datasheet for CRM202 by Silicon Sensing Systems Ltd

datasheet for CRM202 by Silicon Sensing Systems Ltd
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
1 General Description
Actual size
Features
• Small (6.3 x 2.7 x 5.5mm)
• Proven and robust silicon MEMS vibrating ring gyro
• In-plane and orthogonal sensing options
(CRM102.1, CRM202.1)
• Dynamic range 900º/s
• Analogue and Digital ( SPI® ) output modes
• User adjustable bandwidth to 160Hz
• 3V supply
• Low noise
• Low power consumption (4mA)
• High shock and vibration rejection
• Hermetically sealed ceramic LCC surface mount
package for temperature and humidity resistance
• Integral temperature sensor
• Low integration cost
• Design tools and resources available
• RoHS compliant
Applications
• High rate precision GPS vehicle and personal
navigation aiding
• High rate vehicle yaw, pitch and roll rate sensing
• Crash testing
• Accident recorders
• Motion tracking
• Pointing devices
• Model helicopters
• Vehicle dynamic testing
• Industrial and robotics
PinPoint® is a single-axis MEMS angular rate sensor
(gyro) capable of measuring angular velocity up to a
maximum of ±1,000º/s which has two output modes;
an analogue voltage signal which is linearly
proportional to angular speed, and a digital signal in
SPI® protocol. The choice of output mode; analogue
or digital, is determined by the user when connecting
it to the user’s host PCBA; details of the electrical
interface between PinPoint® and the host PCBA are
given in Section 7.
PinPoint® is available in two basic configurations, one
which will measure angular velocity about an axis
perpendicular to the plane of the host PCBA, referred
to as ‘in-plane’ sensing (Part Number CRM102.1) and
one which measures angular velocity about an axis
which is parallel to the plane of the host PCBA, referred
to as ‘orthogonal’ sensing (Part Number CRM202.1).
This datasheet relates to part number CRM202.1.
With a combination of CRM102.1 and CRM202.1 it is
possible for the user to measure angular rate of
multiple axes (e.g. any combination of pitch, yaw and
roll) from a single host PCBA.
PinPoint® (CRM102.1 and CRM202.1) is supplied as
a PCBA surface mountable LCC ceramic packaged
device. It comprises five main components; silicon
MEMS ring Sensor, Pedestal, ASIC, Package Base
and Lid. More details of the construction are given in
Section 13.
There are eight actuators / transducers distributed
evenly around the perimeter of the silicon MEMS ring.
Located about its primary axes are a single pair of
‘primary drive’ actuators and a single pair of ‘primary
pick-off’ transducers. Located about its secondary
axes (at 45° to the primary) are two pairs of ‘secondary
pick-off’ transducers see Figure 1.1.
The ‘primary drive’ actuators and ‘primary pick-off’
transducers act together in a closed-loop system to
excite and control the ring primary operating vibration
amplitude and frequency.
Secondary ‘pick-off’ transducers detect radial movement
at the secondary axes, the magnitude of which is
proportional to the angular speed of rotation and from
which the gyro derives angular rate.
More information about the principles of operation are
given in Section 13.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 1
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
C3
0.1µF
2.7 to 3.6V
Vref_cap
Vdd
Amplitude
C1
10µF
Vref
0.1µF
Driver
PPO
O
Vss
Rate_Out
Rate O/P
Real
SPO
QUAD
PROG
Calibration
Reset
Trim Sets
POR
BIT
Interface Control
ADC
Dclk / SEL0
BW_cap
Factory / SS
Data_Out / BIT_Out
MODE_SEL
Data_In / SEL1
Interface
C2
(0.56nF to 270nF)
C.G.18391
Figure 1.1 CRM202.1 Functional Block Diagram
6.30
2.63
5.50
4.60
4 - R0.40
1
2
3
4
5
6
7
6 - 0.5
9
10
11
12
13
14
15
16
16 - 0.80
6 - 0.5
2 - (0.35)
All dimensions in millimetres.
8
8 - (0.50)
8 - (0.50)
+ ve
2.40
0.90 P x 5 = 4.50
2 - (0.35)
C.G. 18371
Figure 1.2 CRM202.1 Overall Dimensions
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 2
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
2 Ordering Information
Part Number
Sense Axis
Measurement
Range
Description
Modes
°/s
CRM102.1
CRM202.1
+ ve
CRM
CYYM 102.1
M a d LLLDD
e in SSSS
Ja p a R
n
CRM20
2.
CYYMLL 1
LDDS
M ad e in SSSR
Ja pa n
Overall
Dimensions
Supply
Voltage
mm
V
Single-axis PinPoint® MEMS Gyroscope.
Sensing axis perpendicular (in-plane) to
the host PCBA.
±900
Analogue or Digital
(User Configured)
5.7x4.8x1.2H
2.7 ~ 3.6
Single-axis PinPoint® MEMS Gyroscope.
Sensing axis parallel (orthogonal) to the
host PCBA.
±900
Analogue or Digital
(User Configured)
6.3x2.7x5.5H
2.7 ~ 3.6
+ ve
3 Specification
Unless stated otherwise, the following specification
values assume Vdd = 3.0V and an ambient
temperature of +25°C. ‘Over temperature’ refers to
the temperature range -20°C to +85°C.
