MLX90377GDC-ADB-310-RE

MLX90377 - Triaxis® Position Sensor IC Datasheet Features and Benefits            Triaxis® Hall Technology On Chip Signal Processing for Robust Absolute Position Sensing Programmable Measurement Range Programmable Linear Transfer Characteristic (4 or 8 Multi-points or 16 or 32 Piece-WiseLinear) Selectable (fast) SENT, PWM, SPC or Ratiometric Analog Output modes SAE J2716 APR2016 SENT ISO26262 ASIL-C capable for (fast) SENT, PWM, SPC Output modes, and ASIL-B capable for analog output mode, Safety Element out of Context Enhanced serial data communication 48 bit ID Number option Single Die - SOIC-8, DMP-4, SMP-3, and Dual Die (Full Redundant) - TSSOP-16 package RoHS Compliant Robustness against stray-field SOIC-8 TSSOP-16       Ride Height Position Sensor Steering Wheel Position Sensor Float-Level Sensor Non-Contacting Potentiometer Small Angle Position Sensor Small Stroke Position Sensor Description The MLX90377 is a monolithic magnetic position sensor IC. It consists of a Triaxis® Hall magnetic front end, an analog to digital signal conditioner, a DSP for advanced signal processing and an output stage driver. The MLX90377 is sensitive to the three components of the magnetic flux density applied to the IC (i.e. Bx, By and Bz). This allows the MLX90377 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 Figure 2). It enables the design of non-contacting position sensors that are frequently required for both automotive and industrial applications. The MLX90377 provides 4 output modes. Firstly, the IC supports (fast) SENT and SPC frames encoded according to a Secure Sensor format. The output delivers enhanced serial messages providing error codes, and user-defined values. Through programming, the MLX90377 can also be configured to output a PWM (Pulse Width Modulated) signal. Finally, analog ratiometric output is also supported. VDD INPUT DMP-4 SMP-3 Rev. Pol & Overvolt Prot. Ext. Signal    Absolute Rotary or Linear Position Sensor Pedal Position Sensor Throttle Position Sensor REVISION 003 – December 22, 2021 3901090377 Analog Regulator Digital Regulator PWM Meas. DSP Tria xis® VX VY VZ G MUX Temp Sensor Application Examples VDEC ADC RAM NVRAM Output Stage 12 bit SENT 12 bit SPC µC OUT 12 bit Analog 12 bit PWM ROM - Firmware VSS Page 1 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Ordering Information Temperature Package Option Code Packing Form MLX90377 G DC ADB-300 RE Standard/Legacy Mode, Analog/PWM output, Low Power Mode MLX90377 G DC ADB-310 RE Standard/Legacy Mode, Analog/PWM output, High Speed Mode MLX90377 G DC ADB-330 RE Standard / Legacy Mode, SENT output MLX90377 G DC ADB-380 RE Standard / Legacy Mode, SPC output MLX90377 G GO ADB-210 RE Linear Stray-Field Immune Mode, Analog/PWM output, High Speed Mode MLX90377 G GO ADB-230 RE Linear Stray-Field Immune Mode, SENT output MLX90377 G GO ADB-280 RE Linear Stray-Field Immune Mode, SPC output MLX90377 G GO ADB-300 RE Standard/Legacy Mode, Analog/PWM output, Low Power Mode MLX90377 G GO ADB-310 RE Standard/Legacy Mode, Analog/PWM output, High Speed Mode MLX90377 G GO ADB-330 RE Standard / Legacy Mode, SENT output MLX90377 G GO ADB-380 RE Standard / Legacy Mode, SPC output MLX90377 G GO ADB-510 RE Rotary Stray-Field Immune Mode, Analog/PWM output, High Speed Mode MLX90377 G GO ADB-530 RE Rotary Stray-Field Immune Mode (High Field variant), SENT output MLX90377 G VS ADB-300 RE/RX Standard/Legacy Mode, Analog/PWM output, Low Power Mode MLX90377 G VS ADB-303 RE/RX Standard/Legacy Mode, Analog/PWM output, Low Power Mode MLX90377 G VS ADB-308 RE/RX Standard/Legacy Mode, Analog/PWM output, Low Power Mode MLX90377 G VS ADB-310 RE/RX Standard/Legacy Mode, Analog/PWM output, High Speed Mode MLX90377 G VS ADB-313 RE/RX Standard/Legacy Mode, Analog/PWM output, High Speed Mode MLX90377 G VS ADB-318 RE/RX Standard/Legacy Mode, Analog/PWM output, High Speed Mode MLX90377 G VS ADB-330 RE/RX Standard / Legacy Mode, SENT output Product REVISION 003 – December 22, 2021 3901090377 Definition Page 2 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Temperature Package Option Code Packing Form Definition MLX90377 G VS ADB-333 RE/RX Standard / Legacy Mode, SENT output MLX90377 G VS ADB-338 RE/RX Standard / Legacy Mode, SENT output MLX90377 G VE ADB-110 RE/RX Rotary Stray-Field Immune Mode (Low Field variant), Analog/PWM output, High Speed Mode MLX90377 G VE ADB-210 RE/RX Linear Stray-Field Immune Mode, Analog/PWM output, High Speed Mode MLX90377 G VE ADB-230 RE/RX Linear Stray-Field Immune Mode, SENT output MLX90377 G VE ADB-300 RE/RX Standard/Legacy Mode, Analog/PWM output, Low Power Mode MLX90377 G VE ADB-310 RE/RX Standard/Legacy Mode, Analog/PWM output, High Speed Mode MLX90377 G VE ADB-330 RE/RX Standard / Legacy Mode, SENT output MLX90377 G VE ADB-510 RE/RX Rotary Stray-Field Immune Mode (High Field variant), Analog/PWM output, High Speed Mode Product Table 1 - Ordering Codes REVISION 003 – December 22, 2021 3901090377 Page 3 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Temperature Code: G: -40°C to 160°C Package Code: DC: SOIC-8 package (see 19.1) GO: TSSOP-16 package (see 19.2) VS: DMP-4 package (PCB-less dual mold, see 19.3) VE: SMP-3 package (PCB-less single mold, see 19.4) Option Code - Chip revision ADB-123: Chip Revision  ADB : Standard revision Option Code - Application ADB-123: 1-Application - Magnetic configuration  1: Angular Rotary Strayfield Immune - Low field Variant  2: Linear position Strayfield Immune  3: Legacy / Angular Rotary / Linear position  5: Angular Rotary Strayfield Immune - High field Variant Option Code - SW configuration: output mode, protocol ADB-123: 2-SW configuration: output mode, protocol  0: Analog/PWM output mode, low power mode  1: Analog/PWM output mode, high speed mode  3. SENT output mode, 3μs tick time  8: SPC output mode, 1.5μs tick time Important: Product must be ordered by the option code corresponding to the desired output protocol. The output protocols are not interchangeable by reprograming at the end-user. Option Code - DMP-4 Trim & Form configuration ADB-123: 3-DMP-4 Trim & Form configuration  0: Standard straight leads. See section 19.3.1  3: Trim and Form STD2 2.54. See section 19.3.2  8: Trim and Form STD4 2.54. See section 19.3.3 Packing Form: -RE : Tape & Reel  VS:2500 pcs/reel  VE:2500 pcs/reel  DC:3000 pcs/reel  GO:4500 pcs/reel -RX : Tape & Reel, similar to RE with parts face-down (VS and VE package) Ordering Example: MLX90377GDC-ADB-300-RE For a legacy version in SOIC-8 package, low-power analog output, delivered in Reel of 3000pcs. Table 2 - Ordering Codes Information REVISION 003 – December 22, 2021 3901090377 Page 4 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Contents Features and Benefits ............................................................................................................ 1 Application Examples............................................................................................................. 1 Description............................................................................................................................ 1 Ordering Information ............................................................................................................ 2 1. Functional Diagram and Application Modes ........................................................................ 7 2. Glossary of Terms .............................................................................................................. 8 3. Pin Definitions and Descriptions ......................................................................................... 9 3.1. Pin Definition for SOIC-8 package .................................................................................. 9 3.2. Pin Definition for TSSOP-16 Dual-Die package ............................................................ 10 3.3. Pin Definition for DMP-4 package ............................................................................... 10 3.4. Pin Definition for SMP-3 package ................................................................................ 11 4. Absolute Maximum Ratings .............................................................................................. 12 5. Isolation Specification ...................................................................................................... 12 6. General Electrical Specifications ....................................................................................... 13 7. Timing Specifications ....................................................................................................... 15 7.1. General Timing Specifications ..................................................................................... 15 7.2. Timing Definitions ........................................................................................................ 15 7.3. Analog output timing specifications ............................................................................ 17 7.4. PWM output timing specifications .............................................................................. 18 7.5. SENT output timing specifications ............................................................................... 19 7.6. SPC Timing Specifications ............................................................................................ 21 8. Magnetic Field Specifications ........................................................................................... 23 8.1. Rotary Stray-field Immune Mode – Low Field Variant (-1xx code) .............................. 23 8.2. Linear Stray-field Immune Mode (-2xx code) .............................................................. 24 8.3. Standard/Legacy Mode (-3xx code) ............................................................................. 25 8.4. Rotary Stray-field Immune Mode - High Field Variant (-5xx code) .............................. 26 9. Accuracy Specifications .................................................................................................... 27 9.1. Definitions ................................................................................................................... 27 9.2. Rotary Stray-field Immune Mode – Low Field Variant (-1xx code) .............................. 28 9.3. Linear Stray-field Immune Mode (-2xx Code) .............................................................. 29 9.4. Standard/Legacy Mode (-3xx Code)............................................................................. 30 9.5. Rotary Stray-field Immune Mode – High Field Variant (-5xx Code) ............................. 31 REVISION 003 – December 22, 2021 3901090377 Page 5 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 10. Memory Specifications ................................................................................................... 31 11. Output Accuracy and Protocol ........................................................................................ 32 11.1. Analog Output ........................................................................................................... 32 11.2. PWM (Pulse Width Modulation) Output ................................................................... 32 11.3. SENT (Single Edge Nibble Transmission) Output ....................................................... 33 11.4. SPC (Short PWM Code) Output.................................................................................. 41 12. End User Programmable Items ....................................................................................... 50 13. End User Identification Items ......................................................................................... 58 14. Description of End-User Programmable Items ................................................................ 59 14.1. Output Modes ........................................................................................................... 59 14.2. Output Transfer Characteristic .................................................................................. 62 14.3. Sensor Front-End ....................................................................................................... 70 14.4. Filtering...................................................................................................................... 71 14.5. Programmable Diagnostics Settings .......................................................................... 73 15. Functional Safety ........................................................................................................... 75 15.1. Safety Manual ............................................................................................................ 75 15.2. Safety Mechanisms .................................................................................................... 75 15.3. Fault Handling Time Interval...................................................................................... 79 16. Recommended Application Diagrams ............................................................................. 81 16.1. Wiring with the MLX90377 in SOIC-8 Package .......................................................... 81 16.2. Wiring with the MLX90377 in TSSOP-16 Package ...................................................... 82 16.3. Wiring with the MLX90377 in DMP-4 Package (built-in capacitors) .......................... 83 16.4. Wiring with the MLX90377 in SMP-3 Package (built-in capacitors) .......................... 84 17. Standard Information Regarding Manufacturability of Melexis Products with Different Soldering Processes ........................................................................................................ 85 18. ESD Precautions ............................................................................................................. 85 19. Package Information ...................................................................................................... 86 19.1. SOIC-8 Package .......................................................................................................... 86 19.2. TSSOP-16 Package ..................................................................................................... 89 19.3. DMP-4 - Package........................................................................................................ 92 19.4. SMP-3 - Package ........................................................................................................ 97 19.5. Packages Thermal Performances ............................................................................. 101 20. Contact ....................................................................................................................... 102 21. Disclaimer ................................................................................................................... 