ANALOG DEVICES ADIS16407 Service Manual

Ten Degrees of Freedom Inertial Sensor

ADIS16407

Rev. C

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CONTROLLLER

CLOCK

TRIAXIAL

GYRO

TRIAXIAL

ACCEL

POWER

MANAGEMENT

CS

SCLK

DIN

DOUT

GND

VDD

TEMP

VDD

DIO1

DIO2

DIO3

DIO4

RST

SPI

TRIAXIAL

MAGN

PRESSURE

SELF TEST I/O ALARMS

OUTPUT

DATA

REGISTERS

USER

CONTROL

REGISTERS

CALIBRATION

AND

FILTERS

ADIS16407

09797-001

Data Sheet

FEATURES

Triaxial digital gyroscope with digital range scaling

±75°/sec, ±150°/sec, ±300°/sec settings

Axis-to-axis alignment, <0.05°
Triaxial digital accelerometer, ±18 g minimum
Triaxial digital magnetometer, ±2.5 gauss minimum
Digital barometer, 10 mbar to 1200 mbar

Calibrated pressure range: 300 mbar to 1100 mbar
Autonomous operation and data collection

No external configuration commands required

210 ms start-up time, 4 ms sleep mode recovery time
Factory calibrated sensitivity, bias, and axial alignment

Calibration temperature range: −40°C to +85°C
SPI-compatible serial interface
Embedded temperature sensor
Programmable operation and control

Automatic and manual bias correction controls

Bartlett window FIR length, number of taps

Digital I/O: data ready, alarm indicator, general-purpose

Alarms for condition monitoring

Sleep mode for power management

DAC output voltage

Enable external sample clock input up to 1.1 kHz

Single command self test
Single-supply operation: 4.75 V to 5.25 V
2000 g shock survivability
Operating temperature range: −40°C to +105°C

GENERAL DESCRIPTION

The ADIS16407 iSensor® device is a complete inertial system
that includes a triaxial gyroscope, a triaxial accelerometer, a
triaxial magnetometer, and pressure sensors. Each sensor in
the ADIS16407 combines industry-leading iMEMS® technology
with signal conditioning that optimizes dynamic performance.
The factory calibration characterizes each sensor for sensitivity,
bias, alignment, and linear acceleration (gyro bias). As a result,
each sensor has its own dynamic compensation formulas that
provide accurate sensor measurements.

The ADIS16407 provides a simple, cost-effective method for
integrating accurate, multiaxis inertial sensing into industrial
systems, especially when compared with the complexity and
investment associated with discrete designs. All necessary motion
testing and calibration are part of the production process at the
factory, greatly reducing system integration time. Tight orthogonal
alignment simplifies inertial frame alignment in navigation systems.
The SPI and register structure provide a simple interface for
data collection and configuration control.

The ADIS16407 has a compatible pinout for systems that currently
use ADIS1635x, ADIS1636x, and ADIS1640x IMU products.
The ADIS16407 is packaged in a module that is approximately
23 mm × 23 mm × 23 mm and has a standard connector interface.

APPLICATIONS

Platform stabilization and control
Navigation
Robotics

FUNCTIONAL BLOCK DIAGRAM

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responsibility is assumed by Analog Devices for its use, nor for any infringements of patents or other

license is granted by implication or otherwise under any patent or patent rights of Analog Devices.

Figure 1.

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ADIS16407 Data Sheet

TABLE OF CONTENTS

Features .............................................................................................. 1

Applications ....................................................................................... 1 

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

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

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

Specifications ..................................................................................... 3

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

Absolute Maximum Ratings ............................................................ 7

ESD Caution .................................................................................. 7

Pin Configuration and Function Descriptions ............................. 8

Typical Performance Characteristics ............................................. 9

Basic Operation ............................................................................... 10

Reading Sensor Data .................................................................. 10

Output Data Registers ................................................................ 11

Input ADC Channel ................................................................... 13

Device Configuration ................................................................ 13

User Registers .................................................................................. 14

System Functions ............................................................................ 15

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

Power Management .................................................................... 15

Product Identification ................................................................ 15

Memory Management ............................................................... 15

Self Test Function ....................................................................... 16

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

Input/Output Configuration ......................................................... 17

Data Ready Indicator ................................................................. 17

General-Purpose Input/Output................................................ 17

Auxiliary DAC ............................................................................ 17

Digital Processing Configuration ................................................. 18

Sample Rate ................................................................................. 18

Input Clock Configuration ....................................................... 18

Digital Filtering........................................................................... 18

Dynamic Range .......................................................................... 18

Calibration ....................................................................................... 19

Gyroscopes .................................................................................. 19

Accelerometers ........................................................................... 20

Magnetometer Calibration ........................................................ 20

Flash Updates .............................................................................. 21

Restoring Factory Calibration .................................................. 21

