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Datasheet
AS5134
360 Step Programmable High Speed Magnetic Rotary Encoder
1 General Description
Two digital 360 step (8.5 bit) absolute outputs: Serial interface
The AS5134 is a contactless magnetic rotary encoder for accurate
angular measurement over a full turn of 360º. It is a system-on-chip,
combining integrated Hall elements, analog front-end and digital
signal processing in a single device.
User programmable zero position and sensitivity
High speed: up to 76875 rpm
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and Pulse width modulated (PWM) output
Direct measurement of magnetic field strength allows exact
determination of vertical magnet distance
To measure the angle, only a simple two-pole magnet, rotating over
the center of the chip is required. The absolute angle measurement
provides instant indication of the magnet’s angular position with a
resolution of 8.5 bit = 360 positions per revolution. This digital data is
available as a serial bit stream and as a PWM signal. In addition to
the angle information, the strength of the magnetic field is also
available as a 6-bit code.
Incremental Outputs ABI Quadrature: 90 ppr, step direction:
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180ppr, fixed pulse width 360ppr
BLDC Outputs UVW, selectable for 1,2,3,4,5,6 pole pairs
Daisy-Chain mode for cascading of multiple sensors
9-bit multi turn counter
Data transmission can be configured for 1-wire (PWM), 2-wires
(DCLK, DIO) or 3-wires (DCLK, DIO, CS).
Low power mode with fast
A software programmable (OTP) zero position simplifies assembly
as the zero position of the magnet does not need to be mechanically
aligned.
Wide temperature range: -40ºC to +140ºC
startup
Wide magnetic field input range: 20- 80 mT
Fully automotive qualified to AEC-Q100
A Power Down Mode together with fast startup and measurement
cycles allows a very low average power consumption.
Small Pb-free
package: SSOP 20
3 Applications
2 Key Features
The AS5134 is suitable for contactless rotary position sensing, rotary
switches (human machine interface), AC/DC motor position control
and Brushless DC motor position control.
360º contactless angular position encoding
Figure 1. AS5134 Magnetic Rotary Encoder Block Diagram
U V W
ca
VDD 5 V
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Commutation
Interface
Hall Array
&
Frontend
Amplifier
A B Index
Incremental
Interface
Tracking ADC
& Angle
Decoder
PWM Decoder
Zero
Pos. Angle
AS5134
AGC
AGC
Power Management
Multiturn
Counter
DIO
Absolute
Serial
Interface
(SSI)
Mag
PWM
CS
CLK
C2
DX
OTP
PROG
GND
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Revision 2.3
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AS5134
Datasheet - C o n t e n t s
Contents
1
2 Key Features.............................................................................................................................................................................
1
3 Applications...............................................................................................................................................................................
1
4 Pin Assignments .......................................................................................................................................................................
3
4.1 Pin Descriptions....................................................................................................................................................................................
3
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1 General Description ..................................................................................................................................................................
5 Absolute Maximum Ratings ......................................................................................................................................................
4
6 Electrical Characteristics...........................................................................................................................................................
5
6
7
7.1 Connecting the AS5134........................................................................................................................................................................
7
7.2 Serial 3-Wire R/W Connection..............................................................................................................................................................
8
7.3 Serial 3-Wire Read-only Connection ....................................................................................................................................................
9
7.4 Serial 2-Wire Connection (R/W Mode) ...............................................................................................................................................
10
7.5 Serial 2-Wire Differential SSI Connection...........................................................................................................................................
11
7.6 1-Wire PWM Connection ....................................................................................................................................................................
12
7.7 Analog Output.....................................................................................................................................................................................
14
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6.1 Timing Characteristics ..........................................................................................................................................................................
7 Detailed Description..................................................................................................................................................................
7.8 Quadrature A/B/Index Output .............................................................................................................................................................
14
7.9 Brushless DC Motor Commutation Mode ...........................................................................................................................................
15
7.10 Daisy Chain Mode ............................................................................................................................................................................
15
7.11 Serial Synchronous Interface (SSI) ..................................................................................................................................................
18
7.12 Redundancy .....................................................................................................................................................................................
8 Application Information ...........................................................................................................................................................
8.1 AS5134 Programming ........................................................................................................................................................................
20
21
21
8.1.1 OTP Programming Connection.................................................................................................................................................. 21
8.1.2 Programming Verification .......................................................................................................................................................... 22
8.2 AS5134 Status Indicators ...................................................................................................................................................................
