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revision 1.3 w ww.austriamicrosystems.com pa ge 1 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet general description the as5048 is an easy to use 360 angle position sensor with a 14bit high resolution output. the maximum system a ccuracy is 0.05 assuming linearization and averaging is done by the external microcontroller. the ic measures the absolute position of the magnets rotation angle and consists of hall sensors, analog digital converter and digital signal processing. the zero position can be programmed via spi or i2c command. therefore no programmer is needed anymore. this simplifies the assembly of the complete system because the zero position of the magnet does not need to be mechanically aligned. this helps developers to shorten their developing time. the sensor tolerates misalignment, air gap variations, temperature variations and as well external magnetic fields. this robustness and wide temperature range (40c up to +150c) of the as5048 makes the ic ideal for rotation angle sensing in harsh industrial and medical environments. several as5048 ics can be connected in daisy chain for serial data read out. the absolute position information of the magnet is directly accessible over a pwm output and can be read out over a standard spi or a high speed i2c interface. AS5048A has a spi interface, as5048b i2c interface. both devices offer a pwm output. an internal voltage regulator allows the as5048 to operate at either 3.3 v or 5 v supplies. key features & benefits 3 60 contactless angle position sensor standard spi or high speed i2c interface pulse width modulated output (pwm) simple programmable zero position via spi or i2c command no programmer needed 14bit full scale resolution 0.0219/lsb angle accuracy 0.05after system linearization and averaging daisy chain capability tolerant to air gap variations magnetic field input range: 30mt C 70mt 40c to +150c ambient temperature range 3.3v / 5v compliant 14pin tssop package (5x6.4mm) applications r obotic joint position detection industrial motor position control medical robots and fitness equipment block diagram ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 2 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet contents general description .................................................................................................................. 1 k ey f eatures & b enefits .................................................................................................................. 1 a pplications ..................................................................................................................................... 1 b lock d iagram ................................................................................................................................. 1 1 pin configuration ................................................................................................................. 5 1.1 p in d escription ........................................................................................................................ 5 2 electrical characteristics ............................................................................................ 6 2.1 a bsolute m aximum r atings .................................................................................................... 6 2.2 o perating c onditions ............................................................................................................. 7 2.3 dc/ac c haracteristics for digital inputs and outputs ....................................................... 7 2.4 e lectrical s ystem s pecifications .......................................................................................... 8 2.5 g lobal t iming c onditions ...................................................................................................... 8 3 functional description ...................................................................................................... 9 4 operation .................................................................................................................................. 9 4.1 s upply v oltage c onfiguration .............................................................................................. 9 4.2 spi i nterface ......................................................................................................................... 10 4.2.1 spi interface signals (4-wire mode, wire_mode = 1) .......................................................... 10 4.2.2 spi timing ......................................................................................................................... 11 4.2.3 spi connection to the host uc ........................................................................................... 12 4.2.4 spi communication command package .............................................................................. 13 4.2.5 read package (value read from AS5048A) ......................................................................... 14 4.2.6 write data package (value written to AS5048A) ................................................................. 14 4.2.7 register map spi ............................................................................................................... 15 4.2.8 spi interface commands .................................................................................................... 16 4.3 i2c interface .......................................................................................................................... 