MagAlpha Angular Sensor for Position Control with

MA700 Side-Shaft Positioning Capability

Key features

11 bit resolution absolute angle encoder

500 kHz refresh rate
Ultra low latency: 3 µs
Serial interface for data readout and settings
10 bit incremental output (A,B,Z)
Built-in linearization for side-shaft mounting
7.5 mA supply current

QFN-16 3x3mm Package

General Description

The MagAlpha MA 700 is a robust contactless angle Since the measurement is spatially confined, the user
encoder. The IC detects the absolute angular position has flexibility in terms of magnet shapes and
of a permanent magnet, typically a diametrically configurations. This can help relaxing mechanical
magnetized cylinder attached to the rotor. The tolerances and, in case the end of shaft position is not
MagAlpha is an extremely fast acquisition and available, the MagAlpha 700 can also operate away
processing sensor, allowing accurate angle from the axis of rotation (“side-shaft” mounting).
measurement at speeds from 0 to 120’000 RPM.

Figure 1: Functional Block Diagram

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1. Specifications

TABLE 1 OPERATING 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 Vflash 3.6 3.8 V
(1)
Supply current for OTP flashing 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 SENSOR OUTPUT SPECIFICATIONS

Measurement conditions: VDD = 3.3 V, 50 mT < B < 100 mT, Temp = -40 .. +125°C, unless otherwise noted

Parameters Min Typ Max Unit Remark

Power up time 2 3 ms
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/mV

Absolute output - serial

Data output length 16 16 bit
Refresh rate 500 520 550 kHz
Latency 2 3 4 µs
Resolution (3 noise level) 10.5 11.0 11.5 bit

Incremental output
edge/revol
Resolution 1024 1024
.
% of a
Jitter 10
period
Hysteresis 0.35 deg

Digital I/O
Threshold voltage High 1.75 V
Threshold voltage Low 1.05 V
Rising edge slew rate 0.7 V/ns CL = 50 pF
Falling edge slew rate 0.7 V/ns CL = 50 pF

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Angular Sensor for Position Control with
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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 Table
3 and Table [Link] 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 bits 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 Diagram

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
tidle Time between two subsequent transmissions 20 ns
tcsL Time between CS falling edge and SCLK falling edge 25 ns
tsclk SCLK period 40 ns
tsclkL Low level of SCLK signal 20 ns
tsclkH High level of SCLK signal 20 ns
tcsH Time between SCLK rising edge and CS rising edge 25 ns
tMOSI Data input valid to SCLK reading edge 15 ns
tMISO SCLK setting edge to data output valid 15 ns

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Angular Sensor for Position Control with
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3. Registers

TABLE 6 REGISTER MAP

Register address

No Hex Bin Bit 7 MSB Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 LSB
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 PROGRAMMING PARAMETERS

Number of See
Parameters Symbol Brief description
bit table
For side-shaft configuration: reduce the Hall
Bias Current Trimming BCT 8 9
device bias current of X- and/or Y-axis
Zero setting Z 12 Set the zero position 11
When enabled, the X-axis bias current is
Enable Trimming X ETX 1 10
trimmed by the quantity BCT
When enabled, the Y-axis bias current is
Enable Trimming Y ETY 1 10
trimmed by the quantity BCT
Flash register n Fn 1 Flash the content of register number n

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Angular Sensor for Position Control with
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4. Pin Configuration

TABLE 8 PIN 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 (serial)
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
Figure 3: QFN-16 Top View 14 N/C -
15 N/C -
16 VFLASH 3.6 V supply for OTP flashing

5. Sensor – Magnet Mounting

The sensitive volume of the MA 700 is confined in a This detection mode gives flexibility for the design of
region less than 100 µm wide and consists of multiple an angular encoder: all the sensor needs is that the
integrated Hall devices. This volume is located, with a magnetic vector lies essentially within the sensor plane
precision of 50 m in the center of the QFN package, and that its amplitude is comprised between 30 and 150
both horizontally and vertically. The sensor detects the mT. Note that the MA 700 does work with smaller than
angle of the magnetic field projected in a plane parallel 30 mT fields, but the linearity and resolution
to the package upper surface. It means that the only performance may deviate from the specifications (table
magnetic field that matters is the in-plane component 2). The straightforward solution is to place the MA 700
(X and Y components) in the package middle point. sensor on the rotation axis of a permanent magnet for
instance a cylinder diametrically magnetized (see
Figure 4).

Figure 5: Side-Shaft Mounting

Figure 4: End-of-Shaft Mounting

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When the end-of-shaft position is not available the will indicate multiple rotations for each mechanical
sensor can be positioned away from the rotation axis of turn.
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 pole pairs, the MA 700

6. Power Supply Decoupling

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 µF) 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 Decoupling

7. Sensor Front-End

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
spinaxis method which directly digitizes the direction
of the field without any ATAN computation or any
feedback loop based circuit (interpolators, etc.).

