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ADIS16137 Schematic ( PDF Datasheet ) - Analog Devices

Teilenummer ADIS16137
Beschreibung Precision Angular Rate Sensor
Hersteller Analog Devices
Logo Analog Devices Logo 




Gesamt 20 Seiten
ADIS16137 Datasheet, Funktion
Data Sheet
±1000°/Sec Precision Angular
Rate Sensor
ADIS16137
FEATURES
Digital gyroscope system, ±1000°/sec measurement range
In-run bias stability, 2.8°/hour
Autonomous operation and data collection
No external configuration commands required
Start-up time: 245 ms
Sleep mode recovery: 2.5 ms
Factory calibrated sensitivity and bias
Calibration temperature range: −40°C to +85°C
SPI-compatible serial interface
Wide bandwidth: 400 Hz
Embedded temperature sensor
Programmable operation and control
Automatic and manual bias correction controls
Digital filters: Bartlett FIR, average/decimation
Internal sample rate: up to 2048 SPS
Digital I/O: data ready, alarm indicator, general-purpose
Alarms for condition monitoring
Sleep mode for power management
Enable input sync operation
Single-supply operation: 4.75 V to 5.25 V
2000 g shock survivability
Operating temperature range: −40°C to +105°C
APPLICATIONS
Precision instrumentation
Platform stabilization and controls
Industrial vehicle navigation
Downhole instrumentation
Robotics
GENERAL DESCRIPTION
The ADIS16137 iSensor® is a high performance, digital gyro-
scope sensing system that operates autonomously and requires
no user configuration to produce accurate rate sensing data. It
provides performance advantages with its low noise density,
wide bandwidth, and excellent in-run bias stability, which enable
applications such as platform control, navigation, robotics, and
medical instrumentation.
This sensor system combines industry leading iMEMS® technology
with signal conditioning that optimizes dynamic performance.
The factory calibration characterizes the entire sensor signal chain
for sensitivity and bias over a temperature range of −40°C to +85°C.
As a result, each ADIS16137 has its own unique correction
formulas to produce accurate measurements upon installation.
For some systems, the factory calibration eliminates the need
for system level calibration and greatly simplifies it for others.
The ADIS16137 provides data at rates of up to 2048 SPS and
offers an averaging/decimation filter structure for optimizing noise/
bandwidth trade-offs. The serial peripheral interface (SPI) and
user register structure provide easy access to configuration controls
and calibrated sensor data for embedded processor platforms.
The 36 mm × 44 mm × 14 mm package provides four holes for
simple mechanical attachment, using M2 (or 2-56 standard size)
machine screws along with a standard 24-lead, dual row, 1 mm
pitch connector that supports electrical attachment to a printed
circuit board (PCB) or cable system. It is package and pin
compatible with the ADIS16133, the ADIS16135, and the
ADIS16136.
FUNCTIONAL BLOCK DIAGRAM
DIO1 DIO2 DIO3 DIO4/CLKIN RST
VDD
SELF-TEST
I/O
ALARMS
POWER
MANAGEMENT
GND
MEMS
SENSOR
TEMP
SENSOR
CLOCK
ADIS16137
CONTROLLER
CALIBRATION
FILTER
USER
CONTROL
REGISTERS
OUTPUT
DATA
REGISTERS
SPI
PORT
CS
SCLK
DIN
DOUT
Figure 1.
Rev. A
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responsibility is assumed by Analog Devices for its use, nor for any infringements of patents or other
rights of third parties that may result from its use. Specifications subject to change without notice. No
license is granted by implication or otherwise under any patent or patent rights of Analog Devices.
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One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.
Tel: 781.329.4700 ©2013–2014 Analog Devices, Inc. All rights reserved.
Technical Support
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ADIS16137 Datasheet, Funktion
ADIS16137
PIN CONFIGURATION AND FUNCTION DESCRIPTIONS
ADIS16137
TOP VIEW
24 22 20 18 16 14 12 10 8 6 4 2
23 21 19 17 15 13 11 9 7 5 3 1
NOTES
1. PINS ARE NOT VISIBLE FROM THIS VIEW. THE PIN ASSIGNMENTS
SHOWN REPRESENT THE MATING CONNECTOR ASSIGNMENTS.
2. USE SAMTEC CLM-112-02 OR EQUIVALENT.
Figure 5. Mating Connector Pin Assignments
RATE
AXIS
POSITIVE
ROTATION
DIRECTION
+
Data Sheet
Figure 6. Axial Orientation (Bottom Side Facing Up)
Table 5. Pin Function Descriptions
Pin No. Mnemonic Type1 Description
1
DIO3
I/O Configurable Digital Input/Output.
2
DIO4/CLKIN I
Configurable Digital Input/Output/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
DIO1
I/O Configurable Digital Input/Output.
8 RST I Reset.
9
DIO2
I/O Configurable Digital Input/Output.
10, 11, 12 VDD
S Power Supply.
13, 14, 15 GND
S Power Ground.
16 to 24 DNC
N/A Do Not Connect. Do not connect to these pins.
1 I/O is input/output, I is input, O is output, S is supply, and N/A is not applicable.
Rev. A | Page 6 of 20

