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Low Profile,

Six Degrees of Freedom Inertial Sensor

Data Sheet

ADIS16334

Rev. D Document Feedback

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FEATURES

Triaxial digital gyroscope with digital range scaling

±75°/sec, ±150°/sec, ±300°/sec settings

Tight orthogonal alignment: <0.05°

Triaxial digital accelerometer: ±5 g

Wide sensor bandwidth: 330 Hz

Autonomous operation and data collection

No external configuration commands required

Start-up time: 180 ms

Factory-calibrated sensitivity, bias, and axial alignment

Calibration temperature range: −20°C to +70°C

SPI-compatible serial interface

Embedded temperature sensor

Programmable operation and control

Automatic and manual bias correction controls

Bartlett window FIR filter length, number of taps

Digital I/O: data ready, alarm indicator, general-purpose

Alarms for condition monitoring

Enable external sample clock input: up to 1.2 kHz

Single-command self-test

Single-supply operation: 4.75 V to 5.25 V

2000 g shock survivability

24 mm × 33 mm × 11 mm module with connector interface

Operating temperature range: −40°C to +105°C

APPLICATIONS

Medical instrumentation

Robotics

Platform controls

Navigation

GENERAL DESCRIPTION

The ADIS16334 iSensor® is a complete inertial system that includes

a triaxial gyroscope and triaxial accelerometer. Each sensor in

the ADIS16334 combines iMEMS® technology with signal

conditioning that optimizes dynamic performance. The factory

calibration characterizes each sensor for sensitivity, bias, alignment,

and linear acceleration (gyro bias). As a result, each sensor has

its own dynamic compensation formulas that provide accurate

sensor measurements over a temperature range of −20°C to

+70°C.

The ADIS16334 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.

An improved serial peripheral interface (SPI) interface and

register structure provide faster data collection and configuration

control.

This compact module is approximately 24 mm × 33 mm × 11 mm

and provides a compact connector interface.

FUNCTIONAL BLOCK DIAGRAM

09362-001

SELF-TEST I/O

DIOx RST VCC

GND

CS

SCLK

DIN

DOUT

ADIS16334

ALARMS

CONTROLLER

TRIAXIAL

ACCEL

TRIAXIAL

GYRO

TEMP

DIGITAL

FILTER

CALIBRATION

CORRECTION

POWER

MANAGEMENT

SPI

PORT

CONTROL

REGISTERS

OUTPUT

REGISTERS

Figure 1.

ADIS16334 Data Sheet

Rev. D | Page 2 of 20

TABLE OF CONTENTS

Features .............................................................................................. 1

Applications ....................................................................................... 1

General Description ......................................................................... 1

Functional Block Diagram .............................................................. 1

Revision History ............................................................................... 2

Specifications ..................................................................................... 3

Timing Specifications .................................................................. 5

Timing Diagrams .......................................................................... 5

Absolute Maximum Ratings ............................................................ 6

ESD Caution .................................................................................. 6

Pin Configuration and Function Descriptions ............................. 7

Typical Performance Characteristics ............................................. 8

Theory of Operation ........................................................................ 9

Gyroscopes .................................................................................... 9

Accelerometers .............................................................................. 9

Data Sampling and Processing ................................................... 9

Calibration ..................................................................................... 9

User Interface ................................................................................ 9

Basic Operation ............................................................................... 10

Reading Sensor Data .................................................................. 10

Memory Map .............................................................................. 11

Output Data Registers ................................................................ 12

Device Configuration ................................................................ 13

Digital Processing Configuration ................................................. 14

Sample Rate ................................................................................. 14

Input Clock Configuration ........................................................ 14

Digital Filtering........................................................................... 14

Dynamic Range .......................................................................... 14

Optimizing Accuracy ..................................................................... 15

Automatic Bias Correction ....................................................... 15

Manual Bias Correction ............................................................ 15

Restoring Factory Calibration .................................................. 15

Point-of-Percussion/Linear-g Compensation ............................ 15

System Tools .................................................................................... 16

Global Commands ..................................................................... 16

Device Identification .................................................................. 17

Flash Memory Management ..................................................... 17

Alarms .............................................................................................. 18

Static Alarm Use ......................................................................... 18

Dynamic Alarm Use .................................................................. 18

Alarm Reporting ........................................................................ 18

Applications Information .............................................................. 19

Mounting Tips ............................................................................ 19

Power Supply Considerations ................................................... 19

Breakout Boards ......................................................................... 19

Evaluation System ...................................................................... 19

ADIS16IMU2/PCBZ .................................................................. 19

PC-Based Evaluation Tools ....................................................... 19

X-Ray Sensitivity ........................................................................ 19

Outline Dimensions ....................................................................... 20

Ordering Guide .......................................................................... 20

REVISION HISTORY

4/2019—Rev. C to Rev. D

Added Endnote 1, Table 1; Renumbered Sequentially ................ 4

Change to ADIS16IMU2/PCBZ Section ..................................... 19

Added X-Ray Sensitivity Section .................................................. 19

Changes to Ordering Guide .......................................................... 20

5/2018—Rev. B to Rev. C

Deleted Figure 23 and Figure 24; Renumbered Sequentially ... 19

Deleted Installation Section and Mounting Approaches

Section .............................................................................................. 19

Added Mounting Tips Section, Power Supply Considerations

Section, Breakout Boards Section, Evaluation System Section,

Figure 23, PC-Based Evaluation Tools Section, and Figure 24;

Renumbered Sequentially .............................................................. 19

Changes to ADIS16IMU2/PCBZ Section ................................... 19

Changes to Ordering Guide .......................................................... 20

5/2013—Rev. A to Rev. B

Changes to Features and General Description Section ................ 1

Deleted VIL (CS Signal to Wake Up from Sleep Mode) of 0.55 V

and CS Wake -Up Pulse Width of 20 µs; Table 1 ............................ 4

Changed tSTALL Burst Read Min from 1/fSCLK to N/A; Added

tREADRATE Burst Read Min of N/A; Table 2 ....................................... 5

Added Mounting Approaches Section ........................................ 19

6/2011—Rev. 0 to Rev. A

Changes to In-Run Bias Stability Parameter, Table 1 ................... 3

Changes to Figure 23 ...................................................................... 19

1/2011—Revision 0: Initial Version

Data Sheet ADIS16334

Rev. D | Page 3 of 20

SPECIFICATIONS

TA = 25°C, VCC = 5.0 V, angular rate = 0°/sec, dynamic range = ±300°/sec ± 1 g, unless otherwise noted.

Table 1.

