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[v1-00] 2014-Aug-11 Document Feedback AS5600 12-bit Programmable Contactless Potentiometer The AS5600 is an easy to program magnetic rotary position sensor with a high-resolution 12-bit analog or PWM output. This contactless system measures the absolute angle of a diametric magnetized on-axis magnet. This AS5600 is designed for contactless potentiometer applic ations and its robust design eliminates the influence of any homogenous external stray magnetic fields. The industry-standard I²C interface supports simple user programming of non-volatile parameters without requiring a dedicated programmer. By default the output represents a range from 0 to 360 degrees. It is also possible to define a smaller range to the output by programming a zero angle (start position) and a maximum angle (stop position). The AS5600 is also equipped with a smart low power mode feature to automatically reduce the power consumption. An input pin (DIR) selects the pola rity of the output with regard to rotation direction. If DIR is connected to ground, the output value increases with clockwise rotation. If DIR is connected to VDD, the output value increases with counterclockwise rotation. Ordering Information and Content Guide appear at end of datasheet. Key Benefits & Features The benefits and features of AS5600, 12-bit Programmable Contactless Potentiometer are listed below: Figure 1: Added Value of Using AS5600 Benefits Features Highest reliability and durability Contactless angle measurement Simple programming Simple user-programmable start and stop positions over the I²C interface Great flexibility on angular excursion Maxim um angle programmable from 18° up to 360° High-resolution output signal 12-bit DAC output resolution Selectable output Analog output ratiometric to VDD or PWM-encoded digital output Low-power consumption Automatic entry into low-power mode General Description
Document Feedback [v1-00] 2014-Aug-11 AS5600 − General Description
Applications
The AS5600 is ideally suited for contactless potentiometers, contactless knobs, pedals, RC servos and other angular position measurement solutions. Block Diagram The functional blocks of this device are shown below: Figure 2: Functional Blocks of AS5600 Easy setup Automatic magnet detection Small form factor SOIC-8 package Robust environmental tolerance Wide temperature range: -40°C to +125°C Benefits Features AFE AGC 12-bit A/D Driver Register Setting OTP I²C AS5600 OUT VDD3V3 VDD5V GND SCLSDA PWM PGO DIR Analog Front-EndHall Sensors 12-bit D/A ATAN (CORDIC) Digital Processing and Filtering LDO 3.3V Magnetic Core
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Pin Assignments Figure 3: SOIC-8 Pin-out Figure 4: Pin Description Pin Number Name Type Description
1 VDD5V Supply Positive voltage supply in 5V mode
2 VDD3V3 Supply Positive voltage supply in 3.3V mode (requires an external 1-μF decoupling capacitor in 5V mode)
3 OUT Analog/digital output Analog/PWM output
4G N D S u p p l y G r o u n d 5P G O D i g i t a l i n p u t Program option (internal pull-up, connected to GND = Programming Option B)
6 SDA Digital input/output I²C Data
7S C L D i g i t a l i n p u t I ² C C l o c k 8D I R D i g i t a l i n p u t Direction polarity (GND = values increase clockwise, VDD = values increase counterclockwise) Pin Assignments 4 5 VDD3V3 OUT GND VDD5V PGO SDA SCL DIR AS5600
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Absolute Maximum Ratings Stresses beyond those listed under “Absolute Maximum Ratings“ may cause permanent damage to the device. These are stress ratings only. Functional operation of the device at these or any other conditions beyond those indicated under “Operating Conditions” is not im plied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability. Figure 5: Absolute Maximum Ratings Symbol Parameter Min Max Units Comments Electrical Parameters VDD5V DC Supply Voltage at VDD5V pin -0.3 6.1 V VDD3V3 DC Supply Voltage at VDD3V3 pin -0.3 4.0 V VIO DC Supply Voltage at all digital or analog pins -0.3 VDD+0.3 V ISCR Input current (latch-up immunity) -100 100 mA Norm: JESD78 Continuous Power Dissipation (TA = +70°C) PT Continuous power dissipation 50 mW Electrostatic Discharge ESDHBM Electrostatic discharge HBM ±2 kV Norm: MIL 883 E method 3015.7 Temperature Ranges and Storage Conditions TSTRG Storage temperature range -55 +125 °C Norm: ICP/JEDEC J-STD-020 The reflow peak soldering temperature (body temperature) is specified according to IPC/JEDEC J-STD-020 “Moisture/Reflow Sensitivity Classification for Non-hermetic Solid State Surface Mount Devices. ” The lead finish for Pb-free leaded packages is “Matte Tin” (100% Sn) RH NC Relative humidity (non-condensing) 58 5 % MSL Moisture sensitive level 3 Norm: ICP/JEDEC J-STD-033 Absolute Maximum Ratings
