowpass filter at the pwm output, this configuration produce s an analog voltage that is proportional to the angle. this filter can be either passive (as shown in figure 8 ) 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. read d20 d19 d18 d17 d16 d15 d14 d13 d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 00000c2lock agc angle d5 d4 d3 d2 d1 d0 d7 d6 d5 d4 d3 d2 d1 d0 1 2 3 4 5 6 7 8 20 21 d15 d14 d1 d0 timeout t to dclk di +5v vdd AS5134 micro controller vdd pwm vss vss cs 100n vss vdd input c2
www.austriamicrosystems.com revision 1.6 13 - 29 AS5134 data sheet - detailed description figure 8. data transmission with pulse width modulated (pwm) output analog sin/cos outputs with external interpolator by connecting c1 to vdd, the AS5134 provides analog sine and cosine outputs (sin, cos) of the hall array front-end for test purposes. these outputs allow the user to perfor m the angle calculation by an external adc + c, e.g. to compute the angle with a high resolution. in addition, t he inverted sine and cosine signals (sinn, cosn; see dotted lines) are available for differential signal transmission. the input resistance of the receiving amplifier or adc should be greater than 100k . the signal lines should be kept as short as possible, longer lines should be shiel ded in order to achieve best noise performance. the sin / cos / sinn / cosn signals are amplitude controlled to ~1.3vpp (differential) by the internal agc controller. the dc bias voltage is ~2.25v. note: these outputs are high impedance and not resilient, (load max. 10a). figure 9. sine and cosine outputs for external angle calculation 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 the magnet (top view) by 90 el ectrical degrees. channel b leads channel a at a counter- clockwise rotation. +5v vdd AS5134 vdd pwm vss c2 cs 100n >=4k7 >=4k7 >=1f >=1f analog out vss 5v 0v 0o 180o 360o analog out pwm out angle +5v vdd AS5134 micro controller vdd sin sinn vss vss c2 100n vss vdd a d da cos cosn
www.austriamicrosystems.com revision 1.6 14 - 29 AS5134 data sheet - detailed description figure 10. incremental output modes 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 11 for an example of n_pole_pairs:=2. for the programming, refer to serial synchronous interface (ssi) on page 15 . figure 11. commutation mode index b a quad a/b/index-mode index=1 3 lsb index=0 1 lsb hyst= 2lsb mechanical zero position mechanical zero position rotation direction change 120 180 240 300 120 180 180 120 240 270 210 150 60 0 0 60 60 90 30 0 angle electrical angle mechanical u v w pole pair : 2 electrical := mechanical *n pole_pairs
www.austriamicrosystems.com revision 1.6 15 - 29 AS5134 data sheet - detailed description serial synchronous interface (ssi) notes: 1. empty fields should be described with ?logical 0?. 2. the lock_adc signal indicates that the tracking adc is in a locked status ? remark, that for valid angle condi- tions the magnetic field has to be in a certain range which is indicated by the agc_counter value. 3. these bits will be deleted during power down or sleep mo de to ensure that the user is able to detect that the read out angle value is computed after the wake up sequence. en prog: enables the access to the otp register. write config: go2sleep hi activates the sleep mode of the AS5134. the power consumption is significantly reduced. go2sleep lo returns to normal operation mode. during sleep mode, the lock bit in command 0 and command 1 is lo. rd_mt counter: command for read out of multi turn register (m ultiturn) and agc value (agc). ?lock? indicates a locked adc, and ?parity? refe rs to an even parity checksum. rd_angle: command for read out of angle value and agc value (a gc). ?lock? indicates a locked adc, and ?parity? refers to an even parity checksum. write otp: writing of the otp register. the written data is volatile . ?zero angle? is the angle, which is set for zero position. ?wake enable? enables the polling mode. ?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 <0:11>. prog_otp: programming of the otp register. only bits <0:15> can be programmed by the customer. 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 2 (prog), which allows for a verification of the fuse process. no data is available at the ssi. table 7. commands of the ssi in normal mode digital interface @ normal mode # cmd bin mode 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 23 write config 1 10111 write lp gen_rst mtc2 (*) mtc1 (*) hyst<1:0> analog sig agc_mux agc2 pwm 20 set mt counter 10100 write multi-turn-counter <8:0> 19 set agc 10011 write agc_code <2:0> agc_tst_value <5:0> 16 en prog 10000 write 1 0 0 0 1 1 0 0 1 0 1 0 1 1 1 0 4 rd mt counter 00100 read multi-turn-counter <8:0> ez_error 0 rd_angle 00000 read lock_adc agc <5:0> angle <8:0> table 8. commands of the ssi in extended mode digital interface @ extended mode number of bits 2 18 1 1 4 2 1 4 2 3 1 4 1 2 2 3 9 # cmd bin mode 61.. 