ADIS16ACL1/PCBZ - ANALOG DEVICES

Precision Triaxial Inclinometer and

Accelerometer with SPI

Data Sheet

ADIS16210

Rev. E Document Feedback

Information

furnished by Analog Devices is believed to be accurate and reliable. However, no

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FEATURES

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: −40°C to +85°C

15 mm × 24 mm × 15 mm package with flexible connector

APPLICATIONS

Platform control, stabilization, and alignment

Tilt sensing, inclinometers, and leveling

Motion/position measurement

Monitor/alarm devices (security, medical, safety)

Navigation

GENERAL DESCRIPTION

The ADIS16210 iSensor® 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 tri-

axial 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 × 24 mm × 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 −40°C to +125°C.

FUNCTIONAL BLOCK DIAGRAM

ADIS16210

INCLINE

CALIBRATION

ALARMSI/O

SELF T EST

CONTROL

REGISTERS SPI

PORT

OUTPUT

REGISTERS

CORRECTION

AND

ALIGNMENT

DIGITAL

FILTER

TRIAXIAL

MEMS

SENSOR

TEMPERATURE

SENSOR

SUPPLY

POWER

MANAGEMENT

SCLK

DIN

DOUT

GND

VDDDIO1 DIO2 RST

CONTROLLER

09593-001

Figure 1.

ADIS16210 Data Sheet

Rev. E | Page 2 of 20

TABLE OF CONTENTS

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

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

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

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

Revision History ............................................................................... 2

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

Timing Specifications .................................................................. 4

Absolute Maximum Ratings ............................................................ 5

ESD Caution .................................................................................. 5

Pin Configuration and Function Descriptions ............................. 6

Basic Operation ................................................................................. 7

Reading Sensor Data .................................................................... 7

Device Configuration .................................................................. 7

User Register Map ............................................................................ 8

Sensor Data ........................................................................................ 9

Output Data Registers .................................................................. 9

Signal Processing, Bias Correction, and Alignment .................. 12

System Tools .................................................................................... 15

Global Commands ..................................................................... 15

Input/Output Functions ............................................................ 15

Device Identification .................................................................. 16

Status/Error Flags ....................................................................... 16

Flash Memory Management ..................................................... 16

Alarms .............................................................................................. 17

System Alarm .............................................................................. 17

Static Alarms ............................................................................... 17

Dynamic Alarms ........................................................................ 17

Alarm Reporting ........................................................................ 17

Applications Information .............................................................. 18

Mating Connector ...................................................................... 18

Breakout Board ........................................................................... 18

PC-Based Evaluation Tools ....................................................... 18

Outline Dimensions ....................................................................... 20

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

Data Sheet ADIS16210

Rev. E | Page 3 of 20

SPECIFICATIONS

TA = −40°C to +85°C, VDD = 3.0 V to 3.6 V, unless otherwise noted.

Table 1.

