ADIS16IMU5SLASHPCBZ datasheet(26/46 Pages) AD

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Data Sheet

ADIS16575/ADIS16576/ADIS16577

USER REGISTER DEFINITIONS

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Rev. 0 | 26 of 46

GYROSCOPE DATA

The gyroscopes in the ADIS16575/ADIS16576/ADIS16577 meas-

ure the angular rotation rate around three orthogonal axes (x, y,

and z). Figure 60 show the orientation of each gyroscope axis and

the direction of rotation that produces a positive response in each

measurement.

Figure 60. Gyroscope Axis and Polarity Assignments

Each gyroscope has two output data registers. Figure 61 shows

how these two registers combine to support a 32-bit, twos comple-

ment data format for the x-axis gyroscope measurements. This

format also applies to the y-axis and z-axis.

Figure 61. Gyroscope Output Data Structure

Gyroscope Data Formatting

Table 16 through Table 19 offer various numerical examples that

demonstrate the format of the rotation rate data in both 16-bit and

32-bit formats using the generic measurement range (ωMAX) and

scale factor (KG) definitions from Table 20.

Table 16. 16-Bit Gyroscope Data Format Examples (ADIS16575-2,

ADIS16576-2, and ADIS16577-2)

Rotation Rate (°/sec)

Decimal

Hexadecim

Binary

+ωMAX

+18,000

0x4650

0100 0110 0101 0000

+2/KG

0x0002

0000 0000 0000 0010

+1/KG

0x0001

0000 0000 0000 0001

0°/sec

0x0000

0000 0000 0000 0000

−1/KG

−1

0xFFFF

1111 1111 1111 1111

−2/KG

−2

0xFFFE

1111 1111 1111 1110

−ωMAX

−18,000

0xB9B0

1011 1001 1011 0000

Table 17. 16-Bit Gyroscope Data Format Examples (ADIS16576-3 and

ADIS16577-3)

Rotation Rate(°/sec)

Decimal

Hexadecim

Binary

+ωMAX

+20,000

0x4E20

0100 1110 0010 0000

+2/KG

0x0002

0000 0000 0000 0010

+1/KG

0x0001

0000 0000 0000 0001

0°/sec

0x0000

0000 0000 0000 0000

−1/KG

−1

0xFFFF

1111 1111 1111 1111

−2/KG

−2

0xFFFE

1111 1111 1111 1110

−ωMAX

−20,000

0xB1E0

1011 0001 1110 0000

Table 18. 32-Bit Gyroscope Data Format Examples (ADIS16575-2,

ADIS16576-2, and ADIS16577-2)

Rotation Rate (°/sec)

Decimal

Hexadecimal

+ωMAX

+1,179,648,000

0x46500000

+2/(KG × 216)

0x00000002

+1/(KG × 216)

0x00000001

0x0000000

−1/(KG × 216)

−1

0xFFFFFFFF

−2/(KG × 216)

−2

0xFFFFFFFE

−ωMAX

−1,179,648,000

0xB9B00000

Table 19. 32-Bit Gyroscope Data Format Examples (ADIS16576-3 and

ADIS16577-3)

Rotation Rate (°/sec)

Decimal

Hexadecimal

+ωMAX

+1,310,720,000

0x4E200000

+2/(KG × 216)

0x00000002

+1/(KG × 216)

0x00000001

0x0000000

−1/(KG × 216)

−1

0xFFFFFFFF

−2/(KG × 216)

−2

0xFFFFFFFE

−ωMAX

−1,310,720,000

0xB1E00000

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