Confidential © ams AG 2015

ams AG Robot Demo Presentation

Magnetic Position Sensors Enable

Fine Robot Motor Joint Control

Mark Donovan - Senior Product Marketing Manager

September 28–29, 2016 | San Jose, CA

Confidential © ams AG 2015

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Robot Designers Challenged to Produce Fine Joint ControlMagnetic Position Sensors provide angular position data for high precision joint motor position feedback

For fluid joint and limb movement, fine motor joint

control of robot arms, legs, waists and head is critical.

To achieve fine joint motor control: high resolution,

high accuracy, motor position feedback sensors are

essential.

Position sensors need to be fast, small, and co-located

with joint motors.

Reliable and inexpensive.

Energy efficiency, reduced weight and reduced wiring

are also key robot design goals.

Confidential © ams AG 2015

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Contactless Rotary magnetic position sensors (POS) are ideal for providing robot joint control feedback

High resolution, high accuracy, low propagation delay, angular position measurements

Offer small footprints, and are low cost

And in the case of ams POS devices, offer stray field immunity for ensuring reliable, accurate and safe robot joint movement, even in magnetically noisy environments.

Please see our stray field demonstrator

Magnetic Rotary Magnetic Sensors Rise to the ChallengeMagnetic Position Sensors provide angular position data for high precision joint motor position feedback

Confidential © ams AG 2015

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External magnetic stray fields

(1) An external magnetic field

is present near the sensors

(3) The offset does not influence the

differential signal

(2) The external magnetic field generates

an offset on all sensors.

(4) External magnetic fields

do not influence the angle

=

)cos(*ˆ

)sin(*ˆarctan

a

aa

a

a)tan(

)cos(*ˆ

)sin(*ˆa

a

a=

a

a

Confidential © ams AG 2015

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How Magnetic Position Sensor Works in a Robot JointJoint Motor Position Sensor System Comprised of Magnetic Position Sensor and Target Magnet

Robot Joint Motor

Robot CPU

Small diametric target puck magnet is mounted at the end

of the joint’s rotating motor shaft.

Magnetic position sensor IC is placed directly over the

magnet with a small air gap separating the magnet and IC.

Hall elements inside the sensor IC measure the magnetic

field generated by the target magnet

A Cordic DSP, internal to the position sensor IC, transforms

the raw magnetic field measurement into a single angle

measurement.

The POS sensor outputs the angle measurement over a

digital and/or analog interface(s) to the robot CPU.

Confidential © ams AG 2015

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Benefits of Magnetic Position Sensors in RobotsAdvanced Magnetic Position Sensors in Robot Joint Motor Control Applications

Superior durability through contactless “system-on-chip” solution

No wear

High reliability

Insensitive to humidity, dust, dirt, etc.

Lower Systems Cost

Small Surface Mount/Thru-hole IC

Wide mechanical tolerance of shaft variations for reduced

manufacturing costs

End-of-Line Sensor Programming for lower production costs

High Accuracy

Rotary position error accuracy of < ±1.0o

Confidential © ams AG 2015

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Benefits of Magnetic Position Sensors (Cont.)Advanced Magnetic Position Sensors in Robot Joint Motor Control Applications

Low Power Consumption

Normal operation 10 - 15mamps

Low Power modes μamps

Require minimal space

Small Surface Mount/Thru-hole IC

Increased safety via improved accuracy and on-sensor

diagnostics

Enabler for safety critical collaborative robot applications

Confidential © ams AG 2015

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Magnetic Position Sensors in Robot ServosMagnetic Position Sensors Replace the Traditional Potentiometer Found in Servos

Servos, commonly used in robot joints, typically

employ potentiometers for providing motor

feedback information

Potentiometers: Are not very accurate

Wear out

Produce electrical noise

POS devices: Higher angle accuracy measurements

Contactless, so they don’t wear out

Do not produce electrical noise

POS in industrial robots enable: Improved motor position feedback and control

Improved safety

Confidential © ams AG 2015

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Stray Field Immunity

Robustness against unwanted external magnetic stray fields

Reduced BOM - eliminates the need for shielding

Guaranteed safety, reliability and durability through contactless “system-

on-chip” solution

Improved Accuracy over Lower and Wider Target Magnetic Field Levels

< ±1.0o error accuracy over Temp for Rotary Position

Wide Operating Magnetic Field Range (5mT to 90mT)

