ADIS16505-2SLASHPCBZ datasheet(28/41 Pages) AD

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ADIS16505

Data Sheet

Rev. C | Page 28 of 41

DELTA ANGLES

In addition to the angular rate of rotation (gyroscope)

measurements around each axis (x, y, and z), the ADIS16505 also

provides delta angle measurements that represent a calculation

of angular displacement between each sample update.

ΔθY

ΔθX

ΔθZ

Y-AXIS

X-AXIS

A10

Z-AXIS

Figure 52. 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):



xn D

xn D d







 













where:

D is the decimation rate (DEC_RATE + 1, see Table 110).

fS is the sample rate.

d is the incremental variable in the summation formula.

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

n is the sample time, prior to the decimation filter.

When using the internal sample clock, fS is equal to a nominal

rate of 2000 SPS. For better precision in this measurement,

measure the internal sample rate (fS) using the data ready signal

on the DR pin (DEC_RATE = 0x0000, see Table 109), 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 53 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- and z-axes.

X-AXIS DELTA ANGLE DATA

X_DELTANG_OUT

X_DELTANG_LOW

BIT 0 BIT 15

BIT 15

BIT 0

Figure 53. Delta Angle Output Data Structure

Delta Angle Measurement Range

Table 48 shows the measurement range and scale factor for

each ADIS16505 model.

Table 48. Delta Angle Measurement Range and Scale Factor

Model

Measurement Range, ±ΔθMAX (°)

ADIS16505-1BMLZ

±360

ADIS16505-2BMLZ

±720

ADIS16505-3BMLZ

±2160

X-Axis Delta Angle (X_DELTANG_LOW and

X_DELTANG_OUT)

Table 49. X_DELTANG_LOW Register Definitions

Addresses

Default

Access

Flash Backup

0x24, 0x25

Not applicable

Table 50. X_DELTANG_LOW Bit Definitions

Bits

Description

[15:0]

X-axis delta angle data; low word

Table 51. X_DELTANG_OUT Register Definitions

Addresses

Default

Access

Flash Backup

0x26, 0x27

Not applicable

Table 52. X_DELTANG_OUT Bit Definitions

Bits

Description

[15:0]

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

1 LSB = ΔθMAX/215 (see Table 48 for ±ΔθMAX)

The X_DELTANG_LOW (see Table 49 and Table 50) and

X_DELTANG_OUT (see Table 51 and Table 52) registers

contain the delta angle data for the x-axis.

Y-Axis Delta Angle (Y_DELTANG_LOW and

Y_DELTANG_OUT)

Table 53. Y_DELTANG_LOW Register Definitions

Addresses

Default

Access

Flash Backup

0x28, 0x29

Not applicable

Table 54. Y_DELTANG_LOW Bit Definitions

Bits

Description

[15:0]

Y-axis delta angle data; low word

Table 55. Y_DELTANG_OUT Register Definitions

Addresses

Default

Access

Flash Backup

0x2A, 0x2B

Not applicable

Table 56. Y_DELTANG_OUT Bit Definitions

Bits

Description

[15:0]

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

1 LSB = ΔθMAX/215 (see Table 48 for ±ΔθMAX)

The Y_DELTANG_LOW (see Table 53 and Table 54) and

Y_DELTANG_OUT (see Table 55 and Table 56) registers

contain the delta angle data for the y-axis.

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