102 REVISION 003 – December 22, 2021 3901090377 Page 6 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 1. Functional Diagram and Application Modes VDD INPUT Rev. Pol & Overvolt Prot. Ext. Signal VDEC Analog Regulator Digital Regulator PWM Meas. DSP Tria xis® VX VY VZ G MUX Temp Sensor ADC RAM Output Stage NVRAM 12 bit SENT 12 bit SPC µC OUT 12 bit Analog 12 bit PWM ROM - Firmware VSS Figure 1 - MLX90377 Block diagram Rotary Stray-field Immune Angular Rotary Linear Motion Figure 2 - Application Modes REVISION 003 – December 22, 2021 3901090377 Page 7 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 2. Glossary of Terms Name Description Name Description ADC Analog-to-Digital Converter RAM Random Access Memory AoU Assumption of Use ROM Read-Only Memory ASP Analog Signal Processing SPC Short PWM Code AWD Absolute WatchDog SCN Status & Communication Nibble CPU Central Processing Unit SEooC Safety Element out of Context CRC Cyclic Redundancy Check DC Duty Cycle of the output signal i.e. TON /(TON + TOFF) TC Temperature ppm/°C) DMP Dual Mould Package Tesla (T) SI derived unit for the magnetic flux density (Vs/m2) DP Discontinuity Point DSP Digital Signal Processing DTI Diagnostic Test Interval ECC Error Correcting Code EMA Exponential Moving Average EMC Electro-Magnetic Compatibility EoL End of Line FIR Finite Impulse Response FHTI Fault Handling Time Interval 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 LNR LiNeaRization 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 REVISION 003 – December 22, 2021 3901090377 Coefficient (in Table 3 - Glossary of Terms Page 8 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 3. Pin Definitions and Descriptions 3.1. Pin Definition for SOIC-8 package Pin # Name Description 1 VDD Supply 2 Input For Melexis test or External Measurement 3 Test For Melexis test 4 N.C. Not connected 5 OUT Output 6 N.C. Not connected 7 VDEC Decoupling pin 8 VSS Ground Table 4 - SOIC-8 Pin definitions and descriptions For optimal EMC behavior, it is recommended to connect the unused pins (N.C. and Test) to the Ground. REVISION 003 – December 22, 2021 3901090377 Page 9 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 3.2. Pin Definition for TSSOP-16 Dual-Die package Pin # Name Description 1 VDEC1 Decoupling pin die1 2 VSS1 Ground die1 3 VDD1 Supply die1 4 Input1 For Melexis test or External Measurement 5 Test2 For Melexis test 6 OUT2 Output die2 7 N.C. Not connected 8 N.C. Not connected 9 VDEC2 Decoupling pin die2 10 VSS2 Ground die2 11 VDD2 Supply die2 12 Input2 For Melexis test or External Measurement 13 Test1 For Melexis test 14 N.C. Not connected 15 OUT1 Output die1 16 N.C. Not connected Table 5 - TSSOP-16 Pin definitions and descriptions For optimal EMC behavior, it is recommended to connect the unused pins (N.C. and Test) to the Ground. 3.3. Pin Definition for DMP-4 package DMP-4 package offers a pin to pin compatibility with the previous generation of Triaxis® products. Pin # Name Description 1 VSS Ground 2 VDD Supply 3 OUT Output 4 VSS Ground Table 6 - DMP-4 Pin definitions and descriptions REVISION 003 – December 22, 2021 3901090377 Page 10 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 3.4. Pin Definition for SMP-3 package b TEST a INPUT 2 1 OUT VDD 3 VSS Figure 3 – Pins definition for SMP-3 Package Pin # Name Description 1 VDD Supply 2 OUT Output 3 VSS Ground a INPUT Test b TEST Test Table 7 - SMP-3 Pins definition and description REVISION 003 – December 22, 2021 3901090377 Page 11 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 4. Absolute Maximum Ratings Parameter Symbol Supply Voltage( 1) Min Typ Max Unit 28 37 V < 48h < 60s V < 48h < 1h V < 48h V < 48h < 1h VDD Reverse Voltage Protection(1) -14 -18 VDD-rev Positive Output Voltage(1) VOUT Reverse Output Voltage(1) VOUT-rev Internal Voltage 28 -14 -18 VDEC 3.6 VDEC-rev VInput Reverse Input pin Voltage VInput-rev -3 TAMB -40 Operating Temperature V -0.3 Positive Input pin Voltage Condition V 6 V V +160 °C +175 °C Junction Temperature TJ Storage Temperature TST -55 +170 °C Magnetic Flux Density Bmax -1 1 T Table 8 - Absolute maximum ratings Exceeding any of the absolute maximum ratings may cause permanent damage. Exposure to absolute maximum ratings conditions for extended periods may affect device reliability. The values in Table 8 are valid for a single die, and will degrade when simultaneously applied to multiple dice in the same package. 5. Isolation Specification Only valid for the TSSOP-16 package (code GO, i.e. dual die version). Parameter Isolation Resistance Symbol Min Typ Max Unit Condition Risol 4 - - MΩ Between dice, measured between VSS1 and VSS2 with +/-20V bias Table 9 - Isolation specification 1 Valid for full operating temperature range. REVISION 003 – December 22, 2021 3901090377 Page 12 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 6. 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 Unit VDD 4.5 5 5.5 V Powered by regulated supply VDD 6 12 18 V Powered by vehicle battery (2) Supply Current for Legacy / Angular Rotary IDD 8 10 8 9 11 9 11 13.5 11.5 mA -30x code -31x, -38x code -33x code Supply Current for Strayfield Immune IDD 12 9 13.5 11.5 15 13 mA -21x, -28x, -51x code -23x, -53x code VDDstartH 3.95 4.1 4.25 V VDDstartHyst - 200 - mV VPROV0( 3) 6.3 6.55 6.8 V Powered by regulated supply VPROV1 21.5 23 24.5 V Powered by vehicle battery (2) VPROV0Hyst 400 500 600 mV IOUTshort -35 10 -10 35 mA Vout = 0 V Vout = 5 V or 18V kΩ Analog pull-up/pull-down 100 kΩ PWM push-pull, pull-up to 5V, PWM push-pull, pull-down to 0V Supply Voltage Start-up Level (rising) Start-up Hysteresis PTC Entry Level (rising) PTC Entry Level Hysteresis Output Short Circuit Current 5 10 5 Output Load Digital open drain output level 2 RL Condition 10 - 55 kΩ SENT push-pull, pull-up (4) 3 - 55 kΩ SPC push-pull and improved emission modes (4) 1 - 100 kΩ Open drain pull-up/pull-down (4) VsatLoOd 0 10 %Vext Pull-up to any external voltage Vext ≤ 18V, IL ≤ 3.4mA VsatHiOd 90 100 %Vext Pull-down to GND with any supply voltage VDD ≤ 18V, IL ≤ 3.4mA The battery mode is exclusively for the PWM protocol Programming through Connector (PTC) requires raising supply voltage above Vprov0 or Vprov1. This is customer configurable by setting a bit in the NVRAM 4 Output resistance should be selected together with the output capacitive load to correspondingly match the application, i.e. tick time, SPC ID, to allow appropriate time window for the trigger pulse reception. More details see sections 11.3.5 and 11.4.3. 3 REVISION 003 – December 22, 2021 3901090377 Page 13 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Electrical Parameter Digital open drain output leakage(5) Symbol Min Typ Max Unit 400 µA Vext ≤ 18V, 4.5V ≤ VDD ≤ 5.5V, with a pull-up resistor 100 µA Vvdd = Vext, with a pull-up resistor 150 µA with a pull-down resistor 50 130 Ω Push-pull mode 0.5( 6) 3.3(6) 1.2( 7) 7.4(7) %VDD Pull-up load RL ≥ 10 kΩ to 5 V Pull-up load RL ≥ 5 kΩ to 18 V %VDD Pull-down load RL ≥ 10 kΩ Pull-down load RL ≥ 5 kΩ IleakpuOd IleakpdOd Digital output Ron Analog Saturation Output Level Digital Output Level Ron VsatA_lo VsatA_hi Passive Diagnostic Output Level for Broken VSS (BrokenWire Detection) (8) Passive Diagnostic Output Level for Broken VDD (BrokenWire Detection) (8) Leakage current in fail-safe (HiZ) state (9) 97(7) 95(7) 99(6) 98(6) 0.2(7) 0.5(7) VsatD_lopp VsatD_hipp Active Diagnostic Output Level 27 VDD -0.2(7) VDD -0.5(7) 0.5(6) 3.3(6) Diag_lo Diag_hi 97(7) 95(7) BVSSPU 99.5 BVDDPD BVDDPU Ileak_HiZ 99(6) 98(6) 2.5 1 BVSSPD 4 1.6 100 0 92.5 97 1.2(7) 7.4(7) 0.5 97.5 99 10(10) 20(10) Condition V Pull-up load RL ≥ 10 kΩ Pull-up load 10 kΩ > RL ≥ 5 kΩ V Pull-down load RL ≥ 10 kΩ Pull-down load 10 kΩ > RL ≥ 5 kΩ %VDD Pull-up load RL ≥ 10 kΩ to 5 V Pull-up load RL ≥ 5 kΩ to 18 V %VDD Pull-down load RL ≥ 10 kΩ Pull-down load RL ≥ 5 kΩ %VDD Pull-down load RL ≤ 25 kΩ Pull-down load RL ≤ 10 kΩ %VDD Pull-up load RL ≥ 5 kΩ %VDD Pull-down load RL ≥ 5 kΩ %VDD Pull-up load RL ≤ 25 kΩ Pull-up load RL ≤ 10 kΩ µA Pull-up at output(11) Table 10 – Electrical Specifications The digital output level is thereby defined by the external voltage and pull-up or pull-down resistor. at 27Deg.C and 5V supply voltage with typical process parameters at 160Deg.C and 4.5V supply voltage with worst case (6 sigma) process parameters Valid for dual-die configuration as well, i.e. TSSOP-16 package, where the two dies have the same supply and ground level, while the output of one die is connected with PU and the output of the other one is connected with PD. 9 In the case of open-drain mode, see the parameters I leakpuOd /I leakpdOd . 10 As the leakage current significantly increases at high temperature, the typical value is at 35Deg.C, and the maximum value is at 160Deg.C. 11 The worst case scenario for the leakage occurs when the output is pulled up. The leakage current will be ~30 times smaller if the output is pulled down. REVISION 003 – December 22, 2021 Page 14 of 102 5 6 7 8 3901090377 MLX90377 Triaxis® Position Sensor IC Datasheet 7. Timing Specifications Timing specifications are valid for temperature range [-40; 160] °C and supply voltage range [4.5; 5.5] V unless otherwise noted. 7.1. General Timing Specifications Parameter Symbol Min. Typ Max. Unit Condition FCK 11.4 22.8 12 24 12.6 25.2 MHz -23x, -30x, -33x, -53x code -21x, -28x, -31x, -38x, -51x code Main Clock initial tolerances at room temperature ΔFCK,0 11.75 23.5 12 24 12.25 24.5 MHz -23x, -30x, -33x, -53x code -21x, -28x, -31x, -38x, -51x code Main Clock Frequency Thermal Drift ΔFCK,T -2.5 - 2.5 %Fck Relative to 35°C ΔFCK, TOT -3.5 - 3.5 %Fck Relative tolerances, including thermal and lifetime drift, after factory trimming at Melexis Main Clock Frequency (12) Main Clock Frequency Total Drift 1MHz Clock Frequency F1M 1 MHz Table 11 - General Timing Specifications 7.2. Timing Definitions 7.2.1. Startup Time In analog mode, the startup time is the time between the power on cycle and the time the first valid angle transmitted on the output. During startup, the sensor output is in High-Z state, and the driver is only enabled when the sensor is able to transmit a valid output. In SPC mode, the startup time is the time when the device is able to receive the 1st trigger pulse with valid angle information. Prior to it, there is a programmable SPC-SCN_INIT parameter (see Table 49 in chapter 12) to report an error in the status and communication nibble (SCN, see section 11.4.5.3). In SENT mode, the startup time consists of two values. The first one, Tinit, is the time needed for the circuit to be ready to start acquiring an angle. In SENT mode, at that time, the IC starts transmitting initialisation frames. The second value, Tstup, is the time when the first valid angle is transmitted. 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. 12 Including thermal and lifetime drift REVISION 003 – December 22, 2021 3901090377 Page 15 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet VDDstartH Supply Voltage SENT output Tinit Tstup High-Z Null Frame Null Frame Null Frame Valid Angle Valid Angle Tstupspc SPC output SPC_SCN_INIT Null Frame High-Z SPC_SCN_INIT Null Frame High-Z Valid trigger p ulse High-Z Valid trigger p ulse Valid Angle Valid trigger p ulse Tstu p3 Tstu p2 Tstu p1 Outpu t Ready PWM output Hig h-Z (no drive) First Syn c Pu lse First Va lid An gle Figure 4 - Startup Time Definition 7.2.2. Latency (average) angle/position Latency is the average lag between the movement of the detected object (magnet) and the response of the sensor output, as shown in Figure 5, where theta_ECU(t) is sampled as the beginning of the synchronization pulse. This value is representative of the time constant of the system for regulation calculations. theta_magnet(t) theta_ECU(t) τL time Figure 5 - Definition of Latency 7.2.3. Step Response (worst case) The step response is a suitable metric for the "delay" of the sensor in case of an abrupt step in the magnetic change, considering 100% settling time without any DSP filter. Full settling is typically achieved in just two REVISION 003 – December 22, 2021 3901090377 Page 16 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet steps. The sensor is asynchronous with the magnetic step change: the 100% settling time will fall in a time window; worst case is illustrated in the figure below. Magnetic step (input change) Output refresh 100% of the target 50% of the target Output response to the magnetic step Internal processing Step Response Figure 6 - Step Response Definition 7.3. Analog output timing specifications For the analog output configurations, specifications are valid for the operational temperature range, and the supply voltage defined in section 6. 7.3.1. High Speed Mode (-21x, -31x, -51x code) For the High Speed Mode, the timing specifications are listed in Table 12. Parameter Symbol Min Typ Max Unit Output refresh period τR 190 200 210 μs Latency τL 140 μs no external load Step response τS 380 μs no external load Start-up time τSU 3.2 ms Slew Rate SR 120 200 V/ms Analog Diagnostics Cycle DTIANA 7.2 ms see Table 73, section 15.3 Digital Diagnostics Cycle DTIDIG 6.1 ms see Table 73, section 15.3 13.3 ms Safe startup Time(13)(14) Condition capacitive load at output is 100nF capacitive load at output is 10nF Table 12 - Analog General Timing Specifications for High Speed Mode 13 Fully programmable depending on the power/magnetic/output mode. Time between reset due to digital fault to first valid data transmission. Min. value defined by OUT_DIAG_HIZ_TIME (see Table 42 in chapter 12 for details). 14 REVISION 003 – December 22, 2021 3901090377 Page 17 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 7.3.2. Low Power Mode (-30x code) For the Standard/Legacy Mode, the timing specifications are listed in Table 13: Parameter Symbol Min Typ Max Unit Output refresh period τR 380 400 420 μs Latency τL 300 μs no external load Step response τS 680 μs no external load Start-up time τSU 4.2 ms Slew Rate SR 120 200 V/ms Analog Diagnostics Cycle DTIANA 15 ms see Table 73, section 15.3 Digital Diagnostics Cycle DTIDIG 9.8 ms see Table 73, section 15.3 21.7 ms 4 Safe startup Time(13)(14) Condition capacitive load at output is 100nF capacitive load at output is 10nF Table 13 - Analog General Timing Specifications for the Standard/Legacy Low Power Mode 7.4. PWM output timing specifications The factory calibrated parts with order code –x0x and –x1x default to ratiometric analog output, the end user must reprogram the part to use the PWM output. Details can be found in Table 39. The Table 14 below shows the timing specifications for PWM output. Parameter Symbol Min Typ Max Unit Internal angle measurement period (-x0x code) τR 380 400 420 μs Internal angle measurement period (-x1x code) τR 190 200 210 μs FPWM 100 2000 Hz PWM Frequency Initial Tolerances ΔFPWM,0 -2 2 %FPWM PWM Frequency Thermal Drift ΔFPWM,T -2.5 2.5 %FPWM PWM Frequency Drift ΔFPWM -5.0 5.0 %FPWM PWM startup Time (up to output ready) ( 15) Tstup1 3.2 ms PWM startup Time (up to first sync. Edge) (15) Tstup2 4.2 ms PWM Frequency Condition Details see section 14.1.4 T=35°C, can be trimmed at EOL Over temperature and lifetime Tstup1 + TPWM, FPWM =1kHz Typical value specified according to the typical PWM frequency. Max. value can be obtained by scaling with the PWM frequency drift accordingly. 15 REVISION 003 – December 22, 2021 3901090377 Page 18 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Parameter Symbol Min Typ PWM startup Time (up to first data received) (15) Tstup3 5.2 Rise Time PWM push-pull mode( 17) Trise_pp 3.1 Tfall_pp 2.6 Fall Time PWM push-pull mode (17) Fall Time PWM NMOS opendrain mode (17) (18) Max Tfall_od Unit Condition ms Tstup1 + 2* TPWM, FPWM =1kHz ( 16) 5.0 μs VDD in the range of [4.5V, 5.5V] 4.5 μs VDD in the range of [4.5V, 5.5V] 200 μs VDD=4.5V, Vpull-up = 18V, RL = 10kΩ (19) Table 14 - PWM timing specifications with order code 7.5. SENT output timing specifications The general SENT timing specifications are listed in Table 15. Parameter Symbol Tick time(20) Min Typ Max Unit 3 6 μs SENT edge rise Time Trise 12.5 18 μs SENT edge fall Time Tfall 5.3 6.5 μs Slow Message cycle length (3μs tick time) 791 475 ms Condition 3μs = Normal SENT (default) 6μs = Slow SENT between 1.1V and 3.8V for 3μs tick time Extended sequence (40 frames) Short sequence (24 frames) Table 15 - SENT General Timing Specifications 7.5.1. Standard/Legacy Mode (-x3x code) 7.5.1.1. Continuous Synchronous Acquisition Mode For the SENT output protocol in the Standard/Legacy Mode, MLX90377 with the default factory calibration operates with constant SENT frame length (SENT with pause), where a constant latency and step response time is guaranteed. The length of the SENT frame is defined by the parameter T_FRAME in number of ticks (see Table 49). The sensor is configured in continuous synchronous timing mode, acquires angles based on the output frequency, and the sensor output has a fixed frame frequency. The detailed default setting of the SENT protocol for order code -33x is as follows: 16 First frame transmitted has no synchronization edge; Therefore the second frame transmitted is the first complete one. 17 10nF capacitive load, calculated between 10%-90% voltage level. 