Parameter Test Conditions/Comments Min Typ Max Unit

GYROSCOPES

Dynamic Range ±300 ±350 °/sec

Initial Sensitivity Dynamic range = ±300°/sec 0.0495 0.05 0.0505 °/sec/LSB

Dynamic range = ±150°/sec 0.025 °/sec/LSB

Dynamic range = ±75°/sec 0.0125 °/sec/LSB

Sensitivity Temperature Coefficient −20°C ≤ TA ≤ +70°C ±40 ppm/°C

Nonlinearity Best-fit straight line ±0.1 % of FS

Misalignment Axis to axis ±0.05 Degrees

Axis-to-frame (package) ±0.5 Degrees

Initial Bias Error ±1 σ ±3 °/sec

In-Run Bias Stability 1 σ, SMPL_PRD = 0x0001 0.0072 °/sec

Angular Random Walk 1 σ, SMPL_PRD = 0x0001 2 °/√hr

Bias Temperature Coefficient −20°C ≤ TA ≤ +70°C ±0.005 °/sec/°C

Linear Acceleration Effect on Bias Any axis, 1 σ (MSC_CTRL[7] = 1) ±0.05 °/sec/g

Bias Voltage Sensitivity VCC = 4.75 V to 5.25 V ±0.3 °/sec/V

Output Noise ±300°/sec range, no filtering 0.75 °/sec rms

Rate Noise Density f = 25 Hz, ±300°/sec range, no filtering 0.044 °/sec/√Hz rms

3 dB Bandwidth 330 Hz

Sensor Resonant Frequency 14.5 kHz

ACCELEROMETERS Each axis

Dynamic Range ±5 ±5.25 g

Initial Sensitivity 0.99 1.00 1.01 mg/LSB

Sensitivity Temperature Coefficient −20°C ≤ TA ≤ +70°C ±40 ppm/°C

Misalignment Axis-to-axis ±0.1 Degrees

Axis-to-frame (package) ±0.5 Degrees

Nonlinearity Best-fit straight line ±0.1 % of FS

Initial Bias Error1 ±1 σ ±12 mg

In-Run Bias Stability 1 σ 100 µg

Velocity Random Walk 1 σ 0.11 m/sec/√hr

Bias Temperature Coefficient −20°C ≤ TA ≤ +70°C

±0.06 mg/°C

Bias Voltage Sensitivity VCC = 4.75 V to 5.25 V ±5 mg/V

Output Noise No filtering 4 mg rms

Noise Density No filtering 221 µg/√Hz rms

3 dB Bandwidth 330 Hz

Sensor Resonant Frequency 5.5 kHz

TEMPERATURE SENSOR

Scale Factor Output = 0x0000 at 25°C (±5°C) 0.0678 °C/LSB

LOGIC INPUTS2

Input High Voltage, VIH 2.0 V

Input Low Voltage, VIL 0.8 V

Logic 1 Input Current, IIH VIH = 3.3 V ±0.2 ±10 µA

Logic 0 Input Current, IIL VIL = 0 V

All Pins Except RST 40 60 µA

RST Pin 1 mA

Input Capacitance, CIN 10 pF

DIGITAL OUTPUTS2

Output High Voltage, VOH ISOURCE = 1.6 mA 2.4 V

Output Low Voltage, VOL ISINK = 1.6 mA 0.4 V

ADIS16334 Data Sheet

Rev. D | Page 4 of 20

Parameter Test Conditions/Comments Min Typ Max Unit

FLASH MEMORY Endurance3 10,000 Cycles

Data Retention4 TJ = 85°C 20 Years

FUNCTIONAL TIMES5 Time until data is available

Power-On Start-Up Time Normal mode 180 ms

Reset Recovery Time Normal mode 60 ms

Flash Memory Test Time Normal mode 20 ms

Self-Test Time SMPL_PRD = 0x0001 14 ms

CONVERSION RATE

Internal Sample Rate SMPL_PRD = 0x0001 819.2 SPS

Tolerance ±3 %

Sync Input Clock6 SMPL_PRD = 0x0000 0.8 1.2 kHz

POWER SUPPLY

Supply Voltage 4.75 5.0 5.25 V

Power Supply Current 47 mA

1 X-ray exposure may degrade this performance metric.

2 The digital I/O signals are driven by an internal 3.3 V supply, and the inputs are 5 V tolerant.

3 Endurance is qualified as per JEDEC Standard 22, Method A117, and measured at −40°C, +25°C, +85°C, and +125°C.

4 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.

5 These times do not include thermal settling and internal filter response times (330 Hz bandwidth), which may affect overall accuracy.

6 The sync input clock functions below the specified minimum value, at reduced performance levels.

Data Sheet ADIS16334

Rev. D | Page 5 of 20

TIMING SPECIFICATIONS

TA = 25°C, VCC = 5.0 V, u n less otherwise noted.

Table 2.

Normal Read Burst Read

Parameter Description Min1 Typ Max Min1 Typ Max Unit

fSCLK Serial clock 0.01 2.0 0.01 1.0 MHz

tSTALL Stall period between data 9 N/A2 µs

tREADRATE Read rate 40 N/A2 µs

tCS Chip select to SCLK edge 48.8 48.8 ns

tDAV DOUT valid after SCLK edge 100 100 ns

tDSU DIN setup time before SCLK rising edge 24.4 24.4 ns

tDHD DIN hold time after SCLK rising edge 48.8 48.8 ns

tSCLKR, tSCLKF SCLK rise/fall times 5 12.5 5 12.5 ns

tDR, tDF DOUT rise/fall times 5 12.5 5 12.5 ns

tSFS CS high after SCLK edge 5 5 ns

t1 Input sync positive pulse width 5 5 µs

tx Input sync low time 100 100 µs

t2 Input sync to data ready output 600 600 µs

t3 Input sync period 833 833 µs

1 Guaranteed by design and characterization, but not tested in production.

2 Does not apply to burst read.

TIMING DIAGRAMS

CS

SCLK

DOUT

DIN

1 2 3 4 5 6 15 16

R/W A5A6 A4 A3 A2 D2

MSB DB14

D1 LSB

DB13 DB12 DB10DB11 DB2 LSBDB1

t

CS

t

SFS

t

DAV

t

DHD

t

DSU

09362-002

Figure 2. SPI Timing and Sequence

CS

SCLK

tREADRATE

tSTALL

09362-003

Figure 3. Stall Time and Data Rate

t3

tX

t2

t1

SYNC

CLOCK (DIO4)

DATA

READY

09362-004

Figure 4. Input Clock Timing Diagram

ADIS16334 Data Sheet

Rev. D | Page 6 of 20

ABSOLUTE MAXIMUM RATINGS

Table 3.

Parameter Rating

Acceleration

Any Axis, Unpowered 2000 g

Any Axis, Powered 2000 g

VCC to GND −0.3 V to +6.0 V

Digital Input Voltage to GND −0.3 V to +5.3 V

Digital Output Voltage to GND −0.3 V to VCC + 0.3 V

Analog Input to GND −0.3 V to +3.6 V

Operating Temperature Range −40°C to +105°C

Storage Temperature Range −65°C to +125°C1, 2

1 Extended exposure to temperatures outside the specified temperature

range of −40°C to +105°C can adversely affect the accuracy of the factory

calibration. For best accuracy, store the parts within the specified operating

range of −40°C to +105°C.

2 Although the device is capable of withstanding short-term exposure to

150°C, long-term exposure threatens internal mechanical integrity.

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 θJA θJC Device Weight

20-Lead Module

(ML-20-1)

36.5°C 16.9°C 12.5 grams

ESD CAUTION

Data Sheet ADIS16334

Rev. D | Page 7 of 20

PIN CONFIGURATION AND FUNCTION DESCRIPTIONS

19

DIO4/CLKIN

DOUT

CS

RST

VCC DIO2

GND

DNC

DNC

DNC

DIO3

SCLK

DIN

DIO1

VCC VCC

GND

GND

DNC

DNC

20

17

18

15

16

13

14

11

12

9

10

7

8

5

6

3

4

1

2

A

DIS16334

TOP VIEW

(Not to Scale)

09362-005

NOTES

1. THIS REPRESENTATION DISPLAYS THE TOP VIEW WHEN THE

CONNECTOR IS VISIBLE AND FACING UP.