Parameter
Minimum
Typical
Maximum
Notes
Measurement Range:
Dynamic
Range
±900°/s
–
Sensitivity:
Analogue Output Mode Sensitivity:
Scale Factor (k)
(nominal)
±900°/s k = 0.001 x Vdd/3 V/°/s
Scale Factor variation
at +25°C
-3%
Scale Factor variation
over temperature
Ratiometric
–
–
+3%
–
-3%
±1%
+3%
–
Scale Factor
non-linearity
–
0.06%
0.2%
Percentage of dynamic
range using a best
straight line fit
Bias (nominal), +25°C
–
±12°/s
(Vdd/2 ±12mV)
–
–
-36°/s
–
+36°/s
–
Bias switch on
repeatability
–
0.15°/s rms
–
–
Bias drift with time
after switch on
–
0.05°/s/min
–
After 250 seconds
Bias instability
–
80°/hr
–
Allan Variance
Bias variation
with temperature
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 3
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Specification Continued
Parameter
Minimum
Typical
Maximum
Notes
Digital Output Mode Sensitivity:
Scale Factor (k)
(nominal)
Note: Digital output is
NOT Ratiometric
±900°/s operation, k = 8 LSB/°/s
Scale Factor variation
at +25°C
-3%
–
+3%
–
Scale Factor variation
over temperature
-3%
±1%
+3%
–
Scale Factor
non-linearity
–
0.16%
0.2%
Percentage of dynamic
range using a best
straight line fit
Bias (nominal), +25°C
–
±12°/s
(000010 ±9610 LSB)
–
–
-36°/s
–
+36°/s
–
Bias switch on
repeatability
–
0.15°/s rms
–
–
Bias drift with time
after switch on
–
0.05°/s/min
–
After 250 seconds
Bias instability
–
80°/hr
–
Allan Variance
Rate noise density
–
0.05°/s/Hz
0.1°/s/Hz
–
Angular Random Walk
–
0.8°/hr
–
–
5Hz
–
160Hz
User selectable
see Section 7.5
Bias variation
with temperature
Noise:
Frequency Response:
Bandwidth
Temperature Sensor:
Digital output only
Offset
–
051210
–
Nominal for 0°C
Scale factor
–
2.75 LSB/°C
–
–
+25°C typical output
–
60010 ±2010
–
–
1s
–
Start Up:
Time to full
performance
–
300ms (Vdd=2.7V)
250ms (Vdd=3.6V)
Physical:
Mass
Misalignment
(Cross-axis Sensitivity)
–
0.3g
–
–
-50 mrad
–
+50 mrad
This equates to a
cross-axis sensitivity of
approximately 5%
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 4
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Specification Continued
Parameter
Minimum
Typical
Maximum
Notes
–
0.03 mrad/°C
–
–
Temperature
(Operating, full spec)
-20°C
–
+85°C
Gyro will function at
full specification
Temperature (Storage)
-20°C
–
+125°C
–
Humidity
–
–
85% RH
Non-condensing
Shock (operating)
–
–
500g 1ms
–
Shock (survival)
–
–
10,000g 0.1ms
–
Vibration rectification
error
–
0.001°/s/g2rms
0.003°/s/g2rms
12grms stimulus, 10Hz to
5kHz, random
Vibration induced
noise
–
0.06°/srms/g2rms
0.072°/srms/g2rms
12grms stimulus, 10Hz to
5kHz, random
–
0.077°/s/g
0.17°/s/g
Steady state
2.7V
3.3V (nom)
3.6V
Ramp rate should be
greater than 1V/ms
Current consumption
(inrush - during start-up)
–
–
12mA
Excluding charging
decoupling capacitors
Current consumption
(operating - after start-up)
–
4.0mA
5.0mA
–
SPI® message rate
500Hz
1kHz
10kHz
–
SPI® clock rate
100kHz
1MHz
8MHz
–
–
+150°/s
–
–
Misalignment over
temperature
Environmental:
Linear Acceleration:
g sensitivity
Electrical:
Supply voltage
Interface:
CBIT offset
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 5
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
4 Absolute Minimum/Maximum Ratings
Minimum
Maximum
Powered (saturated)
–
150,000°/s
Unpowered
–
No limit
Powered
–
24,000°/s 2
Unpowered
–
No limit
Powered
–
3,500g
Unpowered
–
10,000g 0.1ms
-0.3V
+4.0V
Angular Velocity:
Angular Acceleration:
Linear Acceleration (any axis):
Electrical:
Vdd
2kV HBM (except PROG pin)
ESD protection
–
Duration of short circuit
on any pin (except Vdd)
–
No limit
-20°C
+85°C
Max storage (survival)
–
+125°C
Humidity
–
85% RH non-condensing
1kV HBM PROG pin 200V MM
Temperature:
Operating
Notes:
Improper handling, such as dropping onto hard
surfaces, can generate every high shock levels
in excess of 10,000g. The resultant stresses can
cause permanent damage to the sensor.
