MLX90374GVS-ABC-300-SP

MLX90374 - Triaxis® Position Processor Datasheet Features and Benefits               Triaxis Hall Technology On Chip Signal Processing for Robust Absolute Position Sensing ISO26262 ASIL-C Safety Element out of Context AEC-Q100 Qualified Programmable Measurement Range Programmable Linear Transfer Characteristic (4 or 8 Multi-points or 16 or 32 PWL) PWM Redundant Dual Output SENT and Programmable Switch Dual Output SAE J2716 APR2016 SENT Enhanced serial data communication 48 bits ID Number option Single Die - SOIC-8 Package (RoHS) PCB-less DMP-4 Package (RoHS) Robustness against stray-field SOIC-8 DMP-4 Application Examples         Absolute Rotary Position Sensor Pedal Position Sensor Throttle Position Sensor Ride Height Position Sensor Absolute Linear Position Sensor Steering Wheel Position Sensor Float-Level Sensor Non-Contacting Potentiometer REVISION 4 - 20 MAR 2019 3901090374 Description The MLX90374 is a monolithic magnetic position processor IC. It consists of a Triaxis® Hall magnetic front end, an analog to digital signal conditioner, a DSP for advanced signal processing and a dual output stage driver. The MLX90374 is sensitive to the three components of the magnetic flux density applied to the IC (i.e. Bx, By and Bz). This allows the MLX90374 with the correct magnetic circuit to decode the absolute position of any moving magnet (e.g. rotary position from 0 to 360 Degrees or linear displacement, see fig. 2). It enables the design of non-contacting position sensors that are frequently required for both automotive and industrial applications. The MLX90374 provides either a dual PWM output or a combination of SENT plus a programmable switch function. In dual PWM output mode, the circuit offers a wide panel of configurations from fully redundant signals to individually configurable outputs, including the choice between several error reporting modes. In SENT mode, the circuit delivers enhanced serial messages consisting of error codes, and user-defined values. MLX90374 - Triaxis® Position Processor Datasheet Ordering Information Temp. Package Option Code Packing Form MLX90374 G DC ABB-200 RE Linear position Strayfield Immune MLX90374 G DC ABB-300 RE Angular Rotary / Linear position MLX90374 G VS ABB-200 RE/RX Linear position Strayfield Immune MLX90374 G VS ABB-207 RE/RX Linear position Strayfield Immune MLX90374 G VS ABB-300 RE/RX Angular Rotary / Linear position MLX90374 G VS ABB-307 RE/RX Angular Rotary / Linear position MLX90374 G DC ABC-100 RE Angular Rotary Strayfield Immune MLX90374 G DC ABC-200 RE Linear position Strayfield Immune MLX90374 G DC ABC-300 RE Angular Rotary / Linear position MLX90374 G VS ABC-100 RE/RX Angular Rotary Strayfield Immune MLX90374 G VS ABC-107 RE/RX Angular Rotary Strayfield Immune MLX90374 G VS ABC-200 RE/RX Linear position Strayfield Immune MLX90374 G VS ABC-207 RE/RX Linear position Strayfield Immune MLX90374 G VS ABC-300 RE/RX Angular Rotary / Linear position MLX90374 G VS ABC-307 RE/RX Angular Rotary / Linear position Product Definition Table 1 - Ordering Codes Temperature Code: G: from -40°C to 160°C Package Code: DC : SOIC-8 package (see 17.1) VS : DMP-4 package (PCB-less dual mold, see 17.6) Option Code - Chip revision ABC-123 : Chip Revision  ABB : Not recommended for new designs (1)  ABC : Standard preferred revision (1) Option Code - Application ABC-123 : 1-Application - Magnetic configuration  1: Angular Rotary Strayfield Immune  2: Linear position Strayfield Immune  3: Legacy / Angular Rotary / Linear position ABC is preferred product revision to be selected for new designs. ABB remains in production during the entire product lifecycle but does not include all the features of the ABC revision. 1 REVISION 4 - 20 MAR 2019 3901090374 Page 2 of 77 MLX90374 - Triaxis® Position Processor Datasheet Option Code - SW & DMP-4 configuration ABC-123: 2-SW and DMP-4 package configuration For SOIC-8 (code DC) packages  0: 2x PWM / SENT 3µs mode For DMP-4 (code VS) package (see section 14.2)  0 : 2x PWM / SENT 3 µs mode (C1, C4 = 10nF) Option Code - Trim & Form ABC-123: 3 - DMP-4 Trim & Form configuration  0: Standard straight leads. See section 17.5  7: Trim and Form STD3 2.00 See section 17.6 Packing Form: -RE : Tape & Reel  VS:2500 pcs/reel  DC:3000 pcs/reel -RX : Tape & Reel, similar to RE with parts face-down (VS package only) Ordering Example: MLX90374GVS-ABC-307-RX For a legacy version in DMP-4 package with trim and form STD3 2.00, delivered in Reel face down. Table 2 - Ordering Codes Information REVISION 4 - 20 MAR 2019 3901090374 Page 3 of 77 MLX90374 - Triaxis® Position Processor Datasheet Contents Features and Benefits ............................................................................................................ 1 Application Examples............................................................................................................. 1 Description............................................................................................................................ 1 Ordering Information ............................................................................................................ 2 1. Functional Diagram and Application Modes ........................................................................ 6 2. Glossary of Terms .............................................................................................................. 7 3. Pin Definitions and Descriptions ......................................................................................... 8 3.1. Pin Definition for SOIC-8 package .................................................................................. 8 3.2. Pin Definition for DMP ................................................................................................... 8 4. Absolute Maximum Ratings ................................................................................................ 9 5. General Electrical Specifications ....................................................................................... 10 6. Timing Specification ......................................................................................................... 12 6.1. General Timing Specifications ..................................................................................... 12 6.2. Timing Modes .............................................................................................................. 12 6.3. Timing Definitions ........................................................................................................ 14 6.4. PWM timing specifications .......................................................................................... 16 6.5. SENT timing specifications ........................................................................................... 17 7. Magnetic Field Specifications ........................................................................................... 20 7.1. Rotary Stray-field Immune Mode (-100 code) ............................................................. 20 7.2. Linear Stray-field Immune ........................................................................................... 21 7.3. Standard/Legacy Mode ................................................................................................ 22 8. Accuracy Specifications .................................................................................................... 24 8.1. Definition ..................................................................................................................... 24 8.2. Rotary Stray-field Immune (-100 code) ....................................................................... 25 8.3. Linear Stray-field Immune Mode (-200 code) ............................................................. 26 8.4. Standard/Legacy Mode (-300 code) ............................................................................ 27 9. Memory Specifications..................................................................................................... 28 10. Digital output protocol ................................................................................................... 