Datasheet SpinWarrior - Code Mercenaries

SpinWarriorCode Mercenaries2.1 Product selection matrixTypeEncoders Switches Abs/Rel Index Impulse max. Freq.DIL24SpinWarrior24A3SpinWarrior24R4346 (no debounce)7AbsRel√-3900Hz (5000Hz single channel)3500Hz√√SpinWarrior24R6 6 3 Rel - 2500Hz √SOIC24√√√V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.02

SpinWarriorCode MercenariesSpinWarrior 24R6DIL24 / SOIC24A 0 124 A 2B0A 1232322B2A 3B1Sw0452120B3Sw1Sw2 619 A 4B4B5781817A 5/EnGND 916 D+P ul l ToGND 1015 D-V r e g 1114 V ccP owe r 12 13 NCAll drawings: TOP VIEW!V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.04

SpinWarriorCode Mercenaries4.2 Pin Descriptions SpinWarrior 24R6Name I/O Type Pins DescriptionD+, D-A0, B0I/OIspecialInput, internal pullup16, 151, 2USB differential data linesQuadrature signals for X axis encoderA1, B1A2, B2IIInput, internal pullupInput, internal pullup3, 424, 23Quadrature signals for Y axis encoderQuadrature signals for Z axis encoderA3, B3A4, B4IIInput, internal pullupInput, internal pullup22, 2119, 7Quadrature signals for Rx axis encoderQuadrature signals for Ry axis encoderA5, B5Sw0, Sw1,Sw2/EnIIOInput, internal pullupInput, internal pullup18, 85, 20, 622, 21Quadrature signals for Rz axis encoderSwitch inputs, contacts must close to groundPowerIOpenDrain, internalpullupInput internal pulldown12Enable signal for encoders. Encoders can drawpower when this signal is lowUsed to set high or low power modePullToGND I10Used during manufacturing, connect to GNDGNDPower supply 9GroundVccVreg OPower supplyRegulated 3V out1411Supply voltagePower for D- pullup resistorNC - 13 do not connectV 1.1.0, Mar 5th 2007, for chip revision V1.1.0.06

SpinWarriorCode Mercenaries4.2 Pin descriptionsD+, D-Differential data lines of USB. Connect thesesignals direct to a USB cable. D- requires a pull upresistor, see application circuit for details.For a PCB layout make sure to run these twosignals next to each other. USB data is adifferential signal that produces best signal qualityand lowest RF emission if the two lines are close toeach other.A0, B0Quadrature inputs for the first axis. An encoderthat generates two digital signals with ±90° offsetmust be connected to these inputs.If channel A leads channel B by 90° the pulsesreported by SpinWarrior will be positive.The first encoder is reported as X axis.CMOS level inputs with internal pullup resistor.A1, B1Quadrature inputs for the second axis.The second encoder is reported as Y axis.CMOS level inputs with internal pullup resistor.Leave open if axis is not used.A2, B2Quadrature inputs for the third axis.The third encoder is reported as Z axis.CMOS level inputs with internal pullup resistor.Leave open if axis is not used.A3, B3 (SW24R4 and SW24R6 only)Quadrature inputs for the fourth axis.The fourth encoder is reported as Rx axis(rotational X).CMOS level inputs with internal pullup resistor.Leave open if axis is not used.A4, B4 (SW24R6 only)Quadrature inputs for the fifth axis.The fifth encoder is reported as Ry axis (rotationalY).CMOS level inputs with internal pullup resistor.Leave open if axis is not used.A5, B5 (SW24R6 only)Quadrature inputs for the sixt axis.The sixth encoder is reported as Rz axis (rotationalZ).CMOS level inputs with internal pullup resistor.Leave open if axis is not used.N0, N1, N3 (SW24A3)Inputs for the index signals from the threeencoders. A low to high edge on the Nx inputresets the internal counter for that channel to zero.CMOS level inputs with internal pull up resistor.Leave open if not used.Sw0..Sw6 (SW24R4)Sw0..Sw2 (SW24R6)Inputs for switches closing to ground.Pulling a switch input low does signal an activeswitch. The switches are reported as HID buttons.CMOS level inputs with internal pull up resistor.In0..In5 (SW24A3)Digital inputs active low.Pulling one of these inputs low does signal anactive status being reported via USB. The signalsare not internally debounced, so care must be takenwhen switches are connected to these inputs.CMOS level inputs with internal pull up resistor.Leave open if not used.Pull to GNDThis pin is used during production of theSpinWarrior chips, connect to GND.GNDPower supply ground.VccSupply voltage.A 100nF ceramic capacitor is required to beconnected directly to the power supply pins.VregRegulated 3V output, to be used only for thepurpose of powering the USB D- pull up resistor.Do not use this pin as a supply for any other circuitthan the pull up resistor.PowerInput to set the power mode. The status of the pinis checked only at power up and bus reset. Pullingthis pin to high sets high power mode, this meansthe SpinWarrior 24 will report as a high power, buspowered device drawing up to 500mA. PullingPower low on reset sets the low power modespecifying 100mA maximum power draw.When using electromechanical encoders the Powerpin can be tied low since the current will definitelystay below 100mA. For optical encoders the datasheet of the parts used should be checked for thecurrent draw of these parts and the Power pin setaccordingly. Keep in mind that the SpinWarriorV 1.1.0, Mar 5th 2007, for chip revision V1.1.0.07

