Compact, Precision,
Six Degrees of Freedom Inertial Sensor
ADIS16460
Data Sheet
FEATURES
GENERAL DESCRIPTION
Triaxial digital gyroscope
Measurement range: ±100°/sec (minimum)
8°/hr (typical) in-run bias stability
0.12°/√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: 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: 3.15 V to 3.45 V
2000 g shock survivability
Operating temperature range: −25°C to +85°C
The ADIS16460 iSensor® device is a complete inertial system
that includes a triaxial gyroscope and a triaxial accelerometer.
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. 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 22.4 mm × 22.4 mm × 9 mm and has a 14-pin
connector interface.
APPLICATIONS
Smart agriculture/construction machinery
Unmanned aerial vehicles (UAVs)/drones, and navigation
and payload stabilization
Robotics
Factory/industrial automation personnel/asset tracking
FUNCTIONAL BLOCK DIAGRAM
SELF TEST
SYNC
RST
I/O
VDD
ALARMS
TRIAXIAL
GYROSCOPE
TRIAXIAL
ACCELEROMETER
CONTROLLER
CALIBRATION
AND
FILTERS
OUTPUT
DATA
REGISTERS
ADIS16460
GND
CS
SCLK
SPI
USER
CONTROL
REGISTERS
TEMPERATURE
CLOCK
POWER
MANAGEMENT
DIN
DOUT
13390-001
DR
Figure 1.
Rev. C
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ADIS16460
Data Sheet
TABLE OF CONTENTS
Features .............................................................................................. 1
Software Reset ............................................................................. 19
Applications ....................................................................................... 1
Flash Memory Test ..................................................................... 19
General Description ......................................................................... 1
Manual Flash Update ................................................................. 19
Functional Block Diagram .............................................................. 1
Automated Self Test ................................................................... 19
Revision History ............................................................................... 2
Input/Output Configuration..................................................... 19
Specifications..................................................................................... 3
Data Ready (DR) Pin Configuration ....................................... 19
Timing Specifications .................................................................. 5
SYNC Pin Configuration .......................................................... 20
Absolute Maximum Ratings............................................................ 6
Digital Processing Configuration ................................................. 22
ESD Caution .................................................................................. 6
Gyroscopes/Accelerometers ..................................................... 22
Pin Configuration and Function Descriptions ............................. 7
Calibration ....................................................................................... 23
Typical Performance Characteristics ............................................. 8
Gyroscopes .................................................................................. 23
Theory of Operation ...................................................................... 10
Accelerometers ........................................................................... 23
Reading Sensor Data .................................................................. 10
Restoring Factory Calibration .................................................. 24
Device Configuration ................................................................ 11
Applications Information .............................................................. 25
User Registers .................................................................................. 12
Mounting Tips ............................................................................ 25
Output Data Registers .................................................................... 13
Power Supply Considerations ................................................... 25
Rotation ....................................................................................... 13
Breakout Board ........................................................................... 25
Accelerometers............................................................................ 15
PC-Based Evaluation Tools ....................................................... 26
Internal Temperature ................................................................. 17
X-Ray Sensitivity ........................................................................ 26
Product Identification ................................................................ 17
Outline Dimensions ....................................................................... 27
Status/Error Flags ....................................................................... 17
Ordering Guide .......................................................................... 27
System Functions ............................................................................ 19
Global Commands ..................................................................... 19
REVISION HISTORY
1/2019—Rev. 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—Rev. A to Rev. B
Changed ML-14-5 to ML-14-6 ......................................... Universal
Change to Gryoscope/Misalignment/Axis to Axis Parameter,
Table 1 ................................................................................................ 3
Changes to Figure 6 .......................................................................... 7
Changes to Figure 26 ...................................................................... 13
Changes to Figure 28 ...................................................................... 15
Changes to Figure 32 ...................................................................... 23
Updated Outline Dimensions ....................................................... 26
Changes to Ordering Guide .......................................................... 26
8/2016—Rev. 0 to Rev. A
Changes to Features Section ............................................................1
Changes to Table 1.............................................................................3
Changes to tNV Parameter, Table 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, Table 44 ............................................................... 19
1/2016—Revision 0: Initial Version
Rev. C | Page 2 of 27
Data Sheet
ADIS16460
SPECIFICATIONS
TA = 25°C, VDD = 3.3 V, angular rate = 0°/sec, ± 1 g, MSC_CTRL = 0x00C1, unless otherwise noted.
Table 1.
Parameter
GYROSCOPES
Dynamic Range
Initial Sensitivity
Repeatability 2
Sensitivity Temperature Coefficient
Misalignment
Nonlinearity
Bias Repeatability2, 3
In-Run Bias Stability
Angle Random Walk
Bias Temperature Coefficient
Linear Acceleration Effect on Bias
Vibration Rectification Error
Bias Supply Sensitivity
Output Noise
Rate Noise Density
−3 dB Bandwidth
Sensor Resonant Frequency
ACCELEROMETERS
Dynamic Range
Initial Sensitivity
Repeatability2, 5
Sensitivity Temperature Coefficient
Misalignment
Nonlinearity
Bias Repeatability2, 3
In-Run Bias Stability
Velocity Random Walk
Bias Temperature Coefficient
Vibration Rectification Error
Bias Supply Sensitivity
Output Noise
Noise Density
−3 dB Bandwidth
Sensor Resonant Frequency
TEMPERATURE
Sensitivity
LOGIC INPUTS 6
Input High Voltage, VIH
Input Low Voltage, VIL
Logic 1 Input Current, IIH
Test Conditions/Comments
Min
Typ
Max
±100
16-bit data format 1
32-bit data format1
0°C ≤ TA ≤ 70°C
0°C ≤ TA ≤ 70°C
Axis to axis
Axis to frame (package)
Best fit straight line
0°C ≤ TA ≤ 70°C, 1 σ
1σ
1 σ, x-axis
1 σ, y-axis, z-axis
0°C ≤ TA ≤ 70°C
Any axis, 1 σ
20 Hz to 2000 Hz, 5 g rms
3.15 V ≤ VDD ≤ 3.45 V
No filtering
10 Hz to 40 Hz, no filtering
0.005
7.63 × 10−8
1
±20
±0.05
±1
0.5
0.5
8
0.12
0.17
±0.007
±0.01
±0.0004
0.037
0.075
0.004
375
65
Unit
°/sec
°/sec/LSB
°/sec/LSB
%
ppm/°C
Degrees
Degrees
% of FS
°/sec
°/hr
°/√hr
°/√hr
°/sec/°C
°/sec/g
°/sec/g2
°/sec/V
°/sec rms
°/sec/√Hz rms
Hz
kHz
Each axis
±5
16-bit data format 4
32-bit data format4
0°C ≤ TA ≤ 70°C
0°C ≤ TA ≤ 70°C
Axis to axis
Axis to frame (package)
Best fit straight line
0°C ≤ TA ≤ +70°C, 1 σ
1σ
1σ
0°C ≤ TA ≤ 70°C
20 Hz to 2000 Hz, 1 g rms
3.15 V ≤ VDD ≤ 3.45 V
No filtering
10 Hz to 40 Hz, no filtering
±15
±0.05
±1
±0.1
±15
0.2
0.09
±0.05
0.08
72
4.5
0.2
350
5.5
g
mg/LSB
mg/LSB
%
ppm/°C
Degrees
Degrees
% of FS
mg
mg
m/sec/√hr
mg/°C
mg/g2
mg/V
mg rms
mg/√Hz rms
Hz
kHz
0.05
°C/LSB
0.25
3.81 × 10−6
1
See Table 37
2.0
VIH = 3.3 V
±0.2
Rev. C | Page 3 of 27
0.8
±10
V
V
µA
ADIS16460
Parameter
Logic 0 Input Current, IIL
All Pins Except RST
RST Pin
Input Capacitance, CIN
DIGITAL OUTPUTS6
Output High Voltage, VOH
Output Low Voltage, VOL
FLASH MEMORY
Data Retention 8
FUNCTIONAL TIMES 9
Power-On Start-Up Time
Reset Recovery Time 10, 11
Reset Initiation Time 12
CONVERSION RATE
x_GYRO_OUT, x_ACCL_OUT
Clock Accuracy
Sync Input Clock 13
PPS Input Clock
POWER SUPPLY
Power Supply Current
Data Sheet
Test Conditions/Comments
VIL = 0 V
ISOURCE = 1.6 mA
ISINK = 1.6 mA
Endurance 7
TJ = 85°C
Time until new data is available
Min
Typ
Max
Unit
40
1
10
60
µA
mA
pF
2.4
0.4
10,000
20
290
222
ms
ms
μs
10
2048
MSC_CTRL[3:2] = 01
MSC_CTRL[3:2] = 10
Operating voltage range, VDD
VDD = 3.15 V
0.8
3.15
3.3
44
V
V
Cycles
Years
±3
2000
128
3.45
55
SPS
%
Hz
Hz
V
mA
The X_GYRO_LOW (see Table 10), Y_GYRO_LOW (see Table 12), and Z_GYRO_LOW (see Table 14) registers capture the bit growth associated with the user
configurable filters.
2
The repeatability specifications represent analytical projections, which are based on the following drift contributions and conditions: temperature hysteresis (0°C to
70°C), electronics drift (high temperature operating life test: 85°C, 500 hours), drift from temperature cycling (JESD22, Method A104-C, Method N, 500 cycles, −40°C to
+85°C), rate random walk (10 year projection), and broadband noise.
3
Bias repeatability describes a long-term behavior, over a variety of conditions. Short-term repeatability is related to the in-run bias stability and noise density
specifications.
4
The X_ACCL_LOW (see Table 24), Y_ACCL_LOW (see Table 26), and Z_ACCL_LOW (see Table 28) registers capture the bit growth associated with the user configurable
filters.
5
X-ray exposure may degrade this performance metric.