Alarms .............................................................................................. 22

Static Alarm Use ......................................................................... 22

Dynamic Alarm Use .................................................................. 22

Alarm Reporting ........................................................................ 22

Applications Information .............................................................. 23

Installation/Handling................................................................. 23

Gyroscope Bias Optimization ................................................... 23

Interface Printed Circuit Board (PCB) .................................... 23

Outline Dimensions ....................................................................... 24

Ordering Guide .......................................................................... 24

REVISION HISTORY

10/11—Rev. B to Rev. C

Change to Burst Read Function Section and Figure 12 ............ 10

Changed .25 mg to 3.333 mg ........................................ Throughout

Changes to System Functions Section ......................................... 15

Change to Product Identification Section ................................... 15

Change to Table 36 ......................................................................... 15

Changes to Digital Filtering Section, Table 47, Caption for

Figure 18, and Figure 19 ................................................................ 18

Change to Table 67 ......................................................................... 22

7/11—Rev. A to Rev. B

Change to Table 1, Barometer, Sensitivity Parameter .................. 4

Rev. C | Page 2 of 24

Added Barometer Section; Changes to Table 40 ........................ 16

Changes to Table 55, Table 56, Table 57 ...................................... 20

Changes to Table 58, Table 59, Table 60 ...................................... 21

6/11—Rev. 0 to Rev. A

Changes to Device Configuration Section and Figure 16 ......... 13

Changes to Figure 19 ...................................................................... 18

Changes to Figure 25 Caption ...................................................... 24

Changes to Ordering Guide .......................................................... 24

4/11—Revision 0: Initial Version

Data Sheet ADIS16407

Misalignment

Axis to axis

±0.05

Degrees

3 dB Bandwidth

330 Hz

Dynamic Range

±18

g

Output Noise

No filtering

9

mg rms

Nonlinearity

Best fit straight line

0.5 % of FS

SPECIFICATIONS

TA = 25°C, VDD = 5 V, angular rate = 0°/sec, dynamic range = ±300°/sec ± 1 g, unless otherwise noted.

Table 1.