Parameter Test Conditions/Comments Min Typ Max Unit

INCLINOMETERS

Measurement Range −180 +180 Degrees

Relative Accuracy1 ±30°, AVG_CNT ≥ 0x0009, µ ± 3 σ ±0.1 Degrees

±60°, AVG_CNT ≥ 0x0009, µ ± 1 σ ±0.1 Degrees

±60°, AVG_CNT ≥ 0x0009, µ ± 3 σ ±0.15 Degrees

±180°, AVG_CNT ≥ 0x0009, µ ± 1 σ ±0.14 Degrees

±180°, AVG_CNT ≥ 0x0009, µ ± 3 σ ±0.21 Degrees

Noise Density TA = 25°C, AVG_CNT = 0x0000 ±0.011 °/√Hz

ACCELEROMETERS

Measurement Range

±1.7

Offset Error µ ± 1 σ ±1 mg

Sensitivity Error µ ± 1 σ ±0.0244 %

Nonlinearity ±1 g, µ ± 1 σ ±1 ±2 mg

Misalignment Axis to axis, deviation from 90°, µ ± 1 σ ±0.05 Degrees

Noise Density TA = 25°C, AVG_CNT = 0x0000 190 µg/√Hz

Bandwidth −3 dB decrease in dc sensitivity, TA = 25°C 50 Hz

Sensor Resonant Frequency TA = 25°C 5.5 kHz

LOGIC INPUTS2

Input High Voltage, VINH 2.0 V

Input Low Voltage, VINL 0.8 V

Logic 1 Input Current, IINH VIH = 3.3 V ±0.2 ±1 µA

Logic 0 Input Current, IINL VIL = 0 V

All Except RST −40 −60 µA

RST

−1

Input Capacitance, CIN 10 pF

DIGITAL OUTPUTS2

Output High Voltage, V

SOURCE

= 1.6 mA

2.4

Output Low Voltage, VOL ISINK = 1.6 mA 0.4 V

FLASH MEMORY

Endurance3 10,000 Cycles

Data Retention4 TJ = 85°C 20 Years

START-UP TIME5

Initial Startup 156 ms

Reset Recovery6 RST pulse low or Register GLOB_CMD[7] = 1 33.8 ms

Sleep Mode Recovery After CS assertion from high to low 22.3 ms

CONVERSION RATE Register AVG_CNT = 0x0000 512 SPS

Clock Accuracy 3 %

POWER SUPPLY

Operating voltage range, VDD

3.0

3.3

3.6

Power Supply Current Normal mode, TA = 25°C 18 mA

Sleep mode, TA = 25°C 230 µA

1 X-ray exposure may degrade this performance metric.

2 The digital I/O signals are 5 V tolerant.

3 Endurance is qualified as per JEDEC Standard 22, Method A117, and measured at −40°C, +25°C, +85°C, and +125°C.

4 Retention lifetime equivalent at junction temperature (TJ) = 85°C 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.

ADIS16210 Data Sheet

Rev. E | Page 4 of 20

TIMING SPECIFICATIONS

TA = 25°C, VDD = 3.3 V, unless otherwise noted.

Table 2.

Parameter Description Min1 Typ Max Unit

fSCLK SCLK frequency 10 830 kHz

tSTALL Stall period between data, between 16th and 17th SCLK 40 µs

tCS Chip select to SCLK edge 48.8 ns

tDAV DOUT valid after SCLK edge 100 ns

tDSU DIN setup time before SCLK rising edge 24.4 ns

tDHD DIN hold time after SCLK rising edge 48.8 ns

tSR SCLK rise time 12.5 ns

tSF SCLK fall time 12.5 ns

tDF, tDR DOUT rise/fall times 5 12.5 ns

tSFS CS high after SCLK edge 5 ns

1 Guaranteed by design, not tested.

Timing Diagrams

SCLK

DOUT

DIN

1 2 3 4 5 6 15 16

R/W A5A6 A4 A3 A2 D2

MSB DB14

D1 LSB

DB13 DB12 DB10DB11 DB2 LSBDB1

tCS tSFS

tDAV

tSR tSF

tDHD

tDSU

tDF,tDR

09593-002

Figure 2. SPI Timing and Sequence

SCLK

STALL

09593-003

Figure 3. DIN Bit Sequence

Data Sheet ADIS16210

Rev. E | Page 5 of 20

ABSOLUTE MAXIMUM RATINGS

Table 3.

Parameter Rating

Acceleration

Any Axis, Unpowered

3500

Any Axis, Powered 3500 g

VDD to GND −0.3 V to +6.0 V

Digital Input Voltage to GND −0.3 V to +5.3 V

Digital Output Voltage to GND −0.3 V to VDD + 0.3 V

Analog Inputs to GND −0.3 V to +3.6 V

Operating Temperature Range −40°C to +125°C

Storage Temperature Range −65°C to +150°C

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.

Table 4. Package Characteristics

Package Type θJA θJC Device Weight

15-Lead Module 31°C/W 11°C/W 7.2 grams

ESD CAUTION

ADIS16210 Data Sheet

Rev. E | Page 6 of 20

PIN CONFIGURATION AND FUNCTION DESCRIPTIONS

09593-004

TOP VIEW BOTTOM VIEW

PIN 15

PIN 1

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 T HICKNESS OF THE G OL D FINISH I S BE TW E E N 0.035µm AND 0.150µm.

4. PACKAGE IS NOT SUIT ABLE FO R SOL DER REFLOW ASSEMBLY PROCESSES.

5. EX AM P LE M ATING CO NNE CTOR: AV X CORPORATIO N

FLAT FLEXIBLE CONNECTOR (FFC)

P/N: 04-6288-015- 000- 846.

Figure 4. Pin Configuration

Table 5. Pin Function Descriptions

Pin No. Mnemonic Type 1 Description

1, 2 VDD S Power Supply, 3.3 V.

3, 4, 5, 8 GND S Ground.

6, 9 DNC I Do Not Connect. Do not connect to these pins.

7 DIO2 I/O Digital Input/Output Line 2.

10 RST I Reset, Active Low.

11 DIN I SPI, Data Input.

12 DOUT O SPI, Data Output. DOUT is an output when CS is low. When CS is high, DOUT is in a

three-state, high impedance mode.

13 SCLK I SPI, Serial Clock.

14 CS I SPI, Chip Select.

15 DIO1 I/O Digital Input/Output Line 1.

1 S is supply, I is input, O is output, and I/O is input/output.

Data Sheet ADIS16210

Rev. E | Page 7 of 20

BASIC OPERATION

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).

