Precision, Miniature MEMs IMU Data Sheet ADIS16477 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope The ADIS16477 is a precision, miniature MEMS inertial measure- 125/sec, 500/sec, 2000/sec range models ment unit (IMU) that includes a triaxial gyroscope and a triaxial 2/hr in-run bias stability (ADIS16477-1) accelerometer. Each inertial sensor in the ADIS16477 combines 0.15/hr angle random walk (ADIS16477-1 and with signal conditioning that optimizes dynamic performance. ADIS16477-2) The factory calibration characterizes each sensor for sensitivity, 0.1 axis-to-axis misalignment error bias, alignment, linear acceleration (gyroscope bias), and point Triaxial, digital accelerometer, 40 g of percussion (accelerometer location). As a result, each sensor 13 g in-run bias stability has dynamic compensation formulas that provide accurate Triaxial, delta angle and delta velocity outputs sensor measurements over a broad set of conditions. Factory calibrated sensitivity, bias, and axial alignment The ADIS16477 provides a simple, cost effective method for Calibration temperature range: 40C to +85C integrating accurate, multiaxis inertial sensing into industrial SPI compatible data communications 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 Data ready indicator for synchronous data acquisition factory, greatly reducing system integration time. Tight orthogonal External sync modes: direct, pulse, scaled, and output alignment simplifies inertial frame alignment in navigation On demand self test of inertial sensors systems. The serial peripheral interface (SPI) and register On demand self test of flash memory structure provide a simple interface for data collection and Single-supply operation (VDD): 3.0 V to 3.6 V configuration control. 2000 g mechanical shock survivability The ADIS16477 is available in a 44-ball, ball grid array (BGA) Operating temperature range: 40C to +105C package that is approximately 11 mm 15 mm 11 mm. APPLICATIONS Navigation, stabilization, and instrumentation Unmanned and autonomous vehicles Smart agriculture/construction machinery Factory/industrial automation, robotics Virtual/augmented reality Internet of Moving Things FUNCTIONAL BLOCK DIAGRAM DR RST VDD POWER GND SELF TEST I/O MANAGEMENT OUTPUT CS TRIAXIAL DATA GYROSCOPE REGISTERS SCLK CALIBRATION TRIAXIAL CONTROLLER SPI AND ACCELEROMETER FILTERS DIN USER CONTROL TEMPERATURE REGISTERS DOUT SENSOR CLOCK ADIS16477 SYNC Figure 1. Rev. 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Technical Support www.analog.com 15437-001ADIS16477 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 Device Configuration ................................................................ 16 Applications ...................................................................................... 1 User Register Memory Map .......................................................... 17 General Description ......................................................................... 1 User Register Defintions ............................................................... 19 Functional Block Diagram .............................................................. 1 Gyroscope Data .......................................................................... 19 Revision History ............................................................................... 2 Delta Angles ................................................................................ 22 Specifications .................................................................................... 3 Delta Velocity ............................................................................. 23 Timing Specifications .................................................................. 5 Calibration .................................................................................. 25 Absolute Maximum Ratings ....................................................... 7 Applications Information ............................................................. 32 Thermal Resistance ...................................................................... 7 Assembly and Handling Tips ................................................... 32 ESD Caution.................................................................................. 7 Power Supply Considerations .................................................. 33 Pin Configuration and Function Descriptions ............................ 8 Serial Port Operation ................................................................. 33 Typical Performance Characteristics ........................................... 10 Digital Resolution of Gyroscopes and Accelerometers ........ 33 Theory of Operation ...................................................................... 12 Evaluation Tools ......................................................................... 34 Introduction ................................................................................ 12 Tray Drawing .................................................................................. 36 Inertial Sensor Signal Chain ..................................................... 12 Packaging and Ordering Information ......................................... 37 Register Structure ....................................................................... 13 Outline Dimensions ................................................................... 37 Serial Peripheral Interface (SPI) ............................................... 14 Ordering Guide .......................................................................... 37 Data Ready (DR) ........................................................................ 14 Reading Sensor Data .................................................................. 15 REVISION HISTORY 4/2020Rev. C to Rev. D Changes to Figure 5 .......................................................................... 6 Change to Logic Inputs Parameter, Table 1 ................................. 4 Changes to Figure 11 ..................................................................... 10 Changes to Endnote 1, Table 3 ....................................................... 7 Added Figure 12 and Figure 13 Renumbered Sequentially ..... 10 Added Figure 14, Figure 15, Figure 16, and Figure 17 .............. 11 5/2019Rev. B to Rev. C Changes to Figure 18, Figure 19, and Figure 20 ........................ 12 Changes to Serial Peripheral Interface (SPI) Section ................ 14 Changes to Figure 22 and Figure 23 ............................................ 13 Added Gyroscope Data Width (Digital Resolution) Section ... 19 Changes to Figure 32 ..................................................................... 15 Changes to Table 10 and Gyroscope Data Section .................... 19 Changes to Gyroscope Measurement Range/Scale Factor Section, Changes to Acceleration Data Section ........................................ 21 Table 11, Table 12, Table 13, Table 17, Table 21, and Table 25 .... 20 Added Accelerometer Data Formatting Section Header .......... 21 Added Accelerometer Data Width (Digital Resolution) Deleted Accelerometer Resolution Header ................................ 21 Section .............................................................................................. 21 Added Serial Port Operation Section, Maximum Throughput Change to Calibration, Accelerometer Bias (XA BIAS LOW Section, Serial Port SCLK Underrun/Overrun Conditions and XA BIAS HIGH) Section ..................................................... 26 Section, and Digital Resolution of Gyroscopes and Change to Filter Control Register (FILT CTRL) Section ........ 27 Accelerometers Section ................................................................. 33 Changes to Direct Sync Mode Section and to Pulse Sync Mode Moved Gyroscope Data Width (Digital Resolution) Section... 33 Section .............................................................................................. 28 Moved Accelerometer Data Width (Digital Resolution) Section . 33 Changes to Sensor Self Test Section ............................................ 30 Moved Figure 52 and Figure 53 .................................................... 35 Added Tray Drawing Section and Figure 54 Renumbered 11/2017Rev. 0 to Rev. A Sequentially ..................................................................................... 36 Changes to Table 1 ............................................................................ 3 Changes to Figure 26 ..................................................................... 14 2/2019Rev. A to Rev. B Changes to Table 1 ........................................................................... 3 10/2017Revision 0: Initial Version Changes to Table 2 ........................................................................... 5 Rev. D Page 2 of 37