AR18-S11

Data Sheet AR18 and AR35 Series Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits Description The Broadcom® AR18 and AR35 Series are the miniature Absolute Encoder ASIC designed to cater for the growing demand on the space constraint application. The AR18 encoder is designed for an overall diameter of 18 mm and offers user-programmable resolution ranging from 17, 19, and 21 bit single-turn absolute output. The AR35 encoder is designed for an overall diameter of 35 mm and offers 17 and 21 bits single-turn absolute output. Both the AR18 and AR35 series provide the incremental ABI and UVW in differential mode. Both come with a recommended high temperature range of –40°C to 115°C suitable for most industrial applications. Dual-mode operating voltage of 3.3V and 5V enable handheld and portable device applications. Employing Broadcom patented Reflective Optical Encoding Theory, the AR18 and AR35 series offer a high accuracy with correction, which is unattainable by the magnetic encoder. Features           Applications      Broadcom Miniature absolute encoder ASIC surface mount DFN package: 10.9 mm (L) x 9.1 mm (W) x 1.5 mm (H) User-programmable resolution ranging from: – 17, 19, and 21 bit single turn (OD18). – 17 and 21 bit single turn (OD35). User-programmable incremental output (ABI) resolution ranging from 128 to 8192 CPR User-programmable commutation signal (UVW) ranging from 2, 3, 4, 5, 12, 30, 32 pole pair Differential output for ABI and UVW High temperature range of –40°C to 115°C suitable for most of the industrial operation. Dual-mode operating voltage of 3.3V and 5V, enabling handheld and portable device applications. Selectable SSI mode communication protocol. Selectable RS485 mode communication protocol. RoHs compliance. Robotic automation and engineering Factory automation and drone Medical and dentistry, devices and equipment High-accuracy portable and handheld devices Miniature motor, servo motor, linear actuator AR18-AR35-Series-DS100 October 3, 2017 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Functional Block Diagram With SSI 3-Wire Communication Protocol Selection Figure 1: SSI 3-Wire Block Diagram Vcc GND EEPROM_* (Ext EEPROM I2C interface) EXT EEPROM 3.3V/5.0V A / Probe 1 B / Probe 2 I / Probe 3 ADC Digital Processing (SinP/SinN/ CosP/CosN) Analog Front End PDA U / Probe 4 V W SSI 3 Wire NSL SCLK DOUT LED Regulation SPI CLK SPI DIN MTP Interface SPI SPI DOUT TST3 TST2 TST0 TST1 Analog I/Os With ESL Communication Protocol Selection Figure 2: ESL Block Diagram Vcc GND EEPROM_* (Ext EEPROM I2C interface) EXT EEPROM 3.3V/5.0V EXT OSC A / Probe 1 B / Probe 2 I / Probe 3 ADC PDA Analog Front End (SinP/SinN/ CosP/CosN) Digital Processing U / Probe 4 V W ESL RS485+ RS485- LED Regulation MTP Interface SPI Broadcom TST3 TST2 TST1 TST0 Analog I/Os AR18-AR35-Series-DS100 2 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Mechanical Specifications DFN Package Dimensions Figure 3: Overall Package Dimensions and Pinout Note: All dimensions given in mm. Tolerances of form and position according to JEDEC MO-220. Package Markings Figure 4: Product Marking Information Part Type ƒ ƒ A18S/E A35S/E Date Code YYWW (Year, Work Week) Broadcom AR18-AR35-Series-DS100 3 AR18 and AR35 Series Data Sheet Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits Encoder Mounting Figure 5: Encoder Mounting Guide AR35 AR18 Notes of assembly:   The assembly of the encoder needs clean room condition, Class 100k or better. The encoder needs to be enclosed with IP50 enclosure. Broadcom AR18-AR35-Series-DS100 4 