29 10.1. PWM (pulse width modulation)................................................................................. 29 10.2. Single Edge Nibble Transmission (SENT) SAE J2716 .................................................. 30 11. End-User Programmable Items ....................................................................................... 38 11.1. End User Identification Items .................................................................................... 44 12. Description of End-User Programmable Items ................................................................ 45 REVISION 4 - 20 MAR 2019 3901090374 Page 4 of 77 MLX90374 - Triaxis® Position Processor Datasheet 12.1. Sensor Front-End ....................................................................................................... 45 12.2. Sensor DSP Configuration .......................................................................................... 46 12.3. Selection of Output modes ........................................................................................ 56 12.4. Programmable Diagnostics Settings .......................................................................... 59 13. Functional Safety ........................................................................................................... 62 13.1. Safety Manual ............................................................................................................ 62 13.2. Safety Mechanisms .................................................................................................... 62 14. Recommended Application Diagrams ............................................................................. 66 14.1. Wiring with the MLX90374 in SOIC-8 Package .......................................................... 66 14.2. Wiring with the MLX90374 in DMP-4 Package (built-in capacitors) .......................... 67 15. Standard information regarding manufacturability of Melexis products with different soldering processes ......................................................................................................... 68 16. ESD Precautions ............................................................................................................. 68 17. Package Information ...................................................................................................... 69 17.1. SOIC-8 - Package Dimensions .................................................................................... 69 17.2. SOIC-8 - Pinout and Marking ..................................................................................... 69 17.3. SOIC-8 - Sensitive spot positioning ............................................................................ 70 17.4. SOIC-8 - Angle detection ........................................................................................... 71 17.5. DMP-4 - Package Outline Dimensions (POD) STD1 1.27 ............................................ 72 17.6. DMP-4 - Package Outline Dimensions (POD) STD3 2.00 ............................................ 73 17.7. DMP-4 - Marking ....................................................................................................... 74 17.8. DMP-4 - Sensitive Spot Positioning ........................................................................... 74 17.9. DMP-4 - Angle detection MLX90374 DMP-4 ............................................................. 76 17.10. Packages Thermal Performances ............................................................................. 76 18. Contact ......................................................................................................................... 77 19. Disclaimer ..................................................................................................................... 77 REVISION 4 - 20 MAR 2019 3901090374 Page 5 of 77 MLX90374 - Triaxis® Position Processor Datasheet 1. Functional Diagram and Application Modes fig. 1 - MLX93074 Block diagram Rotary Strayfield Immune Angular Rotary Linear Position fig. 2 - Application Modes REVISION 4 - 20 MAR 2019 3901090374 Page 6 of 77 MLX90374 - Triaxis® Position Processor Datasheet 2. Glossary of Terms Name Description ADC Analog-to-Digital Converter AoU Assumption of Use ASP Analog Signal Processing AWD Absolute Watchdog CPU Central Processing Unit CRC Cyclic Redundancy Check %DC Duty Cycle of the output signal i.e. TON /(TON + TOFF) DMP Dual Mold Package DP Discontinuity Point DCT Diagnostic Cycle Time DSP Digital Signal Processing ECC Error Correcting Code EMA Exponential Moving Average EMC Electro-Magnetic Compatibility EoL End of Line FIR Finite Impulse Response Gauss (G) Alternative unit for the magnetic flux density (10G = 1mT) HW Hardware IMC Integrated Magnetic Concentrator INL / DNL Integral Non-Linearity / Differential Non-Linearity IWD Intelligent Watchdog LSB/MSB Least Significant Bit / Most Significant Bit NC Not Connected NVRAM Non Volatile RAM POR Power On Reset PSF Product Specific Functions PWL Piecewise Linear PWM Pulse Width Modulation RAM Random Access Memory ROM Read-Only Memory SEooC Safety Element out of Context TC Temperature Coefficient (in ppm/°C) Tesla (T) SI derived unit for the magnetic flux density (Vs/m2) Table 3 - Glossary of Terms REVISION 4 - 20 MAR 2019 3901090374 Page 7 of 77 MLX90374 - Triaxis® Position Processor Datasheet 3. Pin Definitions and Descriptions 3.1. Pin Definition for SOIC-8 package Pin # Name Description 1 VDD Supply 2 Input For test or Application 3 OUT2 Second Output 4 Test For test or application 5 OUT1 First Output 6 VSS Digital ground 7 VDEC Decoupling pin 8 VSS Analog ground Table 4 - SOIC-8 Pins definition and description Pins Input and Test are internally grounded in application. For optimal EMC behaviour always connect the unused pins to the electrical ground of the PCB. 3.2. Pin Definition for DMP DMP-4 package adds a dual output PCB-less solution to the Triaxis® product family. Pin # Name Description 1 OUT1 First Output 2 VSS Ground 3 VDD Supply 4 OUT2 Second Output Table 5 - DMP-4 Pins definition and description REVISION 4 - 20 MAR 2019 3901090374 Page 8 of 77 MLX90374 - Triaxis® Position Processor Datasheet 4. Absolute Maximum Ratings Parameter Supply Voltage Reverse Voltage Protection Symbol Max Unit VDD 27 V < 48h ; Tj < 175°C VDD 37 V < 60s ; TAMB < 35°C -14 V < 48h VDD-rev -20 V < 1h V < 48h V < 48h VOUT Reverse Output Voltage VOUT-rev Positive Input pin Voltage VInput Reverse Input pin Voltage VInput-rev Operating Temperature 27 -14 VDEC VDEC-rev Test pin Voltage Condition VDD-rev Positive Output Voltage Internal Voltage Min 3.6 -0.3 V 6 -3 VTEST -0.3 TAMB -40 V V 3.6 VTEST-rev V V V +160 °C +175 °C Junction Temperature TJ Storage Temperature TST -55 +170 °C Magnetic Flux Density Bmax -1 1 T see 17.10 for package thermal dissipation values Table 6 - Absolute maximum ratings Exceeding the absolute maximum ratings may cause permanent damage. Exposure to absolute maximum ratings conditions for extended periods may affect device reliability. REVISION 4 - 20 MAR 2019 3901090374 Page 9 of 77 MLX90374 - Triaxis® Position Processor Datasheet 5. General Electrical Specifications General electrical specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5;5.5] V unless otherwise noted. Electrical Parameter Symbol Min Typ Max Supply Voltage VDD 4.5 5 5.5 V For voltage regulated mode Supply Voltage Battery VDD 6 12 18 V For Battery usage (2) Supply Current IDD 9.0 10.5 12.6 mA Rotary and linear stray field applications (option code -100, 200) Supply Current IDD 8.0 9.0 10.5 mA Legacy applications (option code 300) Surge Current Isurge - 30 40 mA IC Startup current (tstartup < 40µs) Start-up Level VDDstart 3.6 V Minimal supply start-up voltage PTC Entry Level (rising) VPROV0 7.10 7.35 7.70 V Supply overvoltage detection in 5V applications (2) VPROV0Hyst 400 500 600 mV VPROV1 21.5 23.0 24.5 V For Battery usage (2) VPROV1Hyst 0.8 1.4 2.0 V For Battery usage (2) Under voltage detection VDDUVH 3.95 4.10 4.25 V Supply undervoltage high threshold Under voltage detection VDDUVL 3.75 3.90 4.05 V Supply undervoltage low threshold VDEC 3.2 3.3 3.4 V Internal analog voltage Regulated Voltage Overvoltage detection VDECOVH 3.65 3.75 3.85 V High threshold Regulated Voltage Undervoltage detection VDECUVL 2.70 2.85 2.92 V Low threshold Regulated Voltage UV / OV detection hysteresis VDECOVHyst VDECUVHyst 100 150 200 mV VDDD 1.80 1.85 1.95 V Digital supply Overvoltage detection VDDDOVH 2.00 2.10 2.20 V Digital Supply Undervoltage detection VDDDUVL 1.585 1.680 1.735 V Digital Supply OV / UV detection Hysteresis VPORHyst 30 100 200 mV PTC Entry Level Hysteresis PTC Entry Level (rising) PTC Entry Level Hysteresis Regulated Voltage Digital supply Unit Condition Power-on Reset low threshold Table 7 - Supply System Electrical Specifications 2 Selection between 5V or battery applications is done using WARM_ACT_HIGH parameter. See chap.11 REVISION 4 - 20 MAR 2019 3901090374 Page 10 of 77 MLX90374 - Triaxis® Position Processor Datasheet Electrical Parameter Symbol Min Typ Max Unit Condition Output Short Circuit Current( 3) IOUTshortPP -25 8 -10 15 mA mA Push-pull modes (SENT, PWM) VOUT = 0 V VOUT = 5 V .. 