Preliminary Technical Data Tri Axis Gyroscope & Accelerometer ADIS16350 FEATURES GENERAL DESCRIPTION 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 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: - APPLICATIONS Guidance and control Platform control and stabilization Motion control and analysis Inertial Measurement Units General Navigation Image stabilization Robotics 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 Rev. PrA 11/10/2006 10:59 AM Information furnished by Analog Devices is believed to be accurate and reliable. However, no 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. Trademarks and registered trademarks are the property of their respective owners. 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 ©2006 Analog Devices, Inc. All rights reserved. ADIS16350 Preliminary Technical Data REVISION HISTORY 9/06—Revision PSD1: Initial Version Rev. PrA | Page 2 of 10 Preliminary Technical Data ADIS16350 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 GYRO SENSITIVITY Dynamic Range Initial Sensitivity Drift over Temp Axis Non-orthogonality Axis Misalignment Non-Linearity GYRO BIAS In Run Bias Stability Turn on – Turn on Bias Stability Angular Random Walk Zero Rate Bias Drift over Temp g Sensitivity Voltage Sensitivity GYRO NOISE PERFORMANCE Output Noise Rate Noise Density GYRO FREQUENCY RESPONSE Sensor Bandwidth Sensor Resonant Frequency Turn-on Time GYRO SELF-TEST STATE Change for positive stimulus Change for negative stimulus ACCELEROMETER SENSITIVITY Dynamic Range Initial Sensitivity Drift Over Temperature Axis Non-orthogonality Axis Misalignment Nonlinearity ACCELEROMETER BIAS 0g Offset 0g Offset Over Temperature Axis Non-orthogonality Axis Misalignment Conditions Each axis Full-scale range over specifications range 25°C, Dynamic range = +320°/sec 25°C, Dynamic range = +160°/sec 25°C, Dynamic range = +80°/sec -20°C to 75°C 25°C, difference from 90 degrees ideal 25°C, relative to base-plate & guide pins Best fit straight line Min ±320 0.07233 25°C, 1 σ 25°C, 1 σ 25°C -20°C to 75°C Any Axis VCC = 4.75 V to 5.25 V At 25°C, +320 o/s Dynamic range, no filtering At 25°C, +160 o/s Dynamic range, minimum 4 tap filter setting At 25°C, +80 o/s Dynamic range, minimum 16 tap filter setting At 25°C, f= 25Hz, no average Power on from Sleep Mode to +2o/s of final, no averaging, min sample period Relative to nominal output Relative to nominal output Each axis 439 -439 ±10 TBD @25°C 25°C, difference from 90 degrees ideal 25°C, relative to base-plate & guide pins Best Fit Straight Line @25°C Typ Rev. PrA | Page 3 of 10 Unit o 0.07326 0.03663 0.01832 +500 TBD TBD +0.1 0.07400 /s /s/LSB o /s/LSB o /s/LSB ppm/oC degree degree % of FS o 0.016 0.035 3.6 +0.06 0.2 1.0 o TBD o /s rms TBD o /s rms TBD o /s rms 0.05 o /s/√Hz rms 350 14 TBD Hz kHz ms /s /s o /√hr o /s/°C o /s/g o /s /V o 721 -721 1092 -1092 2.78 TBD TBD TBD ±0.2 TBD TBD 25°C, difference from 90 degrees ideal 25°C, relative to base-plate & guide pins Max TBD TBD TBD TBD LSB LSB g mg/LSB ppm/°C degree degree % of FS mg mg/°C degree degree ADIS16350 Preliminary Technical Data Table 2. (Continued) Parameter ACCELEROMETER NOISE PERFORMANCE Output Noise Noise Density ACCELEROMETER FREQUENCY RESPONSE Sensor Bandwidth Sensor Resonant Frequency ACCELEROMETER SELF-TEST STATE Output Change When Active TEMPERATURE SENSOR Output at 25°C Scale Factor ADC INPUT Resolution Integral Nonlinearity Differential Nonlinearity Offset Error Gain Error Input Range Input Capacitance DAC OUTPUT Resolution Relative Accuracy Differential Nonlinearity Offset Error Gain Error Output Range Output Impedance Output Settling Time LOGIC INPUTS Input High Voltage, VINH Input Low Voltage, VINL Logic 1 Input Current, IINH Logic 0 Input Current, IINL Input Capacitance, CIN DIGITAL OUTPUTS Output High Voltage, VOH Output Low Voltage, VOL SLEEP TIMER Timeout Period1 FLASH MEMORY Endurance2 Data Retention3 Conditions Min @25°C, no filtering @25°C, no filtering Typ Max TBD 0.072 LSB rms LSB/√Hz