19 4.3.1 i2c electrical specification ................................................................................................ 19 4.3.2 i2c timing ......................................................................................................................... 20 4.3.3 register table .................................................................................................................... 21 4.3.4 i2c slave address ............................................................................................................... 22 4.4 pwm interface ...................................................................................................................... 22 5 package drawings and markings ................................................................................. 23 5.1.1 assembly lot code ............................................................................................................. 23 6 application information ................................................................................................. 25 6.1 p rogramming of the as5048 ................................................................................................. 25 6.1.1 programming of the zero position ....................................................................................... 25 6.1.2 programming sequence with verification ............................................................................. 25 6.2 d iagnostic functions of the as5048 .................................................................................... 25 ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 3 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 6.3 c hoosing the p roper m agnet ............................................................................................... 26 6.4 p hysical p lacement of the m agnet ..................................................................................... 27 6.5 m agnet p lacement ................................................................................................................ 27 7 ordering information ...................................................................................................... 28 8 revision history .................................................................................................................. 28 9 copyrights .............................................................................................................................. 29 10 disclaimer .............................................................................................................................. 29 list of figures f igure 1: p in configuration tssop14 ................................................................................................. 5 f igure 2: c onnections for 5v and 3.3v supply voltages .................................................................. 9 f igure 3 spi c onnection AS5048A with u c ...................................................................................... 10 f igure 4 spi c ommand /r esponse d ata f low .................................................................................... 10 f igure 5 spi t iming d iagram ............................................................................................................. 11 f igure 6 s ingle s lave m ode .............................................................................................................. 12 f igure 7 m ultiple s lave , n +3 w ire (s eparate c hip s elect ) ............................................................. 12 f igure 8 d aisy c hain , 4 w ire ............................................................................................................ 13 f igure 9 read c ommand ................................................................................................................... 16 f igure 10 write c ommand ............................................................................................................... 16 f igure 11 clear error flag c ommand ........................................................................................ 17 f igure 12 nop c ommand ................................................................................................................... 18 f igure 13 s lave address construction ............................................................................................ 22 f igure 14 pwm f ormat ...................................................................................................................... 23 f igure 15 p ackage m arking .............................................................................................................. 23 f igure 16: t ypical magnet and magnetic flux distribution ........................................................... 26 f igure 17: d efined chip center and magnet displacement radius .................................................. 27 f igure 18: v ertical placement of the magnet ................................................................................. 27 list of tables t able 1: p in description tssop14 ....................................................................................................... 5 t able 2 a bsolute m aximum r atings .................................................................................................. 6 t able 3: o perating c ondition ............................................................................................................. 7 t able 4:dc/ac characteristics ......................................................................................................... 