Precision Triaxial Inclinometer and Accelerometer with SPI ADIS16210 Data Sheet FEATURES GENERAL DESCRIPTION Triaxial, digital inclinometer system 180 measurement range, roll and pitch axes 90 gravity axis 0.1 relative accuracy Triaxial, digital accelerometer, high accuracy 1.7 g measurement range 0.05 axis-to-axis alignment Digital internal temperature measurements Digital internal power supply measurements Programmable user calibration options Single command, frame alignment Manual accelerometer bias correction Programmable operation and control Sample rate/filtering Alarm conditions and indicator output Input/output: data ready, alarm, general-purpose Power management functions SPI-compatible serial interface Serial number and device ID Single-supply operation: 3.0 V to 3.6 V Calibrated temperature range: -40C to +85C 15 mm x 24 mm x 15 mm package with flexible connector The ADIS16210 iSensor(R) is a digital inclinometer system that provides precise measurements for both pitch and roll angles over a full orientation range of 180. It combines a MEMS triaxial acceleration sensor with signal processing, addressable user registers for data collection/programming, and a SPI-compatible serial interface. In addition, the production process includes unit specific calibration for optimal accuracy performance. It also offers digital temperature sensor and power supply measurements together with configuration controls for in-system calibration, sample rate, filtering, alarms, input/output (I/O) configuration, and power management. The MEMS sensor elements are bound to an aluminum core for tight platform coupling and excellent mechanical stability. An internal clock drives the data sampling system, which eliminates the need for an external clock source. The SPI and data buffer structure provide convenient access to accurate sensor data and configuration controls. The ADIS16210 is available in a 15 mm x 24 mm x 15 mm module that provides mounting tabs with M2-sized mounting holes and a flexible, edge terminated connector interface. It has an extended operating temperature range of -40C to +125C. APPLICATIONS Platform control, stabilization, and alignment Tilt sensing, inclinometers, and leveling Motion/position measurement Monitor/alarm devices (security, medical, safety) Navigation FUNCTIONAL BLOCK DIAGRAM DIO1 DIO2 RST VDD SELF TEST I/O ALARMS TRIAXIAL MEMS SENSOR CONTROLLER DIGITAL FILTER CORRECTION AND ALIGNMENT INCLINE CALIBRATION OUTPUT REGISTERS GND CS CONTROL REGISTERS SPI PORT TEMPERATURE SENSOR SUPPLY POWER MANAGEMENT SCLK DIN DOUT 09593-001 ADIS16210 Figure 1. Rev. E Document Feedback 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. Tel: 781.329.4700 (c)2011-2019 Analog Devices, Inc. All rights reserved. Technical Support www.analog.com ADIS16210 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 System Tools .................................................................................... 15 Applications ....................................................................................... 1 Global Commands ..................................................................... 15 General Description ......................................................................... 1 Input/Output Functions ............................................................ 15 Functional Block Diagram .............................................................. 1 Device Identification.................................................................. 16 Revision History ............................................................................... 2 Status/Error Flags ....................................................................... 16 Specifications..................................................................................... 3 Flash Memory Management ..................................................... 16 Timing Specifications .................................................................. 4 Alarms .............................................................................................. 17 Absolute Maximum Ratings............................................................ 5 System Alarm .............................................................................. 17 ESD Caution .................................................................................. 5 Static Alarms ............................................................................... 17 Pin Configuration and Function Descriptions ............................. 6 Dynamic Alarms ........................................................................ 17 Basic Operation................................................................................. 7 Alarm Reporting ........................................................................ 17 Reading Sensor Data .................................................................... 7 Applications Information .............................................................. 18 Device Configuration .................................................................. 7 Mating Connector ...................................................................... 18 User Register Map ............................................................................ 8 Breakout Board ........................................................................... 18 Sensor Data........................................................................................ 9 PC-Based Evaluation Tools ....................................................... 18 Output Data Registers .................................................................. 9 Outline Dimensions ....................................................................... 20 Signal Processing, Bias Correction, and Alignment .................. 12 Ordering Guide .......................................................................... 20 REVISION HISTORY 3/2019--Rev D to Rev. E Added Endnote 1 to Inclinometers, Relative Accuracy Parameter, Table 1; Renumbered Sequentially ............................. 