24
8.2.1 Lock Status Bit........................................................................................................................................................................... 24
8.2.2 Magnetic Field Strength Indicators ............................................................................................................................................ 24
25
8.4 High Speed Operation ........................................................................................................................................................................
25
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8.3 Multi Turn Counter..............................................................................................................................................................................
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8.4.1 Propagation Delay ..................................................................................................................................................................... 25
8.4.2 Digital Readout Rate.................................................................................................................................................................. 26
8.4.3 Low Power Mode ....................................................................................................................................................................... 26
9 Package Drawings and Markings ...........................................................................................................................................
27
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9.1 Recommended PCB Footprint............................................................................................................................................................
29
31
Te
10 Ordering Information.............................................................................................................................................................
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AS5134
Datasheet - P i n A s s i g n m e n t s
4 Pin Assignments
Figure 2. Pin Assignments (Top View)
1
20
VSS
2
19
TB2
DX
3
18
TB1
CS
4
C2
5
PWM
6
17
TB0
16
Index
15
B
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TB3
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AS5134
Prog
14
A
8
13
W
9
12
V
10
11
U
VDD
7
TestCoil
DCLK
DIO
4.1 Pin Descriptions
Table 1. Pin Descriptions
Pin Name
Pin Number
Description
Programming voltage input, must be left open in normal operation.
Maximum load = 20pF (except during programming)
2
Supply ground
3
Chip select output for 2-wire mode and Daisy Chain cascading
4
Chip select input for 3-wire mode
5
Select between 2-wire (C2 VDD) and 3-wire (C2 VSS) mode
6
PWM output
7
Positive supply voltage (double bond to VDD_A and VDD_D)
8
Test pin
9
Clock input for serial interface
10
Data I/O for serial interface
11
Commutation output
12
Commutation output
W
13
Commutation output
A
14
Incremental output
B
15
Incremental output
Index
16
Incremental output
TB0
17
Test pin
TB1
18
Test pin
TB2
19
Test pin
TB3
20
Test pin
VSS
DX
CS
C2
PWM
VDD
Test Coil
DDCLK
U
Te
ch
V
ni
DIO
ca
1
Prog
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AS5134
Datasheet - A b s o l u t e M a x i m u m R a t i n g s
5 Absolute Maximum Ratings
Stresses beyond those listed in Table 2 may cause permanent damage to the device. These are stress ratings only, and functional operation of
the device at these or any other conditions beyond those indicated in Electrical Characteristics on page 5 is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect device reliability.
Table 2. Absolute Maximum Ratings
Min
Max
Units
Comments
Except during OTP programming
Electrical Parameters
-0.3
7
V
VSS-0.5
VDD
V
Input Current (latch up immunity), (Iscr)
-100
100
mA
Electrostatic Discharge
ESD
Norm: EIA/JESD78 ClassII Level A
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Supply voltage (VDD)
Input Pin Voltage (VIN)
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Parameter
±2
kV
150
ºC
Norm: JESD22-A114E
Temperature Ranges and Storage Conditions
Storage Temperature (Tstrg)
-55
Body temperature, (Tbody)
Humidity non-condensing
5
ºC
85
%
3
Represents a maximum floor time of 168h
Te
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Moisture Sensitive Level (MSL)
260
The reflow peak soldering temperature (body
temperature) specified is in accordance with IPC/
JEDEC J-STD-020 “Moisture/Reflow Sensitivity
Classification for Non-Hermetic Solid State Surface
Mount Devices”.
The lead finish for Pb-free leaded packages is matte tin
(100% Sn).
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AS5134
Datasheet - E l e c t r i c a l C h a r a c t e r i s t i c s
6 Electrical Characteristics
TAMB = -40 to 140ºC, VDD5V = 4.5-5.5V, all voltages referenced to VSS, unless otherwise noted.
Table 3. Electrical Characteristics
Parameter
VDD
Positive Supply Voltage
Conditions
Min
Typ
4.5
IDD
Operating Current
No load on outputs. Supply current can be
reduced by using stronger magnets.
