Analog Devices ADIS16407 Manual
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Analog Devices ADIS16407 Manual

Analog Devices ADIS16407 Manual

Ten degrees of freedom inertial sensor
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FEATURES

Triaxial digital gyroscope with digital range scaling
±75°/sec, ±150°/sec, ±300°/sec settings
Axis-to-axis alignment, <0.05°
Triaxial digital accelerometer, ±18 g minimum
Triaxial digital magnetometer, ±2.5 gauss minimum
Digital barometer, 10 mbar to 1200 mbar
Calibrated pressure range: 300 mbar to 1100 mbar
Autonomous operation and data collection
No external configuration commands required
210 ms start-up time, 4 ms sleep mode recovery time
Factory calibrated sensitivity, bias, and axial alignment
Calibration temperature range: −40°C to +85°C
SPI-compatible serial interface
Embedded temperature sensor
Programmable operation and control
Automatic and manual bias correction controls
Bartlett window FIR length, number of taps
Digital I/O: data ready, alarm indicator, general-purpose
Alarms for condition monitoring
Sleep mode for power management
DAC output voltage
Enable external sample clock input up to 1.1 kHz
Single command self test
Single-supply operation: 4.75 V to 5.25 V
2000 g shock survivability
Operating temperature range: −40°C to +105°C

APPLICATIONS

Platform stabilization and control
Navigation
Robotics
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.
Trademarks and registered trademarks are the property of their respective owners.
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Ten Degrees of Freedom Inertial Sensor

FUNCTIONAL BLOCK DIAGRAM

DIO1 DIO2 DIO3 DIO4 RST
SELF TEST
I/O
TRIAXIAL
GYRO
TRIAXIAL
ACCEL
CONTROLLLER
TRIAXIAL
MAGN
PRESSURE
CLOCK
TEMP
VDD

GENERAL DESCRIPTION

The ADIS16407 iSensor® device is a complete inertial system
that includes a triaxial gyroscope, a triaxial accelerometer, a
triaxial magnetometer, and pressure sensors. Each sensor in
the ADIS16407 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 formulas that
provide accurate sensor measurements.
The ADIS16407 provides a simple, cost-effective method for
integrating accurate, multiaxis 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.
The SPI and register structure provide a simple interface for
data collection and configuration control.
The ADIS16407 has a compatible pinout for systems that currently
use ADIS1635x, ADIS1636x, and ADIS1640x IMU products.
The ADIS16407 is packaged in a module that is approximately
23 mm × 23 mm × 23 mm and has a standard connector interface.
VDD
POWER
ALARMS
MANAGEMENT
OUTPUT
DATA
REGISTERS
CALIBRATION
AND
FILTERS
USER
CONTROL
REGISTERS
ADIS16407
Figure 1.
One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.
Tel: 781.329.4700
Fax: 781.461.3113
ADIS16407
GND
CS
SCLK
SPI
DIN
DOUT
www.analog.com
©2011 Analog Devices, Inc. All rights reserved.

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Summary of Contents for Analog Devices ADIS16407

  • Page 1: Features

    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 One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.

  • Page 2: Table Of Contents

    ADIS16407 TABLE OF CONTENTS Features ....................1 Data Ready Input/Output Indicator ........17 Applications..................1 General-Purpose Input/Output..........17 General Description ................. 1 Auxiliary DAC ................17 Functional Block Diagram .............. 1 Digital Processing Configuration..........18 Revision History ................2 Sample Rate................. 18 Specifications..................

