ic-pvl AN2 MULTITURN CONFIGURATION GUIDE

Transcription

1 Rev A3, Page 1/21 INTRODUCTORY DESCRIPTION ic-pvl is an ultra low power magnetic encoder used for linear, off-axis and on-axis multiturn position sensing. Together with a compatible ic-haus singleturn encoder product that features a multiturn interface a complete multiturn system can be created easily. The focus of this application note is to provide guidance on the initial and basic configuration of such a system with regard to the multiturn setup parameters. The fundamental multiturn parameters are explained and setup examples are given. The goal is to enable the user to quickly achieve first results. Providing comprehensive information on encoder- or multiturn system design and fine tuning is beyond the scope of this document. RELATED PRODUCTS AND DOCUMENTATION IC Documentation Copyright 2018 ic-haus

2 ic-pvl AN2 ar y n i im prel Rev A3, Page 2/21 WIRING OPTIONS There are two wiring options when using ic-pvl with a compatible singleturn product. Option 1 (common standard setup): Singleturn IC takes care of synchronization and calculates a consistent absolute position. Singleturn IC ic-pvl MULTITURN INTERFACE DATA CLOCK Figure 1: Wiring Option 1: Multiturn synchronization done by the singleturn IC CLOCK DATA ic-pvl ic-mu CLK_N1 connect to MTC DO_P0 connect to MTD ic-mhm MCL MDI Table 1: Wiring Option 1: Port Mapping Option 2 (Only for use with ic-ln and ic-lng): ic-pvl takes care of synchronization and calculates a consistent absolute position. ic-pvl Singleturn IC DATA CLOCK Figure 2: Wiring Option 2: Multiturn synchronization done by ic-pvl

3 Rev A3, Page 3/21 ic-pvl MULTITURN CONFIGURATION PARAMETERS In order to create a working multiturn system, it is important to match the multiturn settings of ic-pvl with the respective singleturn encoder ic settings. The general system properties need to be taken into account. The ic-pvl parameters that are important for proper configuration of the multiturn functionality are summarized in Table 2 below. A description of all parameters is available below and in the ic-pvl specification. Parameter Description POLEWID Pole size of the magnetic scale PCR Period counts per (mechanical) revolution PCR_OUT Period Count per revolution output mode ONAX Off- or on-axis magnetic scanning OS Offset multiturn to singleturn DIR direction INT_MODE Serial interface operating mode ST_GRAY Singleturn input data format via port DI (only relevant in chain mode (Option 1)) MT_GRAY Multiturn and PCR output data format via port DO MT_W it width of multiturn data and counter SYNC_W Synchronization bit width EN_ERR Error bit enable EN_WRN Warning bit enable EN_PAR Parity bit enable I2C_POS Enable I 2 C or SSI position readout Table 2: ic-pvl Multiturn Parameters POLEWID POLEWID Addr. 0x04; bit 1:0 Pole size Ideal size Scanning 0x mm 1.5 mm Off-axis, differential 0x mm 4.5 mm Off-axis, single-ended 0x mm 3.0 mm Off-axis, single-ended 0x mm 1.5 mm Off-axis, single-ended Table 3: Pole size of magnetic scale This parameter needs to be adjusted to match the pole pitch (one magnetic pole, not the width of a pole pair N/S) of the magnetic target for axial, radial or linear scanning. POLEWID needs to be set to 0x01 (4-5 mm pole size, single ended) for on-axis scanning of a diametral magnet (ONAX = 0x01). Recommended setting for POLEWID is 0x00, which covers for example all ic-mu, ic-mu150 and ic-mu200 based applications. In this setting differential scanning of the magnetic field is employed which makes the system highly tolerant against common mode magnetic stray fields. This is not the case for settings 0x01-0x03 where single ended magnetic scanning is used.