Ioff
Power down current
Low Power Mode
70
System Parameters
Resolution
TPwrUp
Power Up Time
ts
Tracking rate
INLcm
8.5
1
Accuracy
INLdm
Units
+5.5
V
22
mA
120
µA
Bit
Deg
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N
Max
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Symbol
Startup from zero
4100
Startup from Low Power mode
500
Step rate of tracking ADC;
1 step = 1º
5.2
µs/step
µs
Centered Magnet
-2
2
Deg
Within horizontal displacement radius
-3
3
Deg
tdelay
Propagation delay
Internal signal processing time
22
µs
TN
Transition noise
Peak-Peak
1.41
Deg
Bi
Magnetic Input Range
Required vertical component of the
magnetic field strength on the chip
surface, measured along a concentric
circle with a radius of 1 mm
80
mT
Vi
Magnet rotation speed
to maintain locked state
76875
rpm
Magnet Specifications
PWM Output
tPWM
PWM period
fPWM
PWM frequency
Programming Parameters
20
600
750
900
µs
1 / PWM period
1.11
1.33
1.66
kHz
Static voltage at pin Prog
8.0
8.5
V
Programming Voltage
TambPROG
Programming ambient temperature
During programming
0
85
ºC
tPROG
Programming time
Timing is internally generated
2
4
µs
VR,unprog
Analog readback voltage
ni
VR,prog
ca
VPROG
During analog readback mode at pin Prog
0.5
2
3.5
V
ch
Hall Element Sensitivity Options
Hall Element sensitivity setting
Te
sens
sens = 00 (default)
1.60
1.65
1.75
sens = 01
1.79
1.88
1.98
sens = 10
2.01
2.11
2.22
sens = 11
2.23
2.35
2.47
X
DC Characteristics of Digital Inputs and Outputs
CMOS Inputs: DDCLK, CS, DIO, C2
VIH
High level input voltage
0.7*VDD
VDD
V
VIL
Low level input voltage
0
0.3*VDD
V
ILEAK
Input leakage current
1
µA
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AS5134
Datasheet - E l e c t r i c a l C h a r a c t e r i s t i c s
Table 3. Electrical Characteristics (Continued)
Symbol
Parameter
Conditions
VOH
High level output voltage
Source current < 4mA
VOL
Low level output voltage
Sink current < 4mA
CL
Capacitive load
Min
Typ
Max
Units
VDD-0.5
VDD
V
0
VSS+0.4
V
35
pF
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CMOS Outputs: DIO, PWM, DX
CMOS Tristate Output: DIO
Tristate leakage current
IOZ
CS = low
1
6.1 Timing Characteristics
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Table 4. Timing Characteristics
µA
Symbol
Parameter
Conditions
Min
Typ
Max
Units
5
6
MHz
650
kHz
6
MHz
2-/3-Wire Data Transmission
3-Wire Interface
fDCLK
Clock Frequency
Normal operation
fDCLK,P
Clock Frequency
During OTP programming
200
2-Wire Interface
fDCLK
Clock Frequency
Normal operation
0.1
fDCLK,P
Clock Frequency
During OTP programming
200
500
kHz
5
General Data Transmission
Rising DCLK to CS
15
-
ns
t1
Chip select to positive edge of DCLK
15
-
ns
t2
Chip select to drive bus externally
-
-
ns
t3
Setup time command bit,
Data valid to positive edge of DCLK
30
-
ns
t4
Hold time command bit,
Data valid after positive edge of DCLK
30
t5
Float time,
Positive edge of DCLK for last command
bit to bus float
30
DCLK/2
ns
t6
Bus driving time,
Positive edge of DCLK for last command
bit to bus drive
DCLK/2
+0
DCLK/2
+30
ns
Setup time data bit,
Data valid to positive edge of DCLK
DCLK/2
+30
ns
DCLK/2
+30
ns
ns
ni
ca
t0
DCLK/2
+0
t8
Hold time data bit,
Data valid after positive edge of DCLK
DCLK/2
+0
t9
Hold time chip select,
Positive edge DCLK to negative edge of
chip select
30
t10
Bus floating time,
Negative edge of chip select to float bus
0
30
ns
tTO
Timeout period in 2-wire mode (from
rising edge of DCLK)
17
27
µs
tCLK
Clock Timing
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200
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7 Detailed Description
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Figure 3. Typical Arrangement of AS5134 and Magnet
7.1 Connecting the AS5134
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The AS5134 can be connected to an external controller in several ways as listed below:
Serial 3-wire R/W connection
Serial 3-wire Read-only connection
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Serial 2-Wire connection (R/W Mode)
Serial 2-Wire Differential SSI connection
ch
1-Wire PWM connection
Analog output
Quadrature A/B/Index output
Te
Brushless DC Motor Commutation Mode
Daisy Chain Mode
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.2 Serial 3-Wire R/W Connection
In this mode, the AS5134 is connected to the external controller via three signals: Chip Select (CS), Clock (DCLK) inputs and bi-directional DIO
(Data In/Out) output. The controller sends commands over the DIO pin at the beginning of each data transmission sequence, such as reading
the angle or putting the AS5134 in and out of the reduced power modes.