2. MATING CONNECTOR: SAMTEC CLM-110-02 OR EQUIVALENT.

3. DNC = DO NOT CONNECT.

Figure 5. Pin Configuration

PIN 2

PIN 20

Y-AXIS

X-AXIS

Z-AXIS

09362-006

NOTES

1. ACCELERATION (

a

X

,

a

Y

,

a

Z

) AND ROTATIONAL (

g

X

,

g

Y

,

g

Z

)ARROWS

INDICATE THE DIRECTION OF MOTION THAT PRODUCES A POSITIVE

OUTPUT.

a

Z

a

Y

g

Y

a

X

g

X

g

Z

Figure 6. Axial Orientation

Table 5. Pin Function Descriptions

Pin No. Mnemonic Type1Description

1 DIO3 I/O Configurable Digital Input/Output.

2 DIO4/CLKIN I/O Configurable Digital Input/Output or Sync Clock Input.

3 SCLK I SPI Serial Clock.

4 DOUT O SPI Data Output. Clocks output on SCLK falling edge.

5 DIN I SPI Data Input. Clocks input on SCLK rising edge.

6 CS I SPI Chip Select.

7, 9 DIO1, DIO2 I/O Configurable Digital Input/Output.

8 RST I Reset.

10, 11, 12 VCC S Power Supply.

13, 14, 15 GND S Power Ground.

16, 17, 18, 19, 20 DNC N/A Do Not Connect.

1 I/O is input/output, I is input, O is output, S is supply, and N/A is not applicable.

ADIS16334 Data Sheet

Rev. D | Page 8 of 20

TYPICAL PERFORMANCE CHARACTERISTICS

1

0.1

0.01

0.001

0.1 110 100 1000 2000

T

AU

(sec)

ROOT ALLAN VARIANCE (°/sec)

09362-023

µ +

µ –

µ

Figure 7. Gyroscope Allan Variance

10

1

0.1

0.01

0.1 110 100 1000 2000

TAU (sec)

ROOT ALLAN VARIANCE (mg)

09362-024

µ +

µ –

µ

Figure 8. Accelerometer Allan Variance

Data Sheet ADIS16334

Rev. D | Page 9 of 20

THEORY OF OPERATION

The ADIS16334 is a six degree of freedom (6DOF) inertial sensing

system. This sensing system collects data autonomously and

makes it available to any processor system that supports a 4-wire

serial peripheral interface (SPI).

GYROSCOPES

Angular rate sensing in the ADIS16334 begins with a MEMS

gyroscope that operates on the principle of a resonator gyro. Two

polysilicon sensing structures each contain a dither frame that

is electrostatically driven to resonance, producing the necessary

velocity element to produce a Coriolis force during angular rate.

At two of the outer extremes of each frame, orthogonal to the

dither motion, are movable fingers that are placed between

fixed pickoff fingers to form a capacitive pickoff structure that

senses Coriolis motion. The resulting signal is fed to a series of

gain and demodulation stages that produce the electrical rate

signal output. The dual-sensor design rejects external g-forces

and vibration.

ACCELEROMETERS

Acceleration sensing in the ADIS16334 starts with a MEMS

accelerometer core on each axis, which provides a linear motion-to-

electrical transducer function. Tiny polysilicon springs to tether a

movable structure to a fixed frame inside the sensor core. The

springs and mass of the movable structure provide a dependable

relationship between acceleration and physical displacement

between them. The moving structure and fixed frame have

electrical plates in a balanced, differential capacitor network.

When experiencing dynamic or static acceleration, it causes a

physical deflection, which causes an imbalance in the capacitive

network. A modulation/demodulation circuit translates the

capacitor imbalance into a representative electrical signal.

DATA SAMPLING AND PROCESSING

The analog signals from each inertial sensor feed into a mixed

signal processing circuit, which includes buffering, analog

filtering, digital sampling, digital filtering, and calibration.

CALIBRATION

The digital processing stage includes a correction function for

each accelerometer and gyroscope sensor. Each sensor within

each unit has unique correction formulas, which optimize their

bias and sensitivity accuracy over temperature and supply. The full,

6DOF characterization also enables an internal frame alignment,

which minimizes cross-axis sensitivity and simplifies frame

alignment after system installation.

USER INTERFACE

SPI Interface

The user registers manage user access to both sensor data and

configuration inputs. Each 16-bit register has its own unique bit

assignment and two addresses: one for its upper byte and one for

its lower byte. Tabl e 8 provides a memory map for each register,

along with its function and lower byte address. Each data collection

and configuration command both use the SPI, which consists of

four wires. The chip select (CS) signal activates the SPI interface

and the serial clock (SCLK) synchronizes the serial data lines.

Input commands clock into the DIN pin, one bit at a time, on

the SCLK rising edge. Output data clocks out of the DOUT pin

on the SCLK falling edge. As a SPI slave device, the DOUT contents

reflect the information requested using a DIN command.

CONTROLLER

DIGITAL I/O

SPI SIGNALS

SPI PORT

09362-007

ADC

CONTROL

REGISTERS

OUTPUT

REGISTERS

FILTERING AND

CALIBRATION

MEMS

SENSOR

Figure 9. Simplified Sensor Signal Processing Diagram

ADIS16334 Data Sheet

Rev. D | Page 10 of 20

BASIC OPERATION

The ADIS16334 is an autonomous system that requires no user

initialization. When it has a valid power supply, it initializes itself

and starts sampling, processing, and loading sensor data into

the output registers at a sample rate of 819.2 SPS. DIO1 pulses

high after each sample cycle concludes. The SPI interface enables

simple integration with many embedded processor platforms,

as shown in Figure 10 (electrical connection) and Table 6 (pin

descriptions).

SCLK

CS

DIN

DOUT

SCLK

SS

MOSI

MISO

5V

IRQ DIO1

VDD

I/O LINES ARE COMPATIBLE WITH

3.3V OR 5V LOGIC LEVELS

10

6

3

5

4

7

11 12

13 14 15

ADIS16334

09362-008

SYSTEM

PROCESSOR

SPI MASTER

Figure 10. Electrical Connection Diagram

Table 6. Generic Master Processor Pin Names and Functions

Pin Name Function

SS Slave select

SCLK Serial clock

MOSI Master output, slave input

MISO Master input, slave output

IRQ Interrupt request

The ADIS16334 SPI interface supports full-duplex serial

communication (simultaneous transmit and receive) and uses

the bit sequence shown in Figure 14. Table 7 provides a list of

the most common settings that require attention to initialize a

processor’s serial port for the ADIS16334 SPI interface.

Table 7. Generic Master Processor SPI Settings

Processor Setting Description

Master The ADIS16334 operates as a slave.

SCLK Rate ≤ 2 MHz1 Maximum serial clock rate.

SPI Mode 3 CPOL = 1 (polarity), CPHA = 1 (phase).

MSB First Mode Bit sequence.

16-Bit Mode Shift register/data length.

1 For burst read, SCLK rate ≤ 1 MHz.

READING SENSOR DATA

The ADIS16334 provides two different options for acquiring

sensor data: single register and 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 14.

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 11 includes three single register reads in succession. In

this example, the process starts with DIN = 0x0400 to request

the contents of XGYRO_OUT, then follows with 0x0600 to

request YGYRO_OUT and 0x0800 to request ZGYRO_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 12 provides an example of the four SPI

signals when reading XGYRO_OUT in a repeating pattern.

XGYRO_OUT

DIN

DOUT

YGYRO_OUT ZGYRO_OUT

0x0400 0x0600 0x0800

09362-009

Figure 11. SPI Read Example

DOUT = 1111 1001 1101 1010 = 0xF9DA = –1574 LSBs => –78.70°/sec

DIN = 0000 0100 0000 0000 = 0x0400

SCLK

CS

DIN

DOUT

09362-010

Figure 12. Example SPI Read, Second 16-Bit Sequence

Burst Read Function

The burst read function enables the user to read all output registers

using one command on the DIN line and shortens the stall time

between each 16-bit segment to one SCLK cycle (see Table 2).