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Electrical Characteristics All limits are guaranteed. The parameters with minimum and maximum values are guaranteed with production tests or SQC (Statistical Quality Control) methods. Operating Conditions Figure 6: System Electrical Characteristics and Temperature Range Note(s) and/or Footnote(s): 1. For typical magnetic field (60mT) excluding current delivered to the external load and tolerance on polling times. 2. For OTP burn procedure the supply line source resistance should not exceed 1Ohm. Symbol Parameter Conditions Min Typ Max Units VDD5V Positive supply voltage in 5.0V mode 5.0V operation mode 4.5 5.0 5.5 V During OTP burn procedure (2) VDD3V3 Positive supply voltage in 3.3V mode 3.3V operation mode 3.0 3.3 3.6 V During OTP burn procedure (2) 3.3 3.4 3.5 V IDD Supply current in NOM (1) PM = 00 Always on 6.5 mA lDD_LPM1 Supply current in LPM1 (1) PM = 01 Polling time = 5ms 3.4 mA lDD_ LPM2 Supply current in LPM2 (1) PM = 10 Polling time = 20ms 1.8 mA lDD_ LPM3 Supply current in LPM3 (1) PM = 11 Polling time = 100ms 1.5 mA IDD_BURN Supply current per bit for burn procedure Initial peak, 1 μs 100 mA Steady burning,<30 μs 40 mA TA Operating temperature -40 +125 °C TP Programming temperature +20 +30 °C
Electrical Characteristics
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description The AS5600 is a Hall-based rota ry magnetic position sensor using planar sensors that convert the magnetic field component perpendicular to the surface of the chip into a voltage. The signals coming from the Hall sensors are first amplified and filtered before being converted by the analog-to-digital converter (ADC). The output of the ADC is processed by the hardwired CORDIC block (Coordinate Rotation Digital Computer) to compute the angle and magnitude of the magnetic field vector. The intensity of the magnetic field is used by the automatic gain control (A GC) to adjust the amplification level to compensate for temperature and magnetic field variations. The angle value provided by the CORDIC algorithm is used by the output stage. The user can choose between an analog output and a PWM-encoded digita l output. The former provides an output voltage which represents the angle as a ratiometric linear absolute value. The latter provides a digital output which represents the angle as the pulse width. The AS5600 is programmed through an industry-standard I²C interface to write an on-chip non-volatile memory. This interface can be used to program a zero angle (start position) and a maximum angle (stop position) which maps the full resolution of the output to a subs et of the entire 0 to 360 degree range. IC Power Management The AS5600 be powered from a 5.0V supply using the on-chip LDO regulator, or it can be powered directly from a 3.3V supply. The internal LDO is not intended to power other external ICs and needs a 1 μF capacitor to ground, as shown in Figure 13 . In 3.3V operation, the VDD5V an d VDD3V3 pins must be tied together. Figure 13: 5.0V and 3.3V Power Supply Options Detailed Description 1µF100nF 4.5 - 5.5V VDD3V3 GND VDD5V 5.0V Operation LDO AS56 00 100nF 3.0 – 3.6V* VDD3V3 GND VDD5V 3.3V Operation LDO AS56 00 10µF Required for OTP programming only * 3.3-3.5V for OTP programming
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description I²C Interface The AS5600 supports the 2-wire Fast-mode Plus I²C-slave protocol in device mode, in compliance with the NXP Semiconductors (formerly Philips Semiconductors) specification UM10204. A device that sends data onto the bus is a transmitter and a device receiving data is a receiver. The device that controls the message is called a master. The devices that are controlled by the master are called slaves. A master device generates the serial clock (SCL), controls the bus access, and generates the START and STOP conditions that control the bus. The AS5600 always operates as a slave on the I²C bus. Connections to the bus are made through the open-drain I/O lines SDA and the input SCL. Cloc k stretching is not included. The host MCU (master) initiates data transfers. The 7-bit slave address of the AS5600 is 0x36 (0110110 in binary). Supported Modes
- Random/Sequential read
- B y t e / P a g e w r i t e
- Automatic increment (A NGLE – link removed)
- Standard-mode
- F a s t - m o d e
- F a s t – m o d e P l u s The SDA signal is the bidirectional data line. The SCL signal is the clock generated by the I²C bus master to synchronize sampling data from SDA. The maximum SCL frequency is 1 MHz. Data is sampled on the rising edge of SCL. I²C Interface Operation Figure 14: I²C Timing Diagram SDA SCL StartStop tbuf tLOW tR tHD.STA tHIGH tF tSU.DAT tSU.STA tHD.STA tSU.STORepeated Start tHD.DAT