18 Rise time in PWM NMOS open-drain mode is not specified as it depends on external components and the pull-up voltage. Vpull-up stands for the external pull up voltage. The worst-case scenario for this parameter is in the NMOS open-drain mode, where there is the maximal voltage difference between V pull-up and VDD. Furthermore, this parameter highly depends on the Vpullup, the capacitive and resistive load at the output. The rise/fall time should be adjusted accordingly, with a different V pull-up value and RC time constant resulting from the output load. 19 20 The device also supports SENT formats with other tick time, see Table 31. REVISION 003 – December 22, 2021 3901090377 Page 19 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet       Protocol: SENT with pause Tick time: 3μs/tick SENT format: A.3 (H.4) Number of conversions per SENT frame: 2 ADC clock frequency: 3MHz DSP linearization: 16 points The corresponding timing specifications are listed in Table 16. Parameter Symbol Min SENT frame tick count NTframe 320 (21)(22) Output refresh period τR SENT startup time Average Latency Typ Max Unit Condition ticks 0.96 ms Tstup 6.4 Tlatcy 1.7 1.9 2.5 2.24 2.71 3.62 ms Until first valid angle received ms Filter = 0 (no filter) (23) Filter = 1 (FIR11), default setting Filter = 2 (FIR1111) 3.0 3.5 4.4 ms Filter = 0 (no filter) (23) Filter = 1 (FIR11), default setting Filter = 2 (FIR1111) Step Response (worst case) TwcStep Analog Diagnostics Cycle DTIANA 10.4 ms see Table 73, section 15.3 Digital Diagnostics Cycle DTIDIG 8.5 ms see Table 73, section 15.3 12.1 ms Safe startup Time(13)(14) Table 16 - Synchronous SENT Mode Timing Specifications 7.5.1.2. Continuous Asynchronous Acquisition Mode Optionally to the default factory setting of the -x3x code, the MLX90377 can be configured to operate with variable SENT frame length (SENT without pause), where latency and step response is dependent on the transmitted data. The length of the SENT frame is defined by the data content. The sensor is configured in the continuous asynchronous acquisition mode and periodically acquires a magnetic measurement asynchronously to the SENT transmission. When configured in the continuous asynchronous acquisition mode, the detailed default setting of the SENT protocol for order code -x3x is as follows:  Protocol: SENT without pause  Tick time: 3μs/tick  SENT format: A.3 (H.4)  ADC clock frequency: 3MHz  DSP linearization: 16 points 21 Defines the typical Output refresh period (SENT Frame Period). If the sensor is configured from the default factory setting of -33x code to have 1 conversion per SENT frame, the minimum tick count is 282. 22 See section 14.4 for details concerning Filter parameter. It is an option to improve the speed, but will degrade noise performance (see section 9.4) by a factor of 1.4. 23 REVISION 003 – December 22, 2021 3901090377 Page 20 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet The corresponding timing specifications are listed in Table 17. Parameter Symbol Min Typ Max Unit τR 475 500 525 μs Asynchronously to the output protocol Tstup 5.9 ms Until first valid angle received Tlatcy 1.8 2 2.5 ms Filter = 0 (no filter) (23) Filter = 1 (FIR11), default setting Filter = 2 (FIR1111) Step Response (worst case) TwcStep 2.2 2.8 3.7 ms Filter = 0 (no filter) (23) Filter = 1 (FIR11), default setting Filter = 2 (FIR1111) Analog Diagnostics Cycle DTIANA 11 ms see Table 73, section 15.3 Digital Diagnostics Cycle DTIDIG 8.8 ms see Table 73, section 15.3 18 ms Internal angle measurement period SENT startup time Average Latency Safe startup Time(13) (14) Condition Table 17 - Synchronous SENT Mode Timing Specifications 7.6. SPC Timing Specifications In SPC mode, the MLX90377 starts data acquisition once the trigger pulse has been received, regardless of the configured mode. It will send the acquired data in the same SENT frame. This feature is available for any tick time greater than or equal to 1.5µs. Please check the section 11.4 for more details on the configuration options. TSENT_frame=203 ticks (304µs@1.5µs/tick) 90 ticks SENT transmission 56 ticks Depending on ID idle Fast channel 1 (12b) sync Master Trigger Pulse data transmitted reflects the magnetic measurements & DSP calculation done inside the same SENT frame TASP ACK TDSP DSP 146 ticks (219 µs) Figure 7 – SPC timing illustration in 1.5μs tick time mode and H.2 format REVISION 003 – December 22, 2021 3901090377 Page 21 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Parameter Symbol Min Typ Max Unit Time between trigger received & acquisition started Ttr2acq 10 µs Startup time Tstupspc 3.9 ms Tlatcy 450 µs TwcStep 1 ms Latency Step Response (25) Jitter between the acquisition Jacq Inter-die synchronicity (26) 8.45 9.08 5 µs 9.71 µs Analog Diagnostics Cycle (27) DTIANA 9 SPC triggers Digital Diagnostics Cycle (27) DTIDIG 9 SPC triggers Condition Tick: 1.5 µs SPC_RX_FILT_TIME ( 24): 6 SPC_TRIG_TH: 0 Table 18 - SPC Mode Timing Specifications SPC trigger SENT frame OUT line Magnetic sensing Worst case magnetic step SPC trigger SENT frame ADC ADC Worst case step response time 100% target Worst case transmitted position Best case magnetic step Best case step response time 100% target Best case transmitted position Figure 8 – Illustration of the best and worst case step response in SPC mode SPC_RX_FILT_TIME is the parameter for the SPC trigger pulse filtering. Its unit is tick time. It must be aligned with the longest NIBBLE low time on the bus, in order to separate SENT pulses from SPC trigger pulses (NIBBLE_PULSE_FIXED[]). 25 The worst-case step response time is specified, which is equal to twice a SPC trigger plus its SENT response time, when the field change happens right after the trigger pulse, see Figure 8. It is then 1 ms if the SPC trigger period is 0.5 ms. 26 The absolute time difference of the magnetic information acquisition between the two dice in bus transmission mode, see section 11.4, based on 1.5 µs tick time 27 Diagnostics response time, detailed description see section 15.2, Table 71, e.g. with 500µs ECU frame time, the max. value is 4.5ms 24 REVISION 003 – December 22, 2021 3901090377 Page 22 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 8. Magnetic Field Specifications Magnetic field specifications are valid for temperature range [-40; 160] °C unless otherwise noted. 8.1. Rotary Stray-field Immune Mode – Low Field Variant (-1xx code) Parameter Symbol Min NP 4( 28) Number of magnetic poles Magnetic Flux Density in X-Y plane Typ Max - Unit Condition �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 this is not the useful signal - BX, BY ( 29) 25(30) mT BZ 100 mT Magnetic Flux Density in Z Magnetic in-plane gradient of in-plane field component ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 Magnet Temperature Coefficient 3.8 mT mm 10 TCm -2400 0.075 0.100 0.125 Field too Low Threshold ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 BTH_LOW 0.8 1.2 ( 32) Field too High Threshold (33) BTH_HIGH 70 100 102 Field Strength Resolution (31) 0 ppm °C this is not the useful signal 1 ��𝑑𝑑𝐵𝐵𝑋𝑋 𝑑𝑑𝑑𝑑 2 − 𝑑𝑑𝐵𝐵𝑌𝑌 2 � 𝑑𝑑𝑑𝑑 𝑑𝑑𝐵𝐵𝑋𝑋 𝑑𝑑𝑑𝑑 +� this is the useful signal + 𝑑𝑑𝐵𝐵𝑌𝑌 2 � 𝑑𝑑𝑑𝑑 mT Magnetic field gradient norm mm LSB (12bits data) mT mm mT mm Typ is recommended value to be set by user (see 14.5.4) Table 19 - Magnetic specification for rotary stray-field immune- low field variant Temperature (°C) 160 -40 Nominal Performances Limited Performances Typical magnet characteristics 3.8 5.7 10 ∆B XY  mT    ∆XY  mm  Figure 9 - Minimum useful signal definition for rotary stray-field immune application-low field variant Due to 4 poles magnet usage, maximum angle measurement range is limited to 180° The condition must be fulfilled for all combinations of BX and BY. Above this limit, the IMC® starts to saturate, yielding to an increase of the linearity error. Only valid with default MAGNET_SREL_T[1..7] configuration 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 33 Due to the saturation effect of the IMC, the FieldTooHigh monitor detects only defects in the sensor. REVISION 003 – December 22, 2021 Page 23 of 102 28 29 30 31 32 3901090377 MLX90377 Triaxis® Position Sensor IC Datasheet Nominal performances apply when the useful signal ∆𝐵𝐵𝑋𝑋𝑋𝑋 /∆𝑋𝑋𝑋𝑋 is above the typical specified limit. Under this value, limited performances apply. See section 9.2 for accuracy specifications. 8.2. Linear Stray-field Immune Mode (-2xx code) Parameter Symbol Min Typ Max 2 - Unit Condition Number of magnetic poles NP Magnetic Flux Density in X BX 80(30) mT BY ≤ 20mT BX, BY(29) 70(30) 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 ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋 Distance between the two IMC® 3 Linear movement mT mm 6( 34) 1.91 ∆𝑋𝑋 IMC gain GIMC Magnet Temperature Coefficient TCm -2400 0.037 0.05 0.063 Field too Low Threshold ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋 BTH_LOW 0.2 1.2 (32) Field too High Threshold (33) BTH_HIGH 35 50 51 Field Strength Resolution (31) 1.19 ∆𝐵𝐵𝑋𝑋 2 � ∆𝑋𝑋 �� ∆𝐵𝐵𝑍𝑍 2 ( 35) � 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 ∆𝑋𝑋 +� 1 See chapter 19 for magnetic center definitions See (35) 0 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 (see 14.5.4) Table 20 - Magnetic specifications for linear stray-field application Nominal performances apply when the useful signal ∆Bxz/∆x and temperature ranges are inside the values defined in the following Figure 10. At higher temperature or lower field gradients, the accuracy of MLX90377 is degraded and Limited Performances apply, as described in Table 24 in section 9.3. 160 Limited Performances -40 Typical magnet characteristics Limited Performances Temperature (°C) 135 3 Nominal Performances 6 ∆BXZ ∆X  mT     mm  Figure 10 – Minimum useful signal definition for linear stray-field immune application 34 Below this value, the performances are degraded due to a reduction of the signal-to-noise ratio, signal-to-offset ratio. 35 IMC has better performance for concentrating in-plane (x-y) field components, resulting in a better magnetic sensitivity. correction factor, called IMC gain has to be applied to the z field component to account for this difference. REVISION 003 – December 22, 2021 3901090377 A Page 24 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 8.3. Standard/Legacy Mode (-3xx code) Parameter Symbol Min. Typ. Max. NP - 2 - Number of magnetic poles Magnetic Flux Density in X-Y plane Unit Condition �𝐵𝐵𝑥𝑥2 + 𝐵𝐵𝑦𝑦2 Bx, By(29) 70(30) mT Bz 100 mT Magnetic Flux Density in Z in absolute value �𝐵𝐵𝑥𝑥 2 + 𝐵𝐵𝑦𝑦 2 (x-y mode) Useful Magnetic Flux Density Norm BNorm 10(34) 20 mT �𝐵𝐵𝑥𝑥 2 + � 1 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 �𝐵𝐵𝑦𝑦 2 + � 1 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 2 𝐵𝐵𝑧𝑧 � (x-z mode) 2 𝐵𝐵𝑧𝑧 � (y-z mode) see 14.3.1 for sensing mode description. IMC gain GIMC 1.19 see (35) Magnet Temperature Coefficient TCm -2400 Field Strength Resolution(31) BNorm 0.075 0.100 0.125 Field Too Low Threshold BTH_LOW 0.4 4.0 (32) mT LSB Field Too High Threshold (33) BTH_HIGH 70 100 100 mT 0 ppm °C mT Magnetic field gradient norm expressed in 12bits words Typ is recommended value to be set by user (see 14.5.4) Table 21 - 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 Table 25 in section 9.4 for accuracy specifications. 160 Temperature (°C) Limited Performances -40 Nominal Performances Typical magnet characteristic 10 15 20 Norm (mT) Figure 11 - Minimum useful signal definition for Standard/Legacy application REVISION 003 – December 22, 2021 3901090377 Page 25 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 8.4. Rotary Stray-field Immune Mode - High Field Variant (-5xx code) Parameter Symbol Min Typ Max Number of magnetic poles NP 4(28) - - Magnetic Flux Density in XY plane BX, BY (29) Magnetic Flux Density in Z BZ Magnetic in-plane gradient of in-plane field component ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 Magnet Temperature Coefficient 8.25 Unit Condition 67(30) mT 100 mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 this is not the useful signal 21 TCm -2400 0.075 0.100 0.125 Field too Low Threshold ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 BTH_LOW 1.2 2 (32) Field too High Threshold(33) BTH_HIGH 80 100 102 Field Strength Resolution(31) 0 mT mm ppm °C this is not the useful signal 1 ��𝑑𝑑𝐵𝐵𝑋𝑋 𝑑𝑑𝑑𝑑 2 − 𝑑𝑑𝐵𝐵𝑌𝑌 2 � 𝑑𝑑𝑑𝑑 𝑑𝑑𝐵𝐵𝑋𝑋 𝑑𝑑𝑑𝑑 +� this is the useful signal. + 𝑑𝑑𝐵𝐵𝑌𝑌 𝑑𝑑𝑑𝑑 mT Magnetic field gradient mm LSB norm (12bits data) mT mm Typ is recommended value to be set by user (see 14.5.4) mT mm Table 22 - Magnetic specification for rotary stray-field immune See section 9.5 for accuracy specifications. REVISION 003 – December 22, 2021 3901090377 Page 26 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 9. Accuracy Specifications Accuracy specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5; 5.5] V unless otherwise noted. 9.1. Definitions This section defines several parameters, which will be used for the magnetic specifications. ea ea l Cu r su re ve d Cu rv e Id M Output (%DC, Deg) 9.1.1. Intrinsic Linearity Error Noise (pk-pk) Intrinsic Linearity Error (LE) ±3σ Input (Deg.) Figure 12 - Sensor accuracy definition Figure 12 depicts the intrinsic linearity error in new parts. The Intrinsic Linearity Error refers to the IC itself (offset, sensitivity mismatch, orthogonality) considering 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 significantly reduced with the multi-point end-user calibration (see section 14.2). 9.1.2. 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 the 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 range. The total drift is expressed as an unsigned value, to indicate the ideal minimum drift should be 0. In reality, the drift can happen in both positive and negative directions. REVISION 003 – December 22, 2021 3901090377 Page 27 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 9.2. Rotary Stray-field Immune Mode – Low Field Variant (-1xx code) Valid before EoL calibration and for all applications under the conditions described in section 8.1. Parameter XY - Intrinsic Linearity Error Symbol Min Le_XY -1 Typ Max Unit 1 Deg. 0.55 Deg. Filter = 0 (FIR1), for nominal performance, see section 8.1 1 Deg. Filter = 0 (FIR1), for limited performance, see section 8.1 0.7 Deg. Filter = 1 (FIR1), for limited performance, see section 8.1 0.5 Deg. Filter = 2 (FIR1), for limited performance, see section 8.1 0.85 Deg. 0.2 Deg. Noise (36) XY - Total Drift 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 Hysteresis Output Stray Field Immunity ( 37) ∂θFF 0.1 0.6 Deg. Condition In accordance of ISO 11452-8, at 30 Deg.C, with 10mT/mm magnetic In-plane gradient of In-plane field component, and stray-field strength of 4000A/m from any direction Table 23 - Rotary stray-field immune magnetic performance – Low Field Variant 36 ±3σ 37 Stray field induced error is linearly proportional to the stray field strength REVISION 003 – December 22, 2021 3901090377 Page 28 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 9.3. Linear Stray-field Immune Mode (-2xx Code) Valid before EoL calibration and for all applications under the conditions described in section 8.2. Parameter XZ - Intrinsic Maximum Error Symbol Min Typ Max -2.5 ±1.25 2.5 LE_XZ Unit Deg. -4 ±2 4 0.3 Noise in high speed mode (-21x code) (36) 0.45 Noise in low power mode (-23x code) (36) 0.65 Deg. 0.9 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 Hysteresis Output Stray Field Immunity (37) ∂θFF Deg. 1.4(38) 0.8 for limited performance, see section 8.2 Filter = 0, 6mT/mm Filter = 0, 3mT/mm Deg. 0.1 for nominal performance, see section 8.2 Filter = 1, 6mT/mm 0.8(38) XZ - Total Drift Condition Filter = 0, 3mT/mm for nominal performance, see section 8.2 for limited performance, see section 8.2 Deg. 6mT/mm gradient field Deg. In accordance of ISO 11452-8, at 30 Deg.C, with 6mT/mm magnetic In-plane gradient of In-plane field component, and stray-field strength of 4000A/m from any direction Table 24 - Linear stray-field immune magnetic performances Valid for perfect field gradient. In most applications, an extra error caused by the bias field needs to be added. See Application note Dual-Disk Linear Stray field Robust Position Sensing on melexis.com for more information. 