7 t able 5 s ystem specification .............................................................................................................. 8 t able 6 g lobal timing conditions ...................................................................................................... 8 t able 7 spi t iming c haracteristics ................................................................................................. 11 t able 8 spi c ommand p ackage ......................................................................................................... 13 t able 9 spi read package .................................................................................................................. 14 t able 10 spi write data package ...................................................................................................... 14 t able 11 spi register map ................................................................................................................. 15 ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 4 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet t able 12 c lear e rror f lag c ommand .............................................................................................. 17 t able 13 nop c ommand ..................................................................................................................... 18 t able 14 i2c e lectical s pecification ............................................................................................... 19 t able 15 i2c t iming ............................................................................................................................ 20 t able 16 r egister m ap i2c ................................................................................................................ 21 t able 17 pwm p eriod and resolution .............................................................................................. 23 t able 18: o rdering i nformation ...................................................................................................... 28 ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 5 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 1 p in configuration figure 1: pin configuration tssop14 1.1 p in description pin AS5048A type description as5048b type description 1 csn di_st spi chip select active low sda dio_od data pin i2c interface 2 clk di_st spi clock input scl di_st i2c clock input 3 miso dio_st spi master in/slave out a2 di_st i2c address selection pin 3 4 mosi di_st spi master out/slave in a1 di_st i2c address selection pin 4 5 test aio test pin, see note same as AS5048A 6 test aio test pin, see note 7 test aio test pin, see note 8 test aio test pin, see note 9 test aio test pin, see note 10 test aio test pin, see note 11 vdd5v s positive supply voltage, 3.0 to 5.5 v 12 vdd3v s 3 .3v regulator output; internally regulated from vdd. connect to vdd for 3v supply voltage. 10f capacitor to gnd required in 5 v operation mode 13 gnd s negative supply voltage (gnd) 14 pwm do pulse width modulation output table 1: pin description tssop14 pin types: s ... supply pad aio ... analog i/o di_st digital input with schmitt trigger do ... digital output C pushpull dio _st ... digital i/o with schmitt trigger in the input path dio _od ... digital i/o with open drain output note: pin 5, 6, 7, 8, 9, 10 should be grounded to gnd. ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 6 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 2 electrical characteristics 2.1 absolute maximum ratings stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device. these are stress ratings only. functional operation of t he device at these or any other conditions beyond those indicated under operating conditions is not implied. exposure to absolute maximum rating conditions for extended periods may affect device reliability. parameter symbol min max unit note dc supply voltage at vdd pin vdd5v 0.3 7 v dc voltage at vdd3v pin vdd3v 0.3 5 v dc voltage at gnd pin gnd 0.3 0.3 v input pin voltage v_in vdd+0.3 v input current (latchup immunity) i_scr 100 100 ma norm: jedec 78 electrostatic discharge esd +/2 kv norm: mil 883 e method 3015 total power dissipation (all supplies and outputs) p_t 150 mw storage temperature t_strg 55 150 c package body temperature t_body 260 c the reflow peak soldering temperature (body temperature)specified is in accordance with ipc/jedec j std020 moisture solid state surface mount devices. the lead finish from pbfree leaded packages is matte tin (100% sn) humidity noncondensing h 5 85 % moisture sensitive level msl 3 represents a maximum floor life time of 168h table 2 absolute maximum ratings ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 7 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 2.2 operating conditions a ll in this specification defined tolerances for external components need to be assured over the whole operation conditions range and also over lifetime. parameter symbol min max unit note positive supply voltage vdd5v 4.5 5.5 v 5v operation via ldo vdd3v 3 3.6 v ldo output voltage positive core supply voltage vddcore 3 3.6 v negative supply voltage gnd 0 0 v ambient temperature t_amb 40 150 c only for 5v operation. t_amb_max for 3v is 125c supply current i_sup 15 ma table 3: operating condition 2.3 d c/ac characteristics for digital inputs and outputs parameter symbol min typ max unit note cmos digital input with schmitt trigger: csn, clk, mosi high level input voltage v_ih 0.7 * vdd5v v low level input voltage v_il 0.3 * vdd5v v input leakage current l_leak 1 a cmos output: pwm, miso