SCH16T-K01

SCH16T-K01 MURATA | Alldatasheet

Document overview

• Manufacturer or author: Provided By alldatasheet.com(free datasheet download site)
• PDF pages: 19

Technical content

Features

• ±300 °/s calibrated angular rate measurement range.
• ±80 m/s² calibrated acceleration measurement range
• Auxiliary digital accelerometer channel with up to ±260 m/s² dynamic range
• Options for output interpolation and decimation
• Angular rate and acceleration low pass filters from 13Hz to

370 Hz cut-off rate

• Data Ready output, timestamp index and SYNC input functions for clock domain synchronization.
• -40...110 °C operating temperature range
• SafeSPI v2.0 interface
• 20-bit and 16-bit output data, selectable via SPI frame
• Extensive self-diagnostic features
• 11.8 mm x 13.4 mm x 2.9 mm (l x w x h) SOIC-24
• Qualification based on AEC-Q100 standard

Applications

SCH16T series is targeted at applications demanding high performance with tough environmental requirements. Typical applications include:

• Inertial measurement units (IMUs)
• Inertial navigation and positioning
• Machine control and guidance
• Dynamic inclination
• Robotic control and UAVs Application restriction
• https://www.murata.com/en-global/support/militaryrestriction 6-DOF XYZ-Axis gyroscope and XYZ-Axis accelerometer with digital SPI interface 6-DOF XYZ-Axis gyroscope and XYZ-Axis accelerometer with digital SPI interface

2 (53) Murata Electronics Oy SCH16T Doc.No. 11624 www.murata.com Rev. 2 TABLE OF CONTENTS

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1 Introduction

This document contains essential technical information about the SCH16T sensor including specifications, SPI interface descriptions, user -accessible register details, electrical properties, and application information. This document should be used as a ref erence when designing in the SCH16T component.

2 Product types and order codes with packing quantity

Table 1 Product types and order codes Product Type Description Packing Quantity SCH16T-K01-004 Gyroscope ±300 dps, Accelerometer ±80 m/s² Sample package, Bulk 4 pcs SCH16T-K01-1 Tape & Reel 100 pcs SCH16T-K01-10 Tape & Reel 1000 pcs

3 Specifications

3.1 Abbreviations

ARS Angular Rate Sensor (gyroscope) CS Chip Select DPS Degrees Per Second DRY Data Ready F_PRIM Gyroscope Primary Frequency FREQ Frequency Gyro Gyroscope LPM Low Power Mode LPF Low-Pass Filter MCU Microcontroller Unit MEMS Micro-Electro-Mechanical System MISO Master In Slave Out MOSI Master Out Slave In PD Pull Down PU Pull Up RT Room Temperature SCK Serial Clock SPI Serial Peripheral Interface SYNC Synchronization

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3.2 General specifications

Table 2 General specifications for SCH16T series Parameter Min Nom Max Unit Operating Temperature -40 110 °C Supply Voltage 3.0 3.3 3.6 V Digital I/O supply 1.7 3.6 V Total Supply Current 36 41 47 mA Low Power Mode current consumption 10 mA Gyro Primary Frequency, F_PRIM 22.1 23.6 25.1 kHz Output update rate - Interpolated outputs (F_PRIM x 16) 353.6 377.6 401.6 kHz Output update rate - Decimated outputs 23.6/X (1 kHz Turn-on-time (2 250 ms 1) Decimation ratio X is selectable from the following options: 2, 4, 8, 16 and 32 2) After voltage supplies are within specification