38 REVISION 003 – December 22, 2021 3901090377 Page 29 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 9.4. Standard/Legacy Mode (-3xx Code) Valid before EoL calibration and for all applications under the conditions described in section 8.3. 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 for nominal performance in section 8.3 in low power mode (-30x, -33x code) (36) Noise for limited performance in section 8.3 in low power mode (-30x, -33x code) (36) Typ Max Unit 1 Deg. ±1.25 2.5 Deg. ±1.25 2.5 Deg. 0.05 0.1 0.1 0.2 0.05 0.1 Filter = 2 0.2 0.4 Filter = 0 0.14 0.28 0.1 0.2 Deg. Deg. Condition Filter = 0, �𝐵𝐵𝑥𝑥2 + 𝐵𝐵𝑦𝑦2 > 40mT Filter = 0 Filter = 1 Filter = 2 Noise for nominal performance in section 8.3 in high speed mode (-31x code) (36) 0.28 Deg. Filter = 0 Noise for limited performance in section 8.3 in high speed mode (-31x code) (36) 0.56 Deg. Filter = 0 0.45 XY - Total Drift XZ - Total Drift YZ - Total Drift Deg. 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 0.6 for limited performance, see section 8.3 0.6 for nominal performance, see section 8.3 Deg. 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 0.8 for limited performance, see section 8.3 0.6 for nominal performance, see section 8.3 Deg. 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑌𝑌𝑌𝑌 0.05 0.8 for limited performance, see section 8.3 0.1 for nominal performance, see section 8.3 Hysteresis Deg. 0.1 for nominal performance, see section 8.3 0.2 for limited performance, see section 8.3 Table 25 - Standard Mode Nominal Magnetic Performances REVISION 003 – December 22, 2021 3901090377 Page 30 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 9.5. Rotary Stray-field Immune Mode – High Field Variant (-5xx Code) Valid before EoL calibration and for all applications under the conditions described in section 8.4. Parameter XY - Intrinsic Linearity Error Symbol Min LE_XY -1 Typ Max Unit 1 Deg. Condition Noise in high speed mode (-51x code) (36) 0.35 0.5 0.7 Deg. Filter = 2 Filter = 1 Filter = 0 Noise in low power mode (-53x code) (36) 0.5 Deg. Filter = 0 0.67 Deg. 0.15 Deg. XY - Total Drift 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 Hysteresis Output Stray Field Immunity (37) 0.1 0.3 ∂θFF Deg. In accordance of ISO 11452-8, at 30 Deg.C, with 21mT/mm magnetic In-plane gradient of In-plane field component, and stray-field strength of 4000A/m from any direction Table 26 - Rotary stray-field immune magnetic performance – High Field Variant 10. Memory Specifications Parameter Symbol ROM ROMsize 32 KB 1 bit parity check (single error detection) RAM RAMsize 1024 B 1 bit parity check (single error detection) NVRAMsize 256 B 6 bits ECC (single error correction, double error detection) NVRAM Min Typ Max Unit Note Table 27 - Memory Specifications REVISION 003 – December 22, 2021 3901090377 Page 31 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 11. Output Accuracy and Protocol 11.1. Analog Output Parameter Symbol Min. Typ. Thermal analog output Drift Max. Unit Condition 0.2 0.3 %VDD up to 125 °C up to 160 °C 12 Analog Output Resolution RDAC Ratiometric Error bit 12bit DAC (Theoretical) -4 +4 LSB12 INL (before EoL calibration), output clamped between 397%VDD -1.5 1.5 LSB12 DNL -0.1 0.1 %VDD Table 28 – Analog output accuracy 11.2. PWM (Pulse Width Modulation) Output 11.2.1. Definition TPWM Output (V) TON Jitter on TON = JON Jitter on TPWM = JPWM Time (s) Figure 13 - PWM Signal definition Parameter PWM period Symbol TPWM Test Conditions Trigger level = 50% VDD Rise time, Fall time trise, tfall Between 10% and 90% of VDD Jitter JON, JPWM ±3σ for 1000 successive acquisitions with clamped output Duty Cycle DC TON / TPWM Table 29 - PWM Signal definition REVISION 003 – December 22, 2021 3901090377 Page 32 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 11.2.2. PWM performances Parameter Symbol PWM Output Resolution Min Rpwm PWM %DC Jitter JDC PWM Period Jitter Jpwm PWM %DC thermal drift Typ Max 12 - Unit Condition bit 0.03 %DC Push-Pull, 2kHz, CL=4.7nF, RLPU =4.7kΩ - 300 ns Push-Pull, 2kHz, CL=4.7nF, RLPU=4.7kΩ 0.02 0.05 %DC Push-Pull, 2kHz, CL=4.7nF, RLPU=4.7kΩ Table 30 - PWM Signal Specifications 11.3. SENT (Single Edge Nibble Transmission) Output The MLX90377 provides a digital output signal compliant with SAE J2716 Revised APR2016. 11.3.1. Sensor message definition The MLX90377 repeatedly transmits a sequence of pulses, corresponding to 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-bit Status and Serial Communication nibble pulse  A sequence of one up to six 4-bit data nibbles 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. Single Secure sensor format A.3, Throttle position sensor A.1)  One 4-bit Checksum nibble pulse  One optional pause pulse See also SAE J2716 APR2016 for general SENT specification. Figure 14 - SENT message encoding example for two 12bits signals REVISION 003 – December 22, 2021 3901090377 Page 33 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 11.3.2. Sensor message frame contents The SENT output transmits a sequence of data nibbles, according to the following configurations: Description Symbol Clock tick time Min Typ Tick Time Max 3 Number of data nibbles Xdn 3 Frame duration (no pause pulse) Npp 154 Frame duration with pause pulse Ppc 282 Unit 6 µs 270 ticks 922 ticks Description Main use cases: Normal SENT, 3µs tick time Slow SENT, 6µs tick time 6 320 6 data nibbles Dual Throttle Position sensors Single Secure sensors A.1 A.3 Sensor type Table 31 - SENT Protocol Frame Definition 11.3.3. SENT Format Option The default SENT format option of MLX90377 is Single Secure Sensor A.3 (H.4). The MLX90377 SENT transmits a sequence of data nibbles; according single secure sensor format defined in SAE J2716 appendix H.4 ( 39). The frame contains 12-bit angular value, an 8 bit rolling counter and an inverted copy of the most significant nibble of angular value. SM [1:0] S [1:0] Ch 1 [11:8] Ch 1 [7:4] COUNT [7:4] Ch 1 [3:0] COUNT [3:0] ~Ch 1 [11:8] CRC 8 bit rolling counter 12 bit angle data Figure 15 - H.4 Single Secure Sensor Frame Format Shorthand Description Tick time Data nibbles Pause Pulse Serial message Data format SENT2016-03.0us-6dn-ppc(366.0)-esp-A.3 3µs 6 Y Enhanced H.4 SENT2016-03.0us-6dn-ppc(366.0)-nsp-A.3 3µs 6 Y None H.4 SENT2016-03.0us-6dn-npp-nsp-A.3 3µs 6 N None H.4 1..12 6 Y/N En/None H.4 SENT2016-##-#us-#dn-###()-###-A.3 Table 32 - H.4 Single Secure Sensor Shorthand examples 39 As referenced from section A.3 Single Secure Sensor of the standard. REVISION 003 – December 22, 2021 3901090377 Page 34 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 11.3.4. Start-up behaviour The circuit will 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 - Initialization Frame Content Definition 11.3.5. Output configuration In SENT mode, the MLX90377 can be configured in open drain mode, normal push-pull mode, as well as an enhanced emission mode, which is the default configuration, see also section 14.1.1. The tick time is the unit reference for SENT. The default tick time value is 3μs. The output resistive load, e.g. the external pull-up or pull-down resistor should be carefully selected, because the MLX90377 has a built-in high order low pass filter. A large resistive load will deteriorate the generated SENT signal, and could make the output signal not comply to the SENT specifications, such as the fall times and the minimum output voltages, e.g. parameters VsatD_lopp/VsatD_hipp in Table 10 – Electrical Specifications in chapter 6. In principle, the values in Table 10 – Electrical Specifications in chapter 6 should be considered, which means it is not recommended to have a resistive load value smaller than 10kΩ, and a resistive load value smaller than 3kΩ should be avoided. The maximum output resistive load value should be less than 55kΩ to avoid unexpected impact from leakage current. Furthermore, the output capacitance should also be properly chosen, together with the output resistive load to correspondingly match the application, e.g. tick time, to allow appropriate time constant for the transmission of the SENT signal. Details can be seen in sections 16.1 and 16.2. 11.3.6. SENT Output Timing configuration Different SENT output timing configurations are listed in the following tables: SENT_TICK_TIME Tick time configuration 0 6 µs 1 1 µs Not recommended 2 2 µs Not recommended 3 3 µs Standard SENT 4 4 µs Not recommended 5 5 µs Not recommended REVISION 003 – December 22, 2021 3901090377 Description Page 35 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet SENT_TICK_TIME Tick time configuration Description 6 12 µs Do not use 7 24 µs Do not use Table 34 - SENT Tick Time Configuration ( -33x code) NIBBLE_PULSE_CONFIG High/low time configuration 2 Fixed low time (5 ticks) 3 Fixed high time (6 ticks) Table 35 - SENT Nibble configuration (high/low times) 11.3.7. Serial message channel (slow channel) Serial data is transmitted sequentially 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. 11.3.7.1. Enhanced Serial Message (ESM) Enhanced serial message with 12-bit data and 8-bit message ID is used (SAE J2716 APR2016 5.2.4.2, Figure 5.2.4.2-2). 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 36, Table 37 and Table 38). SM [1:0] S [1:0] Status Nibble = Ch 1 [11:8] 2 bit serial message 2 bit status Figure 16 - SENT Status Nibble and Serial Message By default, the short sequence consisting of a cycle of 24 data is transmitted (Table 36). An extended sequence can be used through configuration of SENT_SLOW_EXTENDED (Table 37). 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 38) # 1 2 3 4 5 6 7 8 9 8-bit ID 0x01 0x06 0x01 0x05 0x01 0x03 0x01 0x07 0x01 Item Diagnostic error code SENT standard revision Diagnostic error code Manufacturer code Diagnostic error code Channel 1 / 2 Sensor type Diagnostic error code Fast channel 1: X1 Diagnostic error code REVISION 003 – December 22, 2021 3901090377 Source data Current status code from RAM SENT_REV from NVRAM Current status code from RAM SENT_MAN_CODE from NVRAM Current status code from RAM SENT_SENSOR_TYPE from NVRAM Current status code from RAM SENT_CHANNEL_X1 from NVRAM Current status code from RAM Page 36 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet # 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 8-bit ID 0x08 0x01 0x09 0x01 0x0A 0x01 0x23 0x01 0x29 0x01 0x2A 0x01 0x2B 0x01 0x2C Item Fast channel 1: X2 Diagnostic error code Fast channel 1: Y1 Diagnostic error code Fast channel 1: Y2 Diagnostic error code (Internal) temperature Diagnostic error code Sensor ID #1 Diagnostic error code Sensor ID #2 Diagnostic error code Sensor ID #3 Diagnostic error code Sensor ID #4 Source data SENT_CHANNEL_X2 from NVRAM Current status code from RAM SENT_CHANNEL_Y1 from NVRAM Current status code from RAM SENT_CHANNEL_Y2 from NVRAM Current status code from RAM Current temperature from RAM Current status code from RAM SENT_SENSOR_ID1 from NVRAM Current status code from RAM SENT_SENSOR_ID2 from NVRAM Current status code from RAM SENT_SENSOR_ID3 from NVRAM Current status code from RAM SENT_SENSOR_ID4 from NVRAM Table 36 - SENT Enhanced Slow Channel Standard Data Sequence # 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 8bit ID 0x01 0x90 0x01 0x91 0x01 0x92 0x01 0x93 0x01 0x94 0x01 0x95 0x01 0x96 0x01 0x97 Item Diagnostic error code OEM Code #1 Diagnostic error code OEM Code #2 Diagnostic error code OEM Code #3 Diagnostic error code OEM Code #4 Diagnostic error code OEM Code #5 Diagnostic error code OEM Code #6 Diagnostic error code OEM Code #7 Diagnostic error code OEM Code #8 Source data Current status code from RAM SENT_OEM_CODE1 from NVRAM Current status code from RAM SENT_OEM_CODE2 from NVRAM Current status code from RAM SENT_OEM_CODE3 from NVRAM Current status code from RAM SENT_OEM_CODE4 from NVRAM Current status code from RAM SENT_OEM_CODE5 from NVRAM Current status code from RAM SENT_OEM_CODE6 from NVRAM Current status code from RAM SENT_OEM_CODE7 from NVRAM Current status code from RAM SENT_OEM_CODE8 from NVRAM Table 37 - SENT Slow Channel Extended Data Sequence REVISION 003 – December 22, 2021 3901090377 Page 37 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet # 25 41 8bit ID Item 0x80 0x80 source data Field Strength SENT_SLOW_EXTENSION 0: Disabled. No further extension 1: NTC value 2: field-strength temperature compensated, before magnet sensitivity compensation 3: field-strength temperature and gain independent (standard sequence) Field Strength SENT_SLOW_EXTENSION 0: Disabled. No further extension 1: NTC value 2: field-strength temperature compensated, before magnet sensitivity compensation 3: field-strength temperature and gain independent (extended sequence) Table 38 - SENT Slow Channel Magnetic Field Norm ID and position For Field Strength encoding, see section 14.5.4. 