6
The digital I/O signals are driven by an internal 3.3 V supply, and the inputs are 5 V tolerant.
7
Endurance is qualified as per JEDEC Standard 22, Method A117, and measured at −40°C, +25°C, +85°C, and +125°C.
8
The data retention lifetime equivalent is at a junction temperature (TJ) of 85°C as per JEDEC Standard 22, Method A117. Data retention lifetime decreases with junction
temperature.
9
These times do not include thermal settling and internal filter response times (375 Hz bandwidth), which may affect overall accuracy.
10
The parameter assumes that a full start-up sequence has taken place, prior to initiation of the reset cycle.
11
This parameter represents the time between raising the RST line and restoration of pulsing on the DR line, which indicates a return to normal operation.
12
This parameter represents the pulse time on the RST line, which ensures initiation of the reset operation.
13
The sync input clock functions below the specified minimum value but at reduced performance levels.
1
Rev. C | Page 4 of 27
Data Sheet
ADIS16460
TIMING SPECIFICATIONS
TA = 25°C, VDD = 3.3 V, unless otherwise noted.
Table 2.
Parameter
fSCLK
tSTALL
tREADRATE
t
tDAV
tDSU
tDHD
tSCLKR, tSCLKF
tDR, tDF
tSFS
t1
tSTDR
tNV
t2
Description
Serial clock
Stall period between data
Read rate
Chip select to SCLK edge
DOUT valid after SCLK edge
DIN setup time before SCLK rising edge
DIN hold time after SCLK rising edge
SCLK rise/fall times
DOUT rise/fall times
CS high after SCLK edge
Input sync positive pulse width
Input sync to data ready valid transition
Data invalid time
Input sync period
CS
1
2
Min 1
0.1
16
24
200
Normal Mode
Typ
Max
2.0
Min1
0.1
N/A 2
Burst Read
Typ
Max
1.0
Unit
MHz
µs
µs
ns
ns
ns
ns
ns
ns
ns
µs
µs
µs
µs
200
25
25
25
50
25
50
5
5
12.5
12.5
5
5
0
25
12.5
12.5
0
25
636
47
636
47
500
500
Guaranteed by design and characterization, but not tested in production.
When using the burst read mode, the stall period is not applicable.
Timing Diagrams
tSCLKR
tSCLKF
CS
tCS
tSFS
1
2
3
4
5
6
15
16
SCLK
tDR
DOUT
MSB
D14
D13
tDSU
DIN
R/W
A6
D12
D11
D10
A5
D2
D1
LSB
tDF
tDHD
A4
A3
A2
DC2
DC1
13390-002
tDAV
LSB
Figure 2. SPI Timing and Sequence
tREADRATE
tSTALL
13390-003
CS
SCLK
Figure 3. Stall Time and Data Rate
t2
t1
tSTDR
DATA
READY
tNV
Figure 4. Input Clock Timing Diagram, MSC_CTRL[0] = 1
Rev. C | Page 5 of 27
13390-004
CLOCK
ADIS16460
Data Sheet
ABSOLUTE MAXIMUM RATINGS
Table 3.
Parameter
Mechanical Shock Survival
Any Axis, Unpowered
Any Axis, Powered
VDD to GND
Digital Input Voltage to GND
Digital Output Voltage to GND
Temperature
Operating Range
Storage Range
Rating
2000 g
2000 g
−0.3 V to +3.45 V
−0.3 V to +5.3 V
−0.3 V to +VDD + 0.3 V
Stresses at or above those listed under Absolute Maximum
Ratings may cause permanent damage to the product. This is a
stress rating only; functional operation of the product at these
or any other conditions above those indicated in the operational
section of this specification is not implied. Operation beyond
the maximum operating conditions for extended periods may
affect product reliability.
Table 4. Package Characteristics
Package Type
ML-14-6
−25°C to +85°C
−65°C to +125°C1, 2
Extended exposure to temperatures outside the specified temperature
range of −25°C to +85°C can adversely affect the accuracy of the factory
calibration. For best accuracy, store the parts within the specified operating
range of −25°C to +85°C.
2
Although the device is capable of withstanding short-term exposure to
150°C, long-term exposure threatens internal mechanical integrity.
1
ESD CAUTION
Rev. C | Page 6 of 27
θJA (°C/W)
36.5
θJC (°C/W)
16.9
Mass (grams)
15
Data Sheet
ADIS16460
PIN CONFIGURATION AND FUNCTION DESCRIPTIONS
ADIS16460
PIN 1
TOP VIEW
(Not to Scale)
DNC
DNC
DIN
SCLK
DR
9
7
5
3
1
14
12
10
8
6
4
2
DNC
DNC
RST
CS
DOUT
SYNC
NOTES
1. THIS REPRESENTS THE PIN ASSIGNMENTS WHEN
LOOKING DOWN AT THE CONNECTOR. SEE FIGURE 6.
2. MATING CONNECTOR:
SAMTEC CLM-107-02 SERIES OR EQUIVALENT.
3. DNC = DO NOT CONNECT.
13390-006
VDD
11
13390-005
GND
13
DNC
PIN 14
Figure 5. Pin Configuration
Figure 6. Pin Locations
Table 5. Pin Function Descriptions
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Mnemonic
DR
SYNC
SCLK
DOUT
DIN
CS
DNC
RST
DNC
DNC
VDD
DNC
GND
DNC
Type
Output
Input/Output
Input
Output
Input
Input
Not applicable
Input
Not applicable
Not applicable
Supply
Not applicable
Supply
Not applicable
Description
Data Ready Indicator.
External Sync Input/Output, per MSC_CTRL. See Table 50.
SPI Serial Clock.
SPI Data Output. This pin clocks the output on the SCLK falling edge.
SPI Data Input. This pin clocks the input on the SCLK rising edge.
SPI Chip Select.
Do Not Connect. Do not connect to this pin.
Reset.
Do Not Connect. Do not connect to this pin.
Do Not Connect. Do not connect to this pin.
Power Supply.
Do Not Connect. Do not connect to this pin.
Power Ground.
Do Not Connect. Do not connect to this pin.
Rev. C | Page 7 of 27
ADIS16460
Data Sheet
TYPICAL PERFORMANCE CHARACTERISTICS
ROOT ALLAN VARIANCE (mg)
10
MEAN
10
MEAN – 1σ
0.1
1
10
100
1k
10k
Tau (Seconds)
MEAN
0.1
0.01
0.01
10
100
1k
10k
GYROSCOPE SENSITIVITY ERROR (% of FS)
0.2
MEAN
0.1
MEAN + 1σ
0
MEAN – 1σ
–0.1
–0.2
–0.3
–0.4
–40
–20
0
20
40
60
80
100
0.3
0.2
0.1
Figure 8. Gyroscope Sensitivity Error vs. Cold to Hot Temperature Sweep
MEAN + 1σ
0
–0.2
–0.3
–0.4
–0.5
–60
GYROSCOPE BIAS ERROR (°/sec)
1.5
MEAN + 1σ
0
MEAN – 1σ
–0.5
–1.0
–20
0
20
40
60
80
100
Figure 11. Gyroscope Sensitivity Error vs. Hot to Cold Temperature Sweep
1.5
MEAN
–40
TEMPERATURE (°C)
2.0
0.5
MEAN – 1σ
–0.1
2.0
1.0
MEAN
13390-101
0.3
0.4
13390-100
GYROSCOPE SENSITIVITY ERROR (% of FS)
1
0.5
0.4
TEMPERATURE (°C)
–1.5
1.0
MEAN
0.5
MEAN + 1σ
0
MEAN – 1σ
–0.5
–1.0
–1.5
–40
–20
0
20
40
60
80
100
TEMPERATURE (°C)
13390-102
GYROSCOPE BIAS ERROR (°/sec)
0.1
Figure 10. Accelerometer Root Allan Variance
0.5
–2.0
–60
MEAN – 1σ
Tau (Seconds)
Figure 7. Gyroscope Root Allan Variance
–0.5
–60
MEAN + 1σ
Figure 9. Gyroscope Bias Error vs. Cold to Hot Temperature Sweep
–2.0
–60
–40
–20
0
20
40
60
80
100
TEMPERATURE (°C)
Figure 12. Gyroscope Bias Error vs. Hot to Cold Temperature Sweep
Rev. C | Page 8 of 27
13390-103
1
0.01
1
13390-008
MEAN + 1σ
13390-007
ROOT ALLAN VARIANCE (°/Hr)
100
ADIS16460
0.4
0.3
0.2
MEAN
0.1
MEAN + 1σ
0
–0.1
MEAN – 1σ
–0.2
–0.3
–0.4
–40
–20
0
20
40
60
80
100
TEMPERATURE (°C)
0.3
0.2
–0.1
–0.3
–0.4
–0.5
–60
8
MEAN + 1σ
MEAN
0
–2
–4
MEAN – 1σ
–6
–20
0
20
40
60
80
100
MEAN + 1σ
6
4
2
MEAN
0
–2
MEAN – 1σ
–4
–6
–8
–8
–40
–20
0
20
40
TEMPERATURE (°C)
60
80
100
–10
–60
13390-106
–10
–60
–40
Figure 15. Accelerometer Sensitivity Error vs. Hot to Cold Temperature Sweep
10
2
MEAN – 1σ
–0.2
8
4
MEAN + 1σ
0
10
6
MEAN
0.1
TEMPERATURE (°C)
ACCELEROMETER BIAS ERROR (mg)
ACCELEROMETER BIAS ERROR (mg)
Figure 13. Accelerometer Sensitivity Error vs. Cold to Hot Temperature Sweep
0.4
Figure 14. Accelerometer Bias Error vs. Cold to Hot Temperature Sweep
–40
–20
0
20
40
TEMPERATURE (°C)
60
80
100
13390-107
–0.5
–60
0.5
13390-105
ACCELEROMETER SENSITIVITY ERROR (% of FS)
0.5
13390-104
ACCELEROMETER SENSITIVITY ERROR (% of FS)
Data Sheet
Figure 16. Accelerometer Bias Error vs. Hot to Cold Temperature Sweep
Rev. C | Page 9 of 27
ADIS16460
Data Sheet
THEORY OF OPERATION
The ADIS16460 is an autonomous sensor system that requires
no user initialization. When it has an adequate power supply across
the VDD and GND pins, it initializes itself and starts sampling,
processing, and loading sensor data into the output registers at a
sample rate of 2048 SPS. The DR pin (see Figure 5) pulses high
after each sample cycle concludes. The SPI interface enables simple
integration with many embedded processor platforms, as shown
in Figure 17 (electrical connection) and Table 6 (pin functions).
