Tri Axis Gyroscope & Accelerometer
Preliminary Technical Data ADIS16350
Rev. PrA 11/10/2006 10:59 AM
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FEATURES
Tri-axis gyroscope
+320 degrees/second measurement range
14-bit resolution
Tri-axis accelerometer
+10g measurement range
14-bit resolution
350Hz Bandwidth
Factory calibrated sensitivity and bias
Digitally controlled sensitivity and bias
Digitally controlled sample rate
Digitally controlled filtering
Programmable condition monitoring, alarms
Auxiliary digital I/O
Digitally activated self-test
Programmable power management
Embedded Temperature Sensor
SPI®-compatible serial interface
Auxiliary 12-bit ADC input and DAC output
Single-supply operation: +4.75V to +5.25 V
2000 g powered shock survivability
APPLICATIONS
Guidance and control
Platform control and stabilization
Motion control and analysis
Inertial Measurement Units
General Navigation
Image stabilization
Robotics
GENERAL DESCRIPTION
The ADIS16350 iSensorTM provides complete tri axis inertial
sensing (both angular and linear motion) in a compact module
fully ready for system integration. With Analog Devices’
iMEMSTM sensor technology at its core, the ADIS16350
includes embedded processing for sensor calibration and
tuning. An SPI interface allows for simple system interface
and programming.
The SPI port provides access to the following embedded
sensors: X, Y, and Z axis angular rate; X, Y, and Z axis linear
acceleration; Internal Temperature; Power Supply; and an
Auxiliary analog input. The inertial sensors are precision
aligned across axis’, and are calibrated for offset and sensitivity.
System interfacing is simplified with the following additional
programmable features:
- In-system Bias Auto Calibration
- Digital Filtering and Sample Rate
- Self Test
- Power Management
- Condition Monitoring
- Auxiliary Digital I/O
The ultra compact module measures
22.7mmx23.2mmx22.9mm, plus mounting extensions.
FUNCTIONAL BLOCK DIAGRAM
ADIS16350 Preliminary Technical Data
Rev. PrA | Page 2 of 10
REVISION HISTORY
9/06—Revision PSD1: Initial Version
Preliminary Technical Data ADIS16350
Rev. PrA | Page 3 of 10
SPECIFICATIONS
TA = −40oC to +85°C, VCC = 5.0 V, Angular Rate = 0°/s, Dynamic Range 320°/sec, +1g, unless otherwise noted.
Table 1.
Parameter Conditions Min Typ Max Unit
GYRO SENSITIVITY Each axis
Dynamic Range Full-scale range over specifications range ±320 o/s
Initial 25°C, Dynamic range = +320°/sec 0.07233 0.07326 0.07400 o/s/LSB
25°C, Dynamic range = +160°/sec 0.03663 o/s/LSB
25°C, Dynamic range = +80°/sec 0.01832 o/s/LSB
Sensitivity Drift over Temp -20°C to 75°C +500 ppm/oC
Axis Non-orthogonality 25°C, difference from 90 degrees ideal TBD degree
Axis Misalignment 25°C, relative to base-plate & guide pins TBD degree
Non-Linearity Best fit straight line +0.1 % of FS
GYRO BIAS
In Run Bias Stability 25°C, 1 σ 0.016
o/s
Turn on – Turn on Bias Stability 25°C, 1 σ 0.035
o/s
Angular Random Walk 25°C 3.6
o/√hr
Zero Rate Bias Drift over Temp -20°C to 75°C +0.06
o/s/°C
g Sensitivity Any Axis 0.2
o/s/g
Voltage Sensitivity VCC = 4.75 V to 5.25 V 1.0
o/s /V
GYRO NOISE PERFORMANCE
Output Noise At 25°C, +320 o/s Dynamic range, no
filtering
TBD
o/s rms
At 25°C, +160 o/s Dynamic range,
minimum 4 tap filter setting
TBD
o/s rms
At 25°C, +80 o/s Dynamic range,
minimum 16 tap filter setting
TBD
o/s rms
Rate Noise Density At 25°C, f= 25Hz, no average 0.05 o/s/√Hz rms
GYRO FREQUENCY RESPONSE
Sensor Bandwidth 350 Hz
Sensor Resonant Frequency 14 kHz
Turn-on Time Power on from Sleep Mode to +2o/s of
final, no averaging, min sample period
TBD ms
GYRO SELF-TEST STATE
Change for positive stimulus Relative to nominal output 439 721 1092 LSB