11.3.7.2. Short Serial Message (SSM) Short serial message with 8-bit data and 4-bit message ID is used (SAE J2716 APR2016 5.2.4.1, Figure 5.2.4.1-1). According to the standard, it contains a 8-bit data followed by a 4-bit CRC. # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 4-bit ID 0x01 0x06 0x01 0x05 0x01 0x03 0x01 0x07 0x01 0x08 0x01 0x09 0x01 0x0A 0x01 0x02 0x01 0x0B Item Diagnostic error code SENT standard revision Diagnostic error code Manufacturer code Diagnostic error code Channel 1 / 2 Sensor type Diagnostic error code Fast channel 1: X1 Diagnostic error code Fast channel 1: X2 Diagnostic error code Fast channel 1: Y1 Diagnostic error code Fast channel 1: Y2 Diagnostic error code (Internal) temperature Diagnostic error code Sensor ID #1 REVISION 003 – December 22, 2021 3901090377 Source data Current status code from RAM SENT_REV from NVRAM Current status code from RAM SENT_MAN_CODE from NVRAM Current status code from RAM SENT_SENSOR_TYPE from NVRAM Current status code from RAM SENT_CHANNEL_X1 from NVRAM Current status code from RAM SENT_CHANNEL_X2 from NVRAM Current status code from RAM SENT_CHANNEL_Y1 from NVRAM Current status code from RAM SENT_CHANNEL_Y2 from NVRAM Current status code from RAM Current temperature from RAM Current status code from RAM SENT_SENSOR_ID1 from NVRAM Page 38 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet # 19 20 21 22 23 24 25 26 4-bit ID 0x01 0x0C 0x01 0x0D 0x01 0x0E 0x01 0x04 Item Diagnostic error code Sensor ID #2 Diagnostic error code Sensor ID #3 Diagnostic error code Sensor ID #4 Diagnostic error code Field Strength Source data Current status code from RAM SENT_SENSOR_ID2 from NVRAM Current status code from RAM SENT_SENSOR_ID3 from NVRAM Current status code from RAM SENT_SENSOR_ID4 from NVRAM Current status code from RAM Field Strength (mapped to 8 bit) Table 39 - SENT Short Serial Slow Channel Standard Data Sequence 11.3.8. Serial Message Error Code 11.3.8.1. Enhanced Serial Message (ESM) 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 diagnostics. Only the first error detected during a diagnostics cycle is reported, and serial message error code will be updated at every diagnostics cycle. The serial message error code will only be cleared out once all the errors disappear. This mechanism ensures only one error at a time takes control of the error debouncing counter (see 14.5.2). The MSB acts as an error Flag when SENT_DIAG_STRICT is set. This bit will be high only when an error is present. This bit can be kept high even if no error is present (SENT_DIAG_STRICT = 0). Bit Nb 12 Bit Data (hex) Diagnostic - 0x000 / 0x800 No error 0 0x801 GAINOOS 1 0x802 FieldTooLow 2 0x804 FieldTooHigh 3 4 0x808 0x810 ADCclip ADC_test 5 0x820 Analog Supply Monitors 6 0x840 Digital Supply Monitors 7 0x880 8 0x900 9 0xA00 10 0xC00 RoughOffset Over/Under Temp / ADCdrop DSP overflow / HE_Bias / Analog Front End Supply Bias Current / Stress Range 11 0x800 Extra Error Flag Comments Programmable (see SENT_DIAG_STRICT in Table 49) Magnetic Signal Conditioning Gain Clamping Fieldstrength is below defined low threshold (see 14.5.4) Fieldstrength is above defined high threshold (see 14.5.4) ADC is saturated, either low or high ADC made wrong conversion Detects VDDA (VDEC) over and under voltage or VDD under voltage Detects VDDD (1.8V internal digital supply) overvoltage Hall Element offset monitor Temperature sensor monitor (see 14.5.3) / ADC conversion interruption DSP overflow / Hall Element biasing issue / Analog front end self-test Current biasing system monitor / Stress Sensor Readout set to one if any error present (only when SENT_DIAG_STRICT = 1). Otherwise, always high. Table 40 - SENT Serial Message Error Code for Enhanced Serial Message REVISION 003 – December 22, 2021 3901090377 Page 39 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 11.3.8.2. Short Serial Message (SSM) The list of error and status messages transmitted in the 8-bit Serial Message data field when Serial Message 8-bit ID is 0x01, is given in the Table 41. The error is one-hot encoded and therefore each bit is linked to one or several diagnostics. 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 14.5.2). Bit Nb 8 Bit Data (hex) Diagnostic Comments - 0x00 No error 0 0x01 GAINOOS 1 0x02 FieldTooLow 2 0x04 FieldTooHigh 3 0x08 ADCclip / ADC_test ADC is saturated, either low or high / ADC made wrong conversion 4 0x10 Analog Supply Monitors / Digital Supply Monitors / Supply Bias Current / Stress Range Detects VDDA (VDEC) over and under voltage or VDD under voltage / Detects VDDD (1.8V internal digital supply) overvoltage / Current biasing system monitor / Stress Sensor Readout 5 0x20 RoughOffset Hall Element offset monitor 6 0x40 Over/Under Temp / ADCdrop Temperature sensor monitor (see 14.5.3) / ADC conversion interruption Magnetic Signal Conditioning Gain Clamping Fieldstrength is below defined low threshold (see 14.5.4) Fieldstrength is above defined high threshold (see 14.5.4) Table 41 - SENT Serial Message Error Code for Short Serial Message REVISION 003 – December 22, 2021 3901090377 Page 40 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 11.3.9. SENT configuration shorthand definition Shorthand description Format SENT SAE J2716 Rev SENT xxxx Clock Tick length [µs] XX.X µs SENT format option H.x Pause Pulse Option npp ppc (xxx.0) xxx Use of Serial protocol nsp ssp esp Req 2007 2008 2010 2016 90377 programmable setting CRC_2007 0 > 2007 1 2007 SENT_TICK_TIME 0 SENT 6µs 1 SENT 1µs 2 SENT 2µs 1 -57 deg.C 8 8 8 8 DIAG_TEMP_THR_HIGH Temperature threshold & limiter for overtemperature diagnostic. Default=128 -> 183 deg.C 128 128 128 8 REVISION 003 – December 22, 2021 3901090377 Page 52 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Default Values Parameter Description SENT SPC Analog /PWM #bits 6 6 0 8 255 255 255 8 DIAG_FIELDTOOLOWTH RES Field strength limit under which a fault is reported. (see 14.5.4) DIAG_FIELDTOOHIGHTH RES Field strength limit over which a fault is reported. (see 14.5.4) DIAG_DEBOUNCE_STEP DOWN Diagnostic debouncing stepdown time used for recovery time setting 1 1 1 4 DIAG_DEBOUNCE_STEP UP Diagnostic debouncing stepup time used for hold time setting 1 1 1 4 DIAG_DEBOUNCE_THRE SH Diagnostic debouncing threshold 1 1 1 6 COLD_SAFE_STARTUP_E N Normal (0) or safe start-up (1) after power-on reset 0 0 0 1 OUT_ALWAYS_HIGHZ Forces the OUT pin in high-Z mode (for test mode, Do not modify!) 0 0 0 1 SENT_REPORT_MODE_ ANA 1: Enables the error message within SENT/SPC frame in ANA diagnostic mode. See DIAG_FAULT_CODE 0 0 N/A 2 DIAG_FAULT_CODE Defines the error message = DIAG_FAULT_CODE + FF9 6 6 N/A 3 DAC_REPORT_MODE_A NA Defines the DAC state in analog-fault report mode N/A N/A 0 2 SENT_INIT_GM Initialization frame definition until first valid data 0: 000 1 : DIAG_FAULT_CODE + FF9 0 0 N/A 1 SPC_SCN_INIT SCN nibble Initialization contents until first valid data N/A 0 N/A 0 OUT_DIAG_HIZ_TIME Output Digital failure (HiZ) recovery time. = 6 + OUT_DIAG_HIZ_TIME ms 0 0 0 5 PROTOCOL 0: SENT without pause 1: PWM 2: SENT with pause 3: SPC (with or without ID) 4: Analog output 5: SENT-B (SENT rev 5) - reserved for future use 2 3 4 3 ABE_OUT_MODE HW backend output-amplifier mode selection 0: Analog output (12 bit) 1: Digital output with open-drain-Nmos 2: Digital output with open-drain-Pmos 3: Digital output with Push-Pull 4: Digital output with improved emission 4 4 0 3 OUTPUT CONFIGURATIONS REVISION 003 – December 22, 2021 3901090377 Page 53 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Default Values Parameter Description SENT SPC Analog /PWM #bits ABE_DAC_SEQ_BYPASS DAC sequencer bypass option 0 0 1 1 DAC_SEQ_LUT_SEL DAC Sequence LUT, default for 3µs tick time. Do not modify! 6 1 N/A 4 NV_DAC_SEQ_CLK_DIV DAC Sequence LUT, default for 3µs tick time. Do not modify! 0 0 N/A 3 NIBBLE_PULSE_CONFIG Sets the SENT nibble high/low-time configuration 2: 5 fixed ticks low time (Default) 3: 6 fixed ticks high time 2 2 N/A 2 SPC_PP_OPTION SPC push-pull and high-Z switching option 0: switch on Push-pull mode @ SPC_OUT_ON_TH , switch it off @ SPC_OUT_OFF_TH ( PROTOCOL = 3) 1: switch on Push-pull mode @ SPC_OUT_ON_TH, switch it off right after the last rising edge of the pause pulse. ( PROTOCOL = 3) 2: Permanent High-Z ( do not use) 3: Permanent state defined by NV_ABE_OUT_MODE ( to be used for analog , PWM & SENT) 0 0 3 2 SPC_OUT_ON_TH Tick delay between the SPC trigger falling edge and the output mode switch: open-drain -> push-pull. Note: tmlowSPC - SPC_RX_FILT_TIME_INT < SPC_OUT_ON_TH < 90 0x32 0x32 N/A 9 SPC_OUT_OFF_TH Tick delay between the SPC trigger falling edge (filtered) and the output mode switch: pushpull -> open-drain. 450 450 N/A 9 2 N/A N/A 2 PWM PROTOCOL OPTIONS PWM_POL Invert the PWM polarity 0: PWM Period start = falling edge , % DC active low PWM_REPORT_MODE_ ANA Error message within PWM frame 0x0: PWM DC_FAULT 0x1: HiZ 0x2: VSS 0x3: VDD N/A N/A 0 2 PWM DC_FAULT PWM Duty Cycle in case of Fault N/A N/A N/A 8 PWM DC_ FIELDTOOLOW PWM Duty Cycle in case of Field Strength Too Low N/A N/A N/A 8 N/A 3 N/A 3 SPC PROTOCOL OPTIONS SENT_TICK_TIME SPC mode REVISION 003 – December 22, 2021 3901090377 Page 54 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Default Values Parameter Description SENT SPC Analog /PWM #bits SPC_ID_EN 0: SPC without ID selection 1: SPC with ID selection. See SPC_CHIP_ID (default) N/A 1 N/A 1 SPC_CHIP_ID SPC trigger ID upon which the SENT response will be transmitted on the bus. N/A 0: Die1 1: Die2 N/A 2 SPC_MEAS_ID SPC trigger ID upon which the ADC measurement will be done N/A 1 N/A 2 SERIAL_CONFIG 1: NSP 2: SSP 3: ESP 3 1 ( 42) N/A 2 ID_IN_STATUS Enable SPC ID in SCN (status and communication nibble) N/A 1 N/A 1 SPC_SCN_BIT_ORDER Enables SCN bit order according to SPC 1: [b3:2] = Error indication , [b1:0] = SPC_CHIP_ID N/A 1 N/A 1 SPC_TRIGGER_MODE SPC trigger pulse treatment mode: 0: Synchronous Transmission Mode 1: Bus mode with constant length trigger pulse (default) N/A 1 N/A 2 SPC_FORMAT SPC frame sequence: 8: see SENT_FC_FORMAT[2:0] 8 0 N/A 4 SPC_FC_CSUM_CFG Fast-channel checksum calculation method 0: checksum in line with SAE J2716 (default) 1: Method “O” in line with SPC2014 Specification 2: Method “E” in line with SPC2014 Specification N/A 0 N/A 2 SENT_LEGACY_CRC Enable legacy CRC calculation 0: The SAE J2716 recommended CRC is calculated 0 0 N/A 1 STATUS_IN_CRC 1: Add SCN in checksum calculation 0 1 N/A 1 SPC_CSUM_MODE Checksum nibble calculation mode in SPC: 0: checksum only (default) 1: Add ID in checksum 2: Add ID & RC in checksum N/A 0 N/A 2 SPC_BLANK_SENT_FRA ME reserve N/A 0 N/A 1 SPC_TRIG_TH Delay between the filtered SPC trigger falling edge and the ADC start of sequence, given in number of tick. N/A 0 N/A 9 42 Used for SCN configuration, do not modify! See parameter “ID_IN_STATUS”. 2 bits are overlaid with parameter “SPC_CHIP_ID”. REVISION 003 – December 22, 2021 3901090377 Page 55 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Default Values Parameter Description SENT SPC Analog /PWM #bits SENT PROTOCOL OPTIONS SENT_TICK_TIME Normal SENT low power mode 3 N/A N/A 3 SENT_FC_FORMAT SENT format option (only if SPC_FORMAT = 8) 1: Format H.1 (A.1, Two 12-bit Fast Channels) 2: Format H.2 (One 12-bit Fast Channel, 3 x 4 bit) 3: Format H.3 (One 12-bit fast channel, 4 x 3 bit) 4: Format H.4 (A.3, 12-bit Fast Channel & Single secure) 5: Format H.5 (12-bit Fast Channel & zero values) 6: Format H.6 (14-bit Fast Channel1 & 10-bit Fast Channel2) 7: Format H.7 (16-bit Fast Channel & 8-bit Fast Channel2) 4 N/A N/A 3 SENT_FC_FORMAT_EN SENT format enable 1 0 N/A 1 TWO_ANGLES_FRAME Enable 2 fields measure per output frame (SENT with pulse) 1 N/A N/A 1 T_FRAME SENT w/ PP frame length PWM period (4µs/LSB) 320 N/A N/A 12 T_SYNC_DELAY SENT - ADC synchronization delay - used in SENT-with-pause only 27 N/A N/A 12 SENT_FAST_CHANNEL_ 2 Definition of data transmitted in the SENT fast channel 2 in case SENT_FC_FORMAT=1, 6 or 7 0 Temperature sensor (SP ID 0x23) 1 0xFF9(d4089) - CH1 2 RAM data (RAMPROBE_PTR) 3 0xFFF(d4095) - CH1 0 N/A N/A 2 SENT_SLOW_EXTENDED ESM length configuration 0 N/A N/A 1 SENT_SLOW_EXTENSIO N ESM length configuration 0 N/A N/A 2 SENT_DIAG_STRICT ESM length configuration 0 N/A N/A 1 SERIAL MESSAGE CONFIGURATION SENT_SENSOR_TYPE Part of SSM/ESM : Channel 1/2 sensor type 0x050 0x050 N/A 12 SENT_MAN_CODE Part of SSM/ESM: Manufacturer code 0x000 0x000 N/A 12 SENT_REV Part of SSM/ESM: SENT standard revision 0x4 0x4 N/A 4 SENT_CHANNEL_X1 Part of SSM/ESM: Fast-channel 1 - X1 0 0 N/A 12 SENT_CHANNEL_X2 Part of SSM/ESM: Fast-channel 1 - X2 0 N/A N/A 12 SENT_CHANNEL_Y1 Part of SSM/ESM: Fast-channel 1 - Y1 0 N/A N/A 12 REVISION 003 – December 22, 2021 3901090377 Page 56 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Default Values Parameter Description SENT SPC Analog /PWM #bits SENT_CHANNEL_Y2 Part of SSM/ESM: Fast-channel 1 - Y2 0 N/A N/A 12 SENT_SENSOR_ID1 Part of SSM/ESM : Sensor ID-1 0 N/A N/A 12 SENT_SENSOR_ID2 Part of SSM/ESM : Sensor ID-2 0 N/A N/A 12 SENT_SENSOR_ID3 Part of SSM/ESM : Sensor ID-3 0 N/A N/A 12 SENT_SENSOR_ID4 Part of SSM/ESM : Sensor ID-4 0 N/A N/A 12 SENT_OEM_CODE1 Part of SSM/ESM : OEM code 1 0 N/A N/A 12 SENT_OEM_CODE2 Part of SSM/ESM : OEM code 2 0 N/A N/A 12 SENT_OEM_CODE3 Part of SSM/ESM : OEM code 3 0 N/A N/A 12 SENT_OEM_CODE4 Part of SSM/ESM : OEM code 4 0 N/A N/A 12 SENT_OEM_CODE5 Part of SSM/ESM : OEM code 5 0 N/A N/A 12 SENT_OEM_CODE6 Part of SSM/ESM : OEM code 6 0 N/A N/A 12 SENT_OEM_CODE7 Part of SSM/ESM : OEM code 7 0 N/A N/A 12 SENT_OEM_CODE8 Part of SSM/ESM : OEM code 8 0 N/A N/A 12 Table 49 - MLX90377 End-User Programmable Items Table Performances described in this document are only achieved by adequate programming of the device. To ensure desired functionality, Melexis recommends following its programming guide and to contact its technical or application service. REVISION 003 – December 22, 2021 3901090377 Page 57 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 13. End User Identification Items Default Values Parameter Description USER_ID0 Bin1 from production test, can also be reserved for end-user to program information to keep traceability USER_ID1 Analog SENT #bits 1 8 Reserve for end-user to program information to keep traceability N/A 8 USER_ID2 Reserve for end-user to program information to keep traceability 0x20 8 USER_ID3 Reserve for end-user to program information to keep traceability N/A 8 USER_ID4 Reserve for end-user to program information to keep traceability N/A 8 USER_ID5 Reserve for end-user to program information to keep traceability N/A 8 IMC / application type: IMC_VERSION 0: Sun (rotary stray field robust low field variant) 0 for -1xx order code 1: Clover (standard/legacy) 1 for -3xx order code 2: Dual-disk (linear stray field robust) 2 for -2xx order code 4: Bubble (rotary stray field robust high field variant) 4 for -5xx order code TEST_STATUS Bin 1 verification bit MLX_ID0 X-Y position on the wafer (8 bit each) MLX_ID1 MLX_ID2 Wafer ID [b15..11] Lot ID [b10..0] Fab ID (4 bits) Test Database ID (6 bits) 6 1 1 MLX 16 MLX 16 MLX 16 Table 50 - Melexis and Customer ID fields description User identification numbers (48 bits) are freely usable by customers for traceability purpose. Other IDs are read only. REVISION 003 – December 22, 2021 3901090377 Page 58 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14. Description of End-User Programmable Items 14.1. Output Modes 14.1.1. OUT mode Output Stage mode (outside fail-safe state) in application can be defined by the parameters “ABE_OUT_MODE” and “ABE_DAC_SEQ_BYPASS”: ABE_OUT_MODE ABE_DAC_SEQ_BYPASS Description Comments 0 1 Analog output (12-bit DAC) 1 1 Digital output with open-drain-Nmos Requires a pull-up resistor on output. 2 1 Digital output with open-drain-Pmos Requires a pull-down resistor on output. 3 1 Digital output with Push-Pull 4 0 Digital output emission with improved Table 51 - Output Mode Selection 14.1.2. Digital OUT protocol The measurement timing mode and the corresponding output protocol can be selected by the parameter “PROTOCOL”: PROTOCOL Descriptions 0 Continuous asynchronous angle acquisition, SENT without pause 1 Continuous asynchronous angle acquisition, PWM 2 Continuous synchronous angle acquisition, SENT with pause 3 master-triggered angle transmission, SPC (with or without ID) 4 continuous asynchronous angle acquisition, analog output (DAC) Table 52 - Protocol Selection REVISION 003 – December 22, 2021 3901090377 Page 59 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.1.3. Serial Channel Configuration Slow Channel configuration can be done by the parameter “SERIAL_CONFIG”: SERIAL_CONFIG Descriptions 0 Slow Channel isn't present, the whole nibble is skipped => violating the protocol. Do not use. 1 No serial message 2 Short serial message 3 Enhanced serial message Table 53 - SENT Serial channel Configuration 14.1.4. PWM Output Mode If PWM output mode is selected, the output signal is a digital signal with Pulse Width Modulation (PWM). The PWM polarity is selected by the parameter “PWM_POL”:   PWM_POL = 0 for a low level at 100% PWM_POL = 1 for a high level at 100% The PWM frequency is selected in the range [100, 2000] Hz by the T_FRAME parameter (12bits), defining the period time in the range [0.5; 10] ms. Minimum allowed value for T_FRAME is therefore 125 (0x7d). 