high level output voltage v_oh vdd5v0.5 v low level output voltage v_ol gnd+0.4 v capacitive load c_l 50 pf output current i_out 4 ma table 4:dc/ac characteristics ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 8 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 2.4 electrical system specifications v dd5v = 5v, t ambient = 40 to +150c unless noted otherwise parameter symbol min typ max unit note magnetic input field bz 30 50 70 mt output sampling rate f sample 10.2 11.25 12.4 khz output resolution res 14 bit sensor output noise noise 0.06 deg 2.73lsb@14bit, rms value system propagation delay t prop 90.7 100 110.2 s pwm frequency f pwm 0.907 1 1.102 khz nonlin earity optimum placement of magnet inl opt 0.4 deg a ssuming 8 mm diameter of magnet nonlinearity @displacement of magnet inl dis 0.7 deg a ssuming 8 mm diameter of magnet and 500 um displacement in x and y nonlinearity @displacement of magnet and temperature 40 150 degc inl dis+temp 1.2 deg a ssuming 8 mm diameter of magnet and 500 um displacement in x and y startup time t startup 10 ms table 5 system specification 2.5 g lobal timing conditions parameter symbol min typ max unit note internal master clock f osc 4.05 4.5 4.95 mhz 10% t osc 1 /f osc h z table 6 global timing conditions ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 9 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 3 functional description the as5048 is a magnetic hall sensor system manufactured in a cmos process. a lateral hall sensor array is used to measure t he magnetic field components perpendicular to the surface of the chip. the as5048 is uses selfcalibration methods to eliminate signal offset and sensitivity drifts. the integrated hall sensors are placed around the center of the device and deliver a voltage representation of the magnetic flux bz. through sigmadelta analogtodigital converter (adc) and digital signalprocessing (dsp) algorithms, the as5048 provides accurate highresolution absolute angular position information. this is accomplished by a coordinate rotation digital computer (cordic) calculates the angle and the magnitude of the hall array signals. the dsp is also used to provide digital information at the outputs that indicate movements of the magnet towards or away from the devices surface, in the zaxis. a small diametrically magnetized (twopole) standard magnet provides the angular position information. depending on the system requirements different magnet diameters are possible. additional flexibility is given by the wide range of the magnetic input range. the as5048 can be combined with nefeb, smco and alternative magnet materials e.g. hard ferrites. the as5048 provides a 14bit binary code representing the angular position of the magnet. the type of output is preprogrammed as spi version a or i2c version b. simultaneously a pwm output signal is available in 12 bit format. a simple programming of the zero position is possible over the interface. no additional programmer is needed. the as5048 uses one time programmable (otp) fuses for permanent programming of the user settings. the verification is possible over a simple digital readout of the otp content. 4 o peration 4.1 supply voltage configuration the as5048 operates at 5v 10%, using an internal lowdropout (ldo) voltage regulator. in addition a 3.3v operation is p ossible. the vdd3v output is intended for internal use only. it must not be loaded with an external load. 10f 1 00n f 4.5 5.5v v dd3v gn d vdd5v 5v operation internal v dd3.3v ldo 10 f 3.0 3.6v v dd3v gn d vdd5v 3.3v operation internal v dd3.3v ldo 100n f figure 2: connections for 5v and 3.3v supply voltages note : the pin vdd3v must always be buffered by a 10 f capacitor in 5v operation. it must not be left floating, as this may cause unstable internal supply voltages which may lead to larger output jitter of the measured angle. in 3v operation the vdd3v must be shorted to vdd5v. the ambient temperature tamb is limited to 125 degc in this mode. ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 10 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.2 s pi interface t he 16 bit spi interface enables read / write access to the register blocks and is compatible to a standard micro controller interface. the spi is active as soon as csn is pulled low. the AS5048A then reads the digital value on the mosi (master out slave in) input with every falling edge of clk and writes on its miso (master in slave out) output with the rising edge. after 16 clock cycles csn has to be set back to a high status in order to reset some parts of the interface core. 4.2.1 spi interface signals (4-wire mode, wire_mode = 1) the AS5048A only supports slave operation mode. therefore clk for the communication as well as the csn signal has to be provided by the test equipment. the following picture shows a basic interconnection diagram with one master and an AS5048A device and a principle schematic of the interface core. figure 3 spi connection AS5048A with uc because the interface has to decode the sent command before it can react and provide data the response of the chip to a s pecific command applied at a time t can be accessed in the next transmission cycle ending at t + tcom. the data are sent and read with msb first . every time the chip is accessed it is sending and receiving data. figure 4 spi command/response data flow ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 11 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.2.2 spi timing csn (input ) clk (input ) mosi (input ) miso (output ) t clk t l t mosi t miso t oz t oz t h t csn t clkl t clkh data[15] d ata [15] data [14] data [14] data[0] data [0] figure 5 spi timing diagram parameter description min max unit t l time between csn falling edge and clk rising edge 1 0 (2) ns t l time between csn falling edge and clk rising edge 3 50 (1) ns t clk serial clock period 1 00 ns t clkl low period of serial clock 5 0 ns t clkh high period of serial clock 5 0 ns t h time between last falling edge of clk and rising edge of csn t clk / 2 n s t csnh high time of csn between two transmissions 1 0 (2) ns t csnh high time of csn between two transmissions 3 50 (1) ns t mosi data input valid to clock edge 2 0 ns t miso clk edge to data output valid 20 ns table 7 spi timing characteristics notes: ( 1) synchronization with the internal clock 2 * t cl k_ sys + 10 ns (e.g. at 8 mhz 253 ns) ( 2) no synchronization needed because the internal clock is inactive ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 12 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.2.3 spi connection to the host uc single slave mode figure 6 single slave mode 3 wire mode (read only): multiple slave, n+3 wire (separate chipselect) figure 7 multiple slave, n+3 wire (separate chipselect) ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 13 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet daisy chain, 4 wire figure 8 daisy chain, 4 wire 4.2.4 s pi communication command package every command sent to the AS5048A is represented with the following layout. command package bit msb 14 13 12 11 10 9 8 7 6 5 4 3 2 1 lsb par rwn address<13:0> bit definition & description par parity bit (even) rwn indicates read(1) or write (0) command address 14 bit address code table 8 spi command package ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 14 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.2.5 read package (value read from AS5048A) the read frame always contains two alarm bits, the parity and error flags and the addressed data of the previous read c ommand. read package bit msb 14 13 12 11 10 9 8 7 6 5 4 3 2 1 lsb par ef data <13:0> bit definition & description par parity bit (even) ef error flag indicating a transmission error in a previous host transmission data 14 bit addressed data table 9 spi read package 4.2.6 w rite data package (value written to AS5048A) the write frame is compatible to the read frame and contains two additional bits, parity flag and r flag. i f the previous command was a write command a second package has to be transmitted. data package bit msb 14 13 12 11 10 9 8 7 6 5 4 3 2 1 lsb par r data <13:0> bit definition & description par parity bit (even) r has to be 0 data 14 bit data to write to former selected address table 10 spi write data package ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 15 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.2.7 r egister map spi address hex name access type bit nr. symbol default description 13 : 0 13 : 3 2 parity error 1 command invalid 0 framing error 13 : 7 6 verify 5 4 3 burn 2 1 0 programming enable 13 : 8 7 zero position <13> 0 : : : 0 zero position <6> 0 13 : 6 5 zero position <5> 0 : : : 0 zero position <0> 0 13 12 11 comp high 0 10 comp low 0 9 cof 0 8 ocf 1 7 agc value<7> 1 : : : 0 agc value<0> 0 13 magnitude<13> 0 : : : 0 magnitude<0> 0 13 angle <13> 0 : : : 0 angle<0> 0 diagnostics + automatic gain control (agc) r not used n.a. diagnostics flags automatic gain control value. 0 decimal represents high magnetic field 255 decimal represents low magnetic field angle r angle information after atan calculation and zero position adder x3fff readout registers x3ffe magnitude r magnitude information after atan calculation x3ffd x0016 not used otp register zero position low 6 lsbs x0017 programmable customer settings not used control and error registers 0 zero position remaining 6 lower lsb's r/w + program x0003 not used reserved 0 programming control register. programming must be enabled before burning the fuse(s). after programming is a verification mandatory. see programming procedure. zero position value high byte not used 0 spi nop r nop 0 r/w programming control r/w + program otp register zero position hi no operation dummy information not used n.a. x0001 clear error flag r error register. all errors are cleared by access 0 x0000 table 11 spi register map ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 16 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.2.8 s pi interface commands read command for a single r ead command two transmission sequences are necessary. the first package written to the as5048 contains the read command (msb-1 high) and the address the chip has to access, the second package transmitted to the as5048 device c an be any command the chip has to process next. the content of the desired register is available in the miso register of the master device at the end of the second transmission cycle. figure 9 read command write command a single w rite command takes two transmission cycles. with a nop command after the write command you can verify the sent data with three transmission cycles because the data will be send back during the following command. figure 10 write command ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 17 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet c lear error flag command the c lear error flag command is implemented as read command. this command clears the error flag which is contained in every read frame. before the error flag is cleared the error register content comes back with the information which error type was occurred. on the next new read register the error flag is cleared figure 11 clear error flag command t he package necessary to perform a clear error flag is built up as follows. clear error flag command b it msb 14 13 12 11 10 9 8 7 6 5 4 3 2 1 lsb par 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 table 12 clear error flag command possible conditions which force the error flag to be set: w rong parity wrong number of clocks (no full transmission cycle or too many clocks) note: if the error flag is set to high because of a communication problem the flag remains set until it will be cleared by the clerar error flag command. ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com pa ge 18 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet nop command the n op command represents a dummy write to the as5048. figure 12 nop command t he nop command frame looks like follows. nop command bit msb 14 13 12 11 10 9 8 7 6 5 4 3 2 1 lsb 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 table 13 nop command the chips response on this command is 0x0000 C if no error happens. ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com/as5048 page 19 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.3 i 2c interface the as5048b supports 2wire highspeed i2c protocol in device mode. the host mcu (master) has to initiate the data t ransfers. the 7bit device address of the slave depends on the state of the otp i2c register 21 (0x15) bit 04 + 2 i2c address selection pin 3 and 4. supported modes: random/sequential read byte/page write standard : 0 to 100khz clock frequency (slave mode) fast mode : 0 to 400khz clock frequency (slave mode) high speed: 0 to 3.4mhz clock frequency (slave mode) the sda signal is bidirectional and is used to read and write the serial data. the scl signal is the clock generated by the host mcu, to synchronize the sda data in read and write mode. the maximum i2c clock frequency is 3.4mhz, data are triggered on the rising edge of scl. 4.3.1 i 2c electrical specification fs-mode+ hs-mode c b =100pf hs-mode c b =400pf symbol parameter condition min max min max min max unit v il lowlevel input voltage 0.5 0.3v dd 0.5 0.3vdd 0.5 0.3v dd v v ih highlevel input voltage 0 .7v dd v dd + 0.5 ( 1) 0.7v dd vdd + 0 .5 (1) 0.7vdd v dd + 0.5 ( 1) v v hys hysteresis of schmitt trigger i nputs v dd < 2v 0.1v dd 0.1v dd 0.1vdd v v ol lowlevel output voltage ( opendrain or opencollector) at 3ma sink current v dd < 2v 0.2v dd 0.2vdd 0.2v dd v i ol lowlevel output current v ol = 0.4v 20 ma i cs pullup current of sclh c urrent source 3 12 3 12 ma t sp pulse width of spikes that m ust be suppressed by the input filter 50 (2) 10 10 ns i i input current at each i/o pin input voltage b etween 10 +10 (3) 10 10 a c b total capacitive load for e ach bus line 550 100 400 pf c i/o i/o capacitance (sda, scl) 10 10 10 pf table 14 i2c electical specification (1) m aximum v ih = v ddmax +0.5v or 5.5v ( 2) input filters on the sda and scl inputs suppress noise spikes of less than 50 ns. (3) i/o pins of fastmode and fastmode plus devices must not obstruct the sda and scl lines if vdd is switched off. ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com/as5048 page 20 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.3.2 i 2c timing fs-mode+ hs-mode c b =100pf hs-mode c b =400pf (5) symbol parameter condition min max min max min max unit f sclk scl clock frequency 1000 3400 1700 khz t buf bus free time; time between s top and start condition 500 500 500 ns t hd;sta hold time; (repeated) start c ondition (1) 260 160 160 ns t low low period of scl clock 500 160 320 ns t high high period of scl clock 260 60 120 ns t su;sta setup time for a repeated s tart condition 260 160 160 ns t hd;dat data hold time (2) 0 450 0 70 0 150 ns t su;dat data setup time (3) 5 0 10 10 ns t r rise time of sda and scl s ignals 20+0.1 c b 1 20 ns t f fall time of sda and scl signals 20+0.1 c b 1 20 (4) ns t rcl rise time of sclh signal ext. pullup s ource of 3ma 10 40 20 80 ns t rcl1 rise time of sclh signal after r epeated start condition and after an acknowledge bit ext. pullup source of 3ma 10 80 20 160 ns tf cl output rise time of sclh signal ext. pullup s ource of 3ma 10 40 20 80 ns t rda output rise time of sdah signal 10 80 20 160 ns t fda output rise time of sdah signal 10 80 20 160 ns t su;sto setup time for stop condition 260 160 160 ns v nl noise margin at low level 0.1v ddp 0.1v ddp 0.1v ddp v v nh noise margin at high level 0 .2v ddp 0.2v ddp 0.2v ddp v table 15 i2c timing (1) a fter this time the first clock is generated (2) a device must internally provide a minimum hold time (120ns / max 250ns for fastmode plus, 80ns / max 150ns for high speed mode) for the sda signal (referred to the v i hm in of the scl) to bridge the undefined region of the falling edge of scl. ( 3) a fastmode device can be used in standardmode system, but the requirement t su; d at = 250ns must then e met. this is a utomatically the case if the device does not stretch the low period of the scl signal. if such a device does strech the low period of the scl signal, it must output the next data bit to the sda line t rm ax + t su; dat = 1000 + 250 = 1250ns before the scl l ine is released. (4) in fastmode plus, fall time is specified the same for both output stage and bus timing. if series resistors are used this has to be considered for bus timing (5) for capacitive bus loads between 100pf and 400pf, the timing parameters must be linearly interpolated ams ag technical content still valid