3 Changes to Table 31 Title to Table 33 Title ................................. 14 Added X-Ray Sensitivity Section .................................................. 19 Changes to Ordering Guide .......................................................... 21 3/2018--Rev C to Rev. D Changes to Figure 4 .......................................................................... 6 Deleted Interface Board Section, Figure 23, and Figure 25; Renumbered Sequentially.............................................................. 18 Added Breakout Board Section, PC-Based Evaluation Tools Section, and Figure 24; Renumbered Sequentially .................... 18 Added Figure 25.............................................................................. 19 Changes to Ordering Guide .......................................................... 20 12/2016--Rev. B to Rev. C Changes to Signal Processing, Bias Correction, and Alignment Section .............................................................................................. 12 6/2015--Rev. A to Rev. B Changes to Figure 2 .......................................................................... 4 Change to Figure 5 ............................................................................7 Changes to User Register Map Section and Table 8......................8 Changes to Signal Processing, Bias Correction, and Alignment Section, Figure 16, and Accelerometer Bias Correction Section .. 12 Added Table 27, Table 28, and Table 29; Renumbered Sequentially ..................................................................................... 12 Changes to Table 30 and Measurement Mode Section ............. 13 Added Two-Axis Mode Section.................................................... 13 Added User Reference Alignment Section, Table 31, Table 32, and Table 33 .................................................................................... 14 Change to Table 34 ......................................................................... 15 Moved User Register Save to Flash Memory Section and Figure 20 .......................................................................................... 15 Changes to Figure 25...................................................................... 18 6/2011--Rev. 0 to Rev. A Changes to Table 1.............................................................................3 Changes to Table 23 ....................................................................... 12 Changes to Figure 24 and Figure 25............................................. 17 4/2011--Revision 0: Initial Version Rev. E | Page 2 of 20 Data Sheet ADIS16210 SPECIFICATIONS TA = -40C to +85C, VDD = 3.0 V to 3.6 V, unless otherwise noted. Table 1. Parameter INCLINOMETERS Measurement Range Relative Accuracy 1 Noise Density ACCELEROMETERS Measurement Range Offset Error Sensitivity Error Nonlinearity Misalignment Noise Density Bandwidth Sensor Resonant Frequency LOGIC INPUTS 2 Input High Voltage, VINH Input Low Voltage, VINL Logic 1 Input Current, IINH Logic 0 Input Current, IINL All Except RST RST Input Capacitance, CIN DIGITAL OUTPUTS2 Output High Voltage, VOH Output Low Voltage, VOL FLASH MEMORY Endurance 3 Data Retention 4 START-UP TIME 5 Initial Startup Reset Recovery 6 Sleep Mode Recovery CONVERSION RATE Clock Accuracy POWER SUPPLY Power Supply Current Test Conditions/Comments Min Typ -180 30, AVG_CNT 0x0009, 3 60, AVG_CNT 0x0009, 1 60, AVG_CNT 0x0009, 3 180, AVG_CNT 0x0009, 1 180, AVG_CNT 0x0009, 3 TA = 25C, AVG_CNT = 0x0000 Max Unit +180 Degrees Degrees Degrees Degrees Degrees Degrees /Hz 0.1 0.1 0.15 0.14 0.21 0.011 1.7 1 1 1 g, 1 Axis to axis, deviation from 90, 1 TA = 25C, AVG_CNT = 0x0000 -3 dB decrease in dc sensitivity, TA = 25C TA = 25C 1 0.0244 1 0.05 190 2 50 5.5 2.0 VIH = 3.3 V VIL = 0 V 0.2 -40 -1 10 ISOURCE = 1.6 mA ISINK = 1.6 mA 0.8 1 -60 2.4 0.4 10,000 20 TJ = 85C RST pulse low or Register GLOB_CMD[7] = 1 After CS assertion from high to low Register AVG_CNT = 0x0000 Operating voltage range, VDD Normal mode, TA = 25C Sleep mode, TA = 25C 3.0 g mg % mg Degrees g/Hz Hz kHz V V A A mA pF V V Cycles Years 156 33.8 22.3 ms ms ms 512 3 3.3 18 230 SPS % V mA A 3.6 X-ray exposure may degrade this performance metric. The digital I/O signals are 5 V tolerant. Endurance is qualified as per JEDEC Standard 22, Method A117, and measured at -40C, +25C, +85C, and +125C. 4 Retention lifetime equivalent at junction temperature (TJ) = 85C as per JEDEC Standard 22, Method A117. Retention lifetime decreases with junction temperature. See Figure 22. 5 The start-up times presented do not include the data capture time, which is dependent on the AVG_CNT register settings. 6 The RST pin must be held low for at least 15 ns. 1 2 3 Rev. E | Page 3 of 20 ADIS16210 Data Sheet TIMING SPECIFICATIONS TA = 25C, VDD = 3.3 V, unless otherwise noted. Table 2. Parameter fSCLK tSTALL tCS tDAV tDSU tDHD tSR tSF tDF, tDR tSFS 1 Description SCLK frequency Stall period between data, between 16th and 17th SCLK Chip select to SCLK edge DOUT valid after SCLK edge DIN setup time before SCLK rising edge DIN hold time after SCLK rising edge SCLK rise time SCLK fall time DOUT rise/fall times CS high after SCLK edge Min 1 10 40 48.8 Typ Max 830 Unit kHz s ns ns ns ns ns ns ns ns 100 24.4 48.8 12.5 12.5 12.5 5 5 Guaranteed by design, not tested. Timing Diagrams tSR CS tDF, tDR tSF tCS tSFS 1 2 3 4 5 6 15 16 SCLK tDAV MSB DB14 DB13 tDSU DIN R/W A6 DB12 DB11 A4 A3 DB10 DB2 DB1 LSB tDHD A5 A2 D2 D1 09593-002 DOUT LSB Figure 2. SPI Timing and Sequence tSTALL 09593-003 CS SCLK Figure 3. DIN Bit Sequence Rev. E | Page 4 of 20 Data Sheet ADIS16210 ABSOLUTE MAXIMUM RATINGS Table 4. Package Characteristics Table 3. Parameter Acceleration Any Axis, Unpowered Any Axis, Powered VDD to GND Digital Input Voltage to GND Digital Output Voltage to GND Analog Inputs to GND Operating Temperature Range Storage Temperature Range Rating Package Type 15-Lead Module 3500 g 3500 g -0.3 V to +6.0 V -0.3 V to +5.3 V -0.3 V to VDD + 0.3 V -0.3 V to +3.6 V -40C to +125C -65C to +150C ESD CAUTION Stresses at or above those listed under Absolute Maximum Ratings may cause permanent damage to the product. This is a stress rating only; functional operation of the product at these or any other conditions above those indicated in the operational section of this specification is not implied. Operation beyond the maximum operating conditions for extended periods may affect product reliability. Rev. E | Page 5 of 20 JA 31C/W JC 11C/W Device Weight 7.2 grams ADIS16210 Data Sheet PIN CONFIGURATION AND FUNCTION DESCRIPTIONS PIN 1 PIN 15 PIN 15 BOTTOM VIEW TOP VIEW NOTES 1. THE LEADS ARE LOCATED ON THE BOTTOM SIDE OF THE FLEXIBLE CABLE. 