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description I²C Electrical Specification Figure 15: I²C Electrical Specifications Note(s) and/or Footnote(s): 1. In Fast-mode Plus, fall time is specifie d the same for both output stage and bus ti ming. If series resistors are used this h as to be considered for bus timing. 2. Input filters on the SDA and SCL inputs suppress noise spikes of less than 50 ns. 3. I/O pins of Fast-mode and Fast-mode Pl us devices must not load or drive the SDA and SCL lines if VDD is switched off. 4. Special-purpose devices such as multiplexers and switches may exceed this capacitance because they connect multiple paths together. Symbol Parameter Conditions Min Typ Max Unit VIL Logic low input voltage -0.3 0.3 x VDD V VIH Logic high input voltage 0.7 x VDD VDD + 0.3 V VHYS Hysteresis of Schmitt trigger inputs VDD > 2.5V 0.05 x VDD V VOL Logic low output voltage (open-drain or open-collector) at 3 mA sink current VDD > 2.5V 0.4 V IOL Logic low output current VOL = 0.4V 20 mA t OF Output fall time from VIHmax to VILmax 10 120 (1) ns tSP Pulse width of spikes that must be suppressed by the input filter 50 (2) ns II Input current at each I/O Pin Input Voltage between 0.1 x VDD and 0.9 x VDD -10 +10 (3) μA CB Total capacitive load for each bus line 550 pF CI/O I/O capacitance (SDA, SCL) (4) 10 pF
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description I²C Timing Figure 16: I²C Timing Note(s) and/or Footnote(s): 1. After this time, the first clock is generated. 2. A device must internally provide a minimu m hold time of 120 ns (Fast-mode Plus) for the SDA signal (referred to the VIHmin o f SCL) to bridge the undefined region of the falling edge of SCL. 3. A Fast-mode device can be used in a standard-mode system, but the requirement tSU;DAT = 250 ns must be met. This is automati cally if the device does not stretch the low phase of SCL. If such a device does stretch the low phase of SCL, it must drive the next data bit on SDA (tRmax + tSU;DAT = 1000 + 250 = 1250 ns ) before SCL is released. 4. In Fast-mode Plus, fall time is specifie d the same for both output stage and bus ti ming. If series resistors are used, this has to be considered for bus timing. Symbol Parameter Min Max Unit fSCLK SCL clock frequency 1.0 MHz tBUF Bus free time (time between the STOP and START conditions) 0.5 μs tHD;STA Hold time; (Repeated) START condition (1) 0.26 μs tLOW Low phase of SCL clock 0.5 μs tHIGH High phase of SCL clock 0.26 μs tSU;STA Setup time for a Repeated START condition 0.26 μs tHD;DAT Data hold time (2) 0.45 μs tSU;DAT Data setup time (3) 50 ns tR Rise time of SDA and SCL signals 120 ns tF Fall time of SDA and SCL signals 10 120 (4) ns tSU;STO Setup time for STOP condition 0.26 μs
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description I²C Modes Invalid Addresses There are two addresses used to access an AS5600 register. The first is the slave address used to select the AS5600. All I²C bus transactions include a slave addr ess. The slave address of the AS5600 is 0x36 (0110110 in binary) The second address is a word address sent in the first byte tr ansferred in a write transaction. The word address selects a regi ster on the AS5600. The word address is loaded into the address pointer on the AS5600. During subsequent read transact ions and subsequent bytes in the write transaction, the address pointer provides the address of the selected register. The address pointer is incremented after each byte is transferred, except for certain read transactions to special registers. If the user sets the address pointer to an invalid word address, the address byte is not acknowledged (the A bit is high). Nevertheless, a read or write cycle is possible. The address pointer is increased after each byte. Reading When reading from an invalid address, the AS5600 returns all zeros in the data bytes. The address pointer is incremented after each byte. Sequential reads over the whole address range are possible including address overflow. Automatic increment of the address pointer for ANGLE , RAW ANGLE and MAGNITUDE registers These are special registers which suppress the automatic increment of the address pointer on reads, so a re-read of these registers requires no I²C write command to reload the address pointer. This special treatment of the pointer is effective only if the address pointer is set to the higher byte of the register, which holds the least significant bits. Writing A write to an invalid address is not acknowledged by the AS5600, although the address pointer is incremented. When the address pointer points to a valid address again, a successful write accessed is acknowledged. Page write over the whole address range is possible including address overflow. Supported bus protocol Data transfer may be initiated only when the bus is not busy. During data transfer, the data line must remain stable whenever SCL is high. Changes in the data line while SCL is high are interpreted as START or STOP conditions. Accordingly, the following bus conditions have been defined: Bus Not Busy Both SDA and SCL remain high.