4 ic-pvl AN2 ar y n i im prel Po le Pit ch Rev A3, Page 4/21 Figure 3: Example: Axial off-axis scanning with ic-mu and ic-pvl PCR PCR Addr. 0x02; bit 7:0 Period counts per revolution 0x00 0x01 0x xFE 0xFF Table 4: Period counts per (mechanical) revolution 1 to 256 magnetic pole pairs can be interpreted as one mechanical revolution in a rotative system. Generally speaking, PCR determines how many magnetic pole pairs need to pass the ic-pvl hall array in order to get one multiturn position increment at the output. The synchronization bits are then distributed evenly over the number of magnetic pole pairs selected by PCR. This also works for non-binary, decimal or odd values for PCR. Note: A diametrical magnet in an on-axis configuration will always provide one magnetic period per mechanical revolution (1 pole pair) For a better understanding a rotative example is shown in Figure 4 below. The magnetic target is a typical axial type target that is used for the ic-mu series with 32 pole pairs on the outer master track. With PCR = 0x1F (32 magnetic periods per revolution), SYNC_W = 0x03 (3 bit) and ic-pvl scanning the master track, the multiturn counter will increment / decrement after 32 magnetic pole pairs or one mechanical revolution in this case. The 3 sync bit are spread evenly over the circumference of the magnetic target.

5 ar y n i im prel ic-pvl AN2 Rev A3, Page 5/21 MT +/ Sync bits Figure 4: Example: ic-pvl scanning a 32 pole pair axial target with PCR = 0x1F and SYNC_W = 0x03 (3 sync bit) PCR_OUT PCR_OUT Mode Addr. 0x05; bit 6 0 No output of PCR in serial data stream 1 PCR is transmitted as 8 LSs of MT data (Only for PCR > 0x00) Table 5: Period count per revolution output mode PCR_OUT = 0x00 is the common setting when connecting ic-pvl to the multiturn interface of an ic-haus singleturn encoder ic. Multiturn and synchronization data will be transmitted in the serial data stream as outlined in the PCR parameter description above. With PCR_OUT = 0x01 the eight LS of the multiturn word are used to transmit the PCR value, representing the current period inside one mechanical revolution. Figure 5 is showing the principle. Multiturn +/ Figure 5: Example: PCR = 0x1F (32 magnetic periods per revolution), PCR_OUT = 0x01 and SYNC_W = 0x03 (3 sync bit)

6 Rev A3, Page 6/21 This also means that the maximum possible multiturn data length is reduced to 32 bit in this case. The setting PCR_OUT = 0x01 can be used for example if ic-pvl is used as a singleturn encoder or is used together with a MCU. Please see Figure 6 below for a overview of the serial interface signal in SSI mode (INT_MODE = 0). For a better understanding Figure 7 and Figure 8 show examples of the serial interface data structure with PCR_OUT = 0x00 and PCR_OUT = 0x01. MT_W is set to 0x01 (10 bit) and SYNC_W is set to 0x03 (3bit) in both cases. t frame t req t c t L1 t L2 t p t out CLK REQ DO MT MS MS-1 MS-2... MT LS Sync 2 Sync 1 Sync 0 NERR NWRN PARITY Absolute Data Multiturn (Synchronization) (Error + Warning) (Parity) Timeout Figure 6: I/O line signals of the serial interface in SSI mode (INT_MODE = 0) Figure 7: Example: PCR_OUT = 0x00, MT_W = 0x01, SYNC_W = 0x03 Figure 8: Example: PCR_OUT = 0x01, MT_W = 0x01, SYNC_W = 0x03 ONAX ONAX Addr. 0x04; bit 2 Magnetic scanning mode 0 Off-axis (default) 1 On-axis, differential (POLEWID = 0x01 required) Table 6: Use off- or on-axis magnetic scanning Parameter ONAX allows scanning of a diametral magnet in an on-axis configuration (for example ic-mhm with ic-pvl). Parameter POLEWID needs to be set to 0x01 to activate the suitable hall sensor array for on-axis scanning. POLEWID needs to be set to 0x01 (4-5 mm pole size, single ended) in this case. ONAX needs to be set to 0x00 for off-axis (radial & axial) or linear scanning (for example ic-mu with ic-pvl).