SpinWarriorCode Mercenariesrequires operating current too./EnTo meet the USB suspend mode current limit it isnecessary, that the encoders draw no current whilethe USB is suspended.The /En pin is low when current may be drawn.When using mechancial encoders their commonconnector may be connected direct to the /En pin.For optical encoders check their data sheets todetermine if the /En pin can sink sufficient currentor if a driver is necessary. In any case a low sidedriver is recommended. Otherwise the SpinWarriorinputs may be pulled low through the encodersinternal protection diodes which results in aunwanted current draw during suspend state.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.08

SpinWarriorCode Mercenaries5.Device OperationDue to the fact that all current operating systemsoffer an especially easy access to devices in theHID class, SpinWarrior was designed as a genericHID device.By identifying as a generic HID class deviceSpinWarrior avoids being controlled by any of thehigher level system drivers, which makes itpossible to access SpinWarrior from applicationlevel.Reversing the movement direction can result insome pulses not getting reported. If the last pulseshave not been transmitted before the directionchanges subsequent pulses will be substracted fromthe stored pulses.This means the pulses seen by the computer for agiven movement in one direction and then backwill be the exact same, though it can happen thatthe maximum position does not get reported due tothe direction reversal.5.1 Accessing SpinWarriorA common misconception with people new to theUSB is that they think they can "talk to the USBport". The truth is that you do that as likely as youare going to directly talk to your Ethernet port orPCI bus.Communication on the USB is always with aspecific device attached to the USB. The USBitself is only the medium through which youcommunicate.To get access to a certain device you have to lookfor the VendorID and ProductID of that device.The specific mechanism for doing so depends onthe individual operating system.For details refer to our sample code.5.2 Movement directionIf channel A leads channel B by 90° the pulsesreported by SpinWarrior will be positive.5.3 Tracking accuracyWhen using encoders with a clean signal that hasno ringing or bouncing SpinWarrior will report theexact number of pulses it receives as long as themaximum edge rate for the encoder signal is notexceeded.Exceeding the maximum edge rate can result inlost impulses.Accessing the control endpoint 0 of SpinWarriorcan also result in lost impulses even below themaximum edge rate. Access to the control endpointhappens only during enumeration of a USB deviceor when an application reads descriptors from theUSB device. Both are not relevant during normaloperation. The use of USB probing software is notrecommended during normal operation.Since SpinWarrior is using quadrant tracking itwill report an impulse for each falling or risingedge on either signal A or B. This results in aresolution four times higher than that achieved byusing A as the clock and B as the direction signal.5.4 Using mechanical encodersThe use of electro mechanical encoders (i.e.encoders that use switches to generate thequadrature signals) should be limited to humaninput applications. It is not recommended to useelectromechanical encoders or switches withSW24A3 at all.Switches bounce, that means a contact closure isnot immediate and final, the contact will close andopen several times for a few milliseconds beforebecoming stable.Usually this is compensated by a debounce logiceither in hardware or software. But adding such adebounce logic would restrict the rotation speedthat can be tracked to a level that feelsuncomfortable.SpinWarrior does not implement such a debouncelogic for the encoders to allow maximum trackingspeed. Though this also means some additionalspurious pulses may be detected.Due to the quadrant tracking used by SpinWarriorsuch false pulses usually are compensated. Thoughtesting shows that some pulses may actually beadded by mechancial encoders. This makes themunsuitable for exact tracking like in motion control.5.5 Power supplyUSB does allow a device to be "Bus Powered".This means the device does get its power off theUSB port. To avoid overloading on the USB portsdevices need to advertise their power requirements.There are two power classes for devices: Lowpower and high power. Low power devices maydraw up to 100mA off the USB, high powerdevices up to 500mA.Likewise there are high power and low powerports. Usually high power ports are those on themotherboard and on hubs with external powersupply or hubs in a monitor. Low power ports aretypically on hubs that get their power off the USB,like hubs in keyboards.If the system decides that there is not sufficientV 1.1.0, Mar 5th 2007, for chip revision V1.1.0.09