Parameter Test Conditions/Comments Min Typ Max Unit

GYROSCOPES

Dynamic Range ±300 ±350 °/sec

Initial Sensitivity Dynamic range = ±300°/sec 0.0495 0.05 0.0505 °/sec/LSB

Dynamic range = ±150°/sec 0.025 °/sec/LSB

Dynamic range = ±75°/sec 0.0125 °/sec/LSB

Sensitivity Temperature Coefficient −40°C ≤ TA ≤ +85°C ±40 ppm/°C

Axis to frame (package) ±0.5 Degrees

Nonlinearity Best fit straight line ±0.1 % of FS

Initial Bias Error ±1 σ ±3 °/sec

In-Run Bias Stability 1 σ, SMPL_PRD = 0x0001 0.007 °/sec

Angular Random Walk 1 σ, SMPL_PRD = 0x0001 1.9 °/√hr

Bias Temperature Coefficient −40°C ≤ TA ≤ +85°C ±0.01 °/sec/°C

Linear Acceleration Effect on Bias Any axis, 1 σ (MSC_CTRL[7] = 1) 0.05 °/sec/g

Bias Voltage Sensitivity VDD = 4.75 V to 5.25 V ±0.3 °/sec/V

Output Noise ±300°/sec range, no filtering 0.8 °/sec rms

Rate Noise Density f = 25 Hz, ±300°/sec range, no filtering 0.044 °/sec/√Hz rms

Sensor Resonant Frequency 14.5 kHz

ACCELEROMETERS Each axis

Initial Sensitivity 3.285 3.33 3.38 mg/LSB

Sensitivity Temperature Coefficient −40°C ≤ TA ≤ +85°C ±50 ppm/°C

Misalignment Axis to axis 0.2 Degrees

Axis to frame (package) ±0.5 Degrees

Nonlinearity Best fit straight line 0.1 % of FS

Initial Bias Error ±1 σ ±50 mg

In-Run Bias Stability 1 σ, SMPL_PRD = 0x0001 0.2 mg

Velocity Random Walk 1 σ, SMPL_PRD = 0x0001 0.2 m/sec/√hr

Bias Temperature Coefficient −40°C ≤ TA ≤ +85°C

Bias Voltage Sensitivity VDD = 4.75 V to 5.25 V 2.5 mg/V

Noise Density No filtering 0.5 mg/√Hz rms

3 dB Bandwidth 330 Hz

Sensor Resonant Frequency 5.5 kHz

MAGNETOMETER

Dynamic Range ±2.5 ±3.5 gauss

Initial Sensitivity 25°C 0.49 0.5 0.51 mgauss/LSB

Sensitivity Temperature Coefficient 25°C, 1 σ 600 ppm/°C

Misalignment Axis to axis 0.25 Degrees

Axis to frame (package) 0.5 Degrees

±0.3 mg/°C

Initial Bias Error 25°C, 0 gauss stimulus ±4 mgauss

Bias Temperature Coefficient −40°C ≤ TA ≤ +85°C 0.5 mgauss/°C

Output Noise

Noise Density

Bandwidth −3 dB 1540 Hz

25°C, no filtering, rms
25°C, no filtering, rms

Rev. C | Page 3 of 24

1.15 mgauss

0.06 mgauss/√Hz

ADIS16407 Data Sheet

Sensitivity

0.3125

µbar/LSB

CS Wake-Up Pulse Width

20

μs

Sleep Mode Recovery Time

7 ms

Parameter Test Conditions/Comments Min Typ Max Unit

BAROMETER

Pressure Range

Operating 300 1100 mbar
Extended1 10 1200 mbar

Total Error 25°C, 300 mbar to 1100 mbar 1.5 mbar
Relative Error2 −40°C to +85°C, 300 mbar to 1100 mbar 2.5 mbar
Linearity3 25°C, 300 mbar to 1100 mbar 0.1 % of FS

−40°C to +85°C, 300 mbar to 1100 mbar 0.15 % of FS
Noise 0.027 mbar rms

TEMPERATURE SENSOR

Scale Factor 25°C, output = 0x0000 0.14 °C/LSB

ADC INPUT

Resolution 12 Bits
Integral Nonlinearity ±2 LSB
Differential Nonlinearity ±1 LSB
Offset Error ±4 LSB
Gain Error ±2 LSB
Input Range 0 3.3 V
Input Capacitance During acquisition 20 pF

DAC OUTPUT 5 kΩ/100 pF to GND

Resolution 12 Bits
Relative Accuracy 101 LSB ≤ input code ≤ 4095 LSB ±4 LSB
Differential Nonlinearity ±1 LSB
Offset Error ±5 mV
Gain Error ±0.5 %
Output Range 0 3.3 V
Output Impedance 2 Ω
Output Settling Time 10 µs

LOGIC INPUTS4

Input High Voltage, VIH 2.0 V
Input Low Voltage, VIL 0.8 V

CS signal to wake up from sleep mode

0.55 V

Logic 1 Input Current, IIH VIH = 3.3 V ±0.2 ±10 µA
Logic 0 Input Current, IIL VIL = 0 V

All Pins Except RST
RST Pin

Input Capacitance, CIN 10 pF

DIGITAL OUTPUTS4

Output High Voltage, VOH I
Output Low Voltage, VOL I

FLASH MEMORY Endurance5 10,000 Cycles

Data Retention6 TJ = 85°C 20 Years

FUNCTIONAL TIMES7 Time until new data is available

Power-On Start-Up Time 220 ms
Reset Recovery Time 105 ms

Flash Memory Update Time 75 ms
Flash Memory Test Time 30 ms
Automatic Self Test Time SMPL_PRD = 0x0001 52 ms

40 60 µA
1 mA

= 1.6 mA 2.4 V

SOURCE

= 1.6 mA 0.4 V

SINK

Rev. C | Page 4 of 24

Data Sheet ADIS16407

Sync Input Clock9

0.8 1.1

kHz

Sleep mode

1.4 mA

Parameter Test Conditions/Comments Min Typ Max Unit

CONVERSION RATE SPS

xGYRO_OUT, xACCL_OUT, xMAGN_OUT SMPL_PRD = 0x0001 819.2 SPS

BAR_OUT, BARO_OUTL8 SMPL_PRD = 0x0001 51.2 SPS

Clock Accuracy ±3 %

POWER SUPPLY Operating voltage range, VDD 4.75 5.0 5.25 V

Power Supply Current 70 mA

1

The extended pressure range is guaranteed by design.

2

The relative error assumes that the initial error, at +25°C, is corrected in the end application.

3

Linearity errors assume a full scale (FS) of 1000 mbar.

4

The digital I/O signals are driven by an internal 3.3 V supply, and the inputs are 5 V tolerant.

5

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

6

The data retention lifetime equivalent is at a junction temperature (TJ) of 85°C as per JEDEC Standard 22, Method A117. Data retention lifetime decreases with junction

temperature.

7

These times do not include thermal settling and internal filter response times (330 Hz bandwidth), which may affect overall accuracy.

8

The BARO_OUT and BARO_OUTL registers sample at a rate that is 1/16th that of the other output registers.

9

The sync input clock functions below the specified minimum value, but at reduced performance levels.

Rev. C | Page 5 of 24

ADIS16407 Data Sheet

tCS

Chip select to SCLK edge

48.8

48.8

ns

t

5 5 ns

CS

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

t

CS

t

SFS

t

DAV

t

DHD

t

DSU

09797-002

CS

SCLK

t

READRATE

t

STALL

09797-003

t

3

t

X

t

2

t

1

SYNC

CLOCK (DIO 4)

DATA

READY

07570-004

TIMING SPECIFICATIONS

TA = 25°C, VDD = 5 V, unless otherwise noted.