60 59.. 42 41 40 39.. 36 35.. 32 31 30.. 27 26.. 25 24.. 22 21 20..1 7 16 15..1 4 13.. 12 11.. 9 8..0 31 write otp 11111 xt write otp tst id hyst_2x cfg off_ cos off_ sin fm osc vref hall bias lock_otp (*) r_ad d r_bit sensi tivity abi uvw zero angle 25 prog_otp 11001 xt write otp tst id hyst_2x lp osc vref lp osc vref hall bias lock_otp (*) r_ad d r_bit sensi tivity abi uvw zero angle 15 read_otp 01111 xt read otp tst id hyst_2x lp osc vref lp osc vref hall bias lock_otp (*) r_ad d r_bit sensi tivity abi uvw zero angle 9 read ana 01001 xt read otp tst id hyst_2x lp osc vref lp osc vref hall bias lock_otp (*) r_ad d r_bit sensi tivity abi uvw zero angle
www.austriamicrosystems.com revision 1.6 16 - 29 AS5134 data sheet - detailed description AS5134 programming the AS5134 offers the following user programmable options: zero position programming this programming option allows the user to program any ro tation 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 position. it can be assembled in any rotation angle and later matched to the mechanical zero position by zero position programming. the 8,5-bit user programmable zero position can be applied both temporarily (command write otp, #31) or permanently (command prog otp, #25). magnetic field optimization this programming option allows the user to match the vertical distance of th e magnet with the opti mum magnetic field range of the AS5134 by setting the sens itivity level. the 2-bit user programm able sensitivity setting can be applied both temporarily (command write otp, #31) or permanently (command prog otp, #25). low/mid power mode mid power mode is a power saving mode with fast start-up. in mid power mode, all internal digital registers are frozen and the power consumption is reduced to max. 1,5 ma. start-up from this mode to normal operation can be accomplished within 250s. this mode is recommended for applic ations, where mid power, but fast start-up and short reading cycle intervals are required. otp programming connection programming of the AS5134 otp memory does not requ ire a dedicated programming hardware. the programming can be simply accomplished over the serial 3-wire interface (see figure 12) or the optional 2-wire interface (see figure 5) . for permanent programming (command prog otp, #25), a constant dc voltage of 8.0 ? 8.5v (=100ma) must be connected to pin 1 (prog). for temporary otp write (?s oft write?; command write otp, #31), the programming voltage is not required. figure 12. otp programming connection programming verification after programming, the programmed otp bits may be verified in two ways: by digital verification: this is simply done by sending a read otp co mmand (#15). the structure of this register is the same as for the otp prog or otp write commands. by analog verification: by sending an analog otp read command (#9), pin prog becomes an output, sending an analog voltage with each clock, representing a sequence of the bits in the otp register. a voltage of <500mv indicates a correctly programmed bit (?1?) while a voltag e level between 2.2v and 3.5v indicates a correctly unprogrammed bit (?0?). any voltage level in between indicates improper programming. +5v vdd AS5134 micro controller vdd cs dclk dio vss vss c2 100n vss vdd i/o output output prog 8.0 ? 8.5v 10f100n + -
www.austriamicrosystems.com revision 1.6 17 - 29 AS5134 data sheet - detailed description figure 13. analog otp verification figure 14. extended operation mode (for otp access only) AS5134 status indicators c2 status bit this bit represents the hardware connection of the c2 configuration pin (#15) to determine, which hardware configuration is selected for the AS5134 in question. - c2 = low: pin c2 is low, indicating that the AS5134 is in 3-wire mode - c2 = high: pin c2 is high, indicating that the AS5134 is in 2-wire 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 should be set: lock = 1 agc = >00h and < 2fh note: the angle signal may also be valid (lock = 1), when the agc is out of range (00h or 2fh), but the accuracy of the AS5134 may be reduced due to the out of r ange condition of the m agnetic field strength. +5v vdd AS5134 micro controller vdd cs dclk dio vss vss c2 100n vss vdd i/o output output prog 8.0 ? 8.5v v cmd0 cmd4 cmd2 hi d61 d61 d60 d60 d0 d0 cmd_phase data_phase_extended t0 t1 t3 t4 t5 t6 t7 t8 t10 t10 t9 t12 t11 cmd read write dclk cs dio dio dio
