ADIS16IMU5SLASHPCBZ datasheet(30/46 Pages) AD

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Data Sheet

ADIS16575/ADIS16576/ADIS16577

USER REGISTER DEFINITIONS

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DELTA ANGLES

In addition to the angular rate of rotation (gyroscope) measure-

ments around each axis (x, y, and z), the ADIS16575/ADIS16576/

ADIS16577 also provide delta angle measurements that calculate

angular displacement between each sample update.

Figure 64. Delta Angle Axis and Polarity Assignments

The delta angle outputs represent an integration of the gyroscope

measurements and use the following formula for all three axes

(x-axis displayed):

∆θx, nD= 12×fs×∑d=0D−1ωx, nD+d+ωx, nD+d−1

where:

x is the x-axis.

n is the sample time before the decimation filter.

D is the decimation rate (DEC_RATE + 1, see Table 124).

fS is the sample rate.

d is the incremental variable in the summation formula.

ωX is the x-axis rate of rotation (gyroscope).

When using the internal sample clock, fS equals a nominal rate

of selected 2000 SPS or 4000 SPS. For better precision in this

measurement, measure the internal fS using the data ready signal

on the DR pin (DEC_RATE = 0x0000, see Table 123), divide each

delta angle result (from the delta angle output registers) by the

data ready frequency, and multiply it by 2000. Each axis of the

delta angle measurements has two output data registers. Figure 65

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

complement data format for the x-axis delta angle measurements.

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

Figure 65. Delta Angle Output Data Structure

Delta Angle Measurement Range

Table 54 shows the measurement range for each ADIS16575/

ADIS16576/ADIS16577 model.

Table 54. Delta Angle Measurement Range

Model

Measurement Range, ±ΔθMAX (°)

ADIS16575-2, ADIS16576-2,

ADIS16577-2

±720

ADIS16576-3, ADIS16577-3

±2160

X-Axis Delta Angle (X_DELTANG_LWR and

X_DELTANG_UPR)

Table 55. X_DELTANG_LWR Register Definitions

Addresses

Default

Access

Flash Backup

0x24, 0x25

Not applicable

Table 56. X_DELTANG_LWR Bit Definitions

Bits

Description

[15:0]

X-axis delta angle data; low word

Table 57. X_DELTANG_UPR Register Definitions

Addresses

Default

Access

Flash Backup

0x26, 0x27

Not applicable

Table 58. X_DELTANG_UPR Bit Definitions

Bits

Description

[15:0]

X-axis delta angle data; high word; twos complement, 0° = 0x0000, 1

LSB = ΔθMAX/215 (see Table 54 for ΔθMAX)

The X_DELTANG_LWR (see Table 55 and Table 56) and X_DEL-

TANG_UPR (see Table 57 and Table 58) registers contain the delta

angle data for the x-axis.

Y-Axis Delta Angle (Y_DELTANG_LWR and

Y_DELTANG_UPR)

Table 59. Y_DELTANG_LWR Register Definitions

Addresses

Default

Access

Flash Backup

0x28, 0x29

Not applicable

Table 60. Y_DELTANG_LWR Bit Definitions

Bits

Description

[15:0]

Y-axis delta angle data; low word

Table 61. Y_DELTANG_UPR Register Definitions

Addresses

Default

Access

Flash Backup

0x2A, 0x2B

Not applicable

Table 62. Y_DELTANG_UPR Bit Definitions

Bits

Description

[15:0]

Y-axis delta angle data; high word; twos complement, 0° = 0x0000, 1

LSB = ΔθMAX/215 (see Table 54 for ΔθMAX)

The Y_DELTANG_LWR (see Table 59 and Table 60) and Y_DEL-

TANG_UPR (see Table 61 and Table 62) registers contain the delta

angle data for the y-axis.

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