2. THE LEAD FINISH IS IMMERSION GOLD OVER THE ELECTROLESS NICKEL. 3. THE THICKNESS OF THE GOLD FINISH IS BETWEEN 0.035m AND 0.150m. 4. PACKAGE IS NOT SUITABLE FOR SOLDER REFLOW ASSEMBLY PROCESSES. 5. EXAMPLE MATING CONNECTOR: AVX CORPORATION FLAT FLEXIBLE CONNECTOR (FFC) P/N: 04-6288-015-000-846. 09593-004 PIN 1 Figure 4. Pin Configuration Table 5. Pin Function Descriptions Pin No. 1, 2 3, 4, 5, 8 6, 9 7 10 11 12 Mnemonic VDD GND DNC DIO2 RST DIN DOUT Type 1 S S I I/O I I O 13 14 15 SCLK CS DIO1 I I I/O 1 Description Power Supply, 3.3 V. Ground. Do Not Connect. Do not connect to these pins. Digital Input/Output Line 2. Reset, Active Low. SPI, Data Input. SPI, Data Output. DOUT is an output when CS is low. When CS is high, DOUT is in a three-state, high impedance mode. SPI, Serial Clock. SPI, Chip Select. Digital Input/Output Line 1. S is supply, I is input, O is output, and I/O is input/output. Rev. E | Page 6 of 20 Data Sheet ADIS16210 BASIC OPERATION READING SENSOR DATA The ADIS16210 is an autonomous system that requires no user initialization. Upon receiving a valid power supply, it initializes itself and starts sampling, processing, and loading data into the output registers. When using the factory default configuration, DIO1 provides a data ready signal. The SPI interface enables simple integration with many embedded processor platforms, as shown in Figure 5 (electrical connection) and Table 6 (processor pin descriptions). A single register read requires two 16-bit SPI cycles. The first cycle requests the contents of a register using the bit assignments in Figure 9. The register contents then follow on DOUT, during the second sequence. 3.3V VDD 1 2 ADIS16210 CS 13 SCLK MOSI 11 DIN MISO 12 DOUT IRQ 15 DIO1 3 DIN DOUT 4 5 8 0x0800 XACCL_OUT YACCL_OUT ZACCL_OUT Figure 7 provides an example of four SPI signals when reading PROD_ID in a repeating pattern. Table 6. Generic Master Processor Pin Names and Functions CS Function Slave select Interrupt request, optional Master output, slave input Master input, slave output Serial clock SCLK DIN DIN = 0101 0110 0000 0000 = 0x5600 DOUT DOUT = 0011 1111 0101 1100 = 0x3F52 = 16210 Figure 7. SPI Read Example, Second 16-Bit Sequence The ADIS16210 SPI interface supports full duplex serial communication (simultaneous transmit and receive) and uses the bit sequence shown in Figure 9. Table 7 provides a list of the most common settings that initialize the serial port of a processor for the ADIS16210 SPI interface. DEVICE CONFIGURATION The user register map (see Table 8) provides a variety of control registers, which enable optimization for specific applications. The SPI provides access to these registers, one byte at a time, using the bit assignments shown in Figure 9. Each register has 16 bits, where Bits[7:0] represent the lower address and Bits[15:8] represent the upper address. Figure 8 displays the SPI signal pattern for writing 0x07 to Address 0x38, which sets the number of averages to 128 and the sample rate to 4 SPS. Table 7. Generic Master Processor SPI Settings Processor Setting Master SCLK Rate 830 kHz SPI Mode 3 MSB-First Mode 16-Bit Mode 0x0600 Figure 6. SPI Read Example Remove Figure 5. Electrical Connection Diagram Pin Name SS IRQ MOSI MISO SCLK 0x0400 09593-008 14 Description ADIS16210 operates as a slave Maximum serial clock rate CPOL = 1 (polarity), CPHA = 1 (phase) Bit sequence Shift register/data length CS SCLK DIN DIN = 1011 1000 0000 0111 = 0xB807, SET AVG_CNT[7:0] = 0x07 Figure 8. Example SPI Write Pattern CS DIN DOUT R/W D15 A6 A5 A4 A3 A2 A1 A0 DC7 DC6 DC5 DC4 DC3 DC2 DC1 DC0 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 R/W D15 A6 A5 D14 D13 NOTES 1. DOUT BITS ARE PRODUCED ONLY WHEN THE PREVIOUS 16-BIT DIN SEQUENCE STARTS WITH R/W = 0. 2. WHEN CS IS HIGH, DOUT IS IN A THREE-STATE, HIGH IMPEDANCE MODE, WHICH ALLOWS MULTIFUNCTIONAL USE OF THE LINE FOR OTHER DEVICES. Figure 9. SPI Communication Bit Sequence Rev. E | Page 7 of 20 09593-113 SCLK 09593-009 SS SCLK 09593-006 SYSTEM PROCESSOR SPI MASTER 09593-007 Figure 6 includes three single register reads in succession. In this example, the process starts with DIN = 0x0400 to request the contents of the XACCL_OUT register, followed by 0x0600 to request the contents of the YACCL_OUT register, and then 0x0800 to request the contents of the ZACCL_OUT register. Full duplex operation enables processors to use the same 16-bit SPI cycle to read data from DOUT while requesting the next set of data on DIN. ADIS16210 Data Sheet USER REGISTER MAP Table 8. User Register Memory Map 1 Name FLASH_CNT SUPPLY_OUT XACCL_OUT YACCL_OUT ZACCL_OUT TEMP_OUT XINCL_OUT YINCL_OUT ZINCL_OUT XACCL_NULL YACCL_NULL ZACCL_NULL X_ALIGN_REF Y_ALIGN_REF Z_ALIGN_REF Reserved ALM_MAG_X ALM_MAG_Y ALM_MAG_Z ALM_MAG_S ALM_SMPL_X ALM_SMPL_Y ALM_SMPL_Z ALM_CTRL Reserved GPIO_CTRL MSC_CTRL DIO_CTRL AVG_CNT SLP_CNT DIAG_STAT GLOB_CMD Reserved LOT_ID1 LOT_ID2 PROD_ID SERIAL_NUM Reserved XACCL_BIAS YACCL_BIAS ZACCL_BIAS 1 R/W R R R R R R R R R R/W R/W R/W R R R N/A R/W R/W R/W R/W R/W R/W R/W R/W N/A R/W R/W R/W R/W R/W R W N/A R R R R N/A R/W R/W R/W Flash Backup Yes No No No No No No No No Yes Yes Yes Yes Yes Yes N/A Yes Yes Yes Yes Yes Yes Yes Yes N/A Yes Yes Yes Yes Yes No No N/A N/A N/A N/A N/A N/A Yes Yes Yes Address 0x00 0x02 0x04 0x06 0x08 0x0A 0x0C 0x0E 0x10 0x12 0x14 0x16 0x18 0x1A 0x1C 0x1E 0x20 0x22 0x24 0x26 0x28 0x2A 0x2C 0x2E 0x30 0x32 0x34 0x36 0x38 0x3A 0x3C 0x3E 0x40 to 0x51 0x52 0x54 0x56 0x58 0x5A to 0x06F 0x70 0x72 0x74 Size (Bytes) 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 16 2 2 2 2 22 2 2 2 N/A means not applicable. Rev. E | Page 8 of 20 Function Diagnostics, flash write counter (16-bit binary) Output, power supply Output, x-axis acceleration Output, y-axis acceleration Output, z-axis acceleration Output, internal temperature Output, 180 x-axis inclination Output, 180 y-axis inclination Output, 180 z-axis inclination Calibration, x-axis acceleration offset null Calibration, y-axis acceleration offset null Calibration, z-axis acceleration offset null Calibration, x-axis alignment reference Calibration, y-axis alignment reference Calibration, z-axis alignment reference Reserved, do not write to these locations Alarm, x-axis amplitude threshold Alarm, y-axis amplitude threshold Alarm, z-axis amplitude threshold Alarm, system alarm threshold Alarm, x-axis sample period Alarm, y-axis sample period Alarm, z-axis sample period Operation, alarm control Reserved Operation, general I/O configuration and data Operation, orientation mode Operation, digital I/O configuration and data Operation, decimation filter configuration Operation, sleep count Diagnostics, system status register Operation, system command register Reserved Lot identification, Code 1 Lot identification, Code 2 Production identification number Serial number Reserved Calibration, x-axis accelerometer internal bias Calibration, y-axis accelerometer internal bias Calibration, z-axis accelerometer internal bias Reference Table 43 Table 20 Table 9 Table 10 Table 11 Table 18 Table 13 Table 14 Table 15 Table 24 Table 25 Table 26 Table 31 Table 32 Table 33 N/A Table 45 Table 46 Table 47 Table 48 Table 49 Table 50 Table 51 Table 44 N/A Table 37 Table 30 Table 36 Table 22 Table 35 Table 42 Table 34 N/A Table 38 Table 39 Table 40 Table 41 N/A Table 27 Table 28 Table 29 Data Sheet ADIS16210 SENSOR DATA OUTPUT DATA REGISTERS Inclinometers The ADIS16210 provides a set of output registers for three orthogonal axes of acceleration: incline angles, internal temperature, and power supply. The XINCL_OUT (see Table 13), YINCL_OUT (see Table 14), and ZINCL_OUT (see Table 15) registers provide access to incline angle data for each axis. For example, set DIN = 0x0E00 to request y-axis data (YINCL_OUT). Use the following process to translate the contents of these registers into degrees (): Accelerometers The accelerometers respond to both static (gravity) and dynamic acceleration using the polarity shown in Figure 10. XACCL_OUT (see Table 9), YACCL_OUT (see Table 10), and ZACCL_OUT (see Table 11) provide user access to digital calibrated accelerometer data for each axis. For example, use DIN = 0x0400 to request the x-axis data (XACCL_OUT). After reading the contents of one of these registers, convert the 16-bit, twos complement number into a decimal equivalent, and then divide that number by 16,384 to convert the measurement into units of gravity (g). Table 12 provides several examples of this data format. Table 9. XACCL_OUT (Base Address = 0x04), Read Only Bits [15:0] Description X-axis accelerometer output data, twos complement, 1 LSB = 1 g / 16,384 = ~61 g/LSB, 0 g = 0x0000 Table 10. YACCL_OUT (Base Address = 0x06), Read Only Bits [15:0] Description Y-axis accelerometer output data, twos complement, 1 LSB = 1 g / 16,384 = ~61 g/LSB, 0 g = 0x0000 Table 11. ZACCL_OUT (Base Address = 0x08), Read Only Bits [15:0] Description Z-axis accelerometer output data, twos complement, 1 LSB = 1 g / 16,384 = ~61 g/LSB, 0 g = 0x0000 Table 12. Accelerometer Data Format Examples Orientation (g) +1.7 +1 +2/16,384 +1/16,384 0 -1/16,384 -2/16,384 -1 -1.7 Decimal +27,853 +16,384 +2 +1 0 -1 -2 -16,384 -27,853 Hex 0x6CCD 0x4000 0x0002 0x0001 0x0000 0xFFFF 0xFFFE 0xC000 0x9333 Binary 0110 1100 1100 1101 0100 0000 0000 0000 0000 0000 0000 0010 0000 0000 0000 0001 0000 0000 0000 0000 1111 1111 1111 1111 1111 1111 1111 1110 1100 0000 0000 0000 1001 0011 0011 0011 1. 2. 3. Convert the 16-bit, twos complement number into a decimal equivalent. Multiply the decimal equivalent by 180. Divide the result of Step 2 by 32,768. Table 16 provides several examples of this data format. Table 13. XINCL_OUT (Base Address = 0x0C), Read Only Bits [15:0] Description X-axis inclinometer output data, binary, 0 = 0x0000, 1 LSB = 180/32,768 = ~0.0055/LSB Table 14. YINCL_OUT (Base Address = 0x0E), Read Only Bits [15:0] Description Y-axis inclinometer output data, binary, 0 = 0x0000, 1 LSB = 180/32,768 = ~0.055/LSB Table 15. ZINCL_OUT (Base Address = 0x10), Read Only Bits [15:0] Description Z-axis inclinometer output data, binary, 0 = 0x0000, 1 LSB = 180/32,768 = ~0.0055/LSB Table 16. Incline Angle Data Format Examples Orientation +179.9945 +0.011 +0.0055 0 -0.0055 -0.011 -180 Decimal +32,767 +2 +1 0 -1 -2 -32,768 Hex 0x7FFF 0x0002 0x0001 0x0000 0xFFFF 0xFFFE 0x8000 Binary 0111 1111 1111 1111 0000 0000 0000 0010 0000 0000 0000 0001 0000 0000 0000 0000 1111 1111 1111 1111 1111 1111 1111 1110 1000 0000 0000 0000 Figure 10 through Figure 15 provide orientation examples and the associated output values for each accelerometer and inclinometer register. These examples assume the factory default configuration for the gravity vector (z-axis, pointed up). See the MSC_CTRL (see Table 30) for additional options for gravity vector definitions. Rev. E | Page 9 of 20 ADIS16210 Data Sheet aX aY aZ a X aZ 09593-014 09593-012 aY Figure 10. Inclinometer Output Example, 0 Tilt Figure 13. Inclinometer Output Example, +30 Y-Axis Tilt aX aY aX aZ aZ 09593-013 09593-017 aY Figure 11. Inclinometer Output Example, -30 Y-Axis Tilt Figure 14. Inclinometer Output Example, +30 X-Axis Tilt aZ aY aX aX aY 09593-016 09593-015 aZ Figure 12. Inclinometer Output Example, -30 X-Axis Tilt Figure 15. Inclinometer Output Example, 180 Tilt Table 17. Orientation/Output Examples for Z-Axis Gravity Orientation 1 Register XACCL_OUT YACCL_OUT ZACCL_OUT XINCL_OUT YINCL_OUT ZINCL_OUT 1 Figure 10 0 0 +16,384 0 0 +16,384 Figure 11 0 -8192 +14,189 0 -5462 +10,922 Figure 12 -8192 0 +14,189 -5462 0 +10,922 Register setting for Z-axis gravity orientation is MSC_CTRL[7:0] = xxxx xx10. Rev. E | Page 10 of 20 Figure 13 0 +8192 +14,189 0 +5462 +10,922 Figure 14 +8192 0 +14,189 +5462 0 +10,922 Figure 15 0 0 -16,384 -32,768 -32,768 -16,384 Data Sheet ADIS16210 Internal Temperature Power Supply The TEMP_OUT register (see Table 18) provides access to an internal temperature measurement. Set DIN = 0x0A00 to request the contents of this register. Use the following process to translate the contents of TEMP_OUT into degrees Celsius (C): The SUPPLY_OUT register (see Table 20) provides a digital measurement for the supply voltage on the VDD pins (see Table 5). Set DIN = 0x0200 to request the contents of this register. Use the following process to translate the contents of SUPPLY_OUT into volts (V): 1. 