SOC Robotics HA22 Product manual

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 1 Manual Rev 0.9
July 2009
HA22 360 Degree Hall Effect Sensor
Technical Reference Manual
PCB Rev 1.0
www.soc-robotics.com

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 2 Manual Rev 0.9
July 2009
Warranty Statement
SOC Robotics arrants that the Product delivered hereunder shall conform to the applicable SOC Robotics Data Sheet or
mutually agreed upon specifications and shall be free from defects in material and orkmanship under normal use and
service for a period of 30 days from the applicable date of invoice. Products that are “samples”, “design verification
units”, and/or “prototypes” are sold “AS IS,” “WITH ALL FAULTS,” and ithout a arranty. If, during such arranty
period, (i) SOC Robotics is notified promptly in riting upon discovery of any defect in the goods, including a detailed
description of such defect; (ii) such goods are returned to SOC Robotics, DDP SOC Robotics facility accompanied by SOC
Robotics Returned Material Authorization form; and (iii) SOC Robotics examination of such goods discloses to SOC
Robotics satisfaction that such goods are defective and such defects are not caused by accident, abuse, misuse, neglect,
alteration, improper installation, repair, improper testing, or use contrary to any instructions issued by SOC Robotics.
SOC Robotics shall (at its sole option) either repair, replace, or credit Buyer the purchase price of such goods. No goods
may be returned to SOC Robotics ithout SOC Robotics Returned Material Authorization form. Prior to any return of
goods by Buyer pursuant to this Section, Buyer shall afford SOC Robotics the opportunity to inspect such goods at
Buyer’s location, and any such goods so inspected shall not be returned to SOC Robotics ithout its prior ritten consent.
SOC Robotics shall return any goods repaired or replaced under this arranty to Buyer transportation prepaid, and
reimburse Buyer for the transportation charges paid by Buyer for such goods. The performance of this arranty does not
extend the arranty period for any goods beyond that period applicable to the goods originally delivered.
THE FOREGOING WARRANTY CONSTITUTES SOC ROBOTICS EXCLUSIVE LIABILITY, AND THE EXCLUSIVE
REMEDY OF BUYER, FOR ANY BREACH OF ANY WARRANTY OR OTHER NONCONFORMITY OF THE GOODS
COVERED BY THIS AGREEMENT. THIS WARRANTY IS EXCLUSIVE, AND IN LIEU OF ALL OTHER
WARRANTIES. SOC ROBOTICS MAKES NO OTHER WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY,
INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE. THE SOLE AND EXCLUSIVE REMEDY FOR ANY BREACH OF THIS WARRANTY SHALL
BE AS EXPRESSLY PROVIDED HEREIN.
Limitation on Liability
Not ithstanding anything to the contrary contained herein, SOC Robotics shall not, under any circumstances, be liable to
Buyer or any third parties for consequential, incidental, indirect, exemplary, special, or other damages. SOC Robotics total
liability shall not exceed the total amount paid by Buyer or SOC Robotics hereunder. SOC Robotics shall not under any
circumstances be liable for excess costs of re-procurement.
© Copyright 2009. SOC Robotics, Inc. All rights reserved.
SOC Robotics, Inc. makes no warranty for the use of its products, other than those expressly contained in the Company’s standard
warranty which is detailed in SOC Robotics Terms and Conditions located on the Company’s web site. The Company assumes no
responsibility for any errors which may appear in this document, reserves the right to change devices or specifications detailed herein
at any time without notice, and does not make any commitment to update the information contained herein. No licenses to patents or
other intellectual property of SOC Robotics are granted by the Company in connection with the sale of SOC Robotics products,
expressly or by implication. SOC Robotics products are not authorized for use as critical components in life support devices or
systems.
Marks bearing ® and/or ™ are trademarks of SOC Robotics, Inc.
Terms and product names in this document may be trademarks of others.
1947A–08/00/5M

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 3 Manual Rev 0.9
July 2009
Table of Contents
Warranty Statement ………………………………………………………….…… 2
1.0 Description ………………………………………………...………….…...… 4
1.1 Features………………………………………….…………………………………….…….…4
1.2 Introduction……………………………………………………………………………………4
1.2 Operation...……………………………………….………..……………………………..……5
1.3 Soft are Overvie .……………………..………………….……….……….…………..……5
1.5 Specifications…………………………………………………………………………………..5
1.6 Related Products………………………………………………………………………………6
2.0 Electrical and Mechanical Description ………………………….… 7
2.1 Component Layout…………………………………………………………………...………7
2.2 Electrical Specifications…………………………………………………………….…...……7
2.3 Mechanical Dimensions ……………………………………………….………….…………7
3.0 Circuit Schematics ……………………………………………….....…..… 8