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Figure 4. SSI Read/Write Serial Data Transmission
+5V
VDD
VDD
Micro Controller
Output
CS
Output
DCLK
I/O
AS5134
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VDD
DIO
C2
VSS
100nF
VSS
VSS
A pull-down resistor (as shown in Figure 5) is not required. C2 is a hardware configuration input. C2 selects 3-wire mode (C2 = low) or 2-wire
mode (C2 = high).
command phase
data phase
ca
tCLK
DCLK
1
2
3
5
4
6
7
t9
ni
CS
DIO
CMD4
ch
t3
t5
CMD0
CMD3
t7
t6
t4
DIO read
t8
t10
D15
D14
D1
DIO write
D0
Te
DIO
21
20
t1
Table 5. Serial Bit Sequence (16bit read/write)
Write Command
C4
C3
C2
C1
Read/Write Data
C0
D15 D14 D13 D12
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D11
D10
D9
Revision 2.3
D8
D7
D6
D5
D4
D3
D2
D1
D0
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.3 Serial 3-Wire Read-only Connection
This connection is possible when the AS5134 is only used to provide the angular data (no power down or OTP access). The Chip Select (CS)
and Clock (DCLK) connection is the same as in the R/W mode, but only a digital input pin (not an I/O pin) is required for the DIO connection. As
the first 5 bits of the data transmission are command bits sent to the AS5134, both the microcontroller and the AS5134 are configured as digital
inputs during this phase. Therefore, a pull-down resistor must be added to make sure that the AS5134 reads “00000” as the first 5 bits, which
sets the Read_Angle command.
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Note: All further application examples are shown in R/W mode, however read-only mode is also possible unless otherwise noted.
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Figure 5. SSI Read-only Serial Data Transmission
+5V
VDD
VDD
Output
CS
Output
DCLK
Input
AS5134
Micro Controller
VDD
DIO
10k…
VSS
VSS
C2
100k
100nF
VSS
command phase
DCLK
3
4
6
5
8
7
21
20
t9
ca
CS
DIO read
t10
ni
DIO
D15
D14
D13
D12
D1
DIO write
D0
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DIO
2
1
t1
data phase
Table 6. 2-or 3-wire Read-only Serial Bit Sequence (21bit read)
Command
Read Data
C4
C3
C2
C1
C0
D15 D14 D13 D12 D11 D10
0
0
0
0
0
lock
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D9
AGC
D8
D7
D6
D5
D4
D3
D2
D1
D0
Angle
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.4 Serial 2-Wire Connection (R/W Mode)
By connecting the configuration input C2 to VDD, the AS5134 is configured to 2-wire data transmission mode. Only Clock (DCLK) and Data
(DIO) signals are required. A Chip Select (CS) signal is automatically generated by the DX output, when a time-out of DCLK occurs.
Note: Read-only mode is also possible in this configuration.
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Figure 6. 2-Wire R/W Mode
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+5V
VDD
C2
Output
DCLK
DIO
I/O
VDD
AS5134
Micro Controller
VDD
100nF
VSS
VSS
VSS
command phase
data phase
timeout phase
tTO
t0
DX
CMD4
CMD3
ch
DIO
t1
ni
CS
3
2
1
4
6
5
7
8
22
ca
DCLK
t5
CMD2
CMD1
DIO read
CMD0
t6
DIO
D14
D1
D0
DIO write
Te
D15
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.5 Serial 2-Wire Differential SSI Connection
With the addition of a RS-422 / RS-485 transceiver, a fully differential data transmission, according to the 21-bit SSI interface standard is
possible. To be compatible with this standard, the DCLK signal must be inverted. This is done by reversing the Data+ and Data- lines of the
transceiver.
Note: This type of transmission is read-only.
+5V
VDD
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Figure 7. 2-Wire SSI Read-only Mode
VDD
C2
Output
Input
1
DCLK
DCLK
DI
2
D+
D-
D-
D+
D+
D+
D-
D-
3
4
5
AS5134
Micro Controller
MAX 3081 or similar
VSS
VSS
VDD
DCLK
DIO
VSS
7
6
100nF
8
21
20
ca
timeout
tTO
D15
D14
D1
D0
Te
ch
ni
DI
Refer to Table 6 on page 9 for information on 2-or 3-wire Read-only Serial Bit Sequence (21-bit read).
