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AEAT-6600-T16 10 to16-bit programmable angular magnetic encoder ic data sheet description the avago aeat-6600 angular magnetic encoder ic is a contact less magnetic rotary encoder for accurate angular measurement over a full turn of 360 degrees. it is a system-on-chip, combining integrated hall elements, analog front end and digital signal processing in a single device. to measure the angle, only a simple two-pole magnet, rotating over the center of the chip, is required. the magnet may be placed above or below the ic. the absolute angle measurement provides instant indica - tion of the magnets angular position with a resolution of 0.005 = 65 536 positions per revolution. this digital data is available as a serial bit stream and as a pwm signal. an internal voltage regulator allows the aeat-6600 to operate at either 3.3 v or 5 v supplies. features ? 5 v or 3.3 v operation ? 3-wire or 2-wire ssi interface mode for absolute output ? incremental abi or uvw, and pwm output modes ? user-programmable zero position, direction & index pulse width ? easy magnet alignment with magnetic feld strength output and alignment mode ? power-down mode to reduce current consumption ? tssop-16 ic package ? rohs compliant specifcations ? absolute 10-bits to 16-bits resolution ? incremental output resolutions 8 to 1024 cpr ? -40 c to 125 c operating temperature range applications ? 3-phase commutation for brushless dc motor ? resolver and potentiometer replacement ? industrial automation and robotics figure 1. aeat-6600 series tssop-16 ic package note: this product is not specifcally designed or manu - factured for use in any specifc device. customers are solely responsible for determining the suitability of this product for its intended application and solely liable for all loss, damage, expense or liability in connection with such use.
2 defnitions electrical degree (e): resolution x 360 electrical degrees = 360 mechanical degrees. cycle (c): one cycle of the incremental signal is 360 me - chanical degrees/resolution and is equal to 360 electrical degrees ( e). cycle error ( c): the diference between the actual cycle width and the ideal cycle width corresponding to a shaft angle displacement of 1/resolution. the accumulated cycle error leads to position error. pulse width (p): the number of electrical degrees that an out- put is high during one cycle, nominally 180e or ? a cycle. pulse width error ( p): the deviation in electrical degrees of the pulse width from its ideal value of 180e. state width (s): the number of electrical degrees between a transition in the output of channel a and the neighbor - ing transition in the output of channel b. there are 4 states per cycle, each nominally 90e. state width error ( s): the deviation in electrical degrees of each state width from its ideal value of 90e. phase ( ): the number of electrical degrees between the center of the high state on channel a and the center of the high state on channel b. phase error ( ? ): the deviation in electrical degrees of the phase from its ideal value of 90e. index pulse width (p o ): the number of electrical degrees that an index pulse is active within the cycle that coincides with the absolute zero position. the index pulse width is also expressed in terms of lsb (least signifcant bit) counts corresponding to the encoder resolution. integral non-linearity (inl): the maximum deviation bet- ween actual angular position and the position indicated by the encoders output count, over one revolution. it is defned as the most positive linearity error +inl or the most negative linearity error Cinl from the best ft line, whichever is larger. figure 2. integral non-linearity example 0 512 1024 0 90 180 270 360 encoder output count angular position (mechanical degree) ideal curve actual curve most negative linearity error -inl most postive linearity error +inl figure 3. polaris block diagram functional description the aeat-6600 is manufactured with a cmos standard process and uses a hall technology for sensing the magnetic feld distribution across the surface of the chip. the integrated hall elements are placed around the center of the device and deliver a voltage representation of the magnetic feld at the surface of the ic. the digital signal processing (dsp) circuit converts the data from the hall sensor into absolute angular position (do/di pin) as an absolute output or converted into digital output (a/u, b/v, i/w pins) by the incremental circuit. the dsp circuit also provides