The spinaxis method is based on phase detection. It

requires a sensitive circuitry generating a sinusoidal
signal whose phase represents the angle of the Figure 7: Phase Detection Method. Top: Sine Waveform.
magnetic field. The angle is then retrieved by a time-to- Bottom: Clock of Time-to-Digital Converter.
digital converter, which counts the time between the
zero crossing of the sinusoidal signal and the edge of a Looking further down the treatment chain, it is crucial
constant waveform (see Figure 7). The digitized time is that the signal treatment does not add unwanted phase
the front-end output. shifts. For this purpose the MagAlpha incorporates an
architecture where these shifts are automatically
compensated, resulting in the stability displayed in

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Angular Sensor for Position Control with
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Table 2. In short, the front-end delivers in a The X-axis or the Y-axis bias current can be reduced in
straightforward and open loop manner a digital number order to recover an equal Hall signal for all angles and
proportional to the angle of the magnetic field at the therefore suppress the non-linearity. The current
rate of 500 kHz. reduction is set by the parameter Bias Current
Trimming BCT(7:0), which is an integer from 0 to 255.
Side-Shaft For an optimum compensation the radial axis should be
reduced by the quantity:
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.
TABLE 9 EXAMPLE OF OPTIMUM BCT SETTING
BCT(7:0) Magnet ratio k
0 1
1 1.003
… …
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 sensor
X or Y component (see Figure 10).
Figure 8: Hall Devices Biasing Diagram

In case the MA700 gets mounted in side-shaft con-

figuration, 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:
Figure 10: Package Top View with X and Y Axes
,
First the user must determine which axis needs to be
where , respectively , is the maximum radial, reduced (see the qualitative field distribution around a
respectively tangential, magnetic field (see Figure 9). ring in Figure 9). For instance, with the arrangement
depicted in Figure 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 10 ETX AND ETY

ETX Enable trimming the X axis
0 Disabled
1 Enabled
Figure 9: Side-Shaft Field
ETY Enable trimming the Y axis
The ratio k depends on the magnet geometry and the 0 Disabled
distance to the sensor. 1 Enabled

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Angular Sensor for Position Control with
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8. Digital Signal Conditioning

Digital Filtering TABLE 11 ZERO POSITION

Advanced digital filtering allows improving the Z(11:0) Zero position (deg)
resolution without adding latency. The principle is to 0 0
measure the rotation speed over the last 512 data points 1 0.088
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 4095 359.912
constant speed.

Zero setting
Rotation direction
The zero position of the MagAlpha, , can be
programmed with 12 bit of resolution. The angle Looking at the MagAlpha top, the angle increases
streamed out, , is given by: when the magnetic field rotates clockwise.
,

where is the raw angle, out of the front-end. The

parameter Z(11:0), which is 0 by default, determines
(see Table 18). This setting is valid for all output
formats: SPI, ABZ and UVW.

9. Programming the MA700

The MA700 incorporates 3 programmable registers. Once the command is sent, it will immediately be
Each register has 8 bit of memory. When the MA700 is effective and will affect the next data sent from the
powered up, each of these 3 x 8 bit of memory are set MagAlpha.
to zero, unless the register was previously stored in the
One-Time-Programmable (OTP) memory. It means Read back the register content
that during startup, the content of the OTP memory is
copied to the registers. Once flashed the register It might be helpful to check the content of a register,
content cannot be modified anymore. for instance to verify that the programming was
successful. The user must send the REGISTER READ
In order to set the content of a register, the user must command: 0001, then the 4-bit address of the register
send a digital stream composed of the 4-bit REGISTER under test. The last 8-bit of the stream will be ignored.
WRITE command (0010), followed by a 4-bit register The user can send for instance 0000 0000:
address and the 8-bit value to be sent to the register.
The data stream, sent through the MOSI wire, is command reg. address MSB value LSB
therefore 16 bits long: 0 0 0 1 x x x x 0 0 0 0 0 0 0 0

command reg. address MSB value LSB

0 0 1 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

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sends the 8 MSB of the measured angle A(15:8). The command reg. address MSB value LSB
second byte is the content of the register under test. 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0
After this transmission the MagAlpha will continue
delivering the usual 16-bit angles A (15:0).
Simultaneously the MagAlpha replies:
Example
Angle out MSB value LSB
To check the content of the register 4 (0100), which A(15:12) A(11:8) Z(11:4)
contains the 8 MSB’s of the zero setting, send the data:

10. Output Signals

The raw data coming out of the conditioning blocks is MagAlpha provides an 8-bit angle without ambiguity
an absolute angle, between 0 and 360 deg. This angle is over 360 deg.
coded on 16 bits, depending on the value of AF. The
absolute output is sent out digitally as serial data. The MSB LSB

other outputs, ABZ or UVW, are constructed from the A(15:8)

absolute angles.
If the master triggers the reading faster than the refresh
Absolute - Serial
rate the MagAlpha may send several times the same
data point.
The bit order of the transmitted data is MSB first, LSB
last. The timing requirements are indicated in section 3. In some applications it is helpful to know how many
Every 2µs a new data is transferred into the output data updates occurred between two successive readouts
buffer. The master device connected to the MagAlpha or if the same data points was read more than once. For
triggers the reading by pulling the CS down. When a this purpose the user can read an 8-bit index attached to
falling edge of the CS signal occurs, the data remains the data .It allows keeping track of the precise time of
in the output buffer until the CS signal returns to measurement without the need of precisely controlling
logic 1. As the CS is low, the master can read the data the readout time. This index runs from 0 to 255 and is
by sending clock pulses with a maximum frequency of incremented by 1 each time the output buffer is
25 MHz. There is not any minimum frequency or refreshed. Using the index the user can detect a double
timeout. See Figure 11 for a simple reading of 16 bit reading of the same data (same index), or how many
data. data points were skipped.

