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data sheet broadcom ar18-AR35-series-ds100 october 3, 2017 description the broadcom ? ar18 and AR35 serie s are the miniature absolute encoder asic designe d to cater for the growing demand on the space constraint application. the ar18 encoder is designed for an overall diameter of 18 mm and offers user-programmable resolution ranging from 17, 19, and 21 bit single-turn absolute output. the AR35 encoder is designed for an overall diameter of 35 mm and offers 17 and 21 bits sin gle-turn absolute output. both the ar18 and AR35 series provide the incremental abi and uvw in differential mode. both come with a recommended high temperature range of C40c to 115c suitable for most industria l applications. dual-mode operating voltage of 3.3v an d 5v enable handheld and portable device applications. employing broadcom patented reflective optical encoding theory, the ar18 and AR35 seri es offer a high accuracy with correction, which is una ttainable by the magnetic encoder. features ? miniature absolut e encoder asic su rface mount dfn package: 10.9 mm (l) x 9.1 mm (w) x 1.5 mm (h) ? user-programmable resolution ranging from: C 17, 19, and 21 bit s ingle turn (od18). C 17 and 21 bit sin gle turn (od35). ? user-programmable incremental output (abi) resolution ranging from 128 to 8192 cpr ? user-programmable commutation signal (uvw) ranging from 2, 3, 4, 5 , 12, 30, 32 pole pair ? differential output for abi and uvw ? high temperature range of C40c to 115c suitable for most of the industrial operation. ? dual-mode operating voltage of 3.3v and 5v, enabling handheld and portable device applications. ? selectable ssi mode communication protocol. ? selectable rs485 mode c ommunication protocol. ? rohs compliance. applications ? robotic automation and engineering ? factory automation and drone ? medical and dentistry, d evices and equipment ? high-accuracy portable and handheld devices ? miniature motor, servo motor, linear actuator ar18 and AR35 series miniature programmable single-turn absolute encoder with resolution ranging from 17 bits to 21 bits
broadcom ar18-AR35-series-ds100 2 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits functional block diagram with ssi 3-wire communicat ion protocol selection figure 1: ssi 3-wire block diagram with esl communication protocol selection figure 2: esl block diagram vcc tst0 analog i/os 3.3v/5.0v pda gnd led regulation analog front end adc (sinp/sinn/ cosp/cosn) digital processing mtp interface spi ext eeprom eeprom_* (ext eeprom i2c interface) a / probe 1 b / pr o b e 2 i / probe 3 u / pr o b e 4 v w nsl ssi 3 wire sclk dout spi clk spi din spi dout tst1 tst2 tst3 vcc tst0 analog i/os 3.3v/5.0v pda gnd led regulation analog front end adc (sinp/sinn/ cosp/cosn) digital processing mtp interface spi ext eeprom eeprom_* (ext eeprom i2c interface ) a / probe 1 b / pr o b e 2 i / probe 3 u / pr o b e 4 v w esl rs485+ rs485- tst1 tst2 tst3 ext osc
broadcom ar18-AR35-series-ds100 3 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits mechanical specifications dfn package dimensions figure 3: overall package dimensions and pinout note: all dimensions given in mm. tolerances of form and positi on according to jedec mo-220. package markings figure 4: product marking information part type ? a18s/e ? a35s/e date code yyww (year, work week)
broadcom ar18-AR35-series-ds100 4 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits encoder mounting figure 5: encoder mounting guide notes of assembly: ? the assembly of the encoder needs clean room condition, class 1 00k or better. ? the encoder needs to be enclosed with ip50 enclosure. AR35 ar18
broadcom ar18-AR35-series-ds100 5 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits recommended pcb land pattern figure 6: pcb land pattern electrical specifications recommended operating conditions parameter symbol value unit notes min typical max dc supply voltage v dd +4.5 +5.0 +5.5 v dc supply voltage v dd +3.0 +3.3 +3.6 v ripple of supply voltage 100 mvpp 100 khz ambient temperature t amb +25 c operational temperature t a C40 +25 +115 c storage temperature t s C40 +25 +115 c humidity rh 85 % temp = 40c inc operating frequency 128 khz velocity (rpm) x cpr/60 radial misalignment C200 0 +200 m tangential misalignment C200 0 +200 m encoder shaft speed srpm 30000 rpm 256cpr (ar18) encoder shaft speed srpm 15000 rpm 512cpr (AR35) smt reflow profile: jedec pb-free (j-std-020d) pin-18 pin-17