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.6 1-Wire PWM Connection
This configuration uses the least number of wires: only one line (PWM) is used for data, leaving the total number of connection to three, including
the supply lines. This type of configuration is especially useful for remote sensors. Ultra Low Power Mode is not possible in this configuration, as
there is no bi-directional data transmission. Pins that are not shown may be left open.
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Figure 8. Data Transmission with Pulse Width Modulated (PWM) Output
+5V
VDD
CS
VDD
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VDD
AS5134
Micro Controller
Input
100nF
PWM
C2 VSS
VSS
VSS
t PWM
Init
ca
t high
t low
Lock
Angle Position
359 clocks
exit
8 clocks
ch
ni
Zero degree
8 clocks
Te
The PWM signal will be generated from the actual stored angle information. The zero-angle corrected value is buffered and fixed until the next
PWM-sequence is started. To ease the filtering of the PWM signal, a minimum pulse width is implemented in the protocol.
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
Figure 9. Output PWM Signal After Start-up at 0º Unprogrammed Zero Position
T-low
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T-high
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Init
Init + Lock Diagnostic
8 clocks
Angle Position
exit
359 clocks
8 clocks
Figure 10. Output PWM Signal After Start-up at Initial 0º with a Programmed Zero Position
T-high
Init
Angle Position
exit
359 clocks
8 clocks
ch
ni
8 clocks
ca
Init + Lock Diagnostic
T-low
Te
After a startup of the AS5134 at the initial zero position the PWM signal indicates a permanent lock diagnostic. This behavior can be ignored
during elaboration of the PWM duty cycle. Figure 9 and Figure 10 show the different outputs depending on the OTP zero position programming.
After a mechanical movement (1º) the signal will change as shown in Figure 8. A startup at any other position will also look like as shown in
Figure 8.
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.7 Analog Output
This configuration is similar to the PWM connection (only three lines including supply are required). With the addition of a lowpass filter at the
PWM output, this configuration produces an analog voltage that is proportional to the angle. This filter can be either passive (as shown in
Figure 11) or active. The lower the bandwidth of the filter, the less ripple of the analog output can be achieved. If the AS5134 angular data is
invalid, the PWM output will remain at low state and thus the analog output will be 0V. Pins that are not shown may be left open.
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Figure 11. Data Transmission with Pulse Width Modulated (PWM) Output
+5V
VDD
CS
VDD
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5V
Analog out
AS5134
100nF
>=4k7
0V
>=4k7
Analog
out
PWM
0º
C2
VSS
VSS
>=1µF
180º
360º
PWM out
Angle
>=1µF
7.8 Quadrature A/B/Index Output
The phase shift between channel A and B indicates the direction of the magnet movement. Channel A leads channel B at a clockwise rotation of
the magnet (top view) by 90 electrical degrees. Channel B leads channel A at a counter-clockwise rotation.
Figure 12. Incremental Output Modes
Mechanical
Zero Position
Quad A/B/Index-Mode
ca
A
Mechanical
Zero Position
Rotation Direction
Change
B
ni
Index=0
1 LSB
ch
Index
Hyst=
2LSB
max.
3 LSB
Te
Table 7. Programming Options for the Quadrature Signals A/B/Index
Abi (13:12)
Function: output multiplexer for pin A,B,I
0
0
A pin A, B pin B, I(index) pin I default value)
0
1
step pin A, direction pin B, I(index) pin I
1
0
pulse pin A, direction pin B, I(index) pin I
1
1
off: LO pin A, LO pin B, LO pin I
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.9 Brushless DC Motor Commutation Mode
The BLDC signals will be used to control the electrical angle information – according to the amount of pole pairs and the actual mechanical angle
position. Refer Figure 13 for an example of n_pole_pairs:=2. For the programming, refer to Serial Synchronous Interface (SSI) on page 18.
