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PDF ADIS16364 Data sheet ( Hoja de datos )
| Número de pieza | ADIS16364 | |
| Descripción | Six Degrees of Freedom Inertial Sensor | |
| Fabricantes | Analog Devices | |
| Logotipo |  |
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Six Degrees of Freedom Inertial Sensor
Preliminary Technical Data
ADIS16364
www.daFtaEsAhTeeUt4RuE.cSom
Tri-axis, 14-bit digital gyroscope with digital range scaling
±75°/sec, ±150°/sec, ±300°/sec settings
Tri-axis, 14-bit digital accelerometer
±5 g measurement range
330 Hz bandwidth
180 ms start-up time
Factory-calibrated sensitivity, bias, and axial alignment
Digitally controlled bias calibration
Digitally controlled sample rate, up to 819.2 SPS
External clock input enables sample rates up to 1200 SPS
Digitally controlled filtering
Programmable condition monitoring
Auxiliary digital input/output
Digitally activated self-test
Programmable power management
Embedded temperature sensor
SPI-compatible serial interface
Auxiliary, 12-bit ADC input and DAC output
Single-supply operation: 4.75 V to 5.25 V
2000 g shock survivability
Operating temperature range: −40°C to +105°C
APPLICATIONS
Medical instrumentation
Robotics
Platform control
Navigation
FUNCTIONAL BLOCK DIAGRAM
AUX_
ADC
AUX_
DAC
TEMPERATURE
SENSOR
MEMS
ANGULAR RATE
SENSOR
TRI-AXIS MEMS
ACCELERATION
SENSOR
SIGNAL
CONDITIONING
AND
CONVERSION
CALIBRATION
AND
DIGITAL
PROCESSING
OUTPUT
REGISTERS
AND SPI
INTERFACE
SELF-TEST
AADDISIS1166336040
ALARMS
DIGITAL
CONTROL
POWER
MANAGEMENT
RST DIO1 DIO2 DIO3 DIO4
Figure 1.
CS
SCLK
DIN
DOUT
VCC
GND
GENERAL DESCRIPTION
The ADIS16364 iSensor® is a complete inertial system that
includes a tri-axis gyroscope and tri-axis accelerometer. Each
sensor in the ADIS16364 combines industry-leading iMEMS®
technology with signal conditioning that optimizes dynamic
performance.
The factory calibration characterizes each sensor for sensitivity,
bias, alignment, and linear acceleration (gyro bias). As a result,
each sensor has its own dynamic compensation for correction
formulas that provide accurate sensor measurements over a
temperature range of −40°C to +85°C.
The ADIS16364 provides a simple, cost-effective method for
integrating accurate, multi-axis, inertial sensing into industrial
systems, especially when compared with the complexity and
investment associated with discrete designs.
All necessary motion testing and calibration are part of the
production process at the factory, greatly reducing system
integration time. Tight orthogonal alignment simplifies inertial
frame alignment in navigation systems. An improved SPI
interface and register structure provide faster data collection and
configuration control. By using a compatible pinout and the
same package as the ADIS1635x family, systems that currently
use the ADIS1635x family can upgrade their performance with
minor firmware changes to accommodate scale factor
adjustments.
This compact module is approximately 23 mm × 23 mm × 23
mm and provides a flexible connector interface, which enables
multiple mounting orientation options.
Rev. PrA
Information furnished by Analog Devices is believed to be accurate and reliable. However, no
responsibility is assumed by Analog Devices for its use, nor for any infringements of patents or other
rights of third parties that may result from its use. Specifications subject to change without notice. No
license is granted by implication or otherwise under any patent or patent rights of Analog Devices.
Trademarksandregisteredtrademarksarethepropertyoftheirrespectiveowners.
One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.
Tel: 781.329.4700
www.analog.com
Fax: 781.461.3113
©2008 Analog Devices, Inc. All rights reserved.
1 page  
Preliminary Technical Data
ADIS16364
TIMING SPECIFICATIONS
TA = 25°C, VCC = 5 V, unless otherwise noted.
Table 2.
www.datasheet4u.com
Parameter Description
fSCLK
tSTALL
Stall period between data
tREADRATE
Read rate
tCS Chip select to clock edge
tDAV DOUT valid after SCLK edge
tDSU DIN setup time before SCLK rising edge
tDHD DIN hold time after SCLK rising edge
tSCLKR, tSCLKF SCLK rise/fall times
tDF, tDR
DOUT rise/fall times
tSFS CS high after SCLK edge
t1 Input sync pulse width
t2 Input sync to data ready output
t3 Input sync period
Normal Mode
(SMPL_PRD < 0x09)
Min1 Typ Max
0.01 2.0
9
40
48.8
100
24.4
48.8
5 12.5
5 12.5
5
5
600
833
1Guaranteed by design and characterization, but not tested in production.