7 ic-pvl AN2 ar y n i im prel Rev A3, Page 7/21 OS OS Addr. 0x01; bit 7:5 Phase shift , no shift + 45 leading leading leading ± 180 leading or trailing trailing - 90 trailing - 45 trailing Table 7: Offset multiturn to singleturn Parameter OS allows to electrically shift the multiturn position reported by the sync bits in 45 steps. For further information on multiturn synchronization please see chapter "ADDITIONAL INFORMATION ON MULTITURN SYNCHRONIZATION" DIR DIR Addr. 0x00; bit 3 direction 0 1 Normal Inverted Table 8: direction The ic-pvl counting direction can easily be inverted with the parameter DIR. In a multiturn system the counting direction of both, the singleturn and the multiturn encoder, need to be the same. If ic-pvl is mounted rotated or flipped in relation to the singleturn encoder ic, the counting direction of ic-pvl may be inverse, compared to the singleturn counting direction. In this case set parameter DIR so that both counting directions match again. Pin 1 Mark TOP Figure 9: ic-pvl - positive direction of movement Note: Some singleturn encoder ics also offer the possibility to change the multiturn counting direction. If necessary it is always recommended to change the multiturn counting direction in ic-pvl and not in the singleturn encoder ic.

8 Rev A3, Page 8/21 INT_MODE INT_MODE Addr. 0x00; bit 0 Mode 0 Standard SSI read-out mode (SSI mode) 1 Chain mode (chain mode) Table 9: Serial interface operating mode Parameter INT_MODE defines whether the singleturn encoder ic or ic-pvl takes care of multiturn synchronization. Set INT_MODE to "0" whenever the singleturn encoder ic takes care of multiturn synchronization (Wiring Option 1). This is the common and recommended standard setup. Chain Mode (Wiring Option 2) can only be used with ic-ln and ic-lng. ST_GRAY ST_GRAY Addr. 0x00; bit 2 Format 0 inary code (default for SSI_MODE = 0) 1 Gray code (lock I 2 C register access for SSI_MODE = 0) Table 10: Singleturn input data format via port DI (in chain mode) Parameter ST_GRAY is only relevant whenever ic-pvl is used in chain mode (INT_MODE = 1) with ic-ln or ic-lng. It defines whether ic-pvl expects binary or gray data format at input DI. MT_GRAY MT_GRAY Addr. 0x00; bit 1 Format 0 inary code 1 Gray code Table 11: Multiturn and PCR output data format via port DO Parameter MT_GRAY defines whether ic-pvl outputs Multiturn and PCR data in binary or gray data format at port DO. For use with ic-haus singleturn encoders ics MT_GRAY should be set to "0" (binary code). MT_W MT_W Addr. 0x01; bit 4:0 it width 0x00 9 bit 0x01 10 bit x1E 39 bit 0x1F 40 bit Table 12: it width of multiturn data and counter

9 Rev A3, Page 9/21 The ic-pvl internal multiturn counter is 40 bit wide. With parameter MT_W the counter width that is transmitted by ic-pvl in the serial data stream (port DO) can be reduced. It is important to match this setting to the multiturn counter width selected in the respective singleturn encoder ic. SYNC_W SYNC_W Addr. 0x05; bit 1:0 it width Tolerable phase shift range * 00 0 bit no synchronization bit 01 1 bit bit bit Note *) The values for the tolerable phase shift are typical values and depend on the singleturn ic. Please always consult the singleturn ic specification for the applicable values. Table 13: Synchronization bit width and resulting tolerable ideal phase shift Parameter SYNC_W allows to set the number of synchronization bits transmitted by ic-pvl in the serial data stream. The position information given by the synchronization bits can be seen as the ic-pvl singleturn position information that is used to synchronize the singleturn encoder position with the ic-pvl multiturn count. ic-pvl can output up to 3 sync bit (8 position increments for mechanical 360 ). It is recommended to set parameter SYNC_W to the maximum value that is supported by the singleturn encoder ic. For more information on multiturn synchronization please see chapter "ADDITIONAL INFORMATION ON MULTITURN SYNCHRONIZATION". EN_ERR EN_ERR Addr. 0x00; bit 5:4 Mode 00 Communication without error bit 01 Calibration mode 10 Communication with additional error bit (negative polarity) 11 Communication with additional error bit (positive polarity) Table 14: Error bit enable The error bit signalizes a startup error, a wrong CRC checksum, an empty battery or a position error (e.g. overspeed or magnet loss). The presence and polarity of the error bit in the SSI data stream is configured with parameter EN_ERR. The setting of EN_ERR needs to match the respective setting in the singleturn encoder ic. If this is not configurable check the singleturn encoder ic specification or the multiturn setup examples in this document for the expected SSI data stream format. EN_WRN EN_WRN Addr. 0x03; bit 7 Mode 0 Communication without warning bit 1 Communication with additional warning bit (polarity as configured via EN_ERR) Table 15: Warning bit enable

