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ADIS16480 Schematic ( PDF Datasheet ) - Analog Devices

Teilenummer ADIS16480
Beschreibung Ten Degrees of Freedom Inertial Sensor
Hersteller Analog Devices
Logo Analog Devices Logo 




Gesamt 30 Seiten
ADIS16480 Datasheet, Funktion
Data Sheet
Ten Degrees of Freedom Inertial Sensor
with Dynamic Orientation Outputs
ADIS16480
FEATURES
GENERAL DESCRIPTION
Dynamic angle outputs
Quaternion, Euler, rotation matrix
0.1° (pitch, roll) and 0.3° (yaw) static accuracy
Triaxial, digital gyroscope, ±450°/sec dynamic range
<±0.05° orthogonal alignment
6°/hr in-run bias stability
0.3°/√hr angular random walk
0.01% nonlinearity
Triaxial, digital accelerometer, ±10 g
Triaxial, delta angle and delta velocity outputs
Triaxial, digital magnetometer, ±2.5 gauss
Digital pressure sensor, 300 mbar to 1100 mbar
Adaptive extended Kalman filter
Automatic covariance computation
Programmable reference reorientation
Programmable sensor disturbance levels
Configurable event-driven controls
Factory-calibrated sensitivity, bias, and axial alignment
Calibration temperature range: −40°C to +70°C
SPI-compatible serial interface
Programmable operation and control
4 FIR filter banks, 120 configurable taps
Digital I/O: data-ready alarm indicator, external clock
Optional external sample clock input: up to 2.4 kHz
Single-command self-test
The ADIS16480 iSensor® device is a complete inertial system
that includes a triaxial gyroscope, a triaxial accelerometer, triaxial
magnetometer, pressure sensor, and an extended Kalman filter
(EKF) for dynamic orientation sensing. Each inertial sensor in
the ADIS16480 combines industry-leading iMEMS® technology
with signal conditioning that optimizes dynamic performance.
The factory calibration characterizes each sensor for sensitivity,
bias, alignment, and linear acceleration (gyroscope bias). As a
result, each sensor has its own dynamic compensation formulas
that provide accurate sensor measurements. The sensors are
further correlated and processed in the extended Kalman filter,
which provides both automatic adaptive filtering, as well as
user-programmable tuning. Thus, in addition to the IMU
outputs, the device provides stable quaternion, Euler, and
rotation matrix outputs in the local navigation frame.
The ADIS16480 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
www.DataSheet.co.kr orthogonal alignment simplifies inertial frame alignment in
navigation systems. The SPI and register structure provide a
simple interface for data collection and configuration control.
Single-supply operation: 3.0 V to 3.6 V
2000 g shock survivability
The ADIS16480 uses the same footprint and connector system as
the ADIS16488, which greatly simplifies the upgrade process. It
APPLICATIONS
Platform stabilization, control, and pointing
Navigation
comes in a module that is approximately 47 mm × 44 mm ×
14 mm and has a standard connector interface. The ADIS16480
provides an operating temperature range of −40°C to +85°C.
Instrumentation
Robotics
FUNCTIONAL BLOCK DIAGRAM
DIO1 DIO2 DIO3 DIO4 RST
VDD
SELF-TEST
I/O
ALARMS
TRIAXIAL
GYRO
TRIAXIAL
ACCEL
TRIAXIAL
MAGN
PRESSURE
TEMP
VDD
CONTROLLER CALIBRATION
CLOCK
POWER
MANAGEMENT
EXTENDED
KALMAN
FILTER
DIGITAL
FILTERING
Figure 1.
VDDRTC
GND
OUTPUT
DATA
REGISTERS
USER
CONTROL
REGISTERS
SPI
CS
SCLK
DIN
DOUT
ADIS16480
Rev. 0
Information furnished by Analog Devices is believed to be accurate and reliable. However, no
responsibilityisassumedbyAnalogDevices for itsuse,nor foranyinfringementsofpatentsor other
rights of third parties that may result from its use. Specifications subject to change without notice. No
license is granted by implication or otherwise under any patent or patent rights of Analog Devices.
