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monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 1 magalpha ma 7 00 angular sensor for position control with side - shaft positioning capability key f eatures 11 bit resolution a bsolute angle encoder 500 khz refresh rate u ltra low latency: 3 s serial interface for data readout and settings 10 bit i ncremental o utput (a,b, z) built - in linearization for side - shaft mounting 7 .5 ma supply current qfn - 16 3x 3 mm p ackage general description the magalpha ma 700 is a robust contactless angle encoder. the ic detects the absolute angular position of a permanent magnet, typically a diametrically magnetized cylinder attached to the rotor . the magalpha is an extremely fast acquisition and processing sensor , allowing accurate angle measurement at speeds from 0 to 12 0000 rpm. from the axis of rotation (side shaft figure 1 : functional block d iagram
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 2 1. specifications table 1 o perating conditions parameters symbol min typ max unit supply voltage vdd 3.0 3.3 3.6 v supply current isup 5.7 6.6 8.0 ma supply voltage for otp flashing v flash 3.6 3.8 v supply current for otp flashing (1) iflash 50 100 ma operating temperature top - 40 125 c applied magnetic field b 30 75 150 mt (1) see section 11 for more details about the supply circuit for otp flashing. table 2 s ensor output specifi cations measurement conditions: vdd = 3.3 v, 50 mt < b < 100 mt, tem p = - 4 0 .. +125c, unless otherwise noted parameters min typ max unit remark power up time 2 3 m s inl +/ - 0.7 +/ - 1 .5 +/ - 2.5 deg output drift temperature induced +/ - 0.005 +/ - 0.008 +/ - 0.05 deg/c magnetic field induced - 0.005 - 0.01 - 0.025 deg/mt voltage supply induced 0.0007 0.001 0. 005 deg/ m v absolute output - serial data output length 1 6 16 bit refresh rate 500 520 550 khz latency 2 3 4 s resolution (3 ? noise level) 10.5 11.0 11.5 bit incremental output resolution 1024 1024 edge/revol . jitter 10 % of a period hysteresis 0.35 deg digital i/o threshold voltage high 1.75 v threshold voltage low 1.05 v ris ing edge slew rate 0.7 v/ ns cl = 50 pf fall ing edge slew rate 0.7 v/ ns cl = 50 pf
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 3 2. timing of the serial interface the data link is a 4 - wire serial bus, conmplying to the serial peripheral interface ( spi) usual convention shown in t able 3 and table 4.the magalpha sensor operates as slave. during one transmission a 16 bit word can be simultaneously sent to the sensor (mosi pin) and received from the sensor (miso pin). note that it is possible to receive 24 b its of data (16 bits for the angle and 8 bits for a time index). see section 10 output signals for details. figure 2 : spi timing d iagram table 3 spi specification table 4 spi standard sclk idle state high cpol 1 sclk readout edge rising cpha 1 cs idle state high mode 3 data order msb first dord 0 table 5 spi timing parameter description min max unit t idle time between two subsequent transmissions 20 ns t csl time between cs falling edge and sclk falling edge 25 ns t sclk sclk period 40 ns t sclkl low level of sclk signal 20 ns t sclkh high level of sclk signal 20 ns t csh time between sclk rising edge and cs rising edge 25 ns t mosi data input valid to sclk reading edge 15 ns t miso sclk setting edge to data output valid 15 ns
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 4 3. registers table 6 r egister map no register address bit 7 msb bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 lsb hex bin 3 0x3 0011 bct(7:0) 4 0x4 0100 z(11:4) 5 0x5 0101 0 0 ety etx z(3:0) 9 0x9 1001 - - f5 f4 f3 - - - table 7 p rogramming parameter s parameters symbol number of b it brief description see table bias current trimming bct 8 for side - shaft configuration : reduce th e hall device bias current of x - and/or y - axis 9 zero setting z 12 set the zero position 11 enable trimming x etx 1 when enabled, the x - a xis bias current is trimmed by the quantity bct 10 enable trimming y ety 1 when enabled, the y - a xis bias current is trimmed by the quantity bct 10 flash register n f n 1 flash the content of register number n
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 5 4. pin c onfiguration figure 3: qfn - 16 top v iew table 8 p in functions no name function 1 n/c - 2 b b (incremental output) 3 z z (incremental output) 4 mosi data in (serial) 5 cs chip select (s erial) 6 a a (incremental output) 7 miso data out (serial) 8 gnd ground 9 n/c - 10 n/c - 11 n/c - 12 sclk clock (serial) 13 vdd 3.3 v supply 14 n/c - 15 n/c - 16 vflash 3.6 v supply for otp flashing 5. sensor C m agnet m ounting the sensitive volume of the ma 700 is confined in a region less than 100 m wide and consists of multiple integrated hall devices. this volume is located, with a precision of 50 ? m in the center of the qfn package, both horizontally and vertically. the sen sor detects the angle of the magnetic field projected in a plane parallel to the package upper surface. it means that the only magnetic field that matters is the in - plane component (x and y components) in the package middle point. figure 4 : end - of - s haft m ounting this detection mode gives flexibility for the design of an angular encoder: all the sensor needs is that the ma gnetic vector lies essentially within the sensor plane and that its amplitude is comprised between 3 0 and 150 mt. note that the ma 700 does work with smaller than 30 mt fields, but the linearity and resolution performance may deviate from the specifications (table 2). the straightforward solution is to place the ma 700 sensor on the rotation axis of a permanent magnet for instance a cylin der diametrically magnetized (see figure 4 ). figure 5 : side - shaft m ounting