𝑇𝑇𝑃𝑃𝑃𝑃𝑃𝑃 = 4 × 𝑇𝑇_𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 106 The PWM period is subject to the same tolerances as the main clock (see ΔTck). REVISION 003 – December 22, 2021 3901090377 Page 60 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.1.5. SPC Frame Formats The SPC frame formats (see section 11.4.1) can be defined by the parameter “SPC_FORMATS”, with the following overview: 0 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] Ch 1 [3:0] C-SUM Ch 1 [3:0] RC [11:8] C-SUM Ch 1 [3:0] / CH1 [11:8] C-SUM Ch 1 [3:0] RC [11:8] / CH1 [11:8] Ch 1 [3:0] TEMP [3:0] TEMP [7:4] C-SUM Ch 1 [3:0] TEMP [3:0] TEMP [7:4] RC [11:8] C-SUM Ch 1 [3:0] TEMP [3:0] TEMP [7:4] / CH1 [11:8] C-SUM Ch 1 [3:0] TEMP [3:0] TEMP [7:4] RC [11:8] / CH1 [11:8] 12 bit angle data 1 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] 12 bit angle data 2 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] 12 bit angle data 3 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] C-SUM 12 bit angle data 4 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] 12 bit angle data 5 SYNC.PULSE Ch 1 [11:8] SCN [3:0] Ch 1 [7:4] 12 bit angle data 6 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] 12 bit angle data 7 SYNC.PULSE SCN [3:0] Ch 1 [11:8] Ch 1 [7:4] C-SUM 12 bit angle data Figure 26 – SPC Frame Format details REVISION 003 – December 22, 2021 3901090377 Page 61 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.2. Output Transfer Characteristic Figure 27 gives the simplified digital signal processing chain from the position after ADC to the output. This section explains the compensation capability of the IC. The remainder of this chapter explains every parameter in more detail. Figure 27 – A Digital Signal Process Chain from ADC to the Output of MLX90377 There are 4 different possibilities to define the transfer function (LNR) as specified in the Table 54.  With 4 arbitrary points (defined by X and Y coordinates) and 5 slopes  With 8 arbitrary points (defined by X and Y coordinates)  With 17 equidistant points for which only the Y coordinates are defined  With 32 equidistant points for which only offset of Y compared to the average value is defined Output Transfer Characteristic 4 Points DSP_LNR_RESX2 4 Arbitrary Points 1 0 8 Arbitrary Points 1 1 17 Equidistant Points 0 0 32 Equidistant Points 0 1 Table 54 - Output Transfer Characteristic Selection Table Parameter LNR type Value Unit CW All 0  counterclockwise 1  clockwise LSB DP All 0 … 359.9999 deg LNR_A_X LNR_B_X LNR_C_X LNR_D_X 4 pts, X coordinates 0 … 359.9999 deg REVISION 003 – December 22, 2021 3901090377 Page 62 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Parameter LNR type Value Unit LNR_A_Y LNR_B_Y LNR_C_Y LNR_D_Y 4 pts, Y coordinates 0 … 100 -50 … + 150 % LNR_S0 LNR_A_S LNR_B_S LNR_C_S LNR_D_S 4 pts, slopes -17 … 0 … 17 %/deg LNR_X00..X07 8 pts, X coordinates 0 … 359.9999 deg LNR_Y00..Y16 8,17 pts, Y coordinates 0..100 -50 … + 150 % LNN_DELTA_Y00..Y32 33 pts offsets +/-3.125% +/-6.25% +/-12.5% +/-25% % WORKING RANGE 17/33 pts 65.5 … 360 32.75 … 180 deg CLAMPLOW All 0 … 100 % CLAMPHIGH All 0 … 100 % Table 55 - Output linearization and clamping parameters 14.2.1. Enable scaling Parameter This parameter enables to double the scale of Y coordinates linearisation parameters from [0 .. 100]% to [50 .. 150]% according to the following table (Table 56). This is valid for all linearisation schemes except the 32 points. USEROPTION_SCALING LNR_Y min value LNR_Y max value 0 0% 100% 1 -50% 150% Table 56 - USEROPTION_SCALING parameter REVISION 003 – December 22, 2021 3901090377 Page 63 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.2.2. CW (Clockwise) Parameter The CW parameter defines the magnet rotation direction.  0 or counter clockwise is the defined by 1-4-5-8 pin order direction for the SOIC-8 package, 1-8-916 pin order direction for the TSSOP-16 package, 1-2-3-4 pin order direction for the DMP-4 package, 1-2-3 pin order direction for the SMP-3 package;  1 or clockwise is defined by the reverse direction: 8-5-4-1 pin order direction for the SOIC-8 package, 16-9-8-1 pin order direction for the TSSOP-16 package, 4-3-2-1 pin order direction for the DMP-4 package, 3-2-1 pin order direction for the SMP-3 package. Refer to the drawing in the sensitive spot positioning section (19.1.4, 19.2.4, 19.3.6). 14.2.3. Discontinuity Point (or Zero Degree Point) The Discontinuity Point defines the 0° point on the circle. The discontinuity point places the origin at any location of the trigonometric circle. The DP is used as reference for all the angular measurements. 0 Deg. 360 Deg. Figure 28 - Discontinuity Point Positioning 14.2.4. 4-pts LNR Parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90377 4-pts transfer function from the digital angle value to the digital output is described in Figure 29. Seven segments can be programmed but the clamping levels are always flat. Two to six calibration points are available, reducing the overall non-linearity of the IC by almost an order of magnitude each time. Three or more calibration points will be preferred by customers looking for excellent non-linearity figures. Two-point calibrations will be preferred by customers looking for a lower cost calibration set-up and shorter calibration time. REVISION 003 – December 22, 2021 3901090377 Page 64 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 100% CLAMPHIGH D Output [%] LNR_D_Y C LNR_C_Y B LNR_B_Y LNR_A_Y Slope LNR_C_S Slope LNR_B_S Slope LNR_A_S A Slope LNR_S0 CLAMPLOW DP(0,0) Slope LNR_D_S LNR_A_X LNR_B_X LNR_C_X LNR_D_X Angle [°] 360 Figure 29 – 4-pts Linearization Parameters Description 14.2.5. 8-pts LNR Parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90377 8-pts transfer function from the digital angle value to the output voltage is described in Figure 30 ( 43). Eight calibration points [LNR_X0...7, LNR_Y0...7] together with 2 fixed points at the extremity of the range ([0°, 0%] ; [360°, 100%]) divides the transfer curve into 9 segments. Each segment is defined by 2 points and the values in between is calculated by linear interpolation. Applications with maximal operation range of 360°, i.e. ordering code of -2xx / -3xx, shown as example. Applications with maximal operation range of 180°, i.e. ordering code of -1xx / -5xx, can be scaled accordingly. 43 REVISION 003 – December 22, 2021 3901090377 Page 65 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 100% CLAMPHIGH Output [%] ... LNR_Y7 LNR_Y1 LNR_Y0 2 1 0 4 3 7 6 5 CLAMPLOW DP(0,0) ... LNR_X0 LNR_X1 ... Angle [°] LNR_X7 360 Figure 30 – 8-pts Linearization Parameters Description 14.2.6. 17-pts LNR Parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90377 17-pts transfer function from the digital angle value to the output voltage is described in Figure 31 (43). In the 17-pts mode, the output transfer characteristic is Piece-Wise-Linear (PWL). LNR_Y16 16 100 LNR_Y15 LNR_Y14 15 Output [%] ... 13 11 12 10 LNR_Y9 LNR_Y8 50 LNR_Y7 8 7 ... 5 9 w= 14 Prog. Slope : WORK_RANGE_GAIN 16·360° WORK_RANGE_GAIN Δx fixed delta angle (w/16) 6 4 LNR_Y3 LNR_Y2 LNR_Y1 DP(0,0) LNR_Y0 1 180- 2 w 2 3 Δx 180 Angle [°] 0 180+ w 2 Figure 31 – 17-pts Linearization Parameters Description REVISION 003 – December 22, 2021 3901090377 Page 66 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet All the Y-coordinates can be programmed from -50% up to +150% to allow clamping in the middle of one segment (like on the figure), but the output value is limited to CLAMPLOW and CLAMPHIGH values. Between two consecutive points, the output characteristic is interpolated. 14.2.7. 33-pts LNR parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90377 33-pts transfer function from the digital angle value to the output voltage is described in Figure 32 (43) below. In the 33-pts mode, the output transfer characteristic is Piece-Wise-Linear (PWL). The points are spread evenly across the working range (see sections 14.2.8 and 14.2.9 for working range selection). The Y-coordinates can be offset from the ideal characteristic within an adjustable range defined by LNR_DELTA_Y_EXPAND_LOG2. The available values are summarized in Table 57. All LNR_delta_Y## parameters are encoded in a fractional signed 8-bit value. Adjustable range 100 LNR_Del ta_Y32 CLAMPHIGH Output [%] LNR_deltaY : Programmable delta correction vs. Ideal slope (%) The adjustable range can be selected from [+/-3.125%, +/-6.25%, +/-12.5%, +/-25%] Δx fixed delta angle (w/32) Prog. Slope : WORK_RANGE_GAIN LNR_Del ta_Y16 50 Anchor point w= CLAMPLOW Δx LNR_Del ta_Y01 DP(0,0) 180- w 2 180 16·360° WORK_RANGE_GAIN Angle [°] 180+ w 2 Figure 32 – 33-pts Linearization Parameters Description LNR_DELTA_Y_EXP AND_LOG2 Adjustable Range Correction resolution 0 ±3.125% 0.024% 1 ±6.25% 0.049% 2 ±12.5% 0.098% 3 ±25% 0.20% Table 57 - LRN_DELTA_Y_EXPAND_LOG2 values and correction resolution REVISION 003 – December 22, 2021 3901090377 Page 67 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.2.8. WORK_RANGE Parameter for Angle Range Selection The parameter WORK_RANGE determines the input range on which the 16 or 32 segments are uniformly spread. This parameter is provided for compatibility with former versions of Melexis Triaxis sensors. For full featured working range selection, see 14.2.9. For WORK_RANGE parameter, following table applies. WORK_RANGE Range Δx 17pts Δx 32pts WORK_RANGE Range Δx 17pts Δx 32pts 0 180.0° 11.3° 5.6° 8 90.0° 5.6° 2.8° 1 160.0° 10.0° 5.0° 9 72.0° 4.5° 2.3° 2 144.0° 9.0° 4.5° 10 60.0° 3.8° 1.9° 3 131° 8.2° 4.1° 11 51.45° 3.2° 1.6° 4 120.0° 7.5° 3.8° 12 45.0° 2.8° 1.4° 5 221.5° 6.9° 3.5° 13 40.0° 2.5° 1.3° 6 103° 6.4° 3.2° 14 36.0° 2.3° 1.1° 7 96° 6.0° 3.0° 15 32.75° 2.0° 1.0° Table 58 - Work range for 180° periodicity (ordering code -1xx, -5xx) WORK_RANGE Range Δx 17pts Δx 32pts WORK_RANGE Range Δx 17pts Δx 32pts 0 360.0° 22.5° 11.3° 8 180.0° 11.3° 5.6° 1 320.0° 20.0° 10.0° 9 144.0° 9.0° 4.5° 2 288.0° 18.0° 9.0° 10 120.0° 7.5° 3.8° 3 261.8° 16.4° 8.2° 11 102.9° 6.4° 3.2° 4 240.0° 15.0° 7.5° 12 90.0° 5.6° 2.8° 5 221.5° 13.8° 6.9° 13 80.0° 5.0° 2.5° 6 205.7° 12.9° 6.4° 14 72.0° 4.5° 2.3° 7 192.0° 12.0° 6.0° 15 65.5° 4.1° 2.0° Table 59 - Work range for 360° periodicity (ordering code -2xx, -3xx) Outside of the selected range, the output will remain at clamping levels. 14.2.9. WORK_RANGE_GAIN Parameter for Angle Range Selection Alternatively, the range for the angle can be selected using the WORK_RANGE_GAIN parameter, which applies a fixed gain to the transfer characteristics. WORK_RANGE_GAIN is coded on 8 bits where the 4 MSB defines the integer part and the 4 LSB the fractional part (in power of twos). Therefore, the following equation applies to define the angle range w: 𝑤𝑤 = 16 ∗ 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊_𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅_𝐺𝐺𝐺𝐺𝐺𝐺𝐺𝐺 MaxRange depends on the application. It is 360° for ordering code -2xx / -3xx, and 180° for ordering code -1xx / -5xx (rotary stray-field immune). Both minimal and maximal angles are then defined by: 𝜃𝜃𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 − 𝑤𝑤 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 + 𝑤𝑤 ; 𝜃𝜃𝑚𝑚𝑚𝑚𝑚𝑚 = 2 2 where θmin corresponds to the angle yielding 0% output and θmax the angle giving a 100% output. REVISION 003 – December 22, 2021 3901090377 Page 68 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Using WORK_RANGE_GAIN parameter, the anchor point is kept at MaxRange/2 and the range is symmetrically set around this value. It creates a zoom-in of the angle around this point. Following tables give some values as example: WORK_RANGE_GAIN Factor Range (w) θmin θmax Δx 17pts Δx 32pts 0x10 1 180° 0° 180° 11.25° 5.63° 0x20 2 90° 45° 135° 5.63° 2.81° 0x40 4 45° 67.5° 112.5° 2.81° 1.41° 0xFF 15.94 11.3° 78.7° 101.3° 0.71° 0.35° Table 60 - Working range defined by WORK_RANGE_GAIN parameter (ordering code -1xx, -5xx) WORK_RANGE_GAIN Factor Range (w) θmin θmax Δx 17pts Δx 32pts 0x10 1 360° 0° 360° 22.5° 11.3° 0x20 2 180° 90° 270° 11.3° 5.6° 0x40 4 90° 135° 225° 5.6° 2.8° 0xFF 15.94 22.6° 168.7° 191.3° 1.41° 0.71° Table 61 - Working range defined by WORK_RANGE_GAIN parameter (ordering code -2xx, -3xx) Outside of the working range, the output will remain at clamping levels. 14.2.10. Thermal OUTSLOPE offset correction Two parameters, OUTSLOPEHOT and OUTSLOPECOLD, are used to add a temperature dependent offset. This feature is enabled by the parameter OUTSLOPE_SEL that apply this modification either directly to the angle or after the linearisation function. The MLX90377 uses its internal linearized temperature to compute the offset shift as depicted in the figure below (Figure 33). +6.25% (at ΔT=128°C) OUTSLOPEHOT OUTSLOPECOLD -6.25% (at ΔT=128°C) -40 Temperature (°C) 35 160 Figure 33 - Temperature compensated offset REVISION 003 – December 22, 2021 3901090377 Page 69 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet The thermal offset can be added or subtracted to the output, before the clamping. The span of this offset is ±6.25% of the full output scale for a temperature difference of 128°C. The added thermal offset varies with temperature following the equations below. The two thermal coefficients are encoded in signed two’s complement 8bit format (-128..127) and defined separately below 35°C (OUTSLOPECOLD) and above 35°C (OUTSLOPEHOT). OUTSLOPE_SEL 0 1 2 Description No thermal offset correction Thermal offset enabled, applied after angle calculation, i.e. after discontinuity point (𝜃𝜃𝑟𝑟2𝑝𝑝 ) Enabled, applied after output calculation and before clamping (𝜃𝜃𝑜𝑜𝑜𝑜𝑜𝑜 ) Table 62 - Temperature compensated offset selection parameter If IC internal temperature is higher than 35°C then: 𝜃𝜃𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 = 𝜃𝜃𝑖𝑖𝑖𝑖 − Δ𝑇𝑇 ⋅ OUTSLOPEHOT If IC internal temperature is lower than 35°C then: 𝜃𝜃𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 = 𝜃𝜃𝑖𝑖𝑖𝑖 − Δ𝑇𝑇 ⋅ OUTSLOPECOLD where 𝜃𝜃𝑖𝑖𝑖𝑖 is either 𝜃𝜃𝑟𝑟2𝑝𝑝 or 𝜃𝜃𝑜𝑜𝑜𝑜𝑜𝑜 depending on OUSLOPE_SEL value. 14.2.11. CLAMPING Parameters The clamping levels are two independent values to limit the output voltage range. The CLAMPLOW parameter adjusts the minimum output level. The CLAMPHIGH parameter sets the maximum output. Both parameters have 16 bits of adjustment and are available for all four LNR modes. As output data resolution is limited to 12 bits, both in SENT and in PWM, the 4 LSB of this parameter will have no significant effect on the output. The value is encoded in fractional code, from 0% to 100% 14.3. Sensor Front-End Parameter Value SENSING MODE [0..7] GAINMIN [0..63] GAINMAX [0..63] GAINSATURATION [0, 1] Table 63 - Sensing Mode and Front-End Configuration REVISION 003 – December 22, 2021 3901090377 Page 70 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.3.1. SENSING MODE The SENSING_MODE parameter defines which sensing mode and fields are used to calculate the angle. The different possibilities are described in the tables below. This 3-bit value selects the first (B1) and second (B2) field components according to the Table 64 content. MAPXYZ B1 B2 Angular 0 X Y Rotary position stray-field Immune, order code -1xx and -5xx 1 X Y X-Y Angular Rotary, order code -3xx 2 Y Z Y-Z Angular Rotary, order code -3xx 3 X Z X-Z Angular Rotary, order code -3xx 4 ΔX ΔZ Linear position, stray-field Immune, order code -2xx Table 64 - Sensing Mode Description 14.3.2. GAINMIN and GAINMAX Parameters GAINMIN and GAINMAX define the thresholds on the gain code outside which the fault “GAIN out of Spec.” is reported. If GAINSATURATION is set, then the virtual gain code is clamped at GAINMIN and GAINMAX, and no diagnostic fault will be set since the clamping will prevent the gain from exceeding GAINMIN and GAINMAX. 