3.3 Absolute maximum ratings

Murata guarantees sensor operation without parameter related damage or functional deviation within these maximum ratings. However, output values may deviate from specificat ion if parameter values are outside limits defined in Performance specifications for gyroscope and Performance specifications for accelerometer. All voltages are related to the potential at GND. Table 3 Absolute maximum ratings Parameter Remark Min Nom Max Unit Supply voltage Supply voltage (pins V3P3, VDDIO) -0.3 3.63 V Voltage at Analog input/output pins -0.3 3.63 V Voltage at Digital input/output pins -0.3 3.63 V Storage Temperature Within these maximum ratings no damage to the component shall occur in an instant or up to max 24 hours -50 150 °C ESD_HBM ESD according to Human Body Model (HBM), Q100-002 2000 V ESD_CDM center pins Center pins ESD according to Charged Device Model (CDM), Q100-011 500 V ESD_CDM corner pins corner pins ESD according to Charged Device Model (CDM), Q100-011 750 V Ultrasonic agitation Cleaning, welding, etc. Prohibited

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3.4 Performance specifications for gyroscope

Table 4 Performance specifications for all measurement axes, supply voltage = 3.3 V and at room temperature unless otherwise specified Parameter Condition Min (-3 σ) Nom Max (+3 σ) Unit Measurement range A) Guaranteed valid specification range, lowest selectable sensitivity setting ±300 °/s Guaranteed valid specification range, highest selectable sensitivity setting ±62.5 °/s Offset drift over lifetime D) After HTOL 1000h -0.2 0.2 °/s Default sensitivity – 16-bit mode E) 100 LSB/(°/s) Default sensitivity – 20-bit mode E) 1600 LSB/(°/s) Sensitivity drift over lifetime G) After HTOL 1000h -0.3 0.3 % Noise density 0.0006 (°/s)/√Hz Angle random walk I) 0.015 °/√h Bias instability J) Allan variance minimum divided by 0.664 0.5 °/h Orthogonality error (between rate G-sensitivity L) For DC gravity input 0.006 (°/s)/(m/s2) Notes:

• Specified Min/Max values contain ±3 sigma variation limits of original test population. Typical values are validation populat ion mean (unless otherwise specified). Min/Max and typical values are not guaranteed, values represent validation population characteristics.
• Specification is valid after 24 hours from reflow.
• Each system design including SCH16T series component must be evaluated by the customer in advance to guarantee proper functionality during operation.

7 (53) Murata Electronics Oy SCH16T Doc.No. 11624 www.murata.com Rev. 2 Table 5 Gyroscope parameter definitions Symbol Description A) Measurement range is tied to electrical headroom and is selectable from predefined options presented in 7.4.2. Changing electrical headroom affects only signal path sensitivity (up to 4*nominal sensitivity). B) Initial offset at Murata production measurement after calibration C) Offset drift over temperature is determined by ((maximum offset value over temperature) - (minimum offset value over temperature)) / 2 in condition of one temperature sweep in specified temperature range. D) Estimated from offset drift during 1000 hours of high temperature operating life (HTOL) test at 125 °C and maximum supply voltages. E) Default sensitivity used in factory calibration. With this default sensitivity, signal has a typical electrical headroom of ±327.5 °/s. 𝑆𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑖𝑡𝑦 = 𝐴𝑅𝑚𝑒𝑎𝑠(𝛺𝑚𝑎𝑥)−𝐴𝑅𝑚𝑒𝑎𝑠(𝛺𝑚𝑖𝑛) 𝛺𝑚𝑎𝑥 −𝛺𝑚𝑖𝑛 Where: Ωmax = applied angular rate at maximum operating range Ωmin = applied angular rate at minimum operating range ARmeas(Ωn) = measured angular rate at Ωn [LSB] Sensitivity drift over temperature is determined by [(maximum sensitivity value over temperature) - (minimum sensitivity value over temperature)] / 2 *100% G) Estimated from sensitivity drift during 1000 hours of high temperature operating life (HTOL) test at 125 °C and maximum supply voltages. H) Linearity error is the residual error remaining after a least-squares linear fit over measurement range. (Best fit linear model) I) Angle random walk is the white noise term estimated from Allan deviation at tau = 1s Allan variance minimum divided by 0.664. Optimization for SPI duty cycle or sample rate is required to achieve typical Allan variance in table. Device is powered on for four hours before data collection starts to permit full thermal stabilization. K) Rate axes are orthogonal if their intersecting angle is exactly 90°. Orthogonality error is the deviation from 90°. L) Angular rate offset sensitivity in respect to orientation in the earth gravitation. Contains 0.004 °/s from Earth’s rotation. Can not be extrapolated beyond gravitation.