SYSTEM

PROCESSOR

SPI MASTER

ADIS16210

SCLK

DIN

DOUT

SCLK

MOSI

MISO

3.3V

IRQ DIO1

VDD

1 2

3 4 5 8

09593-006

Figure 5. Electrical Connection Diagram

Table 6. Generic Master Processor Pin Names and Functions

Pin Name Function

SS Slave select

IRQ Interrupt request, optional

MOSI Master output, slave input

MISO Master input, slave output

SCLK Serial clock

The ADIS16210 SPI interface supports full duplex serial commu-

nication (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.

Table 7. Generic Master Processor SPI Settings

Processor Setting Description

Master ADIS16210 operates as a slave

SCLK Rate ≤ 830 kHz

Maximum serial clock rate

SPI Mode 3 CPOL = 1 (polarity), CPHA = 1 (phase)

MSB-First Mode Bit sequence

16-Bit Mode Shift register/data length

READING SENSOR DATA

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.

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.

DIN

DOUT

0x0400 0x0600 0x0800

XACCL_OUT

YACCL_OUT ZACCL

_OUT

09593-007

Figure 6. SPI Read Example Remove

Figure 7 provides an example of four SPI signals when reading

PROD_ID in a repeating pattern.

DOUT = 0011 1111 0101 1100 = 0x3F52 = 16210

DIN = 0101 0110 0000 0000 = 0x5600

SCLK

DIN

DOUT

09593-008

Figure 7. SPI Read Example, Second 16-Bit Sequence

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.

DIN = 1011 1000 0000 0111 = 0xB807, SE T AVG _CNT[7:0] = 0x07

SCLK

DIN

09593-009

Figure 8. Example SPI Write Pattern

09593-113

R/W R/W

A6 A5 A4 A3 A2 A1 A0 DC7 DC6 DC5 DC4 DC3 DC2 DC1 DC0

D0D1D2D3D4D5D6D7D8D9D10D11D12D13D14D15

SCLK

DIN

DOUT

A6 A5

D13D14D15

NOTES

1. DOUT BITS ARE P RODUCED ONLY WHEN THE PRE V IOUS 16- BIT DIN SEQUENCE S TARTS WI TH 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 DEV ICES .