6 Page









ADIS16137 pdf, datenblatt
ADIS16137
CALIBRATION
The ADIS16137 factory calibration produces correction
formulas for the gyroscope and programs them into the flash
memory. Table 19 contains a list of user control registers that
provide an opportunity for user optimization after installation.
Figure 19 illustrates the summing function of the sensor’s offset
correction register.
Table 19. Registers for User Calibration
Register
Address Description
GYRO_OFF2 0x08
Gyroscope bias, lower 16 bits
GYRO_OFF 0x0A
Gyroscope bias, upper 16 bits
GLOB_CMD 0x28
Bias correction command
MEMS
GYRO
ADC
FACTORY
CALIBRATION
AND
FILTERING
GYRO_OUT GYRO_OUT2
GYRO_OFF GYRO_OFF2
Figure 19. Gyroscope Bias Calibration User Controls
The factory calibration addresses initial and temperature
dependent bias errors in the gyroscopes, but some environ-
mental conditions, such as temperature cycling and mechanical
stress on the package, can cause bias shifts in MEMS gyroscope
structures. For systems that value absolute bias accuracy, there
are two options for optimizing absolute bias accuracy: autonull
and manual correction.
AUTOMATIC BIAS CORRECTION (AUTONULL)
Set GLOB_CMD[0] = 1 (DIN = 0xA801) to start the automatic
bias correction (ABC) function, which uses the following
internal sequence to calibrate each gyroscope for bias error:
1. Wait for a complete output data cycle to complete, which
includes the entire average and decimation time in
DEC_RATE.
2. Read the output registers of the gyroscope.
3. Multiply the measurement by −1 to change its polarity.
4. Write the final value into the offset registers.
5. Update the flash memory.
Data Sheet
The Allan variance curve (see Figure 7) provides a trade-off
between bias accuracy and averaging time, and the DEC_RATE
register provides a user control for averaging time when using
the ABC function. For example, set DEC_RATE[7:0] = 0x10
(DIN = 0xA210), which sets the decimation rate to 65,536 (216)
and provides an averaging time of 32 seconds (65,536 ÷ 2048 SPS)
for this function. Next, set GLOB_CMD[0] = 1 (DIN = 0xA801),
and keep the platform stable for this time period while the
gyroscope bias data accumulates.
When the ABC function starts, the SPI is not active. The only way
to interrupt the ABC function is to remove power or initiate a
hardware reset using the RST pin. See Table 29 for more
information on GLOB_CMD.
MANUAL BIAS CORRECTION
The GYRO_OFF and GYRO_OFF2 registers (see Table 20 and
Table 21) provide a bias adjustment function for the output of
each sensor. GYRO_OFF has the same format as GYRO_OUT
(see Table 10), and GYRO_OFF2 has the same format as
GYRO_OUT2 (see Table 11 and Figure 14).
Table 20. GYRO_OFF Bit Descriptions
Bits Description (Default = 0x0000)
[15:0]
Gyroscope bias correction; twos complement,
256°/sec per 6300 LSB, 0°/sec = 0x0000
Table 21. GYRO_OFF2 Bit Descriptions
Bits Description (Default = 0x0000)
[15:0] Gyroscope bias correction; resolution enhancement bits
RESTORING FACTORY CALIBRATION
Set GLOB_CMD[1] = 1 (DIN = 0xA802) to execute the factory
calibration restore function. This function resets each user
calibration register to 0x0000, resets all sensor data to 0, and
automatically updates the flash memory. See Table 29 for more
information on GLOB_CMD.
Rev. A | Page 12 of 20

12 Page





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