revision 1.3 w ww.austriamicrosystems.com/as5048 page 21 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.3.3 register table th e following registers / functions are accessible over the serial i2c interface. address dec name access type bit nr. symbol default description 7 not used 6 verify 5 4 3 burn 2 1 0 programming enable 7 : 5 4 i2c address<4> internally inverted : : : 0 i2c address<0> 0 7 zero position <13> 0 : : : 0 zero position <6> 0 7 6 5 zero position <5> 0 : : : 0 zero position <0> 0 7 agc value<7> 1 : : : 0 agc value<0> 0 7 : 4 3 comp high 0 2 comp low 0 1 cof 0 0 ocf 1 7 magnitude<13> 0 : : : 0 magnitude<6> 0 7 6 5 magnitude<5> 0 : : : 0 magnitude<0> 0 7 angle<13> 0 : : : 0 angle<6> 0 7 6 5 angle<5> 0 : : : 0 angle<0> 0 angle value afer atan calculation and zero position adder diagnostic flags automatic gain control value. 0 decimal represents high magnetic field 255 decimal represents low magnetic field automatic gain control r 250 not used n.a. 251 diagnostics r control otp programming control r/w programmable customer settings r/w + program readout registers 254 253 not used n.a. i2c slave address slave address consist of 5 programable bits (msbs) and the hardware setting of pins a1 and a2 i2c address <4> is by default not programmed and due to the inversion defined as '1' r/w + program i2c slave address 21 23 otp register zero position hi otp register zero position low 6 lsbs r/w + program not used reserved 0 programming control register. programming must be enabled before burning the fuse(s). after programming is an verification mandatory. see programming procedure. 3 not used n.a. zero position value high byte zero position remaining 6 lower lsb's 22 not used r r n.a. magnitude magnitude information afer atan calculation 252 not used n.a. r r angle 255 table 16 register map i2c ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 22 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 4.3.4 i2c slave address figure 13 slave address construction the slave address consists of the hardware setting on pins a1, a2 and upper msbs programmable by the user. the msb of the slave address (yellow) is internally inverted. this means that by default the resulting data is 1. a read of the i2c slave address register 21 will return a 0 at the msb. 4.4 pwm interface the as5048 provides a pulse width modulated output (pwm), whose duty cycle is proportional to the measured angle. the pwm frequency is internally trimmed to an accuracy of 10% over full temperature range. this tolerance can be cancelled by measuring the complete duty cycle. the pwm signal consists of different sections: init: 12 clocks > pwm = high error_n: 4 clocks > pwm = not(system_error) data: 4095 clocks > pwm = angle_zero / low (in case of error) exit: 8 clocks > pwm = low in case of an error the data section is set to zero. 1 0 0 0 0 a 2 a 1 otp cotent (default) slave address r/w x x x x x x x x ack register address ack ack start stop lsb random read start 1 0 0 0 0 a 2 a 1 slave address r/w lsb x x x x x x x x data byte (n) ack r/w x x x x x x x x ack register address ack stop x x x x x x x x data byte (n) ack hw pins hw pins 1 0 0 0 0 a 2 a 1 otp cotent (default) slave address start lsb random write hw pins ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 23 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet figure 14 pwm format parameter symbol value unit pwm C period t_pwm 4119 t_pwm_bit pwm C bit time t_pwm_bit 1 t_osc pwm resolution n_pwm 4096 bit table 17 pwm period and resolution 5 package drawings and markings package type: tssop14 figure 15 package marking 5.1.1 assembly lot code the assembly lot code for standard yywwizz is composed as follows: x - interface type: a=spi / b=i 2 c yy year ww week i plant identification letter zz letters for free traceability ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 24 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 14lead thin shrink small outline package tssop14 ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 25 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 6 application information 6.1 programming of the as5048 6.1.1 programming of the zero position the absolute angle position can be permanent programmed over the interface. this could be useful for random placement of the magnet on the rotation axis. a readout at the mechanical zero position can be performed and written back into the ic. with permanent programming the position is nonreversible stored in the ic. this programming can be performed only once. to simplify the calculation of the zero position it is only needed to write the value in the ic which was read out before from the angle register. 6.1.2 programming sequence with verification to program the zero position is needed to perform following sequence: 1. read angle information 2. set the programming enable bit in the otp control register 3. write previous read angle position into otp zero position register 4. read back for verification the zero position register data 5. set the burn bit to start the automatic programming procedure 6. read angle information (equals to 0) 7. set the verify bit to load the otp data again into the internal registers with modified threshold comparator levels 8. read angle information (equals to 0) the programming can either be performed in 5v operation using the internal ldo, or in 3v operation but using a minimum supply voltage of 3.3v. in case of 3v operation, also a 10uf capacitor is required on the vdd3 pin. 6.2 diagnostic functions of the as5048 the as5048 provides diagnostics functions of the ic and also diagnostic functions of the magnetic input field following diagnostic flags are available: see table 11 register address x3ffd (AS5048A) or table 16 register address 251 dec (as5048b) ocf ( o ffset c ompensation f inished), logic high indicates the finished offset compensation algorithm. after power up the flag remains always to logic high. cof ( c ordic o ver f low), logic high indicates an out of range error in the cordic part. when this bit is set, the angle and magnitude data is invalid. the absolute output maintains the last valid angular value. comp low , indicates a weak magnetic field. it is recommended to monitor in addition the magnitude value. comp high , indicated a high magnetic field. it is recommended to monitor the magnitude value. ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 26 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 6.3 choosing the proper magnet the as5048 works with a variety of different magnets in size and shape. a typical magnet could be 68 mm in diameter and 2.5mm in height the magnetic field strength perpendicular to the die surface has to be in the range of 30mt70mt (peak). the magnets field strength should be verified using a gaussmeter. the magnetic flux b z at a given distance, along a concentric circle with a radius of 1.1mm (r1), should be in the range of 30mt70mt. n s magnet axis vertical field component (3070mt) 0 3 60 360 bv vertical field component r1 concentric circle; radius 1.1mm r1 magnet axis ty p. 68mm diameter s n figure 16: typical magnet and magnetic flux distribution ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 27 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 6.4 physical placement of the magnet the best linearity can be achieved by placing the center of the magnet exactly over the defined center of the chip as shown in the drawing below: 1 defined center 2.5 mm 2.5 mm 3.2 mm 3.2 mm area of recommended maximum magnet misalignment r d figure 17: defined chip center and magnet displacement radius 6.5 magnet placement the magnets center axis should be aligned within a displacement radius r d of 0.25 mm (larger magnets allow more displacement e.g. 0.5 mm) from the defined center of the ic. the magnet may be placed below or above the device. the distance should be chosen such that the magnetic field on the die surface is within the specified limits the typical distance z between the magnet and the package surface is 0.5mm to 2.5mm, provided the use of the recommended magnet material and dimensions (6mm x 3mm). larger distances are possible, as long as the required magnetic field strength stays within the defined limits. however, a magnetic field outside the specified range may still produce usable results, but the outofrange condition will be indicated by indication flags. 0.22990.100 0.23410.100 0.77010.150 package surface die surface ns figure 18: vertical placement of the magnet ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 28 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 7 ordering information model description delivery form package as5048 a ht sp 14 C bit programmable magnetic rotary encoder with spiinterface t ape &r eel tssop 14 as5048 b ht sp 14 C bit programmable magnetic rotary encoder with i2cinterface t ape &r eel tssop 14 table 18: ordering information 8 revision history revision date owner description 1.0 10-april-2012 mub initial revision 1.1 16-april-2012 mub minor correction text 1.2 09-may-2012 mub default pin configuration added. minor text corrections 1.3 20-june-2012 mub i2c slave address explanation. minor corrections. www.austriamicrosystems.com ams ag technical content still valid
revision 1.3 www.austriamicrosystems.com/as5048 page 29 of 29 AS5048A/as5048b magnetic rotary encoder 14bit angular position sensor datasheet 9 copyrights copyright ? 19972012, austriamicrosystems ag, schloss premstaetten, 8141 unterpremstaetten, austriaeurope. trademarks registered ?. all rights reserved. the material herein may not be reproduced, adapted, merged, translated, stored, or used without the prior written consent of the copyright owner. all products and companies mentioned are trademarks or registered trademarks of their respective companies. this product is protected by u.s. patent no. 7,095,228. 10 disclaimer devices sold by austriamicrosystems ag are covered by the warranty and patent indemnification provisions appearing in its term of sale. austriamicrosystems ag makes no warranty, express, statutory, implied, or by description regarding the information set forth herein or regarding the freedom of the described devices from patent infringement. austriamicrosystems ag reserves the right to change specifications and prices at any time and without notice. therefore, prior to designing this product into a system, it is necessary to check with austriamicrosystems ag for current information. this product is intended for use in normal commercial applications. applications requiring extended temperature range, unusual environmental requirements, or high reliability applications, such as military, medical lifesupport or lifesustaining equipment are specifically not recommended without additional processing by austriamicrosystems ag for each application. the information furnished here by austriamicrosystems ag is believed to be correct and accurate. however, austriamicrosystems ag shall not be liable to recipient or any third party for any damages, including but not limited to personal injury, property damage, loss of profits, loss of use, interruption of business or indirect, special, incidental or consequential damages, of any kind, in connection with or arising out of the furnishing, performance or use of the technical data herein. no obligation or liability to recipient or any third party shall arise or flow out of austriamicrosystems ag rendering of technical or other services. ams ag technical content still valid

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