Figure 13. Commutation Mode
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electrical := mechanical*npole_pairs
pole pair : 2
U
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V
W
0
0
60
120
180
240
300
0
60
120
180
angle electrical
30
60
90
120
150
180
210
240
270
angle mechanical
Table 8. Programming Options for the Commutation Signals U/V/W
uvw (11:9)
0
0
0
0
1
0
1
1
0
1
0
1
1
0
BLDC Pole Pairs : 1 electrical angle of 60º = mechanical angle: 60º
1
BLDC Pole Pairs : 2 electrical angle of 60º = mechanical angle: 30º
0
BLDC Pole Pairs : 3 electrical angle of 60º = mechanical angle: 20º
1
BLDC Pole Pairs : 4 electrical angle of 60º = mechanical angle: 15º
0
BLDC Pole Pairs : 5 electrical angle of 60º = mechanical angle: 12º
1
BLDC Pole Pairs : 6 electrical angle of 60º = mechanical angle: 10º
1
off LO pad U, V, W, PWM
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0
Function
7.10 Daisy Chain Mode
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The angle information from the device and the setup for the device is handled over the digital interface. A special port (Dx) can be used to
implement a daisy chain mode. Depending on the configuration, it is possible to implement a two wire or a three wire mode. In the three wire
mode, each communication starts with the rising edge of the chip select signal. The Port Dx is used to transfer the chip select information from
one device to the next. Refer to Figure 14 and Figure 15. In the two wire interface mode, a timeout logic ensures that the digital interface will be
reset if there is no clock source available for a certain time. The synchronization between the internal free running analog clock oscillator and the
external used digital clock source for the digital interface is done in a way that the digital clock frequency can vary in a wide range.
Remark: Reset for the digital interface:
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3 wire mode via chip select
2 wire mode via timeout
Port
Symbol
Chip Select
CS
DCLK
DCLK
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Function
Indicates the start of a new access cycle to the device
CS = LO reset of the digital interface.
Clock source for the communication over the digital interface. The maximum and
minimum frequency depends on the mode.
Revision 2.3
15 - 32
AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
Port
Symbol
Bidirectional data input output
DIO
Function
Command and data information over one single line. The first bit of the command
defines a read or write access.
This port enables the daisy chain configuration of several devices.
Dx
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Daisy Chain Port
Three wire mode: Indicates the end of an interface cycle. Dx can be used as the
chip select signal for the next device in the chain.
Two wire mode: Will be set with the first falling edge of DCLK and hence, indicates
a running clock; it will be cleared at the end of the command sequence or after a
timeout phase. Dx can be used as a chip select signal in the two wire mode.
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Waveform – Digital Interface at Three Wire Daisy Chain Mode
Note: Defined if the Pin C2 is set to LO at all devices.
Figure 14. 3-Wire Daisy Chain Mode
CMD(1)
CMD(2)
Data(1)
C4 C3 C2 C1 C0 D15 D14 D13
DCLK
CS(1)
CS_INT(1)
DX(1) = CS(2)
CS_INT(2)
DX(2) = CS(3)
C0 D15 D14
CMD(3)
D0 C4
Data(3)
C0 D15 D14
CMD(1)
D0
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CS_INT(3)
D0 C4
Data(2)
DX
DX
DX(2)
DX
DIO
DIO
DIO
CLK
CLK
CLK
CS
DIO
DX(1)
C2
LO
CS
C2
LO
CS
C2
LO
CS
CLK
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Revision 2.3
16 - 32
AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
Waveform – Digital Interface at Two Wire Daisy Chain Mode
Note: Defined, if the Pin C2 is set to LO at all devices except the last one where the Pin C2 is set to HI.
t14_2
CMD(1)
C2 C1 C0 D15 D14 D13
D0 C4
Data(2)
CMD(3)
C0 D15 D14
D0 C4
Data(3)
C0 D15 D14
CMD(1)
D0
C4
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C4 C3
CMD(2)
Data(1)
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Figure 15. 2-Wire Daisy Chain Mode
DCLK
DX(3)
CS(1)
CS_INT(1)
t14_3
t16
DX(1) = CS(2)
CS_INT(2)
DX(2) = CS(3)
CS_INT(3)
DX
CS
DIO
DX(1)
DX
CS
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DX(3)
CLK
CLK
C2
LO
DX
CS
DIO
DIO
CLK
DX(2)
C2
LO
C2
LO
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DIO
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DCLK
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Revision 2.3
17 - 32
AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
7.11 Serial Synchronous Interface (SSI)
Normal mode is used for normal operations, whereas extended mode is for accessing the OTP.
Table 9. Commands of the SSI in Normal Mode
Digital interface at normal mode
cmd
bin
mode
15
14
13
12
23
WRITE
CONFIG 1
10111
write
LP
SM_
RES
tst
tst
20
SET MT
COUNTER
10100
write
16
EN PROG
10000
write
4
RD MT
COUNTER
00100
read
0
RD_ANGLE
00000
read
11
10
Hyst
9
8
7
tst
tst
tst
0
0
1
6
5
4
3
0
1
0
1
multi-turn-counter
1
0
0
0
1
1
OTP
_OK
1
0
1
1
0
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multi-turn-counter
2
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#
lock_
adc
agc
angle
SM_RES: State machine reset of the digital part of the device (soft reset).
