ADIS16505-2SLASHPCBZ datasheet(29/41 Pages) AD

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Data Sheet

ADIS16505

Rev. C | Page 29 of 41

Z-Axis Delta Angle (Z_DELTANG_LOW and

Z_DELTANG_OUT)

Table 57. Z_DELTANG_LOW Register Definitions

Addresses

Default

Access

Flash Backup

0x2C, 0x2D

Not applicable

Table 58. Z_DELTANG_LOW Bit Definitions

Bits

Description

[15:0]

Z-axis delta angle data; low word

Table 59. Z_DELTANG_OUT Register Definitions

Addresses

Default

Access

Flash Backup

0x2E, 0x2F

Not applicable

Table 60. Z_DELTANG_OUT Bit Definitions

Bits

Description

[15:0]

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

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

The Z_DELTANG_LOW (see Table 57 and Table 58) and

Z_DELTANG_OUT (see Table 59 and Table 60) registers

contain the delta angle data for the z-axis.

Delta Angle Resolution

Table 61 and Table 62 show various numerical examples that

demonstrate the format of the delta angle data in both 16-bit

and 32-bit formats.

Table 61. 16-Bit Delta Angle Data Format Examples

Delta Angle (°)

Decimal

Hex

Binary

ΔθMAX × (215−1)/215

+32,767

0x7FFF

0111 1111 1110 1111

+ΔθMAX/214

0x0002

0000 0000 0000 0010

+ΔθMAX/215

0x0001

0000 0000 0000 0001

0x0000

0000 0000 0000 0000

−ΔθMAX/215

−1

0xFFFF

1111 1111 1111 1111

−ΔθMAX/214

−2

0xFFFE

1111 1111 1111 1110

−ΔθMAX

−32,768

0x8000

1000 0000 0000 0000

Table 62. 32-Bit Delta Angle Data Format Examples

Delta Angle (°)

Decimal

Hex

+ΔθMAX × (231 − 1)/231

+2,147,483,647

0x7FFFFFFF

+ΔθMAX/230

0x00000002

+ΔθMAX/231

0x00000001

0x00000000

−ΔθMAX/231

−1

0xFFFFFFFF

−ΔθMAX/230

−2

0xFFFFFFFE

−ΔθMAX

−2,147,483,648

0x80000000

DELTA VELOCITY

In addition to the linear acceleration measurements along each

axis (x, y, and z), the ADIS16505 also provides delta velocity

measurements that represent a calculation of linear velocity

change between each sample update.

Y-AXIS

X-AXIS

A10

Z-AXIS

Figure 54. Delta Velocity Axis and Polarity Assignments

The delta velocity outputs represent an integration of the

acceleration measurements and use the following formula for

all three axes (x-axis displayed):



xn D

x n D d

xn D d



 













where:

x is the x-axis.

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

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

fS is the sample rate.

d is the incremental variable in the summation formula.

aX is the x-axis acceleration.

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

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

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

on the DR pin (DEC_RATE = 0x0000, see Table 109), divide

each delta angle result (from the delta angle output registers) by

the data ready frequency, and multiply it by 2000. Each axis of

the delta velocity measurements has two output data registers.

Figure 55 shows how these two registers combine to support

32-bit, twos complement data format for the delta velocity

measurements along the x-axis. This format also applies to the

y- and z-axes.

X-AXIS DELTA VELOCITY DATA

X_ DELTVEL_OUT

X_ DELTVEL_LOW

BIT0 BIT15

BIT 15

BIT 0

Figure 55. Delta Velocity Output Data Structure

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