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description Start Data Transfer A change in the state of SDA from high to low while SCL is high defines the START condition. Stop Data Transfer A change in the state of SDA from low to high while SCL is high defines the STOP condition. Data Valid The state of the data line represents valid data when, after a START condition, SDA is stable for the duration of the high phase of SCL. The data on SDA mu st be changed during the low phase of SCL. There is one clock period per bit of data. Each I²C bus transaction is init iated with a START condition and terminated with a STOP conditio n. The number of data bytes transferred between START and STOP conditions is not limited, and is determined by the I²C bus master. The information is transferred byte-wise and each receiver acknowledges with a ninth bit. Acknowledge Each I²C slave device, when addressed, is obliged to generate an acknowledge after the reception of each byte. The I²C bus master device must generate an extra clock period for this acknowledge bit. A slave that acknowledges must pull down SDA during the acknowledge clock period in such a way that SDA is stable low during the high phase of the acknowledge clock period. Of course, setup and hold times mu st be taken into account. A master must signal an end of a read transaction by not generating an acknowledge bit on the last byte that has been clocked out of the slave. In this case, the slave must leave SDA high to enable the master to generate the STOP condition. Figure 17: Data Read SDA SCL Start Condition Stop Condition or Repeated Start Condition MSB R/W ACK LSB ACK Slave Address Repeated if more Bytes are transferred
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description Depending on the state of the R/W bit, two types of data transfer are possible: Data transfer from a master transmitter to a slave receiver The first byte transmitted by th e master is the slave address, followed by R/W = 0. Next follows a number of data bytes. The slave returns an acknowledge bit after each received byte. If the slave does not understand the co mmand or data it sends a not acknowledge (NACK). Data is transferred with the most significant bit (MSB) first. Data transfer from a slave transmitter to a master receiver The master transmits the first byte (the slave address). The slave then returns an acknowledge bit, followed by the slave transmitting a number of data bytes. The master returns an acknowledge bit after all received bytes other than the last byte. At the end of the last received byte, a NACK is returned. The master generates all of the SCL clock periods and the START and STOP conditions. A transfer is ended with a STOP condition or with a repeated START condition. Because a repeated START condition is also the beginning of the next serial transfer, the bus is not released. Data is tran sferred with the most significant bit (MSB) first. AS5600 slave modes Slave Receiver Mode (Write Mode) Serial data and clock are receiv ed through SDA and SCL. Each byte is followed by an acknowledge bit or by a not acknowledge depending on whether the address-pointer selects a valid address. START and STOP conditions are recognized as the beginning and end of a bus transa ction. The slave address byte is the first byte received after the START condition. The 7-bit AS5600 address is 0x36 (0110110 in binary). The 7-bit slave address is followed by the direction bit (R/W), which, for a write, is 0 (low). After receiving and decoding the slave address byte the slave device drives an acknowledge on SDA. After the AS5600 acknowledges the slave address and write bit, the master transmits a register address (word address) to the AS5600. This is loaded into the address pointer on the AS5600. If the address is a valid readable address, the AS5600 answers by sending an acknowledge (A bit low). If the address pointer selects an invalid address, a not acknowledge is sent (A bit high). The master may then transmit zero or more bytes of data. If the address pointer selects an invalid address, the received data are not stored. The address pointer will increment after each byte transferred whether or not the address is valid. If the address-pointer reaches a valid position again, the AS5600 answers with an acknowledge and stores the data. The master generates a STOP condition to terminate the write transaction.
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description Figure 20: Data Read with Address Pointer Reload (Slave Transmitter Mode) SDA and SCL Input Filters Input filters for SDA and SCL inputs are included to suppress noise spikes of less than 50 ns. S 0110110 0 A XXXXXXXX A 0110110 1 XXXXXXXXA S – Start Sr – Repeated Start A – Acknowledge (ACK) Data transferred: X+1 Bytes + Acknowledge NA – Not Acknowledge (NACK) Note: Last data byte is followed by NACK P – Stop P <Slave address> <Word Address (n)> <Slave Address> <Data(n+1)> <RW> XXXXXXXXA <Data(n)> Sr <RW> A XXXXXXXX NA <Data(n+X)>
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description Register Description The following registers are accessible over the serial I²C interface. The 7-bit device address of the slave is 0x36 (0110110 in binary). To permanently program a configuration, a non-volatile memory (OTP) is provided. Figure 21: Register Map Address Name R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Configuration Registers 0x00 ZMCO RZ M C O ( 1 : 0 ) 0x01 ZPOS R/W/P ZPOS(11:8) 0x02 ZPOS(7:0) 0x03 MPOS R/W/P MPOS(11:8) 0x04 MPOS(7:0) 0x05 MANG R/W/P MANG(11:8) 0x06 MANG(7:0) 0x07 CONF R/W/P WD FTH(2:0) SF(1:0) 0x08 PWMF(1:0) OUTS(1:0) HYST(1:0) PM(1:0) Output Registers 0x0C RAW ANGLE R RAW ANGLE(11:8) 0x0D R RAW ANGLE(7:0) 0x0E ANGLE R ANGLE(11:8) 0x0F R ANGLE(7:0) Status Registers 0x0B STATUS RM D M L M H 0x1A AGC RA G C ( 7 : 0 ) 0x1B MAGNITUDE R MAGNITUDE (11:8) 0x1C R MAGNITUDE(7:0) Burn Commands 0xFF BURN W Burn_Angle = 0x80; Burn_Setting = 0x40