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3.5 Performance specifications for accelerometer

Table 6 Performance specifications for all measurement axes, up to ±80 m/s² measurement range, supply voltage = 3.3 V and at room temperature unless otherwise specified Parameter Condition Min (-3 σ) Nom Max (+3 σ) Unit Measurement range A) Guaranteed valid specification range, lowest selectable sensitivity setting ±80 m/s2 Guaranteed valid specification range, highest selectable sensitivity setting ±15 m/s2 Offset drift over lifetime D) After HTOL 1000h -0.05 0.05 m/s2 Default sensitivity – 16-bit mode E) 200 LSB/(m/s2) Default sensitivity – 20-bit mode E) 3200 LSB/(m/s2) Sensitivity drift over lifetime G) After HTOL 1000h -0.1 0.1 % Linearity error H) Full Scale -1g…1 g, Noise density 0.8 (mm/s2)/√𝐻𝑧 Velocity random walk I) 30 (mm/s)/√ℎ Bias instability J) Allan variance minimum divided by 0.664 0.20 mm/s2 Orthogonality error (between ACC Notes:

• Specified Min/Max values contain ±3 sigma variation limits of original test population. Typical values are validation population mean (unless otherwise specified). Min/Max and typical values are not guaranteed, values represent validation population characteristics.
• Specification is valid after 24 hours from reflow.
• Each system design including SCH16T series component must be evaluated by the customer in advance to guarantee proper functionality during operation.
• A factor of 98 can be used when converting m/s2 to milli-g. Actual gravity depends on sensor location on Earth.

9 (53) Murata Electronics Oy SCH16T Doc.No. 11624 www.murata.com Rev. 2 Table 7 Accelerometer parameter definitions Symbol Description A) Measurement range is tied to electrical headroom and is selectable from predefined options presented in 7.4.2. Changing electrical headroom affects only signal path sensitivity (up to 4*nominal sensitivity). B) Initial offset at Murata production measurement after calibration C) Offset drift over temperature is determined by ((maximum offset over temperature) - (minimum offset over temperature)) / 2 in condition of one temperature sweep in specified temperature range. D) Estimated from offset drift during 1000 hours of high temperature operating life (HTOL) test at 125 °C and maximum supply voltages. E) Default sensitivity used in factory calibration. With this default sensitivity, signal has a typical electrical headroom of ±163.4 m/s2. 𝑆𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑖𝑡𝑦 = 𝐴𝐶𝐶𝑚𝑒𝑎𝑠(𝑎+1𝑔)−𝐴𝐶𝐶𝑚𝑒𝑎𝑠(𝑎−1𝑔) 𝑎+1𝑔 −𝑎−1𝑔 Where: a+1g = applied acceleration at +1g (i.e., +1g gravity of manufacturing location) a-1g = applied acceleration at -1g (i.e., -1g gravity of manufacturing location) ACCmeas(an) = measured acceleration at an [LSB] Sensitivity drift over temperature is determined by [(maximum sensitivity value over temperature) - (minimum sensitivity value over temperature)] / 2 *100% G) Estimated from sensitivity drift during 1000 hours of high temperature operating life (HTOL) test at 125 °C and maximum supply voltages. H) Linearity error is the residual error remaining after a least-squares linear fit over measurement range. (Best fit linear model) I) Velocity random walk is the white noise term estimated from Allan deviation at tau = 1s Allan variance minimum divided by 0.664. Optimization for SPI duty cycle or sample rate is required to achieve typical Allan variance in table. Device powered on for four hours before data collection starts to permit full thermal stabilization. K) ACC axes are orthogonal if their intersecting angle is exactly 90°. Orthogonality error is the deviation from 90°.