1
I/O LINES ARE COMPATIBLE WITH
3.3V LOGIC LEVELS
+3.3V
The ADIS16460 provides two options for acquiring sensor data:
a single register and a burst register. A single register read requires
two 16-bit SPI cycles. The first cycle requests the contents of a
register using the bit assignments in Figure 20. Bit DC7 to Bit DC0
are don’t cares for a read, and then the output register contents
follow on DOUT during the second sequence. Figure 18 includes
three single register reads in succession.
ADIS16460
6
CS
SCLK
3
SCLK
MOSI
5
DIN
MISO
4
DOUT
IRQ
1
DR
13390-009
13
In this example, the process starts with DIN = 0x0600 to request
the contents of X_GYRO_OUT, then follows with 0x0A00 to
request Y_GYRO_OUT, and 0x0E00 to request Z_GYRO_OUT.
Full duplex operation enables processors to use the same 16-bit
SPI cycle to read data from DOUT while requesting the next set
of data on DIN. Figure 19 provides an example of the four SPI
signals when reading X_GYRO_OUT in a repeating pattern.
Figure 17. Electrical Connection Diagram
Table 6. Generic Master Processor Pin Names and Functions
Pin Name
SS
SCLK
MOSI
MISO
IRQ
Function
Slave select
Serial clock
Master output, slave input
Master input, slave output
Interrupt request
DIN
0x0600
DOUT
The ADIS16460 SPI interface supports full duplex serial communication (simultaneous transmit and receive) and uses the bit
sequence shown in Figure 20. Table 7 provides a list of the most
common settings that require attention to initialize the serial
port of a processor for the ADIS16460.
0x0A00
0x0E00
X_GYRO_OUT
Y_GYRO_OUT
Z_GYRO_OUT
Figure 18. SPI Read Example
CS
SCLK
DIN
DIN = 0000 0110 0000 0000 = 0x0600
DOUT
DOUT = 1111 1111 1111 1010 = 0xFFFA = –6 LSB = –0.03°/sec
Figure 19. Example SPI Read, Second Sequence
CS
DOUT
R/W
D15
A6
A5
A4
A3
A2
A1
A0
DC7
DC6
DC5
DC4
DC3
DC2
DC1
DC0
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
NOTES
1. THE DOUT BIT PATTERN REFLECTS THE ENTIRE CONTENTS OF THE REGISTER IDENTIFIED BY [A6:A0]
IN THE PREVIOUS 16-BIT DIN SEQUENCE WHEN R/W = 0.
2. IF R/W = 1 DURING THE PREVIOUS SEQUENCE, DOUT IS NOT DEFINED.
Figure 20. SPI Communication Bit Sequence
Rev. C | Page 10 of 27
R/W
D15
A6
A5
D14
D13
13390-012
SCLK
DIN
13390-010
SS
For burst read, SCLK rate ≤ 1 MHz.
READING SENSOR DATA
11
SYSTEM
PROCESSOR
SPI MASTER
Description
The ADIS16460 operates as a slave
Maximum serial clock rate, see Table 2
CPOL = 1 (polarity), CPHA = 1 (phase)
Bit sequence, see Figure 20
Shift register/data length
13390-011
VDD
Table 7. Generic Master Processor SPI Settings
Processor Setting
Master
SCLK Rate1
SPI Mode 3
MSB First
16-Bit Length
Data Sheet
ADIS16460
Burst Read Function
DEVICE CONFIGURATION
The burst read function provides a way to read all of the data in
one continuous stream of bits, with no stall time in between
each 16-bit segment. As shown in Figure 21, start this mode by
setting DIN = 0x3E00, and then read each of the following
registers out, while keeping CS low: DIAG_STAT,
X_GYRO_OUT, Y_GYRO_OUT, Z_GYRO_OUT,
X_ACCL_OUT, Y_ACCL_OUT, Z_ACCL_OUT, TEMP_OUT,
SMPL_CNTR, and checksum. Use the following formula to
verify the checksum value, while treating each byte in the
formula as an independent, unsigned, 8-bit number.
The control registers in Table 8 provide users with a variety of
configuration options. The SPI provides access to these registers,
one byte at a time, using the bit assignments in Figure 20. Each
register has 16 bits, where Bits[7:0] represent the lower address,
and Bits[15:8] represent the upper address. Figure 23 provides
an example of writing 0x01 to Address 0x3E (GLOB_CMD[1],
using DIN = 0xBE01).
Checksum = DIAG_STAT[15:8] + DIAG_STAT[7:0] +
X_GYRO_OUT[15:8] + X_GYRO_OUT[7:0] +
Y_GYRO_OUT[15:8] + Y_GYRO_OUT[7:0] +
Z_GYRO_OUT[15:8] + Z_GYRO_OUT[7:0] +
X_ACCL_OUT[15:8] + X_ACCL_OUT[7:0] +
Y_ACCL_OUT[15:8] + Y_ACCL_OUT[7:0] +
Z_ACCL_OUT[15:8] + Z_ACCL_OUT[7:0] +
TEMP_OUT[15:8] + TEMP_OUT[7:0] +
SMPL_CNTR[15:8] + SMPL_CNTR[7:0]
CS
1
2
3
11
DIAG_STAT
XGYRO_OUT
CHECKSUM
13390-015
DIN
Figure 23. Example SPI Write Sequence
Dual Memory Structure
Writing configuration data to a control register updates its
SRAM contents, which are volatile. After optimizing each
relevant control register setting in a system, set GLOB_CMD[3]
= 1 (DIN = 0xBE08) to copy these settings into nonvolatile flash
memory. The flash update process requires a valid power supply
level for the entire process time (see Table 44). Table 8 provides
a memory map for the user registers, which includes a flash
backup column. A yes in this column indicates that a register
has a mirror location in flash and, when backed up properly, it
automatically restores itself during startup or after a reset.
Figure 24 provides a diagram of the dual memory structure
used to manage operation and store critical user settings.
0x3E00
13390-013
DOUT
SCLK
DIN = 1011 1110 0000 0001 = 0xBE01, WRITES 0x01 TO ADDRESS 0x3E.
SCLK
DIN
CS
Figure 21. Burst Read Sequence
SPI Read Test Sequence
MANUAL
FLASH
BACKUP
NONVOLATILE
FLASH MEMORY
VOLATILE
SRAM
(NO SPI ACCESS)
SPI ACCESS
START-UP
RESET
CS
Figure 24. SRAM and Flash Memory Diagram
SCLK
DIN = 0101 0110 0000 0000 = 0x5600
DOUT
DOUT = 0100 0000 0100 1100 = 0x404C = 16,460
13390-014
DIN
Figure 22. SPI Test Read Pattern DIN = 0x5600, DOUT = 0x404C
Rev. C | Page 11 of 27
13390-016
Figure 22 provides a test pattern for testing the SPI communication. In this pattern, write 0x5600 to the DIN line in a repeating
pattern and raise the chip select for a time that meets the stall
time requirement (see Table 2) each 16-bit sequence. Starting
with the second 16-bit sequence, DOUT produces the contents
of the PROD_ID register, 0x404C (see Table 41).