SpinWarriorCode Mercenariespower to supply a high power decive that devicedoes not get enabled.SpinWarrior can operate either as a high power orlow power device. Pulling the Power pin high orlow at reset sets the desired power rating.This allows to configure SpinWarrior optimally forsupporting the encoders used.5.6 SuspendAll devices on USB need to support the suspendedstate. When the host computer stops to periodicallyaccess the USB, like when it goes to sleep, alldevices need to enter the suspended state and droptheir power draw to less than 500µA for low powerdevices or less than 2.5mA for high power devices.When entering suspended state SpinWarrior pullsthe /En pin high. Care must be taken in designingthe external circuit so that it will draw no morethan the allowed suspend power rating while /En ishigh.5.7 Remote WakeupSpinWarrior chips support the remote wakeupfeature. They are able to wake the host computerfrom sleep state if the host operating system hasenabled this feature.Remote wakeup is initiated by SpinWarrior if anyof the switch inputs is pulled low while the chip isin suspended state.SpinWarrior24A3 sends reports with 7 byte length:Byte0 - X LSBByte1 - X MSBByte2 - Y LSBByte3 - Y MSBByte4 - Z LSBByte5 - Z MSBByte6 - SwitchesSpinWarrior24R4 sends reports with 5 byte length:Byte0 - XByte1 - YByte2 - ZByte3 - rXByte4 - SwitchesSpinWarrior24R6 sends reports with 6 byte length:Byte0 - XByte1 - YByte2 - ZByte3 - rXByte4 - rYByte5 - rZByte6 - Switches5.8 Data Report FormatSpinWarrior24A3 keeps a 16 bit count for eachencoder position and reports this as an absoluteposition. The count gets reset to zero on a low tohigh going edge of the N input of that encoderchannel. For performance reasons SW24A3 doescontinuously send data instead of just sending datawhen a change occured.SpinWarrior24R4 and SpinWarrior24R6 keep an 8bit count of encoder impulses received since thelast data transmission. To measure an absolutepositon with them it is necessary to sum up allreceived data packets on the controlling computer.SW24Rx sends data only is there is a change in thecount or the status of a button.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.010