18V Ouput Short Circuit Current IOUTshortOD1 10 25 mA VOUT = 5V Output Short Circuit Current IOUTshortOD2 40 90 mA PWM mode Open Drain only (see 12.3.5) RL 3 kΩ PWM pull-up to 5V, PWM pull-down to 0V RL 10 - 55 kΩ SENT pull-up RL 1 - 100 kΩ Open drain pull-up VsatLoPP 0 1 2 5 %VDD RL ≥ 10kΩ RL ≥ 3kΩ, pull-up to 5V VsatHiPP 98 95 99 100 %VDD RL ≥ 10kΩ RL ≥ 3kΩ, pull-down VsatLoOD 0 10 %Vext Pull-up to any external voltage Vext ≤ 18V, IL ≤ 3.4mA Ron 27 100 Ω Output Load Digital push-pull output level Digital open drain output level Digital output Ron 50 Push-pull mode Table 8 - Output Electrical specifications 3 Output current limitation triggers after a typical delay of 3µs. REVISION 4 - 20 MAR 2019 3901090374 Page 11 of 77 MLX90374 - Triaxis® Position Processor Datasheet 6. Timing Specification Timing specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5;5.5] V unless otherwise noted. 6.1. General Timing Specifications Parameter Main Clock Frequency Symbol Min. Typ Max. Unit Condition 22.8 24 25.2 MHz Including thermal and lifetime drift 5 %Fck Relative tolerances, including thermal and lifetime drift FCK -5 Main Clock initial tolerances ΔFCK,0 23.75 24 24.25 MHz T=35°C Main Clock Frequency Thermal Drift ΔFCK,T -2 - 2 %Fck Relative to clock frequency at 35°C. No ageing effects. 1MHz Clock Frequency F1M Intelligent Watchdog Timeout TIWD 19 20 21 ms FCK = 24MHz Absolute Watchdog Timeout TAWD 19 20 21 ms F1M = 1MHz Analog Diagnostics DCT Digital Diagnostics DCT Fail Safe state duration Safe Startup Time DCTANA 1 MHz Meas 17 Tframe SENT Sync. Mode, NangFram=2 34 Tframe SENT Sync. Mode, NangFram=1 20 ms see Table 67, section 13.2 34 17 34 DCTDIG Tangle PWM or SENT Asynchronous mode (6.2.1) 34 TFSS 9.8 28.4 11.0 32.0 11.9 34.6 ms After a digital single-event fault ABC revision ABB revision TSafeStup - 11.2 12.4 ms Only valid for ABC revision (see 6.3.1.2) Table 9 - General Timing Specifications 6.2. Timing Modes The MLX90374 can be configured in two continuous angle acquisition modes described in the following sections. 6.2.1. Continuous Asynchronous Acquisition Mode In this mode, the sensor continuously acquire angle at a fixed rate that is asynchronous with regards to the output. The acquisition rate is defined by the variable T_ADC_SEQ parameter which defines the angle measurement period TangleMeas. This mode is used in PWM and SENT without pause. Even though PWM is periodic, asynchronous mode is better suited and enables complete filtering options for PWM signals that are often slow compared to the sensor internal measurement sequence. REVISION 4 - 20 MAR 2019 3901090374 Page 12 of 77 MLX90374 - Triaxis® Position Processor Datasheet fig. 3 - Continuous Asynchronous Timing Mode Parameter Symbol Angle acquisition time TangleAcq Internal Angle Measurement Period TangleMeas 528 588 - μs Typical is default factory settings (no user control) NTframe 282 - - ticks Do not modify for asynchronous mode (see chap.11, T_FRAME) SENT Frame Tick Count Min. Typ Max. 330 Unit Condition μs Table 10 - Continuous Asynchronous Timing Mode 6.2.2. Continuous Synchronous Acquisition Mode In continuous synchronous timing mode, the sensor acquires angles based on the output frequency. As a consequence, the output should have a fixed frame frequency. This mode is used only with constant SENT frame length (SENT with pause). The length of the SENT frame is defined by the parameter T_FRAME in number of ticks. The user has the choice to select either one or two angle acquisitions and DSP calculations per frame. fig. 4 - Continuous Synchronous Timing Mode REVISION 4 - 20 MAR 2019 3901090374 Page 13 of 77 MLX90374 - Triaxis® Position Processor Datasheet Following table describes the frame length of synchronous acquisition mode with regards to T_FRAME parameter value (see chap. 11). Minimal values represent MLX90374 best achievable performance. Typical values are default or recommended values. Maximal values are limited by the SAE J2716 standard and not displayed in this table. For a chosen timing configuration, one has to consider the main clock relative tolerances listed in Table 9 to get a tolerance on the frame duration. Parameter Symbol SENT Frame Tick Count (Normal SENT) NTframe 310(4) 320 - ticks For tick time of 3μs (Normal SENT) and two angles per frame SENT Frame Tick Count (Normal SENT) NTframe 282(4) 304 5 - ticks For tick time of 3μs (Normal SENT) and one angle per frame SENT Frame Tick Count (Fast SENT) NTframe 320(4) 330 - ticks For tick time of 1.5μs (Fast SENT) and one angle per frame SENT Frame Period (Normal SENT) Tframe 930(4) 960 - μs 3μs tick time with pause and two angles per frame (FCK = 24MHz) SENT Frame Period (Fast) Tframe 480(4) 495 - μs 1.5μs tick time with pause, one angle per frame (FCK = 24MHz) NangFram 1 2 Number of angles per frame Min Typ Max Unit Condition set by TWO_ANGLE_FRAME parameter Table 11 - SENT Synchronous Timing Mode Configuration 6.3. Timing Definitions 6.3.1. Startup Time VDDstart Supply Voltage SENT output Tinit High-Z Tstup Null Frame Null Frame Null Frame Valid Angle Valid Angle Tstup3 Tstup2 Tstup1 Output Ready PWM output High-Z (no drive) First Sync Pulse First Valid Angle fig. 5 - Startup Time Definition Minimal timings are only confirmed to work in a specific configuration and may lead to noise degradation. Melexis recommends typical configuration (factory settings) for safe operation with any end user configuration. 4 5 This timing optimizes the startup time (see Table 14) REVISION 4 - 20 MAR 2019 3901090374 Page 14 of 77 MLX90374 - Triaxis® Position Processor Datasheet 6.3.1.1. Normal Startup A typical startup in SENT consists of two main phases. During the first one, the circuit performs its initialisation until being able to start acquiring angles and transmitting SENT frames. This first phase lasts Tinit milliseconds. After that time, the IC starts transmitting SENT initialisation frames, also called null frames, their content being mainly zeros. During the second phase, the sensor acquires angles until the amplification chain gain settles. The overall startup time Tstup is the time between power up and complete transmission of the first valid angle. 6.3.1.2. Safe Startup When COLD_SAFE_STARTUP_EN is set (see chap.11, End-User Programmable Items), the circuit performs a full diagnostic cycle before starting the transmission of an angle. This sequence lasts TSafeStup milliseconds (see Table 9 - General Timing Specifications). After Tinit, the circuit start sending null SENT frames until the full diagnostic sequence is complete. 6.3.1.3. Startup phase in PWM mode In PWM mode, startup is defined by three values, T stup[1..3]. The first value is reached when the output is ready and starts to drive a voltage. The second value T2 is the start of the first value angle transmission and the third one T3 the moment the first angle has been transmitted. 