ADIS16460
Data Sheet
USER REGISTERS
Table 8. User Register Memory Map 1
Name
FLASH_CNT
DIAG_STAT
X_GYRO_LOW
X_GYRO_OUT
Y_GYRO_LOW
Y_GYRO_OUT
Z_GYRO_LOW
Z_GYRO_OUT
X_ACCL_LOW
X_ACCL_OUT
Y_ACCL_LOW
Y_ACCL_OUT
Z_ACCL_LOW
Z_ACCL_OUT
SMPL_CNTR
TEMP_OUT
Reserved
X_DELT_ANG
Y_DELT_ANG
Z_DELT_ANG
X_DELT_VEL
Y_DELT_VEL
Z_DELT_VEL
Reserved
MSC_CTRL
SYNC_SCAL
DEC_RATE
FLTR_CTRL
Reserved
GLOB_CMD
X_GYRO_OFF
Y_GYRO_OFF
Z_GYRO_OFF
X_ACCL_OFF
Y_ACCL_OFF
Z_ACCL_OFF
Reserved
LOT_ID1
LOT_ID2
PROD_ID
SERIAL_NUM
CAL_SGNTR
CAL_CRC
CODE_SGNTR
CODE_CRC
1
2
R/W
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
N/A
R
R
R
R
R
R
N/A
R/W
R/W
R/W
R/W
N/A
W
R/W
R/W
R/W
R/W
R/W
R/W
N/A
R
R
R
R
R
R
R
R
Flash Backup
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
N/A
No
No
No
No
No
No
N/A
Yes
Yes
Yes
Yes
N/A
No
Yes
Yes
Yes
Yes
Yes
Yes
N/A
Yes
Yes
Yes
Yes
N/A
N/A
N/A
N/A
Address 2
0x00
0x02
0x04
0x06
0x08
0x0A
0x0C
0x0E
0x10
0x12
0x14
0x16
0x18
0x1A
0x1C
0x1E
0x20, 0x22
0x24
0x26
0x28
0x2A
0x2C
0x2E
0x30
0x32
0x34
0x36
0x38
0x3A, 0x3C
0x3E
0x40
0x42
0x44
0x46
0x48
0x4A
0x4C, 0x4E, 0x50
0x52
0x54
0x56
0x58
0x60
0x62
0x64
0x66
Default
N/A
0x0000
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
0x00C1
0x7FFF
0x0000
0x0500
N/A
N/A
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
N/A
N/A
N/A
0x404C
N/A
N/A
N/A
N/A
N/A
Function
Flash memory write count
Diagnostic and operational status
X-axis gyroscope output, lower word
X-axis gyroscope output, upper word
Y-axis gyroscope output, lower word
Y-axis gyroscope output, upper word
Z-axis gyroscope output, lower word
Z-axis gyroscope output, upper word
X-axis accelerometer output, lower word
X-axis accelerometer output, upper word
Y-axis accelerometer output, lower word
Y-axis accelerometer output, upper word
Z-axis accelerometer output, lower word
Z-axis accelerometer output, upper word
Sample counter, MSC_CTRL[3:2] = 11
Temperature (internal, not calibrated)
Reserved, do not use
X-axis delta angle output
Y-axis delta angle output
Z-axis delta angle output
X-axis delta velocity
Y-axis delta velocity
Z-axis delta velocity
Reserved, do not use
Miscellaneous control
Sync input scale control
Decimation rate control
Filter control, autonull record time
Reserved, do not use
Global commands
X-axis gyroscope bias offset factor
Y-axis gyroscope bias offset factor
Z-axis gyroscope bias offset factor
X-axis acceleration bias offset factor
Y-axis acceleration bias offset factor
Z-axis acceleration bias offset factor
Reserved, do not use
Lot Identification Number 1
Lot Identification Number 2
Product identifier
Lot specific serial number
Calibration memory signature value
Calibration memory CRC values
Code memory signature value
Code memory CRC values
Bit Assignments
See Table 49
See Table 43
See Table 10
See Table 11
See Table 12
See Table 13
See Table 14
See Table 15
See Table 24
See Table 25
See Table 26
See Table 27
See Table 28
See Table 29
See Table 52
See Table 37
N/A
See Table 18
See Table 19
See Table 20
See Table 32
See Table 33
See Table 34
N/A
See Table 50
See Table 51
See Table 53
See Table 54
N/A
See Table 44
See Table 55
See Table 56
See Table 57
See Table 58
See Table 59
See Table 60
N/A
See Table 39
See Table 40
See Table 41
See Table 42
See Table 46
See Table 48
See Table 45
See Table 47
N/A means not applicable.
Each register contains two bytes. The address on display is for the lower byte. The address of the upper byte is equal to the address of the lower byte plus 1.
Rev. C | Page 12 of 27
Data Sheet
ADIS16460
OUTPUT DATA REGISTERS
X_GYRO_OUT
15
Figure 25. 32-Bit Gyroscope Data Format
The ADIS16460 uses iMEMS gyroscopes to provide inertial
rotation measurements around three orthogonal axes, in two
different formats: angular rate and angular displacement (deltaangles). Figure 26 shows the axial assignments and the direction
of rotation that corresponds to a positive response in their
respective output registers (see Table 9).
Table 10. X_GYRO_LOW (Base Address = 0x04), Read Only
Bits
[15:0]
Description
X-axis, gyroscope, output data
Bit growth from X_GYRO_OUT data path
Table 11. X_GYRO_OUT (Base Address = 0x06), Read Only
Angular Rate Data
Bits
[15:0]
The angular rate of rotation data represents the calibrated
response from the tri-axis MEMS gyroscopes. Six registers
provide real-time access to these measurements. Each axis has
two dedicated registers: a primary and a secondary register.
Table 9 provides the register assignments for each of the three
axes (ωX, ωY, ωZ) in Figure 26.
Description
X-axis, gyroscope output data, 0.005°/sec/LSB (KG)
0°/sec = 0x0000, twos complement format
Table 12. Y_GYRO_LOW (Base Address = 0x08), Read Only
Bits
[15:0]
Table 9. Angular Rate of Rotation Data Registers
Primary Register
X_GYRO_OUT (see Table 11)
Y_GYRO_OUT(see Table 13)
Z_GYRO_OUT (see Table 15)
0
X-AXIS GYROSCOPE DATA
ROTATION
Axis
ωX
ωY
ωZ
X_GYRO_LOW
0 15
13390-018
The output data registers contain inertial sensor (gyroscopes,
accelerometers) measurements, delta angle calculations, delta
velocity calculations, and a relative temperature monitor.
Description
Y-axis, gyroscope, output data
Bit growth from Y_GYRO_OUT data path
Table 13. Y_GYRO_OUT (Base Address = 0x0A), Read Only
Secondary Register
X_GYRO_LOW (see Table 10)
Y_GYRO_LOW (see Table 12)
Z_GYRO_LOW (see Table 14)
Bits
[15:0]
The primary register provides a 16-bit, twos complement
number, where the scale factor (KG) is equal to 0.005°/sec/LSB.
The secondary register provides users with the ability to capture
the bit growth that is associated with the summation functions
in the user configurable digital filters (see Table 53 and Table 54).
Figure 25 illustrates how the primary (X_GYRO_OUT) and
secondary (X_GYRO_LOW) registers combine to provide a
digital result that supports up to 32 bits of digital resolution for
the angular rate of rotation around the x-axis.
Description
Y-axis, gyroscope output data, 0.005°/sec/LSB (KG)
0°/sec = 0x0000, twos complement format
Table 14. Z_GYRO_LOW (Base Address = 0x0C), Read Only
Bits
[15:0]
Description
Z-axis, gyroscope, output data
Bit growth from Z_GYRO_OUT data path
Table 15. Z_GYRO_OUT (Base Address = 0x0E), Read Only
Bits
[15:0]
Description
Z-axis, gyroscope output data, 0.005°/sec/LSB (KG)
0°/sec = 0x0000, twos complement format
Z-AXIS
ωz, Δθz
Y-AXIS
X-AXIS
ωx, Δθx
13390-017
ωy, Δθy
Figure 26. Inertial Sensor Definitions
Rev. C | Page 13 of 27
ADIS16460
Data Sheet
Table 16 provides seven examples of the digital data format
when using only the primary registers for 16-bit measurements.
related to MSC_CTRL[3:2] (see Table 50), and the decimation
rate settings (DEC_RATE, see Table 53).
Table 16. Rotation Rate, 16-Bit Example
Table 18. X_DELT_ANG (Base Address = 0x24), Read Only
Rotation
Rate (°/sec)
+100
+0.01
+0.005
0
−0.005
−0.01
−100
Bits
[15:0]
Decimal
20,000
+2
+1
0
−1
−2
−20,000
Hex
0x4E20
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0xB1E0
Binary
0100 1110 0010 0000
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1011 0001 1110 0000
Many, if not all, applications do not require all 32 bits of digital
resolution to preserve key sensor performance criteria. When
truncating the data width to a lower number of bits, use the following formula to calculate the scale factor for the least significant bit:
1 LSB = K G ×
1
2 N −16
For example, if the system uses four bits from the x_GYRO_LOW
registers, the data width is 20 bits and the LSB weight is equal to
0.0003215°/sec.
2
Description
Y-axis, delta angle output data
0° = 0x0000, twos complement format
1 LSB = KG × (DEC_RATE + 1)/fSAMPLE (degrees)
fSAMPLE =2048 Hz when MSC_CTRL[3:2] = 00
fSAMPLE is the external clock rate when MSC_CTRL[3:2] ≠ 00
Bits
[15:0]
Table 17. Rotation Rate, 20-Bit Example
Hex
0x4E200
0x00002
0x00001
0x00000
0xFFFFF
0xFFFFE
0xB1E00
Description
Z-axis, delta angle output data
0° = 0x0000, twos complement format
1 LSB = KG × (DEC_RATE + 1)/fSAMPLE (degrees)
fSAMPLE = 2048 Hz when MSC_CTRL[3:2] = 00
fSAMPLE is the external clock rate when MSC_CTRL[3:2] ≠ 00
Table 21 illustrates the delta angle data format with numerical
examples when MSC_CTRL[3:2] = 00 (fSAMPLE = 2048 Hz) and
DEC_RATE = 0x0000.
Table 17 provides seven examples of the digital data format
when using the primary and the secondary registers to produce
a 20-bit number for the angular rate of rotation.
Decimal
+320,000
+2
+1
0
−1
−2
−320,000
Bits
[15:0]
1
20 − 16
1
1 LSB = 0.005° / sec × = 0.0003125° / sec
16
Rotation
Rate (°/sec)
+100
+0.000625
+0.0003125
0
−0.0003125
−0.000625
−100
Table 19. Y_DELT_ANG (Base Address = 0x26), Read Only
Table 20. Z_DELT_ANG (Base Address = 0x28), Read Only
where N is the total number of bits.
1 LSB = 0.005° / sec ×
Description
X-axis, delta angle output data
0° = 0x0000, twos complement format
1 LSB = KG × (DEC_RATE + 1)/fSAMPLE (degrees)
fSAMPLE = 2048 Hz when MSC_CTRL[3:2] = 00
fSAMPLE is the external clock rate when MSC_CTRL[3:2] ≠ 00
Binary
0100 1110 0010 0000 0000
0000 0000 0000 0000 0010
0000 0000 0000 0000 0001
0000 0000 0000 0000 0000
1111 1111 1111 1111 1111
1111 1111 1111 1111 1110
1011 0001 1110 0000 0000
Delta Angle Data
The delta angle measurements (ΔθX, ΔθY, ΔθX in Figure 26) represent the angular displacement around each axis, during each
data processing cycle. Three registers provide real-time access
to these measurements, with each axis (x, y, z) having its own
dedicated register. X_DELT_ANG (see Table 18) is the output
data register for the x-axis (ΔθX in Figure 26), Y_DELT_ANG
(see Table 19) is the output data register for the y-axis (ΔθY in
Figure 26), and Z_ DELT_ANG (see Table 20) is the output data
register for the z-axis (ΔθZ in Figure 26). The scale factors for
these registers depend on the scale factor for the gyroscopes
(see Table 11, KG = 0.005°/sec/LSB), sample clock (fSAMPLE),
Table 21. x_DELT_ANG Data Format, Example 1
Angle (°)1
+0.079998
+0.0000048828
+0.0000024414
0
−0.0000024414
−0.0000048828
−0.080000
1
Decimal
+32,767
+2
+1
0
−1
−2
−32,768
Hex
0x7FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x8000
Binary
0111 1111 1111 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1000 0000 0000 0000
MSC_CTRL[3:2] = 00, fSAMPLE = 2048 Hz, and DEC_RATE = 0x0000.