  • Page 3: Specifications

    ADIS16407 SPECIFICATIONS = 25°C, VDD = 5 V, angular rate = 0°/sec, dynamic range = ±300°/sec ± 1 g, unless otherwise noted. Table 1. Parameter Test Conditions/Comments Unit GYROSCOPES Dynamic Range ±300 ±350 °/sec Initial Sensitivity Dynamic range = ±300°/sec 0.0495...
  • Page 4 ADIS16407 Parameter Test Conditions/Comments Unit BAROMETER Pressure Range Operating 1100 mbar Extended 1200 mbar Sensitivity BARO_OUT only 0.08 mbar/LSB Total Error 25°C, 300 mbar to 1100 mbar mbar Relative Error −40°C to +85°C, 300 mbar to 1100 mbar mbar Linearity 25°C, 300 mbar to 1100 mbar...
  • Page 5 ADIS16407 Parameter Test Conditions/Comments Unit CONVERSION RATE xGYRO_OUT, xACCL_OUT, xMAGN_OUT SMPL_PRD = 0x0001 819.2 BAR_OUT, BARO_OUTL SMPL_PRD = 0x0001 51.2 Clock Accuracy ±3 Sync Input Clock POWER SUPPLY Operating voltage range, VDD 4.75 5.25 Power Supply Current Sleep mode The extended pressure range is guaranteed by design.

  • Page 6: Timing Specifications

    ADIS16407 TIMING SPECIFICATIONS = 25°C, VDD = 5 V, unless otherwise noted. Table 2. Normal Mode Burst Read Parameter Description Unit Serial clock 0.01 0.01 SCLK Stall period between data μs STALL SCLK Read rate μs READRATE Chip select to SCLK edge 48.8...

  • Page 7: Absolute Maximum Ratings

    ADIS16407 ABSOLUTE MAXIMUM RATINGS Table 3. Stresses above those listed under Absolute Maximum Ratings may cause permanent damage to the device. This is a stress Parameter Rating rating only; functional operation of the device at these or any Acceleration other conditions above those indicated in the operational...

  • Page 8: Pin Configuration And Function Descriptions

    ADIS16407 PIN CONFIGURATION AND FUNCTION DESCRIPTIONS ADIS16407 TOP VIEW (Not to Scale) PIN 23 NOTES 1. THIS VIEW REPRESENTS THE TOP VIEW OF THE MATING CONNECTOR. PIN 1 2. WHEN CONNECTED, THE PINS ARE NOT VISIBLE. 3. MATING CONNECTOR: SAMTEC CLM-112-02 OR EQUIVALENT.

  • Page 9: Typical Performance Characteristics

    ADIS16407 TYPICAL PERFORMANCE CHARACTERISTICS 0.01 +1σ 0.01 0.001 MEAN +1σ –1σ MEAN –1σ 0.001 0.0001 Tau (sec) Tau (sec) Figure 7. Gyroscope Root Allan Variance Figure 8. Accelerometer Root Allan Variance Rev. 0 | Page 9 of 24 Downloaded from Elcodis.com...

  • Page 10: Basic Operation

    ADIS16407 BASIC OPERATION The ADIS16407 is an autonomous system that requires no user READING SENSOR DATA initialization. When it has a valid power supply, it initializes itself The ADIS16407 provides two different options for acquiring and starts sampling, processing, and loading sensor data into sensor data: single register and burst register.

  • Page 11: Output Data Registers

    The output registers in Table 8 provide the most recent sensor [15] New data indicator (ND), 1 = new data in register data produced by the ADIS16407. Each output register has flags [14] Error/alarm, 1 = active, see DIAG_STAT for error flags...
  • Page 12 ADIS16407 Table 16. Acceleration, Twos Complement Format Use BAR_OUTL and the following steps to increase the numerical resolution by 8-bits for best performance: Acceleration Decimal Binary +18 g +5401 0x1519 xx01 0101 0001 1001 Read BAR_OUT and multiply by 256 (shift 8 bits) +6.667 mg...

  • Page 13: Input Adc Channel

    ADIS16407 Power Supply Table 29. Analog Input, Offset Binary Format Input Voltage Decimal Binary The SUPPLY_OUT register (Table 26) provides a measurement 3.3 V 4095 0xFFF xxxx 1111 1111 1111 of the voltage that is on the VDD pins of the device. Table 27...

