Precision MEMS IMU Module Data Sheet ADIS16465 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope The ADIS16465 is a precision, microelectric mechanical system 125/sec, 500/sec, 2000/sec dynamic range models (MEMS), inertial measurement unit (IMU) that includes a triaxial 2/hr in-run bias stability (ADIS16465-1) gyroscope and a triaxial accelerometer. Each inertial sensor in 0.15/hr angular random walk (ADIS16465-1 and the ADIS16465 combines with signal conditioning to optimize ADIS16465-2) dynamic performance. The factory calibration characterizes 0.05 axis to axis misalignment error each sensor for sensitivity, bias, alignment, linear acceleration Triaxial, digital accelerometer, 8 g (gyroscope bias), and point of percussion (accelerometer location). 3.6 g in-run bias stability Therefore, each sensor has dynamic compensation formulas Triaxial, delta angle, and delta velocity outputs that provide accurate sensor measurements over a broad set Factory calibrated sensitivity, bias, and axial alignment of conditions. Calibration temperature range: 40C to +85C The ADIS16465 provides a simple, cost effective method for SPI-compatible data communications integrating accurate, multiaxis inertial sensing into industrial Programmable operation and control systems, especially when compared to the complexity and Automatic and manual bias correction controls investment associated with discrete designs. All necessary motion Data ready indicator for synchronous data acquisition testing and calibration are part of the production process at the External sync modes: direct, pulse, scaled, and output factory, greatly reducing system integration time. Tight orthogonal On demand self test of inertial sensors alignment simplifies inertial frame alignment in navigation On demand self test of flash memory systems. The serial peripheral interface (SPI) and register Single-supply operation (VDD): 3.0 V to 3.6 V structure provide a simple interface for data collection and 2000 g mechanical shock survivability configuration control. Operating temperature range: 40C to +105C The ADIS16465 is in an aluminum module package that is APPLICATIONS approximately 22.4 mm 22.4 mm 9 mm with a 14-lead Navigation, stabilization, and instrumentation connector interface. Unmanned and autonomous vehicles Smart agriculture and construction machinery Factory/industrial automation, robotics Virtual/augmented reality Internet of Moving Things FUNCTIONAL BLOCK DIAGRAM DR RST VDD POWER GND SELF TEST INPUT/OUTPUT MANAGEMENT OUTPUT CS TRIAXIAL DATA GYROSCOPE REGISTERS SCLK CALIBRATION TRIAXIAL SPI CONTROLLER AND ACCELEROMETER DIN FILTERS USER CONTROL TEMPERATURE DOUT REGISTERS SENSOR CLOCK ADIS16465 SYNC Figure 1. Rev. C 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. Tel: 781.329.4700 20172020 Analog Devices, Inc. All rights reserved. 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Technical Support www.analog.com 15438-001ADIS16465 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 Device Configuration ................................................................ 15 Applications ...................................................................................... 1 User Register Memory Map .......................................................... 16 General Description ......................................................................... 1 User Register Defintions ............................................................... 18 Functional Block Diagram .............................................................. 1 Gyroscope Data .......................................................................... 18 Revision History ............................................................................... 2 Delta Angles ................................................................................ 21 Specifications .................................................................................... 3 Delta Velocity ............................................................................. 22 Timing Specifications .................................................................. 5 Calibration .................................................................................. 24 Absolute Maximum Ratings ....................................................... 7 Applications Information ............................................................. 30 Thermal Resistance ...................................................................... 7 Assembly and Handling Tips ................................................... 30 ESD Caution.................................................................................. 7 Power Supply Considerations .................................................. 30 Pin Configuration and Function Descriptions ............................ 8 Breakout Board ........................................................................... 30 Typical Performance Characteristics ............................................. 9 Serial Port Operation ................................................................. 31 Theory of Operation ...................................................................... 11 Digital Resolution of Gyroscopes and Accelerometers ........ 31 Introduction ................................................................................ 11 PC-Based Evaluation Tools ...................................................... 32 Inertial Sensor Signal Chain ..................................................... 11 Ordering Information.................................................................... 33 Register Structure ....................................................................... 12 Outline Dimensions ................................................................... 33 Serial Peripheral Interface (SPI) ............................................... 13 Ordering Guide .......................................................................... 33 Data Ready (DR) ........................................................................ 13 Reading Sensor Data .................................................................. 14 REVISION HISTORY 4/2020Rev. B to Rev. C Added Figure 11, Figure 12, and Figure 13 Renumbered Changes to Table 1 ........................................................................... 3 Sequentially ........................................................................................ 9 Changes to Figure 18 ..................................................................... 10 Added Figure 14, Figure 15, Figure 16, and Figure 17 .............. 10 Changes to Reading Sensor Data Section and Burst Read Changes to Figure 18, Figure 19, and Figure 20 ........................ 11 Function Section ............................................................................. 14 Changes to Figure 22 and Figure 23 ............................................ 12 Added Gyroscope Data Width (Digital Resolution) Section ... 18 Changes to Gyroscope Measurement Range/Scale Factor Section, 3/2019Rev. A to Rev. B Table 11, Gyroscope Data Formatting Section, Table 12, Table 13, Changes to Serial Peripheral Interface (SPI) Section ................ 13 Table 17, Table 21, and Table 25 .................................................. 19 Changes to Figure 32 ..................................................................... 14 Added Accelerometer Data Width (Digital Resolution) Section Changes to Table 10 ....................................................................... 18 ........................................................................................................... 20 Added Serial Port Operation Section, Maximum Throughput Changed Accelerometer Resolution Section to Accelerometer Section, and Serial Port SCLK Underrun/Overrun Conditions .. 32 Data Formatting Section ............................................................... 20 Moved Gyroscope Data Width (Digital Resolution) Section... 32 Change to Calibration, Accelerometer Bias (XA BIAS LOW Moved Accelerometer Data Width (Digital Resolution) Section . 32 and XA BIAS HIGH) Section ..................................................... 25 Added Digital Resolution of Gyroscopes and Accelerometers Change to Filter Control Register (FILT CTRL) Section ........ 26 Section .............................................................................................. 32 Changes to Direct Sync Mode Section ........................................ 27 Changes to Pulse Sync Mode Section .......................................... 28 Changes to Sensor Self Test Section ............................................ 29 11/2018Rev. 0 to Rev. A Changes to Outline Dimensions .................................................. 33 Changes to Table 1 ........................................................................... 3 Changes to Table 2 ........................................................................... 5 Changes to Figure 5 .......................................................................... 6 12/2017Revision 0: Initial Version Rev. C Page 2 of 33