Table 22 illustrates the delta-angle data format with numerical
examples when MSC_CTRL[3:2] = 01, the external clock
(fSAMPLE) = 2000 Hz and DEC_RATE = 0x0009.
Table 22. x_DELT_ANG Data Format, Example 2
Angle (°)1
+0.81918
+0.000050
+0.000025
0
−0.000025
−0.000050
−0.81920
1
Decimal
+32,767
+2
+1
0
−1
−2
−32,768
Hex
0x7FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x8000
Binary
0111 1111 1111 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1000 0000 0000 0000
MSC_CTRL[3:2] = 01, fSAMPLE = 2000 Hz, and DEC_RATE = 0x0009.
Rev. C | Page 14 of 27
Data Sheet
ADIS16460
ACCELEROMETERS
Table 24. X_ACCL_LOW (Base Address = 0x10) Read Only
The ADIS16460 uses iMEMS accelerometers to provide linear
inertial measurements along three orthogonal axes, in two
different formats: linear acceleration and delta velocity.
Figure 28 shows the axial assignments, the direction of linear
acceleration that corresponds to a positive response in their
respective output registers (see Table 9).
Bits
[15:0]
Table 25. X_ACCL_OUT (Base Address = 0x12), Read Only
Bits
[15:0]
Linear Acceleration
The linear acceleration measurements represent the calibrated
response from the tri-axis MEMS accelerometers. Six registers
provide real-time access to these measurements. Each axis has
two dedicated registers: a primary register and a secondary
register. Table 23 provides the register assignments for each of
the three axes (aX, aY, aX) in Figure 28.
Primary Register
X_ACCL_OUT (see Table 25)
Y_ACCL_OUT (see Table 27)
Z_ACCL_OUT (see Table 29)
Bits
[15:0]
Bits
[15:0]
Secondary Register
X_ACCL_LOW (see Table 24)
Y_ACCL_LOW (see Table 26)
Z_ACCL_LOW (see Table 28)
Description
Y-axis, accelerometer output data, 0.25 mg/LSB (KA)
0 mg = 0x0000, twos complement format
Table 28. Z_ACCL_LOW (Base Address = 0x18), Read Only
Bits
[15:0]
Description
Z-axis, accelerometer, output data
Bit growth from Z_ACCL_OUT data path
Table 29. Z_ACCL_OUT (Base Address = 0x1A), Read Only
Bits
[15:0]
Description
Z-axis, accelerometer output data, 0.25 mg/LSB (KA)
0 mg = 0x0000, twos complement format
X_ACCL_LOW
0 15
X-AXIS ACCELEROMETER DATA
0
13390-020
X_ACCL_OUT
Description
Y-axis, accelerometer, output data
Bit growth from Y_ACCL_OUT data path
Table 27. Y_ACCL_OUT (Base Address = 0x16), Read Only
The primary register provides a 16-bit, twos complement
number, where the scale factor (KA) is equal 0.25 mg/LSB. The
secondary register provides users with the ability to capture the
bit growth that is associated with the summation functions in
the user configurable digital filters (see Table 53 and Table 54).
Figure 27 illustrates how the primary (X_ACCL_OUT) and
secondary (X_ACCL_LOW) registers combine to provide a
digital result that supports up to 32 bits of digital resolution for
linear acceleration along the x-axis.
15
Description
X-axis, accelerometer output data, 0.25 mg /LSB (KA)
0 mg = 0x0000, twos complement format
Table 26. Y_ACCL_LOW (Base Address = 0x14), Read Only
Table 23. Linear Acceleration Data Registers
Axis
aX
aY
aZ
Description
X-axis, accelerometer, output data
Bit growth from X_ACCL_OUT data path
Figure 27. 32-Bit Accelerometer Data Format
Z-AXIS
az, ΔVz
Y-AXIS
X-AXIS
ax, ΔVx
13390-019
ay, ΔVy
Figure 28. Inertial Sensor Definitions
Rev. C | Page 15 of 27
ADIS16460
Data Sheet
Table 30 provides seven examples of the digital data format
when using only the primary registers for 16-bit measurements.
Table 30. Acceleration, Twos Complement Format
Acceleration (mg)
+5000
+0.5
+0.25
0
−0.25
−0.5
−5000
Decimal
20,000
+2
+1
0
−1
−2
−20,000
Hex
0x4E20
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0xB1E0
Binary
0100 1110 0010 0000
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1011 0001 1110 0000
Many, if not all, applications do not require all 32 bits of digital
resolution to preserve key sensor performance criteria. When
truncating the data width to a lower number of bits, use the following formula to calculate the scale factor for the least significant bit:
1 LSB = K A ×
1
2 N −16
Delta Velocity Data
The delta velocity measurements (ΔVX, ΔVY, ΔVX in Figure 28)
represent the change in velocity along each axis, during each
data processing cycle. Three registers provide real-time access
to these measurements, with each axis (x, y, z) having its own
dedicated register. X_DELT_VEL (see Table 32) is the output
data register for the x-axis (ΔVX in Figure 28), Y_ DELT_VEL
(see Table 33) is the output data register for the y-axis (ΔVY in
Figure 28), and Z_DELT_VEL (see Table 34) is the output data
register for the z-axis (ΔVZ in Figure 28). The scale factors for
these registers depend on the scale factor for the accelerometers
(see Table 25, KA = 0.25 mg/sec/LSB), sample clock (fSAMPLE)
related to MSC_CTRL[3:2] (see Table 50), and the decimation
rate settings (DEC_RATE, see Table 53).
Table 32. X_DELT_VEL (Base Address = 0x2A), Read Only
Bits
[15:0]
where N is the total number of bits.
For example, if the system uses two bits from the x_ACCL_LOW
registers, the data width is18 bits and the LSB weight is equal to
0.0625 mg.
1 LSB = 0.25 mg ×
1 LSB = 0.25 mg ×
2
1
= 0.0625 mg
4
Table 31 provides seven examples of the digital data format
when using the primary and secondary registers to produce an
18-bit number for the angular rate of rotation.
Table 31. Acceleration, 18-Bit Example
Acceleration
(mg)
+5000
+0.125
+0.0625
0
−0.0625
−0.125
−5000
Table 33. Y_DELT_VEL (Base Address = 0x2C), Read Only
Bits
[15:0]
1
18 − 16
Decimal
80,000
+2
+1
0
−1
−2
−80,000
Hex
0x13880
0x00002
0x00001
0x00000
0x3FFFF
0x3FFFE
0x2C780
Binary
01 0011 1000 1000 0000
00 0000 0000 0000 0010
00 0000 0000 0000 0001
00 0000 0000 0000 0000
11 1111 1111 1111 1111
11 1111 1111 1111 1110
10 1100 0111 1000 0000
Description
X-axis, delta velocity output data
0° = 0x0000, twos complement format
1 LSB = KA × 10 × (DEC_RATE + 1)/fSAMPLE (mm/sec)
fSAMPLE = 2048 Hz when MSC_CTRL[3:2] = 00
fSAMPLE is the external clock rate when MSC_CTRL[3:2] ≠ 00
Description
Y-axis, delta velocity output data
0° = 0x0000, twos complement format
1 LSB = KA × 10 × (DEC_RATE + 1)/fSAMPLE (mm/sec)
fSAMPLE = 2048 Hz when MSC_CTRL[3:2] = 00
fSAMPLE is the external clock rate when MSC_CTRL[3:2] ≠ 00
Table 34. Z_DELT_VEL (Base Address = 0x2E), Read Only
Bits
[15:0]
Description
Z-axis, delta velocity output data
0° = 0x0000, twos complement format
1 LSB = KA × 10 × (DEC_RATE + 1)/fSAMPLE (mm/sec)
fSAMPLE =2048 Hz when MSC_CTRL[3:2] = 00
fSAMPLE is the external clock rate when MSC_CTRL[3:2] ≠ 00
Table 35 illustrates the delta velocity data format with numerical
examples when MSC_CTRL[3:2] = 00, fSAMPLE = 2048 Hz and
DEC_RATE = 0x0000.
Table 35. x_DELT_VEL Data Format, Example 1
Velocity
(mm/sec)1
+39.999
+0.0024414
+0.0012207
0
−0.0012207
−0.0024414
−40
1
Decimal
+32,767
+2
+1
0
−1
−2
−32,768
Hex
0x7FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x8000
Binary
0111 1111 1111 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1000 0000 0000 0000
MSC_CTRL[3:2] = 00, fSAMPLE = 2048 Hz, and DEC_RATE = 0x0000.
Rev. C | Page 16 of 27
Data Sheet
ADIS16460
Table 36 illustrates the delta velocity data format with numerical
examples when MSC_CTRL[3:2] = 01, fSAMPLE is 2000 Hz and
DEC_RATE = 0x0009.