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Recommended PCB Land Pattern Figure 6: PCB Land Pattern PIN-17 PIN-18 SMT Reflow Profile: JEDEC Pb-Free (J-STD-020D) Electrical Specifications Recommended Operating Conditions Value Parameter Symbol Min Typical Max Unit DC Supply Voltage Vdd +4.5 +5.0 +5.5 V DC Supply Voltage Vdd +3.0 +3.3 +3.6 V — — 100 mVpp Tamb — +25 — °C Operational Temperature TA –40 +25 +115 °C Storage Temperature TS –40 +25 +115 °C Humidity RH — — 85 % — — 128 kHz –200 0 +200 μm Ripple of Supply Voltage Ambient Temperature INC Operating Frequency Radial Misalignment Tangential Misalignment Notes 100 kHz Temp = 40°C Velocity (rpm) x CPR/60 –200 0 +200 μm Encoder Shaft Speed SRPM — — 30000 rpm 256CPR (AR18) Encoder Shaft Speed SRPM — — 15000 rpm 512CPR (AR35) Broadcom AR18-AR35-Series-DS100 5 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Absolute Maximum Ratings Parameter Symbol Value Storage Temperature TS –40°C to 115°C Operating Temperature TA –40°C to 115°C Supply Voltage Vdd 7V Moisture Sensitive Level 3 (Maximum floor life = 168h) DC Characteristics DC characteristics over recommended operating range, typical at 25°C. Value Parameter Symbol Conditions Min Typ. Max Unit Idd Vdd = 3.3V/5V — 70 — mA Absolute Single-Turn Resolution (AR18) — 17, 19, and 21 — Bit Absolute Single-Turn Resolution (AR35) — 17 and 21 — Bit Incremental Resolution — — CPR Vdd Supply Current 2n Notes n = 7, 8, 9,10, 11, 12, 13 Encoder Characteristics Incremental encoder characteristics over recommended operating range, at 25°C. Symbol Min Typ Maxa Unit Cycle Error ΔC — — 45 °e State Error ΔS — — 45 °e Index Pulse Width Po — 90,180, 360 — °e Parameter a. Maximum values represent the encoder performance across the range of recommended mounting tolerance. Encoder Pin Functions Figure 7: Pinouts from Top View Broadcom AR18-AR35-Series-DS100 6 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet SSI 3-Wire Option Pinout Configuration NOTE: Pin 35 must be grounded to VSSA and pin 17 connect to common GND. Table 1: SSI 3-Wire Pinout Analog/Digital Input/ Output 5V/3.3V pads Analog I/O 5V/3.3V pads Analog I/O 5V/3.3V pads Analog I/O 5V/3.3V pads Analog I/O 3.3V/5V (VDDPAD) Digital Output Pin Name Function Pad Type 1 CN/TST3 Analog Voltage Output NCOS 2 CP/TST2 Analog Voltage Output PCOS 3 SN/TST1 Analog Voltage Output NSIN 4 SP/TST0 Analog Voltage Output PSIN 5 SPI DOUT SPI Data Output 6 SPI DIN SPI Data Input 3.3V/5V (VDDPAD) Digital Input 7 SPI CLK SPI Clock 3.3V/5V (VDDPAD) Digital Input 8 VDD Digital Supply Voltage 3.3V/5V (VDDPAD) Digital Power 9 VSS Digital GND Digital ground Digital ground Ground 10 + SSI DOUT SSI Data Output (+) 3.3V/5V (VDDPAD) Digital I/O 11 – SSI DOUT SSI Data Output (–) 3.3V/5V (VDDPAD) Digital I/O 12 + SSI NSL SSI Input (+) 3.3V/5V (VDDPAD) Digital I/O 13 – SSI NSL SSI Input (–) 3.3V/5V (VDDPAD) Digital Input 14 + SSI SCL SSI Clock (+) 3.3V/5V (VDDPAD) Digital Input 15 – SSI SCL SSI Clock (–) 3.3V/5V (VDDPAD) Digital Input ESL SEL Protocol Selection Selection (GND) Ground Ground 18 EEPROM SCL EXT EEPROM Clock 3.3V/5V (VDDPAD) Digital I/O 19 EEPROM SDA EXT EEPROM Data 3.3V/5V (VDDPAD) Digital I/O 20 EEPROM WP EXT EEPROM Write Protect 3.3V/5V (VDDPAD) Digital Output 16 17 21 –A Incremental –A Output 3.3V/5V (VDDPAD) Digital Output 22 +A/PROBE1 Incremental +A Output 3.3V/5V (VDDPAD) Digital Output 23 –B Incremental –B Output 3.3V/5V (VDDPAD) Digital Output 24 +B/PROBE2 Incremental +B Output 3.3V/5V (VDDPAD) Digital Output 25 –I Incremental –Index Output 3.3V/5V (VDDPAD) Digital Output 26 +I/PROBE3 Incremental +Index