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description ZPOS/MPOS/MANG Registers These registers are used to configure the start position (ZPOS) and a stop position (MPOS) or maximum angle (MANG) for a narrower angular range. The default range is a full 0 to 360 degrees, but when a narrow range is configured, the full resolution of the output is automatically scaled to the configured angular range. The angular range must be greater than 18 degrees. To configure the angular range, see “Angle Programming” on page 21 . CONF Register The CONF register supports customizing the AS5600. Figure 22 shows the mapping of the CONF register. Figure 22: CONF Register ANGLE/RAW ANGLE Register The RAW ANGLE register contains the unscaled and unmodified angle. The scaled and filtered output value is available in the ANGLE register. Name Bit Position Description PM(1:0) 1:0 Power Mode 00 = NOM, 01 = LPM1, 10 = LPM2, 11 = LPM3 HYST(1:0) 3:2 Hysteresis 00 = off, 01 = 1 LSB, 10 = 2 LSBs, 11 = 3 LSBs OUTS(1:0) 5:4 Output Stage 00 = analog (full range from 0% to 100% between GND and VDD, 01 = analog (reduced range from 10% to 90% between GND and VDD, 10 = digital PWM PWMF (1:0) 7:6 PWM Frequency 00 = 115 Hz; 01 = 230 Hz; 10 = 460 Hz; 11 = 920 Hz SF(1:0) 9:8 Slow Filter 00 = 16x*; 01 = 8x; 10 = 4x; 11 = 2x FTH(2:0) 12:10 Fast Filter Threshold 000 = slow filter only, 001 = 6 LSBs, 010 = 7 LSBs, 011 = 9 LSBs,100 = 18 LSBs, 101 = 21 LSBs, 110 = 24 LSBs, 111 = 10 LSBs WD 13 Watchdog 0 = off, 1 = on *Forced in Low Power Mode (LPM)
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description STATUS Register The STATUS register provides bits that indicate the current state of the AS5600. Figure 23: STATUS Register AGC Register The AS5600 uses Automatic Gain Control in a closed loop to compensate for variations of the magnetic field strength due to changes of temperature, airgap between IC and magnet, and magnet degradation. The AGC register indicates the gain. For the most robust performance, th e gain value should be in the center of its range. The airgap of the physical system can be adjusted to achieve this value. MAGNITUDE Register The MAGNITUDE register indicates the magnitude value of the internal CORDIC. Non-Volatile Memory (OTP) The non-volatile memory is used to permanently program the configuration. To program the non-volatile memory, the I²C interface is used ( Option A , Option C ). Alternatively, start and stop positions can be programmed through the output pin (Option B ). The programming can be either performed in the 5V supply mode or in the 3. 3V operation mode but using a minimum supply voltage of 3.3V and a 10 μF capacitor at the VDD3V3 pin to ground. This 10 μF capacitor is needed only during the programming of the device. Two different commands are used to permanently program the device: Burn_Angle Command (ZPOS, MPOS) The host microcontroller can perform a permanent programming of ZPOS and MPOS with a BURN_ANGLE command. To perform a BURN_ANGLE command, write the value 0x80 into register 0xFF. The BURN_ANGLE command can be executed up to 3 times. ZMCO shows how many times ZPOS and MPOS have been permanently written. This command may only be executed if the presence of the magnet is detected (MD = 1). Name State When Bit Is High MH AGC minimum gain overflow, magnet too strong ML AGC maximum gain overflow, magnet too weak MD Magnet was detected
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description Burn_Setting Command (MANG, CONFIG) The host microcontroller can perform a permanent writing of MANG and CONFIG with a BURN_SETTING command. To perform a BURN_SETTING command, write the value 0x40 into register 0xFF. MANG can be written only if ZPOS and MPOS have never been permanently written (ZMCO = 00). The BURN_ SETTING command can be performed only one time. Angle Programming For applications which do not use the full 0 to 360 degree angular range, the output resolution can be enhanced by programming the range which is actually used. In this case, the full resolution of the output is automatically scaled to the programmed angular range. The angular range must be greater than 18 degrees. The range is specified by programming a start position (ZPOS) and either a stop position (MPOS) or the size of the angular range (MANG). The BURN_ANGLE command can be executed up to 3 times.
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description There are three recommended methods for programming the angular range:
- Option A: Angle Programming Through the I²C Interface
- Option B: Angle Programming Through the OUT Pin
- Option C: Programming a Maximum Angular Range Through the I²C Interface Figure 24: Option A: Angle Programming Through the I²C Interface Note(s) and/or Footnote(s): 1. After each register command, the new setting is effective at the output at least 1 ms later. 2. It is highly recommended to perform a functional test after this procedure. Use the correct hardware configuration shown in Figure 37 and Figure 38 . Step 1 Power up the AS5600. Step 2 Turn the magnet to the start position. Step 3 Read the RAW ANGLE register. Write the RAW ANGLE value into the ZPOS register. Wait at least 1 ms. Step 4 Rotate the magnet in the direction defined by the level on the DIR pin (GND for clockwise, VDD for counterclockwise) to the stop position. The amount of rotation must be greater than 18 degrees. Step 5 Read the RAW ANGLE register. Write the RAW ANGLE value into the MPOS register. Wait at least 1 ms. Proceed with Step 6 to permanently program the configuration. Step 6 Perform a BURN_ANGLE command to permanently program the device. Wait at least 1 ms. Step 7 Verify the BURN_ANGLE command: Write the commands 0x01, 0x11 and 0x10 sequentially into the register 0xFF to load the actual OTP content. Read the ZPOS and MPOS registers to verify that the BURN_ANGLE command was successful. Step 8 Read and verify the ZPOS and MPOS registers again after a new power-up cycle.