Figure 13 provides the burst read sequence of data on each SPI

signal. The sequence starts with writing 0x3E00 to DIN, followed

by each output register clocking out on DOUT, in the order in

which they appear in Table 8.

0x3E00 DON’T CARE

1 2 3 8

CS

SCLK

DIN

DOUT XGYRO_OUT YGYRO_OUT TEMP_OUT

09362-011

Figure 13. Burst Read Sequence

09362-012

R/W R/W

A6 A5 A4 A3 A2 A1 A0 DC7DC6DC5DC4DC3DC2DC1DC0

D0D1D2D3D4

D5D6D7D8D9D10D11D12D13D14D15

CS

SCLK

DIN

DOUT

A5A6

D13D14D15

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 14. SPI Communication Bit Sequence

Data Sheet ADIS16334

Rev. D | Page 11 of 20

MEMORY MAP

Table 8. User Register Memory Map

Name User Access1 Flash Backup1 Address1, 2 Default1 Register Description Bit Function1

FLASH_CNT Read only Yes 0x00 N/A Flash memory write count Table 30

Reserved N/A N/A 0x02 N/A Reserved N/A

XGYRO_OUT Read only No 0x04 N/A Output, x-axis gyroscope Table 10

YGYRO_OUT Read only No 0x06 N/A Output, y-axis gyroscope Table 10

ZGYRO_OUT Read only No 0x08 N/A Output, z-axis gyroscope Table 10

XACCL_OUT Read only No 0x0A N/A Output, x-axis accelerometer Table 12

YACCL_OUT Read only No 0x0C N/A Output, y-axis accelerometer Table 12

ZACCL_OUT Read only No 0x0E N/A Output, z-axis accelerometer Table 12

TEMP_OUT Read only No 0x10 N/A Output, internal temperature Table 14

Reserved N/A N/A 0x12 N/A Reserved N/A

Reserved N/A N/A 0x14 N/A Reserved N/A

Reserved N/A N/A 0x16 N/A Reserved N/A

Reserved N/A N/A 0x18 N/A Reserved N/A

XGYRO_OFF Read/write Yes 0x1A 0x0000 Bias correction, x-axis gyroscope Table 20

YGYRO_OFF Read/write Yes 0x1C 0x0000 Bias correction, y-axis gyroscope Table 20

ZGYRO_OFF Read/write Yes 0x1E 0x0000 Bias correction, z-axis gyroscope Table 20

XACCL_OFF Read/write Yes 0x20 0x0000 Bias correction, x-axis accelerometer Table 21

YACCL_OFF Read/write Yes 0x22 0x0000 Bias correction, y-axis accelerometer Table 21

ZACCL_OFF Read/write Yes 0x24 0x0000 Bias correction, z-axis accelerometer Table 21

ALM_MAG1 Read/write Yes 0x26 0x0000 Alarm 1, trigger polarity, threshold Table 32

ALM_MAG2 Read/write Yes 0x28 0x0000 Alarm 2, trigger polarity, threshold Table 33

ALM_SMPL1 Read/write Yes 0x2A 0x0000 Alarm 1, sample size Table 34

ALM_SMPL2 Read/write Yes 0x2C 0x0000 Alarm 2, sample size Table 34

ALM_CTRL Read/write Yes 0x2E 0x0000 Alarm, control Table 35

Reserved N/A N/A 0x30 N/A Reserved N/A

GPIO_CTRL Read/write No 0x32 0x0000 System, DIOx configuration and control Table 24

MSC_CTRL Read/write Yes 0x34 0x0006 System, data ready, self-test, calibration Table 25

SMPL_PRD Read/write Yes 0x36 0x0001 Sample rate, decimation control Table 17

SENS_AVG Read/write Yes 0x38 0x0402 Dynamic range, digital filter control Table 18

Reserved N/A N/A 0x3A N/A Reserved N/A

DIAG_STAT Read only No 0x3C 0x0000 System, status/error flags Table 26

GLOB_CMD Write only No 0x3E 0x0000 System, global commands Table 23

Reserved N/A N/A 0x40 to 0x51 N/A Reserved N/A

LOT_ID1 Read only Yes 0x52 N/A System, Lot Identification Code 1 Table 27

LOT_ID2 Read only Yes 0x54 N/A System, Lot Identification Code 2 Table 27

PROD_ID Read only Yes 0x56 0x3FCE System, product identification Table 28

SERIAL_NUM Read only Yes 0x58 N/A System, serial number Table 29

1 N/A is not applicable.

2 Each register contains two bytes. The address of the lower byte is displayed. The address of the upper byte is equal to the address of the lower byte plus 1.

ADIS16334 Data Sheet

Rev. D | Page 12 of 20

OUTPUT DATA REGISTERS

Table 9 provides a summary of the output registers. The most

significant bit in each output register provides a new data

indicator function. Every time a new data sample loads into the

output data registers, the ND bit is a 1, until a read operation

accesses the data sample. Then, this bit sets to 0, until the next

data sample loads in. The second most significant bit provides

an error/alarm indicator. This bit is equal to 1 if any error flag in

the DIAG_STAT register is equal to 1 (active).

Table 9. Output Data Register Summary

Register Address1 Function

XGYRO_OUT 0x04 Gyroscope output, x-axis

YGYRO_OUT 0x06 Gyroscope output, y-axis

ZGYRO_OUT 0x08 Gyroscope output, z-axis

XACCL_OUT 0x0A Accelerometer output, x-axis

YACCL_OUT 0x0C Accelerometer output, y-axis

ZACCL_OUT 0x0E Accelerometer output, z-axis

TEMP_OUT 0x10 Gyroscope temperature, x-axis

1 Lower byte address shown.

Gyroscopes

The output registers for the gyroscopes (angular rate of rotation)

are XGYRO_OUT, YGYRO_OUT, and ZGRYO_OUT. Table 10

provides the bit assignments for these registers, along with the

digital formatting for converting the digital codes into angular

rate values. Table 11 provides several examples for converting the

14-bit, twos complement data into angular rate measurements,

and Figure 15 provides the physical/directional reference for

these sensors.

Table 10. Gyroscope Register Bit Assignments

Bit(s) Description

[15] New data, 1 = new data since last read access

[14] Error/alarm

[13:0] Angular rate output data. Twos complement digital

format, typical sensitivity = 0.05°/sec per LSB

Table 11. Gyroscope Data Format Examples

Rate1 Decimal Hex Binary

+300°/sec +6000 LSB 0x1770 XX01 0111 0111 0000

+0.1°/sec +2 LSB 0x0002 XX00 0000 0000 0010

+0.05°/sec +1 LSB 0x0001 XX00 0000 0000 0001

0°/sec 0 LSB 0x0000 XX00 0000 0000 0000

−0.05°/sec −1 LSB 0x3FFF XX11 1111 1111 1111

−0.1°/sec −2 LSB 0x3FFE XX11 1111 1111 1110

−300°/sec −6000 LSB 0x2890 XX10 1000 1001 0000

1 The numbers in the rate column reflect the default range setting, ±300°/sec.

Accelerometers

The output registers for the accelerometers are XACCL_OUT,

YACCL_OUT, and ZACCL_OUT. Table 12 provides the bit

assignments for these registers, along with the digital formatting

for converting the digital codes into angular rate values. Table 13

provides several examples for converting the 14-bit, twos

complement data into acceleration measurements, and Figure 15

provides the physical/directional reference for these sensors.

Table 12. Accelerometer Register Bit Assignments

Bit(s) Description

[15] New data, 1 = new data since last read access

[14] Error/alarm

[13:0] Linear acceleration output data. Twos complement

digital format, typical sensitivity = 1 mg/LSB

Table 13. Acceleration, Twos Complement Format

Acceleration Decimal Hex Binary

+5 g +5000 LSB 0x1388 XX01 0011 1000 1000

+2 mg +2 LSB 0x0002 XX00 0000 0000 0010

+1 mg +1 LSB 0x0001 XX00 0000 0000 0001

0 g 0 LSB 0x0000 XX00 0000 0000 0000

−1 mg −1 LSB 0x3FFF XX11 1111 1111 1111

−2 mg −2 LSB 0x3FFE XX11 1111 1111 1110

−5 g −5000 LSB 0x2C78 XX10 1100 0111 1000

09362-013

NOTES

1. ACCELERATION (

a

X

,

a

Y

,

a

Z

) AND ROTATIONAL (

g

X

,

g

Y

,

g

Z

) ARROWS

INDICATE THE DIRECTION OF MOTION THAT PRODUCES A POSITIVE

OUTPUT.

PIN 2

PIN 20

Y-AXIS

X-AXIS

Z-AXIS

a

Z

a

Y

g

Y

a

X

g

X

g

Z

Figure 15. Sensor Axes and Orientation Reference Diagram

Data Sheet ADIS16334

Rev. D | Page 13 of 20

Internal Temperature Measurements

The TEMP_OUT register provides relative temperature

measurements for inside of the ADIS16334. This measurement

can be above ambient temperature and does not reflect external

conditions. Tabl e 14 provides the bit assignments for this register,

along with the digital data format. Table 15 provides several

examples for converting the 12-bit, offset binary data into

temperature measurements.

Table 14. Temperature Register Bit Assignments

Bit(s) Description

[15] New data, 1 = new data since last read access

[14] Error/alarm

[13:12] Not used

[11:0] Temperature output data, offset binary format,

typical sensitivity = 0.06785°/LSB, 25°C = 0x0000

Table 15. Temperature, Twos Complement Format

Temperature Decimal Hex Binary

+105°C +1179 LSB 0x49B XXXX 0100 1001 1011

+85°C +884 LSB 0x374 XXXX 0011 0111 0100

+25.1537°C +2 LSB 0x002 XXXX 0000 0000 0010

+25.06785°C +1 LSB 0x001 XXXX 0000 0000 0001

+25°C 0 LSB 0x000 XXXX 0000 0000 0000

+24.93215°C −1 LSB 0xFFF XXXX 1111 1111 1111

+24.8643°C −2 LSB 0xFFE XXXX 1111 1111 1110

−40°C −958 LSB 0xC42 XXXX 1100 0100 0010

DEVICE CONFIGURATION

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 14. Each

register has 16 bits, where Bits[7:0] represent the lower address,

and Bits[15:8] represent the upper address. Figure 16 provides

an example of writing 0x03 to Address 0x37 (SMPL_PRD[15:8]),

using DIN = 0xB703. This example reduces the sample rate by

a factor of eight (see Table 17).

SCLK

CS

DIN

DIN = 1011 0111 0000 0011 = 0xB703, WRITES “0x03” TO ADDRESS “0x37.”

09362-014

Figure 16. 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 back these settings up in nonvolatile flash

memory. The flash backup process requires a valid power supply

level for the entire 75 ms process time. The user register map in

Table 8 provides a column that indicates the registers that have

flash back-up support. A yes in the Flash Backup 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 17 provides a diagram of the dual-memory

structure used to manage operation and store critical user settings.

NONVOLATILE

FLASH MEMORY

(NO SPI ACCESS)

MANUAL

FLASH

BACKUP

START-UP

RESET

VOLATILE

SRAM

SPI ACCESS

09362-015

Figure 17. SRAM and Flash Memory Diagram

ADIS16334 Data Sheet

Rev. D | Page 14 of 20

DIGITAL PROCESSING CONFIGURATION

Table 16. Digital Processing Registers

Register Name Address Description

SMPL_PRD 0x36 Sample rate control

SENS_AVG 0x38 Digital filtering and range control

SAMPLE RATE

The internal sampling system produces new data in the output

data registers at a rate of 819.2 SPS. The SMPL_PRD register in

Table 17 provides two functional controls for internal sampling

and register update rates: SMPL_PRD[12:8] for decimation and

SMPL_PRD[0] for enabling the external clock option. The

decimation filter reduces the update rate, using an averaging

filter with a decimated output. These bits provide a binomial

control that divides the data rate by a factor of 2 every time this

number increases by 1. For example, set SMPL_PRD[12:8] =

00100 (DIN = 0xB704) to set the decimation factor to 16. This

reduces the update rate to 51.2 SPS and the bandwidth to 25 Hz.

Table 17. SMPL_PRD Bit Descriptions

Bit(s) Description (Default = 0x0001)

[15:13] Not used

[12:8] Average/decimation rate setting, binomial

[7:1] Not used

[0] Clock: 1 = internal (819.2 SPS), 0 = external

INPUT CLOCK CONFIGURATION

SMPL_PRD[0] provides a control for synchronizing the internal

sampling to an external clock source. Set SMPL_PRD[0] = 0

(DIN = 0xB600) to enable the external clock. See Table 2 and

Figure 4 for timing information.

DIGITAL FILTERING

The SENS_AVG register in Tabl e 18 provides user controls for the

low-pass filter. This filter contains two cascaded averaging filters

that provide a Bartlett window, FIR filter response (see Figure 19).

For example, set SENS_AVG[2:0] = 100 (DIN = 0xB804) to set

each stage to 16 taps. When used with the default sample rate of

819.2 SPS and zero decimation (SMPL_PRD[12:8] = 00000), this

value reduces the sensor bandwidth to approximately 16 Hz.

0

–20

–40

–60

–80

–100

–120

–140

0.001 0.01 0.1 1

MAGNITUDE (dB)

FREQUENCY (f/f

S

)

N = 2

N = 4

N = 16

N = 64

09362-016

Figure 18. Bartlett Window, FIR Filter Frequency Response

(Phase Delay = N Samples)

DYNAMIC RANGE

The SENS_AVG[10:8] bits provide three dynamic range settings

for this gyroscope. The lower dynamic range settings (±75°/sec

and ±150°/sec) limit the minimum filter tap sizes to maintain

resolution. For example, set SENS_AVG[10:8] = 010 (DIN =

0xB902) for a measurement range of ±150°/sec. Because this

setting can influence the filter settings, program SENS_AVG[10:8]

before programming SENS_AVG[2:0] if additional filtering is

required.

Table 18. SENS_AVG Bit Descriptions

Bits Description (Default = 0x0402)

[15:11] Not used

[10:8] Measurement range (sensitivity) selection

100 = ±300°/sec (default condition)

010 = ±150°/sec, filter taps ≥ 4 (Bits[2:0] ≥ 0x02)

001 = ±75°/sec, filter taps ≥ 16 (Bits[2:0] ≥ 0x04)

[7:3] Not used

[2:0] Number of taps in each stage; value of B in NB = 2B

MEMS

SENSOR

LOW-PASS

FILTER

330Hz

CLOCK

ADC

BARTLETT WINDOW

FIR FILTER

AVERAGE/

DECIMATION

FILTER

EXTERNAL CLOCK ENABLED

BY SMPL_PRD[0] = 0

GYROSCOPES

LOW-PASS, TWO-POLE (404Hz, 757Hz)

ACCELEROMETERS

LOW-PASS, SINGLE-POLE (330Hz)

B = SENS_AVG[2:0]

N

B

= 2

B

N

B

= NUMBER OF TAPS

(PER STAGE)

D = SMPL_PRD[12:8]

N

D

= 2

D

N

D

= NUMBER OF TAPS

÷N

D

x(n)

n = 1

1

N

B

N

B

x(n)

n = 1

1

N

B

N

B

x(n)

n = 1

1

N

D

N

D

09362-017

Figure 19. Sampling and Frequency Response Block Diagram

Data Sheet ADIS16334

Rev. D | Page 15 of 20

OPTIMIZING ACCURACY

The mechanical structure and assembly process of the ADIS16334

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 sensor’s behavior over temperature

and generates sensor-specific correction formulas. The bias

correction registers in Table 19 provide users with the ability to

address bias shifts that can result from mechanical stress. Figure 20

illustrates the summing function of each sensor’s offset correction

register.

Table 19. Registers for User Calibration

Register Address Description

XGYRO_OFF 0x1A Gyroscope bias, x-axis

YGYRO_OFF 0x1C Gyroscope bias, y-axis

ZGYRO_OFF 0x1E Gyroscope bias, z-axis

XACCL_OFF 0x20 Accelerometer bias, x-axis

YACCL_OFF

0x22

Accelerometer bias, y-axis

ZACCL_OFF 0x24 Accelerometer bias, z-axis

GLOB_CMD 0x3E Automatic calibration

XGYRO_OFF

09362-018

X-AXIS

MEMS

GYRO ADC

FACTORY

CALIBRATION

AND

FILTERING

XGYRO_OUT

Figure 20. User Calibration, XGYRO_OFF Example

There are two options for optimizing gyroscope bias accuracy

prior to system deployment: automatic bias correction (ABC)

and manual bias correction (MBC).

AUTOMATIC BIAS CORRECTION

The ABC function provides a simple measure-and-adjust function

for the three gyroscope sensors. Set GLOB_CMD[0] = 1 (DIN =

0xBE01) to start the ABC function, which automatically performs

the following steps to correct the bias on each gyroscope:

1. Sets the output range to ±75°/sec

2. Waits for the next output register update

3. Reads the output register of the gyroscope

4. Multiplies the measurement by −1 to change its polarity

5. Writes the final value into the offset register

6. Performs a manual flash back-up function to store the

correction factor in nonvolatile flash memory

The accuracy of the bias correction depends on the internal

averaging time used for the data sample, which depends on the

decimation setting. For example, set SMPL_PRD[15:8] = 0x10

(DIN = 0xB710) to establish a decimation rate of 216, or 65536.

This establishes an averaging time of 80 seconds at a sample

rate of 819.2 SPS, which results in an Allan Variance of 0.006°/sec

in Figure 7.

MANUAL BIAS CORRECTION

The MBC function requires the user to collect the desired number

of samples, calculate the averages to develop bias estimates for

each gyroscope channel, and then write them into the bias offset

registers, located in Table 20 for the gyroscopes. For example,

set XGYRO_OFF = 0x1FF6 (DIN = 0x9B1F, 0x9AF6) to adjust

the XGYRO_OUT offset by −0.125°/sec (−10 LSBs). Table 21

provides a manual adjustment function for the accelerometer

channels as well.

Table 20. XGYRO_OFF, YGYRO_OFF, and ZGYRO_OFF

Bit Descriptions

Bits Description (Default = 0x0000)

[15:13] Not used

[12:0] Data bits. Twos complement, 0.0125°/sec per LSB.

Typical adjustment range = ±50°/sec.

Table 21. XACCL_OFF, YACCL_OFF, and ZACCL_OFF

Bit Descriptions

Bits Description (Default = 0x0000)

[15:12] Not used

[11:0] Data bits. Twos complement, 1mg/LSB. Typical

adjustment range = ±2 g.

RESTORING FACTORY CALIBRATION

Set GLOB_CMD[1] = 1 (DIN = 0xBE02) to execute the factory

calibration restore function. This is a single-command function,

which resets each user calibration register to 0x0000 and all sensor

data to 0. Then, it automatically updates the flash memory within

50 ms. See Tabl e 23 for more information on GLOB_CMD.

POINT-OF-PERCUSSION/LINEAR-g COMPENSATION

Set MSC_CTRL[6] = 1 (DIN = 0xB446) to enable this feature

and maintain the factory-default settings for DIO1. This feature

performs a point-of-percussion translation to the point identified

in Figure 6. See Table 25 for more information on MSC_CTRL.

Set MSC_CTRL[7] = 1 to enable internal compensation for

linear-g on the gyroscope bias.

09362-019

PIN 2

PIN 20

ORIGIN ALIGNMENT

REFERENCE POINT

SEE MSC_CTRL[6].

Figure 21. Point of Percussion Reference

ADIS16334 Data Sheet

Rev. D | Page 16 of 20

SYSTEM TOOLS

Table 22 provides an overview of the control registers that provide

support for the following system level functions: global commands,

I/O control, status/error flags, device identification, MEMS self-

test, and flash memory management.

Table 22. System Tool Register Addresses

Register Name Address Description

FLSH_CNT 0x00 Flash write cycle count

GPIO_CTRL 0x32 General-purpose I/O control

MSC_CTRL 0x34 Manual self-test controls

DIAG_STAT 0x3C Status, error flags

GLOB_CMD 0x3E Global commands

LOT_ID1 0x52 Lot Identification Code 1

LOT_ID2 0x54 Lot Identification Code 2

PROD_ID 0x56 Product identification

SERIAL_NUM 0x58 Serial number

GLOBAL COMMANDS

The GLOB_CMD register provides an array of single-write

commands for convenience. Setting the assigned bit in Table 23

to 1 activates each function. When the function completes, the

bit restores itself to 0. For example, clear the capture buffers by

setting GLOB_CMD[8] = 1 (DIN = 0xBF01). All of the commands

in the GLOB_CMD register require the power supply to be within

normal limits for the execution times listed in Table 23. Avoid

communicating with the SPI interface during these execution

times because it interrupts the process and causes data loss or

corruption.

Table 23. GLOB_CMD Bit Descriptions

Bit(s)

Description

Execution Time

1

[15:8] Not used Not applicable

[7] Software reset 60 ms

[6:4] Not used Not applicable

[3] Register back-up to flash

[2] Not used Not applicable

[1] Factory calibration restore

[0] Gyroscope auto-null

1 This indicates the typical duration of time between the command write and

the device returning to normal operation.

General-Purpose I/O

DIO1, DIO2, DIO3, and DIO4 are configurable, general-purpose

I/O lines that serve multiple purposes according to the following

control register priority: MSC_CTRL, ALM_CTRL, and

GPIO_CTRL. For example, set GPIO_CTRL = 0x080C (DIN =

0xB308, and then 0xB20C) to configure DIO1 and DIO2 as inputs

and DIO3 and DIO4 as outputs, with DIO3 set low and DIO4

set high. In this configuration, read GPIO_CTRL (DIN = 0x3200).

The digital state of DIO1 and DIO2 is in GPIO_CTRL[9:8].

Table 24. GPIO_CTRL Bit Descriptions

Bit(s) Description (Default = 0x0000)

[15:12] Not used

[11] General-Purpose I/O Line 4 (DIO4) data level

[10] General-Purpose I/O Line 3 (DIO3) data level

[9] General-Purpose I/O Line 2 (DIO2) data level

[8] General-Purpose I/O Line 1 (DIO1) data level

[7:4] Not used

[3] General-Purpose I/O Line 4 (DIO4) direction control

(1 = output, 0 = input)

[2] General-Purpose I/O Line 3 (DIO3) direction control

(1 = output, 0 = input)

[1] General-Purpose I/O Line 2 (DIO2) direction control

(1 = output, 0 = input)

[0] General-Purpose I/O Line 1 (DIO1) direction control

(1 = output, 0 = input)

Data Ready I/O Indicator

The factory default sets DIO1 as a positive data ready indicator

signal. In this configuration, the signal pulses high when all of

the output data registers have fresh data from the same sample

period. The MSC_CTRL[2:0] bits provide configuration options

for changing the default. For example, set MSC_CTRL[2:0] = 100

(DIN = 0xB404) to change the polarity of the data ready signal

on DIO1 for interrupt inputs that require negative logic inputs

for activation. See Figure 4 for an example of the data-ready

timing.

Table 25. MSC_CTRL Bit Descriptions

Bit(s) Description (Default = 0x0006)

[15:12] Not used

[11]

Memory test (cleared upon completion)

(1 = enabled, 0 = disabled)

[10] Internal self-test enable (cleared upon completion)

(1 = enabled, 0 = disabled)

[9:8] Not used

[7] Linear acceleration bias compensation for gyroscopes

(1 = enabled, 0 = disabled)

[6] Linear accelerometer origin alignment

(1 = enabled, 0 = disabled)

[5:3] Not used

[2] Data ready enable (1 = enabled, 0 = disabled)

[1] Data ready polarity (1 = active high, 0 = active low)

[0] Data ready line select (1 = DIO2, 0 = DIO1)

Data Sheet ADIS16334

Rev. D | Page 17 of 20

Self-Test

The self-test function allows the user to verify the mechanical

integrity of each MEMS sensor. It applies an electrostatic force

to each sensor element, which results in mechanical displacement

that simulates a response to actual motion. Table 1 lists the

expected response for each sensor and provides pass/fail criteria.

Set MSC_CTRL[10] = 1 (DIN = 0xB504) to run the internal

self-test routine, which exercises all inertial sensors, measures

each response, makes pass/fail decisions, and reports them to

error flags in the DIAG_STAT register. MSC_CTRL[10] resets

itself to 0 after completing the routine. Zero rotation provides

results that are more reliable.

Memory Test

Setting MSC_CTRL[11] = 1 (DIN = 0xB508) performs a check-

sum verification of the flash memory locations. The pass/fail result

is loaded into DIAG_STAT[6].

Status

The error flags provide indicator functions for common

system level issues. All of the flags are cleared (set to 0) after

each DIAG_STAT register read cycle. If an error condition

remains, the error flag returns to 1 during the next sample

cycle. The DIAG_STAT[1:0] bits do not require a read of this

register to return to 0. If the power supply voltage goes back

into range, these two flags are cleared automatically.

Table 26. DIAG_STAT Bit Descriptions

Bit(s) Description (Default = 0x0000)

[15] Z-axis accelerometer self-test failure (1 = fail, 0 = pass)

[14] Y-axis accelerometer self-test failure (1 = fail, 0 = pass)

[13] X-axis accelerometer self-test failure (1 = fail, 0 = pass)

[12] Z-axis gyroscope self-test failure (1 = fail, 0 = pass)

[11] Y-axis gyroscope self-test failure (1 = fail, 0 = pass)

[10] X-axis gyroscope self-test failure (1 = fail, 0 = pass)

[9] Alarm 2 status (1 = active, 0 = inactive)

[8] Alarm 1 status (1 = active, 0 = inactive)

[7] Not used

[6] Flash test, checksum flag (1 = fail, 0 = pass)

[5] Self-test diagnostic error flag (1 = fail, 0 = pass)

[4] Sensor overrange (1 = fail, 0 = pass)

[3] SPI communication failure (1 = fail, 0 = pass)

[2] Flash update failure (1 = fail, 0 = pass)

[1:0]

Not used

DEVICE IDENTIFICATION

Table 27. LOT_ID1 and LOT_ID2 Bit Descriptions

Bits Description

[15:0] Lot identification code

Table 28. PROD_ID Bit Descriptions

Bits Description

[15:0] 0x3FCE = 16,334 (decimal)

Table 29. SERIAL_NUM Bit Descriptions

Bits Description

[15:0] Serial number, lot specific

FLASH MEMORY MANAGEMENT

Set MSC_CTRL[11] = 1 (DIN = 0xB508) to run an internal

checksum test on the flash memory, which reports a pass/fail

result to DIAG_STAT[6]. The FLASH_CNT register (see Table 30)

provides a running count of flash memory write cycles. This is a

tool for managing the endurance of the flash memory. Figure 22

quantifies the relationship between data retention and junction

temperature.

Table 30. FLASH_CNT Bit Descriptions

Bits Description

[15:0] Binary counter for writing to flash memory

600

450

300

150

030 40

RETENTION (Years)

JUNCTION TEMPERATURE (°C)

55 70 85 100125135150

09362-020

Figure 22. Flash/EE Memory Data Retention

ADIS16334 Data Sheet

Rev. D | Page 18 of 20

ALARMS

The ADIS16334 provides two independent alarms, Alarm 1 and

Alarm 2, which have a number of programmable settings. Table 31

provides a list of registers for these user settings.

Table 31. Registers for Alarm Configuration

Register Address Description

ALM_MAG1 0x26 Alarm 1 trigger setting

ALM_MAG2 0x28 Alarm 2 trigger setting

ALM_SMPL1 0x2A Alarm 1 sample period

ALM_SMPL2 0x2C Alarm 2 sample period

ALM_CTRL 0x2E Alarm configuration

The ALM_CTRL register in Tabl e 35 provides data source

selection (Bits[15:8]), static/dynamic setting for each alarm

(Bits[7:6]), data source filtering (Bit[4]), and alarm indicator

signal (Bits[2:0]).

STATIC ALARM USE

The static alarms setting compares the data source selection

(ALM_CTRL[15:8]) with the values in the ALM_MAGx registers

in Table 32 and Tabl e 33. The data format in these registers

matches the format of the data selection in ALM_CTRL[15:8].

The MSB (Bit[15]) of each ALM_MAGx register establishes the

polarity for this comparison. See Tabl e 36, Alarm 1, for a static

alarm configuration example.

Table 32. ALM_MAG1 Bit Descriptions

Bit(s) Description (Default = 0x0000)

[15] Trigger polarity, 1= greater than, 0 = less than

[14] Not used

[13:0] Threshold setting; matches for format of

ALM_CTRL[11:8] output register selection

Table 33. ALM_MAG2 Bit Descriptions

Bit(s) Description (Default = 0x0000)

[15] Trigger polarity, 1= greater than, 0 = less than

[14] Not used

[13:0] Threshold setting; matches for format of

ALM_CTRL[15:12] output register selection

DYNAMIC ALARM USE

The dynamic alarm setting monitors the data selection for a

rate-of-change comparison. The rate-of-change comparison is

represented by the magnitude in the ALM_MAGx registers over

the time represented by the number-of-samples setting in the

ALM_SMPLx registers located in Table 34. See Table 36, Alarm 2,

for a dynamic alarm configuration example.

Table 34. ALM_SMPL1 and ALM_SMPL2 Bit Descriptions

Bits Description (Default = 0x0000)

[15:8] Not used

[7:0] Binary, number of samples (both 0x00 and 0x01 = 1)

ALARM REPORTING

The DIAG_STAT[9:8] bits provide error flags that indicate an

alarm condition. The ALM_CTRL[2:0] bits provide controls for

a hardware indicator using DIO1 or DIO2.