SpinWarriorCode Mercenaries6. Absolute Maximum RatingsStorage Temperature ........................................................................................-65°C to +150°CAmbient Temperature with power applied...........................................................-0°C to +70°CSupply voltage on Vcc relative to Gnd ..................................................................-0.5V to +7VDC input voltage...........................................................................................-0.5V to Vcc+0.5VMaximum current into all ports.........................................................................................70mAPower Dissipation...........................................................................................................300mWStatic discharge voltage..................................................................................................>2000VLatch-up current............................................................................................................>200mA6.1 DC CharacteristicsParameter Min Max Units RemarksV ccI ccOperating VoltageOperating Supply Current4.35 5.2520VmAI sbI olSuspend mode currentMax sink current on output pins2570µAmAOscillator offCummulative across all portsI ol Sink current on /En25 mA Vout =0.4VR up Pull-up Resistance 8 24 kΩV icrV icfV HInput threshold voltageInput threshold voltageInput hysteresis voltage40%40%3%60%60%10%V ccV ccV ccAll inputs, low to high edgeAll inputs, high to low edgeUSB InterfaceV oh Static output high2.8 3.6 V 15kΩ±5% to GNDV ol Static output low0.3 VV di Differential Input sensitivity0.2V |(D+)-(D-)|V cm Differential Input common Mode Range 0.8 2.5 VV se Single Ended Transceiver Threshold0.8 2.0 VC in Transceiver capacitance20 pFI ioR puHi-Z State Data Line LeakageBus Pull-up resistance-101.2741015.75µAkΩ0V < Vin < 3.3V, Hi-Z State1.3kΩ±2% to VregR pd Bus Pull-down resístance 14.25 15.75 kΩ 15kΩ±5%V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.011

SpinWarriorCode Mercenaries6.2 AC Characteristicst rt rt ft ft rfmV crst dratet djr1t djr2t deopt eopr1t eopr2t eoptt udj1t udj2Parameter Min Max Units RemarksUSB Driver CharacteristicsTransition rise time 75 ns CLoad = 50pFTransition rise time300 ns CLoad = 350pFTransition fall time 75ns CLoad = 50pFTransition fall time300 ns CLoad = 350pFRise/Fall Time matching 80 120 %Output signal crossover voltage1.3 2.0 VUSB Data TimingLow Speed Data Rate1.4777 1.5225 MBit/sReceiver data jitter tolerance-75 75 ns To next transitionReceiver data jitter tolerance-45 45 ns For paired transitionsDifferential to EOP transition skew-40 100 nsEOP width at receiver165ns Rejects as EOPEOP width at receiver675ns Accepts as EOPSource EOP width1.25 1.50 µsDifferential driver jitter-95 95 ns To next transitionDifferential driver jitter -150 150 ns To paired transition6.3 Encoder TimingMinimum timing for the encoders is specified as the time from edge to edge on any of the two signals foreach encoder. The time from any edge on signal A to an edge on signal B, or vice versa, or any two edgeson either signal A or B must not be shorter than what is specified as tmin.6.3.1 Encoder Timing SW24A3All three encoders operating: tmin = 64.1µs, fmax = 3900HzOnly X and Y operating: tmin = 56.8µs, fmax = 4400HzOnly X operating: tmin = 50µs, fmax = 5000HzNon operating encoder inputs must be left unconnected to assure the specified timing6.3.2 Encoder Timing SW24R4All encoders operating: tmin = 71µs, fmax = 3500Hz6.3.3 Encoder Timing SW24R6All encoders operating: tmin = 100µs, fmax = 2500HzV 1.1.0, Mar 5th 2007, for chip revision V1.1.0.012

SpinWarriorCode Mercenaries7. Ordering informationPartname Order Code Description PackageSpinWarrior24A3SpinWarrior24A3SW24A3-PSW24A3-SRotary encoder controller for 3 encoders, absoluteRotary encoder controller for 3 encoders, absolutePDIP24SOIC24SpinWarrior24R4SpinWarrior24R4SW24R4-PSW24R4-SRotary encoder controller for 4 encoders, relativeRotary encoder controller for 4 encoders, relativePDIP24SOIC24SpinWarrior24R6SpinWarrior24R6SW24R6-PSW24R6-SRotary encoder controller for 6 encoders, relativeRotary encoder controller for 6 encoders, relativePDIP24SOIC24The chips listed here are standard products.Customized chips are available on request.7.1 Packaging infoPDIP24 chips come in tubes of 16 each.SOIC24 chips come in tubes of 31 each.To assure best handling and shipping safety pleaseorder the chips in full tubes if possible.It is not possible to order chips with a specificserial number unless they are ordered as customchips which are subject to minimum order volumesand setup charges.7.2 USB VendorID and ProductIDBy default all SpinWarrior chips are shipped withthe USB VendorID of Code Mercenaries ($7C0 ordecimal 1984) and a fixed ProductID.On request chips can be equipped with thecustomers VendorID and ProductID. VendorIDscan be obtained from the USB ImplementersForum Customized chips may be subject to minimumorder quantities, contact for details.Following are the ProductIDs for the SpinWarriorcontrollers:SpinWarrior24R4 $1200SpinWarrior24R6 $1201SpinWarrior24A3 $1202ProductIDs are independent of the package type.7.3 Serial numbersSpinWarrior chips do have unique serial numbersin their device descriptors. These serial numberscan be used to simplify programming for multipleSpinWarriors connected to a single computer.The serial numbers are factory programmed andcan not be changed. Serial numbers are 8 digithexadecimal numbers. No two chips of a type willbe produced with identical serial numbers. Thoughit can be that a SW24R4 has the same serialnumber as a SW24R6 or SW24A3 chip.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.013