2. 3. 4. Convert the 12-bit binary number into a decimal equivalent. Subtract 1278 from the decimal equivalent. Multiply the result of Step 2 by -0.47. Add 25 to the result of Step 3. 1. 2. 3. Table 19 provides several examples of this data format. Note that this internal temperature measurement provides an indicator of condition changes, not an absolute measurement of conditions outside of the package. Table 18. TEMP_OUT (Base Address = 0x0A), Read Only Bits [15:0] Description Internal temperature data, binary format, sensitivity = -0.47/LSB, +25C = 1278 LSB = 0x04FE Table 19. Internal Temperature Data Format Examples Temperature (C) +125 25 + 0.47 +25 25 - 0.047 0 -40 LSB 1065 1277 1278 1279 1331 1416 Hex 0x0429 0x04FD 0x04FE 0x04FF 0x0533 0x0588 Binary 0000 0100 0010 1001 0000 0100 1111 1101 0000 0100 1111 1110 0000 0100 1111 1111 0000 0101 0011 0011 0000 0101 1000 1000 Convert the 16-bit binary number into a decimal equivalent. Multiply the decimal equivalent by 5. Divide the result of Step 2 by 32,768. Table 21 provides several examples of this data format. Table 20. SUPPLY_OUT (Base Address = 0x02), Read Only Bits [15:0] Description Power supply measurement data, binary format, 1 LSB = 5 / 32,768 = ~152.6 V, 0 V = 0x0000 Table 21. Power Supply Data Format Examples Supply Level (V) 3.6 3.3 + (5 / 32,768) 3.3 3.3 - (5 / 32,768) 3.0 Rev. E | Page 11 of 20 LSB 23,593 21,628 21,627 21,626 19,661 Hex 0x5C29 0x547C 0x547B 0x547A 0x4CCD Binary 0101 1100 0010 1001 0101 0100 0111 1100 0101 0100 0111 1011 0101 0100 0111 1010 0100 1100 1100 1101 ADIS16210 Data Sheet SIGNAL PROCESSING, BIAS CORRECTION, AND ALIGNMENT FACTORY CALIBRATION AND ALIGNMENT 3-AXIS MEMS ACCEL USER-ADJUSTABLE BIAS CORRECTION XACCL_NULL, YACCL_NULL, ZACCL_NULL USER REFERENCE ALIGNMENT XACCL_OUT YACCL_OUT ZACCL_OUT USER-DRIVEN ALIGNMENT CORRECTION SET GLOB_CMD[0] = 1 NUMBER OF AVERAGES AVG_CNT PITCH ROLL ANGLE CALCULATION XINCL_OUT YINCL_OUT ZINCL_OUT GRAVITY AXIS DEFINITION SELECT USING MSC_CTRL[1:0] 09593-020 USER-ADJUSTABLE BIAS CORRECTION XACCL_BIAS, YACCL_BIAS, ZACCL_BIAS Figure 16. Sensor Signal Processing Diagram (Each Axis) The ADIS16210 provides user controls for digital filtering, accelerometer bias correction, gravity vector definition, and the measurement mode. Digital Filtering The digital filter uses an averaging/decimating architecture to produce a low-pass response. The AVG_CNT register (see Table 22) provides access to the average factor, m, which determines the number of averages (N) in the filtering stage. Table 23 provides the resulting cutoff frequency (fC) and output register update rate (fS) associated with each setting in AVG_CNT. Table 22. AVG_CNT (Base Address = 0x38), Read/Write Bits [15:4] [3:0] Bits [15:0] N 1 2 4 8 16 32 64 128 256 512 1024 2048 fS (Output) 512 256 128 64 32 16 8 4 2 1 0.5 0.25 Description (Default = 0x0000) Same format as XACCL_OUT, see Table 9 Description (Default = 0x0000) Same format as YACCL_OUT, see Table 10 Table 26. ZACCL_NULL (Base Address = 0x16), Read/Write Table 23. AVG_CNT Sample Rate, Bandwidth m 0 1 2 3 4 5 6 7 8 9 10 11 Table 24. XACCL_NULL (Base Address = 0x12), Read/Write Bits [15:0] Table 25. YACCL_NULL (Base Address = 0x14), Read/Write Description (Default = 0x0009) Not used Average factor, m, binary format Number of averages, N = 2m AVG_CNT[7:0] 0x0000 0x0001 0x0002 0x0003 0x0004 0x0005 0x0006 0x0007 0x0008 0x0009 0x000A 0x000B Accelerometer Bias Correction The XACCL_NULL (Table 24), YACCL_NULL (see Table 25), and ZACCL_NULL (see Table 26) registers add to the accelerometer outputs to provide a bias adjustment function. They use the same format as each accelerometer output register. For example, set XACCL_NULL = 0x00F (DIN = 0x9300, 0x920F) to increase the x-axis bias by 15 LSB, or 915.5 g (15 / 16,384). fC (-3 dB) 48.2 44.6 36.1 23.9 13.5 7.0 3.5 1.8 0.89 0.44 0.22 0.11 Noise (p-p) 0.32 0.30 0.27 0.22 0.17 0.12 0.09 0.06 0.04 0.03 0.02 0.02 Accelerometer/Inclinometer Resolution Bits [15:0] Description (Default = 0x0000) Same format as ZACCL_OUT, see Table 11 The XACCL_BIAS (see Table 27), YACCL_BIAS (see Table 28), and ZACCL_BIAS (see Table 34) registers add to the accelerometer signals, prior to the angle computation function. Table 27. XACCL_BIAS (Base Address = 0x70), Read/Write Bits [15:0] Description (Default = 0x0000) Same format as XACCL_OUT, see Table 9 Table 28. YACCL_BIAS (Base Address = 0x72), Read/Write Bits [15:0] Description (Default = 0x0000) Same format as YACCL_OUT, see Table 10 Table 29. ZACCL_BIAS (Base Address = 0x74), Read/Write Bits [15:0] When m (AVG_CNT[7:0] in Table 23) is between 0 and 4, the resolution in the accelerometer and inclinometer registers is equal to m + 12 bits. When m is greater than 4, the resolution in the accelerometer and inclinometer registers is 16 bits. Rev. E | Page 12 of 20 Description (Default = 0x0000) Same format as ZACCL_OUT, see Table 11 Data Sheet ADIS16210 Gravity Vector Axis Definition Bits[1:0] provide a control for setting the axis that is most closely aligned with the gravity vector and assigns the pitch and roll axes. Bit 2 provides a control for the direction/polarity of this. Therefore, when using the factory default setting for MSC_CTRL, read XINCL_OUT for the pitch angle and YINCL_OUT for the roll angle measurements. Figure 17, Figure 18, and Figure 19 provide several examples for these settings, which are different from the factory programmed settings. The ADIS16210 uses the following equations to translate calibrated, triaxial accelerometer data into incline angles: = atan 2 K GP = atan2 K GP = atan2 K GP a R2 + a G2 aR a P2 + a G2 aG 2 2 aP + aR aP The pitch () and roll () axes provide 180 of measurement range, whereas the gravity () axis provides 90 of measurement range. The MSC_CTRL register (see Table 30) provides three control bits that set the orientation of the device, which assigns each accelerometer to an angle axis (pitch, roll, and gravity). 