10 Rev A3, Page 10/21 The warning bit indicates a low battery condition while the system is still functional. The polarity of the warning bit in the SSI data stream follows the polarity configured with EN_ERR. The setting of EN_WRN needs to match the respective setting in the singleturn encoder ic. If this is not configurable check the respective singleturn encoder ic specification or the multiturn setup examples in this document for the expected SSI data stream format. EN_PAR EN_PAR Addr. 0x00; bit 7:6 Mode 00 Communication without parity bit 01 reserved 10 Communication with additional parity bit (even polarity) 11 Communication with additional parity bit (odd polarity) Table 16: Parity bit enable Parameter EN_PAR defines whether the SSI data stream is terminated by a parity bit and whether odd or even parity is used. The setting of EN_PAR needs to match the respective setting in the singleturn encoder ic. If this is not configurable check the respective singleturn encoder ic specification or the multiturn setup examples in this document for the expected SSI data stream format. I2C_POS I2C_POS Addr. 0x05; bit 7 Function 0 SSI read-out of MT counter only 1 I 2 C read-out of MT counter only Table 17: Enable I 2 C or SSI position read-out Parameter I2C_POS locks position read-out to SSI or I 2 C exclusively. For use with ic-haus singleturn encoder ics the parameter I2C_POS should always be set to "0" (SSI read-out of MT counter only).

11 ar y n i im prel ic-pvl AN2 Rev A3, Page 11/21 ADDITIONAL INFORMATION ON MULTITURN SYNCHRONIZATION In a multiturn capable encoder system a multiturn count and an absolute singleturn position need to be combined into a single absolute position word. Multiturn capable means, that even in a power-off situation the system is capable to keep track of the number of full revolutions and immediately report an absolute position word (multiturn and singleturn) at power-up. The singleturn position has a high resolution over one mechanical revolution but can t track the number of revolutions in a power-off state. The position word, that is provided by the multiturn encoder, has a low singleturn resolution (transmitted as the synchronization bits) together with a high multiturn counter resolution (up to 40bit for ic-pvl). The multiturn encoder keeps track of the number of full revolutions, even in a power-off state. In order for a multiturn system to work properly the phase shift between the multiturn position (synchronization bits) and the singleturn position needs to be aligned and stay within given phase limits over a full rotation. Otherwise it will not be possible to join the singleturn and multiturn position unambiguously over a full rotation, resulting in a multiturn error. The larger the synchronization bit width, the wider the permissible phase limits are (see Table 18). It is always advisable to chose the largest synchronization bit width that is supported by both the singleturn and multiturn ic. SYNC_W it width bit 1 bit 2 bit 3 bit Addr. 0x05; bit 1:0 Tolerable phase shift range no synchronization bit Table 18: ic-pvl synchronization bit width and resulting tolerable ideal phase shift For a better understanding of multiturn synchronization it helps to imagine the singleturn and multiturn position as dials on a circle. Figure 10 below shows an example of a 6 bit singleturn encoder (red dial) together with a 3 bit synchronization bit width multiturn encoder (blue dial) on the same shaft. Whenever the multiturn encoder passes the zero position the multiturn counter will increment or decrement, depending on the direction of rotation. Multiturn +/ Figure 10: Example: 6 bit singleturn encoder (red dial) with 3 synchronization bits from the multiturn encoder (blue dial)

