The purpose of this Wiki Guide is to describe an approach to use for evaluating the ADIS16130 on the EVAL-ADIS evaluation system. Although the ADIS16130 package and electrical connector would support physical connection with the EVAL-ADIS, its pin assignment, SPI protocol, data format and operation prevent compatibility with the IMU Evaluation software package.
Since the ADIS16130 is on a “Last time buy,” new design projects should consider the ADIS16133, ADIS16135 or ADIS16136, as they provide better performance/price trade-offs, in the same package as the ADIS16130. In addition, the EVAL-ADIS and IMU Evaluation Software package provide direct support for the ADIS16135, which will be more convenient than the process for evaluating the ADIS16130 on the EVAL-ADIS evaluation system.
Connecting the ADIS16130BMLZ to the EVAL-ADISZ evaluation system will require the use of J1, on the EVAL-ADISZ, an interface board and a cable. The following pictures provide an example of what this type of system might look like. The remainder of this Wiki Guide will describe this system and provide tips for those who may want to develop their own interface system for evaluating the ADIS16130BMLZ ON the EVAL-ADISZ.
Align the ADIS16130BMLZ connector with J1 on the interface board, as shown in the first two pictures below.
After alignment, press the unit down on the board, as shown in the following picture.
Secure the ADIS16130BMLZ to the interface board using (4) M2x0.4x16mm machine screws. If a torque-setting is available on the screwdriver, use a setting of 20 inch-ounces.
Install the interface cable onto J2 of the interface board. In this particular example, ink was added to the location on the cable connector to identify pin #1.
Install the interface cable onto J1 and connect the shield (from cable) to a ground on the EVAL-ADISZ.
Visit the EVAL-ADIS evaluation tool page to download the USB driver file:
Some users may need to visit the web site and download the file directly from the EVAL-ADIS Home Page:
The SDPDrivers.exe file contains USB drivers that are compatible with both 32-bit and 64-bit Windows systems. Double-click on the SDPDrivers.exe file and follow the prompts to install the USB driver files onto the PC. When the following window appears, click on Next and then click on Install to continue with the installation. Note that the following pictures do not match the latest USB driver revision, but the installation process will be the same. Do not be alarmed if the revision on the window is not “220.127.116.11.”
The following pictures show the progress bar and the final confirmation window. Click on Finish to complete the installation.
Click on the following link and save the file to a convenient location on the test PC. Then extract two files into the folder that the application will run out of.
The ADIS16130 software package does not require installation. Double-click on the *.exe file to launch this package and get started.
Click on the Connect button to run the ADIS16130BMLZ through the initialization sequence that the ADIS16130 Dataheet offers.
The red False indicator will change to a green True indication when this process completes and is successful.
Move the mouse pointer over the waveform recorder screen and right-click to access to window scaling functions.
Note the changes to the the gyro scaling after completing these adjustments:
Click on the Start button to start the waveform scroll across the screen. Observe the ADIS16130's response to hand-waving.
The Read Array button provides a function that can capture a small amount of data in a dialog window, which can be copied an pasted into Excel.
Here is an example of the resulting dialog box. The “unscaled” columns are 24-bit, offset binary numbers that are displayed in hexadecimal format. See Table 7 and 8, on page 10 of the ADIS16130 datasheet, for more information on the numerical format for the digital data.
The Start Streaming button enables a larger data record.
The following relationships help determine the two key input variables for the Streaming Mode.
The total samples and averaging factors are both inputs that the ADIS16130 software package provides:
Here is an example that supports producing a 1 hour time record, which has a data sample rate of 100 samples per second.
The ADIS16130 datasheet does not have a parameter for total noise, but it does offer typica specifications for both noise and bandwidth. The total noise is equal to the noise density, times the square root of the noise bandwidth. Since the ADIS16130 has a two pole filter (327, 1000Hz), we can approximate the noise bandwidth to be ~1.4 x the cut-off frequency (300Hz, per Table 1 in the ADIS16130 datasheet).
Total Noise = 0.0125 x sqrt(1.4 x 300) = ~0.255 deg/sec
Start this process by verifying basic function, using the waveform recorder mode. After verifying that the ADIS16130 is functional, place it in a secure location, where it will not be moved during data collection. Then, update the main menu settings in the picture below (total samples, etc).
After verifying all of these settings, click on Start Streaming. When the following window opens, select the file name and location, then click on Save to start the datalog.
The data streaming progress shows up as a “Stream xx% complete,” with 100% complete indicating that all of the data samples are in the target file.
Click on the following file to see the result of this test on a lab unit. In this test, the ADIS16130 noise result was close to 0.2 deg/sec.
This example exercise is based on the calibration method that the following article reference explains:
Start this process by entering 114000 samples for the record size, which provides a data record of 20 seconds at the nominal sample rate of 5700SPS.
Click on Start Streaming, enter the file name/location in the window that pops up and then click on Save to start the streaming process. Then, gently rotate the ADIS16130/Interface PCB around, 180 degrees, using the PCB edge and the edge of a table as a guide. Allow the device to rest (zero motion) for a couple of seconds and then rotate it back. This entire process must be complete before the data streaming completes.
NOTE: Over-ranging the gyroscope will introduce errors. This might require iteration to achieve expected results.
Here is an example of a hand-turn, which was a bit choppy but still produced results that were within the expected error range for sensitivity on the ADIS16130. The 3% error is well within the datasheet specification of +/-10% for sensitivity error.
Here is the spreadsheet file which contains the data and analysis, which produced the rate and angle graphs:
Click on this Engineer Zone post to see another example of this type of sensitivity (or scale factor) test on a gyroscope.
