Precision, Miniature MEMS IMU Data Sheet ADIS16505

1 Precision, Miniature MEMS IMUData Sheet ADIS16505 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. Trademarks and registered trademarks are the property of their respective owners. One Technology Way, Box 9106, Norwood, MA 02062-9106, : 2019 2020 Analog Devices, Inc.

2 All rights reserved. Technical Support FEATURES Triaxial, digital gyroscope 125 /sec, 500 /sec, 2000 /sec dynamic range models /hr in-run bias stability ( ADIS16505 -1) / hr angular random walk, x-axis and y-axis, 1 ( ADIS16505 -1) axis to axis misalignment error Triaxial, digital accelerometer, m/sec dynamic range m/sec in-run bias stability (x-axis and y-axis) Triaxial, delta angle and delta velocity outputs Factory calibrated sensitivity, bias, and axial alignment Calibration temperature range: 40 C to +85 C SPI compatible data communications Programmable operation and control Automatic and manual bias correction controls Data ready indicator for synchronous data acquisition External sync modes: direct, scaled, and output On demand self-test of inertial sensors On demand self-test of flash memory Single-supply operation (VDD): V to V 14,700 m/sec2 mechanical shock survivability Operating temperature range.

3 40 C to +105 C APPLICATIONS Navigation, stabilization, and instrumentation Unmanned and autonomous vehicles Smart agriculture and construction machinery Factory/industrial automation, robotics Virtual/augmented reality Internet of Moving Things GENERAL DESCRIPTION The ADIS16505 is a precision, Miniature microelectromechanical system (MEMS) inertial measurement unit (IMU) that includes a triaxial gyroscope and a triaxial accelerometer. Each inertial sensor in the ADIS16505 combines with signal conditioning that optimizes dynamic performance. The factory calibration characterizes each sensor for sensitivity, bias, alignment, linear acceleration (gyroscope bias), and point of percussion (accelerometer location).

4 As a result, each sensor has dynamic compensation formulas that provide accurate sensor measurements over a broad set of conditions. The ADIS16505 provides a simplified, cost effective method for integrating accurate, multiaxis inertial sensing into industrial systems, especially when compared with the complexity and investment associated with discrete designs. 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 serial peripheral interface (SPI) and register structure provide a simple interface for data collection and configuration control.

5 The ADIS16505 is available in a 100-ball, ball grid array (BGA) package that is approximately 15 mm 15 mm 5 mm. FUNCTIONAL BLOCK DIAGRAM CONTROLLERPOWERMANAGEMENTCSSCLKDINDOUTGN DVDDDRSYNCRSTSPISELF TESTINPUT/OUTPUTOUTPUTDATAREGISTERSUSERC ONTROLREGISTERSCALIBRATIONANDFILTERSADIS 16505 CLOCKTRIAXIALGYROSCOPETEMPERATURESENSORT RIAXIALACCELEROMETER17328-001 Figure 1. ADIS16505 Data Sheet Rev. C | Page 2 of 41 TABLE OF CONTENTS Features .. 1 Applications .. 1 General Description .. 1 Functional Block Diagram .. 1 Revision History .. 2 Specifications .. 3 Timing Specifications .. 6 Absolute Maximum Ratings .. 7 Thermal Resistance .. 7 ESD 7 Pin Configuration and Function Descriptions.

6 8 Typical Performance Characteristics .. 11 Gyroscopes .. 11 Accelerometers .. 14 Theory of Operation .. 15 Introduction .. 15 Clock Control .. 15 Bartlett Window Filter .. 16 Calibration .. 16 Decimation Filter .. 16 Register Structure .. 16 SPI .. 17 Data Ready (DR) .. 17 Reading Sensor Data .. 18 Burst Read Function .. 19 Latency .. 21 Device Configuration .. 21 Memory Structure .. 21 User Register Memory Map .. 22 User Register Defintions .. 24 Gyroscope Data .. 24 Delta Angles .. 28 Delta Velocity .. 29 Calibration .. 31 Applications Information .. 38 Assembly and Handling Tips .. 38 Power Supply Considerations .. 39 Evaluation Tools .. 39 Packaging and Ordering Information .. 41 Outline Dimensions.

7 41 Ordering Guide .. 41 REVISION HISTORY 10/2020 Rev. B to Rev. C Change to Linear Acceleration Effect Parameter, Table 1 .. 3 Changes to Figure 29 .. 15 Changes to SPI Section and Figure 34 .. 17 Changes to Burst Read Function .. 19 Changes to Table 27 .. 26 Changes to Figure 64 and Figure 65 .. 40 Changes to Ordering Guide .. 41 7/2020 Rev. A to Rev. B Changes to Table 1 .. 3 Changes to Table 3 and Table 7 Changes to Clock Control Section .. 15 Changes to Figure 44 and Figure 45 .. 20 Changes to Table 9 .. 23 Changes to Table 11 .. 24 Changes to Table 102 and Table 106 .. 33 Changes to Table 108 and Table 110 .. 34 Deleted Table 111 and Table 112; Renumbered Sequentially .. 34 Deleted Bias Correction Update Section.

8 35 Changes to Table 113, Table 115, Table 117, Table 119, and Table 121 .. 36 Changes to Table 129 and Table 131 .. 37 Changes to Figure 65 .. 40 10/2019 Revision A: Initial Version Data Sheet ADIS16505 Rev. C | Page 3 of 41 SPECIFICATIONS Case temperature (TC) = 25 C, VDD = V, angular rate = 0 /sec, and dynamic range = 2000 /sec 1 g, unless otherwise noted. 1 g is the acceleration due to gravity and assumed to be m/sec2. Table 1. Parameter Test Conditions/Comments Min Typ Max Unit GYROSCOPES

9 Dynamic Range ADIS16505 -1 125 /sec ADIS16505 -2 500 /sec ADIS16505 -3 2000 /sec Sensitivity ADIS16505 -1, 16-bit data format 160 LSB/ /sec ADIS16505 -2, 16-bit data format 40 LSB/ /sec ADIS16505 -3, 16-bit data format 10 LSB/ /sec ADIS16505 -1, 32-bit data format 10,485.

10 760 LSB/ /sec ADIS16505 -2, 32-bit data format 2,621,440 LSB/ /sec ADIS16505 -3, 32-bit data format 655,360 LSB/ /sec Error over Temperature ADIS16505 -1, 40 C TC +85 C, 1 % ADIS16505 -2, 40 C TC +85 C, 1 % ADIS16505 -3, 40 C TC +85 C, 1 % Misalignment Error1 Axis to axis, 40 C TC +85 C, 1 Degrees Nonlinearity2 ADIS16505 -1, full scale (FS) = 125 /sec %FS ADIS16505 -2, FS = 500 /sec %FS ADIS16505 -3, FS = 2000 /sec %FS Bias Repeatability3 40 C TC +85 C, 1 , x-axis and z-axis /sec 40 C TC +85 C, 1 , y-axis /sec In-Run Bias Stability ADIS16505 -1, 1 , x-axis /hr ADIS16505 -1, 1.