12 ar y n i im prel ic-pvl AN2 Rev A3, Page 12/21 In theory the best multiturn synchronization is achieved, when the red and the blue dial are congruent at all times. In reality this can t be achieved, as the multiturn resolution is usually much lower than the singleturn resolution and mechanical / electrical tolerances exist. Therefore a good multiturn synchronization is achieved when the blue dial (multiturn) is moving around the red dial (singleturn) from lagging to advanced or the other way around. The maximum phase difference in between the two dials should be as small as reasonably achievable. Singleturn 0,5 57 Multiturn 15 7,5 0 1 Figure 11: Ideal multiturn synchronization with 3 synchronization bit Figure 11 shows a standstill snapshot of such an ideal multiturn synchronization. The blue dial shows the multiturn position given by the 3 synchronization bits and the red dial shows the singleturn position. The multiturn position can be lagging or be advanced in relation to the singleturn position, thus it it shown as dotted lines. As long as the multiturn position is within the green cross-hatched area in relation to the singleturn position the multiturn synchronization is good. The red cross-hatched area is forbidden. Note: The phase shift between the singleturn and multiturn position is affected by communication, propagation and processing delays in the specific application. Typically it is changed by a few degrees. The impact becomes larger with increasing signal frequency. Thus the user needs to guarantee that the phase shift between singleturn and multiturn position never exceeds the limits given in Table 18. There are different options to adjust the phase shift between singleturn and multiturn position. elow is an overview: Note: Multiturn synchronization in the singleturn ic is based on the raw singleturn position word. Adding a position offset or inverting the direction of rotation takes place after the multiturn synchronization. Figure 15 shows the ic-mu signal chain as an example. This principle holds true for all multiturn systems described in this application note. The multiturn synchronization methods described below assume no position offset and no inversion of the direction of rotation of the singleturn position word. If such changes are applied, the output position word is not the position word that is used for multiturn synchronization. The methods described below have to be adopted accordingly in that case. On-Axis Application In an on-axis application both the singleturn and the multiturn encoder provide an absolute position word depending on the diametral magnet position. To achieve a good multiturn synchronization there are two possibilities:

13 Rev A3, Page 13/21 ic-pvl and singleturn ic are mounted on the PC so that their native zero positions are congruent (see Figure 12 for ic-pvl magnet zero position). If neither the multiturn nor the singleturn position is electrically shifted no further multiturn synchronization is necessary. ic-pvl and the singleturn ic are mounted on the PC so that their native zero positions are not congruent. To achieve multiturn synchronization the singleturn or multiturn position needs to be electrically shifted (Parameter OS in ic-pvl or respective parameter in the singleturn ic), so that the phase difference between the two positions is as small as possible. Store the position offset to the EEPROM. Electronically shifting the singleturn or multiturn position is equal to mechanically rotating either the singleturn ic or ic-pvl on the PC. Note: Whenever ic-pvl completely loses power supply in an on-axis configuration (including battery backup voltage) or a preset / reboot is performed the multiturn position is lost. However the multiturn synchronization persists. Figure 12: Magnet zero position ic-pvl in on-axis mode (ONAX = 0x01) Off-Axis Application In an off-axis application the singleturn position is absolute. The multiturn position given by the ic-pvl synchronization bits however is calculated using the period counter information and thus not inherently absolute. It is lost whenever ic-pvl completely loses power supply (including battery backup voltage) or a preset or reboot is performed. To achieve a good multiturn synchronization there are two possibilities: Set the singleturn position close to 0 (e.g. 350 ). Perform an ic-pvl preset via the PRE pin. This will set the current multiturn position of ic-pvl (sync bits) to zero and therefore align it with the singleturn position. The multiturn synchronization is finished. Electronically shift the singleturn or multiturn position, so that the phase difference between the singleturn and multiturn position is as small as possible (Parameter OS in ic-pvl or respective parameter in the singleturn ic). Store the position offset to the EEPROM. Note: Whenever ic-pvl completely loses power supply in an off-axis configuration (including battery backup voltage) or a preset / reboot is performed the multiturn position and multiturn synchronization is lost.