EN PROG: Enables the access to the OTP register in Extended Mode.
WRITE CONFIG: LP HI activates the sleep mode of the AS5134. The power consumption is significantly reduced. LP LO returns to normal
operation mode. During sleep mode, the lock_adc bit in command 0 is LO.
RD_MT Counter: Command for read out of multi turn register.
OTP_OK: Bit shows correct readout of the OTP register after startup. The bit is valid till the next OTP access.
RD_ANGLE: Command for read out of angle value and AGC value (agc). “Lock” indicates a locked ADC.
tst: Test bits for internal testing (must be left unchanged).
Hyst (11:10): Digital Hysteresis can be set via the digital interface 0, 1, 2 (default), 3 LSB
Hyst
0
0
1
0
2 LSB (default value)
1
1
0
3
1
0
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1
Function
The hysteresis can be changed over the interface. An activation of the SM_RES bit is required. This can be performed in two steps -
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1. Use WRITE CONFIG 1 command and write the selected hysteresis and SM_RES = ‘1’ into the device.
2. Use again WRITE CONFIG 1 command and release SM_RES = ‘0’ with the same hysteresis setting.
SET MT COUNTER: Command for setting the Multi Turn Counter to a defined value.
LP: Default "0"; "1" for using the low power function.
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lock_adc: Indicates that the tracking adc is in a locked status. For a valid angle (the magnetic field has to be in a certain range, which is
indicated by the agc value) or a missing magnet the lock_adc is set.
www.austriamicrosystems.com/AS5134
Revision 2.3
18 - 32
19 - 32
Table 10. Commands of the SSI in Extended Mode
Factory Settings
Number of bits
2
18
1
4
4
1
41
40 39 ..36 35 ..32
31
Customer Settings
4
2
3
30 ..27 26 ..25 24 ..22
1
4
1
2
21
20 ..17
16
15 ..14
2
3
13 ..12 11 ..9
9
#
cmd
bin
mode
31
WRITE OTP
11111
xt write
tst
ID
tst
tst
tst
tst
tst
tst
tst
tst
lock_otp (*) r_ add r_bit
sensitivity
abi
uvw
zero
angle
25
PROG_OTP
11001
xt write
tst
ID
tst
tst
tst
tst
tst
tst
tst
tst
lock_otp (*) r_ add r_bit
sensitivity
abi
uvw
zero
angle
15
READ_OTP
01111
xt read
tst
ID
tst
tst
tst
tst
tst
tst
tst
tst
lock_otp (*) r_ add r_bit
sensitivity
abi
uvw
zero
angle
9
READ ANA
01001
xt read
tst
ID
tst
tst
tst
tst
tst
tst
tst
tst
lock_otp (*) r_ add r_bit
sensitivity
abi
uvw
zero
angle
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61 ..60 59 ..42
1
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Digital interface at extended mode
8..0
PROG_OTP: Programming of the OTP register. Only Bits can be programmed by the customer. The internal factory settings are locked by an “internal lock bit” and cannot be programmed.
READ_OTP: Read out the content of the OTP register. Data written by WRITE_OTP and PROG_OTP is read out.
READ ANA: Analog read out mode. The analog value of every OTP bit is available at pin 1 (PROG), which allows for a verification of the fuse process. No data is available at the SSI.
Revision 2.3
WRITE OTP: Writing of the OTP register. The written data is volatile. “Zero Angle” is the angle, which is set for zero position. “Sensitivity” is the gain setting in the signal path. “Redundancy” is the
number of bits, which allows the customer to overwrite one of the customer OTP bits .
tst: Test bits for internal testing (must be left unchanged).
ID (59:42): Chip identifier to track the device in the field
lock_otp (21): To disable the programming of the factory bits – write access is still possible
r_add (20:17): The following OTP bits can be modified according to the requirements of the application.
r_bit (16): Redundancy bit (functionality is only implemented in the user region)
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uvw (11:9): Number of poles of the brush less dc motor - impact to the uvw signals
zero angle (8:0): Trim bit for the zero angle information
Notes:
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LP: Enables the low power mode to reduce the current consumption - digital registers are not reset.