www.austriamicrosystems.com revision 1.6 18 - 29 AS5134 data sheet - detailed description magnetic field strength indicators the AS5134 is not only able to sense the angle of a rotati ng magnet, it can also measur e the magnetic field strength (and hence the vertical distance) of the magnet. this additional feature can be used for several purposes: - 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 amplit ude obtained from the hall elements to a constant level. if the magnetic field is weak, e.g. with a large vertical gap be tween magnet and ic, with a w eak 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 in practical use, the agc value will depend on several factors: the initial strength of the magnet. aging magnets may show a reducing magnetic field over time which results in an increase of the agc value. the effect of this phenom enon is relatively small and can easily be compensated by the agc. the vertical distance of the magnet. depending on the mechanical setup and assembly tolerances, there will always be some variation of the vertical distance between m agnet and ic over the lifeti me of the application using the AS5134. again, vertical distance va riations can be compensated by the agc. the temperature and material of the magnet. the recommended magnet for the AS5134 is a diametrically mag- netized, 5-6mm diameter ndfeb (neody mium-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 tem perature coefficient of a magnet depen ds 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 decreas e of the agc value. the variation of magnetic field strength over temperature is aut omatically compensated by the agc. otp sensitivity adjustment to obtain best performance and tolerance against temperatur e or vertical distance fluc tuations, the agc value at normal operating temperature should be in the middle between minimum and maximum, hence it should be around 100000 (20h). to facilitate the ?vertical centering? of t he magnet+ic assembly, the sensitivity of the AS5134 can be adjusted in the otp register in 4 step s. a sensitivity adjustment is recomm ended, when the agc value at normal operation is close to its lower limit (around 00h). the defaul t sensitivity setting is 00h = high sensitivity. any value >00h will reduce the sensitivity. multi turn counter a 9-bit register is used for counting the magnet?s revolutions. with each zero trans ition in any directi on, the output of a special counter is incremented or decremented. the initial va lue after reset is 0 lsb. the multi turn value is encoded as complement on two. clockwise rota tion gives increasing angle values and positive turn count. counter clockwise rotation exhibits decreasing angle values and a negative turn count respectively. bit code decimal value 011111111 256 --- --- 01111111 127 --- --- 00000011 +3
www.austriamicrosystems.com revision 1.6 19 - 29 AS5134 data sheet - detailed description the counter output can be reset by using command 20 ? set mt counter. it is immediately reset by the rising clock edge of this bit. any zero crossing between the clock e dge and the next counter readout changes the counter value. high speed operation the AS5134 is using a fast tracking adc (tadc) to determi ne the angle of the magnet. the tadc is tracking the angle of the magnet with cycle time of 4s. 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 255 steps (255 * 4s = 1020s) to lock. once it is locked, it requires only one cycle (4s) to track the moving magnet. the AS5134 can operate in locked mode at rotational speeds up to min. 30,000 rpm. in low/mid power mode, the position of th e 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: (eq 1) where: t lock = time required to acquire the new angle after pow er up from one of the reduced power modes [s] oldangle = angle position when one of t he reduced power modes is activated [o] newangle = angle position after resuming from reduced power mode [o] propagation delay the propagation delay is the time required from reading the m agnetic field by the hall sensors to calculating the angle and making it available on the serial or pwm interface. while the propagation delay is usually negligible on low speeds, it is an important parameter at high speeds. the longer