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Precision, Miniature MEMs IMU

ADIS16505

Rev. Prelim_07

Document Feedbac

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.

Technical Support www.analog.com

FEATURES

Triaxial, digital gyroscope

±125°/sec, ±500°/sec, ±2000°/sec range models

2°/hr in-run bias stability

0.16°/√hr angle random walk

±0.1° axis to axis misalignment error

Triaxial, digital accelerometer, ±8 g

3.6 μg in-run bias stability

Triaxial, delta angle and delta velocity outputs

Factory calibrated sensitivity, bias, and axial alignment

Calibration temperature range: −40°C to +85°C

SPI compatible data communications

Programmable operation and control

Automatic and manual bias correction controls

Data ready indicator for synchronous data acquisition

External sync modes: direct, pulse, scaled, and output

On demand self test of inertial sensors

On demand self test of flash memory

Single-supply operation (VDD): 3.0 V to 3.6 V

2000 g mechanical shock survivability

Operating temperature range: −40°C to +105°C

APPLICATIONS

Navigation, stabilization, and instrumentation

Unmanned and autonomous vehicles

Smart agriculture and construction machinery

Factory/industrial automation, robotics

Virtual/augmented reality

Internet of Moving Things

GENERAL DESCRIPTION

The ADIS16505 is a precision, miniature MEMS inertial measure-

ment unit (IMU) that includes a triaxial gyroscope and a triaxial

accelerometer. Each inertial sensor in the ADIS16505 combines

with signal conditioning that optimizes dynamic performance.

The factory calibration characterizes each sensor for sensitivity,

bias, alignment, linear acceleration (gyroscope bias), and point

of percussion (accelerometer location). As a result, each sensor

has dynamic compensation formulas that provide accurate

sensor measurements over a broad set of conditions.

The ADIS16505 provides a simple, cost effective method for

integrating accurate, multiaxis inertial sensing into industrial

systems, especially when compared with the complexity and

investment associated with discrete designs. All necessary motion

testing and calibration are part of the production process at the

factory, greatly reducing system integration time. Tight orthogonal

alignment simplifies inertial frame alignment in navigation

systems. The serial peripheral interface (SPI) and register

structure provide a simple interface for data collection and

configuration control.

The ADIS16505 is available in a 44-ball, ball grid array (BGA)

package that is approximately 15 mm × 15 mm × 5 mm.

FUNCTIONAL BLOCK DIAGRAM

CONTROLLER

POWER

MANAGEMENT

SCLK

DIN

DOUT

GND

VDD

SYNC

RST

SPI

SELF TEST I/O

OUTPUT

DATA

REGISTERS

USER

CONTROL

REGISTERS

CALIBRATION

AND

FILTERS

ADIS16505

CLOCK

TRIAXIAL

GYROSCOPE

TEMPERATURE

SENSOR

TRIAXIAL

ACCELEROMETER

Figure 1.

ADI PROPRIETARY

ADIS16505

Rev. Prelim_07 | Page 2 of 37

TABLE OF CONTENTS

Features .............................................................................................. 1

Applications ....................................................................................... 1

General Description ......................................................................... 1

Functional Block Diagram .............................................................. 1

Specifications ..................................................................................... 3

Timing Specifications .................................................................. 6

Absolute Maximum Ratings ....................................................... 8

Thermal Resistance ...................................................................... 8

ESD Caution .................................................................................. 8

Pin Configuration and Function Descriptions ............................. 9

Typical Performance Characteristics ........................................... 12

Theory of Operation ...................................................................... 14

Introduction ................................................................................ 14

Inertial Sensor Signal Chain ..................................................... 14

Serial Peripheral Interface (SPI) ............................................... 15

Data Ready (DR) ........................................................................ 16

Reading Sensor Data .................................................................. 17

Device Configuration ................................................................ 18

User Register Memory Map .......................................................... 19

User Register Defintions ................................................................ 21

Gyroscope Data .......................................................................... 21

Delta Angles ................................................................................ 24

Delta Velocity .............................................................................. 26

Calibration ................................................................................... 27

Applications Information .............................................................. 34

Assembly and Handling Tips .................................................... 34

Power Supply Considerations ................................................... 35

Evaluation Tools ......................................................................... 35

Packaging and Ordering Information ......................................... 37

Outline Dimensions ................................................................... 37

Ordering Guide .......................................................................... 37

REVISION HISTORY

N/A

ADI PROPRIETARY

ADIS16505

Rev. Prelim_07 | Page 3 of 37

SPECIFICATIONS

Case temperature (T

) = 25°C, VDD = 3.3 V, angular rate = 0°/sec, dynamic range = ±2000°/sec ± 1 g, unless otherwise noted.

Table 1.

Parameter Test Conditions/Comments Min Typ Max Unit

GYROSCOPES

Dynamic Range ADIS16505-1 ±125 °/sec

ADIS16505-2 ±500 °/sec

ADIS16505-3 ±2000 °/sec

Sensitivity ADIS16505-1, 16-bit 160 LSB/°/sec

ADIS16505-2, 16-bit 40 LSB/°/sec

ADIS16505-3, 16-bit 10 LSB/°/sec

ADIS16505-1, 32-bit 10,485,760 LSB/°/sec

ADIS16505-2, 32-bit 2,621,440 LSB/°/sec

ADIS16505-3, 32-bit 655,360 LSB/°/sec

Error over Temperature −40°C ≤ T

≤ +85°C, 1σ ±0.3 %

Misalignment Error Axis to axis, −40°C ≤ T

≤ +85°C, 1 σ ±0.1 Degrees

Nonlinearity

ADIS16505-1, full scale (FS) = 125°/sec 0.2 % FS

ADIS16505-2, FS = 500°/sec 0.2 % FS

ADIS16505-3, FS = 2000°/sec 0.25 % FS

Bias

Repeatability

−40°C ≤ T

≤ +85°C, 1 σ x-axis, z-axis 0.7 °/sec

−40°C ≤ T

≤ +85°C, 1 σ, y-axis 2 °/sec

In-Run Bias Stability ADIS16505-1, 1 σ 2 °/hr

ADIS16505-2, 1 σ 2.5 °/hr

ADIS16505-3, 1 σ 7 °/hr

Angular Random Walk ADIS16505-1, x-axis and y-axis, 1 σ 0.15 °/√hr

ADIS16505-1, z-axis, 1 σ 0.19 °/√hr

ADIS16505-2, x-axis and y-axis, 1 σ 0.15 °/√hr

ADIS16505-2, z-axis, 1 σ 0.2 °/√hr

ADIS16505-3, 1 σ 0.3 °/√hr

Error over Temperature −40°C ≤ T

≤ +85°C, 1 σ, x-axis and z-axis ±0.2 °/sec

−40°C ≤ T

≤ +85°C, 1 σ, y-axis ±0.4 °/sec

Linear Acceleration Effect Any direction, 1 σ 0.01 °/sec/g

Vibration Rectified Error (VRE) Random vibration, 2 g

rms

, 50 Hz to 2 kHz 0.0005 °/sec/g

Output Noise No Filtering, 1 σ, +25°C

ADIS16505-1, x-axis, y-axis 0.07 °/sec rms

ADIS16505-1, z-axis 0.1 °/sec rms

ADIS16505-2, x-axis, y-axis 0.07 °/sec rms

ADIS16505-2, z-axis 0.1 °/sec rms

ADIS16505-3, all axes 0.15 °/sec rms

Rate Noise Density f = 10 Hz to 40 Hz

ADIS16505-1, x-axis and y-axis 0.003 °/sec/√Hz rms

ADIS16505-1, z-axis 0.0044 °/sec/√Hz rms

ADIS16505-2, x-axis and y-axis 0.003 °/sec/√Hz rms

ADIS16505-2, z-axis 0.0046 °/sec/√Hz rms

ADIS16505-3, all axes 0.007 °/sec/√Hz rms

3 dB Bandwidth ADIS16505-1,ADIS16505-2, x-axis and y-axis 480 Hz

ADIS16505-1,ADIS16505-2, z-axis 590 Hz

ADIS16505-3, x-axis and y-axis 570 Hz

ADIS16505-3, z-axis 640 Hz

Sensor Resonant Frequency x-axis, y-axis 66 kHz

z-axis 78 kHz

ADI PROPRIETARY

ADIS16505

Rev. Prelim_07 | Page 4 of 37

Parameter Test Conditions/Comments Min Typ Max Unit

ACCELEROMETERS

Each axis

Dynamic Range ±8

Sensitivity 32-bit data format 262,144,000 LSB/g

Error over temperature −40°C ≤ T

≤ +85°C, 1 σ ±0.1 %

Misalignment Error Axis to axis, −40°C ≤ T

≤ +85°C, 1 σ ±0.05 Degrees

Nonlinearity Best fit straight line, ±2 g 0.25 % FS

Best fit straight line, ±8 g, x-axis 0.5 % FS

Best fit straight line, ±8 g, y-axis and z-axis 1.5 % FS

Bias

In-Run Bias Stability 1 σ 3.6 g

Velocity Random Walk 1 σ 0.012 m/sec/√hr

Error over Temperature −40°C ≤ T

≤ +85°C, 1 σ ±1 mg

Output Noise No filtering 0.6 mg rms

Noise Density f = 10 Hz to 40 Hz, no filtering 23 g/√Hz rms

3 dB Bandwidth 750 Hz

Sensor Resonant Frequency Y-axis and z-axis 2.4 kHz

X-axis 2.2 kHz

TEMPERATURE SENSOR

Scale Factor Output = 0x0000 at 0°C (±5°C) 0.1 °C/LSB

LOGIC INPUTS

Input Voltage

High, V

2.0 V

Low, V

0.8 V

RST Pulse Width

1 µs

CS Wake-Up Pulse Width

20 µs

Input Current

Logic 1, I

= 3.3 V 10 µA

Logic 0, I

= 0 V

All Pins Except RST

10 µA

RST Pin

0.33 mA

Input Capacitance, C

10 pF

DIGITAL OUTPUTS

Output Voltage

High, V

SOURCE

= 0.5 mA 2.4 V

Low, V

SINK

= 2.0 mA 0.4 V

FLASH MEMORY Endurance

10000 Cycles

Data Retention

= 85°C 20 Years

FUNCTIONAL TIMES

Time until data is available

Power-On Start-Up Time 252 ms

Reset Recovery Time

GLOB_CMD, Bit 7 = 1 (see Table 113) 193 ms

Factory Calibration Restore GLOB_CMD, Bit 1 = 1 (see Table 113) 142 ms

Flash Memory Backup GLOB_CMD, Bit 3 = 1 (see Table 113) 72 ms

Flash Memory Test Time GLOB_CMD, Bit 4 = 1 (see Table 113) 32 ms

Self Test Time

GLOB_CMD, Bit 2 = 1 (see Table 113) 14 ms

CONVERSION RATE 2000 SPS

Initial Clock Accuracy 3 %

Sync Input Clock 1.9 2.1 kHz

POWER SUPPLY, VDD Operating voltage range 3.0 3.6 V

Power Supply Current

Normal mode, VDD = 3.3 V 44 55 mA

This measurement is based on the deviation from a best fit linear model.

Bias repeatability provides an estimate for long-term drift in the bias, as observed during 500 hours of High-Temperature Operating Life (HTOL) at +105°C.

ADI PROPRIETARY

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