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1. The Extended Mode can be enabled by sending command 16 (EN PROG).
2. The lock bit will be deleted during power down or sleep mode to ensure that the user is able to detect that the read out angle value is computed after the wake up sequence.
3. In extended mode 1 data bit (wirte/read) requires 4 clock cycles (see Figure 19).
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
abi (13:12): Mode selection for the incremental signals
www.austriamicrosystems.com/AS5134
Sensitivity (15:14): Trim bit for the gain of the amplifier after the demodulator
20
19
18
17
16
15
14
0
0
1
/
0
0
0
1
1
/
0
0
1
0
1
/
0
0
1
1
1
/
0
1
0
0
1
/
0
1
0
1
1
/
0
1
1
0
1
/
0
1
1
1
1
/
1
0
0
0
1
/
1
0
0
1
1
/
1
0
1
0
1
/
1
0
1
1
1
/
1
1
0
0
1
/
1
1
0
1
1
/
1
1
1
0
1
/
1
1
1
1
1
1
11
10
9
8
7
6
ABI
ABI
U
V
W
ZA
ZA
ZA
5
4
3
2
1
0
ZA
ZA
ZA
ZA
ZA
ZA
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0
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AS5134
Datasheet - D e t a i l e d D e s c r i p t i o n
R_add R_add R_add R_add R_bit Sensitivity Sensitivity
13
www.austriamicrosystems.com/AS5134
Table 11. Redundancy Addressing
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For a better programming reliability, a redundancy is implemented. This function can be used in case if the programming of one bit fails. With an address RA(4:0) one bit can be selected and
programmed.
Revision 2.3
20 - 32
7.12 Redundancy
AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
8 Application Information
The benefits of AS5134 are as follows:
Complete system-on-chip, no angle calibration required
Flexible system solution provides absolute serial, ABI, UVW and PWM outputs
Ideal for applications in harsh environments due to magnetic sensing principle
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High reliability due to non-contact sensing
Robust system, tolerant to horizontal misalignment, airgap variations, temperature variations and external magnetic fields
8.1 AS5134 Programming
The AS5134 offers the following user programmable options:
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Zero Position Programming. This programming option allows the user to program any rotation angle of the magnet as the new zero
position. This useful feature simplifies the assembly process as the magnet does not need to be mechanically adjusted to the electrical zero
position. It can be assembled in any rotation angle and later matched to the mechanical zero position by zero position programming. The 8,5-bit
user programmable zero position can be applied both temporarily (command WRITE OTP, #31) or permanently (command PROG OTP, #25).
Magnetic Field Optimization. This programming option allows the user to match the vertical distance of the magnet with the optimum
magnetic field range of the AS5134 by setting the sensitivity level. The 2-bit user programmable sensitivity setting can be applied both
temporarily (command WRITE OTP, #31) or permanently (command PROG OTP, #25).
8.1.1
OTP Programming Connection
Programming of the AS5134 OTP memory does not require a dedicated programming hardware. The programming can be simply accomplished
over the serial 3-wire interface (see Figure 17) or the optional 2-wire interface (see Figure 6). For permanent programming (command PROG
OTP, #25), a constant DC voltage of 8.0-8.5V must be connected to pin 1 (PROG). For temporary OTP write (“soft write”; command WRITE OTP,
#31), the programming voltage is not required. The capacitors must be as close as possible to the pin, to ensure that a serial inductance of 50nH
is not to be exceeded. The 50nH inductance could translate into a cable length of approximately 5cm.
Figure 16. OTP Programming Connection
+5V
VDD
VDD
Output
DCLK
I/O
DIO
8.0 – 8.5V
100nF
+
-
100nF
PROG
10µF
Micro Controller
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CS
C2
VSS
VSS
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VSS
Output
AS5134
ca
VDD
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Revision 2.3
21 - 32
AS5134
Datasheet - A p p l i c a t i o n I n f o r m a t i o n
Figure 17. OTP Programming Connection
Special Case
Standard Case
VSUPPLY
L3.5µs.
8.4.3
Low Power Mode
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The target of this mode is to reduce the long time power consumption of the device for battery powered applications, without losing the actual
angle information.
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In Low Power Mode, the AS5134 is inactive. The last state (for e.g. the angle, AGC value, etc.) is frozen and the chip starts from this frozen state
when it resumes active operation. This method provides much faster start-up than a “cold start” from zero. If the AS5134 is cycled between
active and reduced current mode, a substantial reduction of the average supply current can be achieved. The minimum dwelling time is
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