Output 3.3V/5V (VDDPAD) Digital Output 27 VSSA Analog GND Analog ground Analog ground Ground 28 VDDA Analog Supply Voltage 3.3V/5V (VDDPAD) Analog Power 29 –U Incremental –U Output 3.3V/5V (VDDPAD) Digital Output 30 +U/PROBE4 Incremental +U Output 3.3V/5V (VDDPAD) Digital Output 31 –V Incremental –V Output 3.3V/5V (VDDPAD) Digital Output 32 +V Incremental +V Output 3.3V/5V (VDDPAD) Digital Output 33 –W Incremental –W Output 3.3V/5V (VDDPAD) Digital Output 34 +W Incremental +W Output 3.3V/5V (VDDPAD) Digital Output 35 Common GND (VSSA) Ground to VSSA Analog ground Analog ground Ground Broadcom AR18-AR35-Series-DS100 7 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet ESL Option Pinout Configuration NOTE: Pin 35 must be grounded to VSSA and pin 17 connect to VDD (5V/3.3V). Table 2: ESL Pinout Pin Name Function Pad Type Analog/Digital Input/ Output 1 CN/TST3 Analog Voltage Output NCOS 5V/3.3V pads Analog I/O 2 CP/TST2 Analog Voltage Output PCOS 5V/3.3V pads Analog I/O 3 SN/TST1 Analog Voltage Output NSIN 5V/3.3V pads Analog I/O 4 SP/TST0 Analog Voltage Output PSIN 5V/3.3V pads Analog I/O VDD Digital Supply Voltage 3.3V/5V (VDDPAD) Digital Power 5 6 7 8 9 VSS Digital GND Digital ground Digital ground Ground 10 + RS485 RS485 Data Output (+) 3.3V/5V (VDDPAD) Digital I/O 11 – RS485 RS485 Data Output (–) 3.3V/5V (VDDPAD) Digital I/O 16 OSC_EXT External Oscillator 3.3V pads Digital Input 17 ESL SEL Protocol Selection Selection (VDD) Digital Power 18 EEPROM SCL EXT EEPROM Clock 3.3V/5V (VDDPAD) Digital I/O 19 EEPROM SDA EXT EEPROM Data 3.3V/5V (VDDPAD) Digital I/O 20 EEPROM WP EXT EEPROM Write Protect 3.3V/5V (VDDPAD) Digital Output 12 13 14 15 21 –A Incremental –A Output 3.3V/5V (VDDPAD) Digital Output 22 +A/PROBE1 Incremental +A Output 3.3V/5V (VDDPAD) Digital Output 23 –B Incremental –B Output 3.3V/5V (VDDPAD) Digital Output 24 +B/PROBE2 Incremental +B Output 3.3V/5V (VDDPAD) Digital Output 25 –I Incremental –Index Output 3.3V/5V (VDDPAD) Digital Output 26 +I/PROBE3 Incremental +Index Output 3.3V/5V (VDDPAD) Digital Output 27 VSSA Analog GND Analog ground Analog ground Ground 28 VDDA Analog Supply Voltage 3.3V/5V (VDDPAD) Analog Power 29 –U Incremental –U Output 3.3V/5V (VDDPAD) Digital Output 30 +U/PROBE4 Incremental +U Output 3.3V/5V (VDDPAD) Digital Output 31 –V Incremental –V Output 3.3V/5V (VDDPAD) Digital Output 32 +V Incremental +V Output 3.3V/5V (VDDPAD) Digital Output 33 –W Incremental –W Output 3.3V/5V (VDDPAD) Digital Output 34 +W Incremental +W Output 3.3V/5V (VDDPAD) Digital Output 35 Common GND (VSSA) Ground to VSSA Analog ground Analog ground Ground Broadcom AR18-AR35-Series-DS100 8 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Communication Protocol SSI 3-Wire Figure 8: SSI 3-Wire Timing Diagram n cycle (depending on absolute resolution settings) Notes: NSL toggles from high to low to start request position data. SCL maximum frequency is 10 MHz. tREQ = 10 μs is the time of data request processing. Figure 9: AR18 SSI 3-Wire Format Output Broadcom Figure 10: AR35 SSI 3-Wire Format Output AR18-AR35-Series-DS100 9 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet ESL Figure 11: General Transmission Frames Format on Half Duplex Line Data Frames IDLE 1 0 RCF IDLE CF SF Transmission Frame (Master Request) DF0 CRC Transmission Frames set (Encoder Response) Master request frames set Start of transmission frames set: Upon detected the first logic of Low state 0 on the transmission line after idling state, and if the following 3 bit conforms to command identifier, the encoder will acknowledge as a valid Request Command