Exposure to the Absolute Maximum Ratings for
extended periods may affect performance and
reliability.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 6
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
5 Typical Performance Characteristics
Graphs showing typical performance characteristics
for PinPoint® are shown below:
Analogue Output Mode - Vdd = 3V, measurement
range = 900°/s
Figure 5.1 Analogue Bias vs Temperature
(1 mV/°/s nominal)
Figure 5.3 Analogue Scale Factor Error
(1 mV/°/s nominal) vs Temperature
Figure 5.2 Normalized Analogue Bias vs
Temperature
Figure 5.4 Normalized Analogue Scale Factor
Variation vs Temperature
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 7
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Analogue Output Continued
Figure 5.5 Maximum Analogue Linearity
Error vs Temperature
Figure 5.7 Current Consumption vs
Temperature
Figure 5.6 Typical Rate Output with Analogue
CBIT vs Temperature
Figure 5.8 Analogue Bias at +25°C
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 8
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Analogue Output Continued
Figure 5.9 Normalized Analogue Bias
Over Temperature
Figure 5.11 Normalized Analogue Scale Factor
Variation Over Temperature
Figure 5.10 Analogue Scale Factor at +25°C
Figure 5.12 Analogue Output Maximum
Linearity Error at -40°C
(Best Straight Line Fit)
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 9
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Analogue Output Continued
Figure 5.13 Analogue Output Maximum
Linearity Error at +25°C
(Best Straight Line Fit)
Figure 5.15 Rate Output Change with
Analogue CBIT at +25°C
Figure 5.14 Analogue Output Maximum
Linearity Error at +85°C
(Best Straight Line Fit)
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 10
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Digital Output Mode
Figure 5.16 Digital Bias vs Temperature
Figure 5.18 Digital Scale Factor Error
(8 lsb/°/s nominal) vs Temperature
Figure 5.17 Normalized Digital Bias vs
Temperature
Figure 5.19 Normalized Digital Scale Factor
Variation vs Temperature
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 11
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Digital Output Continued
Figure 5.20 Maximum Digital Linearity
Error vs Temperature
Figure 5.22 Digital Bias at +25°C
Figure 5.21 Typical Rate Output with Digital
CBIT vs Temperature
Figure 5.23 Normalized Digital Bias
Over Temperature
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 12
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Digital Output Continued
Figure 5.24 Digital Scale Factor at +25°C
Figure 5.26 Digital Output Maximum
Linearity Error at -40°C
(Best Straight Line Fit)
Figure 5.25 Normalized Digital Scale Factor
Variation Over Temperature
Figure 5.27 Digital Output Maximum
Linearity Error at +25°C
(Best Straight Line Fit)
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 13
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Digital Output Continued
Figure 5.28 Digital Output Maximum
Linearity Error at +85°C
(Best Straight Line Fit)
Figure 5.29 Rate Output Change with
Digital CBIT at +25°C
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 14
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Startup
Figure 5.30 Startup Time vs Temperature
(Vdd = 2.7V)
Figure 5.32 Normalized Bias Drift after
Switch-On
Figure 5.31 Startup Time vs Temperature
(Vdd = 3.6V)
Figure 5.33 Switch-On Repeatability of
Normalized Mean Bias
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 15
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Allan Variance
Figure 5.34 Allan Variance Plot
(900°/s setting)
6 Glossary of Terms
ADC
Analogue to Digital Converter
ARW
Angular Random Walk
ASIC
Application Specific Integrated Circuit
BIT
Built-In Test
BW
Bandwidth
CBIT
Commanded Built-In Test
DAC
Digital to Analogue Converter
DRIE
Deep Reactive Ion Etch
DSBSC
Double Side-Band Suppressed Carrier
Signal
EMC
Electro-Magnetic Compatibility
ESD
Electro-Static Damage
HBM
Human Body Model
IPC
Institute of Printed Circuits
LCC
Leadless Chip Carrier
LSB
Least Significant Bit
MEMS
Micro-Electro Mechanical Systems
NEC
Not Electrically Connected
PCBA
Printed Circuit Board Assembly
PPO
Primary Pick-Off
SF
Scale Factor
SMT
SPI
®
SPO
Surface Mount Technology
Serial Peripheral Interface
A registered trademark of
Motorola, Inc.
Secondary Pick-Off
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 16
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
7 Interface
Vdd (2.7 to 3.6V)
Physical and electrical inter-connect information
for analogue and digital output modes, and digital
SPI® message information for the digital output mode.
C1
10µF
C4
0.1µF
C5
Max
300pF
14
Physical Interface, Pad Layout and Pinouts:
8
13
Vdd
NEC
PROG
Rate_Out
NEC
BIT_Out
NEC
CBIT
1
9
NOTE: Pin 1, 8, 9, & 16 are
for mechanical fixing purposes
and should be soldered to an
unconnected pad.
16
5
3
HOST
SYSTEM
15
10
NEC
Reset
CRM202.1
Gyro
NEC
1
16
NEC
*SEL0 / Dclk
2
15
*CBIT/ SS
*BIT_Out / Data_Out
3
14
Vdd
*SEL1 / Data_In
4
13
PROG
Rate_Out
5
12
Vref_cap
MODE_SEL
6
11
Vss
BW_cap
7
10
Reset
NEC
8
9
NEC
7
BW_cap
C2
47nF
SEL0
12
NOTE: Pin 12 (Vref_cap) should
not be connected to C3 by means
of a via hole. This is to prevent
current leakage due to moisture
entrapment.
C3
0.1µF
Vref_cap
Vss
SEL1
2
4
MODE_SEL
6
11
C.G. 18516
CAUTION: *Indicates dual function
pin depending on selection of
analogue or digital output modes.
C.G. 18383
Figure 7.3 Peripheral Circuit
- Analogue Output (CRM202.1)
Figure 7.1 Pinout (CRM202.1)
(Top View)
Silk-screen
pin 1 marker
Vdd (2.7 to 3.6V)
C4
0.1µF
CL
C1
10µF
CL
14
2.30
8
13
NEC
PROG
Rate_Out
NEC
Data_Out
Vdd
1
0.73
9
SS
NEC
16
3
15
10
NEC
Reset
MISO
Slave Select
DIO
CRM202.1
Gyro
2 - 0.90 P
x 5 = 4.50
7
12
C3
0.1µF
12 - 0.65
4 - 1.50
12 - 1.50
HOST
SYSTEM
BW_cap
C2
560pF
4 - 0.50
5
Dclk
Vref_cap
Vss
11
Data_In
2
4
SPI Clock Out
MOSI
MODE_SEL
6
Vdd (2.7 to 3.6V)
C.G.18372
All dimensions in millimetres.