digital information at the outputs maghi and maglo that indicate movements of the used magnet towards or away from the devices surface. a small low cost diametrically magnetized (two-pole) stan- dard magnet provides the angular position information. the aeat-6600 senses the orientation of the magnetic feld and calculates a 10 to 16-bit binary code. this code can be accessed via a synchronous serial interface (ssi). in addition, an absolute angular representation is given by a pulse width modulated signal at pin 8 (pwm). the aeat-6600 is tolerant to magnet misalignment and magnetic stray felds due to local measurement technique and hall sensor conditioning circuitry. the otp block provides an access to program to a specifc resolution and output modes through a prog pin (pin 13). note: for further information regarding the operating mode and application, please refer to the application note (av02-2791en). for programming tool and software ap - plication, please refer to the user manual (av02-2803en). dsp pwm absolute data synchronous serial interface incremental conversion otp conguration registers hall sensor prog align absolute data 2 absolute data 1 icfe data mag_hi mag_lo pwm_atst do_di clk ncs vpp_otp a/u b/v i/w
3 pin-out description pin symbol i/o type description 1 a/u output incremental a output (abi mode) u commutation output (uvw mode) 2 b/v output incremental b output (abi mode) v commutation output (uvw mode) 3 i/w output index output (abi mode) w commutation output (uvw mode) 4 mag_hi/otp_err output 1 indicates magnetic feld strength too high (normal operation mode) 1 indicates otp programming error (otp program mode) 5 mag_lo/otp_prog_stat output 1 indicates magnetic feld strength too low (normal operation mode) 1 indicates otp programming completed (otp program mode) 6 gnd ground supply ground 7 align input (internal pull-down) 0: normal operation mode 1: alignment mode 8 pwm output pwm output 9 vdd supply 5 v supply input (connected to vdd_f for 3.3 v operation) 10 vdd_f supply filtered vdd 11 pwrdown input 0: normal operation mode 1: power-down mode 12 vpp high supply 6.5 v voltage supply for otp programming. vdd at normal operation mode 13 prog input (internal pull-down) 0: normal operation mode 1: otp programming mode 14 ncs input (internal pull-up) ssi data strobe input 15 clk input ssi clock input 16 do/di input/output (tri-state) ssi data output (absolute output mode) serial data input (otp program mode) pin assignments figure 4. pin confguration tssop-16 1 2 3 4 aeat-6600 5 6 7 8 16 15 14 13 12 11 10 9
4 table 1. absolute maximum ratings parameter symbol min. max. units notes storage temperature t s -40 125 c dc supply voltage vdd pin vpp pin vdd vpp -0.3 -0.3 7 7 volts input voltage range v in -0.25 vdd+0.25 volts caution: subjecting the product to stresses beyond those listed under this section may cause permanent damage to the devices. these are stress ratings only and do not imply that the devices will function beyond these ratings. exposure to the extremes of these conditions for extended periods may afect product reliability. table 2. recommended operating conditions parameter symbol min. typical max. units notes operating ambient temperature t a -40 C 125 c dc supply voltage to vdd pin 5 v operation 3.3 v operation vdd 4.5 3.0 5.0 3.3 5.5 3.6 volts vdd pin tied to vdd_f pin for 3.3 v operation. otp programming voltage at vpp pin vpp 6.3 6.5 6.7 volts vpp tied to vdd during normal operation mode incremental output frequency f max C C 512 khz frequency = velocity (rpm) x resolution/60 max rpm = 30000 rpm load capacitance c l C C 50 pf table 3. electrical characteristics condition: electrical characteristics over the recommended operating conditions. typical values specifed at vdd = 5.0 v and 25 c parameter symbol min. typ. max. units notes current consumption supply current normal operation mode power-down mode i dd i pd C C 17 C 21 100 ma a otp programming current i pp C C 2 ma vpp supply pin digital outputs (do) high level output voltage v oh vdd - 0.5 C C volts normal operation low level output voltage v ol C C gnd + 0.4 volts output leakage current i oz -1 C 1 a power-up time 10-bits absolute output 12-bits incremental output 14-bits pwm output 16-bits t pwrup C C 11 11 11 11 ms digital inputs (di) input high level v ih 0.7xvdd C C volts input low level v il C C 0.3xvdd volts input leakage current i leak -1 C 1 a clk, di pins pull-up low level input current i il C C 30 a ncs pin pull-down high level input current i ih C C 30 a align, prog ? ? ?
