Precision, Miniature MEMS IMU Data Sheet ADIS16500 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope The ADIS16500 is a precision, miniature microelectromechanical 2000/sec dynamic range system (MEMS) inertial measurement unit (IMU) that includes 8.1/hr in-run bias stability a triaxial gyroscope and a triaxial accelerometer. Each inertial 0.29/hr angular random walk, x-axis and y-axis, 1 sensor in the ADIS16500 combines with signal conditioning 0.25 axis to axis misalignment error that optimizes dynamic performance. The factory calibration Triaxial, digital accelerometer, 392 m/sec dynamic range characterizes each sensor for sensitivity, bias, alignment, 125 m/sec in-run bias stability linear acceleration (gyroscope bias), and point of percussion Triaxial, delta angle and delta velocity outputs (accelerometer location). As a result, each sensor has dynamic Factory calibrated sensitivity, bias, and axial alignment compensation formulas that provide accurate sensor Calibration temperature range: 10C to +75C measurements over a broad set of conditions. SPI compatible data communications The ADIS16500 provides a simplified, cost effective method for Programmable operation and control integrating accurate, multiaxis inertial sensing into industrial Automatic and manual bias correction controls systems, especially when compared with the complexity and Data ready indicator for synchronous data acquisition investment associated with discrete designs. All necessary motion External sync modes: direct, scaled, and output testing and calibration are part of the production process at the On demand self-test of inertial sensors factory, greatly reducing system integration time. Tight orthogonal On demand self-test of flash memory alignment simplifies inertial frame alignment in navigation Single-supply operation (VDD): 3.0 V to 3.6 V systems. The serial peripheral interface (SPI) and register 2 19,600 m/sec mechanical shock survivability structure provide a simple interface for data collection and Operating temperature range: 25C to +85C configuration control. APPLICATIONS The ADIS16500 is available in a 100-ball, ball grid array (BGA) Navigation, stabilization, and instrumentation package that is approximately 15 mm 15 mm 5 mm. 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 CONTROLLER SPI AND ACCELEROMETER DIN FILTERS USER CONTROL TEMPERATURE REGISTERS DOUT SENSOR CLOCK ADIS16500 SYNC Figure 1. Rev. A 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 20192020 Analog Devices, Inc. All rights reserved. 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Technical Support www.analog.com 17327-001ADIS16500 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 SPI ................................................................................................ 17 Applications ...................................................................................... 1 Data Ready (DR) ........................................................................ 17 General Description ......................................................................... 1 Reading Sensor Data .................................................................. 18 Functional Block Diagram .............................................................. 1 Burst Read Function .................................................................. 19 Revision History ............................................................................... 2 Latency ......................................................................................... 21 Specifications .................................................................................... 3 Device Configuration ................................................................ 21 Timing Specifications .................................................................. 6 Memory Structure ...................................................................... 21 Absolute Maximum Ratings ....................................................... 7 User Register Memory Map .......................................................... 22 Thermal Resistance ...................................................................... 7 User Register Defintions ............................................................... 24 ESD Caution.................................................................................. 7 Gyroscope Data .......................................................................... 24 Pin Configuration and Function Descriptions ............................ 8 Delta Angles ................................................................................ 28 Typical Performance Characteristics ........................................... 11 Delta Velocity ............................................................................. 29 Gyroscopes .................................................................................. 11 Calibration .................................................................................. 31 Accelerometers ........................................................................... 13 Applications Information ............................................................. 37 Theory of Operation ...................................................................... 15 Assembly and Handling Tips ................................................... 37 Introduction ................................................................................ 15 Power Supply Considerations .................................................. 38 Clock Control ............................................................................. 15 Evaluation Tools ......................................................................... 38 Bartlett Window Filter ............................................................... 16 Packaging and Ordering Information ......................................... 40 Calibration ................................................................................... 16 Outline Dimensions ................................................................... 40 Decimation Filter ....................................................................... 16 Ordering Guide .......................................................................... 40 Register Structure ....................................................................... 16 REVISION HISTORY 6/2020Rev. 0 to Rev. A Deleted Continuous Bias Estimation (NULL CNFG) Section, Change to Features Section ............................................................. 1 Table 111, and Table 112 Renumbered Sequentially ............... 34 Changes to Table 1 ........................................................................... 3 Changes to Table 108, Table 110, and Table 112 ....................... 34 Changes to Table 3 and Table 4...................................................... 7 Deleted Bias Correction Update Section .................................... 35 Changes to Clock Control Section ............................................... 15 Changes to Table 113, Table 115, Table 119, and Table 121 .... 35 Changes to Figure 38 ..................................................................... 20 Changes to Table 130 and Table 132 ........................................... 36 Changes to Table 9 ......................................................................... 23 Changes to Figure 38 ..................................................................... 39 Changes to Table 11 ....................................................................... 24 Changes to Table 102, Miscellaneous Control Register 10/2019Revision 0: Initial Version (MSC CTRL) Section, and Table 106 ......................................... 33 Rev. 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