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3.6 Gyroscope typical performance characteristics

Offset drift over temperature from room temperature (°/s) 4 σ population limits RMS noise 68 Hz LPF (°/sRMS) 4 σ population limits Allan variance 4 σ population limits

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3.7 Accelerometer typical performance characteristics

Offset drift over temperature from room temperature (mg) 4 σ population limits RMS noise 68 Hz LPF (mgRMS) 4 σ population limits Allan variance 4 σ population limits

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3.8 Temperature sensor

Table 8 Temperature sensor performance specification Parameter Min Nom Max Unit Measurement range -50 135 °C Temperature signal sensitivity 100 LSB/°C Total Error -15 15 °C Linearity -1 1 °C Temperature is converted to °C with following equation: Temperature [°C] = TEMP / 100, where TEMP is temperature sensor output register content in 2’s complement format.

3.9 Gyroscope and accelerometer frequency response and filter characteristics

SCH16T Filter characteristics are presented in table below. Table 9 SCH16T Filter characteristics Filter Title Type Order Min Nom Max Unit LPF0 Cut-off frequency (-3 dB) Butterworth 4 63.5 68 72.5 Hz Group Delay 10 ms Settling time 10 20 ms LPF1 Cut-off Frequency (-3 dB) Butterworth 4 28 30 32 Hz Group Delay 16 ms Settling time 25 40 ms LPF2 Cut-off Frequency (-3 dB) Butterworth 3 12.2 13 13.8 Hz Group Delay 35 ms Settling time 65 200 ms LPF3 Cut-off Frequency (-3 dB) Bessel 4 262 280 300 Hz Group Delay 1.15 ms Settling time 5 ms LPF4 Cut-off Frequency (-3 dB) Bessel 3 346 370 394 Hz Group Delay 0.78 ms Settling time 1.56 ms LPF5 Cut-off Frequency (-3 dB) Bessel 3 220 235 250 Hz Group Delay 1.24 ms Settling time ms LPF7 Cut-off Frequency (-3 dB) None Hz Group Delay ms Settling time 0.78 ms

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3.10 Pin description

Figure 1 SCH16T pin layout Table 10 SCH16T Pin description Pin # Name Description Type Voltage Level Default state/structure HEATSINK Heatsink connection GND 0 V Reserved Leave floating N/A TA9 SPI device selection Address 1 (static). Slave addressing in SafeSPI2. Max four slaves can be addresses by TA9:8. TA on the slave is defined by DVIO logic level at pins TA9 and TA8. DIN 0 V 0/PDR1) TA8 SPI device selection Address 0 (static). Slave addressing in SafeSPI2. Max four slaves can be addresses by TA9:8. TA on the slave is defined by DVIO logic level at pins TA9 and TA8. DIN 0 V 0/PDR1) Reserved Connect to GND N/A EXTRESN External reset input (low active) during normal operation. DIN/AIN VDDIO 1/PUR1) Reserved Connect to GND N/A

14 (53) Murata Electronics Oy SCH16T Doc.No. 11624 www.murata.com Rev. 2 Pin # Name Description Type Voltage Level Default state/structure V3P3 External unregulated inputs for the core supply regulators SUPPLY 3.3 V GND Ground GND 0 V VREGA2 Regulated core voltage for the analog circuitry. External capacitor connection for positive reference/supply voltage. Connected in PCB. AIN 2.5 V VREGA Regulated core voltage for the analog circuitry. External capacitor connection for positive reference/supply voltage. Connected in PCB. AOUT 2.5 V GND Ground GND 0 V GND Ground GND 0 V VREGD2 Regulated core voltage for the digital circuitry. External capacitor connection for positive reference/supply voltage. Connected in PCB. AIN 1.5 V VREGD Regulated core voltage for the digital circuitry. External capacitor connection for positive reference/supply voltage. Connected in PCB. AOUT 1.5 V GND Ground GND 0 V V3P3 External unregulated inputs for the core supply regulators SUPPLY 3.3 V