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 6 when the end - of - shaft position is not available the sensor can be positioned away from the rotation axis of a cylinder or ring magnet ( see figure 5 ). in this case the magnetic field angle is not directly proportional to the mechanical angle anymore. the ma 700 can be adjusted to compensate this effect and recover the linear relation between the mechanical angle and the sensor output. with multiple po le pairs, the ma 700 will indicate multiple rotations for each mechanical turn. 6. power s upply d ecoupling for most applications, a single 100 nf bypass capacitor placed close to the supply pins sufficiently decouples the ma 700 from noise of the power supply. if better decoupling is required, a larger capacitor (10 f) can be added in parallel with the 100 nf, and/or a resistor (10 ? ) can be added between the supply line and the capacitor node. in any case, make sure that the connection between the ma 700 ground and the power supply ground has a low impedance, in order to avoid noise transmitted from the ground. vflash needs to be supplied only when flashing the memory. otherwise the vflash pin can remain unconnected or grounded (see figure 6) . figure 6 : connection for supply d ecoupling the magnetic field is detected with integrated hall devices located in the package center. the particularity of this sensor is that the angle is measured using the spin axis method which directly digitizes the direction of the field without any atan computa tion or any feedback loop based circuit (interpolators, etc.). the spin axis method is based on phase detection . it requires a sensitive circuitry generating a sinusoidal signal whose phase represents the angle of the magnetic field. the angle is then retri eved by a time - to - digital converter, which counts the time between the zero crossing of the sinusoidal signal and the ed ge of a constant waveform ( see figure 7 ). the digitized time is the front - end output . figure 7 : phase d etection m ethod . top : sine w aveform. bottom : clock of time - to - digital c onverter. looking further down the treatment chain, it is crucial that the signal treatment does not add unwanted phase shifts. for this purpose the magalpha incorporates an architecture where these shifts are automatically compensated, resulting in the stability displayed in 7. sensor front - end
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 7 t able 2. in short, the front - end delivers in a straightforward and open loop manner a digital number proportional to the angle of the magnetic field at the rate of 500 khz . side - s haft the default current biasing of the hall devices can be adjusted by programming in order to accommodate low field or compensate non - linearities inherent to side - shaft configurations . figure 8 : hall devices biasing d iagra m in case the ma700 gets mounted in side - shaft con - figura tion, the relation between the field angle and the mechanical angle is not directly linear anymore. this effect is related to the fact that the tangential magnetic field is usually smaller than the radial field. we define the field ratio as: , where , respectively , is the maximum radial, respectively t angential, magnetic field (see figure 9 ) . figure 9 : side - shaft f ield the ratio k depends on the magnet geometry and the distance to the sensor. the x - axis or the y - axis bias current can be reduced in order to recover an equal hall signal for all angles and therefore suppress the non - linearity. the current reduction is set by the p arameter bias current trimming bct(7:0), which is an integer from 0 to 255. for an optimum compensation the radial axis should be reduced by the quantity : table 9 e xample of optimum bct setting bct(7:0) magnet ratio k 0 1 1 1.00 3 128 1. 50 255 3.00 from the dot printed on the package it is possible to know whether the radial field is detected by the s ensor x or y component (see figure 10 ) . figure 10 : package top view with x and y a xes first the user must determine which axis need s to be reduced (see the qualitative field distribution around a ring in figure 9 ). for instance, with t he arrangement depicted in f igure 8, the x - axis should be reduced. then the parameter etx or ety can be set. note that if both etx and ety are set to 1 the current bias will be reduced in both directions the same way, i.e. without side - shaft correction . table 1 0 etx and et y etx enable trimming the x axis 0 disabled 1 enabled ety enable trimming the y axis 0 disabled 1 enabled
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 8 digital filtering advanced digital filtering allows improving the resolution without adding latency. the principle is to measure the rotation speed over the las t 512 data points in addition to the angular position to provide an evaluation of the present position with the best possible accuracy. this principle gives a lag - free position at constant speed. zero setting the zero position of the magalpha, , can be programmed with 12 bit of resolution. the angle streamed out, , is given by: , where is the raw angle, out of the front - end. the parameter z(11:0), which is 0 by default, determines (see t able 18). this setting is valid for a ll output formats: spi, abz and uvw. table 1 1 z ero position z(11:0) zero position (deg) 0 0 1 0.088 4095 359.912 rotation direction looking at the magalpha top, the angle increases when the magnetic field rotates clockwise. 