Figure 7.2 Recommended Pad Layout
(CRM202.1)
C.G. 18517
Figure 7.4 Peripheral Circuit
- Digital Output (CRM202.1)
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 17
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
7.2 Input/Output Pin Definitions
The pin names, types, direction, levels and functions for the gyro are identified in Table 7.1 below
Pin Name
Pin Function
Analogue
Output
Mode
Digital
Output
Mode
Pin
Number
Pin
Type
Pin
Direction
Pin
Levels
Analogue Output Mode
Digital Output Mode
CBIT
SS
15
Digital
Input
CMOS with
Pull-up of
110k
In analogue mode this pin is used to
initiate a commanded BIT function.
Logic ‘0’ = CBIT Enabled
Logic ‘1’ = CBIT Disabled
In digital mode this pin is the SPI®
Select line.
SEL0
Dclk
2
Digital
Input
CMOS with
Pull-up of
110k
In analogue mode tie to Vdd.
In digital mode this pin is the SPI®
Clock Output line from the Host
System.
In analogue mode tie to Vss.
In digital mode this pin is the SPI®
Data Output line from the
PinPoint® gyro.
BIT_Out
Data_Out
3
Digital
Output
CMOS
(secure/sink
capability =
2mA)
SEL1
Data_In
4
Digital
Input
CMOS with
Pull-up of
110k
In analogue mode this
provides one of the two rate
range selection inputs.
In digital mode this is the SPI®
Data Input line from the Host
System.
Rate_Out
Rate_Out
5
Analogue
Output
2 output
impedance
Analogue rate output from the
PinPoint® gyro.
Analogue rate output from the
PinPoint® gyro.
MODE_SEL
6
Digital
Input
CMOS with
Pull-down of
110k
Used to select between analogue and digital modes of operation.
If tied or pulled to Vss, analogue mode is selected. If tied or pulled
to Vdd, digital mode is selected.
BW_cap
7
Analogue
Output
50k
impedance
Used to select the gyrobandwidth. minimum
value of 560pF.
Used to reset the gyroscope.
This will reload the internal
calibration data and will latch the
SEL0 and SEL1 states to select a
rate range.
Used to reset the gyroscope.
This will reload the internal
calibration data and the rate
range will be initially set by the
internal calibration constants.
RESET
10
Digital
Input
CMOS with
Pull-up of
110k
Vss
11
Supply
n/a
0V (absolute
max -0.3V)
Return connection for applied power (0V)
Vref_cap
12
Analogue
Input
50k
impedance
Used to decouple the internal voltage reference for the gyroscope
via an external capacitor. A 100nF ceramic capacitor with X7R
dielectric is sufficient decoupling.
PROG
13
Analogue
Input
100k
impedance
Used in factory to program calibration constants. Data cannot be
altered. Pin MUST be connected to Vdd for correct operation.
Positive power supply to the gyroscope. Range from +2.7V to
+3.6V. Supply should be decoupled from Vss with a 100nF ceramic
capacitor (C4) with X7R dielectric. A bulk storage capacitor of 10μF
should be placed near to the gyroscope.
Not Electrically Connected. These pins provide additional mechanical
fixing to the Host System and should be soldered to an unconnected pad.
Vdd
14
Supply
n/a
2.7V to 3.6V
(absolute max
4.0V)
NEC
1, 8, 9 &
16
–
–
–
Table 7.1 Pin Functions
Note 1:
Note 2:
Note 3:
Note 4:
Digital I/O absolute maximum rating of -0.5V to Vdd+0.5V
Digital input CMOS levels, low of 0.3xVdd and high of 0.7xVdd
Digital output CMOS levels, low of 0.4V max and high of 0.8xVdd min
Analogue I/O absolute maximum rating of -0.3V to Vdd+0.3V
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 18
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
7.3 Supply Voltage
The required supply voltage is 2.7 to 3.6V, and the
ramp rate during power up should be > 1V/ms.
7.4 Measurement Range
Dynamic range for the analogue output mode is set
at ±900°/s.
f is the frequency of the rate of rotation (if not steady state),
R is the roll-off resistor inside the ASIC (nominally 48k),
C BW is the bandwidth capacitor (C2).
Note that wide band frequency response approximates
to a third order. A more thorough expression of
bandwidth is.
Note; the analogue output remains available
on pin 5 when the gyro is connected in Digital
Output mode, however it is recommended
that this is not used by the Host System and
instead is non-electrically connected (NEC).
7.5 Bandwidth (Analogue Output)
where
The value of capacitor C2 (22nF) in the Peripheral
Circuit shown in Figure 7.3 sets the bandwidth
at >100Hz. To set other bandwidths select the C2
capacitor values according to the Table 7.2 below:
R is nominally 48k but has a process tolerance of ±14%.
Capacitive Value of C2
Bandwidth (reference)
33nF
Typ 95Hz
47nF
Typ 70Hz
68nF
Typ 50Hz
100nF
Typ 33Hz
120nF
Typ 27Hz
270nF
Typ 12Hz
Table 7.2 Bandwidth Capacitor Values
The minimum value of C2 is 560pF. C2 should have
a ceramic dielectric.