the propagation delay, the larger becomes the angle error for a rotating magnet as the magnet is moving while the angle is calculated. the posi tion error increases linearly with speed. the main factors that contribute to the prop agation delay are discussed in detail further in this document. adc sampling rate for high speed applications, fast adc?s are essential. t he adc sampling rate directly influences the propagation delay. the fast tracking adc used in the AS5134 with a tracki ng rate of only 1.4 s (typ) is a perfect fit for both high speed and high performance. chip internal lowpass filtering a commonplace practice for system s using analog-to-digital conv erters is to filter the in put signal by an anti-aliasing filter. the filter ch aracteristic must be chosen carefully to balance propagation delay and noise. the lowpass filter in the AS5134 has a cutoff frequency of typ. 23.8khz and the overal l propagation delay in the analog signal path is typ. 15.6s. 00000010 +2 00000001 +1 00000000 0 11111111 -1 11111110 -2 11111101 -3 --- --- 10000000 -128 --- --- 100000000 -255 bit code decimal value t lock 4 s ? newangle oldangle ? 1.406 ------------------------------------------------------------------------- - =
www.austriamicrosystems.com revision 1.6 20 - 29 AS5134 data sheet - detailed description digital readout rate aside from the chip-internal propagation delay, the time requ ired to read and process the angle data must also be considered. due to its nature, a pwm signal is not very us able at high speeds, as you get only one reading per pwm period. increasing the pwm frequency may improve the sit uation but causes problems for the receiving controller to resolve the pwm steps. the frequency on the AS5134 pwm ou tput is typ. 1.95khz with a resolution of 2s/step. a more suitable approach for high speed absolute angle measuremen t is using the serial interface. with a clock rate of up to 6mhz, a complete set of data (21bits) can be read in >3.5s. total propagation delay of the AS5134 the total propagation delay of the AS5134 is the delay in the analog signal path and the tracking rate of the adc: 15.6s + 1.4s = 17s (eq 2) if only the sin-/cos-outputs are us ed, the propagation delay is the analog signal path delay only (typ. 15.6s). position error over speed: the angle error over speed caused by th e propagation delay is calculated as: ? pd = rpm * 6 * 17 * e -6 in degrees (eq 3) in addition, the anti-aliasing filter causes an angle error calculated as: lpf = arctan [rpm / (60 * f0)] (eq 4) reduced power modes the AS5134 can be operated in two reduced power modes. both these modes have in common that they switch off or freeze parts of the chip during intervals between measur ements. in low power mode or ultra low power mode, the AS5134 is not operational, but due to th e fast start-up, an angle measurement can be accomplished very quickly and the chip can be switched to reduced power immediately after a valid measurement has been taken. depending on the intervals between measurements, very low average power consumption can be achieved using such a strobed measurement mode. low/mid power mode: reduced current consumption, very fa st start-up. ideal for short sampling intervals (<3ms). power cycling mode: zero power consumption (externally switched off) during sampling intervals. ideal for sam- pling intervals 200ms. low/mid power mode the AS5134 can be put in low/mid power mode by simple serial commands, using the regular connection for 2-wire or 3-wire serial data transmission. table 9. examples of the overall po sition error caused by speed (includes both propagation delay and filter delay) speed (rpm) total position error ( ? pd + lpf ) 100 0,0175o 1000 0,175o 10000 1,75o
www.austriamicrosystems.com revision 1.6 21 - 29 AS5134 data sheet - detailed description figure 15. low/mid power mode connection in low/mid power mode, the AS5134 is inactive. the last state, e.g. the angle, agc value, etc. is frozen and the chip starts from this frozen state when it resumes active operat ion. this method provides mu ch faster start-up than a ?cold start? from zero. if the AS5134 is cycled between active and reduced current mode, a substantial reduction of the average supply current can be achieved. the minimum dwelling time is <0.5 ms. the actual active time depends on how much the magnet has moved while the AS5134 was in re duced power mode. the angle data is valid, 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: sampling interval = t on + t off (eq 5) where: i avg = average current consumption i active = current consumption in active mode i power_down = current consumption in reduced power mode 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 reducing power supply peak currents an optional rc-filter (r1/c1) may be added to avoid peak currents in the power supply line when the AS5134 is toggled between active and reduced power mode. r1 must be c hosen such that it can maintain a vdd voltage of 4.5 ? 