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 4 Manual Rev 0.9
July 2009
1.0 Description
1.1 Features
• 2-Axis Hall Sensor
• Analog and PWM output
• Measure magnet position from 0-360deg
• Maximum angle error < 1%
• Magnet out of range output
• 5ms response time
• 0.1” header for easy mounting (connector not included)
• 5V DC @25ma operation
• Small form factor (0.92x0.61in)
• Compatible ith Wasp
• Magnet included
• Mounts on WS12 mounting Adapter
• Sample programs included in Wasp Application Code
• Desktop Data Acquisition Device (DAD) for real time display
1.2 Introduction
The HA22 is an integrated 2-Axis Hall Effect sensor that measures the rotary position of a magnet
located directly above the sensor (2SA-10). The magnet’s absolute rotary position is output
continuously as either an analog or PWM signal. The HA22 outputs absolute rotary position
from 0-360 as an analog and PWM signal. If the magnet is out of range a lo signal is output on
the Out of Range output.
The picture above sho s the HA22 attached to the top of a WS12 mounting adapter (sho n on
the right) that attaches to the Wasp Embedded processor.

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 5 Manual Rev 0.9
July 2009
The HA22 output is routed to connector J1 ith pin assignments sho n above. Note that the
board voltage VCC should be 5VDC. The HA22 is shipped ithout a connector so you can
mount the board as you ish.
1.3 Theory of Operation
Circuit Description
The HA22 has a 2-Axis Hall Effect sensor manufactured by Sentron (2SA-10). The SIN/COS
outputs from the sensor are fed into a small processor that converts the t o signals into absolute
rotary position. The position information is output as an analog and PWM signal. The analog
signals s ings from 0.5V to 4.5V indicating 0 and 360 degrees respectively. The PWM duty cycle
s ings from 10% to 90% indicating 0 and 360 degrees respectively.
The HA22 is shipped ith a 0.25in diameter diagonally polarized magnet that should be located
directly above the 2SA-10 sensor. The 2AS-10 sensor has an on-chip dynamic offset cancellation
circuit that allo s the position accuracy of the magnet above the sensor to be relaxed.
The magnet is SmCo24 diagonally polarized measuring 6.35mm x 2.5mm.
Calibration
There may be a slight variation bet een sensors so the output should be calibrated before use.
Note that the analog output s ings bet een 0 and VCC as the magnet is rotated 360 degrees.
1.4 Software
A sample application ( ith full source code) that configures the A/D in a Wasp (Atmega644) and
outputs absolute rotary position to the UART is available for do nload from our eb site. A
desktop GUI application called DAD is also available to display position information in real time
in a graph.
1.5 Specifications
The HA22 uses a Sentron 2SA-10 2-Axis Hall Effect sensor and GMW360A SIN/COS to Analog
interpolation IC.
Parameter Value
Po er Source 5.0VDC
Temperature Range -40 to +85 deg C
Analog Output 0.5V (0) to 4.5V (360)
PWM Output 10% (0) to 90% (360)
Analog Response Time 5msec
Sensor Band idth 15KHz
Accuracy +- 1 degree
Po er Consumption 25ma

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 6 Manual Rev 0.9
July 2009
1.6 Related Products
The HA22 is compatible ith a number of related products. The WS12 is a carrier that a HA22
attaches to. The WS12 in turn attaches to a Wasp embedded data acquisition processor.
WS12 on Wasp HA22 on WS12 on Wasp and USB10
The Wasp is a small AVR based processor that can be programmed by the user to perform data
acquisition tasks or using a sample data acquisition program can be turned into a real time data
logger. By combining the Wasp ith a USB10 a complete data acquisition system that
communicates ith the desktop via USB becomes possible.
Wasp on USB10 USB10
Other sensors are available such as rate gyro’s, accelerometers and pressure sensors.
RG20 Dual Axis rate gyro RG30 three axis rate gyro

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 7 Manual Rev 0.9
July 2009
2.0 Electrical and Mechanical Description
2.1 Component Layout
Components are mounted on one side of the board.
2.2 Electrical Specifications
Electrical
Input po er: 5.0VDC @ 25ma
Mechanical
Dimensions: 0.95x0.62 in
Weight: 4 grams
2.3 Mechanical Dimensions
Board dimensions are stated in inches.
.

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 8 Manual Rev 0.9
July 2009
3.0 HA22 Circuit Schematics

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 9 Manual Rev 0.9
July 2009

HA22 Technical Reference Manual
© Copyright 2009. SOC Robotics, Inc. 10 Manual Rev 0.9
July 2009
Notes: