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ADIS16IMU1/PCBZ Datasheet(PDF) 17 Page - Analog Devices

Part # ADIS16IMU1/PCBZ
Description  Six Degrees of Freedom Inertial Sensor
PDF  38 Pages
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16IMU1/PCBZ Datasheet(HTML) 17 Page - Analog Devices

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Data Sheet
ADIS16486
Rev. 0 | Page 17 of 38
Table 29. X_GYRO_LOW Bit Definition
Bits
Description (No Default)
[15:0]
X-axis gyroscope data, low word
Table 30. X_GYRO_OUT Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x00
0x12, 0x13
Not applicable
R
No
Table 31. X_GYRO_OUT Bit Definition
Bits
Description (No Default)
[15:0]
X-axis gyroscope data, high word, twos complement,
±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec
Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT)
The Y_GYRO_LOW (see Table 32 and Table 33) and Y_GYRO
_OUT (see Table 34 and Table 35) registers contain the gyroscope
data for the y-axis.
Table 32. Y_GYRO_LOW Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x00
0x14, 0x15
Not applicable
R
No
Table 33. Y_GYRO_LOW Bit Definition
Bits
Description (No Default)
[15:0]
Y-axis gyroscope data, low word
Table 34. Y_GYRO_OUT Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x00
0x16, 0x17
Not applicable
R
No
Table 35. Y_GYRO_OUT Bit Definition
Bits
Description (No Default)
[15:0]
Y-axis gyroscope data, high word, twos complement,
±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec
Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT)
The Z_GYRO_LOW (see Table 36 and Table 37) and Z_GYRO
_OUT (see Table 38 and Table 39) registers contain the gyroscope
data for the z-axis.
Table 36. Z_GYRO_LOW Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x00
0x18, 0x19
Not applicable
R
No
Table 37. Z_GYRO_LOW Bit Definition
Bits
Description (No Default)
[15:0]
Z-axis gyroscope data, low word, additional resolution
bits
Table 38. Z_GYRO_OUT Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x00
0x1A, 0x1B
Not applicable
R
No
Table 39. Z_GYRO_OUT Bit Definition
Bits
Description (No Default)
[15:0]
Z-axis gyroscope data, high word, twos complement,
±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec
Gyroscope Resolution
Table 40 and Table 41 offer various numerical examples that
demonstrate the format of the angular rate (gyroscopes) data in
both 16-bit and 32-bit formats.
Table 40. 16-Bit Gyroscope Data Format Examples
Rotation Rate
(°/sec)
Decimal
Hex
Binary
+450
+22,500
0x57E4
0101 0111 1110 0100
+0.04
+2
0x0002
0000 0000 0000 0010
+0.02
+1
0x0001
0000 0000 0000 0001
0
0
0x0000
0000 0000 0000 0000
−0.02
−1
0xFFFF
1111 1111 1111 1111
−0.04
−2
0xFFFE
1111 1111 1111 1110
−450
−22,500
0xA81C
1010 1000 0001 1100
Table 41. 32-Bit Gyroscope Data Format Examples
Rotation Rate (°/sec)
Decimal
Hex
+450
+1,474,560,000
0x57E40000
+0.02/215
+2
0x00000002
+0.02/216
+1
0x00000001
0
0
0x00000000
−0.02/216
−1
0xFFFFFFFF
−0.02/215
−2
0xFFFFFFFE
−450
−1,474,560,000
0x73600000
ACCELERATION DATA
The accelerometers in the ADIS16486 measure both dynamic
and static (response to gravity) acceleration along three orthogonal
axes (x, y, and z). Figure 18 shows the orientation of each
accelerometer axis, along with the direction of acceleration that
produces a positive response in each of their measurements.
PIN 1
PIN 23
aY
aX
Z-AXIS
aZ
Y-AXIS
X-AXIS
Figure 18. Accelerometer Axis and Polarity Assignments
Each accelerometer has two output data registers. Figure 19
shows how the X_ACCL_LOW and X_ACCL_OUT registers
combine to support a 32-bit, twos complement data format for
the x-axis accelerometer measurements. This format also applies
to the y- and x-axes.
X-AXIS ACCELEROMETER DATA
0 15
15
0
X_ACCL_OUT
X_ACCL_LOW
Figure 19. Accelerometer Output Data Structure



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