rms 350 10 @25°C 44 80 Hz kHz 120 1278 −2.13 20 Bits LSB LSB LSB LSB V pF 12 4 1 ±5 ±0.5 0 to 2.5 2 10 Bits LSB LSB mV % V Ω μs 0 For Code 101 to Code 4095 2.5 2.0 For −CS signal when used to wake up from SLEEP mode VIH = 3.3 V VIL = 0 V ISOURCE = 1.6 mA ISINK = 1.6 mA ±0.2 −40 10 0.8 V V 0.55 V ±10 −60 μA μA pF 2.4 0.5 20,000 20 TJ = 55°C Rev. PrA | Page 4 of 10 LSB LSB LSB/°C 12 ±2 ±1 ±4 ±2 During acquisition 5 kΩ/100 pF to GND Unit 0.4 V V 128 Sec Cycles Years Preliminary Technical Data ADIS16350 Table 3. (Continued) CONVERSION RATE Minimum Conversion Time Maximum Conversion Time Maximum Throughput Rate Minimum Throughput Rate POWER SUPPLY Operating Voltage Range VCC Power Supply Current 0.9766 1.937 1024 0.516 4.75 Normal mode at 25°C Fast mode at 25°C Sleep mode at 25°C 1 5.0 48 77 500 ms Sec SPS SPS 5.25 V mA mA μA Guaranteed by design 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. 2 Rev. PrA | Page 5 of 10 ADIS16350 Preliminary Technical Data TIMING SPECIFICATIONS TA = +25°C, VCC = +5.0 V, angular rate = 0°/sec, unless otherwise noted. Table 4. Parameter fSCLK Description Fast mode, SMPL_TIME ≤ 0x07 (fS ≥ 256 Hz) Normal mode, SMPL_TIME ≥ 0x08 (fS ≤ 228 Hz) Chip select period, fast mode, SMPL_TIME ≤ 0x07 (fS ≥ 256 Hz) Chip select period, normal mode, SMPL_TIME ≥ 0x08 (fS ≤ 228 Hz) Chip select to clock edge Data output valid after SCLK falling edge2 Data input setup time before SCLK rising edge Data input hold time after SCLK rising edge Data output fall time Data output rise time CS high after SCLK edge3 tDATARATE tCS tDAV tDSU tDHD tDF tDR tSFS Min1 0.01 0.01 40 100 48.8 Typ Max 2.5 1.0 Unit MHz MHz μs μs ns ns ns ns ns ns ns 100 24.4 48.8 5 5 12.5 12.5 5 1 Guaranteed by design, not production tested. 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. 2 TIMING DIAGRAMS tDATARATE tSTALL CS 06108-002 SCLK tSTALL = tDATARATE – 16/fSCLK Figure 1. SPI Chip Select Timing CS tCS tSFS 1 2 3 4 5 6 15 16 SCLK tDAV MSB DB14 DB13 tDSU DIN W/R DB12 DB11 A4 A3 DB10 DB2 DB1 LSB tDHD A5 A2 D2 D1 Figure 2. SPI Timing, Utilizing SPI Settings Typically Identified as Phase = 1, Polarity = 1 Rev. PrA | Page 6 of 10 LSB 06108-003 DOUT Preliminary Technical Data ADIS16350 ABSOLUTE MAXIMUM RATINGS Table 5. Parameter Acceleration (Any Axis, Unpowered) Acceleration (Any Axis, Powered) VDD to COM Digital Input/Output Voltage to COM Analog Inputs to COM Operating Temperature Range Storage Temperature Range 1 Rating 2000 g 2000 g −0.3 V to +7.0 V −0.3 V to +5.5 V −0.3 V to VCC + 0.3 V −40°C to +105°C −65°C to +150°C1 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 TBD θJA 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. Rev. PrA | Page 7 of 10 θJC TBD Device Weight TBD ADIS16350 Preliminary Technical Data 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 19 21 23 o o o o o o o o 18 20 22 24 Figure 3. Pin Configuration, Bottom, Pin View Table 7. Pin Function Descriptions Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 1 Mnemonic DNC DNC SCLK DOUT DIN ~CS DIO0 ~RST DIO1 VCC VCC VCC GND GND GND DNC DNC DNC DNC AUX_DAC AUX_ADC Y_ACCL X_ACCL Z_ACCL Type1 I O I I I/O I I/O S S S S S S N/A N/A N/A N/A O I O O O Description Do not connect Do not connect SPI, Serial clock SPI, Data output SPI, Data input SPI, Chip Select Digital I/O Reset Digital I/O Power supply Power supply Power supply Power ground Power ground Power ground Do not connect Do not connect Do not connect Do not connect Auxiliary, 12-bit digital-to-analog converter output Auxiliary, 12-bit, analog-to-digital converter in put Y-Axis acceleration X-Axis acceleration Z-Axis acceleration S = supply, O = output, I = input. Rev. PrA | Page 8 of 10 Preliminary Technical Data ADIS16350 OUTLINE DIMENSIONS Figure 4. Dimensions shown in millimeters ORDERING GUIDE Model ADIS16350AML ADIS16350/PCBZ Temperature Range -40°C to +85°C Package Description Rev. PrA | Page 9 of 10 Package Option ADIS16350 Preliminary Technical Data NOTES Rev. PrA | Page 10 of 10 PR06522-0-11/06(PrA)