For reading the 8-bit index the master has to send

16 + 8 = 24 clock pulses (see Figure 12).

Figure 11: Timing Diagram for Simple SPI Readout

A full reading requires 16 clock pulses. The MA700

delivers:
MSB LSB
A(15:8) A(7:0) Figure 12: Timing Diagram for SPI Angle + Index Readout

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

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Angular Sensor for Position Control with
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Incremental - ABZ

With the ABZ output the MA700 emulates a 10-bit

incremental encoder, such as an optical encoder,
providing logic pulses in quadrature (see Figure 13).
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 1024 edges per revolution. The
signal Z (“Zero” or “Index”) raises only once per turn,
at the zero angle position.

Figure 13 : ABZ Output during Rotation

11. OTP Programming

The One-Time-Programmable (OTP) memory can at power up will always be the same. After flashing the
permanently store the content of the programmable registers content cannot be modified anymore.
registers. The OTP memory is made of poly-silicon
fuses. By activating the “flash” command the content Flashing procedure
of the entire register will be stored in the OTP memory.
Prior to flashing, it is recommended to test the
The flash command consists in setting some bits
MagAlpha with the new settings and verify the
(named Fn, where n is the register number) in the
register 9. When the bit Fn is set, the register n is performance of the sensor.
stored permanently. Important: the user can flash
Once satisfied, the user can proceed with the flashing:
only one register at the time. It is possible to operate
the MagAlpha without flashing the registers. - 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 flashed.
- 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 requires to
Figure 14: Circuit for Flashing burn two registers, 4 and the 5.

The burning of the fuses during the flash process is

irreversible: once a register is flashed the default values

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1. Convert into binary: within a resolution of 12

bits, 50 deg is the binary number
001000111000 (49.92 deg). The MagAlpha returns:

2. Store the 8 MSB (00100011) of the zero Angle out MSB value LSB

position into register 4: A(15:12) A(11:8) 0 0 0 0 1 0 0 0

command reg. address MSB value LSB

0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 1 6. Connect the VFLASH pin to 3.6 V

7. Flash register 4:
3. Read back the register 4

command reg. address MSB value LSB command reg. address MSB value LSB
0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0 0 0 0
If the programming was correct the MagAlpha
replies with the register 4 content:
8. Flash register 5:
Angle out MSB value LSB
command reg. address MSB value LSB
A(15:12) A(11:8) 0 0 1 0 0 0 1 1
0 0 1 0 1 0 0 1 0 0 1 0 0 0 0 0

4. Then store the 4 LSB (1000) of the zero

9. Disconnect the VFLASH pin from 3.6 V.
position into the 4 LSB of register 5:

command reg. address MSB value LSB

10. Turn the MagAlpha off and on, and read back
0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 the registers 4 and 5 to verify that the flashing
was successfully accomplished (steps 3 & 5).

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

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12. Typical Characteristics

Measurement conditions: VDD = 3.3V, Temp = 25°C,

unless otherwise noted.

Figure 15: Error Curve at Different Magnetic Fields. The INL is

the Maximum Value of this Curve.

Figure 16: Resolution in Bits vs. Angle at Different Magnetic

Fields.

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Angular Sensor for Position Control with
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13. Package Dimensions

Package: Plastic Quad Flatpack No-lead QFN-16 3x3mm

NOTES:
1. All dimensions are in mm
2. Package dimensions does not include mold flash, protrusions, burrs or metal smearing
3. Coplanarity shall be 0.08
4. Compliant with JEDEC MO-220

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Angular Sensor for Position Control with
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14. Ordering Information

Part Number Package Free Air Temperature (TA)

MA700GQ QFN 3x3mm -40° to 125°

* For Tape & Reel, add suffix –Z (e.g. MA700GQ–Z).

Appendix A: Definitions

Resolution (3 noise level) 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.

400

350

300
lag
sensor out (deg)

250
ideal
200 sensor output

150 INL
100
sensor out
50 resolution best straight fit
( ± 3 )
0
0 100 200 300 400 500 600 700
rotor position (deg)

Figure A1: Absolute Angle Errors

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Angular Sensor for Position Control with
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Jitter 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.

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The information provided by Monolithic Power Systems, Inc. in this document is believed to be correct. However MPS reserves the right, without
further notice, (i) to change the product specification and/or the information in this document and (ii) to improve 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 information, 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.

Devices sold by MPS are covered by patents and patent applications. By this 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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