Compact, Precision, Six Degrees of Freedom Inertial …

1 Compact, Precision, Six Degrees of Freedom Inertial sensor data sheet adis16460 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 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 .

2 Trademarks and registered trademarks are the property of their respective owners. One Technology Way, Box 9106, Norwood, MA 02062-9106, Tel: 2016 2019 analog devices , Inc. All rights reserved. Technical Support FEATURES Triaxial digital gyroscope Measurement range: 100 /sec (minimum) 8 /hr (typical) in-run bias stability / hr (typical) angle random walk, x-axis Triaxial digital accelerometer, 5 g dynamic range Autonomous operation and data collection No external configuration commands required Fast start-up time Factory calibrated sensitivity, bias, and axial alignment Calibration temperature range.

3 0 C TA 70 C Serial peripheral interface (SPI) data communications data ready signal for synchronizing data acquisition Embedded temperature sensor Programmable operation and control Automatic and manual bias correction controls Bartlett window finite impulse response (FIR) filter, variable number of taps External sample clock options: direct Single command self test Single-supply operation: V to V 2000 g shock survivability Operating temperature range: 25 C to +85 C APPLICATIONS Smart agriculture/construction machinery Unmanned aerial vehicles (UAVs)/drones, and navigation and payload stabilization Robotics Factory/industrial automation personnel/asset tracking GENERAL DESCRIPTION The adis16460 iSensor device is a complete Inertial system that includes a triaxial gyroscope and a triaxial accelerometer.

4 Each sensor in the adis16460 combines industry leading iMEMS technology with signal conditioning that optimizes dynamic performance. The factory calibration characterizes each sensor for sensitivity, bias, and alignment. As a result, each sensor has its own dynamic compensation formulas that provide accurate sensor measurements. The adis16460 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.

5 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 structures provide a simple interface for data collection and configuration control. The adis16460 is in an aluminum module package that is approximately mm mm 9 mm and has a 14-pin connector interface. FUNCTIONAL BLOCK DIAGRAM CONTROLLERCLOCKTRIAXIALGYROSCOPETRIAXIAL ACCELEROMETERPOWERMANAGEMENTCSSCLKDINDOU TGNDVDDTEMPERATUREDRSYNCRSTSPISELF TESTI/OALARMSOUTPUTDATAREGISTERSUSERCONT ROLREGISTERSCALIBRATIONANDFILTERSADIS164 6013390-001 Figure 1.

6 adis16460 data sheet Rev. C | Page 2 of 27 TABLE OF CONTENTS Features .. 1 Applications .. 1 General Description .. 1 Functional Block Diagram .. 1 Revision History .. 2 Specifications .. 3 Timing Specifications .. 5 Absolute Maximum Ratings .. 6 ESD Caution .. 6 Pin Configuration and Function Descriptions .. 7 Typical Performance Characteristics .. 8 Theory of Operation .. 10 Reading sensor data .. 10 Device Configuration .. 11 User Registers .. 12 Output data Registers .. 13 Rotation .. 13 Accelerometers .. 15 Internal Temperature.

7 17 Product Identification .. 17 Status/Error Flags .. 17 System Functions .. 19 Global Commands .. 19 Software Reset .. 19 Flash Memory Test .. 19 Manual Flash Update .. 19 Automated Self Test .. 19 Input/Output Configuration .. 19 data Ready (DR) Pin Configuration .. 19 SYNC Pin Configuration .. 20 Digital Processing Configuration .. 22 Gyroscopes/Accelerometers .. 22 Calibration .. 23 Gyroscopes .. 23 Accelerometers .. 23 Restoring Factory Calibration .. 24 Applications Information .. 25 Mounting Tips .. 25 Power Supply Considerations.

8 25 Breakout Board .. 25 PC-Based Evaluation Tools .. 26 X-Ray Sensitivity .. 26 Outline Dimensions .. 27 Ordering Guide .. 27 REVISION HISTORY 1/2019 R e v. B to Rev. C Added Endnote 5, Table 1 .. 4 Change to Endnote 1, Table 35 .. 16 Added X-Ray Sensitivity Section .. 26 Changes to Outline Dimensions .. 27 6/2017 R e v. A to R e v. B Changed ML-14-5 to ML-14-6 .. Universal Change to Gryoscope/Misalignment/Axis to Axis Parameter, Ta b l e 1 .. 3 Changes to Figure 6 .. 7 Changes to Figure 26 .. 13 Changes to Figure 28.

9 15 Changes to Figure 32 .. 23 Updated Outline Dimensions .. 26 Changes to Ordering Guide .. 26 8/2016 R e v. 0 t o R e v. A Changes to Features Section .. 1 Changes to Table 1 .. 3 Changes to tNV Parameter, Ta b l e 2 .. 5 Changed Acceleration (Shock) Parameter to Mechanical Shock Survival Parameter, Table 3 .. 6 Changes to Burst Read Function Section and Figure 21 .. 11 Change to Bit 7, Ta b l e 4 4 .. 19 1/2016 Revision 0: Initial Ve r s i o n data sheet adis16460 Rev. C | Page 3 of 27 SPECIFICATIONS TA = 25 C, VDD = V, angular rate = 0 /sec, 1 g, MSC_CTRL = 0x00C1, unless otherwise noted.

10 Table 1. Parameter Test Conditions/Comments Min Typ Max Unit GYROSCOPES Dynamic Range 100 /sec Initial Sensitivity 16-bit data format1 /sec/LSB 32-bit data format1 10 8 /sec/LSB Repeatability2 0 C TA 70 C 1 % Sensitivity Temperature Coefficient 0 C TA 70 C 20 ppm/ C Misalignment Axis to axis Degrees Axis to frame (package) 1 Degrees Nonlinearity Best fit straight line % of FS Bias Repeatability2, 3 0 C TA 70 C, 1 /sec In-Run Bias Stability 1 8 /hr Angle Random Walk 1 , x-axis / hr 1 , y-axis, z-axis / hr Bias Temperature Coefficient 0 C TA 70 C /sec/ C Linear Acceleration Effect on Bias Any axis, 1 /sec/g Vibration Rectification Error 20 Hz to 2000 Hz.