Table 40. LOT_ID2 (Base Address = 0x54), Read Only
Table 36. x_DELT_VEL Data Format, Example 2
Table 41. PROD_ID (Base Address = 0x56), Read Only
Velocity
(mm/sec)1
+409.59
+0.0250
+0.0125
0
−0.0125
−0.0250
−409.6
1
Decimal
+32,767
+2
+1
0
−1
−2
−32,768
Hex
0x7FFF
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x8000
Binary
0111 1111 1111 1111
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1000 0000 0000 0000
MSC_CTRL[3:2] = 01, fSAMPLE = 2000 Hz, and DEC_RATE = 0x0009.
INTERNAL TEMPERATURE
The internal temperature measurement data loads into the TEMP_
OUT register (see Table 37). Table 38 illustrates the temperature
data format. Note that this temperature represents an internal
temperature reading, which does not precisely represent external
conditions. The intended use of TEMP_OUT is to monitor
relative changes in temperature.
Table 37. TEMP_OUT (Base Address = 0x1E), Read Only
Bits
[15:0]
Description
Twos complement, 0.05°C/LSB, 25°C = 0x0000
Decimal
+1600
+1200
+2
+1
0
−1
−2
−1300
Hex
0x0640
0x04B0
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0xFAEC
Bits
[15:0]
Binary
0000 0110 0100 0000
0000 0100 1011 0000
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1111 1010 1110 1100
Description
Lot identification, binary code
Description (Default = 0x404C)
Product identification = 0x404C (16,460)
Table 42. SERIAL_NUM (Base Address = 0x58), Read Only
Bits
[15:12]
[11:0]
Description
Reserved, values can vary
Serial number, 1 to 4094 (0xFFE)
STATUS/ERROR FLAGS
The DIAG_STAT register in Table 43 contains various bits that
serve as error flags for flash update, communication, overrange,
self test, and memory integrity. Reading this register provides
access to the status of each flag and resets all bits to zero for
monitoring future operation. If the error condition remains, the
error flag returns to 1 at the conclusion of the next sample cycle.
Table 43. DIAG_STAT (Base Address = 0x02), Read Only
Bits
[15:8]
[9:8]
7
6
Table 38. Temperature, Twos Complement Format
Temperature (°C)
+105
+85
+25.1
+25.05
+25
+24.95
+24.90
−40
Bits
[15:0]
5
4
3
2
[1:0]
Description (Default = 0x0000)
Not used, always zero
Reserved, values can vary (not always zero)
Input clock out of sync
1 = fail, 0 = pass
Flash memory test
1 = fail, 0 = pass
Self test diagnostic error flag
1 = fail, 0 = pass
Sensor overrange
1 = overrange, 0 = normal
SPI communication failure
1 = fail, 0 = pass
Flash update failure
1 = fail, 0 = pass
Not used, always zero
PRODUCT IDENTIFICATION
Manual Flash Update
The PROD_ID register contains the binary equivalent of 16,460
(see Table 41). It provides a product specific variable for systems
that need to track this in their system software. The LOT_ID1
and LOT_ID2 registers, respectively, combine to provide a unique,
32-bit lot identification code (see Table 39 and Table 40).
Setting GLOB_CMD[3] = 1 (DIN = 0xBE08, see Table 44) triggers
a manual flash update (MFU) routine, which copies the user
register settings into manual flash memory, which provides a
nonvolatile backup that loads into the registers during the reset
or power-on process. After this routine completes, DIAG_STAT[2]
contains the pass/fail result. When this bit is set in an error state
(equal to 1), trigger another MFU and check DIAG_STAT[2]
again after the MFU completes. If this flag remains at zero, it
indicates that the latest attempt was completed and that no
further action is necessary. Persistence in this error flag can
indicate a failure in the flash memory.
The SERIAL_NUM register contains a binary number that
represents the serial number on the device label (see Table 42).
The assigned serial numbers in SERIAL_NUM are lot specific.
Table 39. LOT_ID1 (Base Address = 0x52), Read Only
Bits
[15:0]
Description
Lot identification, binary code
Rev. C | Page 17 of 27
ADIS16460
Data Sheet
SPI Communication Failure
This flag (DIAG_STAT[3]) indicates that the total number of
SCLK pulses was not equal to an integer multiple of 16, while
the chip select (CS) line was low. This flag can be an indication
of communication failure; therefore, it can trigger a process of
repeating previous commands or a validation of data integrity.
another automated self test (AST) and check DIAG_STAT[5]
again after the AST completes. If this flag remains at zero, it
indicates that the latest attempt was completed and that no further
action is necessary. Persistence in this error flag can indicate a
failure in one or more of the inertial sensors.
Flash Test Failure
DIAG_STAT[6] (see Table 43) contains the result of the memory
test, which executes after setting GLOB_CMD[4] = 1 (DIN =
0xBE10, see Table 44).
Sensor Overrange
This error flag (DIAG_STAT[4]) indicates that one of the
inertial sensors has experienced a condition that exceeds its
measurement range.
Input Clock Sync Failure
Self Test Failure
The DIAG_STAT[5] bit provides the result from the automated
self test function, which is associated with GLOB_CMD[2] (see
Table 44). When this bit is set in an error state (equal to 1), trigger
This error flag (DIAG_STAT[7] = 1) indicates that the SYNC_
SCAL value is not appropriate for the frequency of the signal on
the SYNC pin.
Rev. C | Page 18 of 27
Data Sheet
ADIS16460
SYSTEM FUNCTIONS
GLOBAL COMMANDS
Table 47. CODE_CRC (Base Address = 0x66), Read Only
The GLOB_CMD register provides trigger bits for a number of
global commands. To start any of these routines, set the appropriate bit equal to 1 and then wait for the execution time (see
Table 44) before initiating any further communication on the
SPI port.
Bits
[15:0]
Table 44. GLOB_CMD (Base Address = 0x3E), Write Only
Bits
[15:8]
7
[6:5]
4
3
2
1
0
1
Description
Not used
Software reset
Not used
Flash memory test
Manual flash update
Automated self test (AST)
Factory calibration restore
Gyroscope bias correction
Execution Time (Max)
Not applicable
222 ms
Not applicable
36
70
7
75 ms
1 output data cycle1
DEC_RATE (see Table 53) and MSC_CTRL[3:2] (see Table 50) establish this time.
Description
Program code CRC, updates continuously
Table 48. CAL_CRC (Base Address = 0x62), Read Only
Bits
[15:0]
Description
Calibration CRC value, updates continuously
MANUAL FLASH UPDATE
The GLOB_CMD register provides an opportunity to store user
configuration values in nonvolatile flash by setting GLOB_
CMD[3] = 1 (DIN = 0xBE08, also see Figure 24). The FLASH_
CNT register (see Table 49) provides a running count of the
number of flash updates to help users manage the endurance
ratings (see Table 1). Note that initiating the commands in GLOB_
CMD[0] and GLOB_CMD[1] (see Table 44) also includes a flash
memory update, which results in an incremental count increase
in the FLASH_CNT register.
Table 49. FLASH_CNT (Base Address = 0x00), Read Only
SOFTWARE RESET
The GLOB_CMD register provides an opportunity to initiate a
processor reset by setting GLOB_CMD[7] = 1 (DIN = 0xBE80).
Bits
[15:0]
Description
Binary counter
FLASH MEMORY TEST
AUTOMATED SELF TEST
The factory configuration of the ADIS16460 includes performing
a cyclical redundancy check (CRC), using the IEEE-802.3 CRC32
Ethernet standard method, on the program code and calibration memory banks. This process establishes signature values
for these two memory banks and programs them into the following registers: CODE_SGNTR (see Table 45) and CAL_SGNTR
(see Table 46).
Each inertial sensor in the ADIS16460 has a self test function
that applies an electrostatic force to its physical elements, which
causes them to move in a manner that simulates their response
to rotational (gyroscope) and linear (accelerometer) motion. This
movement causes a predictable, observable response on the output
of each sensor, which provides an opportunity to verify basic
functionality of each sensor and their associated signal chain.
The GLOB_CMD register provides an opportunity to initiate an
automated process that uses this sensor level feature to verify
that each sensor is in working order. Set GLOB_CMD[2] = 1
(DIN = 0xBE04, see Table 44) to trigger this AST function, which
stops normal data production, exercises the self test function of
each sensor, compares their responses to the range of normal
responses, and then restores normal data sampling. After this
routine completes, the DIAG_STAT[5] (see Table 43) contains
the pass/fail result.
Table 45. CODE_SGNTR (Base Address = 0x64), Read Only
Bits
[15:0]
Description
Program code signature value, constant
Table 46. CAL_SNGTR (Base Address = 0x60), Read Only
Bits
[15:0]
Description
Calibration signature value, constant
The GLOB_CMD register provides an opportunity to initiate a
flash memory test at any time by setting GLOB_CMD[4] = 1
(DIN = 0xBE10, see Table 44). This test performs the same CRC
process on the program code and calibration memory banks and
then writes the results into the following registers: CODE_CRC
(see Table 47) and CAL_CRC (see Table 48). At the conclusion
of this test, the pass/fail result loads into DIAG_STAT[6] (see
Table 43), with the passing result (DIAG_STAT[6] = 0)
requiring the following conditions:
•
•
CODE_CRC = CODE_SNGTR
CAL_CRC = CAL_SGNTR
INPUT/OUTPUT CONFIGURATION
The ADIS16460 provides two pins, SYNC and DR, that manage
sampling and data collection (see Figure 5). The MSC_CTRL
register provides several bits for configuring these pins (see
Table 50).