  • Page 14: User Registers

    ADIS16407 USER REGISTERS Table 30. User Register Memory Map Name Flash Backup Address Default Function Bit Assignments FLASH_CNT 0x00 Flash memory write count See Table 38 SUPPLY_OUT 0x02 Power supply measurement See Table 26 XGYRO_OUT 0x04 X-axis gyroscope output See Table 9...

  • Page 15: System Functions

    ADIS16407 SYSTEM FUNCTIONS The ADIS16407 provides a number of system level controls for PRODUCT IDENTIFICATION managing its operation, using the registers in Table 31. The PROD_ID register in Table 36 contains the binary equivalent of 16,407. It provides a product specific variable for systems that Table 31.

  • Page 16: Self Test Function

    DIAG_STAT[0] does not require a read of this register to sensor outputs. The ADIS16407 exercises this function and compares return to 0. If the power supply voltage goes back into range, this the response to an expected range of responses and reports a pass/fail flag clears automatically.

  • Page 17: Input/Output Configuration

    ADIS16407 INPUT/OUTPUT CONFIGURATION Example Input/Output Configuration Table 41 provides a summary of registers that provide input/output configuration and control. For example, set GPIO_CTRL[3:0] = 0100 (DIN = 0xB604) to set DIO3 as an output signal pin and DIO1, DIO2, and Table 41.

  • Page 18: Digital Processing Configuration

    ADIS16407 DIGITAL PROCESSING CONFIGURATION Table 45. Digital Processing Registers Register Name Address Description –20 SMPL_PRD 0x3A Sample rate control –40 SENS_AVG 0x3C Digital filtering and range control SAMPLE RATE –60 The internal sampling system produces new data in the output –80...

  • Page 19: Calibration

    ADIS16407 CALIBRATION The mechanical structure and assembly process of the ADIS16407 Table 49. XGYRO_OFF (Base Address = 0x1E), Read/Write provide excellent position and alignment stability for each sensor, Bits Description (Default = 0x0000) even after subjected to temperature cycles, shock, vibration, and...

  • Page 20: Accelerometers

    MAGNETOMETER CALIBRATION Bits Description (Default = 0x0000) [15:14] Not used The ADIS16407 provides registers that contribute to both hard [13:0] Y-axis, accelerometer offset correction factor, iron and soft iron correction factors, as shown in Figure 22. twos complement, 0.25 mg/LSB XMAGN_SIC Table 54.

  • Page 21: Flash Updates

    ADIS16407 Soft Iron Factors Hard Iron Factors When the soft iron error estimation is complete, convert the When the hard iron error estimation is complete, take the sensitivity into the digital format for the soft iron correction following steps: registers (Table 58) and write the correction factors to the Multiply the estimate by −1 to change its polarity.

  • Page 22: Alarms

    ADIS16407 ALARMS Alarm 1 and Alarm 2 provide two independent alarms. Table 61 ALARM REPORTING lists the alarm control registers, including ALM_CTRL (Table 66), The DIAG_STAT[9:8] bits provide error flags that indicate an which provides control bits for data source selection, static/ alarm condition.

  • Page 23: Applications Information

    APPLICATIONS INFORMATION INSTALLATION/HANDLING INTERFACE PRINTED CIRCUIT BOARD (PCB) For ADIS16407 installation, use the following two step process: The ADIS16407/PCBZ includes one ADIS16407BMLZ and one interface PCB. The interface PCB simplifies the process of inte- Secure the base plate using machine screws.

  • Page 24: Outline Dimensions

    24-Lead Module with Connector Interface ML-24-5 ADIS16407/PCBZ Interface PCB Z = RoHS Compliant Part. ©2011 Analog Devices, Inc. All rights reserved. Trademarks and registered trademarks are the property of their respective owners. D09797-0-4/11(0) Rev. 0 | Page 24 of 24 Downloaded from Elcodis.com...

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