Trademarksandregisteredtrademarksarethepropertyoftheirrespectiveowners.
One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.
Tel: 781.329.4700
www.analog.com
Fax: 781.461.3113
©2012 Analog Devices, Inc. All rights reserved.
Datasheet pdf - http://www.DataSheet4U.net/






ADIS16480 Datasheet, Funktion
ADIS16480
Data Sheet
TIMING SPECIFICATIONS
TA = 25°C, VDD = 3.3 V, unless otherwise noted.
Table 2.
Parameter
fSCLK
tSTALL
tCLS
tCHS
tCS
tDAV
tDSU
tDHD
tDR, tDF
tDSOE
tHD
tDSHI
t1
t2
t3
Description
Serial clock
Stall period between data
Serial clock low period
Serial clock high period
Chip select to clock edge
DOUT valid after SCLK edge
DIN setup time before SCLK rising edge
DIN hold time after SCLK rising edge
DOUT rise/fall times, ≤100 pF loading
CS assertion to data out active
SCLK edge to data out invalid
CS deassertion to data out high impedance
Input sync pulse width
Input sync to data-ready output
Input sync period
1 Guaranteed by design and characterization, but not tested in production.
Timing Diagrams
Min1
0.01
2
31
31
32
2
2
0
0
0
5
417
CS
SCLK
DOUT
DIN
tCS
1
tDSOE
MSB
R/W
tCHS
23
4
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tCLS
56
tDAV
tHD
DB14
tDSU
DB13
DB12
tDHD
DB11
DB10
A6 A5 A4 A3 A2
Figure 2. SPI Timing and Sequence
tSTALL
CS
Normal Mode
Typ
Max1
15
10
38
11
9
490
15 16
DB2
DB1
LSB
tDSHI
D2 D1 LSB
SCLK
SYNC
CLOCK (CLKIN)
DATA
READY
OUTPUT
REGISTERS
Figure 3. Stall Time and Data Rate
t3
t1
t2
DATA VALID
DATA VALID
Figure 4. Input Clock Timing Diagram
Unit
MHz
μs
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
μs
μs
μs
Rev. 0 | Page 6 of 40
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6 Page









ADIS16480 pdf, datenblatt
ADIS16480
Data Sheet
USER REGISTERS
Table 9. User Register Memory Map (N/A = Not Applicable)
Name
R/W Flash PAGE_ID Address
PAGE_ID
R/W No 0x00
0x00
Reserved
N/A N/A 0x00
0x02 to 0x04
SEQ_CNT
R No 0x00
0x06
SYS_E_FLAG
R No 0x00
0x08
DIAG_STS
R No 0x00
0x0A
ALM_STS
R No 0x00
0x0C
TEMP_OUT
R No 0x00
0x0E
X_GYRO_LOW
R No 0x00
0x10
X_GYRO_OUT
R No 0x00
0x12
Y_GYRO_LOW
R No 0x00
0x14
Y_GYRO_OUT
R No 0x00
0x16
Z_GYRO_LOW
R No 0x00
0x18
Z_GYRO_OUT
R No 0x00
0x1A
X_ACCL_LOW
R No 0x00
0x1C
X_ACCL_OUT
R No 0x00
0x1E
Y_ACCL_LOW
R No 0x00
0x20
Y_ACCL_OUT
R No 0x00
0x22
Z_ACCL_LOW
R No 0x00
0x24
Z_ACCL_OUT
R No 0x00
0x26
X_MAGN_OUT R No 0x00
0x28
Y_MAGN_OUT
R No 0x00
0x2A
Z_MAGN_OUT
R No 0x00
0x2C
BAROM_LOW
R No 0x00
0x2E
BAROM_OUT
R No 0x00
0x30
Reserved
N/A N/A 0x00
0x32 to 0x3E
X_DELTANG_LOW R No 0x00
0x40
X_DELTANG_OUT R No 0x00
0x42
Y_DELTANG_LOW R No 0x00
0x44
Y_DELTANG_OUT R No 0x00
0x46
Z_DELTANG_LOW R No 0x00
0x48
Z_DELTANG_OUT R No 0x00
0x4A
X_DELTVEL_LOW R No 0x00
0x4C
X_DELTVEL_OUT R No 0x00
0x4E
Y_DELTVEL_LOW R No 0x00
0x50
Y_DELTVEL_OUT R No 0x00