DATA READY (DR) PIN CONFIGURATION
The DR pin provides a data ready signal that indicates when
new data is available in the output registers, which helps
minimize processing latency and avoid data collision (see
Figure 5). Figure 17 shows an example, where this pin connects
to an interrupt request (IRQ) pin on the system processor. Use
MSC_CTRL[0] (see Table 50) to establish a polarity so that
Rev. C | Page 19 of 27
ADIS16460
Data Sheet
system level interrupt service routines (ISR) can trigger on the
appropriate edge of this signal. For example, Figure 4 illustrates
an example where MSC_CTRL[0] = 1, which works well with
IRQ pins that trigger on the positive edge of a pulse. When DR
is driving an IRQ pin that triggers on the negative edge of a
signal, set DIN = 0xB2C3 (MSC_CTRL[7:0] = 0xC3). This code
also preserves the factory default configuration for the linear g
compensation (MSC_CTRL[7]) and point of percussion (MSC_
CTRL[6]). Note that the data ready signal stops while the device
executes the global commands associated with the GLOB_CMD
register (see Table 44).
SYNC PIN CONFIGURATION
MSC_CTRL[3:2] (see Table 50) provides user configurable
controls for selecting one of four modes that the SYNC pin/
function (see Figure 5) supports: internal sample clock, external
sync (direct sample control), precision input sync with data
counter, and sample time indicator. MSC_CTRL[1] establishes
the polarity for the active state of the SYNC pin, regardless of
the mode it is operating in.
Table 50. MSC_CTRL (Base Address = 0x32), Read/Write
Bits
[15:7]
7
6
[5:4]
[3:2]
1
0
Precision Input Sync with Data Counter
When MSC_CTRL[3:2] = 10 (see Table 50), the update rate in
the output registers is equal to the product of the input clock
frequency (fSYNC) and the scale factor (HSS) in the SYNC_SCAL
(see Table 51) register. This mode provides support for slower
input clock references, such as the pulse per second (PPS) from
some global positioning systems (GPS) or some video synchronizing signals. Set DIN = 0xB2C9 to configure the ADIS16460 for
this mode, while preserving the rest of the default settings in the
MSC_CTRL register. When in this mode, use the following
formula to calculate the scale factor (HSS) value to write into the
SYNC_SCAL register:
32,768
H SS = floor
− 1
f SYNC
For example, when using a 60 Hz video sync signal, set HSS
equal to 545 (SYNC_SCAL = 0x0221) by setting DIN = 0xB421
and 0xB502.
32,768
H SS = floor
− 1 = floor (545.13333 ) = 545
60
When using a 1 Hz PPS signal, the default value of this register
(0x7FFF) supports this mode. If SYNC_SCAL does not have its
default contents, set SYNC_SCAL = 0x7FFF by setting DIN =
0xB4FF and 0xB57F.
Description (Default = 0x00C1)
Not used
Linear-g compensation control
1 = enabled
0 = disabled (no linear-g compensation)
Point of percussion, see Figure 32
1 = enabled
0 = disabled (no point of percussion alignment)
Not used, always set to zero
SYNC function setting
11 = sample time indicator (output)
10 = precision input sync with data counter
01 = direct sample control (input)
00 = disabled (internal sample clock)
SYNC polarity (input or output)
1 = rising edge triggers sampling
0 = falling edge triggers sampling
DR polarity
1 = active high when data is valid
0 = active low when data is valid
32,768
H SS = floor
− 1 = floor (32,767 ) = 32,767
1
Make sure to adhere to the following relationship when establishing
the nominal value for fSYNC.
1945 Hz ≤ HSS × fSYNC ≤ 2048
When operating outside of this condition, the input control
loop for the data sampling can lose its lock on the input frequency.
DIAG_STAT[7] = 1 (see Table 43) provides an indication of this
condition, where the input sync signal is no longer influencing
the sample times.
Table 51. SYNC_SCAL (Base Address = 0x34), Read/Write
Bits
15
[14:0]
Sample Time Indicator
When MSC_CTRL[3:2] = 11 (see Table 50), the ADIS16460
sampled and processes data using its internal sample clock
(2048 SPS) and the SYNC pin provides a pulsing signal, whose
leading edge indicates the sample time of the inertial sensors.
Set DIN = 0xB2CD to configure the ADIS16460 for this mode,
while preserving the rest of the default settings in the MSC_CTRL
register.
Description (Default = 0x7FFF)
Not used
Input sync scale factor, HSS, when MSC_CTRL[3:2] = 10.
Binary format, range = 255 to 32,767.
When MSC_CTRL[3:2] = 10, the SMPL_CNTR register provides
a total number of counts that occurs after each input clock pulse
using a rate of 24576 Hz. The SMPL_CNTR register resets to
0x0000 with the leading edge of each sync input signal.
Table 52. SMPL_CNTR (Base Address = 0x1C), Read/Write
Bits
[15:0]
Rev. C | Page 20 of 27
Description
Data counter for the number of samples since the last
input clock pulse, binary format, 0x0000 = 0 μs,
40.69 μs/LSB, each input clock pulse resets this value to
0x0000
Data Sheet
ADIS16460
Direct Sample Control
When MSC_CTRL[3:2] = 01 (see Table 50), the clock signal on
the SYNC pin controls the update rate in the output registers.
Set DIN = 0xB2C5 to configure the ADIS16460 for this mode,
while preserving the rest of the default settings in the
MSC_CTRL register.
Rev. C | Page 21 of 27
ADIS16460
Data Sheet
DIGITAL PROCESSING CONFIGURATION
GYROSCOPES/ACCELEROMETERS
0
Figure 30 provides a diagram that describes the entire signal
processing for the gyroscopes and accelerometers. When using the
internal sample clock, (MSC_CTRL[3:2] = 00, see Table 50), the
internal sampling system produces new data at a rate of 2048 SPS.
The DEC_RATE register (see Table 53) provides a user configurable input, which controls the decimation rate for the update rate in
the output registers. For example, set DEC_RATE = 0x0009 (DIN =
0xB609, then DIN = 0xB700) to set the decimation factor to 10.
This setting reduces the update rate to 204.8 SPS and affects the
update rate in the gyroscope, accelerometer, and temperature
output registers.
–20
MAGNITUDE (dB)
–40
–80
–100
–140
0.001
0.01
Description (Default = 0x0000)
Not used, always zero
D, decimation rate setting, linear, see Figure 30
Table 54. FLTR_CTRL (Base Address = 0x38), Read/Write
[7:3]
[2:0]
Description (Default = 0x0500)
Reserved
Sensor bias estimation time factor (NBE)
Setting range = 0 to 6
Estimation time = (1/2048) × 2(NBE + 11) (seconds)
Reserved
Filter Size Variable B, setting range = 0 to 6
Number of taps in each stage; NB = 2B
See Figure 29 for the filter response
BARTLETT WINDOW
FIR FILTER
ADC
CLOCK
2048SPS
1
NB
NB
x(n)
n=1
1
NB
NB
x(n)
n=1
B = FILT_CTRL[2:0]
NB = 2B
NB = NUMBER OF TAPS
(PER STAGE)
AVERAGE/
DECIMATION
FILTER
1
ND
÷ND
x(n)
n=1
ND = DEC_RATE + 1
Figure 30. Sensor Sampling and Frequency Response Block Diagram
Rev. C | Page 22 of 27
ND
13390-022
Bits
[15:9]
[10:8]
The FLTR_CTRL register (see Table 54) provides user controls
for the digital low-pass filter. This filter contains two cascaded
averaging filters that provide a Bartlett window, FIR filter response
(see Figure 29). For example, set FLTR_CTRL[2:0] = 100 (DIN =
0xB804) to set each stage to 16 taps. When used with the default
sample rate of 2048 SPS and zero decimation DEC_RATE = 0x00),
this value reduces the sensor bandwidth to approximately 41 Hz.
LOW-PASS
FILTER
1
Figure 29. Bartlett Window, FIR Filter Frequency Response
(Phase Delay = N Samples)
Digital Filtering
MEMS
SENSOR
0.1
FREQUENCY (f/fS)
13390-021
N=2
N=4
N = 16
N = 64
–120
Table 53. DEC_RATE (Base Address = 0x36), Read/Write
Bits
[15:11]
[10:0]
–60
Data Sheet
ADIS16460
CALIBRATION
The mechanical structure and assembly process of the ADIS16460
provide excellent position and alignment stability for each sensor,
even after subjected to temperature cycles, shock, vibration, and
other environmental conditions. The factory calibration includes a
dynamic characterization of each gyroscope and accelerometer over
temperature, and generates sensor specific correction formulas.
GYROSCOPES
The X_GYRO_OFF (see Table 55), Y_GYRO_OFF (see Table 56),
and Z_GYRO_OFF (see Table 57) registers provide userprogrammable bias adjustment function for the x-axis, y-axis,
and z-axis gyroscopes, respectively. Figure 31 illustrates that the
bias correction factors in each of these registers has a direct
impact on the data in output registers of each sensor.
ADC
FACTORY
CALIBRATION
AND
FILTERING
x_GYRO_OUT
x_ACCL_OUT
x_GYRO_OFF
x_ACCL_OFF
13390-023
MEMS
SENSOR
Table 55. X_GYRO_OFF (Base Address = 0x40), Read/Write
Description (Default = 0x0000)
X-axis, gyroscope offset correction factor, twos
complement, 1 LSB = 0.000625°/sec, 0°/sec = 0x0000
Table 56. Y_GYRO_OFF (Base Address = 0x42), Read/Write
Bits
[15:0]
Description (Default = 0x0000)
Y-axis, gyroscope offset correction factor, twos
complement, 1 LSB = 0.000625°/sec, 0°/sec = 0x0000
Table 57. Z_GYRO_OFF (Base Address = 0x44), Read/Write
Bits
[15:0]
Single Command Bias Correction
Setting GLOB_CMD[0] = 1 (DIN = 0xBE01, see Table 44)
causes the ADIS16460 to automatically load the X_GYRO_OFF,
Y_GRYO_OFF, and Z_GYRO_OFF registers with the values
from a backward looking, continuous bias estimator (CBE). The
record length/time for the CBE is associated with the
FLTR_CTRL[10:8] bits (see Table 54). The accuracy of this
estimate relies on ensuring no rotational motion during the
estimation time in FLTR_CTRL[10:8].