14.4. Filtering The MLX90377 includes 2 types of filters:  Exponential moving average (EMA) Filter: programmable by the HYST parameter  Low Pass FIR Filters controlled with the FILTER parameter Parameter Value DSP_FILTER 0…2 HYST 0 … 255 Table 65 - Filtering configuration 14.4.1. Exponential Moving Average (IIR) Filter The HYST parameter is a hysteresis threshold to activate / de-activate the exponential moving average filter. The output value of the IC is updated with the applied filter when the digital step is smaller than the programmed HYST parameter value. The output value is updated without applying the filter when the increment is bigger than the hysteresis. The filter reduces therefore the noise but still allows a fast step response for bigger angle changes. The hysteresis must be programmed to a value close to the internal magnetic angle noise level (1LSB = 8 ∙ 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀/216) (44). 44 For the definition of MaxRange, see section 14.2.9. REVISION 003 – December 22, 2021 3901090377 Page 71 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet xn = Angle yn = Output yn = a * xn + (1 − a ) * yn−i The filters characteristic is given in the following table (Table 66): DENOISING_FILTER_ALPHA_SEL 0 1 2 3 Coefficients a 0.75 0.5 0.25 0.125 2.4 4.2 Efficiency RMS (dB) Table 66 - IIR Filter characteristics 14.4.2. FIR Filters The MLX90377 features 2 FIR filter modes controlled with Filter = 1…2. Filter = 0 corresponds to no filtering. The transfer function is described by: yn = 1 j ∑ ai j ∑a x i =0 i n −i i =0 This filter characteristic is given in the Table 67. FILTER value 0 1 2 Type Disable Coefficients ai 1 11 1111 Title No filter Extra light Light DSP cycles (#taps) 1 2 4 Efficiency RMS (dB) 0 3.0 6.0 Finite Impulse Response (FIR) Table 67 - FIR Filter Characteristics REVISION 003 – December 22, 2021 3901090377 Page 72 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 14.5. Programmable Diagnostics Settings 14.5.1. Diagnostics Global Enable DIAG_EN must be kept to its default value (1) to retain all functional safety abilities of the MLX90377. This feature shall not be disabled. 14.5.2. Diagnostic Debouncer A debouncing algorithm is available for analog diagnostic reporting. Enabling this debouncer will increase the FHTI of the device. Therefore, Melexis recommends keeping the debouncing of analog faults off, by not modifying below described values. The factory default settings mentioned in chapter 12 should be used. NVRAM Parameter Description DIAGDEBOUNCE_STEPDOWN Decrement values for debouncer counter DIAGDEBOUNCE_STEPUP Increment value for debouncer counter DIAG_DEBOUNCE_THRESH Threshold for debouncer counter to enter diagnostic mode Table 68 - Diagnostic debouncing parameters Once an analog monitor detects an error, it takes control of the debouncing counter. This counter will be incremented by STEPUP value each time this specific monitor is evaluated and the error is still present. When the debouncing counter reaches the value defined by DEBOUNCE_THRESH, an error is reported on the error channel, and the debouncing counter stays clamped to this DEBOUNCE_THRESH value (see section 11.3.8 for SENT error message codes, and 14.5.5 for PWM error reporting). Once the error disappears, each time its monitor is evaluated, the debouncing counter is decremented by STEPDOWN value. When the debouncing counter reaches zero, the error disappears from the reporting channel and the debouncing counter is released. To implement proper reporting times, one should refer to the FHTI, see chapter 15.3. The reporting and recovery time are defined in the table below (valid for THRESH≠0). Parameter Reporting Time Recovery Time Min Max 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 � − 1� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� �� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑥𝑥 � � 𝑦𝑦 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 �� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� � + 1� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� is the ceiling function of x divided by y Table 69 - Diagnostic Reporting and Recovery times 14.5.3. Over/Under Temperature Diagnostic DIAG_TEMP_THR_HIGH defines the threshold for over temperature detection and is compared to the linearized value of the temperature sensor TLIN. DIAG_TEMP_THR_LOW defines the threshold for under temperature detection and is compared to the linearized value of the temperature sensor TLIN. TLIN is encoded using the SENT standard for temperature sensor. One can get the physical temperature of the die using following formula: REVISION 003 – December 22, 2021 3901090377 Page 73 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 𝑇𝑇𝑃𝑃𝑃𝑃𝑃𝑃 [°𝐶𝐶] = 𝑇𝑇𝐿𝐿𝐿𝐿𝐿𝐿 − 73.15 8 DIAG_TEMP_THR_LOW/HIGH are encoded on 8-bit unsigned values with the following relationship towards TLin 𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷_𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇_𝑇𝑇𝑇𝑇𝑇𝑇_(𝐿𝐿𝐿𝐿𝐿𝐿/𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻) = 𝑇𝑇𝐿𝐿𝐿𝐿𝐿𝐿 16 The value of TLIN is clamped between the thresholds defined by DIAG_TEMP_THR_LOW and DIAG_TEMP_THR_HIGH. Following table summarizes the characteristics of the linearized temperature sensor and the encoding of the temperature monitor thresholds. Parameter Symbol Min Typ Max Unit TLIN resolution ResTLIN - 0.125 - °C/LSB TLIN refresh rate FS,TLIN - 200 - Hz TLIN linearity error TLinErr -8 - 8 °C from -40 to 160°C TLIN linearity error TLinErr -2 - 6 °C from 35 to 125°C High temperature threshold DIAG_TEMP _THR_LOW - 8 - LSB Recommended value, corresponds to -57°C Low temperature threshold DIAG_TEMP _THR_HIGH - 128 - LSB Recommended value, corresponds to 183°C High/low temperature threshold resolution ResTthr 2 Condition °C/LSB Table 70 - Linearized Temperature Sensor characteristics 14.5.4. Field Strength and Field Monitoring Diagnostics Field Strength is compensated over the circuit operating temperature range and represents a reliable image of the field intensity generated by the magnet. Field Strength value is optionally available in SENT secondary fast channel. 14.5.5. PWM Diagnostic DC_FAULT This parameter defines the duty-cycle that is present on the PWM output in case of diagnostic reporting. DC_FIELDTOOLOW This parameter defines the duty-cycle that is output in case of Field Too Low, from 0% till 100 % by steps of (100/256)%. REVISION 003 – December 22, 2021 3901090377 Page 74 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet 15. Functional Safety 15.1. Safety Manual The safety manual, available upon request, contains the necessary information to integrate the MLX90377 component in a safety related item, as Safety Element Out-of-Context (SEooC). In particular, it includes:  The description of the Product Development lifecycle tailored for the Safety Element.  An extract of the Technical Safety concept.  The description of Assumptions-of-Use (AoU) of the element with respect to its intended use, including:  assumption on the device safe state;  assumptions on fault tolerant time interval and multiple-point faults detection interval;  assumptions on the context, including its external interfaces;  The description of safety analysis results (at the device level, to be used for the system integration), HW architectural metrics and description of dependent failures initiators.  The description and the result of the functional safety assessment process; list of confirmation measures and description of the independency level. 15.2. Safety Mechanisms The MLX90377 provides numerous self-diagnostic features (safety mechanisms). Those features increase the robustness of the IC functionality either by preventing the IC from providing an erroneous output signal or by reporting the failure according to the SENT protocol definition. Legend ● High coverage ○ Medium coverage ANA : Analog hardware failure reporting, described in the safety manual High-Z : Special reporting, output is set in high impedance mode (no HW fail-safe mode/timeout, no SW safe startup) DIG : Digital hardware failure reporting, described in the safety manual At Startup : HW fault present at time zero is detected before a first frame is transmitted. DIAG_EN : This safety mechanism can be disabled by setting DIAG_EN = 0 (see chapter 12 End User Programmable Items). This option should not be used in application mode! Table 71 - Self Diagnostic Legend REVISION 003 – December 22, 2021 3901090377 Page 75 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Reporting mode At startup DIAG ○ ANA NO ● ● ○ ANA NO ● Magnetic Signal Conditioning Gain Monitor ● ○ ● ANA YES ● Magnetic Signal Conditioning Gain Clamping ● ○ ● ANA YES ● Mag. Sig. Cond. Failure control by the chopping technique ● n/a YES External Sensor Sig. Cond. Voltage Valid Range Check ● ● ANA YES ● External Sensor Sig. Cond. Frequency Valid Range Check ● ● ANA YES ● Frontend ADC DSP Magnetic Signal Conditioning Voltage Test Pattern ● ○ Magnetic Signal Conditioning Rough Offset Clipping check Category and safety mechanism name Backend Support. Func. Module & Package EN Signal-conditioning (AFE, External Sensor) Diagnostic A/D Converter Test Pattern ● ANA NO ● ADC Conversion errors & Overflow Errors ● ANA YES ● ANA NO ● Flux Monitor (Specific to Rotary mode) ● ○ ● HE Switching Circuitry Symmetry Check ● ANA NO ● HE Bias Current Supply Monitor ● ANA NO ● Stress Sensor Valid Range Check ● ANA YES ● Digital-circuit Diagnostic RAM Parity, 1 bit per 16 bits word, ISO D.2.5.2 ● DIG YES ● ROM Parity, 1 bit per 32 bits word, ISO D.2.5.2 ● DIG YES ● REVISION 003 – December 22, 2021 3901090377 Page 76 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Category and safety mechanism name Frontend ADC DSP Backend Support. Func. Module & Package Reporting mode At startup DIAG ● EN "NVRAM 16 bits signature (run-time) ISO D.2.4.3, by means of SW CRC-CCITT16" ● DIG NO NVRAM Double Error Detection ECC ISO ● DIG YES Logical Monitoring of program sequence ISO D.2.9.3 via Watchdog "IWD" (cpu clock) ISO D2.9.2 ● ○ DIG NO Watchdog "AWD" (separate clock) ISO D2.9.1 ● ○ DIG YES CPU Errors "Invalid Address", "Wrong opcode" ● ○ DIG YES DIG NO ● DIG NO ● ● ADC Interface Checksum ○ DSP Test Pattern (atan2) ● Critical ports monitoring ● DIG NO ● ○ ● DIG YES ● ○ ● DIG YES ● SENT Fall Collision detection (SENT pulse generator) ● DIG NO ● DAC Overflow ● DIG NO ● DSP Overflow ADC data adder test ○ ○ ● Communication Interface Diagnostic SENT parity check over Configuration registers ● DIG NO ● SENT block: Protection against re-configuration at run-time ● DIG NO ● SENT Frame Counter & Redundant Nibble ● n/a n/a System-level diagnostic REVISION 003 – December 22, 2021 3901090377 Page 77 of 102 MLX90377 Triaxis® Position Sensor IC Datasheet Support. Func. Module & Package Reporting mode At startup DIAG Supply Voltage Monitors (all supply domains) except VS_OV & POR ● ● ANA YES ● External Supply Overvoltage Monitor VS_OV ● ● High-Z YES Digital Supply under-voltage monitor (Power-on reset) ● ● High-Z YES Supply Bias Current Monitor ● ANA NO ● ANA YES ● Category and safety mechanism name Frontend ○ DSP Backend ○ ○ ○ HW Error Controller ● ● ● DIG YES HW Fail-safe mode with timeout ● ● ● DIG YES ● ANA NO ● ● DIG n/a ● ● DIG YES Overheating monitor ○ ADC ● EN Warning/Reporting Mechanisms Analog-type Error management Safe start-up mode ● ● ● Mechanisms executed at start-up only RAM March-C HW Test at start-up Table 72 - MLX90377 List of Self Diagnostics with Characteristics REVISION 003 – December 22, 2021 3901090377 Page 78 of 102 MLX90377 - Triaxis Position Processor Datasheet 15.3. Fault Handling Time Interval Name Definition DTIANA Time to run one full analog diagnostic cycle (programmable value) DTIDIG Time to run one full nvram BIST cycle (programmable value) τR Output refresh period in analog output mode (see “Timings definition” chapter) Tpwm_input the period of the incoming PWM signal on gateway pin Ttrigger the time between 2 SPC trigger pulses DTI Diagnostic Time Interval: worst-case time between 2 consecutive runs of a specific diagnostic EXE Execution Time: worst-case time between the measurement start of a given diagnostic and the availability of the result of this measurement REP Reporting Time: worst-case time needed between an internal diagnostic error event and a switch of the output to fail-safe state FHTI Fault Handling Time Interval: the time interval between the start of the first frame with invalid position value without notice, and the end of the last frame preceding a fail-safe state of the IC. It is calculated as the sum of DTI, EXE, and REP figures. The following equation is valid for any diagnostic: 𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 = 𝐷𝐷𝐷𝐷𝐷𝐷 + 𝐸𝐸𝐸𝐸𝐸𝐸 + 𝑅𝑅𝑅𝑅𝑅𝑅 Table 73 – Glossary of Terms for the Definition Regarding Fault Handling Time Interval The following table details the cycle time, execution time and reporting time for all monitors included in MLX90377. In all cases, the worst-case timing values are provided in the table below: Category and safety mechanism name DTI EXE REP Magnetic Signal Conditioning Voltage Test Pattern 1 * DTIANA 1 * τR 1 * τR Magnetic Signal Cond. Rough Offset Clipping check 2.5 ms 1 * τR 1 * τR Magnetic Signal Conditioning Gain Monitor & clamp 2.5 ms 1 * τR 1 * τR External Sensor Sig. Cond. Voltage Valid Range Check 9 * τR 0 1 * τR External Sensor Sig. Cond. Frequency Valid Range Check 1*Tpwm_input 1 * τR 1 * τR A/D Converter Test Pattern 1 * DTIANA 0 1 * τR ADC Conversion errors & Overflow Errors 1 * τR 0 1 * τR Flux monitor 2.5 ms 1 * τR 1 * τR 1 * DTIANA 0 1 * τR RAM Parity, 1 bit per 16 bits word, ISO D.2.5.2 < 1 * DTIANA 0 0 ROM Parity, 1 bit per 16 bits word, ISO D.2.5.2 < 1 * DTIANA 0 0 NVRAM Double Error Detection ECC ISO D.2.4.1 < 10μs 0 0 Signal-conditioning (AFE, External Sensor) Diagnostic Hall-element & Mechanical-stress Tests Digital-circuit Diagnostic REVISION 003 – December 22, 2021 3901090377 Page 79 of 102 MLX90377 - Triaxis Position Processor Datasheet Category and safety mechanism name DTI EXE REP 1 * DTIDIG 0 0 Logical Monitoring of program sequence ISO D.2.9.3 via Watchdog "IWD" (cpu clock) ISO D2.9.2 4 ms 0 0 Watch-dog "AWD" (separate clock) ISO D2.9.1 5ms 0 0 CPU error detection 1 * τR 0 0 ADC Interface Checksum 1 * DTIANA 0 0 DSP Test Pattern (atan2) 1 * DTIANA 0 0 Critical ports monitoring 1 * DTIANA 0 0 DSP overflow 1 * τR 0 0 ADC data adder test 1 * τR 0 0 SENT Fall Collision detection & DAC Overflow 1 * τR 0 0 SENT parity check over Configuration registers 1 * Ttrigger 0 0 SENT HW: Protection against re-configuration 1 * Ttrigger 0 0 Supply Voltage Monitors except VS_OV & POR 1 * DTIANA 0 1 * τR External Supply Overvoltage Monitor VS_OV 1 * DTIANA 0 1 * τR Supply Bias Current Monitor 1 * DTIANA 0 1 * τR 9 * τR 1 * τR 1 * τR NVRAM 16 bits signature (run-time) ISO D.2.4.3 SENT H/W Interface Diagnostic System-level diagnostic Overheating monitor Table 74 - Timings of the cyclic detection mechanism Note: 1. The orange colour coding shows the worst-case FHTI for analog and digital diagnostics 2. The ROM and RAM parity mechanism trigger a fail-safe state on the failing ROM or RAM word is accessed. (It is assumed that it will be accessed within one full diagnostic cycle in worst case) 3. EXE/REP time = 0 means that the execution or reporting time is negligible compared to the FHTI value REVISION 003 – December 22, 2021 3901090377 Page 80 of 102 MLX90377 - Triaxis® Position Processor Datasheet 16. Recommended Application Diagrams This chapter shows the typical application diagrams for the MLX90377 in different packages, which should not be considered as a specification but rather a recommendation. It is up to the end user to define the proper application circuit, based on the exact use-case, i.e. output protocol, power mode, etc. 16.1. Wiring with the MLX90377 in SOIC-8 Package Figure 34 shows the typical recommended application circuit for the MLX90377 in SOIC-8 package, and Table 75 shows the corresponding value of the external components. R1 1 VDD VDEC C1 C4 C3 8 VSS