Change for negative stimulus Relative to nominal output -439 -721 -1092 LSB
ACCELEROMETER SENSITIVITY Each axis
Dynamic Range ±10 g
Initial @25°C TBD 2.78 TBD mg/LSB
Sensitivity Drift Over Temperature TBD ppm/°C
Axis Non-orthogonality 25°C, difference from 90 degrees ideal TBD degree
Axis Misalignment 25°C, relative to base-plate & guide pins TBD degree
Nonlinearity Best Fit Straight Line ±0.2 % of FS
ACCELEROMETER BIAS
0g Offset @25°C TBD TBD mg
0g Offset Over Temperature TBD mg/°C
Axis Non-orthogonality 25°C, difference from 90 degrees ideal TBD degree
Axis Misalignment 25°C, relative to base-plate & guide pins TBD degree
ADIS16350 Preliminary Technical Data
Rev. PrA | Page 4 of 10
Table 2. (Continued)
ADC INPUT
Resolution 12 Bits
Integral Nonlinearity ±2 LSB
Differential Nonlinearity ±1 LSB
Offset Error ±4 LSB
Gain Error ±2 LSB
Input Range 0 2.5 V
Input Capacitance During acquisition 20 pF
DAC OUTPUT 5 kΩ/100 pF to GND
Resolution 12 Bits
Relative Accuracy For Code 101 to Code 4095 4 LSB
Differential Nonlinearity 1 LSB
Offset Error ±5 mV
Gain Error ±0.5 %
Output Range 0 to 2.5 V
Output Impedance 2 Ω
Output Settling Time 10 µs
LOGIC INPUTS
Input High Voltage, VINH 2.0 V
Input Low Voltage, VINL 0.8 V
For −CS signal when used to wake up
from SLEEP mode 0.55 V
Logic 1 Input Current, IINH V
IH = 3.3 V ±0.2 ±10 µA
Logic 0 Input Current, IINL V
IL = 0 V −40 −60 A
Input Capacitance, CIN 10 pF
DIGITAL OUTPUTS
Output High Voltage, VOH I
SOURCE = 1.6 mA 2.4 V
Output Low Voltage, VOL I
SINK = 1.6 mA 0.4 V
SLEEP TIMER
Timeout Period1 0.5 128 Sec
FLASH MEMORY
Endurance2 20,000 Cycles
Data Retention3 T
J = 55°C 20 Years
Parameter Conditions Min Typ Max Unit
ACCELEROMETER NOISE PERFORMANCE
Output Noise @25°C, no filtering TBD LSB rms
Noise Density @25°C, no filtering 0.072 LSB/√Hz rms
ACCELEROMETER FREQUENCY
RESPONSE
Sensor Bandwidth 350 Hz
Sensor Resonant Frequency 10 kHz
ACCELEROMETER SELF-TEST STATE
Output Change When Active @25°C 44 80 120 LSB
TEMPERATURE SENSOR
Output at 25°C 1278 LSB
Scale Factor −2.13 LSB/°C
Preliminary Technical Data ADIS16350
Rev. PrA | Page 5 of 10
Table 3. (Continued)
CONVERSION RATE
Minimum Conversion Time 0.9766 ms
Maximum Conversion Time 1.937 Sec
Maximum Throughput Rate 1024 SPS
Minimum Throughput Rate 0.516 SPS
POWER SUPPLY
Operating Voltage Range VCC 4.75 5.0 5.25 V
Power Supply Current Normal mode at 25°C 48 mA
Fast mode at 25°C 77 mA
Sleep mode at 25°C 500 µA
1 Guaranteed by design
2 Endurance is qualified as per JEDEC Standard 22 Method A117 and measured at −40°C, +25°C, +85°C, and +125°C.
3 Retention lifetime equivalent at junction temperature (TJ) 55°C as per JEDEC Standard 22 Method A117. Retention lifetime decreases with junction temperature.
ADIS16350 Preliminary Technical Data
Rev. PrA | Page 6 of 10
TIMING SPECIFICATIONS
TA = +25°C, VCC = +5.0 V, angular rate = 0°/sec, unless otherwise noted.
Table 4.
Parameter Description Min1 Typ Max Unit
fSCLK Fast mode, SMPL_TIME ≤ 0x07 (fS ≥ 256 Hz) 0.01 2.5 MHz
Normal mode, SMPL_TIME ≥ 0x08 (fS ≤ 228 Hz) 0.01 1.0 MHz
tDATARATE Chip select period, fast mode, SMPL_TIME ≤ 0x07 (fS ≥ 256 Hz) 40 s
Chip select period, normal mode, SMPL_TIME ≥ 0x08 (fS ≤ 228 Hz) 100 s
tCS Chip select to clock edge 48.8 ns
tDAV Data output valid after SCLK falling edge2 100 ns
tDSU Data input setup time before SCLK rising edge 24.4 ns
tDHD Data input hold time after SCLK rising edge 48.8 ns
tDF Data output fall time 5 12.5 ns
tDR Data output rise time 5 12.5 ns
tSFS CS high after SCLK edge3 5 ns
1 Guaranteed by design, not production tested.
2 The MSB presents an exception to this parameter. The MSB clocks out on the falling edge of CS. The rest of the DOUT bits are clocked after the falling edge of SCLK and are
governed by this specification.
