Low Profile, Six Degrees of Freedom Inertial Sensor Data Sheet ADIS16334 FEATURES GENERAL DESCRIPTION Triaxial digital gyroscope with digital range scaling The ADIS16334 iSensor is a complete inertial system that includes 75/sec, 150/sec, 300/sec settings a triaxial gyroscope and triaxial accelerometer. Each sensor in Tight orthogonal alignment: <0.05 the ADIS16334 combines iMEMS technology with signal Triaxial digital accelerometer: 5 g conditioning that optimizes dynamic performance. The factory Wide sensor bandwidth: 330 Hz calibration characterizes each sensor for sensitivity, bias, alignment, Autonomous operation and data collection and linear acceleration (gyro bias). As a result, each sensor has No external configuration commands required its own dynamic compensation formulas that provide accurate Start-up time: 180 ms sensor measurements over a temperature range of 20C to Factory-calibrated sensitivity, bias, and axial alignment +70C. Calibration temperature range: 20C to +70C The ADIS16334 provides a simple, cost-effective method for SPI-compatible serial interface integrating accurate, multiaxis, inertial sensing into industrial Embedded temperature sensor systems, especially when compared with the complexity and Programmable operation and control investment associated with discrete designs. All necessary motion Automatic and manual bias correction controls testing and calibration are part of the production process at the Bartlett window FIR filter length, number of taps factory, greatly reducing system integration time. Tight orthogonal Digital I/O: data ready, alarm indicator, general-purpose alignment simplifies inertial frame alignment in navigation systems. Alarms for condition monitoring An improved serial peripheral interface (SPI) interface and Enable external sample clock input: up to 1.2 kHz register structure provide faster data collection and configuration Single-command self-test control. Single-supply operation: 4.75 V to 5.25 V This compact module is approximately 24 mm 33 mm 11 mm 2000 g shock survivability and provides a compact connector interface. 24 mm 33 mm 11 mm module with connector interface Operating temperature range: 40C to +105C APPLICATIONS Medical instrumentation Robotics Platform controls Navigation FUNCTIONAL BLOCK DIAGRAM DIOx RST VCC POWER GND SELF-TEST I/O ALARMS MANAGEMENT TRIAXIAL CONTROLLER CONTROL ACCEL CS REGISTERS SCLK SPI TRIAXIAL PORT DIN GYRO DIGITAL CALIBRATION OUTPUT DOUT FILTER CORRECTION REGISTERS TEMP ADIS16334 Figure 1. Rev. D Document Feedback 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. rights of third parties that may result from its use. Specifications subject to change without notice. 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Technical Support www.analog.com Trademarks and registered trademarks are the property of their respective owners. 09362-001ADIS16334 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 Digital Filtering........................................................................... 14 Applications ....................................................................................... 1 Dynamic Range .......................................................................... 14 General Description ......................................................................... 1 Optimizing Accuracy ..................................................................... 15 Functional Block Diagram .............................................................. 1 Automatic Bias Correction ....................................................... 15 Revision History ............................................................................... 2 Manual Bias Correction ............................................................ 15 Specifications ..................................................................................... 3 Restoring Factory Calibration .................................................. 15 Timing Specifications .................................................................. 5 Point-of-Percussion/Linear-g Compensation ............................ 15 Timing Diagrams .......................................................................... 5 System Tools .................................................................................... 16 Absolute Maximum Ratings ............................................................ 6 Global Commands ..................................................................... 16 ESD Caution .................................................................................. 6 Device Identification .................................................................. 17 Pin Configuration and Function Descriptions ............................. 7 Flash Memory Management ..................................................... 17 Typical Performance Characteristics ............................................. 8 Alarms .............................................................................................. 18 Theory of Operation ........................................................................ 9 Static Alarm Use ......................................................................... 18 Gyroscopes .................................................................................... 9 Dynamic Alarm Use .................................................................. 18 Accelerometers .............................................................................. 9 Alarm Reporting ........................................................................ 18 Data Sampling and Processing ................................................... 9 Applications Information .............................................................. 19 Calibration ..................................................................................... 9 Mounting Tips ............................................................................ 19 User Interface ................................................................................ 9 Power Supply Considerations ................................................... 19 Basic Operation ............................................................................... 10 Breakout Boards ......................................................................... 19 Reading Sensor Data .................................................................. 10 Evaluation System ...................................................................... 19 Memory Map .............................................................................. 11 ADIS16IMU2/PCBZ .................................................................. 19 Output Data Registers ................................................................ 12 PC-Based Evaluation Tools ....................................................... 19 Device Configuration ................................................................ 13 X-Ray Sensitivity ........................................................................ 19 Digital Processing Configuration ................................................. 14 Outline Dimensions ....................................................................... 20 Sample Rate ................................................................................. 14 Ordering Guide .......................................................................... 20 Input Clock Configuration ........................................................ 14 REVISION HISTORY 4/2019Rev. C to Rev. D 5/2013Rev. A to Rev. B Added Endnote 1, Table 1 Renumbered Sequentially ................ 4 Changes to Features and General Description Section ................ 1 Change to ADIS16IMU2/PCBZ Section ..................................... 19 Deleted V (CS Signal to Wake Up from Sleep Mode) of 0.55 V IL Added X-Ray Sensitivity Section .................................................. 19 CS and Wake-Up Pulse Width of 20 s Table 1 ............................ 4 Changes to Ordering Guide .......................................................... 20 Changed t Burst Read Min from 1/f to N/A Added STALL SCLK t Burst Read Min of N/A Table 2 ....................................... 5 READRATE 5/2018Rev. B to Rev. C Added Mounting Approaches Section ........................................ 19 Deleted Figure 23 and Figure 24 Renumbered Sequentially ... 19 Deleted Installation Section and Mounting Approaches 6/2011Rev. 0 to Rev. A Section .............................................................................................. 19 Changes to In-Run Bias Stability Parameter, Table 1 ................... 3 Added Mounting Tips Section, Power Supply Considerations Changes to Figure 23 ...................................................................... 19 Section, Breakout Boards Section, Evaluation System Section, Figure 23, PC-Based Evaluation Tools Section, and Figure 24 1/2011Revision 0: Initial Version Renumbered Sequentially .............................................................. 19 Changes to ADIS16IMU2/PCBZ Section ................................... 19 Changes to Ordering Guide .......................................................... 20 Rev. D Page 2 of 20