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description Figure 25: Option B: Angle Programming Through the OUT Pin Note(s) and/or Footnote(s): 1. After step 5 the new setting is effective at the output. 2. If step 3 is not followed by step 5 no permanent write will be performed. 3. It is highly recommended to perfor m a functional test after the procedure. 4. This procedure can be executed only one time; the zero posi tion and maximum angle can be reprogrammed only through the I²C (Option A ). 5. This procedure can be executed only if the presence of the magnet is detected (MD = 1). Use the correct hardware configuration shown in Figure 37 and Figure 38 . The PGO pin is connected to GND and the OUT pin is pulled high by an internal resistor until the programming procedure is finished. Step 1 Power up the AS5600. Step 2 Position the magnet in the start position. Step 3 Pull the OUT pin to GND for at least 100 ms, then allow the pin to float. Step 4 Rotate the magnet in the same direction defined by the level on the DIR pin (GND for clockwise, VDD for counterclockwise) to the stop position. The amount of rotation must be greater than 18 degrees. Step 5 Pull the OUT pin to GND for at least 100 ms, then allow the pin to float. Step 6 Check if the OUT pin is permanently driven to GND. This indicates an error occurred during programming. If the voltage driven on the OUT pin corresponds to the magnet position, the procedure was performed successfully.
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description Figure 26: Option C: Programming a Maximum Angular Range Through the I²C Interface Note(s) and/or Footnote(s): 1. After each register command, the new configuratio n is effective at the output at least 1 ms later. 2. It is recommended to perform a functional test after this procedure. Output Stage The OUTS bits in the CONF register are used to choose between an analog ratiometric output (default) and a digital PWM output. If PWM is selected, the DAC is powered down. Without regard to which output is enabled, an external unit can read the angle from the ANGLE register through I²C interface at any time. Analog Output Mode By default, the AS5600 output stage is configured as analog ratiometric output. The Digital to Analog Converter (DAC) has 12-bit resolution. In default mo de, the lower reference voltage for the DAC is GND, while the upper reference voltage is VDD. The output voltage on the OUT pin is ratiometric between GND and VDD. Use the correct hardware configuration shown in Figure 37 and Figure 38 . Step 1 Power up the AS5600. Step 2 Use the I²C interface to write the maximum angular range into the MANG register. For example, if the maximum angular range is 90 degrees, write the MANG register with 0x400. Configure additional configuration settings by writing the CONFIG register. Wait at least 1 ms. Proceed with Step 3 to permanently program the configuration. Step 3 Perform a BURN_SETTINGS command to permanently program the device. Wait at least 1 ms. Step 4 Verify the BURN_SETTINGS command: Write the commands 0x01, 0x11 and 0x10 sequentially into the register 0xFF to load the actual OTP content. Read and verify the MANG and CONF registers to verify that the BURN_SETTINGS command was successful. Proceed with Step 5 to permanently program a zero position. If the OUT pin is used for this option, the PGO pin must be connected to GND. Step 5 Position the magnet in the start position (zero angle). Step 6 Pull the OUT pin to GND for at least 100 ms, then allow the pin to float. Alternatively, program the zero position through the I²C interface (Option A). Wait at least 1 ms. Step 7 Verify the permanent programming by I²C (Option A) or check if OUT is permanently driven to GND (Option B ). Step 8 Read and verify the permanently programmed registers again after a new power-up cycle.
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description The maximum angular range can be programmed from 18 degrees to 360 degrees. The default range is 360 degrees. As shown below, if the range is 360 degrees, to avoid discontinuity points exactly at the limit of the range, a 10-LSB hysteresis is applied. This hysteresis suppresses toggling the OUT pin when the magnet is close to zero or 360 degrees. Figure 27: Output Characteristic Over a 360° Full-turn Revolution The AS5600 supports programming both a zero angle as well as the maximum angular range. As shown in Figure 28 , reducing the maximum angular range pushes the non-discontinuity points to the edges, away from the 0 and θ max (where θmax is the maximum angle) by λ, where λ= (360 - θmax)/2. Output Voltage AOUT[V] VDD Angle (DEG)
0 DEG 360 DEG
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description Figure 28: Output Characteristic Over a Range Smaller Than 360° If the maximum angular range is smaller than 360 degrees, the DAC resolution is automatically reduced. If θmax is the maximum angle, the number of steps N of the output signal OUT is: N = ( θmax/360) × 4096 The AS5600 also allows selecting the output dynamic characteristics of the OUT signal with the OUTS bits in the CONF register. By default (OUTS = 00), the output can cover the full voltage range (0V to VDD), but a reduced range from 10% to 90% between GND and VDD may be programmed (OUTS = 01). Figure 29: Output Characteristics with Reduced Output Range (10%-90%) Output Voltage AOUT[V] VDD Angle (DEG)