5.5v under all conditions, especially dur ing long active periods when the charge on c1 has expired. c1 should be chosen such that it can support peak currents during the ac tive operation period. for long active periods, c1 should be large and r1 should be small. power cycling mode the power cycling method shown in figure 16 cycles the AS5134 by switching it on and off, using an external pnp transistor high side switch. this mode provides the least power consumption of all three modes; when the sampling interval is more than 400ms, as the current consumption in off-mode is zero. it also has the longest start-up time of all modes, as the chip must always perform a ?cold start? from zero, which takes about 1.3 ms. the optional filter r1/c1 may again be added to reduce peak currents in the 5v power supply line. r1 AS5134 vdd c1 c2 100n vss +5v vdd micro controller cs dclk dio vss vss vdd on/off s n i on i off t on t off i avg i active ? t on i powerdown ? t off + t on t off + --------------------------------------------------------------------- =
www.austriamicrosystems.com revision 1.6 22 - 29 AS5134 data sheet - detailed description figure 16. application example iii: ultra-low power encoder i on 0 t on t off 10k t on t off c1 >1f r1 AS5134 vdd c2 100n vss +5v vdd micro controller cs dclk dio vss vss vdd on/off s n
www.austriamicrosystems.com revision 1.6 23 - 29 AS5134 data sheet - application information 8 application information benefits of AS5134 complete system-on- chip, no angle ca libration 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, airg ap variations, temperature variations and external mag- netic fields figure 17. typical arrangement of AS5134 and magnet AS5134 parameter and features list table 10. parameter and features list parameter AS5134 supply voltage 4.5 to 5.5 v resolution 8.5 bit (360 steps, 1o per step) incremental outputs (abi) abi quadrature: 90 ppr, (default) step/direction: 180 ppr (otp option) fixed pulse width: 360ppr (tbd) bldc outputs uvw ; selectable for 1,2,3,4,5,6, pole pairs absolute output serial 2-wire (dclk,dio) with timeout sync serial 3-wire (dclk, cs, dio) pwm output daisy chain mode available for 2-wire and 3-wire serial modes automotive qualification aec q-100, grade 1 chip identifier 18 bit ambient temperature -40 to +140oc esd protection 2kv propagation delay (in locked state) max 22s transition noise (rms; 1 sigma) 0.24o integral nonlinearity (inl), centered magnet +/-2o
www.austriamicrosystems.com revision 1.6 24 - 29 AS5134 data sheet - application information multiturn counter 8-bit (+127/-128 turns). optional: >8-bit (tbd) automatically updated during acti ve mode at every 360o-/0o- transition in each rotating direction. the multiturn counter can be acce ssed over the serial interface and is reset with a power-on-reset. it will be frozen at the last valid state in low power mode. low power mode non-operational. last status is frozen in low power mode to allow low power consumption and fast startup from low power mode to operating mode. serial interface is active in low power mode to allow wakeup over the serial interface. pwm, incremental and bldc outputs are invalid in low power mode, they remain at their last valid state. current consumption in low power mode: typ. 30a pwm output 2s / step. 360o angle range in all modes. minimum pos. pulse width (@0o) = 16us (8 lsb; tbd) minimum neg. pulse width (@359o) = 16us (8 lsb; tbd) pulse width @0o = 16s, pause = 736s pulse width @1o = 18s, pause = 734s pulse width @2o = 20s, pause = 732s ???.. pulse width @359o = 736s, pause = 16s in case of an error (lock = low), the pulse width is 8 s (4 lsb), pause = 744s for all angles. interface hardware incremental abi interface: 3 pins bldc uwv interface: 3 pins absolute interface: 2 or 3 pins all outputs are available at the same time on separate pins maximum speed; no missing codes 30,000 rpm alignment tolerance +/- 0.25 mm (reference to package center) normal operating current co nsumption typ 14ma; max 22ma power-up time 1.3 ms from cold start (no agc), 4.1ms from cold start (agc locked) <0.5ms from low power mode serial interface read options 360-step angle (9-bit), 6-bi t agc, 8-bit multiturn, adc lock, (tbd) zero position programming in otp serial interface program options incremental mode(quad abi, step/dir) bldc pole pairs (1,2,3,4,5,6) zero position hall sensor sensitivity serial interface write optio ns (temporary write; will be lost with por) incremental mode(quad abi, step/dir) bldc pole pairs (1,2,3,4,5,6) zero position hall sensor sensitivity multiturn counter reset to 00 low power mode (on/off) table 10. parameter and features list parameter AS5134