6.3.2. Latency (average) Latency is the average lag between the movement of the detected object (magnet) and the response of the sensor output. This value is representative of the time constant of the system for regulation calculations. fig. 6 - Definition of Latency 6.3.3. Step Response (worst case) Step response is defined as the delay between a change of position of the magnet and the 100% settling time of the sensor output with full angle accuracy with regards to filtering. Worst case is happening when REVISION 4 - 20 MAR 2019 3901090374 Page 15 of 77 MLX90374 - Triaxis® Position Processor Datasheet the movement of the magnet occurs just after a measurement sequence has begun. Step response therefore consists of the sum of:     δmag,measSeq, the delay between magnetic change and start of next measurement sequence TmeasSeq, the measurement sequence length δmeasSeq,frameStart, the delay between end of measurement sequence and start of next frame Tframe, the frame length For worst case, the measurement sequence length is considered for δmag,measSeq. This gives: TwcStep = 2TmeasSeq + δmeasSeq,frameStart + Tframe Magnetic step (input change) End of SENT/PWM Frame Output response to the magnetic step partial response Complete response Measurement sequence SENT w pause Step Response PWM fig. 7 - Step Response Definition 6.4. PWM timing specifications Parameter Symbol Min Typ Max Unit FPWM 100 1000 2000 Hz PWM Frequency Initial Tolerances ΔFPWM,0 -1.5 1.5 %FPWM PWM Frequency Thermal Drift ΔFPWM,T -2.0 2.0 %FPWM PWM Frequency Drift ΔFPWM -5.0 5.0 %FPWM PWM startup Time (up to output ready) Tstup1 PWM startup Time (up to first sync. Edge) Tstup2 PWM Frequency REVISION 4 - 20 MAR 2019 3901090374 6.60 7.10 7.60 Condition T=35°C, can be trimmed at EOL Over temperature and lifetime ms 16.6 ms Tstup1 + TPWM Page 16 of 77 MLX90374 - Triaxis® Position Processor Datasheet Parameter Symbol Min Typ Max Unit Tstup3 7.60 8.60 26.6 ms Tstup1 + 2* TPWM (6) Rise Time PWM trise 1.0 4.8 12.0 μs Fall Time PWM tfall 1.0 4.8 12.0 μs typ. with SENT_SEL_SR_RISE/FALL = 4 (see 10.2.6). Measured between 1.1V and 3.8V PWM startup Time (up to first data received) Condition Table 12 - PWM timing specifications 6.5. SENT timing specifications Timing specifications are valid for a given configuration of the SENT frame and tick time (see 10.2.9). Parameter Symbol Min Typ Max Unit Condition 1.5 3 6 μs 1.5μs = Fast SENT 3μs = Normal SENT (default) 6μs = Slow SENT - 2.95 3.10 ms Until initialisation frame starts SENT edge rise Time 4.5 6.2 7.5 μs SENT edge fall Time 3.9 4.8 5.2 μs for SENT_SEL_SR_RISE/FALL =4 (see 10.2.6) Tick time SENT startup time (up to first sync pulse) Tinit 691 415 Slow Message cycle length ms Extended sequence ( 40 frames ) Short sequence (24 frames ) Table 13 - SENT General Timing Specifications Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 3μs tick time, 2 angles per SENT frame, T_FRAME = 310 SENT startup time Tstup - 6.48 - ms Until first valid angle received Average Latency Tlatcy - 1.73 2.19 - ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) TwcStep - - 2.98 3.91 ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) Step Response (worst case) For SENT with pause (synchronous), 3μs tick time, 2 angles per SENT frame, T_FRAME = 320 SENT startup time Tstup - 6.60 - ms Until first valid angle received Average Latency Tlatcy - 1.77 2.25 - ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) TwcStep - - 3.12 4.08 ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) Step Response (worst case) 6 First frame transmitted has no synchronization edge; therefore the second frame transmitted is the first complete one. 7 See section 12.2.3 for details concerning Filter parameter REVISION 4 - 20 MAR 2019 3901090374 Page 17 of 77 MLX90374 - Triaxis® Position Processor Datasheet Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 3μs tick time, 1 angle per SENT frame, T_FRAME = 282 SENT startup time Tstup - 6.99 - ms Until first valid angle received Average Latency Tlatcy - 1.33 - ms Filter = 0 (no filter) TwcStep - - 2.32 ms Filter = 0 (no filter) Step Response (worst case) For SENT with pause (synchronous), 3μs tick time, 1 angle per SENT frame, T_FRAME = 304 SENT startup time Tstup - 6.41 - ms Until first valid angle received Average Latency Tlatcy - 1.54 - ms Filter = 0 (no filter) TwcStep - - 2.60 ms Filter = 0 (no filter) Step Response (worst case) Table 14 - Synchronous SENT Mode Timing Specifications for 3us tick time Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 1.5μs tick time, 1 angle per SENT frame, T_FRAME = 320 SENT startup time Average Latency Step Response (worst case) Tstup Tlatcy TwcStep 6.12 6.23 - 0.98 1.15 1.31 - - 1.58 1.89 2.20 - - ms Until first valid angle received ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) For SENT with pause (synchronous), 1.5μs tick time, 1 angle per SENT frame, T_FRAME = 330 SENT startup time Average Latency Step Response (worst case) Tstup Tlatcy TwcStep 6.12 6.23 - 1.05 1.21 1.37 - - 1.63 1.95 2.27 - - ms Until first valid angle received ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) Table 15 - Synchronous SENT Mode Timing Specifications for 1.5us tick time REVISION 4 - 20 MAR 2019 3901090374 Page 18 of 77 MLX90374 - Triaxis® Position Processor Datasheet Parameter Symbol Min Typ Max Unit Condition For SENT without pause (asynchronous), 3μs tick time(8) SENT startup time Average Latency Step Response (worst case) Tstup 6.25 6.42 6.39 6.56 Tlatcy 1.40 1.67 2.20 1.40 1.70 2.30 - - 2.76 3.29 4.35 2.83 3.43 4.63 TwcStep 6.51 6.68 ms Until first valid angle received with SENT_INIT_GM = 1 ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) For SENT without pause (asynchronous), 1.5μs tick time(8) SENT startup time Average Latency Step Response (worst case) Tstup 6.42 6.50 Tlatcy 0.91 1.17 1.70 0.91 1.21 1.81 - - 1.71 2.19 3.15 2.01 2.61 3.81 TwcStep 6.56 ms Until first valid angle received ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (7) Table 16 - Asynchronous SENT Mode Timing Specifications 8 In asynchronous mode, the latency is defined as an average delay with regards to all possible variations. For worst case, refer to step response (worst case) values REVISION 4 - 20 MAR 2019 3901090374 Page 19 of 77 MLX90374 - Triaxis® Position Processor Datasheet 7. Magnetic Field Specifications Magnetic Field specifications are valid for temperature range [-40;160] °C unless otherwise noted. 7.1. Rotary Stray-field Immune Mode (-100 code) Parameter Symbol Min Typ Max - - Unit Condition Number of magnetic poles NP Magnetic Flux Density in XY plane BX, BY ( 10) 25(11) mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 Magnetic Flux Density in Z BZ 100 mT (this is not the useful signal) 1 0 mT mm Magnetic in-plane gradient of in-plane field component Magnet Temperature Coefficient ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 4 ( 9) 3.8 10 TCm -2400 0.075 0.1 0.125 Field too Low Threshold(13) ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 BTH_LOW 0.8 1.2 ( 14) Field too High Threshold(13) BTH_HIGH 70 100(15) 102(15) Field Strength Resolution(12) ppm °C mT mm LSB mT mm mT mm (this is not the useful signal) 2 2 ��𝑑𝑑𝐵𝐵𝑋𝑋 − 𝑑𝑑𝐵𝐵𝑌𝑌 � + �𝑑𝑑𝐵𝐵𝑋𝑋 + 𝑑𝑑𝐵𝐵𝑌𝑌 � 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 2 this is the useful signal (see fig. 8) Magnetic field gradient norm (12bits data) Typ is recommended value to be set by user Typ is recommended value to be set by user Table 17 - Magnetic specification for rotary stray-field immune Nominal performances apply when the useful signal ∆𝐵𝐵𝑋𝑋𝑋𝑋 /∆𝑋𝑋𝑋𝑋 is above the typical specified limit. Under this value, limited performances apply. See 8.2 for accuracy specifications. 9 Due to 4 poles magnet usage, maximum angle measurement range is limited to 180° 10 The condition must be fulfilled for all combinations of Bx and By. 11 Above this limit, the IMC® starts to saturate, yielding to an increase of the linearity error. 12 Only valid with default MAGNET_SREL_T[1..7] configuration 13 Typ. value is set by default for NVRAM rev.9 and shall be set by user for rev.8 (see Table 43, USER_ID1 and Table 42) Higher values of Field too Low threshold are not recommended by Melexis and shall only been set in accordance with the magnetic design and taking a sufficient safety margin to prevent false positive. 