For angular rate inputs in the frequency range DC to
120Hz, the analogue response of PinPoint® can be
approximated by the following expression:
Note: CBW = C2
Where:
Vdd is the supply voltage,
dθ/dt is the rate of rotation about the sense axis,
k is the scale factor coefficient dependent on rate
range and supply voltage. Note that the sensor is
ratiometric with respect to the supply voltage when
operating in analogue output mode:
±900°/s operation, k = 0.001 x Vdd/3
7.6 Bandwidth (Digital Output)
The Bandwidth on the Digital Output follows that of
the Analogue mode, being set by C2 as described in
section 7.5. However, to optimise the oversampling
performance of the ADC, the user may make this
value 560pF and implement digital filter algorithms in
the Host system.
7.7 Non-Electrical Connections (NEC)
Pins 1, 8, 9 and 16 are NOT to be connected
electrically, they are for mechanical purposes only.
Also pin 5 is NOT to be connected electrically when
the gyro is in Digital Output mode.
7.8 Built In Test (BIT) & Commanded
Built In Test (CBIT)
PinPoint® contains a sophisticated health monitoring
system that continuously checks a number of key
parameters within the gyro control ASIC. For ease
of use, each of the parameters are verified against
internal limits and the results gated together, such that
the user gets a single BIT line confirming the correct
operation of the gyro.
The functions that are monitored are as follows, with any
failure resulting in BIT_Out being set to false (logic ‘0’):
1. The calibration data memory area is checked for
parity at power-up. In the event that any single
data bit has failed, BIT_Out will be set to false.
2. The trim and calibration coefficients in the data
memory are fed into the control electronics by
means of individual DAC conversion stages.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 19
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
These are also verified at power up, so that an
incorrect conversion of trim data into performance
setting will result in BIT_Out being set to false.
3. For correct operation, the MEMS silicon ring is set
into oscillation at its resonant frequency to a
preset amplitude. The primary drive control loops
set the amplitude of motion of the ring using an
Automatic Gain Control (AGC) circuit. The BIT
system monitors the required drive from the AGC:
if the required drive is too high, (indicating either
an electronic drive failure, a transducer failure or
a structural failure of the ring itself), the BIT_Out
signal will be set false. Similarly, if the AGC level
is too low, (indicating a failure in the control loop
electronics or the drive transducer), BIT_Out will
be set to false. One consequence of this function
is that, during startup, the BIT_Out will be set
false until the loops have closed and stabilised to
the correct values.
4. The angular rate output is derived from the
demodulated secondary pick-off signal. The
amplitude of this signal is checked against a
maximum: in the event that the gyro is rotated
at an angular rate beyond the level at which the
control loops can operate, (i.e. >>1,000°/s), then
the saturation of the demodulator will set BIT_Out
to false.
5. Key to PinPoint®’s performance is the balance of
the MEMS ring and matching of the secondary
transducers. These aspects are internally
monitored by measuring the demodulated
quadrature signal from the rate demodulation
stage. Whilst this signal contains no direct
angular rate information, its magnitude is a very
good indication regarding the health of the
transducers, the ring and the demodulation
electronics. Any excess quadrature signal will
result in BIT_Out being set to false.
In addition, the SPI® message has a checksum
calculation performed. Any checksum failure will be
reported as a separate flag in the SPI® message see Section 7.12.5.
www.siliconsensing.com
initiated by the use of the CBIT input pin in analogue
mode or via the SPI® interface in digital mode. When
CBIT is enabled the BIT_Out signal is set to ‘false’ to
indicate the device is in the test mode.
The function checks a large proportion of the gyro
functionality including the primary loop, secondary
pick-off amplifiers, secondary rate channel filtering,
rate range selection, rate output buffer, ADC
references, ADC conversion and digital output
filtering.
7.9 Temperature Sensor
The ASIC within PinPoint® contains a temperature
sensor cell that is accessible only via the digital
interface. Users may interrogate this sensor as
described in Section 7.12.5 such that the thermal
characteristics of any individual PinPoint® gyro can be
compensated at system level. Dependent on the level
of compensation required, algorithms that use linear
fits, quadratic fits or piece-wise-linear lookup tables
will further enhance the system level performance.
It is preferable in such applications to use the internal
temperature sensor rather than an external temperature
sensor so as to avoid the effects of system level
thermal gradients.
For example, a second order polynomial correction for
both offset and sensitivity could be described as.
ωT = (a + b∆T + c∆T 2) + ω20′C (1 + d∆T + e∆T 2)
The sensitivity of the temperature sensor is nominally
2.75 LSB / °C, with +25°C being represented by
60010 ±2010 LSB.
The sensor is an integral part of the ASIC. The power
consumption of PinPoint® is so low that the thermal
asymmetry between the control electronics and the
ring itself is extremely low.
The temperature signal is not available as an
analogue signal.
A ‘Commanded Built In Test’ (CBIT) is also available
which allows the user to request a test function to be
applied, causing an offset to appear on the rate signal
equivalent to 150°/s of rate. This test function can be
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 20
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
7.10 Power Supply Noise Rejection
7.12.1 Digital SPI® Interface
By design, PinPoint® is a ratiometric sensor; the
analogue output characteristics are therefore
controlled by both the applied angular rate and the
supply voltage. Consequently the user should take
any necessary precautions to manage the supplies
from a noise and ripple viewpoint. Any noise or ripple
within the selected pass band will appear on the
output at half the magnitude. Good system
decoupling is recommended for best performance.