Figure 9. SPI Communication Bit Sequence

ADIS16210 Data Sheet

Rev. E | Page 8 of 20

USER REGISTER MAP

Table 8. User Register Memory Map1

Name R/W Flash Backup Address Size (Bytes) Function Reference

FLASH_CNT R Yes 0x00 2 Diagnostics, flash write counter (16-bit binary) Table 43

SUPPLY_OUT R No 0x02 2 Output, power supply Table 20

XACCL_OUT R No 0x04 2 Output, x-axis acceleration Table 9

YACCL_OUT R No 0x06 2 Output, y-axis acceleration Table 10

ZACCL_OUT R No 0x08 2 Output, z-axis acceleration Table 11

TEMP_OUT R No 0x0A 2 Output, internal temperature Table 18

XINCL_OUT R No 0x0C 2 Output, ±180° x-axis inclination Table 13

YINCL_OUT

0x0E

Output, ±180° y-axis inclination

Table 14

ZINCL_OUT R No 0x10 2 Output, ±180° z-axis inclination Table 15

XACCL_NULL R/W Yes 0x12 2 Calibration, x-axis acceleration offset null Table 24

YACCL_NULL R/W Yes 0x14 2 Calibration, y-axis acceleration offset null Table 25

ZACCL_NULL R/W Yes 0x16 2 Calibration, z-axis acceleration offset null Table 26

X_ALIGN_REF

Yes

0x18

Calibration, x-axis alignment reference

Table 31

Y_ALIGN_REF R Yes 0x1A 2 Calibration, y-axis alignment reference Table 32

Z_ALIGN_REF R Yes 0x1C 2 Calibration, z-axis alignment reference Table 33

Reserved N/A N/A 0x1E 2 Reserved, do not write to these locations N/A

ALM_MAG_X R/W Yes 0x20 2 Alarm, x-axis amplitude threshold Table 45

ALM_MAG_Y R/W Yes 0x22 2 Alarm, y-axis amplitude threshold Table 46

ALM_MAG_Z R/W Yes 0x24 2 Alarm, z-axis amplitude threshold Table 47

ALM_MAG_S R/W Yes 0x26 2 Alarm, system alarm threshold Table 48

ALM_SMPL_X R/W Yes 0x28 2 Alarm, x-axis sample period Table 49

ALM_SMPL_Y R/W Yes 0x2A 2 Alarm, y-axis sample period Table 50

ALM_SMPL_Z R/W Yes 0x2C 2 Alarm, z-axis sample period Table 51

ALM_CTRL R/W Yes 0x2E 2 Operation, alarm control Table 44

Reserved

N/A

0x30

Reserved

N/A

GPIO_CTRL R/W Yes 0x32 2 Operation, general I/O configuration and data Table 37

MSC_CTRL R/W Yes 0x34 2 Operation, orientation mode Table 30

DIO_CTRL R/W Yes 0x36 2 Operation, digital I/O configuration and data Table 36

AVG_CNT R/W Yes 0x38 2 Operation, decimation filter configuration Table 22

SLP_CNT

R/W

Yes

0x3A

Operation, sleep count

Table 35

DIAG_STAT R No 0x3C 2 Diagnostics, system status register Table 42

GLOB_CMD W No 0x3E 2 Operation, system command register Table 34

Reserved N/A N/A 0x40 to 0x51 16 Reserved N/A

LOT_ID1 R N/A 0x52 2 Lot identification, Code 1 Table 38

LOT_ID2 R N/A 0x54 2 Lot identification, Code 2 Table 39

PROD_ID R N/A 0x56 2 Production identification number Table 40

SERIAL_NUM R N/A 0x58 2 Serial number Table 41

Reserved N/A N/A 0x5A to 0x06F 22 Reserved N/A

XACCL_BIAS R/W Yes 0x70 2 Calibration, x-axis accelerometer internal bias Table 27

YACCL_BIAS R/W Yes 0x72 2 Calibration, y-axis accelerometer internal bias Table 28

ZACCL_BIAS R/W Yes 0x74 2 Calibration, z-axis accelerometer internal bias Table 29

1 N/A means not applicable.

Data Sheet ADIS16210

Rev. E | Page 9 of 20

SENSOR DATA

OUTPUT DATA REGISTERS

The ADIS16210 provides a set of output registers for three

orthogonal axes of acceleration: incline angles, internal

temperature, and power supply.

Accelerometers

The accelerometers respond to both static (gravity) and dynamic

acceleration using the polarity shown in Figure 10. XACCL_OUT

(see Table 9), YACC L _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 Description

[15:0] X-axis accelerometer output data, twos complement,

1 LSB = 1 g ÷ 16,384 = ~61 µg/LSB, 0 g = 0x0000

Table 10. YACCL_OUT (Base Address = 0x06), Read Only

Bits Description

[15:0] Y-axis accelerometer output data, twos complement,

1 LSB = 1 g ÷ 16,384 = ~61 µg/LSB, 0 g = 0x0000

Table 11. ZACCL_OUT (Base Address = 0x08), Read Only

Bits Description

[15:0] Z-axis accelerometer output data, twos complement,

1 LSB = 1 g ÷ 16,384 = ~61 µg/LSB, 0 g = 0x0000

Table 12. Accelerometer Data Format Examples

Orientation (g) Decimal Hex Binary

+1.7 +27,853 0x6CCD 0110 1100 1100 1101

+1 +16,384 0x4000 0100 0000 0000 0000

+2/16,384 +2 0x0002 0000 0000 0000 0010

+1/16,384

0x0001

0000 0000 0000 0001

0 0 0x0000 0000 0000 0000 0000

−1/16,384 −1 0xFFFF 1111 1111 1111 1111

−2/16,384 −2 0xFFFE 1111 1111 1111 1110

−1 −16,384 0xC000 1100 0000 0000 0000

−1.7 −27,853 0x9333 1001 0011 0011 0011

Inclinometers

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 (°):

1. Convert the 16-bit, twos complement number into a

decimal equivalent.

2. Multiply the decimal equivalent by 180.

3. 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 Description

[15:0] 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 Description

[15:0] 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 Description

[15:0] Z-axis inclinometer output data, binary,

0° = 0x0000, 1 LSB = 180°/32,768 = ~0.0055°/LSB

Table 16. Incline Angle Data Format Examples

Orientation Decimal Hex Binary

+179.9945° +32,767 0x7FFF 0111 1111 1111 1111

+0.011° +2 0x0002 0000 0000 0000 0010

+0.0055° +1 0x0001 0000 0000 0000 0001

0° 0 0x0000 0000 0000 0000 0000

−0.0055° −1 0xFFFF 1111 1111 1111 1111

−0.011° −2 0xFFFE 1111 1111 1111 1110

−180° −32,768 0x8000 1000 0000 0000 0000

Figure 10 through Figure 15 provide orientation examples and

the associated output values for each accelerometer and incli-

nometer 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.