broadcom ar18-AR35-series-ds100 6 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits absolute maximum ratings dc characteristics dc characteristics over recommended operating range, typical at 25c. encoder characteristics incremental encoder characteristics over recommended operating range, at 25c. encoder pin functions figure 7: pinouts from top view parameter symbol value storage temperature t s C40c to 115c operating temperature t a C40c to 115c supply voltage v dd 7v moisture sensitive level 3 (maximum floor life = 168h) parameter symbol conditions value unit notes min typ. max v dd supply current i dd v dd = 3.3v/5v 70 ma absolute single-turn resolution (ar18) 17, 19, and 21 bit absolute single-turn resolution (AR35) 17 and 21 bit incremental resolution 2 n cpr n = 7, 8, 9,10, 11, 12, 13 parameter symbol min typ max a a. maximum values represent the encoder performance across the r ange of recommended mounting tolerance. unit cycle error c 45 e state error s 45 e index pulse width po 90,180, 360 e
broadcom ar18-AR35-series-ds100 7 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits ssi 3-wire option p inout configuration note: pin 35 must be groun ded to vssa and pin 1 7 connect to common gn d. table 1: ssi 3-wire pinout pin name function pad type analog/digital input/ output 1 cn/tst3 analog voltage output ncos 5v/3.3v pads analog i/o 2 cp/tst2 analog voltage output pcos 5v/3.3v pads analog i/o 3 sn/tst1 analog voltage output nsin 5v/3.3v pads analog i/o 4 sp/tst0 analog voltage output psin 5v/3.3v pads analog i/o 5 spi dout spi data output 3.3v/5v (vddpad) digital output 6 spi din spi data input 3.3 v/5v (vddpad) digital input 7 spi clk spi clock 3.3v/5v (vddpad) digital input 8 vdd digital supply voltage 3.3v/5v (vddpad) digital power 9 vss digital gnd digital ground digital ground ground 10 + ssi dout ssi data output ( +) 3.3v/5v (vddpad) digital i/o 11 C ssi dout ssi data output ( C) 3.3v/5v (vddpad) digital i/o 12 + ssi nsl ssi input (+) 3. 3v/5v (vddpad) digital i/o 13 C ssi nsl ssi input (C) 3. 3v/5v (vddpad) digital input 14 + ssi scl ssi clock (+) 3.3 v/5v (vddpad) digital input 15 C ssi scl ssi clock (C) 3.3 v/5v (vddpad) digital input 16 17 esl sel protocol selection selection (gnd) ground ground 18 eeprom scl ext eeprom clock 3.3v/5v (vddpad) digital i/o 19 eeprom sda ext eeprom data 3.3v/5v (vddpad) digital i/o 20 eeprom wp ext eeprom write prote ct 3.3v/5v (vddpad) digital outpu t 21 Ca incremental Ca output 3. 3v/5v (vddpad) digital output 22 +a/probe1 incremental +a outp ut 3.3v/5v (vddpad) digital output 23 Cb incremental Cb output 3. 3v/5v (vddpad) digital output 24 +b/probe2 incremental +b out put 3.3v/5v (vddpad) digital output 25 Ci incremental Cindex output 3.3v/5v (vddpad) digital output 26 +i/probe3 incremental +index ou tput 3.3v/5v (vddpad) digital outp ut 27 vssa analog gnd analog ground analog ground ground 28 vdda analog supply voltage 3.3v/5v (vddpad) analog power 29 Cu incremental Cu output 3. 3v/5v (vddpad) digital output 30 +u/probe4 incremental +u output 3.3v/5v (vddpad) digital output 31 Cv incremental Cv output 3. 3v/5v (vddpad) digital output 32 +v incremental +v output 3. 3v/5v (vddpad) digital output 33 Cw incremental Cw output 3.3v/5v (vddpad) digital output 34 +w incremental +w output 3. 3v/5v (vddpad) digital output 35 common gnd (vssa) grou nd to vssa analog gro und analog ground grou nd
broadcom ar18-AR35-series-ds100 8 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits esl option pinout configuration note: pin 35 must be groun ded to vssa and pin 1 7 connect to vdd (5v/3 .3v). table 2: esl pinout pin name function pad type analog/digital input/ output 1 cn/tst3 analog voltage output ncos 5v/3.3v pads analog i/o 2 cp/tst2 analog voltage output pcos 5v/3.3v pads analog i/o 3 sn/tst1 analog voltage output nsin 5v/3.3v pads analog i/o 4 sp/tst0 analog voltage outpu t psin 5v/3.3v pads analog i/o 5 6 7 8 vdd digital supply voltage 3.3v/5v (vddpad) digital power 9 vss digital gnd digital ground digital ground ground 10 + rs485 rs485 data output (+ ) 3.3v/5v (vddpad) digital i/o 11 C rs485 rs485 data output (C ) 3.3v/5v (vddpad) digital i/o 12 13 14 15 16 osc_ext external oscill ator 3.3v pad s digital input 17 esl sel protocol selection selection (vdd) digital power 18 eeprom scl ext eeprom clock 3.3v/5v (vddpad) digital i/o 19 eeprom sda ext eeprom data 3.3v/5v (vddpad) digital i/o 20 eeprom wp ext eeprom write prote ct 3.3v/5v (vddpad) digital outpu t 21 Ca incremental Ca output 3. 