14 15 Due to the saturation effect of the IMC, the FieldTooHigh monitor detects only defects in the sensors REVISION 4 - 20 MAR 2019 3901090374 Page 20 of 77 MLX90374 - Triaxis® Position Processor Datasheet Temperature (°C) 160 -40 Limited Performances Nominal Performances Typical magnet characteristics 3.8 5.7 10 ∆B XY  mT    ∆XY  mm  fig. 8 - Minimum useful signal definition for rotary stray-field immune application 7.2. Linear Stray-field Immune (-200 code) Parameter Symbol Min Typ Max 2 - Unit Condition Number of magnetic poles NP Magnetic Flux Density in X BX 80(16) mT BY ≤ 20mT BX, BY ( 17) 70(18) mT BZ 100 mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 , BY >20mT Magnetic Flux Density in X-Y Magnetic Flux Density in Z Magnetic gradient of X-Z field components Distance between the two IMC® ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋 GIMC Magnet Temperature Coefficient TCm ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋 mT mm 6( 19) 1.91 ∆𝑋𝑋 IMC gain Field Strength Resolution(12) 3 Linear movement mm ∆𝐵𝐵𝑍𝑍 2 (20) � 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 ∆𝑋𝑋 ∆𝑋𝑋 1 see chapter 17 for magnetic center definitions see (20) 1.19 -2400 2 ��∆𝐵𝐵𝑋𝑋 � + � 0 0.037 0.05 0.063 Field too Low Threshold(13) BTH_LOW 0.2 1.2 ( 21) Field too High Threshold(13) BTH_HIGH 35 50 51 ppm °C mT Magnetic field gradient norm mm LSB expressed in 12bits words mT mm mT mm Typ is recommended value to be set by user Typ is recommended value to be set by user Table 18 - Magnetic specifications for linear stray-field application 16 Above 80 mT, with BY field in the mentioned limits, the IMC® starts saturating yielding to an increase of the linearity error. 17 The condition must be fulfilled for all combinations of BX and BY. 18 Above 70 mT, the IMC® starts saturating yielding to an increase of the linearity error. 19 Below 6 mT/mm, the performances are degraded due to a reduction of the signal-to-noise ratio, signal-to-offset ratio. IMC has better performance for concentrating in-plane (X-Y) field components, resulting in a better magnetic sensitivity. A correction factor, called IMC gain has to be applied to the Z field component to account for this difference. 20 Higher values of Field too Low threshold are not recommended by Melexis and shall only been set in accordance with the magnetic design and taking a sufficient safety margin to prevent false positive. 21 REVISION 4 - 20 MAR 2019 3901090374 Page 21 of 77 MLX90374 - Triaxis® Position Processor Datasheet Nominal performances apply when the useful signal ∆Bxz/∆X and temperature range are inside the values defined in the following figure (fig. 9). At higher temperature or lower field gradients, the accuracy of MLX90374 is degraded and Limited Performances, described in section 8.3.2, apply. 160 Limited Performances 135 Temperature (°C) Limited Performances Typical magnet characteristics 3 Nominal Performances 6 ∆BXZ  mT    ∆X  mm  -40 fig. 9 - Minimum useful signal definition for linear stray-field immune application 7.3. Standard/Legacy Mode (-300 code) Parameter Symbol Min. Typ. Max. Number of magnetic poles NP - 2 - Magnetic Flux Density in XY plane BX, BY(17) Magnetic Flux Density in Z BZ Useful Magnetic Flux Density Norm Unit Condition 70 mT 100 mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 in absolute value �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 (X-y mode) BNorm 10(22) 20 mT �𝐵𝐵𝑋𝑋2 + � 1 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 2 𝐵𝐵𝑍𝑍 � (X-Z mode) 2 1 𝐵𝐵 � 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 𝑍𝑍 �𝐵𝐵𝑌𝑌2 + � (Y-Z mode) see 12.1.1 for sensing mode description. IMC gain GIMC Magnet Temperature Coefficient TCm 22 1.19 -2400 see 0 23 ppm °C Below 10 mT the performances are degraded due to a reduction of the signal-to-noise ratio, signal-to-offset ratio 23 IMC has better performance for concentrating in-plane (X-Y) field components, resulting in a better overall magnetic sensitivity. A correction factor, called IMC gain has to be applied to the Z field component to account for this difference. REVISION 4 - 20 MAR 2019 3901090374 Page 22 of 77 MLX90374 - Triaxis® Position Processor Datasheet Parameter Symbol Min. Typ. Max. BNorm 0.075 0.100 0.125 Field Too Low Threshold(25) BTH_LOW 0.4 4.0 Field Too High Threshold(25) BTH_HIGH 70 100(27) Field Strength Resolution(24) Unit Condition Magnetic field gradient norm expressed in 12bits words ( 26) mT LSB mT Typ is recommended value to be set by user 100(27) mT Typ is recommended value to be set by user Table 19 - Magnetic specifications for Standard application Nominal performances apply when the useful signal BNorm is above the typical specified limit. Under this value, limited performances apply. See 8.4 for accuracy specifications. 160 Temperature (°C) Limited Performances -40 Nominal Performances Typical magnet characteristic 10 15 20 Norm (mT) fig. 10 - Minimum useful signal definition for Standard/Legacy application 24 Only valid with default MAGNET_SREL_T[1..7] configuration 25 Typ. value is set by default for NVRAM rev.9 and shall be set by user for rev.8 (see Table 43, USER_ID1 and Table 42) Higher values of Field too Low threshold are not recommended by Melexis and shall only been set in accordance with the magnetic design and taking a sufficient safety margin to prevent false positive. 26 27 Due to the saturation effect of the IMC, the FieldTooHigh monitor detects only defects in the sensors REVISION 4 - 20 MAR 2019 3901090374 Page 23 of 77 MLX90374 - Triaxis® Position Processor Datasheet 8. Accuracy Specifications Accuracy specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5 - 5.5] V unless otherwise noted. 8.1. Definition This section defines several parameters, which will be used for the magnetic specifications. rv Cu d ur re lC su ea ea Id M Output (%DC, Deg) ve e 8.1.1. Intrinsic Linearity Error Noise (pk-pk) Intrinsic Linearity Error (LE) ±3σ Input (Deg.) fig. 11 - Sensor accuracy definition Illustration of fig. 11 depicts the intrinsic linearity error in new parts. The Intrinsic Linearity Error refers to the IC itself (offset, sensitivity mismatch, orthogonality) taking into account an ideal magnetic field. Once associated to a practical magnetic construction and the associated mechanical and magnetic tolerances, the output linearity error increases. However, it can be improved with the multi-point end-user calibration (see 12.2.6). As a consequence, this error is not critical in application because it is calibrated away. 8.1.2. Total Angle Drift After calibration, the output angle of the sensor might still change due to temperature change, aging, etc. This is defined as the total drift 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇 : 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇 = max{𝜃𝜃(𝜃𝜃𝐼𝐼𝐼𝐼 , 𝑇𝑇, 𝑡𝑡) − 𝜃𝜃(𝜃𝜃𝐼𝐼𝐼𝐼 , 𝑇𝑇𝑅𝑅𝑅𝑅 , 𝑡𝑡0 )} where 𝜃𝜃𝐼𝐼𝐼𝐼 is the input angle, 𝑇𝑇 is the temperature, 𝑇𝑇𝑅𝑅𝑅𝑅 is the room temperature, and 𝑡𝑡 is the elapsed lifetime after calibration. 𝑡𝑡0 represents the status at the start of the operating life. Note the total drift 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇 is always defined with respect to angle at room temperature. In this datasheet, 𝑇𝑇𝑅𝑅𝑅𝑅 is typically defined at 35°C, unless stated otherwise. The total drift is valid for all angles along the full mechanical stroke. REVISION 4 - 20 MAR 2019 3901090374 Page 24 of 77 MLX90374 - Triaxis® Position Processor Datasheet 8.2. Rotary Stray-field Immune (-100 code) 8.2.1. Nominal Performance Valid before EoL calibration and for all applications under nominal performances conditions described in section 7.1 (fig. 8) and chapter 5. Parameter XY - Intrinsic Linearity Error Symbol Min LE_XY -1 Typ Noise (28) XY - Total Drift (30) Hysteresis Output Stray Field Immunity 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.85 Max Unit 1 Deg. 0.2 0.4 Deg. Filter = 2 Filter = 0 ( 29) 0.85 Deg. Relative to 35°C 0.1 Deg. 0.6 ∂θFF Condition Deg. with 10mT/mm useful gradient field and 4kA/m stray-field (31) Table 20 - Rotary stray-field immune magnetic performances 8.2.2. Limited Performances Valid before EoL calibration and for all applications under limited performances conditions described in section 7.1 (fig. 8) and chapter 5. Parameter XY - Intrinsic Maximum Error Noise Symbol Min LE -1 Typ (28) XY - Total Drift (30) -0.85 Hysteresis 0.1 Max Unit 1 Deg. Condition 0.7 0.5 0.35 Deg. Filter = 0 Filter = 1 Filter = 2 0.85 Deg. Relative to 35°C Deg. Table 21 - Rotary stray-field immune limited magnetic performances 28 ±3σ 29 See section 12.2.3 for details concerning Filter parameter Verification done on new and aged devices in an ideal magnetic field gradient (see 8.1.2). An additional application-specific error arises from the non-ideal magnet and mechanical tolerance drift. 