14 Rev A3, Page 14/21 MULTITURN SETUP EXAMPLE - ic-mu Series with ic-pvl Multiturn Configuration Parameters Note: The settings below are an example setup only and should provide a first working multiturn system. Further adjustments may be necessary. Only Multiturn related parameter are considered, other chip / application specific parameter have to be chosen as required in the respective application. ic-mu Series Parameter ic-pvl Parameter Register Value Register Value Comment POLEWID 0x00 Always use POLEWID = 0x00 with ic-mu MPC * PCR * * Adjust so that MPC and PCR match PCR_OUT 0x00 No output of PCR in serial data stream ONAX 0 Off-Axis sensing SPO_MT 0x00 OS 0x00 Used to compensate a static position offset in between single- and multiturn ROT_MT 0 DIR * * Adjust DIR so that the counting direction of singleand multiturn match INT_MODE 0x00 Always 0 for use with ic-mu - Standard SSI read-out mode (SSI mode) ST_GRAY 0x00 Always 0 for use with ic-mu MT_GRAY 0x00 Multiturn data output in binary format MODE_MT 0x0F MT_W 0x09 it width of multiturn data and counter of ic-pvl and ic-mu need to match (e.g. 18 bit - adjust as needed) SL_MT 0x02 SYNC_W 0x03 Synchronization it width of ic-pvl and ic-mu need to match ESSI_MT 0x01 EN_ERR 0x02 Communication with active low error bit EN_WRN 0 Communication without warning bit EN_PAR 0x00 Communication without parity bit I2C_POS 0x00 SSI read-out of MT counter only ROT 0 No inversion of ic-mu direction of rotation ROT_ALL 0 Only ic-mu150 / ic-mu200. No inversion of direction of rotation. ROT_POS 0 Only ic-mu150 / ic-mu200. No inversion of direction of rotation. OFF_AZ 0x No position offset Table 19: Example Setup : ic-mu Series with ic-pvl Multiturn Synchronization For multiturn synchronization of ic-mu series with ic-pvl please follow the instructions for off-axis applications on page 13 of this document. Alternatively the automatic multiturn synchronization described below may be used.

15 Rev A3, Page 15/21 Application Example 1uF 100nF SDA SCL ic-pvl VAT Supply Switch VDD Monitor VDDS 100nF SDA SCL VDD EEPROM GND VPA ic-mu VPD PRESET 1K SCL 2 I C Logic + Serial Interface RAM Serial/ SDA MultiMaster Parallel Config or Slave SSI Interface Output DI_P1 Position Encode SEL Operating Mode Selection Multiturn Counter PRE Hall Control FlexCount - Error Monitor - SIN + - DIG + Oscillator Hall Sensor Line SIN/DIG Converter DO_P0 N0 CLK_N1 NERR NWRN P2 N2 Incremental (optional) A Z Multiturn Interface MTD MTC Port P0 P1 P2 NERR ANA/DIG Output Amplitude Control + PGA Clock ias Reference Master Track Nonius Track Hall Sensors Configuration 128 yte RAM Synchronization Interface Handler Error Management Encoder Processor 12 it 12 it Sine/Digital I2C EEPROM Interface SCL SDA Port A PA0 PA1 PA2 PA3 Ser Interface Serial Interface iss SSi SPI GND VNA VND Figure 13: Principle application example. ic-pvl as battery-buffered multiturn device connected to the multiturn interface of the ic-mu absolute singleturn encoder. Interface operating in SSI-Mode (INT_MODE = 0). The two ics share one common EEPROM for configuration. iss register access via ic-mu is used for access to ic-pvl STATUS register, for ic-pvl COMMAND execution (e.g. REOOT, SCLR, SLEEP), and for EEPROM access (ic-pvl configuration). iss, SPI or SSI are available for serial data transmission (refer to ic-mu datasheet for details).

16 Rev A3, Page 16/21 Using the ic-mu GUI for Multiturn Setup When ic-mu and IC-PVL share a common EEPROM (see application example), the ic-mu GUI offers the possibility to configure ic-pvl through the I2C multimaster interface. Please proceed as follows: a b b c d e f Figure 14: ic-pvl configuration with ic-mu GUI 1. Use the ic-pvl GUI software offline (interface is disconnected) to define the desired configuration of the ic-pvl and save it as a config file (File - Save Config File). 2. Connect to ic-mu in the ic-mu GUI (a). 3. In the ic-mu GUI select tab "Nonius / Multiturn" - "ic-pvl Multiturn" (b). 4. Click on the folder symbol at "Load and Write ic-pvl Configuration" and select the previously saved config file (c). 5. Ensure that the EEPROM Address Area is set to "Area 1" (0x40) and press the button "Load and Write" to transfer the configuration to the EEPROM (c). 6. Under "Command" select "REOOT" (0x03) and click on "Write" to reboot ic-pvl (d). ic-pvl will now read the updated configuration parameters from the EEPROM. 7. Click the "Read Status" button to ensure that there are no errors (e). Active errors can be cleared using the ic-pvl "SCLR" (0x05) command (d). 8. Finally write an "AS_RESET" and "CRC_CALC" command to the ic-mu CMD_MU command register (f).

