ADIS16501SLASHPCBZ datasheet(33/45 Pages) AD

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Data Sheet

ADIS16501

USER REGISTER DEFINITIONS

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Rev. B | 33 of 45

Y-Axis Delta Angle (Y_DELTANG_LOW and

Y_DELTANG_OUT)

Table 54. Y_DELTANG_LOW Register Definitions

Addresses

Default

Access

Flash Backup

0x28, 0x29

Not applicable

Table 55. Y_DELTANG_LOW Bit Definitions

Bits

Description

[15:0]

Y-axis delta angle data, low word

Table 56. Y_DELTANG_OUT Register Definitions

Addresses

Default

Access

Flash Backup

0x2A, 0x2B

Not applicable

Table 57. Y_DELTANG_OUT Bit Definitions

Bits

Description

[15:0]

Y-axis delta angle data, twos complement, 0° = 0x0000, 1 LSB =

ΔθMAX/215 (see Table 49 for ±ΔθMAX)

The Y_DELTANG_LOW (see Table 54 and Table 55) and Y_DEL-

TANG_OUT (see Table 56 and Table 57) registers contain the delta

angle data for the y-axis.

Z-Axis Delta Angle (Z_DELTANG_LOW and

Z_DELTANG_OUT)

Table 58. Z_DELTANG_LOW Register Definitions

Addresses

Default

Access

Flash Backup

0x2C, 0x2D

Not applicable

Table 59. Z_DELTANG_LOW Bit Definitions

Bits

Description

[15:0]

Z-axis delta angle data, low word

Table 60. Z_DELTANG_OUT Register Definitions

Addresses

Default

Access

Flash Backup

0x2E, 0x2F

Not applicable

Table 61. Z_DELTANG_OUT Bit Definitions

Bits

Description

[15:0]

Z-axis delta angle data, twos complement, 0° = 0x0000, 1 LSB =

ΔθMAX/215 (see Table 49 for ±ΔθMAX)

The Z_DELTANG_LOW (see Table 58 and Table 59) and Z_DEL-

TANG_OUT (see Table 60 and Table 61) registers contain the delta

angle data for the z-axis.

Delta Angle Resolution

Table 62 and Table 63 show various numerical examples that

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

32-bit formats.

Table 62. 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 63. 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 ADIS16501 also provides delta velocity

measurements that represent a calculation of linear velocity change

between each sample update.

Figure 54. Delta Velocity Axis and Polarity Assignments

The delta velocity outputs represent an integration of the accelera-

tion measurements and use the following formula for all three axes

(x-axis displayed):

ΔVx,nD= 12×fS ×∑d=0D−1aX,nD+d+aX,nD+d−1

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