0 DEG θMAX
λ λ
360 DEG
Output Voltage AOUT[V] VDD Angle (DEG)0 DEG θMAX 90% VDD 10% VDD
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description PWM Output Mode The AS5600 output stage can be programmed in the OUTS bits of the CONF register for a PWM-encoded digital output (OUTS = 10). In this mode, the OUT pin provides a digital PWM signal. The duty cycle of each pulse is proportional to the absolute angle of the rotating magnet. The PWM signal consists of a frame of 4351 PWM clock periods as shown in Figure 30 . This PWM frame is composed of the following sections:
- 1 2 8 P W M c l o c k p e r i o d s h i g h
- 4095 PWM clock periods data
- 128 PWM clock periods low The angle is represented in the data part of the frame, and one PWM clock period represents one 4096 th of the full angular range. The PWM frequency is pr ogrammed with the PWMF bits in the CONF register. Figure 30:Output Characteristics in Pulse Width Modulation Mode An angle of zero degrees is represented by 128 clock periods high and 4223 clock periods low, while a maximum angle consists of 4223 clock periods high and 128 clock periods low. Step Response and Filter Settings The AS5600 has a digital post-p rocessing programmable filter which can be set in fast or slow modes. The fast filter mode can be enabled by setting a fast filt er threshold in the FTH bits of the CONF register. time 4095 4094 4093 4092 4091 4090 4089 4088 4087 4086 4085 data 128 clock periods low 128 clock periods high
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description Figure 33: Fast Filter Threshold Figure 34: Step Response (fast filter on) Direction (clockwise vs. counterclockwise) The AS5600 allows controlling the direction of the magnet rotation with the DIR pin. If DI R is connected to GND (DIR = 0) a clockwise rotation viewed from the top will generate an FTH Fast Filter Threshold (LSB) Slow-to-fast filter Fast-to-slow filter
000 Slow filter only
according slow filter setting Noise Fast Filter Noise slow filter Output response Fast filter step response Threshold
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Detailed Description increment of the calculated angle. If the DIR pin is connected to VDD (DIR = 1) an increment of the calculated angle will happen with counterclockwise rotation. Figure 35: Raw Angle in Clockwise Direction Hysteresis To avoid any toggling of the output when the magnet is not moving, a 1 to 3 LSB hysteresis of the 12-bit resolution can be enabled with the HYST bits in the CONF register. Magnet Detection As a safety and diagnostic feature, the AS5600 indicates the absence of the magnet. If the measured magnet field strength goes below the minimum specified level ( Bz_ERROR ), the output is driven low, without re gard to which output mode has been selected (analog or PWM) and the MD bit in the STATUS register is 0. Low Power Modes A digital state machine automatically manages the low power modes to reduce the average current consumption. Three low power modes are available and can be enabled with the PM bits in the CONF register. Current consumption and polling times are shown in Figure 6 . Watchdog Timer The watchdog timer allows saving power by switching into LMP3 if the angle stays within the watchdog threshold of 4 LSB for at least one minute, as shown in Figure 36 . The watchdog function can be enabled with the WD bit in the CONF register.
1 VDD5V
2 VDD3V3
3 AOUT
4 GND
N S VDD5V N S N S N S
0 Deg 180 Deg 90 Deg 270 Deg CW CW CW
RAW ANGLE = 0 RAW ANGLE = 1024 RAW ANGLE = 2048 RAW ANGLE = 3072
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Detailed Description Figure 36: Watchdog Timer Function 1 minute Watchdog threshold LPM3 NOM,LPM1, LPM2 NOM,LPM1, LPM2 Output Value
4 LSB
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Application Information Schematic All required external components are shown below for the reference application diagram. To improve EMC and for remote applications, consider additional protection circuitry. Figure 37: Application Diagram for Angle Readout and Programming through OUT pin ( Option B ) Figure 38: Application Diagram for Angle Readout and Programming with I²C ( Option A and Option C )
Application Information
GND -> CW VDD -> CCW PG O = GND -> OptionB 4.5-5.5V GND AS5600
1 VD D5V
2 VD D3V3
3 OUT
3-3.6V* 3.3V Operation GND -> CW VDD -> CCW GND AS5600 C1 C** * Supply voltage for pe rmanent programmi ng is 3.3–3.5V ** 10µF Capacitor required during permanent programming PG O = GND -> OptionB GND -> CW VDD -> CCW To MCU 4.5-5.5V GND AS5600 3-3.6V* 3.3V Operation GND -> CW VDD -> CCW To MCU GND AS5600 C1 C** * Supply voltage for permanent programming is 3.3–3.5V ** 10µF Capacitor required during permanent programming -> OptionC for Programming with OUT Pin PG O = GND -> OptionC for Programming with OUT Pin PG O = GND
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Application Information Mechanical Data The internal Hall elements are placed in the center of the package on a circle with a radius of 1 mm. Figure 41: Hall Element Positions Note(s) and/or Footnote(s): 1. All dimensions in mm. 2. Die thickness 356 μm nom.
