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PDF ADIS16360 Data sheet ( Hoja de datos )
| Número de pieza | ADIS16360 | |
| Descripción | Six Degrees of Freedom Inertial Sensor | |
| Fabricantes | Analog Devices | |
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Six Degrees of Freedom Inertial Sensor
ADIS16360/ADIS16365
FEATURES
Tri-axis, 14-bit digital gyroscope with digital range scaling
±75°/sec, ±150°/sec, ±300°/sec settings
Tri-axis, 14-bit digital accelerometer
±18 g measurement range
Automatic start-up and operation
180 ms start-up time, no external configuration
Standard digital serial interface, SPI
Factory-calibrated sensitivity, bias, and axial alignment
ADIS16360: +25°C
ADIS16365: −40°C to +85°C
Digital bias correction control
Digital sample rate control
Internal clock up to 819.2 SPS
External clock up to 1200 SPS
Digital filter configuration control Bartlett window FIR
Programmable condition monitoring
Auxiliary digital input/output
Digitally activated self-test
Programmable power management
Embedded temperature sensor
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
SIGNAL
CONDITIONING
AND
CONVERSION
CALIBRATION
AND
DIGITAL
PROCESSING
OUTPUT
REGISTERS
AND SPI
INTERFACE
TRI-AXIS MEMS
ACCELERATION
SENSOR
SELF-TEST
ADIS16360/
ADIS16365
ALARMS
DIGITAL
CONTROL
POWER
MANAGEMENT
RST DIO1 DIO2 DIO3 DIO4/
CLKIN
Figure 1.
CS
SCLK
DIN
DOUT
VCC
GND
GENERAL DESCRIPTION
The ADIS16360/ADIS16365 iSensor® devices are complete
inertial systems that include a tri-axis gyroscope and tri-axis
accelerometer. Each sensor in the ADIS16360/ADIS16365
combines industry-leading iMEMS® technology with signal
conditioning that optimizes dynamic performance. The fac-
tory calibration characterizes each sensor for sensitivity, bias,
alignment, and linear acceleration (gyro bias). As a result, each
sensor has its own dynamic compensation formulas that
provide accurate sensor measurements.
The ADIS16360/ADIS16365 provide simple, cost-effective
methods for integrating accurate, multi-axis inertial sensing into
industrial systems, especially when compared with the complexity
and investment associated with discrete designs. All necessary
Rev. 0
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.
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
adjustments in their processor designs.
This compact module is approximately 23 mm × 23 mm × 23 mm
and provides a flexible connector interface, which enables multiple
mounting orientation options.
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
©2009 Analog Devices, Inc. All rights reserved.
1 page  
ADIS16w3w6w0.D/atAaSDheIetS4U1.co6m365
TIMING SPECIFICATIONS
TA = 25°C, VCC = 5 V, unless otherwise noted.
Table 2.
Parameter
fSCLK
tSTALL
tREADRATE
tCS
tDAV
tDSU
tDHD
tSCLKR, tSCLKF
tDF, tDR
tSFS
t1
tx
t2
t3
Description
Stall period between data
Read rate
Chip select to clock edge
DOUT valid after SCLK edge
DIN setup time before SCLK rising edge
DIN hold time after SCLK rising edge
SCLK rise/fall times
DOUT rise/fall times
CS high after SCLK edge
Input sync positive pulse width
Input sync low time
Input sync to data ready output
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
100
600
833
1 Guaranteed 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
μs
TIMING DIAGRAMS
CS
SCLK
tCS
1
DOUT
MSB
DIN 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
t1 tX
t2
Figure 4. Input Clock Timing Diagram
Rev. 0 | Page 5 of 16
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ADIS16w3w6w0.D/atAaSDheIetS4U1.c6om365
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.
All inertial sensor outputs are 14 bits in length and are 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 measure-
ment from the XGYRO_OUT:
XGYRO_OUT = 0x3B4A
0x0000 – 0x33B4A = −0x04B6 = −(4 × 256 + 11 × 16 + 6)
−0x04B6 = −1206 LSB
Rate = 0.05°/sec × (−1206) = −60.3°/sec
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 (DIN = 0x9B1F, 0x9AF6), the
XGYRO_OUT offset shifts by −10 LSBs, or −0.125°/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
3.33 mg
3.33 mg
3.33 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 (that is, 25°C) these registers read 0x0000.
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, 3.33 mg/LSB.
Typical adjustment range = ±6.7 g.
Gyroscope Automatic Bias Null Calibration
Set GLOB_CMD[0] = 1 (DIN = 0xBE01) to execute this function,
which measures all three gyroscope output registers and then
loads each gyroscope offset register with the opposite value to
provide a quick bias calibration. Then, all sensor data resets to
0, and the flash memory updates automatically within 50 ms
(see Table 12).
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
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 data and calculates more accurate bias
correction factors for each gyroscope. Once calculated, the
correction factor loads into the gyroscope offset registers, all
sensor data resets to 0, and the flash memory updates
automatically within 50 ms (see Table 12).
Restoring Factory Calibration
MSB FOR 12-BIT OUTPUT
Set GLOB_CMD[1] = 1 (DIN = 0xBE02) to execute this function,
Figure 13. Output Register Bit Assignments
which resets each user calibration register (see Table 10 and
Auxiliary ADC
The AUX_ADC register provides access to the auxiliary ADC
input channel. The ADC is a 12-bit successive approximation
Table 11) to 0x0000, resets all sensor data to 0, and automatically
updates the flash memory within 50 ms (see Table 12).
Linear Acceleration Bias Compensation (Gyroscope)
converter, which has an equivalent input circuit to the one shown
in Figure 14. The maximum input is 3.3 V. The ESD protection
Set MSC_CTRL[7] = 1 (DIN = 0xB486) to enable correction for
low frequency acceleration influences on gyroscope bias. Note
diodes can handle 10 mA without causing irreversible damage.
The on resistance (R1) of the switch has a typical value of 100 Ω.
that the DIN sequence also preserves the factory default condi-
tion for the data ready function (see Table 17).
The sampling capacitor, C2, has a typical value of 16 pF.
Rev. 0 | Page 11 of 16
11 Page | ||
| Páginas | Total 16 Páginas | |
| PDF Descargar | [ Datasheet ADIS16360.PDF ] | |
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