www.austriamicrosystems.com revision 1.6 25 - 29 AS5134 data sheet - application information ic package ssop-20 magnetic range software indicator field streng th (agc) readable through digital interface magnetic input field range [mt] 20 ? 80 mt bldc outputs bldc outputs 3 separate digital outputs: u,v,w bldc pole pair options selectabl e for 1,2,3,4,5,6, pole pairs hysteresis on bldc outputs same as incremental output hysteresis switching positions pole pairs switching position steps 1 60o 2 30o 3 20o 4 15o 5 12o 6 10o incremental outputs incremental modes 3 modes: quad ab with index (2x90 ppr), step/direction (1x180 ppr) fixed pulse width (360ppr, pulse width tbd) step size 1o incremental hysteresis 2lsb (tbd) otp programming otp programming technology zener zapping otp programming options zero position, hall sensor sensitivity bldc pole pairs (1,2,3,4,5,6) incremental mode (quad ab, step/dir) redundant address chip-identifier otp programming method over serial interface and static 8 - 8.5v programming voltage at pin prog otp programming verification digital and analog table 10. parameter and features list parameter AS5134
www.austriamicrosystems.com revision 1.6 26 - 29 AS5134 data sheet - pack age drawings and markings 9 package drawings and markings the device is available in a 20pin ssop package. figure 18. 20-pin ssop package drawings table 11. 20-pin ssop package dimensions symbol mm inch min typ max min typ max a 1.73 1.86 1.99 0.068 0.073 0.078 a1 0.05 0.13 0.21 0.002 0.005 0.008 a2 1.68 1.73 1.78 0.066 0.068 0.070 b 0.25 - 0.38 0.010 - 0.015 d 7.07 7.20 7.33 0.278 0.284 0.289 e 5.20 5.30 5.38 0.205 0.209 0.212 e 0.65 bsc 0.0256 bsc h 7.65 7.80 7.90 0.301 0.307 0.311 k0o4o8o0o4o8o l 0.63 0.75 0.95 0.025 0.030 0.037 x - (10-1)*e + b - - (10-1)e + b - l k e a1 a2 b a e pin 1 identification x d h aywwizz as 5134
www.austriamicrosystems.com revision 1.6 27 - 29 AS5134 data sheet - pack age drawings and markings recommended pcb footprint figure 19. pcb footprint table 12. recommended footprint data symbol mm inch a9.02 0.355 b6.16 0.242 c0.46 0.018 d0.65 0.025 e6.31 0.248
www.austriamicrosystems.com revision 1.6 28 - 29 AS5134 data sheet - ordering information 10 ordering information the devices are available as the standard products shown in table 13 . table 13. ordering information model description delivery form package AS5134asst min. order quantity 2000pcs tape&reel ssop20
www.austriamicrosystems.com revision 1.6 29 - 29 AS5134 data sheet - ordering information copyrights copyright ? 1997-200 8, austriamicrosystems ag, schloss premstaett en, 8141 unterpremstae tten, austria-europe. trademarks registered ?. all rights reserved. the mate rial herein may not be reproduced, adapted, merged, translated, stored, or used wit hout 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 t he warranty and patent indemni fication 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 freed om of the described devices from patent infringement. austriamicrosystems ag reserves the right to change spec ifications and prices at an y time and without notice. therefore, prior to designing this pro duct into a system, it is necessary to check with austriam icrosystems ag for current information. this product is intended for use in normal commercial applications. applications requiring extended temperature range, unus ual 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 parts the m anufacturing 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 reci pient or any third party shall arise or flow out of austriamicrosystems ag rendering of technical or other services. contact information headquarters austriamicrosystems ag a-8141 schloss premstaetten, austria tel: +43 (0) 3136 500 0 fax: +43 (0) 3136 525 01 for sales offices, distributors a nd representatives, please visit: http://www.austriamicrosystems.com/contact

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