Frame (RCF), indicating the start of transmission frame set; else, it will continue to search for next available logic of low state 0. End of transmission frames set: After the Request Command Frame is detected, if there is no Start Bit after the End Bit of the last frame read and no subsequent frame detected, end of transmission frame set is concluded. Idle state: Idle state means a space between each transmission frames set and subsequent transmission frames. At idling state, logic of output in transmission line is kept to high state 1. Encoder Data Read Out Frame Sets Format and Timing Figure 12: Encoder Data Read Out Frames Set 0 IDLE 10.0±0.2us (typ) 1 RCF CF SF Master Request DF0 DF1 CRC Encoder Response Position Latch Master request frames set Upon the master issue a RCF frame request, after 10.0 μs (typ.), the encoder will respond with encoder data frames set with the following content: 1. CF: Corresponds to the Request Command Frame (RCF) issued from master. 2. SF: Status Frame. 3. DF0~DF7: Data Frames. 4. CRC: Cyclic Redundancy Check (CRC) Frame. Encoder position calculation will be completed within 10.0 μs (typ.) after the end bit of Master Request Command Frame (RCF). The Encoder Response data frames set format are dependent on the requested operation by the master, see Table 3. Broadcom AR18-AR35-Series-DS100 10 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Table 3: Data Frames Content with Respective Command ID Command ID DF0 DF1 DF2 DF3 DF4 b ABS3 Command ID 4 ALMC ABS0 ABS1 ABS2 Command ID 6 ABS0 ABS1 ABS2 ABS3 Command ID 8 c ENID Command ID A ALMC a Command ID B ALMC ABS0 ABS1 ABS2 ABS3 Command ID C ALMC ABS0 ABS1 ABS2 ABS3 DF5 DF6 DF7 a. ALMC: Encoder Alarm Flags. b. ABSn: Single-turn counts. LSB of the single-turn counts are located in ABS0, and MSB of the counts data are located in ABS3. Combining ABS0~ABS3 will provide total to 32 bits of single-turn data. For single-turn 25 bits encoder option, the 7 MSB of ABS3 is fixed to 0, hence giving total 25 bits single turn-data. c. ENID: Encoder Single-turn bits identification. Memory Data Read Out Frames Set Format and Timing Figure 13: Memory Data Read Out Frames Set 10.0±0.2us (typ) 1 0 RCF MAF Command Frame Memory Address Frame CRC CF MAF MDF CRC CRC Frame Command Frame Memory Address Frame Memory Data Frame CRC Frame Master Request 0.5us max Encoder Response Internal latch of Data Master request frames set Frame content will change base on the command issued Content of transmission frames: 1. RCF: Request Command Frame from master. 2. CF: Corresponds to the Request Command Frame (RCF) issued from master. 3. MAF: Memory Address Frame indicates the memory location to read. 4. MDF: Memory Data Frame contains the data read from memory. 5. CRC: Cyclic Redundancy Check (CRC) Frame. Broadcom AR18-AR35-Series-DS100 11 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Memory Data Write Frames Set Format and Timing Figure 14: Memory Data Write Frames Set 10.0±0.2us (typ) 1 0 RCF MDF MDF CRC CF MAF MDF CRC Command Frame Memory Address Frame Memory Data Frame CRC Frame Command Frame Memory Address Frame Memory Data Frame CRC Frame Encoder Response Master Request 0.5us max Internal latch of Data Master request frames set Frame content will change base on the command issued Content of transmission frames: 1. RCF: Request Command Frame from master. 2. CF: Corresponds to the Request Command Frame (RCF) issued from master. 3. MAF: Memory Address Frame indicates the memory location to write. 4. MDF: Memory Data Frame contains the data write from memory. 