SpinWarriorCode Mercenaries8. SpinWarrior24R4 with optical encoders+5VR11K3C210µFC1100nF14USB+5VD-D+GND1234J11312111516NCD-D+VppVccS pi nWar r i or 24R 4PowerVREGVssB3A3B2A2B1A1B0A0/ENSw6Sw5Sw4Sw3Sw2Sw1Sw0212223244321178187196205ABVccGndX109J1 pulling high sets high power mode (500mA)J1 pulling low sets low power mode (100mA)Ci r cui t :Ver s i on:Dat e:Dr aw n by:SpinWarrior24R41.08.11.2005Code MercenariesFunct i on:P age:Rev. Date By Change Sign.ABVccGndYR31KABVccGndZT1BC307ABVccGndRxThe low side driver circuit for the power supply of the encoders is just an example. Actual driver circuitsshould be designed to fit the requirements of the encoders used.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.014

SpinWarriorCode Mercenaries8.1 SpinWarrior 24R4 with mechanical encodersUSB+5VD-D+GND1234R11K3+5VXYC210µFC1A100nFBGndABGndCi r cui t :Ver s i on:Dat e:Dr aw n by:SpinWarrior24R41.08.11.2005Code MercenariesFunct i on:P age:Rev. Date By Change Sign.ABZGndABRxGnd141312111516NCPowerD-D+VppVccS pi nWar r i or 24R 4VREGVssB3A3B2A2B1A1B0A0/ENSw6Sw5Sw4Sw3Sw2Sw1Sw0212223244321178187196205109The common connectors of the mechanical encoders should be connected to /En and not to ground. Thisensures that the encoders do not drain current through the internal pull up resistors of the SpinWarriorwhile in suspend mode.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.015

SpinWarriorCode Mercenaries8.2 SpinWarrior24R6 with optical encoders+5VRxZYXVccVccVccVccABABABABT1BC307RyVccABC1100nFC210µFABVccRzGnd14GndGndGndGndGndVccNCS pi nWar r i or 24R 61321222324B3A3B2A2B1A1B0A0J1Power12VREG11R11K3USB4321R2 1K17/ENB5A5B4D-D+1516818+5VD-D+GND12347196205A4Sw2Sw1Sw0SpinWarrior24R61.08.11.2005The low side driver circuit for the power supply of the encoders is just an example. Actual driver circuitsshould be designed to fit the requirements of the encoders used.VssVpp910R2/T1: Check the data sheet of your encoders to assure this circuit is sufficientJ1 pulling high sets high power mode (500mA)J1 pulling low sets low power mode (100mA)Code MercenariesCi r cui t :Ver s i on:Dat e:Dr aw n by:Funct i on:P age:Rev. Date By Change Sign.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.016

SpinWarriorCode Mercenaries8.3 SpinWarrior 24R6 with mechanical encoders1234R11K3111516+5VXYVccNCS pi nWar r i or 24R 6PowerVREGD-D+VppVssB3A3B2A2B1A1B0A0/ENB5A5B4A4Sw2Sw1Sw0178187C210µFC1A100nFBGndABGndCi r cui t :Ver s i on:Dat e:Dr aw n by:SpinWarrior24R61.08.11.2005Code MercenariesFunct i on:P age:Rev. Date By Change Sign.ABZGndABRxGnd141312212223244321196205ABRyUSBGnd+5VD-D+GNDABRzGnd109The common connectors of the mechanical encoders should be connected to /En and not to ground. Thisensures that the encoders do not drain current through the internal pull up resistors of the SpinWarriorwhile in suspend mode.V 1.1.0, Mar 2th 7005, for chip revision V1.1.0.015