C5 7 R2 C2 MLX90377 2,3,4,6 5 X OUT Figure 34 - Recommended wiring for the MLX90377 in SOIC-8 package Component Value Remark C1 220nF Place close to the IC pin C2(CL) 100nF 10nF 2.2nF for analog output for SENT and PWM output for SPC output C3 100nF Place close to the IC pin C4 0nF Place close to the connector C5 0nF Place close to the connector R1 0Ω R2 0Ω Table 75 - Recommended Values for the MLX90377 in SOIC-8 Package C2 should consider the total capacitance on the bus. C4, C5, R1, R2 are not needed under typical conditions. They are only needed, when extremely high electromagnetic immunity (EMI) compliance is required, but the value of the resistors and capacitors should not exceed 10Ω and 1nF. In SENT protocol, an external pi-filter to improve radiated emission performance is not needed. The MLX90377 has a built-in high order low pass filter. Therefore, any additional external filter will deteriorate the generated SENT signal, and could make the output signal not comply to the SENT specifications, such as the fall times and the minimum output voltages. REVISION 003 – December 22, 2021 3901090377 Page 81 of 102 MLX90377 - Triaxis® Position Processor Datasheet 16.2. Wiring with the MLX90377 in TSSOP-16 Package Figure 35 shows the typical recommended application circuit for the MLX90377 in TSSOP-16 package, and Table 76 shows the corresponding value of the external components. R11 3 VDD1 1 VDEC1 C11 C14 C13 2 VSS1 C15 R12 C12 4,13,14,16 X1 15 OUT1 R21 MLX90377 11 VDD2 C24 9 VDEC2 C21 C23 10 VSS2 C25 C22 R22 5,7,8,12 6 X2 OUT2 Figure 35 - Recommended wiring for the MLX90377 in TSSOP-16 dual-die package Component Value Remark Cx1 220nF Place close to the IC pin Cx2 100nF 10nF 2.2nF for analog output for SENT and PWM output for SPC output Cx3 100nF Place close to the IC pin Cx4 0nF Place close to the connector Cx5 0nF Place close to the connector Rx1 0Ω Rx2 0Ω Table 76 - Recommended Values for the MLX90377 in TSSOP-16 dual-die Package REVISION 003 – December 22, 2021 3901090377 Page 82 of 102 MLX90377 - Triaxis® Position Processor Datasheet Cx2 should consider the total capacitance on the bus. Cx4, Cx5, Rx1, Rx2 are not needed under typical conditions. They are only needed, when extremely high electromagnetic immunity (EMI) compliance is required, but the value of the resistors and capacitors should not exceed 10Ω and 1nF. In SENT or SPC protocol, an external pi-filter to improve radiated emission performance is not needed. The MLX90377 has a built-in high order low pass filter. Therefore, any additional external filter will deteriorate the generated output signal, and could make the output signal not comply to the SENT or SPC specifications, such as the fall times and the minimum output voltages. 16.3. Wiring with the MLX90377 in DMP-4 Package (built-in capacitors) Figure 36 shows the typical recommended application circuit for the MLX90377 in DMP-4 package, and Table 77 shows the corresponding value of the external components. VDD MLX90377 C4 C1 VSS C2 C3 OUT MLX90377 VSS OUT VDD VSS Figure 36 - Internal wiring of the MLX90377 in DMP-4 Component Value C1 220nF C2 100nF C3 10nF C4 0 Remark not mounted Table 77 - DMP-4 capacitors configuration REVISION 003 – December 22, 2021 3901090377 Page 83 of 102 MLX90377 - Triaxis® Position Processor Datasheet 16.4. Wiring with the MLX90377 in SMP-3 Package (built-in capacitors) MLX90377 VDD VSS VDEC OUT C1 VDEC C2 C3 VDD OUT VSS 3 2 1 Figure 37 - Internal wiring of the MLX90377 in SMP-3 Component Value C1 220 nF C2 100 nF C3 10 nF Remark Table 78 - SMP-3 capacitors configuration REVISION 003 – December 22, 2021 3901090377 Page 84 of 102 MLX90377 - Triaxis® Position Processor Datasheet 17. Standard Information Regarding Manufacturability of Melexis Products with Different Soldering Processes Our products are classified and qualified regarding soldering technology, solderability and moisture sensitivity level according to standards in place in Semiconductor industry. For further details about test method references and for compliance verification of selected soldering method for product integration, Melexis recommends reviewing on our web site the General Guidelines soldering recommendation (http://www.melexis.com/en/quality-environment/soldering) For all soldering technologies deviating from the one mentioned in above document (regarding peak temperature, temperature gradient, temperature profile etc), additional classification and qualification tests have to be agreed upon with Melexis. For package technology embedding trim and form post-delivery capability, Melexis recommends consulting the dedicated trim & form recommendation application note : “Lead Trimming and Forming Recommendations” (http://www.melexis.com/en/documents/documentation/application-notes/leadtrimming-and-forming-recommendations). Melexis is contributing to global environmental conservation by promoting lead free solutions. For more information on qualifications of RoHS compliant products (RoHS = European directive on the Restriction Of the use of certain Hazardous Substances) please visit the quality page on our website: http://www.melexis.com/en/quality-environment. 18. ESD Precautions Electronic semiconductor products are sensitive to Electro Static Discharge (ESD). Always observe Electro Static Discharge control procedures whenever handling semiconductor products. REVISION 003 – December 22, 2021 3901090377 Page 85 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19. Package Information 19.1. SOIC-8 Package 19.1.1. SOIC-8 - Package Dimensions 1.27 TYP NOTES: 3.81 5.80 3.99** 6.20 4.80 4.98* All dimensions are in millimeters (angles in degrees). * Dimension does not include mold flash, protrusions or gate burrs (shall not exceed 0.15 per side). ** Dimension does not include interleads flash or protrusion (shall not exceed 0.25 per side). *** Dimension does not include dambar protrusion. Allowable dambar protrusion shall be 0.08 mm total in excess of the dimension at maximum material condition. Dambar cannot be located on the lower radius of the foot. 1.37 1.57 1.52 1.72 0.36 0.46*** 0.19 0.25 0.100 0.250 0.41 1.27 0° 8° Figure 38 - SOIC-8 Package Outline Dimensions REVISION 003 – December 22, 2021 3901090377 Page 86 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.1.2. SOIC-8 - Pinout and Marking 8 OUT N.C. VSS A VDEC Marking : Part Number MLX90377 (3 digits) Die Version (3 digits) 5 Top 377 377ADB F12345 Xy-Z Xy Z Application code (1 digit) “S” Rotary Stray-Field Immune Mode – Low-Field Variant “D” Linear Stray-Field Immune Mode “C” Standard / Legacy Mode Split lot number N.C. Test VDD Lot number: “one letter fab identifier” + 5 digits F12345 4 Input 1 ADB Bottom YY WW Week Date code (2 digits) Year Date code (2 digits) Figure 39 - SOIC-8 Pinout and Marking 19.1.3. SOIC-8 - Sensitive spot positioning 19.1.3.1. Rotary Stray-field Immune and Standard Mode Applications CW 8 7 6 5 CCW X 1.44 1.84 1 2 1.96 2.26 3 0.46 +/- 0.06 4 Dimensions in “mm” Y Figure 40 - SOIC-8 Sensitive Spot Position REVISION 003 – December 22, 2021 3901090377 Page 87 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.1.3.2. Linear Stray-field Immune Applications 8 7 6 5 1.91 X 0.46 +/- 0.06 SENSITIVE AXIS 1.69 2.09 1 2 3 2.86 3.16 1.06 1.36 4 Dimensions in “mm” Figure 41 - SOIC-8 Sensitive Spot position for Linear Stray-Field Immune 19.1.4. SOIC-8 - Angle detection ~ 0 Deg.* S N 6 2 3 5 8 7 4 1 2 7 2 5 8 7 5 3 4 6 5 3 4 S S N 1 6 6 ~ 270 Deg.* ~ 180 Deg.* 8 S 1 7 N 8 ~ 90 Deg.* 3 4 1 2 N * No absolute reference for the angular information. Figure 42 - SOIC-8 Angle Detection The MLX90377 is an absolute angular position sensor but the linearity error (See section 9) does not include the error linked to the absolute reference 0 Deg (which can be fixed in the application through the discontinuity point). REVISION 003 – December 22, 2021 3901090377 Page 88 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.2. TSSOP-16 Package 19.2.1. TSSOP-16 - Package Dimensions 0.65 ± 0.04 12O REF 0.20 ± 0.04 1.0 DIA REF 0.09 MIN 4.30 4.50** 6.4 ± 0.2 0.09 MIN 1.0 REF 0.50 0.75 12O REF 1.0 REF 0O 8O 1.0 ± 0.2 0.85 0.95 4.90 5.10* 1.1 MAX 0.19 0.30*** 0.09 0.20 0.05 0.15 NOTES: All dimensions are in millimeters (angles in degrees). * Dimension does not include mold flash, protrusions or gate burrs (shall not exceed 0.15 per side). ** Dimension does not include interleads flash or protrusion (shall not exceed 0.25 per side). *** Dimension does not include dambar protrusion. Allowable dambar protrusion shall be 0.08 mm total in excess of the dimension at maximum material condition. Dambar cannot be located on the lower radius of the foot. REF: Reference dimensions as stated in packaging supplier POD, based on JEDEC. Figure 43 - TSSOP-16 Package Outline Dimensions REVISION 003 – December 22, 2021 3901090377 Page 89 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.2.2. TSSOP-16 Dual-Die Package - Pinout and Marking Marking : 16 1 VDEC 1 Part Number MLX90377 (3 digits) Die Version (3 digits) N.C. OUT1 VDD1 N.C. 377ADB F12345 Xy-Z VSS 1 Input1 Test2 377 Top ADB F12345 Test1 Xy VDD2 N.C. VSS 2 N.C. VDEC 2 Z Application code (1 digit) “S” Rotary Stray-Field Immune Mode – Low-Field Variant “B” Rotary Stray-Field Immune Mode – High-Field Variant “D” Linear Stray-Field Immune Mode “C” Standard / Legacy Mode Split lot number Input2 OUT2 Lot number: “1 letter fab identifier” + 5 digits 9 8 Bottom YY WW Week Date code (2 digits) Year Date code (2 digits) Figure 44 - TSSOP-16 Dual-Die Package Pinout and Marking 19.2.3. TSSOP-16 Dual-Die Package - Sensitive spot positioning 19.2.3.1. Rotary Stray-field Immune and Standard Mode applications CW X2 16 9 Die 1 Die 2 Y2 Y1 0.30 ± 0.06 CCW 1.95 2.45 1 8 1.62 1.82 2.96 3.16 X1 Dimensions in “mm” Figure 45 - TSSOP-16 dual-die package Sensitive Spot Position REVISION 003 – December 22, 2021 3901090377 Page 90 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.2.3.2. Linear Stray-field Immune Applications X2 9 Die 1 2.90 3.40 1.00 1.50 1 Die 2 1.91 SENSITIVE AXIS 16 0.30 ± 0.06 8 1.37 1.57 3.21 3.41 Dimensions in “mm” X1 Figure 46 - TSSOP-16 dual-die package - Sensitive Spot Location for Linear Stray-field Immune 19.2.4. TSSOP-16 - Angle Detection ~ 180 Deg.* 16 9 Die 2 Die 1 S 8 16 S 9 Die 1 Die 2 N 1 ~ 90 Deg.* 16 S Die 1 8 ~ 270 Deg.* 9 Die 2 1 ~ 0 Deg.* ~ 180 Deg.* 9 S 1 ~ 270 Deg.* 16 N N Die 1 ~ 90 Deg.* 8 1 Die 2 N ~ 0 Deg.* 8 * No absolute reference for the angular information. Figure 47 - TSSOP-16 Angle Detection The MLX90377 is an absolute angular position sensor but the linearity error (see section 9) does not include the error linked to the absolute reference 0Deg (which can be fixed in the application through the discontinuity point). REVISION 003 – December 22, 2021 3901090377 Page 91 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.3. DMP-4 - Package 19.3.1. DMP-4 - Package Outline Dimensions (POD) - Straight Leads Figure 48 - DMP-4 Straight Leads Package Outline Drawing REVISION 003 – December 22, 2021 3901090377 Page 92 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.3.2. DMP-4 - Package Outline Dimensions (POD) - STD2 2.54 Figure 49 - DMP-4 STD2 2.54 Package Outline Drawing REVISION 003 – December 22, 2021 3901090377 Page 93 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.3.3. DMP-4 - Package Outline Dimensions (POD) STD4 2.54 Figure 50 - DMP-4 STD4 2.54 Package Outline Drawing REVISION 003 – December 22, 2021 3901090377 Page 94 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.3.4. DMP-4 - Marking Marking upper part 377ADB F12345 y1y2 – Z YYWW - 27 Part Number MLX90377 (3 digits) Die version (3 digits) 377 ADB F12345 y1y2 Lot number: one letter fab identifier + 5 digits Z Application code 1 x 220nF 1 x 100nF 1 x 10nF “S” rotary Stray-Field “D” linear Stray-Field “C” standard/legacy Split lot nb (4 digits) YYWW - 27 Leadframe reference Assembly Year (YY) and week (WW) Lower part gives capacitor configuration 1 2 3 4 Figure 51 - DMP-4 Marking 19.3.5. DMP-4 - Sensitive Spot Positioning 19.3.5.1. Rotary Stray-field Immune or Standard Mode Applications Xc=0.26 Yc = 3.52 Dimensions in “mm” Zc=0.495 Figure 52 - DMP-4 Rotary Stray-field or legacy Sensitive Spot Position REVISION 003 – December 22, 2021 3901090377 Page 95 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.3.5.2. Linear Stray-field Immune Applications 1.91 1.22 SENSITIVE AXIS Yc = 3.27 Xc=0.26 Dimensions in “mm” Zc=0.495 Figure 53 - DMP-4 Rotary Stray-field or legacy Sensitive Spot Position 19.3.6. DMP-4 - Angle detection MLX90377 DMP-4 ~ 0 Deg.* ~ 90 Deg.* S N S N ~ 270 Deg.* S N N S ~ 180 Deg.* * No absolute reference for the angular information. Figure 54 - DMP-4 Angle Detection The MLX90377 is an absolute angular position sensor but the linearity error (see section 9) does not include the error linked to the absolute reference 0 Deg (which can be fixed in the application through the discontinuity point). REVISION 003 – December 22, 2021 3901090377 Page 96 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.4. SMP-3 - Package 19.4.1. SMP-3 - Package Outline Dimensions (POD) Figure 55 - SMP-3 Package Outline Drawing REVISION 003 – December 22, 2021 3901090377 Page 97 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.4.2. SMP-3 - Marking Part Number Die Version 377 377ADB-C ADB -C ‘S’ Rotary Stray-Field - Low Field Application ‘D’ Linear Stray-Field Code ‘C’ Standard/Legacy ‘B’ Rotary Stray-Field - High Field xxxxxx xxxxxx 1 2 Assembly Lot Number 3 TOP Marking Part Number Die Version 377ADB-C xxxxxx 377 ADB yyww xxxxxx yyww CCCCC CCCCC -C Application Code Assembly Lot Number Assembly Year (yy) and Week (ww) Capacitor Configuration ‘DHT00’ - 1x220nF - 1x100nF - 1x10nF BOTTOM Marking Figure 56 - SMP-3 Marking REVISION 003 – December 22, 2021 3901090377 Page 98 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.4.3. SMP-3 - Sensitive Spot Positioning 19.4.3.1. Rotary Stray-field Immune or Standard Mode Applications 3.950 ± 0.15 0.546 ± 0.06 0.893 ± 0.15 Dimensions in “mm” 1 2 3 Figure 57 - SMP-3 Rotary Stray-field or legacy Sensitive Spot Position 19.4.3.2. Linear Stray-field Immune Applications 2.995 ± 0.15 1.91 0.546 ± 0.06 SENSITIVE AXIS 1.141 ± 0.15 Dimensions in “mm” 1 2 3 Figure 58 - SMP-3 Rotary Stray-field or legacy Sensitive Spot Position REVISION 003 – December 22, 2021 3901090377 Page 99 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.4.4. SMP-3 - Angle detection MLX90377 SMP-3 Angle detection SMP-3 N S N ~ 90 Deg.* S ~ 0 Deg.* ~ 180 Deg.* ~ 270 Deg.* S N S N * No absolute reference for the angular information. Figure 59 - SMP-3 Angle Detection The MLX90377 is an absolute angular position sensor but the linearity error (see section 9) does not include the error linked to the absolute reference 0 Deg (which can be fixed in the application through the discontinuity point). REVISION 003 – December 22, 2021 3901090377 Page 100 of 102 MLX90377 - Triaxis® Position Processor Datasheet 19.5. Packages Thermal Performances The table below describe the thermal behaviour of available packages following JEDEC EIA/JESD 51.X standard. Package Junction to case - θjc Junction to ambient - Junction to ambient θja (JEDEC 1s2p board) θja (JEDEC 1s0p board) SOIC-8 38.8 K/W 112 K/W 153 K/W TSSOP-16 27.6 K/W 99.1 K/W 137 K/W DMP-4 32.2 K/W - 88.7 K/W (45) SMP-3 34.4 K/W - 206 K/W (45) Table 79 - Standard Packages Thermal Performances 45 PCB-less solution has been evaluated in a typical application case. Values for this package are given as informative. REVISION 003 – December 22, 2021 3901090377 Page 101 of 102 MLX90377 - Triaxis® Position Processor Datasheet 20. Contact For the latest version of this document, go to our website at www.melexis.com. 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