Table 2.

Normal Mode Burst Read
Parameter Description Min1 Typ Max Min1 Typ Max Unit

f

Serial clock 0.01 2.0 0.01 1.0 MHz

SCLK

t

Stall period between data 9 1/f

STA LL

t

Read rate 40 µs

READRATE

t

DOUT valid after SCLK edge 100 100 ns

DAV

t

DIN setup time before SCLK rising edge 24.4 24.4 ns

DSU

t

DIN hold time after SCLK rising edge 48.8 48.8 ns

DHD

t

, t

SCLKR

SCLK rise/fall times, not shown in Timing Diagrams 5 12.5 5 12.5 ns

SCLKF

tDR, tDF DOUT rise/fall times, not shown in Timing Diagrams 5 12.5 5 12.5 ns

SFS

t

1

CS high after SCLK edge

Input sync positive pulse width 5 5 µs
tx Input sync low time 100 100 µs
t

2

t

3

1

Guaranteed by design and characterization, but not tested in production.

Input sync to data ready output 600 600 µs

Input sync period 910 910 µs

Timing Diagrams

µs

SCLK

Figure 2. SPI Timing and Sequence

Figure 3. Stall Time and Data Rate

Figure 4. Input Clock Timing Diagram

Rev. C | Page 6 of 24

Data Sheet ADIS16407

Any Axis, Unpowered

2000 g

Temperature

ABSOLUTE MAXIMUM RATINGS

Table 3.

Parameter Rating

Acceleration

Any Axis, Powered 2000 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 +3.6 V
Analog Input to GND −0.3 V to +3.6 V

Operating Range −40°C to +105°C

Storage Range −65°C to +125°C
Pressure 6 bar

1

Extended exposure to temperatures outside the specified temperature

range of −40°C to +105°C can adversely affect the accuracy of the factory
calibration. For best accuracy, store the parts within the specified operating
range of −40°C to +105°C.

2

Although the device is capable of withstanding short-term exposure to

150°C, long-term exposure threatens internal mechanical integrity.

1, 2

Stresses above those listed under Absolute Maximum Ratings
may cause permanent damage to the device. This is a stress
rating only; functional operation of the device at these or any
other conditions above those indicated in the operational
section of this specification is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect
device reliability.

Table 4. Package Characteristics

Package Type θJA θJC Device Weight

24-Lead Module

39.8°C/W 14.2°C/W 16 grams

(ML-24-2)

ESD CAUTION

Rev. C | Page 7 of 24

ADIS16407 Data Sheet

NOTES

1. THIS VIEW REPRESENTS THE TOP VIEW OF THE MATING CONNECTOR.

2. WHE N CONNECTED, THE PINS ARE NOT VISIBLE.

3. MAT ING CONNECT OR: SAMTEC CLM-112-02 OR EQUIVALENT .

4. DNC = DO NOT CONNECT.

1

DIO3

SCLK

DIN

DIO1

DIO2

VDD

GND

GND

DNC

DNC

AUX_ADC

DNC

DIO4/CLKIN

DOUT

CS

RST

VDD

VDD

GND

DNC

DNC

AUX_DAC

DNC

DNC

23456789101112131415161718192021222324

ADIS16407

TOP VIEW

(Not to S cale)

09797-005

PIN 1

PIN 23

09797-006

1

DIO3

I/O

Configurable Digital Input/Output.

PIN CONFIGURATION AND FUNCTION DESCRIPTIONS

Figure 5. Pin Configuration

Figure 6. Axial Orientation

Table 5. Pin Function Descriptions

Pin No. Mnemonic Type1 Description

2 DIO4/CLKIN I/O Configurable Digital Input/Output or Sync Clock Input.
3 SCLK I SPI Serial Clock.
4 DOUT O SPI Data Output. Clocks the output on the SCLK falling edge.
5 DIN I SPI Data Input. Clocks the input on the SCLK rising edge.
6

CS

I SPI Chip Select.

7 DIO1 I/O Configurable Digital Input/Output.
8

RST

I Reset.
9 DIO2 I/O Configurable Digital Input/Output.
10, 11, 12 VDD S Power Supply.
13, 14, 15 GND S Power Ground.
16, 17, 18, 19, 22, 23, 24 DNC N/A Do Not Connect. Do not connect to these pins.
20 AUX_DAC O Auxiliary, 12-Bit DAC Output.
21 AUX_ADC I Auxiliary, 12-Bit ADC Input.

1

S is supply, O is output, I is input, N/A is not applicable.

Rev. C | Page 8 of 24