SpinWarriorCode Mercenaries8.3 SpinWarrior 24A3+5VUSB+5VD-D+GND1234J1R11K3C210µFC1100nFJ1 pulling high sets high power mode (500mA)J1 pulling low sets low power mode (100mA)Circuit:Version:Date:Drawn by:SpinWarrior24A31.028.2.2007Code MercenariesFunction:Page:Rev. Date By Change Sign.R3 1KT1141312111516NCPowerD-D+VppVccSpinWarrior24A3VREGVssN1N0B2A2B1A1B0A0/ENN3In5In4In3In2In1In0212223244321178187196205ABNVccGndXABNVccYGndABNVccGndZ109V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.018

SpinWarriorCode Mercenaries9. Package Dimensions24 Pin DIL24 Pin SOICV 1.1.0, Mar 5th 2007, for chip revision V1.1.0.019

SpinWarriorCode Mercenaries10. ESD ConsiderationsSpinWarrior has an internal ESD protection towithstand discharges of more than 2000V withoutpermanent damage. However ESD may disruptnormal operation of the chip and cause it to exhibiterratic behaviour.For the typical office environment the 2000Vprotection is normally sufficient. Though forindustrial use additional measures may benecessary.When adding ESD protection to the signals specialcare must be taken on the USB signal lines. TheUSB has very low tolerance for additionalresistance or capacitance introduced on the USBdifferential signals.Series resistors of 27Ω may be used alone or inaddition to some kind of suppressor device. In anycase the USB 2.0 specification chapter 6 and 7should be read for detailed specification of theelectrical properties.1.0.0.0• This is the inital release version of SpinWarrior.10.1 EMC ConsiderationsSpinWarrior uses relatively low power levels andso it causes few EMC problems. The mostimportant issue is to provide a very clean layout forthe power supply. SpinWarrior runs at 12MHzinternal clock rate, this can cause current spikes ifthe supply lines are not carefully layed out.To avoid any EMC problems the following rulesshould be followed:• Keep the PCB traces from the resonator to thechip pins as short as possible.• Put the 100nF ceramic capacitor right next tothe power supply pins of the chip and make surethe PCB traces between the chips power pinsand the capacitor are as short as possible.• Run the power supply lines first to the capacitor,then to the chip.• Keep the two USB signal lines close to eachother, route no other signal between them. USBuses differential signalling so the best signalquality with lowest RF emission is achieved byputting these lines very close to each other.11. Revision History1.1.0.0• Added SW24A3.• Improved tracking performance.• Fixed a problem that could cause single datapackets to be lost on SW24R4 and SW24R6.V 1.1.0, Mar 5th 2007, for chip revision V1.1.0.020

SpinWarriorCode MercenariesLegal StuffThis document is ©1999-2007 by CodeMercenaries.The information contained herein is subject tochange without notice. Code Mercenaries makesno claims as to the completeness or correctness ofthe information contained in this document.Code Mercenaries assumes no responsibility forthe use of any circuitry other than circuitryembodied in a Code Mercenaries product. Nordoes it convey or imply any license under patent orother rights.Code Mercenaries products may not be used in anymedical apparatus or other technical products thatare critical for the functioning of lifesaving orsupporting systems. We define these systems assuch that in the case of failure may lead to thedeath or injury of a person. Incorporation in such asystem requires the explicit written permission ofthe president of Code Mercenaries.Trademarks used in this document are properties oftheir respective owners.Code MercenariesHard- und Software GmbHKarl-Marx-Str. 147a12529 Schönefeld OT GrossziethenGermanyTel: x49-3379-20509-20Fax: x49-3379-20509-30Mail: support@codemercs.comWeb: www.codemercs.comHRB 16007 PGeschäftsführer: Guido Körber, Christian LuchtV 1.1.0, Mar 5th 2007, for chip revision V1.1.0.021