3v/5v (vddpad) digital output 22 +a/probe1 incremental +a outp ut 3.3v/5v (vddpad) digital output 23 Cb incremental Cb output 3. 3v/5v (vddpad) digital output 24 +b/probe2 incremental +b outp ut 3.3v/5v (vddpad) digital output 25 Ci incremental Cindex output 3.3v/5v (vddpad) digital output 26 +i/probe3 incremental +index ou tput 3.3v/5v (vddpad) digital outp ut 27 vssa analog gnd analog ground analog ground ground 28 vdda analog supply voltage 3.3v/5v (vddpad) analog power 29 Cu incremental Cu output 3.3v/5v (vddpad) digital output 30 +u/probe4 incremental +u output 3.3v/5v (vddpad) digital output 31 Cv incremental Cv output 3. 3v/5v (vddpad) digital output 32 +v incremental +v output 3.3v/5v (vddpad) digital output 33 Cw incremental Cw output 3.3v/5v (vddpad) digital output 34 +w incremental +w output 3. 3v/5v (vddpad) digital output 35 common gnd (vssa) ground to vssa analog ground analog ground grou nd
broadcom ar18-AR35-series-ds100 9 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits communication protocol ssi 3-wire figure 8: ssi 3-wire timing diagram notes: nsl toggles from high to low t o start request position data. scl maximum frequency is 10 mhz. treq = 10 s is the time o f data reques t processing. n cycle (depending on absolute resolution settings) figure 9: ar18 ssi 3-wire format output figure 10: AR35 ssi 3- wire format output
broadcom ar18-AR35-series-ds100 10 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits esl figure 11: general transmission f rames format on half duplex l ine start of transmission frames set: upon detected the first logic of low state 0 on the transmissi on line after idling state, and if the following 3 bit conforms to command identifier, the encoder will acknowledge as a valid request command frame (rcf), indicating the start of tr ansmission frame set; else, it will continue to sear ch for next available logic of low state 0. end of transmission frames set: after the request command frame i s detected, if there is no sta rt bit after the end bit of the last frame read and no subs equent frame detected, end of transmission frame set is concluded. idle state: idle state means a space between each transmission frames set a nd subsequent transmission frames. at idling state, logic of output in transmission lin e is kept to high sta te 1. encoder data read out frame sets format and timing figure 12: encoder data read out frames set upon the master issue a rcf frame request, after 10.0 s (typ.) , the encoder will respond with encoder data frames set with the following content: 1. cf: corresponds to the request command frame (rcf) issued fro m master. 2. sf: status frame. 3. df0~df7: data frames. 4. crc: cyclic redundancy check (crc) frame. encoder position calculation will be completed within 10.0 s ( typ.) after the end bit of m aster request command frame (rcf). the encoder response data frames set format are dependent on th e requested operation by the master, see table 3 . 1 idle idle 0 rcf cf sf df0 crc master request frames set transmission frame (master request) transmission frames set (encoder response) data frames 1 10.00.2us (typ) idle 0 rcf cf sf df0 df1 crc master request frames set position latch master request encoder response
broadcom ar18-AR35-series-ds100 11 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits memory data read out frames set format and timing figure 13: memory data read out frames set content of transmission frames: 1. rcf: request command frame from master. 2. cf: corresponds to the request command frame (rcf) issued fro m master. 3. maf: memory address frame indi cates the memory location to re ad. 4. mdf: memory data frame conta ins the data read from memory. 