30 31 Tested in accordance with ISO 11452-8:2015, at 30°C, with stray-field strength of 4kA/m from any direction. This error scales linearly with both the useful field and the disturbing field. REVISION 4 - 20 MAR 2019 3901090374 Page 25 of 77 MLX90374 - Triaxis® Position Processor Datasheet 8.3. Linear Stray-field Immune Mode (-200 code) 8.3.1. Nominal Performances Valid before EoL calibration and for all applications under nominal conditions described in section 7.2 (fig. 9) and chapter 5. Parameter Symbol Min Typ Max Unit LE_XZ -2.5 ±1.25 2.5 Deg. 0.10 0.15 - 0.20 0.30 0.25 Deg. Filter = 1, 6mT/mm Filter = 0, 6mT/mm Filter = 0, 6mT/mm, Tmax=125°C 0.8 Deg. Compared to 35°C, 6mT/mm gradient field 0.10 Deg. 0.8 Deg. XZ - Intrinsic Maximum Error Noise (28) XZ - Total Drift (30) Hysteresis Output Stray Field Immunity 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 ∂θFF -0.8 Condition For 6mT/mm gradient field and 4kA/m stray-field (31) Table 22 - Linear stray-field immune magnetic performances 8.3.2. Limited Performances Valid before EoL calibration and for all applications under limited performances conditions described in section 7.2 (fig. 9) and chapter 5. Parameter XZ - Intrinsic Maximum Error Noise Symbol Min Typ Max Unit LE -4 ±2 4 Deg. 0.20 0.25 - 0.40 0.65 0.45 Deg. Filter = 1, 3mT/mm Filter = 0, 3mT/mm Filter = 0, 3mT/mm, Tmax=125°C 1.4 Deg. Compared to 35°C, 3mT/mm 0.25 Deg. 3mT/mm (28) XZ - Total Drift (30) Hysteresis 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -1.4 Condition Table 23 - Linear stray-field immune limited magnetic performances REVISION 4 - 20 MAR 2019 3901090374 Page 26 of 77 MLX90374 - Triaxis® Position Processor Datasheet 8.4. Standard/Legacy Mode (-300 code) 8.4.1. Nominal Performances Valid before EoL calibration and for all applications under nominal conditions described in section 7.3 (fig. 10) and chapter 5. Parameter Symbol Min XY - Intrinsic Linearity Error LE_XY -1 XZ - Intrinsic Linearity Error LE_XZ -2.5 YZ - Intrinsic Linearity Error LE_YZ -2.5 Noise (32) XY - Total Drift (33) XZ - Total Drift (33) YZ - Totla Drift (33) Hysteresis Typ Max Unit Condition 1 Deg. ±1.25 2.5 Deg. ±1.25 2.5 Deg. 0.05 0.1 0.05 0.1 0.2 0.1 Deg. Filter = 0, 40mT Filter = 0, 20mT Filter = 2 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.45 0.45 Deg. Relative to 35°C -0.6 0.6 Deg. Relative to 35°C 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑌𝑌𝑌𝑌 -0.6 0.6 Deg. Relative to 35°C 0.1 Deg. 20mT 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 0.05 Table 24 - Standard Mode Nominal Magnetic Performances 8.4.2. Limited Performances Valid before EoL calibration and for all applications under limited performances conditions described in section 7.3 (fig. 10) and chapter 5. Parameter Symbol Min XY - Intrinsic Linearity Error LE_XY -1 XZ - Intrinsic Linearity Error LE_XZ -2.5 YZ - Intrinsic Linearity Error LE_YZ -2.5 Noise (32) XY - Total Drift (33) XZ - Total Drift (33) YZ - Total Drift (33) Hysteresis Typ Max Unit Condition 1 Deg. ±1.25 2.5 Deg. ±1.25 2.5 Deg. 0.2 0.14 0.1 0.4 0.28 0.2 Deg. Filter = 0 Filter = 1 Filter = 2 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.6 0.6 Deg. Relative to 35°C -0.8 0.8 Deg. Relative to 35°C 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑌𝑌𝑌𝑌 -0.8 0.8 Deg. Relative to 35°C 0.2 Deg. 10mT 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 0.1 Table 25 - Standard Mode Limited Magnetic Performances 32 ±3σ Verification done on new and aged devices in an ideal magnetic field (see 8.1.2). An additional application-specific error arises from the non-ideal magnet and mechanical tolerance drift. 33 REVISION 4 - 20 MAR 2019 3901090374 Page 27 of 77 MLX90374 - Triaxis® Position Processor Datasheet 9. Memory Specifications Parameter Symbol ROM ROMsize 32 kB RAM RAMsize 1024 B NVRAMsize 256 B NVRAM Min Typ Max Unit Note 1 bit parity check (single error detection) 1 bit parity check (single error detection) 6 bits ECC (single error correction, double error detection) Table 26 - Memory Specifications REVISION 4 - 20 MAR 2019 3901090374 Page 28 of 77 MLX90374 - Triaxis® Position Processor Datasheet 10. Digital output protocol 10.1. PWM (pulse width modulation) 10.1.1. Definition %Duty Cycle = TON / TPWM %DC Jitter = JDC = JON / JPWM TPWM Output (V) TON Jitter on TON = JON Jitter on TPWM = JPWM Time (s) fig. 12 - PWM Signal definition Parameter PWM period Rise time, Fall time Jitter Duty Cycle Symbol TPWM trise, tfall JON JPWM DC Test Conditions Trigger level = 50% VDD Between 20% and 80% of VDD, see Table 12 for values ±3σ for 1000 successive acquisitions with clamped output TON / TPWM Table 27 - PWM Signal definition 10.1.2. PWM performances Parameter PWM Output Resolution Symbol Rpwm PWM %DC Jitter JDC PWM Period Jitter Jpwm PWM %DC thermal drift Min - Typ Max Unit Condition 0.024 0.051 %DC/LSB 0.03 %DC Push-Pull, 2kHz, CL=10nF, RLPU =4.7kΩ - 300 ns Push-Pull, 2kHz, CL=10nF, RLPU=4.7kΩ 0.02 0.05 %DC Push-Pull, 2kHz, CL=10nF, RLPU=4.7kΩ 2kHz. Worst case error for 160°C Table 28 - PWM Signal Specifications REVISION 4 - 20 MAR 2019 3901090374 Page 29 of 77 MLX90374 - Triaxis® Position Processor Datasheet 10.2. Single Edge Nibble Transmission (SENT) SAE J2716 The MLX90374 can be configured to provide a digital output signal compliant with SAE J2716 Revised APR2016. 10.2.1. Sensor message definition The MLX90374 repeatedly transmits a sequence of pulses, corresponding with a sequence of nibbles (4 bits), with the following sequence:      Calibration/Synchronization pulse period 56 clock ticks to determine the time base of the SENT frame One 4 bits Status and Serial Communication nibble pulse A sequence of one up to six 4 bits data nibble pulses representing the values of the signal(s) to be transmitted. The number of nibbles will be fixed for each application of the encoding scheme (i.e. Singe Secure sensor format A.3, Throttle positions sensor A.1) One 4 bits Checksum nibble pulse One optional pause pulse See also SAE J2716 APR2016 for general SENT specification. fig. 13 - SENT message encoding example for two 12bits signals REVISION 4 - 20 MAR 2019 3901090374 Page 30 of 77 MLX90374 - Triaxis® Position Processor Datasheet 10.2.2. Sensor message frame contents The MLX90374 SENT transmits a sequence of data nibbles, according to the following configurations: Description Symbol SENT Min SENTrev Clock tick time Typ Max 2010 tickTime 1 3 Number of data nibbles Xdn 3 6 Frame duration (no pause pulse) Npp 154 Frame duration with pause pulse Ppc 282 Sensor type A.1 A.3 320 Unit Description SENT revision. Supports enhanced serial channel messages (2016) 2016 Main use cases : Fast SENT, 1.5µs tick time Normal SENT, 3µs tick time Slow SENT, 6µs tick time (see section 6.5) 12 µs 270 ticks 6 data nibbles 922 ticks Valid for 3µs tick time Dual Throttle Position sensors Single Secure sensors Table 29 - SENT Protocol Frame Definition 10.2.3. Single secure sensor A.3 The MLX90374 SENT transmits a sequence of data nibbles; according single secure sensor format defined in SAE J2716 appendix A.3.The frame contains 12-bit angular value, a 8 bits rolling counter and an inverted copy of the most significant nibble of angular value. This format is activated when SENT_SS bit is set to 1 (see Table 42, #137) SM [1:0] S [1:0] Ch 1 [11:8] Ch 1 [7:4] 12 bit angle data Ch 1 [3:0] COUNT [7:4] COUNT [3:0] ~Ch 1 [11:8] CRC 8 bit rolling counter fig. 14 - A.3 Single Secure Sensor Frame Format Shorthand Description