9. programming the ma 7 00 the ma700 incorporates 3 programmable registers. each register has 8 bit of memory. when the ma 7 00 is powered up, each of these 3 x 8 bit of memory are set to zero, unless the register was previously stored in the one - time - programmable (otp) memory. it means that during startup, the content of the otp memory is copied to the registers. once flashed t he register content cannot be modified anymore. in order to set the content of a register, the user must send a digital stream composed of the 4 - bit register write command (0010), followed by a 4 - bit register address and the 8 - bit value to be sent to the register. the data stream, sent through the mosi wire, is therefore 16 bits long: command reg. address msb value lsb 0 0 1 0 once the command is sent, it will immediately be effective and will affect the next data sent from the magalpha. read back the register content it might be helpful to check the content of a register, for instance to verify that the programming was successf ul. the user must send the register read command: 0001, then the 4 - bit address of the register under test. the last 8 - bit of the stream will be ignored. the user can send for instance 0000 0000: command reg. address msb value lsb 0 0 0 1 x x x x 0 0 0 0 0 0 0 0 the magalpha response is within the same transmission . in the first byte (simultaneous to the 4 - bit read command and the 4 - bit address), the magalpha 8. digital signal conditioning
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 9 sends the 8 msb of the measured angle a(15:8). the second byte is the content of the register under test. after this transmission the magalpha will continue delivering the usual 16 - bit angles a (15:0). example to check the content of the register 4 (0100), which contains the 8 msbs of the zero setting, send the data : command reg. address msb value lsb 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 simultaneously the magalpha replies: angle out msb value lsb a(15:12) a(11:8) z(11:4) 10. output s ignals the raw data coming out of the conditioning blocks is an absolute angle, between 0 and 360 deg. this angle is coded on 16 bits, depending on the value of af. the absolute output is sent out digitally as serial data. the other outputs, abz or uvw, are constructed from the absolute angle s. absolute - serial the bit order of the transmitted data is msb first, lsb last. the timing requirements are indicated in section 3. every 2s a new data is transferred into the output buffer. the master device connected to the magalpha triggers the read ing by pulling the cs down. when a falling edge of the cs signal occurs, the data remains in the output buffer until the cs signal returns to logic 1. as the cs is low, the master can read the data by sending clock pulses with a maximum frequency of 25 mhz . there is not any min imum frequency or timeout. see figure 11 for a simple reading of 16 bit data. figure 1 1 : timing diagram for simple spi r eadout a full reading requires 16 clock pulses. the ma 7 00 delivers: msb lsb a(15:8) a(7:0) in case the user needs less resolution, since the msb is sent first, he can read the angle by sending less than 16 pulses. for instance by sending only 8 pulses, the magalpha provides an 8 - bit angle without ambiguity over 360 deg. msb lsb a(15:8) if the master triggers the reading faster than the refresh rate the magalpha may send several times the same data point. in some applications it is helpful to know how many data updates occurred between two successive readouts or if the same data points was read more than once. for this purpose the user can read an 8 - bit index attached to the data .it allows keeping track of the precise time of measurement without the need of precisely controlling the readout time. this index runs from 0 to 255 and is incremented by 1 each time the output buffer is refreshed. using the index the user can detect a double reading of the same da ta (same index), or how many data points were skipped. for reading the 8 - bit index the master has to send 16 + 8 = 24 clock pulses (see figure 12) . figure 12 : timing diagram for spi angle + index r eadout
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 10 incremental - abz with the abz output the ma 7 00 emulates a 10 - bit incremental encoder, such as an optical encoder, providing logic pulses in quadrature ( see figure 1 3 ). compared to a, the signal b is shifted by a quarter of pulse period. over one revolution the a signal pulses 256 times. it makes 102 4 edges per revolution. the signal z (zero or index) raises only once per turn, at the zero angle position. figure 1 3 : abz output during r otation 11. otp p rogramming the one - time - programmable (otp) memory can permanently store the content of the programmable registers. the otp memory is made of poly - silicon fuses. by activating the flash command the content of the entire register will b e stored in the otp memory. the flash command consists in setting some bits (named f n , where n is the register number) in the register 9. when the bit f n is set, the register n is stored permanently. important: the user can flash only one register at the t ime. it is possible to operate the magalpha without flashing the registers. figure 1 4 : circuit for f lashing the burning of the fuses during the flash process is irreversible: once a register is flashed the default values at power up will always be the same. after flashing the registers content cannot be modified anymore. flashing procedure prior to flashing, it is recommended to test the magalpha with the new settings and verify the performance of the sensor. once satisfied, the user can proceed with th e flashing: - send the parameter to the register, and read back for verification. - tie the vflash pin to 3.6 v. note: it is possible to supply both vdd and vflash with the same 3.6 v source. - in the register 9, set the bit corresponding to the register to be f lashed. - untie the vflash pin then switch off and on and check by reading back the register content. example: set & flash the zero position at 50 deg note: permanently storing the zero position requ ires to burn two registers, 4 and the 5.