09593-021 aZ Figure 17. Z-Axis Gravity Vector, Negative Polarity Set MSC_CTRL = 0x0006 (DIN = 0xB406) Table 30. MSC_CTRL (Base Address = 0x34), Read/Write 0 1 [8] 0 1 [7:3] [2] 1 0 [1:0] 00 01 10 11 Description (Default = 0x0002) Not used Number of axes in angle calculation Three axes Two axes Measurement mode Inclinometer Accelerometer Not used Gravity vector polarity, KGP Negative, pointing down (-) Positive, pointing up (+) Gravity vector orientation X = gravity vector Y = pitch axis (, aP) Z = roll axis (, aR) Y = gravity vector X = pitch axis (, aP) Z = roll axis (, aR) Z = gravity vector X = pitch axis (, aP) Y = roll axis (, aR) Reserved aX 09593-018 Value Figure 18. X-Axis Gravity Vector, Positive Polarity Set MSC_CTRL = 0x0000 (DIN = 0xB400) aY 09593-019 Bits [15:10] [9] Figure 19. Y-Axis Gravity Vector, Negative Polarity Set MSC_CTRL = 0x0005 (DIN = 0xB405) For best use of the available range and accuracy, use Bits[2:0] in the MSC_CTRL register to establish the accelerometer that best aligns with gravity when the device is oriented at its reference point. For example, Figure 10 provides a reference point orientation, where the z-axis accelerometer aligns with gravity, for which the factory default setting for MSC_CTRL (0x0002) is optimal. Measurement Mode MSC_CTRL[8] establishes the primary measurement function. Selecting acceleration mode (MSC_CTRL[8] = 1, DIN = 0xB501) disables a nonlinear correction term that is only relevant in the angle computation. Rev. E | Page 13 of 20 ADIS16210 Data Sheet Two-Axis Mode The initial accelerometer readings, prior to the alignment process, are available in the X_ALIGN_REF (see Table 31), Y_ALIGN_REF (see Table 32), and Z_ALIGN_REF (see Table 33) registers. In cases where two-axis computations are preferred, set MSC_CTRL[9] = 1 (DIN = 0xB502). This simplifies the pitch and roll equations to the following: Table 31. X_ALIGN_REF (Base Address = 0x18), Read aP = atan 2 K GP x aG Bits [15:0] Table 32. Y_ALIGN_REF (Base Address = 0x1A), Read aR K GP x aG = atan2 Bits [15:0] User Reference Alignment Set GLOB_CMD[0] = 1 (DIN = 0xBE01) to trigger the user reference alignment function, which observes the accelerometer values and computes a rotation matrix that reorients them to the reference frame definition, per the settings in MSC_CTRL[2:0]. For example, when using the default setting for these bits, executing this command remaps the accelerometers to the following values: XACCL_OUT = 0 g, YACCL_OUT = 0 g and ZACCL_OUT = 1 g. Description (Default = 0x0000) Same format as XACCL_OUT, see Table 9 Description (Default = 0x0000) Same format as YACCL_OUT, see Table 10 Table 33. Z_ALIGN_REF (Base Address = 0x1C), Read Bits [15:0] Rev. E | Page 14 of 20 Description (Default = 0x0000) Same format as ZACCL_OUT, see Table 11 Data Sheet ADIS16210 SYSTEM TOOLS The ADIS16210 provides control registers for the following system level functions: global commands (including self test), input/output functions, device identification, status/error flags, and flash memory management. GLOBAL COMMANDS Flash Memory Test Set GLOB_CMD[5] = 1 (DIN = 0xBE20) to execute the internal flash memory test routine, which computes a check sum verification of all flash memory locations that are not configurable through user commands. The GLOB_CMD register (see Table 34) provides an array of single write commands. Set the assigned bit to 1 to activate each function. Proper execution of each command depends on the power supply being within normal limits and no SPI communication, during the process times listed in Table 34. Self Test Table 34. GLOB_CMD (Base Address = 0x3E), Write Only Set GLOB_CMD[1] = 1 (DIN = 0xBE02) to put the device into sleep mode. Use the SLP_CNT register to establish the duration of the sleep period. For example, set SLP_CNT[7:0] = 0x64 (DIN = 0xBA64) to set the sleep period to 50 seconds. Set SLP_CNT[7:0] = 0x00 (DIN = 0xBA00) to establish the sleep period as indefinite. Indefinite sleep mode requires one of the three actions to wake up: negative assertion of the CS line (22.3 ms wake-up time), a negative assertion of the RST line (33.8 ms recovery time), or a power cycle (156 ms start-up time). Bits [15:8] [7] [6] [5] [4] [3] [2] [1] [0] 1 Description Not used Software reset User register save to flash memory Flash memory test Clear DIAG_STAT register Restore factory default configuration Self test Power-down User reference alignment Process Time1 Not applicable 33.7 ms 28.0 ms 31.3 ms 93 s 68.6 ms 53.7 ms Not applicable Not applicable This indicates the typical duration of time between the command write and the device returning to normal operation. Set GLOB_CMD[2] = 1 (DIN = 0xBE04) to execute an internal test routine that exercises the sensors and signal processing circuit, then writes the pass/fail result to Bit 5 of the DIAG_STAT register. Power-Down Table 35. SLP_CNT (Base Address = 0x3A), Read/Write Bits [15:8] [7:0] Software Reset Set GLOB_CMD[7] = 1 (DIN = 0xBE80) to execute an internal reset, which flushes all data and restores the register values to the values that are stored in nonvolatile flash memory. User Register Save to Flash Memory Figure 20 provides a diagram of the dual memory structure used to manage operation and store user settings. Writing configuration data to a control register updates its SRAM contents, which are volatile. Most of the user registers have mirror locations in flash memory (see Table 8, for a yes in the Flash Backup column). Use the manual flash backup