ADIS16210 Data Sheet

Rev. E | Page 10 of 20

09593-012

Figure 10. Inclinometer Output Example, 0° Tilt

09593-013

Figure 11. Inclinometer Output Example, −30° Y-Axis Tilt

09593-016

aYaX

Figure 12. Inclinometer Output Example, −30° X-Axis Tilt

09593-014

Figure 13. Inclinometer Output Example, +30° Y-Axis Tilt

09593-017

Figure 14. Inclinometer Output Example, +30° X-Axis Tilt

09593-015

Figure 15. Inclinometer Output Example, 180° Tilt

Table 17. Orientation/Output Examples for Z-Axis Gravity Orientation1

XACCL_OUT 0 0 −8192 0 +8192 0

YACCL_OUT 0 −8192 0 +8192 0 0

ZACCL_OUT +16,384 +14,189 +14,189 +14,189 +14,189 −16,384

XINCL_OUT 0 0 −5462 0 +5462 −32,768

YINCL_OUT 0 −5462 0 +5462 0 −32,768

ZINCL_OUT +16,384 +10,922 +10,922 +10,922 +10,922 −16,384

1 Register setting for Z-axis gravity orientation is MSC_CTRL[7:0] = xxxx xx10.

Data Sheet ADIS16210

Rev. E | Page 11 of 20

Internal Temperature

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):

1. Convert the 12-bit binary number into a decimal

equivalent.

2. Subtract 1278 from the decimal equivalent.

3. Multiply the result of Step 2 by −0.47.

4. Add 25 to the result of Step 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

Description

[15:0] Internal temperature data, binary format,

sensitivity = −0.47°/LSB, +25°C = 1278 LSB = 0x04FE

Table 19. Internal Temperature Data Format Examples

Temperature (°C) LSB Hex Binary

+125 1065 0x0429 0000 0100 0010 1001

25 + 0.47 1277 0x04FD 0000 0100 1111 1101

+25 1278 0x04FE 0000 0100 1111 1110

25 – 0.047 1279 0x04FF 0000 0100 1111 1111

0 1331 0x0533 0000 0101 0011 0011

−40 1416 0x0588 0000 0101 1000 1000

Power Supply

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

of SUPPLY_OUT into volts (V):

1. Convert the 16-bit binary number into a decimal

equivalent.

2. Multiply the decimal equivalent by 5.

3. 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 Description

[15:0] Power supply measurement data, binary format,

1 LSB = 5 ÷ 32,768 = ~152.6 µV, 0 V = 0x0000

Table 21. Power Supply Data Format Examples

Supply Level (V)

LSB

Hex

Binary

3.6 23,593 0x5C29 0101 1100 0010 1001

3.3 + (5 ÷ 32,768) 21,628 0x547C 0101 0100 0111 1100

3.3 21,627 0x547B 0101 0100 0111 1011

3.3 − (5 ÷ 32,768) 21,626 0x547A 0101 0100 0111 1010

3.0 19,661 0x4CCD 0100 1100 1100 1101

ADIS16210 Data Sheet

Rev. E | Page 12 of 20

SIGNAL PROCESSING, BIAS CORRECTION, AND ALIGNMENT

09593-020

3-AXIS

MEMS ACCEL

FACTORY

CALIBRATION

AND

ALIGNMENT

USER

REFERENCE

ALIGNMENT

PITCH

ROLL

ANGLE

CALCULATION

NUMBER OF AV E RAGES

AVG_CNT

XACCL_OUT

YACCL_OUT

ZACCL_OUT

XINCL_OUT

YINCL_OUT

ZINCL_OUT

USER- ADJUSTABL E BIAS CO RRE CTI ON

XACCL _NULL, YACCL _NULL , ZACCL_NUL L

USER- ADJUSTABL E BIAS CO RRE CTI ON

XACCL _BI AS , YACCL_BIAS , Z ACCL_BIAS

GRAVITY AXIS DEFINITION

SEL E CT USING M S C_CTRL [ 1: 0]

USER- DRI V E N ALI GNMENT

CORRECTION

SET GL OB_CMD[0] = 1

Figure 16. Sensor Signal Processing Diagram (Each Axis)

The ADIS16210 provides user controls for digital filtering, accele-

rometer 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

Table 22. AVG_CNT (Base Address = 0x38), Read/Write

Bits Description (Default = 0x0009)

[15:4]

Not used

[3:0] Average factor, m, binary format

Number of averages, N = 2m

Table 23. AVG_CNT Sample Rate, Bandwidth

AVG_CNT[7:0] m N

(Output)

(−3 dB)

Noise

(p-p)

0x0000 0 1 512 48.2 ±0.32

0x0001

256

44.6

±0.30

0x0002 2 4 128 36.1 ±0.27

0x0003 3 8 64 23.9 ±0.22

0x0004 4 16 32 13.5 ±0.17

0x0005 5 32 16 7.0 ±0.12

0x0006 6 64 8 3.5 ±0.09

0x0007 7 128 4 1.8 ±0.06

0x0008 8 256 2 0.89 ±0.04

0x0009 9 512 1 0.44 ±0.03

0x000A 10 1024 0.5 0.22 ±0.02

0x000B 11 2048 0.25 0.11 ±0.02

Accelerometer/Inclinometer Resolution

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.