Tick time Data nibbles Pause Pulse Serial message Data format SENT2010-03.0us-6dn-ppc(366.0)-esp-A.3 3 us 6 Y Enhanced A.3 SENT2010-03.0us-6dn-ppc(366.0)-nsp-A.3 3 us 6 Y None A.3 SENT2010-03.0us-6dn-npp-nsp-A.3 3 us 6 N None A.3 SENT2010-##-#us-#dn-###()-###-A.3 1..12 6 Y/N En/None A.3 Table 30 - A.3 Single Secure Sensor Shorthand examples REVISION 4 - 20 MAR 2019 3901090374 Page 31 of 77 MLX90374 - Triaxis® Position Processor Datasheet 10.2.4. Dual Throttle position sensor A.1 The MLX90374 SENT transmits a sequence of data nibbles; according dual throttle positions sensor defined in SAE J2716 appendix A.1.The frame contains two 12-bit angular values. SM [1:0] S [1:0] Ch 1 [7:4] Ch 1 [11:8] Ch 1 [3:0] Ch2 [3:0] Ch2 [7:4] 12 bit angle data Ch2 [11:8] CRC 12 bit angle data fig. 15 - A.1 Dual Throttle Position Sensor Frame Format Shorthand Description Tick time Data nibbles Pause Pulse Serial message Data format SENT2010-03.0us-6dn-ppc(366.0)-esp-A.1 3 us 6 Y Enhanced A.1 SENT2010-03.0us-6dn-ppc(366.0)-nsp-A.1 3 us 6 Y None A.1 SENT2010-03.0us-6dn-npp-nsp-A.1 3 us 6 N None A.1 SENT2010-##-#us-#dn-###()-###-A.1 1..12 6 Y/N En/None A.1 Table 31 - A.1 Dual Throttle Position Sensor Shorthand Examples Second fast channel configuration: SENT_FAST_CHANNEL_2 CH2 configuration (ABB revision) CH2 configuration (ABC revision) 0 Temperature sensor (SP ID 0x23) Temperature sensor (SP ID 0x23) 1 0xFF9(d4089) - CH1 Second Output (see 12.3) 2 RAM data (RAMPROBE_PTR) RAM data (RAMPROBE_PTR) 3 0xFFF(d4095) - CH1 0xFFF(d4095) - CH1 Table 32 - A.1 Dual Throttle Position Sensor Fast Channel 2 configuration 10.2.5. Start-up behaviour The circuit will start to send initialisation frames once digital start-up is done but angle measurement initialisation sequence is not yet complete. These initialisation frames content can be chosen by user with the following option: SENT_INIT_GM Initialisation frame value Comments 0 0x000 SAE compliant 1 0xFFF OEM requirement Table 33 - Initialisation Frame Content Definition REVISION 4 - 20 MAR 2019 3901090374 Page 32 of 77 MLX90374 - Triaxis® Position Processor Datasheet 10.2.6. SENT Output Timing configuration SENT_TICK_TIME Tick time configuration Description 0 3 µs Standard SENT 1 0.5 µs Not recommended 2 1 µs Not recommended 3 1.5 µs Fast SENT 4 2.0 µs Not recommended 5 2.5 µs Not recommended 6 6 µs Slow SENT 7 12 µs Not recommended Table 34 - SENT Tick Time Configuration SENT_SEL_SR_FALL Fall time (Tfall) SENT_SEL_SR_RISE Rise Time (Trise) 0 No slew rate control 0 No slew rate control 1 0.7 µs 1 0.9 µs 2 1.2 µs 2 1.6 µs 3 1.9 µs 3 3.0 µs 4 4.8 µs 4 6.2 µs 5 9.6 µs 5 12 µs 6 19 µs 6 24 µs 7 24 µs 7 30 µs Table 35 - SENT Rise and Fall Times Configuration 3.8V 1.1V Tfall SENT_SLOPE_TRIM[3..0] Trise SENT_SLOPE_TRIM[7..4] fig. 16 - SENT Rise and Fall Times configuration REVISION 4 - 20 MAR 2019 3901090374 Page 33 of 77 MLX90374 - Triaxis® Position Processor Datasheet NIBBLE_PULSE_CONFIG High/low time configuration 2 Fixed low time (5 ticks) 3 Fixed high time (6 ticks)(34) Table 36 - SENT Nibble configuration (high/low times) 10.2.7. Serial message channel (slow channel) Serial data is transmitted serial in bit number 3 and 2 of the status and communication nibble. A serial message frame stretches over 18 consecutive SENT data messages from the transmitter. All 18 frames must be successfully received (no errors, calibration pulse variation, data nibble CRC error, etc.) for the serial value to be received. Enhanced format with 12-bits data and 8-bits message ID is used (SAE J2716 APR2016 5.2.4.2, fig. 5.2.4.22). According to the standard, SM[0] contains a 6bits CRC followed by a 12-bits data. Message content is defined by a 8-bit message ID transmitted in the SM[1] channel. Correspondence between ID and message content is defined in the tables below (Table 37, Table 38 and Table 39). SM [1:0] S [1:0] Status Nibble = Ch 1 [11:8] 2 bit serial message 2 bit status fig. 17 - SENT Status Nibble and Serial Message By default, the short sequence consisting of a cycle of 24 data is transmitted (Table 37). An extended sequence can be used through configuration of SENT_SLOW_EXTENDED (Table 38). Additionally, the norm of the B field detected by the sensor can be returned at the end of the sequence by setting SENT_SLOW_BFIELD (Table 39). # 8bit ID Item Source data 1 0x01 Diagnostic error code Current status code from RAM 2 0x06 SENT standard revision SENT_REV from NVRAM 3 0x01 Diagnostic error code Current status code from RAM 4 0x05 Manufacturer code SENT_MAN_CODE from NVRAM 5 0x01 Diagnostic error code Current status code from RAM 6 0x03 Channel 1 / 2 Sensor type SENT_SENSOR_TYPE from NVRAM 7 0x01 Diagnostic error code Current status code from RAM 8 0x07 Fast channel 1: X1 SENT_CHANNEL_X1 from NVRAM 9 0x01 Diagnostic error code Current status code from RAM 34 When using fixed high time in normal SENT mode, Melexis recommends lowering SENT_SEL_SR_RISE to 3 or setting ABE_OUT_MODE to 2 to two to avoid potential timing degradation on short nibbles. REVISION 4 - 20 MAR 2019 3901090374 Page 34 of 77 MLX90374 - Triaxis® Position Processor Datasheet # 8bit ID Item Source data 10 0x08 Fast channel 1: X2 SENT_CHANNEL_X2 from NVRAM 11 0x01 Diagnostic error code Current status code from RAM 12 0x09 Fast channel 1: Y1 SENT_CHANNEL_Y1 from NVRAM 13 0x01 Diagnostic error code Current status code from RAM 14 0x0A Fast channel 1: Y2 SENT_CHANNEL_Y2 from NVRAM 15 0x01 Diagnostic error code Current status code from RAM 16 0x23 (Internal) temperature Current temperature from RAM 17 0x01 Diagnostic error code Current status code from RAM 18 0x29 Sensor ID #1 SENT_SENSOR_ID1 from NVRAM 19 0x01 Diagnostic error code Current status code from RAM 20 0x2A Sensor ID #2 SENT_SENSOR_ID2 from NVRAM 21 0x01 Diagnostic error code Current status code from RAM 22 0x2B Sensor ID #3 SENT_SENSOR_ID3 from NVRAM 23 0x01 Diagnostic error code Current status code from RAM 24 0x2C Sensor ID #4 SENT_SENSOR_ID4 from NVRAM Table 37 - SENT Slow Channel Standard Data Sequence # 8bit ID Item Source data 25 0x01 Diagnostic error code Current status code from RAM 26 0x90 OEM Code #1 SENT_OEM_CODE1 from NVRAM 27 0x01 Diagnostic error code Current status code from RAM 28 0x91 OEM Code #2 SENT_OEM_CODE2 from NVRAM 29 0x01 Diagnostic error code Current status code from RAM 30 0x92 OEM Code #3 SENT_OEM_CODE3 from NVRAM 31 0x01 Diagnostic error code Current status code from RAM 32 0x93 OEM Code #4 SENT_OEM_CODE4 from NVRAM 33 0x01 Diagnostic error code Current status code from RAM 34 0x94 OEM Code #5 SENT_OEM_CODE5 from NVRAM 35 0x01 Diagnostic error code Current status code from RAM 36 0x95 OEM Code #5 SENT_OEM_CODE6 from NVRAM 37 0x01 Diagnostic error code Current status code from RAM 38 0x96 OEM Code #5 SENT_OEM_CODE7 from NVRAM 39 0x01 Diagnostic error code Current status code from RAM 40 0x97 OEM Code #8 SENT_OEM_CODE8 from NVRAM Table 38 - SENT Slow Channel Extended Data Sequence REVISION 4 - 20 MAR 2019 3901090374 Page 35 of 77 MLX90374 - Triaxis® Position Processor Datasheet # 8bit ID Item source data 25 0x80 Field Strength Bfield_norm from RAM (standard sequence) 41 0x80 Field Strength Bfield_norm from RAM (extended sequence) Table 39 - SENT Slow Channel Magnetic Field Norm ID and position For Field Strength encoding, see chapter 7, Magnetic Field Specifications, under the section corresponding to the selected application. 