If ratiometric response is not desired, then PinPoint®
should be operated either from a well regulated supply
or alternately, the digital output should be used.
By virtue of the internal ADC sharing a common
reference voltage, the digital output is not ratiometric.
The digital interface is configured as SPI® operating
as a ‘Slave’ in a ‘Mode 0’ configuration. [Note: for
interfacing to most microcontrollers, this is often set
up as CPOL=0 and CPHA=0].
In addition, PinPoint® determines the angular rate
from a double-sideband suppressed carrier signal
superimposed on the primary resonance of the
vibrating ring. The carrier is at a frequency of nominally
22kHz. In common with all demodulation systems,
power supply rejection at the demodulation frequency
and its odd harmonics is limited, and care should be
taken to minimise power supply ripple at frequencies
around 22kHz, 66kHz and 110kHz. If the system
is to be supplied from a switching regulator, it is
recommended that the switching frequency should
be not less than 150kHz.
7.11 PROG pin 13 – Special Note
The factory calibration is effected by One Time
Programmable setting via pin 15. Users should
ensure that this is connected to Vdd. Voltages in
excess of Vdd applied to this pin may permanently
and irreversibly damage the calibration area of the
device.
7.12 Digital Mode
To activate the digital mode of operation for the
PinPoint® gyro, it is necessary to connect the
MODE_SEL (Pin 6 on CRM202.1) input to the positive
supply rail (Vdd). This not only activates the internal
ADC, but also switches a number of the I/O pins
to secondary functions to create the interface. The
recommended configuration is shown in Figure 7.4
Peripheral Circuit (Digital Mode).
Figure 7.5 shows the principle of SPI® data transfer.
Data is transferred to the Host System and PinPoint®
in complete messages which are 6 bytes or 48 bits in
length.
HOST SYSTEM
PinPoint
Dclk
47 46
MSB
2 1 0
LSB
SPI Clock Out
Data_Out
MISO
Data_In
MOSI
SS
Slave Select
Clock Source
n n-1
MSB
2 1 0
LSB
C.G. 18377
Figure 7.5 SPI® Data Transfer Principle
As shown in Figure 7.5, the Host System acts as a
SPI master and provides the clock to the SPI® shift
registers. In most instances the Host System cannot
take all 48 bits in one tranche as the receive registers
are 8 or 16-bit wide. Because the Host System is
running as a SPI® master, it is relatively simple to take
the data one byte or word at a time as a single bit is
shifted on each clock cycle.
For example, if the Host System needs to read the
data on a byte-by-byte basis, the steps required are:
1. Set SS to a logic 0 to initiate the transfer.
2. Send 8 SPI® clock cycles to transfer a byte of
data between PinPoint® and the Host System.
3. The Host System can store the received byte.
4. Repeat 2 and 3 until all 6 bytes have been
received.
5. Set SS to a logic 1 to complete the transfer.
A full timing diagram is shown in Figure 7.6 with the
parameters detailed in Table 7.3.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 21
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
tstop
tstart
thold
SS
tclk
tf
tr
Dclk
Data_In
Idle State
BIT 7
(MSB)
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 7
(MSB)
BIT 0
(LSB)
BIT 6
BIT 5
HOST BYTE 1
Command Byte
Data_Out
BIT 7
(MSB)
BIT 6
BIT 5
BIT 4
BIT 3
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
(LSB)
BIT 2
BIT 1
BIT 0
(LSB)
HOST BYTE 6
Checksum
BIT 2
BIT 1
BIT 0
(LSB)
BIT 7
(MSB)
BIT 6
BIT 0
(LSB)
BIT 1
BIT 7
(MSB)
BIT 6
PINPOINT BYTE 1
Status Byte
BIT 5
BIT 4
BIT 3
PINPOINT BYTE 6
Checksum
G.G. 18378
Figure 7.6 SPI® Timing
Parameter
Min
Typical
Max
tstart
tstop
thold
tf
tr
tclk
25μs
-
-
5μs
-
-
15μs
-
-
-
20ns
-
-
20ns
-
10μs
1μs
0.125μs
Table 7.3 SPI® Timing Parameters
7.12.3 Message Structure
As previously described, 6 bytes of data are
transferred to and from the PinPoint® gyro for each
message. Individually, the messages are made up of
bytes as follows:
Data from the Host System is known as a Command
Message and is configured as shown in Figure 7.7.
COMMAND
RESERVED
RESERVED
RESERVED
RESERVED
CHECKSUM
BYTE 1
BYTE 2
BYTE 3
BYTE 4
BYTE 5
BYTE 6
C.G. 18379
7.12.2 SPI® Bus Limitation (early samples)
Early samples of PinPoint® are identified by the 14
character lot identifier beginning with ‘1’. These
parts had a known tri-state lamination in the gyro
implementation did not appear as a high impedance
load when deselected (SS = 1) and as a result the
Data_Out pin (Pin 3 on CRM202.1) would still be active.
Therefore it is recommended that PinPoint® gyros
having the designation 1xxxx are the only device
connected to the Host System on a dedicated gyro
SPI® bus.
Figure 7.7 Command Message Structure
Data from the PinPoint® gyro is known as a Status
Message and is configured as shown in Figure 7.8.