Accelerometer Bias Correction

The XACCL_NULL (Table 24), YACCL_NULL (see Table 25),

and ZACCL_NULL (see Table 26) registers add to the accel-

erometer 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 µg (15 ÷ 16,384).

Table 24. XACCL_NULL (Base Address = 0x12), Read/Write

Bits Description (Default = 0x0000)

[15:0] Same format as XACCL_OUT, see Table 9

Table 25. YACCL_NULL (Base Address = 0x14), Read/Write

Bits Description (Default = 0x0000)

[15:0] Same format as YACCL_OUT, see Table 10

Table 26. ZACCL_NULL (Base Address = 0x16), Read/Write

Bits Description (Default = 0x0000)

[15:0] Same format as ZACCL_OUT, see Table 11

The XACCL_BIAS (see Table 27), YAC CL_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 Description (Default = 0x0000)

[15:0] Same format as XACCL_OUT, see Table 9

Table 28. YACCL_BIAS (Base Address = 0x72), Read/Write

Bits Description (Default = 0x0000)

[15:0] Same format as YACCL_OUT, see Table 10

Table 29. ZACCL_BIAS (Base Address = 0x74), Read/Write

Bits Description (Default = 0x0000)

[15:0] Same format as ZACCL_OUT, see Table 11

Data Sheet ADIS16210

Rev. E | Page 13 of 20

Gravity Vector Axis Definition

The ADIS16210 uses the following equations to translate

calibrated, triaxial accelerometer data into incline angles:

























=φ













=θ

atan2

atan

The pitch (θ) and roll (φ) axes provide ±180° of measurement

range, whereas the gravity (ψ) 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).

Table 30. MSC_CTRL (Base Address = 0x34), Read/Write

Bits Value Description (Default = 0x0002)

[15:10] Not used

[9] Number of axes in angle calculation

0 Three axes

1 Two axes

[8] Measurement mode

0 Inclinometer

1 Accelerometer

[7:3] Not used

[2] Gravity vector polarity, KGP

1 Negative, pointing down (−)

0 Positive, pointing up (+)

[1:0] Gravity vector orientation

00 X = gravity vector

Y = pitch axis (θ, aP)

Z = roll axis (φ, aR)

01 Y = gravity vector

X = pitch axis (θ, a

)

Z = roll axis (φ, aR)

10 Z = gravity vector

X = pitch axis (θ, aP)

Y = roll axis (φ, aR)

Reserved

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 orien-

tation, where the z-axis accelerometer aligns with gravity, for

which the factory default setting for MSC_CTRL (0x0002) is

optimal.

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.

09593-021

Figure 17. Z-Axis Gravity Vector, Negative Polarity

Set MSC_CTRL = 0x0006 (DIN = 0xB406)

09593-018

Figure 18. X-Axis Gravity Vector, Positive Polarity

Set MSC_CTRL = 0x0000 (DIN = 0xB400)

09593-019

Figure 19. Y-Axis Gravity Vector, Negative Polarity

Set MSC_CTRL = 0x0005 (DIN = 0xB405)

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.

ADIS16210 Data Sheet

Rev. E | Page 14 of 20

Two-Axis Mode

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:























GGP

aK a

atan2

atan

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.

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.

Table 31. X_ALIGN_REF (Base Address = 0x18), Read

Bits Description (Default = 0x0000)

[15:0] Same format as XACCL_OUT, see Table 9

Table 32. Y_ALIGN_REF (Base Address = 0x1A), Read

Bits Description (Default = 0x0000)

[15:0] Same format as YACCL_OUT, see Table 10

Table 33. Z_ALIGN_REF (Base Address = 0x1C), Read

Bits Description (Default = 0x0000)

[15:0] Same format as ZACCL_OUT, see Table 11

Data Sheet ADIS16210

Rev. E | Page 15 of 20

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

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.

Table 34. GLOB_CMD (Base Address = 0x3E), Write Only

Bits Description Process Time1

[15:8] Not used Not applicable

[7] Software reset 33.7 ms

[6]

User register save to flash memory

28.0 ms

[5] Flash memory test 31.3 ms

[4] Clear DIAG_STAT register 93 µs

[3]

Restore factory default configuration

68.6 ms

[2] Self test 53.7 ms

[1] Power-down Not applicable

[0] User reference alignment Not applicable

1 This indicates the typical duration of time between the command write and

the device returning to normal operation.

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.

NONVOLATILE

FLASH MEMORY

(NO SPI ACCESS)

MANUAL

FLASH

BACKUP

START-UP

RESET

VOLATILE

SRAM

SPI ACCESS

09593-116

Figure 20. SRAM and Flash Memory Diagram

Flash Memory Test

Set GLOB_CMD[5] = 1 (DIN = 0xBE20) to execute the internal

flash memory test routine, which computes a check sum verifi-

cation of all flash memory locations that are not configurable

through user commands.

Self Test

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

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).

Table 35. SLP_CNT (Base Address = 0x3A), Read/Write

Bits

Description (Default = 0x0000)

[15:8]

Not used

[7:0] Binary, sleep time, 0.5 seconds/LSB

0x00 = indefinite sleep mode

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 Value Description (Default = 0x0007)

[15:6] Not used

[5:4] DIO2 function selection

00 General-purpose

01 Data ready

10 Alarm indicator

11 Busy signal

[3:2] DIO1 function selection

00 General-purpose

01 Data ready

Alarm indicator

11 Busy signal

[1] DIO2 polarity

1 Active high

0 Active low

[0] DIO1 polarity

active high

0 active low

ADIS16210 Data Sheet

Rev. E | Page 16 of 20

Data Ready Indicator

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.

09593-023

ACTIVE INACTIVE

DIO1

Figure 21. Data Ready Operation, DIO_CTRL[7:0] = 0x05

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 general-

purpose 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 Description (Default = 0x0000)

[15:10] Not used

[9] DIO2 output level, 1 = high, 0 = low

[8]

DIO1 output level, 1 = high, 0 = low

[7:2] Reserved

[1] DIO2 direction control, 1 = output, 0 = input

[0]

DIO1 direction control, 1 = output, 0 = input

DEVICE IDENTIFICATION

Table 38. LOT_ID1 (Base Address = 0x52), Read Only

Bits Description

[15:0] Lot identification code

Table 39. LOT_ID2 (Base Address = 0x54), Read Only

Bits Description

[15:0]

Lot identification code

Table 40. PROD_ID (Base Address = 0x56), Read Only

Bits Description (Default = 0x3F52)

[15:0]

0x3F52 = 16,210

Table 41. SERIAL_NUM (Base Address = 0x58), Read Only

Bits Description

[15:0] Serial number, lot specific

STATUS/ERROR FLAGS

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

Table 42. DIAG_STAT (Base Address = 0x3C), Read Only

Bits

Description (Default = 0x0000)

[15:12]

Not used

[11] Alarm S flag

[10] Alarm Z flag

[9] Alarm Y flag

[8]

Alarm X flag

[7]

Data ready

[6]

Flash test

[5] Self test

[4] Not used

[3] SPI failure

[2]

Flash update failure

[1]

VDD > 3.625

[0] VDD < 2.975

FLASH MEMORY MANAGEMENT

Set GLOB_CMD[5] = 1 (DIN = 0xBE20) to run an internal check-

sum 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 Description

[15:0] Binary counter for writing to flash memory

600

450

300

150

030 40

RETE NTI ON (Years)

JUNCTION TEMPERATURE (°C)

55 70 85 100125135150

09593-115

Figure 22. Flash/EE Memory Data Retention

Data Sheet ADIS16210

Rev. E | Page 17 of 20

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]).

Table 44. ALM_CTRL (Base Address = 0x2E), Read/Write

Bits Description (Default = 0x0000)

[15] Not used

[14] Alarm Z, dynamic control

1 = dynamic, 0 = static

[13] Alarm Y, dynamic control

1 = dynamic, 0 = static

[12] Alarm X, dynamic control

1 = dynamic, 0 = static

[11]

Alarm S, comparison polarity

1 = SUPPLY_OUT/TEMP_OUT > ALM_MAG_S

0 = SUPPLY_OUT/TEMP_OUT < ALM_MAG_S

[10] Alarm Z, comparison polarity

1 = ZACCL_OUT/ZINCL_OUT > ALM_MAG_Z

0 = ZACCL_OUT/ZINCL_OUT < ALM_MAG_Z

[9]

Alarm Y, comparison polarity

1 = YACCL_OUT/YINCL_OUT > ALM_MAG_Y

0 = YACCL_OUT/YINCL_OUT < ALM_MAG_Y

[8] Alarm X, comparison polarity

1 = XACCL_OUT/XINCL_OUT > ALM_MAG_X

0 = XACCL_OUT/XINCL_OUT < ALM_MAG_X

[7]

Alarm S, source selection

1 = SUPPLY_OUT, 0 = TEMP_OUT

[6] Alarm Z, source selection

1 = ZINCL_OUT, 0 = ZACCL_OUT

[5] Alarm Y, source selection

1 = YINCL_OUT, 0 = YACCL_OUT

[4]

Alarm X, source selection

1 = XINCL_OUT, 0 = XACCL_OUT

[3] Alarm S, enable

1 = enabled, 0 = disabled

[2] Alarm Z, enable

1 = enabled, 0 = disabled

[1]

Alarm Y, enable

1 = enabled, 0 = disabled

[0] Alarm X, enable

1 = enabled, 0 = disabled

SYSTEM ALARM

The system alarm monitors either power supply or internal tem-

perature, 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 <0°C.