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Package Drawings & Markings Figure 42: Note(s) and/or Footnote(s): 1. Dimensioning & tolerancing conform to ASME Y14.5M-1994. 2. All dimensions are in millimeters. Angles are in degrees. 3. N is the total number of terminals. 4. DATUMS A & B to be determined at DATUM H. Package Drawings & Markings Symbol Min Nom Max A- - 1 . 7 5 A1 0.10 - 0.25 A2 1.25 - - b 0.31 - 0.51 c 0.17 - 0.25 D - 4.90 BSC - E - 6.00 BSC - E1 - 3.90 BSC - e - 1.27 BSC - L 0.40 - 1.27 L1 - 1.04 REF - L2 - 0.25 BSC - R0 . 0 7 - - R1 0.07 - - h 0.25 - 0.50 Θ 0º - 8º Θ15 º -1 5 º Θ20 º - - aaa - 0.10 - bbb - 0.20 - ccc - 0.10 - ddd - 0.25 - eee - 0.10 - fff - 0.15 - ggg - 0.15 - GreenRoHS
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Ordering & Contact Information Figure 45:
Ordering Information
Buy our products or get free samples online at: www.ams.com/ICdirect Technical Support is available at: www.ams.com/Technical-Support Provide feedback about this document at: www.ams.com/Document-Feedback For further information and requests, e-mail us at: ams_sales@ams.com For sales offices, distributors and representatives, please visit: www.ams.com/contact Headquarters ams AG Tobelbaderstrasse 30
8141 Unterpremstaetten
Austria, Europe Tel: +43 (0) 3136 500 0 Website: www.ams.com Ordering Code Package Marking Delivery Form Delivery Quantity AS5600-ASOT SOIC-8 AS5600 13” Tape&Reel in dry pack 2500 pcs AS5600-ASOM SOIC-8 AS5600 7” Tape&Reel in dry pack 500 pcs Ordering & Contact Information
Document Feedback [v1-00] 2014-Aug-11 AS5600 − RoHS Compliant & ams Green Statement RoHS: The term RoHS compliant means that ams AG products fully comply with current RoHS directives. Our semiconductor products do not contain any chemicals for all 6 substance categories, including the requirement that lead not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, RoHS compliant products are suitable for use in specif ied lead-free processes. ams Green (RoHS compliant and no Sb/Br): ams Green defines that in addition to RoHS compliance, our products are free of Bromine (Br) and Antimony (Sb) based flame retardants (Br or Sb do not exceed 0.1% by weight in homogeneous material). Important Information: The information provided in this statement represents ams AG knowledge and belief as of the date that it is provided. ams AG bases its knowledge and belief on information provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are unde rway to better integrate information from third parties. ams AG has taken and continues to take reasonable steps to prov ide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals. ams AG and ams AG suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release. RoHS Compliant & ams Green Statement
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Copyrights & Disclaimer Copyright ams AG, Tobelbader Strasse 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. Devices sold by ams AG are covered by the warranty and patent indemnification provisions appe aring in its General Terms of Trade. ams AG makes no warranty, express, statutory, implied, or by description regarding th e information set forth herein. ams AG reserves the right to ch ange specifications and prices at any time and without notice. Therefore, prior to designing this product into a system, it is necessary to check with ams AG for current information. This product is intended for use in commercial applications. Applications requiring extended temperature range, unusual environmental requirements, or high reliability applications , such as military, medical life-support or life-sustaining equipment are specifically not recommended without additional processing by ams AG for each application. This product is provided by ams AG “AS IS” and any express or implied wa rranties, including, but not limited to the implied warranties of merchantability and fitness for a particular purpose are disclaimed. ams AG shall not be liable to recipient or any third party for any damages, including but not limited to personal injury, property damage, loss of profits, loss of use, interruption of business or indirect, special, incidental or consequential damages, of any kind, in connection with or arising out of the furnishing, performance or use of the technical data herein. No obligation or liability to recipient or any th ird party shall arise or flow out of ams AG rendering of technical or other services. Copyrights & Disclaimer
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Document Status Document Status Product Status Definition Product Preview Pre-Development Information in this datasheet is based on product ideas in the planning phase of development. All specifications are design goals without any warranty and are subject to change without notice Preliminary Datasheet Pre-Production Information in this datasheet is based on products in the design, validation or qualification phase of development. The performance and parameters shown in this document are preliminary without any warranty and are subject to change without notice Datasheet Production Information in this datasheet is based on products in ramp-up to full production or full production which conform to specifications in accordance with the terms of ams AG standard warranty as given in the General Terms of Trade Datasheet (discontinued) Discontinued Information in this datasheet is based on products which conform to specifications in accordance with the terms of ams AG standard warranty as given in the General Terms of Trade, but these products have been superseded and should not be used for new designs Document Status
[v1-00] 2014-Aug-11 Document Feedback AS5600 − Revision Information Note(s) and/or Footnote(s): 1. Page numbers for the previous version may diff er from page numbers in the current revision. Changes from 0-06 (2014-Jul-25) to current revision 1-00 (2014-Aug-11) Page(1) Updated text in General Description section 1 Updated Figure 24 22 Updated Figure 26 24 Revision Information
Document Feedback [v1-00] 2014-Aug-11 AS5600 − Content Guide
1 General Description
1 Key Benefits & Features
2 Applications
2 Block Diagram
3 Pin Assignments
4A b s o l u t e M a x i m u m R a t i n g s
5 Electrical Characteristics
5 Operating Conditions
6 Digital Inputs and Outputs
7 Timing Characteristics
8 Magnetic Characteristics
8 System Characteristics
9 Detailed Description
9I C P o w e r M a n a g e m e n t
10 I²C Interface
18 Register Description
19 ZPOS/MPOS/MANG Registers
19 CONF Register
19 ANGLE/RAW ANGLE Register
20 STATUS Register
20 AGC Register
20 MAGNITUDE Register
20 Non-Volatile Memory (OTP)
21 Angle Programming
24 Output Stage
27 Step Response and Filter Settings
29 Direction (clockwise vs. counterclockwise)