17 Rev A3, Page 17/21 Furthermore ic-mu GUI offers the possibility to visualize the singleturn and multiturn position in a multiturn application and to conduct an automatic multiturn synchronization. Multiturn Position Figure 15: ic-mu GUI - Multiturn Sync its Window 1. Connect to ic-mu wit ic-mu GUI 2. In the ic-mu GUI select tab "Nonius / Multiturn" "ic-mu Multiturn" and under "MT Calibration Window" click on "Open". This will open the "Multiturn Sync its Window" 3. On the left hand side of the window there is a dial representation of the singleturn and multiturn position. This will be helpful for the multiturn calibration procedures described in chapter "ADDITIONAL INFORMATION ON MULTITURN SYNCHRONIZATION". 4. If the electronic position shifting is to be used for multiturn synchronization an optional multiturn calibration feature is available, that will automatically set the ic-mu parameter SPO_MT to a suitable value. Click on button "Calibrate" while the magnetic target is rotating. The rotation speed should be such that at least 1 revolution occurs in the selected sample time. 5. Click "Apply" to accept the calculated SPO_MT value. "Write EEPROM" will store the updated SPO_MT value in the ic-mu EEPROM.

18 Rev A3, Page 18/21 MULTITURN SETUP EXAMPLE - ic-mhm with ic-pvl Note: The settings below are an example setup only and should provide a first working multiturn system. Further adjustments may be necessary. Only multiturn related parameters are considered, other chip / application specific parameter have to be chosen as required in the respective application. ic-mhm Parameter ic-pvl Parameter Register Value Register Value Comment POLEWID 0x01 Always use 0x01 with ic-mhm to activate on-axis hall sensor array PCR 0x00 Diametrical magnet will always provide one magnetic period per mechanical 360 PCR_OUT 0x00 No output of PCR in serial data stream ONAX 1 On-axis sensing OS * * Adjust so that the phase difference in between single- and multiturn position is at a minimum DIR 0 DIR * * Adjust ic-pvl DIR so that the counting direction of single- and multiturn match INT_MODE 0x00 Always 0 for use with ic-mhm - Standard SSI read- -out mode (SSI mode) ST_GRAY 0x00 Always 0 for use with ic-mhm MT_GRAY 0x00 Always 0 for use with ic-mhm. Multiturn data output in binary format RESO_MT 0x06 MT_W 0x0F it width of multiturn data and counter of ic-pvl and ic-mhm need to match (e.g. 24 bit - adjust as needed) SL_MTI 0x03 SYNC_W 0x03 Synchronization bit width of ic-pvl and ic-mhm need to match EL_MTI 0x01 EN_ERR 0x02 Communication with active low error bit EN_WRN 0 Communication without warning bit EN_PAR 0x00 Communication without parity bit I2C_POS 0x00 SSI read-out of MT counter only CF_MTI 0x MHz multiturn interface clock frequency is supported by ic-pvl GET_MTI 0 Do not enable multiturn interface feedthrough mode for normal multiturn operation OFFS_ST 0x0000 No singleturn position offset OFFS_MT 0x No multiturn position offset Table 20: Example Setup : ic-mhm with ic-pvl Multiturn Synchronization For multiturn synchronization of ic-mhm with ic-pvl please follow the instructions for on-axis applications on page 12 of this document.

19 2 2 2 ic-pvl AN2 Rev A3, Page 19/21 Application Example 1uF 100nF PRE 1K SCL SDA DI_P1 SEL PRE ic-pvl I C RAM MultiMaster Config or Slave Position Encode Operating Mode Selection Hall Control VAT VDD Supply Switch Monitor Logic + Serial Interface Serial/ Parallel SSI Interface Output + - Error Monitor Multiturn Counter FlexCount SIN DIG Oscillator Hall Sensor Line SIN/DIG Converter GND VDDS DO_P0 N0 CLK_N1 NWRN NERR P2 N2 SDA SCL VDD EEPROM GND 100nF P1 P2 P3 P1 P2 P3 MDI MCL NERR NCS SDA SCL Digital I/O Ports Multiturn Interface Error Monitor SPI Interface I2C Interface PCOS PSIN + COS Amplitude Control Signal Conditioning 0x00 0x13 0x40 0x70 0x77 RAM VDDS VDD Reverse Polarity Protection NSIN NCOS Hall Sensors COS SIN Analog Line Drivers Interpolator ic-mhm PS NS PC NC MAO NMAO MA NMA SLI NSLI SLO NSLO andgap Reference Serial Interface Reverse Polarity Protection GND GNDS SIN VDD MAO NMAO MA NMA SLI NSLI SLO NSLO GND Figure 16: Principle application example. ic-pvl as battery-buffered multiturn device connected to the multiturn interface of the ic-mhm absolute singleturn encoder.