10.2.8. Serial Message Error Code The list of error and status messages transmitted in the 12-bit Serial Message data field when Serial Message 8-bit ID is 0x01, is given in the Table 40. The error is one-hot encoded and therefore each bit is linked to one or several monitor. Only the first error detected is reported and serial message error code will not be updated until all the errors have disappeared. This mechanism ensures only one error at a time takes control of the error debouncing counter (see 12.4.2). The MSB acts as an error Flag when SENT_DIAG_STRICT is set. This bit will be high only when an error is present. For compatibility with previous Triaxis®, this bit can be kept high even if no error is present (SENT_DIAG_STRICT = 0). Bit Nb 12 Bit Data (hex) Diagnostic Comments - 0x000 / 0x800 No error Programmable (SENT_DIAG_STRICT, see Table 42, no 151) 0 0x801 GainOOS Gain out of spec (see GAIN_MIN, GAIN_MAX) 1 0x802 FieldTooLow Fieldstrength below defined low threshold (see Table 42, no 103) 2 0x804 FieldTooHigh Fieldstrength above defined high threshold (see Table 42, no 104) 3 0x808 ADCclip ADC is saturated, either low or high 4 0x810 ADC_test ADC wrong conversion 5 0x820 Analog Supply Monitors Detects VDDA (VDEC) over and under voltage or VDD under voltage 6 0x840 Digital Supply Monitors Detects VDDD (1.8V internal digital supply) overvoltage 7 0x880 RoughOffset Hall Element offset monitor 8 0x900 Over/Under Temp Temperature sensor monitor (see 12.4.3) 9 0xA00 HE_Bias / Analog Front End Hall Element biasing issue / Analog front end self-test ( 35) 35 Only available on MLX90374 ABC version (not on ABB) REVISION 4 - 20 MAR 2019 3901090374 Page 36 of 77 MLX90374 - Triaxis® Position Processor Datasheet Bit Nb 12 Bit Data (hex) Diagnostic Comments 10 0xC00 Suply Bias Current Current biasing system monitor 11 0x800 Extra Error Flag set to one if any error present (only when SENT_DIAG_STRICT = 1). Otherwise, always high. Table 40 - SENT Serial Message Error Code 10.2.9. SENT configuration shorthand definition Shorthand description SENT SAE J2716 Rev Clock Tick length [μs] Number of data Nibbles Pause Pulse Option Format Req 90374 programmable setting SENT xxxx 2007 2008 2010 2016 CRC_2007 0 > 2007 1 2007 0.5 5 V) 0 1 WARM_TRIGGER_LONG 174 Add delay to enter PTC mode (MT7V) 0 1 Magnet Relative sensitivity at temperature Tx (36) 255 8 SENSOR FRONT-END MAGNET_SREL_T[1..7] 7..13 GAINMIN 14 Low threshold for virtual gain 01 8 GAINMAX 15 High threshold for virtual gain 63 8 GAINSATURATION 26 Gain Saturates on GAINMIX and GAINMAX 0 1 Mapping fields for output angle SENSING_MODE 18 Rotary stray field Immune -- order code 100 0 Linear position stray field Immune -- order code 200 4 Linear position / Angular Rotary -- order code 300 DSP_NB_CONV(37) 19 EN_USER_FE_TRIMMING 125 B_OFS_1 B_OFS_2 Number of phase spinning within ADC sequence 3 1-3 0(37) 2 Enable Additional Virtual Offset 0 1 161 Virtual Offset on component B1 (Warning! if used overwrites USERID[2] and USERID[3]) 0 16 163 Virtual Offset on component B2 (Warning! if used overwrites USERID[4] and USERID[5]) 0 16 0=4 phase spinning DSP – FILTERING FILTER 21 Filter mode selection 1 2 HYST 16 Hysteresis threshold for EMA (IIR) filter 0 8 DENOISING_FILTER_ALPHA_SEL 95 Select the alpha parameter of the EMA (IIR) filter 0 2 DSP – ANGLE MAPPING FUNCTIONS CW 20 Set rotation to clockwise 0 1 DP 27 Discontinuity point 0 16 WORK_RANGE_GAIN 217 Re-scaling before the piece-wise linearization step 16 8 0 3 0 1 WORKING_RANGE 23 4POINTS 22 17, 32pts - Output angle range (= limited selection of WORK_RANGE_GAIN) Select LNR method 4 pts This parameter is mainly intended to be used in Linear Hall mode (no IMC) or with Virtual Offset. It is strongly recommended to keep default values. 36 37 Changing default value could impact the safety metrics. Default value shall be used. REVISION 4 - 20 MAR 2019 3901090374 Page 38 of 77 MLX90374 - Triaxis® Position Processor Datasheet PSF value Parameter Description Default Values Standard #bits Enable a double resolution LNR method DSP_LNR_RESX2 94 0: 4-points or 16-segments 0 1 1 1 1: 8-points or 32-segments GAIN_ANCHOR_MID 225 re-scaling before the piece-wise linearization step LNRS0, LNRAS.. LNRDS 4pts –Slope for reference points A, B, C, D N/A 16 LNRAX, LNRBX.. LNRDX 4pts - X Coordinate for reference points A, B, C, D N/A 16 LNRAY, LNRBY.. LNRDY 4pts - Y Coordinate for reference points A, B, C, D N/A 16 LNRY0..Y16 17 pts - Y coordinate point 0..16 1-4088 16 LNRX0..X7 8 pts - X coordinate point 0..7 N/A 16 0..255 8 0 2 1 1 LNR_DELTA_Y01..Y32 LNR_DELTA_Y_EXPAND_LOG2 192.. 223 97 Delta Y for 32-segment linearization Adjust the span of LNR_DELTA_Yn parameters Enables the output scaling function (x2) USEROPTION_SCALING 24 0 = [0..100%] 1 = [-50..150%] CLAMPLOW 87 Low clamping value of angle data 3277 16 CLAMPHIGH 88 High clamping value of angle data 62259 16 1 1 CLAMP2_EN (38) 244 Enable specific OUT2 clamping (38) 241 Specific low clamping value for OUT2 data 3277 16 CLAMPHIGHOUT2 (38) 242 Specific high clamping value for OUT2 data 62259 16 (38) 245 Relative angle working range between both outputs 61440 16 OUT2OFFSET (38) 247 Relative angle reference between both outputs 8191 1 OUTSLOPE_SEL(38) 246 Select temperature-dependent offset (see 12.2.8) 0 2 OUTSLOPE_COLD(38) 253 Slope coefficient at cold of the programmable temperature-dependent offset (signed value) 0 8 OUTSLOPE_HOT(38) 254 Slope coefficient at Hot of the programmable temperature-dependent offset (signed value) 0 8 8(37) 8 CLAMPLOWOUT2 OUT2SLOPERATIO DIAGNOSTICS DIAG_TEMP_THR_LOW(37) 101 Temperature threshold for under-temperature diagnostic DIAG_TEMP_THR_HIGH(37) 102 Temperature threshold for over-temperature diagnostic 136(37) 8 103 Field limit under which a fault is reported. On revision ABB, need to be programmed by user to be active. Each LSB of this threshold corresponds to 4 LSB of the field strength. ( 39) 8 DIAG_FIELDTOOLOWTHRES 38 Only available on ABC revision 39 Default value depends on application and IC revision. See chapter 7 tables for more information. REVISION 4 - 20 MAR 2019 3901090374 Page 39 of 77 MLX90374 - Triaxis® Position Processor Datasheet PSF value Parameter Default Values Description Standard #bits DIAG_FIELDTOOHIGHTHRES 104 Field limit over which a fault is reported. Each LSB of this threshold corresponds to 4 LSB of the field strength. PWM WEAKMAGTHRESH 105 DIAGDEBOUNCE_STEPDOWN 255 8 Weak Magnet threshold Byte (PWM only) 0 8 107 Diagnostic debouncing stepdown time 1 4 DIAGDEBOUNCE_STEPUP 108 Diagnostic debouncing step-up time 2 4 DIAGDEBOUNCE_THRESH 110 Diagnostic debouncing threshold 2 6 DIAG_EN(37) 111 Diagnostics global enable. Do not modify! (see 13.2 Safety Mechanisms) 1(37) 1 COLD_SAFE_STARTUP_EN 112 Normal (0) or full safe (1) start-up after power-on reset (see 6.3.1) 0 1 OUT_DIAG_HIZ_TIME 177 Duration of output High-Z after transient digital fault, do not modify! - 3 1 2 0 2 OUTPUT CONFIGURATION PROTOCOL 114 Select digital output communication mode 0 = SENT without pause pulse 1 = PWM (default) 2 = SENT with pause Diagnostic reporting mode for dual PWM signals PWM_OUT_MODE (38) 251 OUT1 OUT2 0 Fault Duty Cycle 1-Fault Duty Cycle 1 Angle Value 1-Fault Duty Cycle 2 Fault Duty Cycle OUT2 Angle Value When OUT2 is in Kickdown mode, OUT1 always reports the fault Duty Cycle PWM2_EN 115 Enables the second PWM Output 1 1 OUT_ALWAYS_HIGHZ 119 Forces primary output (SENT/PWM) to high-Z mode 0 1 TWO_ANGLES_FRAME 138 Enable 2 angle measurements per period in synchronous mode (SENT w/ pause pulse) 1 1 2 2 250 12 21(37) 12 0 2 4 3 SENT nibble high/low-time configuration NIBBLE_PULSE_CONFIG 233 2 = Fixed 5 ticks low 3 = Fixed 6 ticks high T_FRAME 147 SENT Frame Tick Count / PWM period (4μs/LSB). ! Has impact on the analog diagnostics DCT (see Table 9 General Timing Specifications) T_SYNC_DELAY(37) 150 SENT - ADC synchronization delay Output physical configuration 00: SENT mode = digital push-pull ABE_OUT_MODE 175 01: SENT mode = open-drain 10: PWM mode = digital fast push-pull 11: PWM open-drain SENT_SEL_SR_FALL REVISION 4 - 20 MAR 2019 3901090374 255 SENT/PWM slope fall time configuration (see Table 35) Page 40 of 77 MLX90374 - Triaxis® Position Processor Datasheet PSF value Parameter Description Default Values Standard #bits SENT_SEL_SR_RISE 256 SENT/PWM slope rise time configuration (see Table 35) 4 3 ABE_OUT_CFG 176 Output pin configuration, do not modify! 0 2 ROUT_LOW 178 Option for output pull-up resistor 0: > 200 Ohms 1: < 200 Ohms 1 1 SWITCH FUNCTIONS KICKDOWN_EN 190 Enable the switch function on OUT2 (ABB version) 0 1 KICKDOWN_EN (38) 190 Switch configuration for ABC revision 0 = no switch function 1 = Switch1 on Test output 2 = Switch1 on OUT2 3 = Switch1 on OUT2, Switch2 on Test output 0 2 KICKDOWN_POL 189 0: Normal polarity (kickdown=1 if input>threshold) 1: Inverted polarity (kickdown=1 if input