ACCELEROMETERS
The X_ACCL_OFF (see Table 58), Y_ACCL_OFF (see Table 59),
and Z_ACCL_OFF (see Table 60) registers provide user
programmable bias adjustment function for the x-axis, y-axis, and
z-axis accelerometers, respectively. Figure 31 illustrates that the
bias correction factors in each of these registers has a direct
impact on the data in each sensor’s output registers.
Table 58. X_ACCL_OFF (Base Address = 0x46), Read/Write
Figure 31. User Calibration, Gyroscopes, and Accelerometers
Bits
[15:0]
example, lower the x-axis bias by 10 LSB (0.00625°/sec) by
setting X_GYRO_OFF = 0xFFF6 (DIN = 0xC1FF, 0xC0F6).
Description (Default = 0x0000)
Z-axis, gyroscope offset correction factor, twos
complement, 1 LSB = 0.000625°/sec, 0°/sec = 0x0000
Gyroscope Bias Error Estimation
Any system level calibration function must start with an estimate
of the bias errors. Estimating the bias error typically involves
collecting and averaging a time record of gyroscope data while
the ADIS16460 is operating through static inertial conditions.
The length of the time record associated with this estimate depends
on the accuracy goals. The Allan Variance relationship (see
Figure 7) provides a trade-off relationship between the averaging
time and the expected accuracy of a bias measurement. Vibration,
thermal gradients, and power supply instability can influence
the accuracy of this process.
Gyroscope Bias Correction Factors
When the bias estimate is complete, multiply the estimate by −1
to change its polarity, convert it into digital format for the offset
correction registers (see Table 55, Table 56, and Table 57), and
write the correction factors to the correction registers. For
Bits
[15:0]
Description (Default = 0x0000)
X-axis, accelerometer offset correction factor,
twos complement, 0.03125 mg/LSB, 0 g = 0x0000
Table 59. Y_ACCL_OFF (Base Address = 0x48), Read/Write
Bits
[15:14]
[13:0]
Description (Default = 0x0000)
Not used
Y-axis, accelerometer offset correction factor,
twos complement, 0.03125 mg/LSB, 0 g = 0x0000
Table 60. Z_ACCL_OFF (Base Address = 0x4A), Read/Write
Bits
[15:14]
[13:0]
Description (Default = 0x0000)
Not used
Z-axis, accelerometer offset correction factor,
twos complement, 0.03125 mg/LSB, 0 g = 0x0000
Accelerometer Bias Error Estimation
Under static conditions, orient each accelerometer in positions
where the response to gravity is predictable. A common approach
is to measure the response of each accelerometer when they are
oriented in peak response positions, that is, where ±1 g is the
ideal measurement position. Next, average the +1 g and −1 g
accelerometer measurements together to estimate the residual
bias error. Using more points in the rotation can improve the
accuracy of the response.
Accelerometer Bias Correction Factors
When the bias estimate is complete, multiply the estimate by
−1 to change its polarity, convert it to the digital format for the
offset correction registers (see Table 58, Table 59, or Table 60),
and write the correction factors to the correction registers.
For example, lower the y-axis bias by 12 LSB (0.375 mg) by
setting Y_ACCL_OFF = 0xFFF4 (DIN = 0xC7FF, 0xC6F4).
Rev. C | Page 23 of 27
ADIS16460
Data Sheet
RESTORING FACTORY CALIBRATION
Set MSC_CTRL[6] = 1 (DIN = 0xB2C1, see Table 50) to enable
this feature and maintain the factory default settings for the DR
and SYNC pins. This feature performs a point of percussion
translation to the point identified in Figure 32. See Table 50 for
more information on MSC_CTRL.
Set GLOB_CMD[1] = 1 (DIN = 0xBE02, see Table 44) to
execute the factory calibration restore function, which resets the
gyroscope and accelerometer offset registers to 0x0000 and all
sensor data to 0. This process concludes by automatically
updating the flash memory and then returns to normal data
sampling and processing.
POINT OF PERCUSSION
ALIGNMENT REFERENCE POINT
SEE MSC_CTRL[6]
13390-024
Point of Percussion Alignment
Figure 32. Point of Percussion Physical Reference
Rev. C | Page 24 of 27
Data Sheet
ADIS16460
APPLICATIONS INFORMATION
MOUNTING TIPS
J2
0.2364 [6.0]
0.019685
[0.5000]
(TYP)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
C2
0603
1µF
C1
0805
10µF
13390-027
The ADIS16460 package supports installation onto a printed
circuit board (PCB) or rigid enclosure, using three M2 or 2-56
machine screws, using a torque that is between 20 inch ounces
and 40 inch ounces. When designing a mechanical interface for
the ADIS16460, avoid placing unnecessary translational stress
on the electrical connector because it can influence the bias
repeatability behaviors of the inertial sensors. When the same
PCB also has the mating connector, the use of passthrough
holes for the mounting screws may be required. Figure 33
shows a detailed view of the PCB pad design when using one of
the connector variants in the CLM-107-02 family.
J1
DR
SYNC
SCLK
DOUT
DIN
CS
DNC
RST
DNC
DNC
VDD
DNC
GND
DNC
Figure 34. ADIS16IMU4/PCBZ Electrical Schematic
0.0240 [0.610]
0.054 [1.37]
0.0394 [1.00]
0.022± 0.003
0.000 DIA (TYP)
NONPLATED
0.022 DIA THROUGH HOLE (TYP)
THROUGH HOLE 2× NONPLATED THROUGH HOLE
13390-026
0.0394 [1.00] 0.1800
[4.57]
Figure 33. Mating Connector Design Detail
BREAKOUT BOARD
The ADIS16IMU4/PCBZ breakout board provides a ribbon
cable interface for simple connection to an embedded processor
development system. Figure 34 shows the electrical schematic,
and Figure 35 shows a top view for this breakout board. J2 mates
directly to the electrical connector on the ADIS16460, and J1
easily mates to a 1 mm ribbon cable system.
Rev. C | Page 25 of 27
Figure 35. ADIS16IMU4/PCBZ Top View
J1
RST
1
2
CS
3
4
DOUT
DNC
5
6
DIN
SCLK
GND
7
8
GND
GND
9
10
VDD
VDD
11
12
VDD
DR
13
14
SYNC
NC
15
16
NC
13390-029
During startup, the internal power conversion system starts
drawing current when VDD reaches 1.6 V. The internal
processor begins initializing when VDD is equal to 2.35 V. After
the processor starts, VDD must reach 2.7 V within 128 ms.
Also, make sure that the power supply drops below 1.6 V to
ensure that the internal processor shuts down. Use at least 10 µF
of capacitance across VDD and GND. Best results come from
using high quality, multilayer ceramic capacitors, located as
close to the ADIS16460 connector as is practical. Using this
capacitor supports optimal noise performance in the sensors.
13390-028
POWER SUPPLY CONSIDERATIONS
Figure 36. ADIS16IMU4/PCBZ J1 Pin Assignments
ADIS16460
Data Sheet
PC-BASED EVALUATION TOOLS
The ADIS16IMU4/PCBZ provides a simple way to connect the
ADIS16460 to the EVAL-ADIS evaluation system, which
provides a PC-based method for evaluation of basic function
and performance. For more information, visit the following
wiki guide: ADIS1646X/AD24000 Evaluation on a PC.
Estimating the Number of Relevant Bits
The primary output data registers provide 16 bits of resolution
for each of the inertial sensors, which is sufficient for preserving
key sensor behaviors when the internal filters are not in use and
when collecting every sample that the ADIS16460 loads into its
output registers. For systems that use the internal filtering, the
secondary output data registers capture the bit growth that comes
from the accumulation functions in these filters. The magnitude
of this bit growth depends on the settings in both of these registers.
Use the variable settings (D in Table 53, B in Table 54) and the
following formula to calculate the total number of summation
functions (NS), along with the associated bit growth in the data
path (NBG):
each secondary register (X_GYRO_LOW[15:10], for example)
have relevance.
NS = D + 2B = 4 + 25 = 36 samples
NBG = √NS = √36 = 6 bits
The stability performance of each sensor is worth consideration
as well, when determining the number of bits to carry throughout the data path in a system processor. For example, preserving
the six most significant bits in the secondary registers for the
gyroscopes provides a digital resolution of 0.000078125°/sec, or
~0.28°/hour, which is significantly lower than the in-run bias
stability of the ADIS16460 gyroscopes.
X-RAY SENSITIVITY
Exposure to high dose rate X-rays, such as those in production
systems that inspect solder joints in electronic assemblies, may
affect accelerometer bias errors. For optimal performance, avoid
exposing the ADIS16460 to this type of inspection.
NS = D + 2B
NBG = √NS
For example, if B = 5 and D = 4, the bit growth in the internal
data path is six bits, which means that only the upper six bits of
Rev. C | Page 26 of 27
Data Sheet
ADIS16460
OUTLINE DIMENSIONS
22.47
22.40
22.33
R 2.75
Ø 2.40
22.47
22.40
22.33
18.25 BSC
24.37
24.30
24.23
0.19
7.10
REF
TOP VIEW
14.20 BSC
1.00 BSC
PITCH
1.50°
END VIEW
0.57
11-09-2018-B
9.07
9.00
8.93
Figure 37. 14-Lead Module with Connector Interface [MODULE]
(ML-14-6)
Dimensions shown in millimeters
ORDERING GUIDE
Model1
ADIS16460AMLZ
ADIS16IMU4/PCBZ
EVAL-ADIS2
1
Temperature Range
−25°C to +85°C
Package Description
14-Lead Module with Connector Interface [MODULE]
Breakout Board
Evaluation System
Z = RoHS Compliant Part.
©2016–2019 Analog Devices, Inc. All rights reserved. Trademarks and
registered trademarks are the property of their respective owners.
D13390-0-1/19(C)
Rev. C | Page 27 of 27
Package Option
ML-14-6
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