STATIC ALARMS

The static alarm setting enables the ADIS16210 to compare the

data source (ALM_CTRL[6:4]) with the corresponding values

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°.

DYNAMIC ALARMS

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).

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

Table 45. ALM_MAG_X (Base Address = 0x20), Read/Write

Bits Description (Default = 0x0000)

[15:0] 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

Description (Default = 0x0000)

[15:0] 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 Description (Default = 0x0000)

[15:0]

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

Description (Default = 0x0000)

[15:0] 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 Description (Default = 0x0001)

[15:8]

Not used

[7:0] Binary, number of samples

Table 50. ALM_SMPL_Y (Base Address = 0x2A), Read/Write

Bits Description (Default = 0x0001)

[15:8] Not used

[7:0]

Binary, number of samples

Table 51. ALM_SMPL_Z (Base Address = 0x2C), Read/Write

Bits

Description (Default = 0x0001)

[15:8] Not used

[7:0] 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.

ADIS16210 Data Sheet

Rev. E | Page 18 of 20

APPLICATIONS INFORMATION

MATING CONNECTOR

The mating connector for the ADIS16210, J2, is the AV X® 04-

6288-015-000-846. 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.

09593-200

MATING

CONNECTOR

SLIDER

LOCKING

DIRECTION

ADIS16210

FLEX CABLE

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.

J1 is a 16-pin connector, which mates with 2 mm pitch, IDC

ribbon cables, such as the TCSD series from Samtec®. 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 VCC™ CMD28-21VRC/TR8,

which works well when R1 and R2 are approximately 400 Ω

(0603 pad sizes).

PC-BASED EVALUATION TOOLS

The ADIS16ACL1/PCBZ provides a simple way to connect the

ADIS16210 to the EVA L -ADIS2 evaluation system, which

provides a PC-based method for evaluation of basic function

and performance. For more information, visit the E VA L -ADIS2

Evaluation System page on the Analog Devices, Inc., website.

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.

09593-026

1.500"

0.157"

1.250"

1 2

15 16

ADIS16ACL1/PCBZ

Figure 24. ADIS16ACL1/PCBZ Top Level View/Dimensions

Data Sheet ADIS16210

Rev. E | Page 19 of 20

1 2

J1 1

04-6288-015-000-846

ADIS16210/ADI S 16228 P ACKAGE PIN O UT

5 6

910

11 12

13 14

15 16

SPARE

PIN SPARE

A3-16PA- 2S V ( 71)

VDD

DGND DGND

RST

DIO1

SCLK

DOUT

DIO2

DIN

CMD2 8-21 VRC/TR8 ( RE D)

400Ω

CMD2 8-21 VRC/TR8 ( RE D)

A C

400Ω

DGND

VDD

10µF C2

0603

DNI

VDD

DIO2

RST

DIN

DOUT

SCLK

DIO1

SPARE

09593-027

Figure 25. ADIS16ACL1/PCBZ Electrical Schematic

ADIS16210 Data Sheet

Rev. E | Page 20 of 20

OUTLINE DIMENSIONS

04-27-2011-A

15.20

15.00 SQ

14.80

24.20

24.00

23.80 20.20

20.00

19.80

TOP VIEW BOTTOM VIEW

20.00 BSC

3.75

(4 PL CS)

R 2.65

(4 PL CS)

2.65

(4 PL CS)

3.50

(4 PL CS)

DETAIL A

FRONT VIEW

15.20

15.00

14.80

8.20

8.00

7.80

Ø 1. 65

Hole and Slot

Size for

1.5 mm Pin

R 0.83

(Centers of 2

R 0.83 Circl es

Separated by 0.89)

0.50 NO M

PITCH

3.50 NO M

0.254

NOM

DETAIL A

Figure 26. 15-Lead Module with Connector Interface

(ML-15-1)

Dimensions shown in millimeters

ORDERING GUIDE

Model1 Temperature Range Package Description Package Option

ADIS16210CMLZ −40°C to +125°C 15-Lead Module with Connector Interface ML-15-1

ADIS16ACL1/PCBZ Breakout Board

EVAL-ADIS2Z Evaluation System

1 Z = RoHS Compliant Part.

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D09593-0-3/19(E)