5. crc: cyclic redundancy check (crc) frame. table 3: data frames cont ent with respective command id command id df0 df1 df2 df3 df4 df5 df6 df7 command id 4 almc a a. almc: encoder alarm flags. abs0 b b. absn: single-turn counts. lsb of the single-turn counts are located in abs0, and msb of the counts data are located in abs3. combin ing abs0~abs3 will provide total to 32 bits of single-turn data. fo r single-turn 25 bits encoder option, the 7 msb of abs3 is fixe d to 0, hence giving total 25 bits single turn-data. abs1 abs2 abs3 command id 6 abs0 abs1 abs2 abs3 command id 8 enid c c. enid: encoder single-turn bits identification. command id a almc command id b almc abs0 abs1 abs2 abs3 command id c almc abs0 abs1 abs2 abs3 1 10.00.2us (typ) 0 rcf maf crc cf maf mdf crc command frame memory address frame crc frame command frame memory address frame memory data frame crc frame master request frames set frame content will c hange base on the command issued 0.5us max master request encoder response internal latch of data
broadcom ar18-AR35-series-ds100 12 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits memory data write fram es set format and timing figure 14: memory data write frames set content of transmission frames: 1. rcf: request command frame from master. 2. cf: corresponds to the request command frame (rcf) issued fro m master. 3. maf: memory address frame indi cates the memory location to wr ite. 4. mdf: memory data frame contains the data write from memory. 5. crc: cyclic redundancy check (crc) frame. 1 10.00.2us (typ) 0 rcf mdf mdf crc cf maf mdf crc command frame memory address frame memory data frame crc frame command frame memory address frame memory data frame crc frame master request frames set frame content will c hange base on the command issued 0.5us max master request encoder response internal latch of data
broadcom ar18-AR35-series-ds100 13 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits configurations and signal output customer configurations table 4: encoder configuration settings page (hex) address bit (s) name settings output default (hex) 0x08 0x00 0-7 register unlock unlock (write 0xab) unlock register 8'h 00 0x0e 0x09 7 eeprom disable 0 disable eeprom 8'h00 1 enable eeprom 5 cw direction 0 count up (ccw) 1 count up (cw) 3-4 rs485 baud rate setting 0 ssi 3w 1 2.5mhz esl 11 10mhz esl 0-2 rs485 encoder id 000 default 0x0a 5-7 uvw setting [2:0] 0 2 pole-pairs 8'hc0 1 3 pole-pairs 10 4 pole-pairs 11 5 pole-pairs 100 12 pole-pairs 101 30 pole-pairs 110 32 pole-pairs 111 32 pole-pairs 3-4 i-width setting 0 90 edeg 1 180 edeg 10 360 edeg 11 90 edeg 0-2 cpr setting 0 8192 1 4096 10 2048 11 1024 100 512 101 256 110 128 111 128 0x0b 0-1 abs resolution AR35 bit: 00 17 bit 8'h3f AR35 bit: 01 21 bit ar18 bit: 00 17 bit ar18 bit: 01 19 bit ar18 bit: 10 21 bit
broadcom ar18-AR35-series-ds100 14 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits customer reserved zero offs et and calibration registers incremental output format figure 15: abi signals output (based on codewheel direction se ttings = 0) figure 16: uvw signals output ( based on codewheel direction se ttings = 0) table 5: customer zero offset and calibration page address bit (s) name description 0x0e 0x09 0-5 customer confi guration 1 user programmable 0x0a 0-7 customer configur ation 2 user programmable 0x0c 0-7 zero reset 0 zer o reset position [8:1] 0x0d 0-7 zero reset 1 zero reset position [16:9] 0x0e 0-7 zero reset 2 zero reset position [24:17] 0x00 0-7 ext gain calibration calibration 0x0b 2-7 mon calibration calibration 0x08 2-7 phase calibration (config_sync) calibration 0x10 0-5 probe and pmux calibration 0x19 1 and 5 calibration a nd function on calibration 0x14 7 safety nrst alarm clear a b i(1t) i(1/2t) i(1/4t) c s1 s2 s3 s4 view from top (ccw) xy 2pp 180 30 3pp 120 20 4pp 90 15 5pp 72 12 12pp 30 5 30pp 12 2 32pp 11.25 1.875
broadcom ar18-AR35-series-ds100 15 ar18 and AR35 series data sheet miniature programmable single-turn absolute encoder with resolu tion ranging from 17 bits to 21 bits ordering information encoder ordering information calibration kit ? ordering part no: a21e-0010 ? description: ar18/35 elec tronic calibration kits packaging ? encoder packaging information (tray): 60 units per tray ? codewheel packaging information (tray): 30 units per tray ar y y - a s: ssi 3 wires e : encoder serial link (rs 485) communica ? on protocol encoder od 18 : 18mm 35 : 35mm resolu ? on 21 : 21bits r : re g ec ? ve a : asic encoder e d r l ? r : c o d e r mm n avao asolte
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