5 table 4. encoding characteristics parameter symbol min. typ. max. units notes absolute output resolution res 10 C 16 bit 10 and 16 bits (slow mode) 10 and 14 bits (fast mode) integral non-linearity (optimum) inl nom C 0.4 0.9 deg. maximum error with respect to best line ft. verifed at nominal mechanical magnet placement. tamb = 25 c integral non-linearity inl C C 1.9 deg. best line ft = (err max C err min )/2 over displacement tolerance with 9mm diameter magnet, tamb = -40 to +125 c output sampling rate f s C 12 C khz refer to table5 for AEAT-6600-T16 internal sampling time incremental output (channel abi) resolution r inc 8 C 1024 cpr options 8, 16, 32, 64, 128, 256, 512 or 1024 cpr index pulse width p o 90 C 360 e options: 90, 180, 270 or 360 oe cycle error c C 7 60 80 100 e 8, 16, 32, 64, 128 cpr 256 cpr 512, 1024 cpr pulse width error p C 5 40 50 60 e 8, 16, 32, 64, 128 cpr 256 cpr 512, 1024 cpr state width error s C 3 40 50 60 e 8, 16, 32, 64, 128 cpr 256 cpr 512, 1024 cpr phase error ? C 2 20 25 30 e 8, 16, 32, 64, 128 cpr 256 cpr 512, 1024 cpr index pulse width error po 60 150 240 330 90 180 270 360 120 210 300 390 e index pulse width gated 90oe index pulse width gated 180oe index pulse width gated 270oe index pulse width gated 360oe velocity 1 C 30,000 rpm note: encoding characteristics above are based on 12-bits resolution. commutation characteristic (channel u,v,w) commutation format four phase 1,2,4 or 8 pole pairs commutation accuracy uvw -2 C +2 mechanical velocity 1, 2, 4, 8 poles 1 C 30,000 rpm pwm output pwm frequency 10 bits f pwm 3040 3800 4560 hz minimum pulse width 10 bits pw min 0.8 1 1.2 s maximum pulse width 10 bits pw max 210 263 315 s note: encoding characteristics over recommended operating range unless otherwise specifed.
6 table 5. encoding timing characteristics parameter symbol min. typ. max. units notes absolute output system refresh time 10-bit 12-bit 14-bit 16-bit t refresh C C C C C C C C 111 111 111 111 s s s s first ssi absolute output upon power-up system reaction time (fast mode) 10-bit 12-bit 14-bit t fast C C C C C C 111 111 111 s s s no averaging reaction time system reaction time (slow mode) 10-bit 12-bit 14-bit 16-bit t slow C C C C C C C C 111 442 7.1 113 s s ms ms averaging reaction time incremental output (abi & uvw) system reaction time (fast mode) t inc. C C C C 720 310 s s (for 400 to 1800rpm) (for 1800rpm and above) notes: the t refresh , t fast , t slow , t inc. are AEAT-6600-T16 internal sampling time. slow mode is not recommended for incremental ouput. contact factory for slow mode application on incremental ouput. contact factory for fast mode 16 bits application. table 6. recommended magnetic input specifcations parameter symbol min. typ. max. units notes diameter d 9 mm recommended magnet: cylindrical magnet, diametrically magnetized & 1 pole pair. thickness t 3 mm magnet radial magnetic fux denstiy b_radial 188 198 208 mt measured at 1.3 mm away from center of magnet radial surface. magnet validation purpose magnet plane magnetic fux density b_plane 106 112 118 mt b_plane at 1.3 mm from magnet fat surface. hall sensor required plane components magnetic feld magnetization vector tilt mag_vec +/- 5 magnet magnetization vector tilt magnet displacement radius r_m 0.1 mm displacement between magnet axis to rotational axis hall sensor displacement radius r_s 0.5 mm displacement between hall sensor axis to rotational axis recommended magnet material and temperature drift -0.11 %/c ndfeb (neodymium iron boron), grade n35sh disclaimer: the above information is based on the spec provided by the supplier of the magnet used for product char - acterization. the supplier of the magnet is solely responsible for the specifcation and performance of the magnet used.
