We study supersymmetric index of 4d $SU(N)$ $mathcal{N}=4$ super Yang-Mills theory on $S^1 times M_3$. We compute asymptotic behavior of the index in the limit of shrinking $S^1$ for arbitrary $N$ by a refinement of supersymmetric Cardy formula. The asymptotic behavior for the superconformal index case ($M_3 =S^3$) at large $N$ agrees with the Bekenstein-Hawking entropy of rotating electrically charged BPS black hole in $AdS_5$ via a Legendre transformation as recently shown in literature. We also find that the agreement formally persists for finite $N$ if we slightly modify the AdS/CFT dictionary between Newton constant and $N$. This implies an existence of non-renormalization property of the quantum black hole entropy. We also study the cases with other gauge groups and additional matters, and the orbifold $mathcal{N}=4$ super Yang-Mills theory. It turns out that the entropies of all the CFT examples in this paper are given by $2pi sqrt{Q_1 Q_2 +Q_1 Q_3 +Q_2 Q_3 -2c(J_1 +J_2 )} $ with charges $Q_{1,2,3}$, angular momenta $J_{1,2}$ and central charge $c$. The results for other $M_3$ make predictions to the gravity side.
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