STATUS
DATA 0
BYTE 1
BYTE 2
DATA 1
BYTE 3
DATA 2
DATA 3
CHECKSUM
BYTE 4
BYTE 5
BYTE 6
C.G. 18380
Figure 7.8 Status Message Structure
This has been corrected by a Silicon change which is
identified by the configuration identifier beginning with ‘3’.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 22
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
7.12.4 Command Message
Bits 2, 1 & 0 Factory Use Only
Command Byte (Byte 1)
The 8 bit Command byte sent from the Host System
has the format specified in Figure 7.9.
BIT 7
BIT 6
0
x
BIT 5
BIT 4
www.siliconsensing.com
Technical Datasheet
BIT 3
RRS RR1 RR0
BIT 2
BIT 1
BIT 0
x
x
x
Reserved Bytes (Bytes 2 to 5)
Reserved for Factory Use Only. The content of each
byte is ignored by the PinPoint® gyro.
Checksum Byte (Byte 6)
The Checksum Byte is used by the PinPoint® gyro to
ensure that the message is valid. This is a computed
binary number which is the least significant 8 bits of
the logical inverse of the sum of bytes 1 to 5 inclusive.
As an example, here is a command to request data
from a ±150°/s rate range gyro:
Factory Use Only
Always 01
Command Byte 0x30
Reserved
Reserved
Reserved
Reserved
0 = Internal Rate Range Source
1 = SPI Rate Range Source
0 = CBIT Disabled
1 = CBIT Enabled
0 = Normal User Mode
1 = Factory Use Only
C.G. 18497
Figure 7.9 Command Byte Format
Bit 7
Bit 6
‘0’ = CBIT Disabled
‘1’ = CBIT Enabled
Bit 6 is used to enable the ‘Commanded Built In Test’
function (BIT) which produces a 50°/s nominal offset
on the rate output signal.
Bit 5
‘0’ = Internal Rate Range
‘1’ = SPI® Rate Range
Bit 5 identifies the source for setting the Rate Range.
If the bit is set to a ‘0’, then the source becomes the
internal factory default (±75°/s). If the bit is set to a
‘1’, then bits 4 and 3 in the message are used to make
the required Rate Range selection.
Bits 4 & 3
The sum of these bytes is 0x30 and its logical inverse
is 0xCF. Thus the checksum byte is:
‘0’ = Normal User Mode
‘1’ = Factory Use Only
Bit 7 MUST be set to ‘0’ for the Host System to receive
useful data from the PinPoint® gyro. The data returned
contains both rate and temperature information.
0x00
0x00
0x00
0x00
Checksum
0xCF
The complete message transmitted, in hexadecimal
format, would therefore be:
3000000000CF
7.12.5 Status Message
Status Byte (Byte 1)
The 8 bit status byte sent from the PinPoint® gyro has
the format specified in Figure 7.10.
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT MT1 MT0 PRM CBIT
BIT 2
0
BIT 1
BIT 0
RR1 RR0
Always 001
0 = CBIT Disabled
1 = CBIT Enabled
Set to ‘01’
0 = Previous Message VALID
1 = Previous Message INVALID
00 = Rate and Temperature Data
ALL OTHER Factory Use Only
0 = Gyro OK
1 = Gyro FAIL
C.G. 18490
Figure 7.10 Status Byte Format
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 23
Precision Navigation and Pointing Gyroscope
CRM202.1
Bit 7
Technical Datasheet
‘1’ = Gyro Fail
‘0’ = Gyro OK
Bit 7 identifies the working state of the PinPoint® gyro.
If this bit is set to a ‘1’, then the PinPoint® gyro has
failed its internal checks and the data within the
message contained in bytes 2 to 5 should be
considered invalid, and if set to a ‘0’ then the PinPoint®
gyro has successfully passed its internal checks and
the data within the message contained in bytes 2 to
5 can be considered valid. Bit 7 is also set to a ‘1’ if
CBIT function is enabled.
Bits 6 & 5
‘00’ = Rate/Temp Data
Bits 6 and 5 return an identifier to the message type,
and therefore identify the data types within bytes 2 to 5.
Message Type ‘00’ is the only one available to the
Host System as all others are for Factory Use Only.
Bit 4
‘1’ = Previous Message Invalid
‘0’ = Previous Message Valid
Bit 4 provides feedback with regard to the previous
Command Message sent by the Host System. If the
bit is set to a ‘1’ then the last message received was
corrupt (i.e. the checksum was invalid) and the
message was ignored. The output message type
will be that selected in the last valid Command
Message.
Bit 3
‘1’ = CBIT Enabled
‘0’ = CBIT Disabled
Bit 3 indicates if the Commanded Built In Test (CBIT)
function is enabled or disabled.
Bit 2, 1 & 0
‘001’ = Normal
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Data Byte - Temp (Byte 4 and 5)
Data bytes 4 and 5 contain the internal Temperature
Data information from the PinPoint® gyro. Byte 4 is
the MS byte and byte 5 is the LS byte of the complete
word. The data is represented in unsigned binary
format.
A temperature code of 0200 (hex), equivalent to 512 in
decimal, represents 0°C. The scale factor of the data
word is fixed at 2.75 bits/°C.
For example; -40°C would be represented by 0192
(hex) or 402 (dec) and +85°C as 02E9 (hex) or 745 (dec).
Checksum Byte (Byte 6)
The Checksum Byte is used by the PinPoint® gyro
to ensure that the message is valid.
7.12.6 Digital Bandwidth
The bandwidth for the PinPoint® gyro in digital output
mode determined by the value of capacitor C2.
However, to optimise the oversampling performance
of the ADC, the user may make this value 560pF and
implement digital filter algorithms in the Host System.