command in GLOB_CMD[6] (DIN = 0xBE40) to save these settings into the nonvolatile flash memory. The flash backup process requires a valid power supply level and zero SPI communication to execute. INPUT/OUTPUT FUNCTIONS The DIO_CTRL register (see Table 36) provides configuration control options for the two digital I/O lines. Bits[5:4] and Bit 1 assign the function and active polarity for DIO2. Bits[3:2] and Bit 0 assigned the function and polarity for DIO1. Table 36. DIO_CTRL (Base Address = 0x36), Read/Write Bits [15:6] [5:4] 00 01 10 11 00 01 10 11 VOLATILE SRAM (NO SPI ACCESS) Value [3:2] MANUAL FLASH BACKUP NONVOLATILE FLASH MEMORY Description (Default = 0x0000) Not used Binary, sleep time, 0.5 seconds/LSB 0x00 = indefinite sleep mode Figure 20. SRAM and Flash Memory Diagram 09593-116 SPI ACCESS START-UP RESET [1] 1 0 [0] 1 0 Rev. E | Page 15 of 20 Description (Default = 0x0007) Not used DIO2 function selection General-purpose Data ready Alarm indicator Busy signal DIO1 function selection General-purpose Data ready Alarm indicator Busy signal DIO2 polarity Active high Active low DIO1 polarity active high active low ADIS16210 Data Sheet STATUS/ERROR FLAGS The data ready signal pulses to its inactive state when loading fresh data into the output registers, then back to its active state when the register update process completes, as shown in Figure 21, which shows the factory default operation. Set DIO_CTRL[7:0] = 0x13 (DIN = 0xB613) to change the data ready assignment to DIO2 with a positive polarity. The DIAG_STAT register, in Table 42, provides a number of status/error flags that reflect the conditions observed during a capture, during SPI communication and diagnostic tests. A 1 indicates an error condition and all of the error flags are sticky, which means that they remain until they are reset by setting GLOB_CMD[4] = 1 (DIN = 0xBE10). The flag in Bit 3 of the DIAG_STAT register indicates that the total number of SCLK clocks is not a multiple of 16. Set DIN = 0x3C00 to read this register. DIO1 ACTIVE 09593-023 Data Ready Indicator INACTIVE Figure 21. Data Ready Operation, DIO_CTRL[7:0] = 0x05 Table 42. DIAG_STAT (Base Address = 0x3C), Read Only Alarm Indicator Set DIO_CTRL[7:0] = 0x27 (DIN = 0xB627) to configure DIO2 as an alarm indicator with an active high polarity. The alarm indicator transitions to its active state when the acceleration or system data exceeds the threshold settings in the ALM_MAG_x registers. Set GLOB_CMD[4] = 1 (DIN = 0xBF10) to clear the DIAG_STAT error flags and restore the alarm indicator to its inactive state. General-Purpose Input/Output If DIO_CTRL configures either DIO1 or DIO2 as a generalpurpose digital line, use the GPIO_CTRL register (see Table 37) to configure its input/output direction, set the output level when configured as an output, and monitor the status of an input. For example, set DIO_CTRL[3:0] = 0x00 (DIN = 0xB600) to establish DIO1 as a general-purpose line, set GPIO_CTRL[0] = 1 (DIN = 0xB201) to establish DIO1 as an output, and set GPIO_CTRL[8] = 1 (DIN = 0xB301) to set DIO1 high. Table 37. GPIO_CTRL (Base Address = 0x32), Read/Write Bits [15:10] [9] [8] [7:2] [1] [0] Description (Default = 0x0000) Not used DIO2 output level, 1 = high, 0 = low DIO1 output level, 1 = high, 0 = low Reserved DIO2 direction control, 1 = output, 0 = input DIO1 direction control, 1 = output, 0 = input Bits [15:12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0] Description (Default = 0x0000) Not used Alarm S flag Alarm Z flag Alarm Y flag Alarm X flag Data ready Flash test Self test Not used SPI failure Flash update failure VDD > 3.625 VDD < 2.975 FLASH MEMORY MANAGEMENT Set GLOB_CMD[5] = 1 (DIN = 0xBE20) to run an internal checksum test on the flash memory, which reports a pass/fail result to DIAG_STAT[6]. The FLASH_CNT register (see Table 43) provides a running count of flash memory write cycles. This is a tool for managing the endurance of the flash memory. Figure 22 quantifies the relationship between data retention and junction temperature. Table 43. FLASH_CNT (Base Address = 0x00), Read Only Bits [15:0] Description Binary counter for writing to flash memory DEVICE IDENTIFICATION Table 38. LOT_ID1 (Base Address = 0x52), Read Only 600 Description Lot identification code RETENTION (Years) Table 39. LOT_ID2 (Base Address = 0x54), Read Only Bits [15:0] Description Lot identification code Table 40. PROD_ID (Base Address = 0x56), Read Only Bits [15:0] Description (Default = 0x3F52) 0x3F52 = 16,210 300 150 Table 41. SERIAL_NUM (Base Address = 0x58), Read Only Bits [15:0] 450 Description Serial number, lot specific 0 30 40 55 70 85 100 125 135 JUNCTION TEMPERATURE (C) Figure 22. Flash/EE Memory Data Retention Rev. E | Page 16 of 20 150 09593-115 Bits [15:0] Data Sheet ADIS16210 ALARMS There are four independent alarms, which provide trigger level and polarity controls. The ALM_CTRL register (see Table 44) provides individual settings for data source selection (Bits[7:4]), static and dynamic comparison (Bits[14:12]), trigger direction/ polarity (Bits[11:8]), and alarm enable (Bits[3:0]). in the ALM_MAG_x registers (see Table 45, Table 46, and Table 47) using the trigger direction/polarity settings in ALM_CTRL[10:8]. For example, if ALM_CTRL[10] = 0, ALM_CTRL[6] = 1, and ALM_MAG_Z = 0x2000, then Alarm Z becomes active when ZINCL_OUT is less than 0x2000, or 45. Table 44. ALM_CTRL (Base Address = 0x2E), Read/Write DYNAMIC ALARMS Bits [15] [14] The dynamic alarm setting monitors the data selection for a rate-of-change comparison. The rate-of-change comparison is represented by the magnitude in the ALM_MAG_x registers (see Table 45, Table 46, and Table 47), divided by the time in the ALM_SMPL_x registers (see Table 49, Table 50, Table 51). [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0] Description (Default = 0x0000) Not used Alarm Z, dynamic control 1 = dynamic, 0 = static Alarm Y, dynamic control 1 = dynamic, 0 = static Alarm X, dynamic control 1 = dynamic, 0 = static Alarm S, comparison polarity 1 = SUPPLY_OUT/TEMP_OUT > ALM_MAG_S 0 = SUPPLY_OUT/TEMP_OUT < ALM_MAG_S Alarm Z, comparison polarity 1 = ZACCL_OUT/ZINCL_OUT > ALM_MAG_Z 0 = ZACCL_OUT/ZINCL_OUT < ALM_MAG_Z Alarm Y, comparison polarity 1 = YACCL_OUT/YINCL_OUT > ALM_MAG_Y 0 = YACCL_OUT/YINCL_OUT < ALM_MAG_Y Alarm X, comparison polarity 1 = XACCL_OUT/XINCL_OUT > ALM_MAG_X 0 = XACCL_OUT/XINCL_OUT < ALM_MAG_X Alarm S, source selection 1 = SUPPLY_OUT, 0 = TEMP_OUT Alarm Z, source selection 1 = ZINCL_OUT, 0 = ZACCL_OUT Alarm Y, source selection 1 = YINCL_OUT, 0 = YACCL_OUT Alarm X, source selection 1 = XINCL_OUT, 0 = XACCL_OUT Alarm S, enable 1 = enabled, 0 = disabled Alarm Z, enable 1 = enabled, 0 = disabled Alarm Y, enable 1 = enabled, 0 = disabled Alarm X, enable 1 = enabled, 0 = disabled For example, if ALM_CTRL[9] = 1, ALM_CTRL[5] = 0, ALM_MAG_Y = 0x4000, and ALM_SMPL_Y = 0x0064, then Alarm Y (DIAG_STAT[9]) becomes active when YACCL_OUT changes by more than +1 g over 100 samples. The AVG_CNT register (Table 22) establishes the time for each sample. Table 45. ALM_MAG_X (Base Address = 0x20), Read/Write Bits [15:0] Description (Default = 0x0000) Same data format as ZACCL_OUT or ZINCL_OUT, according to the setting in ALM_CTRL[4] Table 46. ALM_MAG_Y (Base Address = 0x22), Read/Write Bits [15:0] Description (Default = 0x0000) Same data format as ZACCL_OUT or ZINCL_OUT, according to the setting in ALM_CTRL[5] Table 47. ALM_MAG_Z (Base Address = 0x24), Read/Write Bits [15:0] Description (Default = 0x0000) Same data format as ZACCL_OUT or ZINCL_OUT, according to the setting in ALM_CTRL[6] Table 48. ALM_MAG_S (Base Address = 0x26), Read/Write Bits [15:0] Description (Default = 0x0000) Same data format as SUPPLY_OUT or TEMP_OUT, according to the setting in ALM_CTRL[7] Table 49. ALM_SMPL_X (Base Address = 0x28), Read/Write Bits [15:8] [7:0] Description (Default = 0x0001) Not used Binary, number of samples Table 50. ALM_SMPL_Y (Base Address = 0x2A), Read/Write SYSTEM ALARM The system alarm monitors either power supply or internal temperature, according to the user selections in ALM_CTRL[11], ALM_CTRL[7], ALM_CTRL[3], and the ALM_MAG_S register in Table 48. For example, set ALM_CTRL = 0x0008 (DIN = 0xA900, 0xA808) and ALM_MAG_S = 0x533 (DIN = 0xA705, 0xA633) to disable all three inertial alarms and configure the system alarm active when TEMP_OUT is <0C. STATIC ALARMS The static alarm setting enables the ADIS16210 to compare the data source (ALM_CTRL[6:4]) with the corresponding values Bits [15:8] [7:0] Description (Default = 0x0001) Not used Binary, number of samples Table 51. ALM_SMPL_Z (Base Address = 0x2C), Read/Write Bits [15:8] [7:0] Description (Default = 0x0001) Not used Binary, number of samples ALARM REPORTING See DIAG_STAT[11:8] (see Table 42) for alarm flags, which equal 1 when an alarm condition is detected. DIO_CTRL (see Table 36) offers settings that configure DIO1 or DIO2 as an alarm indicator signal. Rev. E | Page 17 of 20 ADIS16210 Data Sheet APPLICATIONS INFORMATION J1 is a 16-pin connector, which mates with 2 mm pitch, IDC ribbon cables, such as the TCSD series from Samtec(R). The LEDs (D1 and D2) are not populated; however, the pads are available to install to provide a visual representation of the DIO1 and DIO2 signals. The pads accommodate VCCTM CMD28-21VRC/TR8, which works well when R1 and R2 are approximately 400 (0603 pad sizes). MATING CONNECTOR The mating connector for the ADIS16210, J2, is the AVX(R) 046288-015-000-846. Figure 23 provides a close-up view of this connector, which clamps down on the flex cable to press its metal pads onto the metal pads inside of the mating connector. SLIDER LOCKING DIRECTION PC-BASED EVALUATION TOOLS The ADIS16ACL1/PCBZ provides a simple way to connect the ADIS16210 to the EVAL-ADIS2 evaluation system, which provides a PC-based method for evaluation of basic function and performance. For more information, visit the EVAL-ADIS2 Evaluation System page on the Analog Devices, Inc., website. ADIS16210 FLEX CABLE MATING CONNECTOR 09593-200 SLIDER X-RAY SENSITIVITY Exposure to high dose rate X-rays, such as those in production systems that inspect solder joints in electronic assemblies, may affect accelerometer bias errors. For optimal performance, avoid exposing the ADIS16210 to this type of inspection. Figure 23. Mating Connector Detail BREAKOUT BOARD The ADIS16ACL1/PCBZ breakout board provides a convenient means for connecting the ADIS16210 to an embedded processor, using a standard ribbon cable. This printed circuit board (PCB) provides four mounting holes (one in each corner), which provide clearance for 4-40 machine screws. 1.250" J1 1 ADIS16ACL1/PCBZ J2 2 15 1.500" 1 15 16 09593-026 0.157" 0.157" Figure 24. ADIS16ACL1/PCBZ Top Level View/Dimensions Rev. E | Page 18 of 20 Data Sheet ADIS16210 VDD VDD J2 J1 J1 RST 1 2 SCLK 1 CS 3 4 DOUT 2 5 6 DIN 3 7 8 9 10 11 12 13 14 15 16 DIO1 SPARE PIN 4 5 SPARE PIN DIO2 DIO2 SPARE PIN 8 R2 400 D2 DGND A C CMD28-21VRC/TR8 (RED) A DIN 11 12 SCLK 13 CS 14 CMD28-21VRC/TR8 (RED) 15 04-6288-015-000-846 DGND C1 10F 10 DIO1 C 9 RST DOUT R1 400 D1 VDD 7 SPARE PIN A3-16PA-2SV (71) DGND 6 DGND C2 0603 DNI ADIS16210/ADIS16228 PACKAGE PIN OUT DGND Figure 25. ADIS16ACL1/PCBZ Electrical Schematic Rev. E | Page 19 of 20 09593-027 SPARE PIN ADIS16210 Data Sheet OUTLINE DIMENSIONS 24.20 24.00 23.80 15.20 15.00 SQ 14.80 TOP VIEW O 1.65 Hole and Slot Size for 1.5 mm Pin 20.20 20.00 19.80 BOTTOM VIEW 2.65 (4 PLCS) 3.50 (4 PLCS) R 2.65 R 0.83 (4 PLCS) (Centers of 2 R 0.83 Circles Separated by 0.89) 20.00 BSC 3.75 (4 PLCS) 0.254 NOM 8.20 8.00 7.80 0.50 NOM PITCH DETAIL A 3.50 NOM FRONT VIEW 15.20 15.00 14.80 04-27-2011-A DETAIL A Figure 26. 15-Lead Module with Connector Interface (ML-15-1) Dimensions shown in millimeters ORDERING GUIDE Model 1 ADIS16210CMLZ ADIS16ACL1/PCBZ EVAL-ADIS2Z 1 Temperature Range -40C to +125C Package Description 15-Lead Module with Connector Interface Breakout Board Evaluation System Z = RoHS Compliant Part. (c)2011-2019 Analog Devices, Inc. All rights reserved. Trademarks and registered trademarks are the property of their respective owners. D09593-0-3/19(E) Rev. E | Page 20 of 20 Package Option ML-15-1