Low Power Mode
(SMPL_PRD > 0x0A)
Min1 Typ Max
0.01 0.3
75
100
48.8
100
24.4
48.8
5 12.5
5 12.5
5
Burst Mode
Min1 Typ Max
0.01 1.0
1/fSCLK
48.8
24.4
48.8
5
5
5
100
12.5
12.5
Unit
MHz
μs
μs
ns
ns
ns
ns
ns
ns
ns
μs
μs
μs
TIMING DIAGRAMS
CS
SCLK
DOUT
DIN
tCS
1
MSB
W/R
23 4 56
tDAV
DB14
tDSU
DB13
DB12
tDHD
DB11
DB10
A6 A5 A4 A3 A2
Figure 2. SPI Timing and Sequence
tREADRATE
tSTALL
CS
15 16
tSFS
DB2
DB1
LSB
D2 D1 LSB
SCLK
SYNC
CLOCK (DIO4)
DATA
READY
Figure 3. Stall Time and Data Rate
t3
t2
t1
Figure 4. Input Clock Timing Diagram
Rev. PrA | Page 5 of 16
5 Page 
Preliminary Technical Data
OUTPUT DATA REGISTERS
Figure 6 provides the positive measurement direction for each
inertial sensor (gyroscope and accelerometers). Table 9 provides
the configuration and scale factor for each output data register
in the ADIS16364. All inertial sensor outputs are 14 bits in
www.daletansghteheat4nud.caorme in twos complement format, which means that
0x0000 is equal to 0 LSB, 0x0001 is equal to +1 LSB, and 0x3FFF
is equal to −1 LSB. The following is an example of how to
calculate the sensor measurement from the XGYRO_OUT:
XGYRO_OUT = 0x3B4A
0x000 − 0x33B4A = −0x04B6 = −(4 × 256 + 11 × 16 + 6)
− 0x04B6 = −1206 LSB
Rate = 0.05°/sec × (− 1206) = −60.3°/sec
Therefore, an XGYRO_OUT output of 0x3B4A corresponds to
a clockwise rotation about the z-axis (see Figure 6) of 60.3°/sec
when looking at the top of the package.
Table 9. Output Data Register Formats
Register
Bits Format
SUPPLY_OUT 12 Binary, 5 V = 0x0814
XGYRO_OUT1 14 Twos complement
YGYRO_OUT1 14 Twos complement
ZGYRO_OUT1 14 Twos complement
XACCL_OUT 14 Twos complement
YACCL_OUT 14 Twos complement
ZACCL_OUT 14 Twos complement
XTEMP_OUT2 12 Twos complement
YTEMP_OUT2 12 Twos complement
ZTEMP_OUT2 12 Twos complement
AUX_ADC
12 Binary, 1 V = 0x04D9
Scale
2.42 mV
0.05°/sec
0.05°/sec
0.05°/sec
1 mg
1 mg
1 mg
0.14°C
0.14°C
0.14°C
0.81 mV
1 Assumes that the scaling is set to ± 300°/sec. This factor scales with the range.
2 Note that typically, +25°C, these registers read 0x0000.
Each output data register uses the bit assignments shown in
Figure 13. The ND flag indicates that unread data resides in the
output data registers. This flag clears and returns to 0 during an
output register read sequence. It returns to 1 after the next
internal sample updates the registers with new data. The EA flag
indicates that one of the error flags in the DIAG_STAT register
(see Table 21) is active (true). The remaining 14 bits are for data.
MSB FOR 14-BIT OUTPUT
ND EA
MSB FOR 12-BIT OUTPUT
Figure 13. Output Register Bit Assignments
Auxiliary ADC
The AUX_ADC register provides access to the auxiliary ADC
input channel. The ADC is a 12-bit successive approximation
converter, which has an equivalent input circuit to the one
in Figure 14. The maximum input range is +3.3 V. The ESD
protection diodes can handle 10 mA without causing irreversible
damage. The switch on-resistance (R1) has a typical value of
100 Ω. The sampling capacitor, C2, has a typical value of 16 pF.
ADIS16364
VCC
D
C1 D
R1 C2
Figure 14. Equivalent Analog Input Circuit
(Conversion Phase: Switch Open,
Track Phase: Switch Closed)
CALIBRATION
Manual Bias Calibration
The bias offset registers in Table 10 and Table 11 provide a manual
adjustment function for the output of each sensor. For example,
if XGYRO_OFF equals 0x1FF6, the XGYRO_OUT offset shifts
by −10 LSBs, or −0.125°/sec. The DIN command for the upper
byte is DIN = 0x9B1F; for the lower byte, DIN = 0x9AF6.
Table 10. XGYRO_OFF, YGYRO_OFF, ZGYRO_OFF
Bits Description
[15:13]
Not used.
[12:0]
Data bits. Twos complement, 0.0125°/sec per LSB.
Typical adjustment range = ±50°/sec.
Table 11. XACCL_OFF, YACCL_OFF, ZACCL_OFF
Bits Description
[15:12]
Not used.
[11:0]
Data bits, twos complement 1 mg/LSB.
Typical adjustment range = ±2 g.
Gyroscope Automatic Bias Null Calibration
Set GLOB_CMD[0] = 1 (DIN = 0xBE01) to execute this function,
which measures XGYRO_OUT and then loads XGYRO_OFF
with the opposite value to provide a quick bias calibration.
Then, all sensor data resets to 0, and the flash memory updates
automatically (50 ms). See Table 12.
Gyroscope Precision Automatic Bias Null Calibration
Set GLOB_CMD[4] = 1 (DIN = 0xBE10) to execute this
function, which takes the sensor offline for 30 sec while it
collects a set of XGYRO_OUT data and calculates a more
accurate bias correction factor. Once calculated, the correction
factor loads into XGYRO_OFF, all sensor data resets to 0, and
the flash memory updates automatically (50 ms). See Table 12.
Restoring Factory Calibration
Set GLOB_CMD[1] = 1 (DIN = 0xBE02) to execute this function,
which resets each user calibration register (see Table 10 and
Table 11) to 0x0000, resets all sensor data to 0, and auto-
matically updates the flash memory (50 ms). See Table 12.
Linear Acceleration Bias Compensation (Gyroscope)
Set MSC_CTRL[7] = 1 (DIN = 0xB486) to enable correction for
low frequency acceleration influences on gyroscope bias. Note
that the DIN sequence also preserves the factory default condi-
tion for the data ready function (see Table 17).
Rev. PrA | Page 11 of 16
11 Page | ||
| Páginas | Total 16 Páginas | |
| PDF Descargar | [ Datasheet ADIS16364.PDF ] | |
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