The ADIS16130 datasheet offers performance curves that project a “bias temperature coefficient” of approximately 0.04 deg/sec per degree Celsius. The purpose of this experiment is to illustrate the process of testing this on an actual ADIS16130 unit, using the EVAL-ADIS and techniques covered in this Wiki Guide. For this experiment, place the ADIS16130/Interface PCB inside of an oven and use the twisted pair cable to route it to the EVAL-ADIS, which is located outside of the temperature chamber. See the picture below:
Take note of the clamps that are on the interface board, but not on the |ADIS16130. In some cases, clamping the ADIS16130 down to the board will be necessary, due to the vibration in the oven. This was not important for this exercise, but can be influential when developing fixtures for calibration systems.
The following table illustrates the thermal profile for the temperature chamber for this experiment. For those who are developing calibration systems, the dwell times and ramp rates are likely to be an area for application-specific optimization.
|Temperature||Dwell Time/Ramp Rate||Time|
|+25C||5 min||5 min|
|+25C to -40C||~2 degC/min||32.5 min (37.5 min max)|
|-40C to +85C||~2 degC/min||62.5 min (67.5 min max)|
|+85C||15 min||15 min|
|+85C to +25C||~2 degC/min||30 (35 min max)|
|Total Time =||180 min (typical) 195 min (max)|
In order to support the maximum profile time of 195 minutes, set the data capture process up to collect data for 210 minutes. This allows for 15 extra minutes, for any expected delays or handling. Of course, this is adjustable, once someone has enough experience to understand how these adjustments impact the overall characterization goals. For now, calculate the total samples by multiplying the record time and the sample rate together.
Total samples = 5700 SPS x 210 min x 60 sec/min = 71820000 samples
In order to keep the file size under control, set the averages to produce a sample rate of 5 SPS in the data record.
Averages = Sample rate/Record data rate = 5700 SPS/5 SPS = 1140
The following figure provides the results of this process.
Note that the bias temperature coefficient was calculated on the rising edge of the thermal profile, using two points between -40 and +85C. The bias temperature coefficient was was within the expectations that the ADIS16130 datasheet sets in its performance curves.
Click on the following file name to download the MS Excel file for this test run.
The purpose of this section is to provide supporting documentation, which might be useful for longer-term review of these techniques.
|ADIS16130 Pin Number||EVAL-ADIS J1 Pin Number||ADIS1630BMLZ Function|
|8||3||SPI Chip Select (~CS)|
|11, 13, 15||10, 11, 12||Power Supply (VDD)|
|12||4||SPI Data Output (SDO)|
|14||6||SPI Data Input (SDI)|
|16||2||SPI Serial Clock (SCLK)|
|17, 19, 20, 21, 22||7, 8, 9||Ground (GND)|
|18||No connection||Input clock (SYNC)|
|23||No connection||Analog Filter Node 1 (ROA1)|
|24||No connection||Analog Filter Node 2 (ROA2)|
Although the EVAL-ADISZ system was not designed to support remote device communication, using J1, experimentation has determined that this port can support up to 12 inches of ribbon cabling, while maintaining quality data communication. For lengths that are greater than 12 inches, use shielded, twisted pair cabling. The cable shown in the OVERVIEW section is 3 feet long.
Cable part number & supplier
The interface boards in this Wiki Guide is an old design for an adapter board. While any new project would benefit from a new printed circuit board design, we wanted to illustrate the concept using an existing board. Note that J1 on this interface board only supports pins 1 through 12, so pin 13 was routed to the data-ready connection on the ADIS16130BMLZ, using a small piece of wire.
Click on the following link to access the electrical schematic for this interface PCB:
Click on the following document link to access the printed circuit board layout for this interface PCB:
While the ADIS16130BMLZ uses the same package style and size as the ADIS16136AMLZ, it does not use the same pin assignments. This difference in pin assignments prevents it from plugging directly into J4 on the EVAL-ADISZ evaluation system. The following table illustrates these differences.
|Pin Number||ADIS1630BMLZ Function||EVAL-ADIS Function|
|1||Self-test||Digital I/O Line 3|
|2||Self-test||Digital I/O Line 4|
|3||Self-test||SPI Serial Clock (SCLK)|
|4||Self-test||SPI Data Output (DOUT)|
|5||Self-test||SPI Data Input (DIN)|
|6||Self-test||SPI Chip Select (~CS)|
|7||Self-test||Digital I/O Line 1|
|8||SPI Chip Select (~CS)||Reset (~RST)|
|9||Self-test||Digital I/O Line 2|
|10||Data ready||Power Supply (VDD)|
|11||Power Supply (VDD)||Power Supply (VDD)|
|12||SPI Data Output (SDO)||Power Supply (VDD)|
|13||Power Supply (VDD)||Ground (GND)|
|14||SPI Data Input (SDI)||Ground (GND)|
|15||Power Supply (VDD)||Ground (GND)|
|16||SPI Serial Clock (SCLK)||Do not connect (DNC)|
|17||Ground (GND)||Do not connect (DNC)|
|18||Input clock (SYNC)||Do not connect (DNC)|
|19||Ground (GND)||Do not connect (DNC)|
|20||Ground (GND)||Do not connect (DNC)|
|21||Ground (GND)||Do not connect (DNC)|
|22||Ground (GND)||Do not connect (DNC)|
|23||Analog Filter Node 1 (ROA1)||Do not connect (DNC)|
|24||Analog Filter Node 2 (ROA2)||Do not connect (DNC)|
ADIS16130BMLZ Pin Assignments (NOTE: Pins are not visible from this view, but are shown to help illustrate their location)