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 11 1. convert into binary: w ithin a resolution of 12 bits, 50 deg is the binary number 001000111000 ( ? 49.92 deg). 2. store the 8 msb (00100011) of the zero position into register 4 : command reg. address msb value lsb 0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 3. read back the register 4 command reg. address msb value lsb 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 i f the programming was correct the magalpha replies with the register 4 content: angle out msb value lsb a(15:12) a(11:8) 0 0 1 0 0 0 1 1 4. then store the 4 lsb (1000) of the zero position into the 4 lsb of register 5: command reg. address msb value lsb 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 5. read back the register 5: command reg. address msb value lsb 0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 0 the magalpha returns : angle out msb value lsb a(15:12) a(11:8) 0 0 0 0 1 0 0 0 6. connect the vflash pin to 3.6 v 7. flash register 4: command reg. address msb value lsb 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0 8. flash register 5: command reg. address msb value lsb 0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0 9. disconnect the vflash pin from 3.6 v. 10. turn the magalpha off and on, and read back the registers 4 and 5 to verify that the flashing was successfully accomplished (steps 3 & 5).
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 12 12. typical characteristics measurement conditions: vdd = 3.3 v, t emp = 25c, unless otherwise noted . figure 1 5 : e rror c urve at d if ferent magnetic f ields . the inl is the maximum value of this c urve. figure 1 6 : resolution in b its vs . angle at different magnetic f ields.
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 13 13. package dimensions package : plastic quad flatpack no - lead qfn - 16 3x3 mm note s : 1. all dimensions are in mm 2. package dimensions does no t include mold flash, prot r usions, burrs or metal smearing 3. coplanarity shall be 0.08 4. compliant with jedec mo - 220
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 14 14. ordering information part number package free air temperature ( t a ) ma 7 00gq qfn 3x3mm - 40 to 125 * for tape & reel, add suffix C z ( e. g. ma 7 00gq C z) . appendix a: d efinitions resolution (3 ? the smallest angle increment distinguishable from the noise. here the resolution is defined as 3 times , the standard deviation in degrees , taken over 1000 data points at a constant position. the resolution in bits is obtained with: 6 . refresh rate rate at which new data points are stored in the output buffer. latency the time between the data ready at the output and the instant at which the shaft passes that position. the lag in degrees is , where is the angular velocity in deg/s. power up time starting at power up, time until the sensor delivers valid data. integral non - linearity (inl) maximum deviation between the sensor output and the best line fit. figure a 1 : absolute angle e rrors 0 50 100 150 200 250 300 350 400 0 100 200 300 400 500 600 700 sensor out (deg) rotor position (deg) resolution ( 3 ? ) ideal sensor output inl lag sensor out best straight fit
ma700 angular sensor for position control with side - shaft positioning capability monolithic power systems, inc. | gland, switzerland | tel: +41 22 364 63 50 | euroinfo@monolithicpower.com | www.sensimatech.com mps proprietary information. unauthorized photocopy and duplication prohibited. ? 2014 monolithic power systems . all rights reserved. ma700 rev 1.0 september 2014 15 jitte r for the incremental output maximum fluctuation of the angular position of the raising edges. overall reproducibility maximum variation between two readings, successive or not, of the same shaft position at a fixed magnetic field over the complete temperature range. monolithic power systems, inc. switzerland www.sensimatech.com euroinfo@monolithicpower.com ? +41 22 364 63 50 the informatio n provided by monolithic power systems, inc. in this document is believed to be cor rect. however mps reserves the right, without further notice, (i) to change the product specification and/or the information in this document and (ii) to impro ve reliability, functions and design of the product and (iii) to discontinue or limit production or distribution of any product version. monolithic power systems, inc. does not assume any liability arising out of any application or use of any product or i nformation, including without limitation consequential or incidental damages. all operating parameters must be validated for each customer's application by customer's technical experts. recommended parameters can and do vary in different applications. dev ices s old by mps are covered by patents and patent applications. by thi s publication mps does not assume responsibility for patent infringements or other rights of third parties which may result from its use.

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