0x52
Z_DELTVEL_LOW R No 0x00
0x54
Z_DELTVEL_OUT R No 0x00
0x56
Reserved
N/A N/A 0x00
0x58
Q0_C11_OUT
R/W Yes 0x00
0x60
Q1_C12_OUT
R/W Yes 0x00
0x62
Q2_C13_OUT
R/W Yes 0x00
0x64
Q3_C21_OUT
R/W Yes 0x00
0x66
C22_OUT
R/W Yes 0x00
0x68
ROLL_C23_OUT R/W Yes 0x00
0x6A
PITCH_C31_OUT R/W Yes 0x00
0x6C
YAW_C32_OUT
R/W Yes 0x00
0x6E
C33_OUT
R/W Yes 0x00
0x70
Reserved
N/A N/A 0x00
0x72 to 0x76
Default Register Description
0x00
Page identifier
N/A Reserved
N/A Sequence counter
0x0000 Output, system error flags
0x0000 Output, self-test error flags
0x0000 Output, alarm error flags
N/A Output, temperature
N/A Output, x-axis gyroscope, low word
N/A Output, x-axis gyroscope, high word
N/A Output, y-axis gyroscope, low word
N/A Output, y-axis gyroscope, high word
N/A Output, z-axis gyroscope, low word
N/A Output, z-axis gyroscope, high word
N/A Output, x-axis accelerometer, low word
N/A Output, x-axis accelerometer, high word
N/A Output, y-axis accelerometer, low word
N/A Output, y-axis accelerometer, high word
N/A Output, z-axis accelerometer, low word
N/A Output, z-axis accelerometer, high word
N/A Output, x-axis magnetometer, high word
N/A Output, y-axis magnetometer, high word
N/A Output, z-axis magnetometer, high word
N/A
N/A
Output, barometer, low word
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Output, barometer, high word
N/A Reserved
N/A Output, x-axis delta angle, low word
N/A Output, x-axis delta angle, high word
N/A Output, y-axis delta angle, low word
N/A Output, y-axis delta angle, high word
N/A Output, z-axis delta angle, low word
N/A Output, z-axis delta angle, high word
N/A Output, x-axis delta velocity, low word
N/A Output, x-axis delta velocity, high word
N/A Output, y-axis delta velocity, low word
N/A Output, y-axis delta velocity, high word
N/A Output, z-axis delta velocity, low word
N/A Output, z-axis delta velocity, high word
N/A Reserved
N/A Quaternion, q0 or rotation matrix, C11
N/A Quaternion, q1 or rotation matrix, C12
N/A Quaternion, q2 or rotation matrix, C13
N/A Quaternion, q3 or rotation matrix, C21
N/A Rotation matrix, C22
N/A Euler angle, pitch axis, or rotation matrix, C23
N/A Euler angle, roll axis, or rotation matrix, C31
N/A Euler angle, yaw axis, or rotation matrix, C32
N/A Rotation matrix, C33
N/A Reserved
Format
N/A
N/A
Table 68
Table 59
Table 60
Table 61
Table 57
Table 14
Table 10
Table 15
Table 11
Table 16
Table 12
Table 21
Table 17
Table 22
Table 18
Table 23
Table 19
Table 38
Table 39
Table 40
Table 56
Table 54
N/A
Table 28
Table 24
Table 29
Table 25
Table 30
Table 26
Table 35
Table 31
Table 36
Table 32
Table 37
Table 33
N/A
Table 42
Table 43
Table 44
Table 45
Table 46
Table 47
Table 48
Table 49
Table 50
N/A
Rev. 0 | Page 12 of 40
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