18 VDDIO Digital supply IO

SUPPLY 3.3 V MISO Master In Slave Out (SPI) DOUT VDDIO TRI DRY_SYNC Sync input (active high) DRY (Data Ready) outputs an interrupt signal for external MCU when the internal output registers (gyroscope + accelerometer) have been updated. DIN/DOUT VDDIO 0/PDR SCK Serial clock (SPI) DIN VDDIO 0/PDR CS Chip select (SPI) DIN VDDIO 1/PUR MOSI Master Out Slave In (SPI) DIN VDDIO 0/PDR HEATSINK Heatsink connection GND 0 V 1) Strong PD/PU resistance during device reset state, otherwise weak PD/PU.

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3.11 Digital I/O specification

Table 11 SPI DC characteristics describes DC characteristics of the SCH16T sensor SPI I/O pins. Current flowing into the circuit has a positive value. Table 11 SPI DC characteristics Title Symbol Min Max Unit SPI Voltage Level VIO 1.7 3.6 V Input High Voltage VIH 0.7*VIO VIO V Input Low Voltage VIL 0 0.3*VIO V Input Voltage Hysteresis VHYST 0.1*VIO V Input/Output Capacitance CIO 10 pF Total MISO load capacitance, <Wide> range CLWIDE 10 100 pF Input pull-down resistance, strong (default) RPD 60 140 kOhm Input pull-up resistance, strong (default) RPU 60 140 kOhm Input pull-down/pull-up resistance, weak (option) RPD/RPU 200 400 kOhm Output leakage current in case MISO is in high impedance (tri-state) condition ILEAK -10 10 µA

3.12 SPI AC characteristics

Figure 2 Timing diagram of SPI communication (SPI mode 0), CPOL = 0, CPHA = 0

16 (53) Murata Electronics Oy SCH16T Doc.No. 11624 www.murata.com Rev. 2 Table 12 SPI AC electrical characteristics Title Remark Symbol Min Max Unit SCK Operating Frequency 0.095 10.5 MHz MISO data valid time (CS) A 40 ns MISO data valid time (SCK) B 32 ns MOSI data hold time C 20 ns MISO rise/fall time MISO rise/fall time is not defined during transition between high impedance and active mode D 2 9 ns MISO data disable lag time E 50 ns MOSI data setup time F 10 ns SCK disable lead time 1 10 ns SCK enable lead time 2 40 ns SCK rise and fall time 3 2 9 SCK high time 4 37 ns SCK low time 5 37 ns SCK enable lag time 6 20 ns SCK disable lag time 7 10 ns Sequential transfer delay In case of MOSI Write commands (RW=1) 9 750 ns Sequential transfer delay In case of MOSI Read commands (RW=0) 9 450 ns MOSI rise and fall time 10 2 9 ns MOSI data setup time Setup time of MOSI before the rising edge of SCK 11 5 ns MISO data hold time 12 X ns MOSI valid time 13 10 ns CS rise and fall time 10 2 9 ns

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3.13 Measurement axis and directions

Figure 3 SCH16T measurement directions for gyroscope and accelerometer Figure 4 SCH16T accelerometer measurement directions and outputs. 1g indicates direction of gravity. Note: Pin 1 is marked in blue only in this data sheet to emphasize location.

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3.14 Package outline drawing

Figure 5 The outline of SCH16T package. All dimensions are in millimeters. All angles are in degrees. Tolerances unless otherwise specified according to ISO2768-f. This figure is preliminary and will be updated later.

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3.15 PCB footprint

SCH16T PCB footprint dimensions are presented in the table below. Figure 6 Recommended PCB pad layout for SCH16T. All dimensions are in millimeters. This is the end of publicly available document. For full version of this of this data sheet and assembly instructions, please contact Murata. Murata reserves all rights to modify this document without prior notice.