5. CRC: Cyclic Redundancy Check (CRC) Frame. Broadcom AR18-AR35-Series-DS100 12 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Configurations and Signal Output Customer Configurations Table 4: Encoder Configuration Settings Page (Hex) Address Bit (s) 0x08 0x00 0x0E 0x09 0x0A Unlock (Write 0xAB) Unlock register 8'h00 0 Disable EEPROM 8'h00 1 Enable EEPROM 0 Count UP (CCW) 0-7 Register Unlock 7 EEPROM Disable 5 CW Direction 1 Count UP (CW) 3-4 RS485 Baud Rate Setting 0 SSI 3W 1 2.5MHz ESL 11 10MHz ESL 0-2 RS485 Encoder ID 000 Default 5-7 UVW Setting [2:0] 0 2 pole-pairs 1 3 pole-pairs 10 4 pole-pairs 0-2 Broadcom Default (Hex) Settings 3-4 0x0B Output Name 0-1 I-width Setting CPR Setting Abs Resolution 11 5 pole-pairs 100 12 pole-pairs 101 30 pole-pairs 110 32 pole-pairs 111 32 pole-pairs 0 90 edeg 1 180 edeg 10 360 edeg 11 90 edeg 0 8192 1 4096 10 2048 11 1024 100 512 101 256 110 128 111 128 AR35 Bit: 00 17 Bit AR35 Bit: 01 21 Bit AR18 Bit: 00 17 Bit AR18 Bit: 01 19 Bit AR18 Bit: 10 21 Bit 8'hC0 8'h3F AR18-AR35-Series-DS100 13 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Customer Reserved Zero Offset and Calibration Registers Table 5: Customer Zero Offset and Calibration Page Address Bit (s) Name Description 0x0E 0x09 0x0A 0x0C 0x0D 0x0E 0x00 0x0B 0x08 0x10 0x19 0x14 0-5 0-7 0-7 0-7 0-7 0-7 2-7 2-7 0-5 1 and 5 7 Customer Configuration 1 Customer Configuration 2 Zero Reset 0 Zero Reset 1 Zero Reset 2 Ext Gain Calibration Mon Calibration Phase Calibration (Config_Sync) Probe and PMUX Calibration and Function ON Safety Nrst User Programmable User Programmable Zero Reset Position [8:1] Zero Reset Position [16:9] Zero Reset Position [24:17] Calibration Calibration Calibration Calibration Calibration Alarm Clear Incremental Output Format Figure 15: ABI Signals Output (based on codewheel direction settings = 0) C A S1 S2 S3 S4 View From TOP (CCW) B I(1/4T) I(1/2T) I(1T) Figure 16: UVW Signals Output (based on codewheel direction settings = 0) Broadcom X Y 2pp 180 30 3pp 120 20 4pp 90 15 5pp 72 12 12pp 30 5 30pp 12 2 32pp 11.25 1.875 AR18-AR35-Series-DS100 14 Miniature Programmable Single-Turn Absolute Encoder with Resolution Ranging from 17 bits to 21 Bits AR18 and AR35 Series Data Sheet Ordering Information Encoder Ordering Information A Avago Absolute R R: ReŇecƟve Y Y - EEncoder d OD A B Encoder coder ResoluƟon R l Ɵ A : ASIC 21 : 21Bits 18 : 18mm 35 : 35mm B X CommunicaƟon mmun Protocol S: SSI 3 Wires E : Encoder Serial Link (RS 485) Calibration Kit   Ordering Part No: A21E-0010 Description: AR18/35 Electronic Calibration Kits Packaging   Encoder Packaging Information (Tray): 60 units per tray Codewheel Packaging Information (Tray): 30 units per tray Broadcom AR18-AR35-Series-DS100 15 Broadcom, the pulse logo, Connecting everything, Avago Technologies, Avago, and the A logo are among the trademarks of Broadcom and/or its affiliates in the United States, certain other countries and/or the EU. Copyright © 2017 by Broadcom. All Rights Reserved. The term “Broadcom” refers to Broadcom Limited and/or its subsidiaries. For more information, please visit www.broadcom.com. Broadcom reserves the right to make changes without further notice to any products or data herein to improve reliability, function, or design. Information furnished by Broadcom is believed to be accurate and reliable. However, Broadcom does not assume any liability arising out of the application or use of this information, nor the application or use of any product or circuit described herein, neither does it convey any license under its patent rights nor the rights of others.