20 Rev A3, Page 20/21 Using the ic-mhm GUI for Multiturn Setup When ic-mhm and IC-PVL share a common EEPROM (see application example), the ic-mhm GUI offers the possibility to configure ic-pvl through the I2C multimaster interface. Please proceed as follows: a b b e b c d f Figure 17: ic-pvl configuration with ic-mhm GUI 1. Use the ic-pvl GUI software offline (interface is disconnected) to define the desired configuration of the ic-pvl and save it as a config file (File Save Config File). 2. Connect to ic-mhm in the ic-mhm GUI (a). 3. In the ic-mhm GUI select tab "MT Interface" and ensure the radio button "ic-pvl" is selected. Select the "ic-pvl I2C Access" tab (b). 4. Click on the folder symbol at "Load and Write ic-pvl Configuration" and select the previously saved config file (c). 5. Ensure that the EEPROM address area is set to "Area 0" (0x00) and press the button "Load and Write" to transfer the configuration to the EEPROM (c). 6. Under "Command" select "REOOT" (0x03) and click on "Write" to reboot ic-pvl (d). ic-pvl will now read the updated configuration parameters from the EEPROM. 7. Click "Read" under "ic-pvl Status" to ensure that there are no errors (e). Active errors can be cleared using the ic-pvl "SCLR" (0x05) command (d). 8. Finally issue a "RESET" command to the ic-mhm by selecting "Reset" and pressing "Write Command" (f).

21 Rev A3, Page 21/21 REVISION HISTORY Rel. Rel. Date Chapter Modification Page A Initial Release Rel. Rel. Date Chapter Modification Page A ic-pvl MULTITURN CONFIGURATION PARAMETERS MULTITURN SETUP EXAMPLE - ic-mu Series with ic-pvl Updated the PCR_OUT, ONAX, SYNC_W parameter description 5, 6, 9 Minor corrections 17 Rel. Rel. Date Chapter Modification Page A ADDITIONAL INFORMATION ON MULTITURN SYNCHRONIZATION MULTITURN SETUP EXAMPLE - ic-mu Series with ic-pvl MULTITURN SETUP EXAMPLE - ic-mhm with ic-pvl Added remark on position offset or inversion of direction of rotation in the singleturn ic Off-Axis Application: Removed usage of REOOT command to preset ic-pvl Updated Table 19 : Added ic-mhm parameter DIR, OFFS_ST, OFFS_MT 14 Updated Table 20 : Added ic-mhm parameter DIR, OFFS_ST, OFFS_MT 18 12, 13 ic-haus expressly reserves the right to change its products and/or specifications. An Infoletter gives details as to any amendments and additions made to the relevant current specifications on our internet website and is automatically generated and shall be sent to registered users by . Copying even as an excerpt is only permitted with ic-haus approval in writing and precise reference to source. The data specified is intended solely for the purpose of product description and shall represent the usual quality of the product. In case the specifications contain obvious mistakes e.g. in writing or calculation, ic-haus reserves the right to correct the specification and no liability arises insofar that the specification was from a third party view obviously not reliable. There shall be no claims based on defects as to quality in cases of insignificant deviations from the specifications or in case of only minor impairment of usability. No representations or warranties, either expressed or implied, of merchantability, fitness for a particular purpose or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product. ic-haus products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death (Safety-Critical Applications) without ic-haus specific written consent. Safety-Critical Applications include, without limitation, life support devices and systems. ic-haus products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by ic-haus. ic-haus conveys no patent, copyright, mask work right or other trade mark right to this product. ic-haus assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. Software and its documentation is provided by ic-haus GmbH or contributors "AS IS" and is subject to the ZVEI General Conditions for the Supply of Products and Services with ic-haus amendments and the ZVEI Software clause with ic-haus amendments ( Release Date format: YYYY-MM-DD