7 x = 2.2 mm x = 2.2 mm y = 2.881 mm y = 2.119 mm hall sensor center area of recommended maximum magnet misalignment magnet and ic package placement the magnets centre axis should be aligned within a displacement radius of 0.5mm from defned hall sensor center. defned chip sensor center and magnet displacement radius magnet 1.3 +/-0.5mm vertical placement of the magnet package surface die surface figure 5. magnet and ic package placement figure 6. defned chip sensor center and magnet displacement radius
8 table 7. ssi timing characteristics parameter sym min. typ. max. units notes fclk C C 1000 khz tclk fe C C 500 ns minimum time required for encoder to freeze data and prepare shift registers before receiving the frst rising edge to prompt the msb tdo active C 100 C ns tdo valid C 50 C ns tcsn C 500 C ns tdo tristate C 100 C ns tdelay C 500 - ns minimum time required for encoder to freeze data and prepare shift registers before receiving the frst rising edge to prompt the msb. trefresh 20 C C s required waiting time to refresh position data between subsequent position reads ttimeout C C 20 s every falling edge of the clock twait C C 10 s max time to hold do to low note: ssi timing characteristics over recommended operating range unless otherwise specifed. ssi timing diagram 3-wire and 2-wire ssi mode generally, ssi protocol is using a master/slave relationship, in which the master initiates the data frame. clk is generated by the master (controller) and input to all slaves. in AEAT-6600-T16, position data is continually updated by the encoder (AEAT-6600-T16) and made available to the shift register. figure 7. ssi timing diagram msb msb-1 msb-2 lsb lsb+1 hi-z tdo active tclk_fe 16-bit cycle msb tdo valid hi-z tclk_fe tdo active tcsn tdo tristate ncs clk do/di msb msb-1 msb-2 lsb lsb+1 16-bit cycle tdovalid ncs clk do/di tdelay 16bits 16bits 1 2 3 n 1 2 3 n angular position data angular position data msb msb-1 previous data previous data new data new data twait twait ttimeout ssi 3-wired ssi 2-wired tdelay trefresh >20us ttimeout
9 incremental abi output uvw commutation output figure 8. incremental abi signals figure 9. uvw commutation signals C 12-bit resolution, one-pole-pair ccw direction a b i 360 edeg. s1 s2 s3 s4 p c 1 lsb p o p o 2 lsb p o 3 lsb p o 4 lsb quadrature signal (a lead b) index signal 12-bit resolution, one-pole-pair width: 2048 counts width: 2048 counts u v w cw direction position: angle: 0 0.0 683 60.12 1365 119.88 2048 180 2731 240.12 3413 299.88 4096 360.0 with incremental abi output enable, AEAT-6600-T16 is able to provide position data and direction data with the reso - lution 8 to 1024 cpr. index signal marks absolute angular position and typically occurs once per revolution, with the options 90, 180, 270, 360. lastly, index signal will clear the counter after each full rotation.
10 figure 10. uvw commutation signals C 10-bit resolution, two-pole-pairs pwm output figure 11. pwm signals C 12 bit resolution 10-bit resolution, two-pole-pair width: 256 counts width: 256 counts u v w cw direction position: angle: 0 0.0 85 29.88 171 60.12 256 90 341 119.88 427 150.12 512 180 597 209.88 683 240.12 768 270 853 299.88 939 330.12 1024 360.0 1/f pwm 256 s 255 s 1 s pw max 0 deg (pos 0) angle 358.6 deg (pos 1020) pw min position = 1 t on ? 1025 (t on + t o ) in this option, three channel integrated commutation output (u, v, w) will serve the purpose to emulate hall sensor feedback. with this, AEAT-6600-T16 is able to align commutation encoder signal to the correct phase of the motor. generally, the more the pole-pairs the fner commutation steps (aeat-6600 up to 1, 2, 4, 8 pole-pairs) pwm output is considered as another absolute output besides ssi. in pwm mode, duty cycle is proportional to the measured angle. for full rotation angle, 360 degree is equivalent to position 0 to 1023. for instance, an angle position of 358.6 will generate a pulse width ton = 255 s and a pause tof of 1 s resulting in position = 1020 after the calculation: 255*1025 / (255+1)-1 = 1020
for product information and a complete list of distributors, please go to our web site: www.avagotech.com avago, avago technologies, and the a logo are trademarks of avago technologies in the united states and other countries. data subject to change. copyright ? 2005-2013 avago technologies. all rights reserved. av02-2792en - september 24, 2013 package drawings figure 12. aeat-6600, 16-lead tssop dimensions ordering information AEAT-6600-T16 all dimensions unit: mm do clk ncs prog vpp pd vdd_f vdd 5.0 0.1 0.65 bsc front view 0.19 ~ 0.30 0.05 ~ 0.15 1.0 ref right view seating plane 0 ~ 8 0.60 0.15 a b i maghi maglo gndd, gnda align pwm pin 1 id mark top view 1.20 max 0.25 (gauge plane) 4.4 0.1 6.4 0.2 iso view +0.15 -0.1 0.90

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