3 This parameter may need to be expanded to allow for proper capture of the LSB. After CS goes high, the DOUT line goes into a high impedance state.
TIMING DIAGRAMS
CS
SCLK
t
DATARATE
t
STALL
=
t
DATARATE
– 16/
f
SCLK
t
STALL
06108-002
Figure 1. SPI Chip Select Timing
CS
SCLK
DOUT
DIN
1 2 3 4 5 6 15 16
W/R A5 A4 A3 A2 D2
MSB DB14
D1 LSB
DB13 DB12 DB10DB11 DB2 LSBDB1
t
CS
t
SFS
t
DAV
t
DHD
t
DSU
06108-003
Figure 2. SPI Timing, Utilizing SPI Settings Typically Identified as Phase = 1, Polarity = 1
Preliminary Technical Data ADIS16350
Rev. PrA | Page 7 of 10
ABSOLUTE MAXIMUM RATINGS
Table 5.
Parameter Rating
Acceleration (Any Axis, Unpowered) 2000 g
Acceleration (Any Axis, Powered) 2000 g
VDD to COM −0.3 V to +7.0 V
Digital Input/Output Voltage to COM −0.3 V to +5.5 V
Analog Inputs to COM −0.3 V to VCC + 0.3 V
Operating Temperature Range −40°C to +105°C
Storage Temperature Range −65°C to +150°C1
1 Extended exposure to temperatures outside of the specified temperature range
of -40°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 -40°C to
+85°C.
Stresses above those listed under Absolute Maximum Ratings
may cause permanent damage to the device. This is a stress
rating only; functional operation of the device at these or any
other conditions above those indicated in the operational
section of this specification is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect
device reliability.
Table 6. Package Characteristics
Package Type θJA θ
JC Device Weight
TBD TBD TBD TBD
ESD CAUTION
ESD (electrostatic discharge) sensitive device. Electrostatic charges as high as 4000 V readily accumulate on
the human body and test equipment and can discharge without detection. Although this product features
proprietary ESD protection circuitry, permanent damage may occur on devices subjected to high energy
electrostatic discharges. Therefore, proper ESD precautions are recommended to avoid performance
degradation or loss of functionality.
ADIS16350 Preliminary Technical Data
Rev. PrA | Page 8 of 10
PIN CONFIGURATION AND FUNCTION DESCRIPTIONS
1 o o 2
3 o o 4
5 o o 6
7 o o 8
9 o o 10
11 o o 12
13 o o 14
15 o o 16
17 o o 18
19 o o 20
21 o o 22
23 o o 24
Figure 3. Pin Configuration, Bottom, Pin View
Table 7. Pin Function Descriptions
Pin No. Mnemonic Type1 Description
1 DNC Do not connect
2 DNC Do not connect
3 SCLK I SPI, Serial clock
4 DOUT O SPI, Data output
5 DIN I SPI, Data input
6 ~CS I SPI, Chip Select
7 DIO0 I/O Digital I/O
8 ~RST I Reset
9 DIO1 I/O Digital I/O
10 VCC S Power supply
11 VCC S Power supply
12 VCC S Power supply
13 GND S Power ground
14 GND S Power ground
15 GND S Power ground
16 DNC N/A Do not connect
17 DNC N/A Do not connect
18 DNC N/A Do not connect
19 DNC N/A Do not connect
20 AUX_DAC O Auxiliary, 12-bit digital-to-analog converter output
21 AUX_ADC I Auxiliary, 12-bit, analog-to-digital converter in put
22 Y_ACCL O Y-Axis acceleration
23 X_ACCL O X-Axis acceleration
24 Z_ACCL O Z-Axis acceleration
1 S = supply, O = output, I = input.
Preliminary Technical Data ADIS16350
Rev. PrA | Page 9 of 10
OUTLINE DIMENSIONS
Figure 4.
Dimensions shown in millimeters
ORDERING GUIDE
Model Temperature Range Package Description Package Option
ADIS16350AML -40°C to +85°C
ADIS16350/PCBZ
ADIS16350 Preliminary Technical Data
Rev. PrA | Page 10 of 10 PR06522-0-11/06(PrA)
NOTES