Elimination of angle measurement lag at high RPM

Dynamic Angle Error Compensation (DAEC)

Redundancy

Dual Stacked die packaging

Zero-defect philosophy/culture

Increased Functionality

Low Power Modes (μamps)

Faster Interfaces

Shared full-duplex single wire interfaces

Emerging Magnetic Position Sensor TrendsAdvanced Magnetic Position Sensors in Robot Motor Control Applications

Confidential © ams AG 2015

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Improved Accuracy - Dynamic Angle Error CompensationAdvanced Magnetic Position Sensors in High Speed Measurement Applications

Hardware Compensation integrated!

No Software needed!

External HW + SW compensation needed

Magnetic P

ositio

n S

ensor

Syste

m

Large lag from

angle measurement

to reporting

Moderate lag from

angle measurement

to reporting

Near zero lag from

angle measurement

to reporting

Elimination of Angle Measurement Lag and Fast Refresh Rates (1.9μs) at High RPMs

Confidential © ams AG 2015

Page 11

Magnetic Position Sensors (POS)

used extensively in consumer robot

joints for providing fine motor

feedback/control

Motor position

Motor commutation/control

Here we can see a POS device and

target magnet integrated into the

ankle joint of a robot.

Magnetic Position Sensors in Robot Joint ControlMagnetic Position Sensors Provide Precise and Accurate Joint Motor Position Feedback

Confidential © ams AG 2015

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Magnetic Position Sensors in Robot Joint Control (Cont.)Magnetic Position Sensors Provide Precise and Accurate Joint Motor Position Feedback

Magnetic

Position

Sensor

Target Puck Magnet at

end of Motor ShaftMultiple Sensors in a

single joint

Confidential © ams AG 2015

Page 13

Magnetic Position Sensors in Industrial ApplicationsMagnetic Position Sensors, with Stray Field Immunity, are ideal for Industrial Robots

Magnetic Position Sensors (POS) in

industrial robots enable:

Fine motor control

Improved safety

POS devices supporting stray field

immunity ensure reliable and

accurate joint motor position

feedback even in magnetically

noisy environments.

Allow Industrial Robots to perform

functions that require higher level

of arm, hand, and effector dexterity

Electronic component assembly

Confidential © ams AG 2015

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Next Generation in Industrial RobotsFlexible, Faster, Lighter and work better with humans

Replacing resolvers and optical

encoders with high resolution

magnetic position sensor ICs

Transitioning from single to multi-

task functions

Teaching (rather than

programming) and lighter weight

make robot repurposing much

easier

Increased dexterity for supporting

complex/intricate electronic

assembly

Work more safely with humans

Confidential © ams AG 2015

Page 15

Magnetic Position Sensors used in drones for:

Payload gimbals

Position control for payload

control/manipulators

Why Magnetic Position Sensors?

Small form factor

Light weight

Consume Minimal Power

Highly accurate

Operate in harsh environments

Magnetic Position Sensors Deployed in Drone’s Magnetic Position sensors enabling Improved Payload Capacity and Performance, e.g. Camera stability

Confidential © ams AG 2015

Page 16

What Comes Next?The Future in Magnetic Position Sensors for Robots

Future Magnetic Position Sensor ICs to follow will have enhanced features:

Lower unit costs

Ultra Low power

Smaller packages

Higher Accuracy

Lower Latency

Confidential © ams AG 2015

Page 17

RBR Game Changer Award 2015Robotics Business Review

http://www.roboticsbusinessreview.com/article/as5048/

Confidential © ams AG 2015

Thank you!

Please visit us at www.ams.com

Please visit our landing page

http://www.ams.com/Magnetic-Position-Sensors