Table 35. ALM_CTRL Bit Descriptions

Bit(s) Description (Default = 0x0000)

[15:12]

Alarm 2 data source selection

0000 = disable

0001 = x-axis gyroscope output

0010 = y-axis gyroscope output

0011 = z-axis gyroscope output

0100 = x-axis accelerometer output

0101 = y-axis accelerometer output

0110 = z-axis accelerometer output

0111 = internal temperature output

[11:8] Alarm 1 data source selection (same as Alarm 2)

[7] Alarm 2, dynamic/static (1 = dynamic, 0 = static)

[6] Alarm 1, dynamic/static (1 = dynamic, 0 = static)

[5] Not used

[4] Data source filtering (1 = filtered, 0 = unfiltered)

[3] Not used

[2] Alarm indicator (1 = enabled, 0 = disabled)

[1] Alarm indicator active polarity (1 = high, 0 = low)

[0] Alarm output line select (1 = DIO2, 0 = DIO1)

Alarm Example

Table 36 offers an example that configures Alarm 1 to trigger when

filtered ZACCL_OUT data drops below 0.7 g, and Alarm 2 to

trigger when filtered ZGYRO_OUT data changes by more than

50°/sec over a 100 ms period, or 500°/sec2. The filter setting

helps reduce false triggers from noise and refine the accuracy

of the trigger points. The ALM_SMPL2 setting of 82 samples

provides a comparison period that is 97.7 ms for an internal

sample rate of 819.2 SPS.

Table 36. Alarm Configuration Example 1

DIN Description

0xAF36, ALM_CTRL = 0x3697.

0xAE97 Alarm 2: dynamic, ΔZGYRO_OUT (Δ-time,

ALM_SMPL2) > ALM_MAG2.

Alarm 1: static, ZACCL_OUT < ALM_MAG1. Use filtered

data source for comparison. DIO2 output indicator,

positive polarity.

0xA983,

0xA8E8

ALM_MAG2 = 0x83E8 (true if ΔZGYRO_OUT > 50°/sec)

50°/sec ÷ 0.05°/sec per LSB = 1000 = 0x03E8,

ALM_MAG2[15] = 1 for greater than.

0xA702,

0xA6BC

ALM_MAG1 = 0x02BC (true if ZACCL_OUT < 0.7g)

0.7 g ÷ 1 mg/LSB = 700 LSB = 0x02BC,

ALM_MAG1[15] = 0 for less than.

0xAC66 ALM_SMPL2[7:0] = 0x52 (82 samples).

Data Sheet ADIS16334

Rev. D | Page 19 of 20

APPLICATIONS INFORMATION

MOUNTING TIPS

The mounting and installation process can influence gyroscope

bias repeatability and other key parametric behaviors. To

preserve the best performance, use the following guidelines

when developing an attachment approach for the ADIS16334:

• Focus mounting force at the machine screw locations.

• Avoid direct force application on the substrate.

• Avoid placing mounting pressure on the package lid, except

for the edges that border the exposed side of the substrate.

• Use a consistent mounting torque of 28 inch-ounces on

mounting hardware.

• Avoid placing translational forces on the electrical connector.

For additional information about mounting ideas and tips, refer to

Application Note AN-1305 and Application Note AN-1146.

POWER SUPPLY CONSIDERATIONS

The power supply must be within 4.75 V and 5.25 V for normal

operation and optimal performance. During start up, 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. Ensure that the power supply drops

below 1.6 V to shut down the device.

BREAKOUT BOARDS

The ADIS1644X/FLEX and ADIS16IMU2/PCBZ evaluation

tools combine to provide a simplified method for connecting

the ADIS16334 to an embedded processor system, or to the

EVA L -ADIS2 evaluation system. See the ADIS16IMU2/PCBZ

Breakout Board Wiki-Guide for more information on using

these tools to connect the ADIS16334.

EVALUATION SYSTEM

The EVA L -ADIS2 evaluation system, in conjunction with the

ADIS1644X/FLEX and ADIS16IMU2/PCBZ, provides a

simplified method for evaluating the ADIS16334, using a

personal computer platform. Refer to the EVAL-ADIS2

Evaluation System Wiki Guide, for more information on using

these tools to evaluate the ADIS16334.

ADIS16IMU2/PCBZ

The ADIS1644X/FLEX and ADIS16IMU2/PCBZ accessories

provide a simple method for connecting to an embedded

processor platform or to the EVAL -ADIS2 evaluation system.

Figure 24 provides a mechanical design example for using these

two components with the ADIS16334 inertial measurement

unit (IMU) in a system.

Figure 23 provides the pin assignments for J1 on the

ADIS16IMU2/PCBZ breakout board.

1RST 2SCLK

3CS 4DOUT

5DNC 6DIN

7GND 8GND

9GND 10 VDD

11VDD 12 VDD

13DIO1 14 DIO2

15DIO3 16 DIO4/CLKIN

J1

09362-211

Figure 23. J1Pin Assignments for the ADIS16IMU2/PCBZ

The C1 and C2 locations on the ADIS16IMU2/PCBZ provide

users with the pads to install decoupling capacitance across

VDD and GND.

PC-BASED EVALUATION TOOLS

The EVA L -ADIS2 supports PC-based evaluation of the

ADIS16334. Please refer to the EVAL-ADIS2 Evaluation System

Wiki Guide, for more information on connecting the

ADIS16334 to the E VA L -ADIS2 system.

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 ADIS16334 to this type of inspection.

ADIS16334BMLZ

ADIS16IMU2/PCBZ

(INTERFACE BOARD)

33.40mm

23.75mm

20.15mm

30.10mm

10.07mm

15.05mm

J1

J2

1

15

16

2

23

12

24

NOTES

1. USE FOUR M2 MACHINE SCREWS TO ATTACH THE ADIS16334.

2. USE FOUR M3 MACHINE SCREWS TO ATTACH THE INTERFACE PCB.

ADIS1644X/FLEX

(FLEXIBILE CONNECTOR/CABLE)

15mm TO

45mm

09362-021

Figure 24. Physical Diagram for ADIS16334 Accessories

ADIS16334 Data Sheet

Rev. D | Page 20 of 20

OUTLINE DIMENSIONS

01-18-2011-B

TOP VIEW

END VIEW

30.40

BSC

25.08

BSC

10.23

BSC

21.85 BSC

2.96 BSC

1.00 BSC

0.66 BSC

22.15 BSC

2.00 BSC

2.30 BSC

(2 PLCS)

2.00 BSC

7.58

BSC 1.00 BSC

PITCH

24.53

24.15

23.77

19.91

19.65

19.39

33.08

32.70

32.32

18.59

18.33

18.07

10.90

10.60

10.30

4.70

4.50

4.30

4.70

4.50

4.30

2.60

Ø 2.40

2.20

(4 PLCS)

6.09

5.83

5.57

2.96

2.70

2.44

3.12

2.86

2.60

5.96

5.70

5.44

Figure 25. 20-Lead Module with Connector Interface

(ML-20-1)

Dimensions shown in millimeters

ORDERING GUIDE

Model1 Temperature Range Package Description Package Option

ADIS16334BMLZ −40°C to +105°C 20-Lead Module with Connector Interface ML-20-1

ADIS16IMU2/PCBZ Breakout Board

ADIS1644X/FLEX Flexible Connector

EVAL-ADIS2Z Evaluation System

1 Z = RoHS Compliant Part.

©2011–2019 Analog Devices, Inc. All rights reserved. Trademarks and

registered trademarks are the property of their respective owners.

D09362-0-4/19(D)