7.12.7 SPI® Sampling Rate and Clock
Frequency
It is recommended that the Host System takes data
from the gyroscope at a rate of 1,000 messages
per second (1kHz). Message rates up to 10kHz may
be accommodated, but rates less than 500Hz may
lead to unwanted aliasing in the frequency domain.
The recommended SPI® clock frequency is 1MHz
(100kHz minimum to 8MHz maximum).
Data Byte - Rate (Byte 2 and 3)
Data bytes 2 and 3 contain the Rate Data information
from the PinPoint® gyro. Byte 2 is the MS byte and
byte 3 is the LS byte of the complete word. The data is
represented in 2’s complement format.
For example; a rate word value of 12C0 (hex) would be
equal to +600°/s, or a value of F4C0 (hex) would be
equal to -360°/s.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 24
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
8 Design Tools and Resources Available
Item
Page icon
(JP to find)
Description of Resource
Part Number
Order/Download
PinPoint ® Brochure: A one page sales brochure describing
the key features of the PinPoint® gyro.
CRM100-00-0100-131
Download
(www.siliconsensing.com)
PinPoint ® CRM100 Datasheet: Full technical information
on all PinPoint® gyro part number options. Specification and
other essential information for assembling and interfacing to
PinPoint® gyros, and getting the most out of them.
CRM100-00-0100-132
Download
(www.siliconsensing.com)
PinPoint ® CRM200 Datasheet: Full technical information
on all PinPoint® gyro part number options. Specification and
other essential information for assembling and interfacing to
PinPoint® gyros, and getting the most out of them.
CRM200-00-0100-132
Download
(www.siliconsensing.com)
—
Download
(www.siliconsensing.com)
400046-0100
(CRM100)
Order
400046-0200
(CRM200)
Order
400046-0300
Order
PinPoint ® Presentation: A useful presentation describing the
features, construction, principles of operation and applications
for the PinPoint® gyro.
Single-axis PinPoint ® gyro evaluation boards (CRM100
& CRM200 options): Single PinPoint® gyro fitted to a small
PCBA for easy customer evaluation and test purposes.
Analogue output only. SMT solder pads provided for wire
links to the customer host system. Measurement range and
bandwidth are customer-selectable by on-board cut-able links
(default ±75º/s) and by soldering the appropriate 0805 footprint
SMT capacitor value (capacitors not supplied). Designed to be
fixed to the host using epoxy or double-sided tape.
Three-axis PinPoint ® gyro evaluation board (CRM100 &
2x CRM200): Three PinPoint® gyros fitted to a small PCBA for
easy customer evaluation and test purposes. Analogue and
digital outputs. SMT solder pads provided for wire links to the
customer host system. Digital interface has three separate
SPI® lines. Measurement range and bandwidth are customerselectable by on-board cut-able links (default ±75º/s) and by
soldering the appropriate 0805 footprint SMT capacitor value
(capacitors not supplied). Designed to be fixed to the host by
either using epoxy, double-sided tape or using the four screws
supplied.
CRM100-00-0100-408
Solid Model CAD files for PinPoint ® gyros:
Available in .STP and .IGS file format
Download
(www.siliconsensing.com)
CRM200-00-0100-408
Library Parts:
Useful library component files of PinPoint® gyros:
DxDesigner Schematic Symbols.
PADS Decal (Footprint)
PADS Part Type File.
—
Download
(www.siliconsensing.com)
Reference Circuit: A useful reference circuit design gerber
files for the PinPoint® gyro for use in host systems with either
analogue or digital output modes.
—
Download
(www.siliconsensing.com)
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 25
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Design Tools and Resources Available Continued
Item
Description of Resource
Part Number
Order/Download
Interface: Off-the-peg sudo code and a simple flowchart with
message handling instructions for use as a customer aid to
developing their own interface directly to a PinPoint® gyro
via the SPI®.
—
Download
(www.siliconsensing.com)
Questions and Answers: Some useful questions asked
by customers and how we’ve answered them. This is an
informal (uncontrolled) document intended purely as additional
information.
—
Download
(www.siliconsensing.com)
RoHS compliance statement for PinPoint ®: PinPoint® is
fully compliant with RoHS. For details of the materials used in
the manufacture please refer to the MDS Report.
—
Download
(www.siliconsensing.com)
MDS Reports for PinPoint ®: Material declaration required
for automotive applications.
—
Download
(www.siliconsensing.com)
9 Cleaning
Due to the natural resonant frequency and
amplification factor (‘Q’) of the sensor, ultrasonic
cleaning should NOT be used to clean the PinPoint®
gyro.
Temp (°C)
Max 40sec
260°C
255°C
Max 180sec
217°C
10 Mounting and Soldering Information
CRM202.1 can be automatically ‘picked and placed’
onto the host PCBA using readily available surface
mounters fitted with conventional rubber nozzles.
Trials have been conducted which prove that solder
paste is sufficient to hold CRM202.1 parts in place prior
to soldering. Care must be taken to ensure correct
alignment of the gyro with respect to the host PCBA
to avoid excessive cross-axis sensitivity.
200°C
150°C
Max 120sec
Time (sec)
C.G. 18384
Figure 10.1 Recommended Reflow
Solder Profile
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 26
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
www.siliconsensing.com
Technical Datasheet
11 Part Number Markings
Item
Dimension
Quantity
Material
Reel
DR2 23316C
1 Reel
PS
Emboss
Tape
TE1612091009-2
1 Roll
PS
Cover Tape
ALS-ATA
13.5mm x
480m
1 Roll
PET, PE, PS
Label for
Reel
40mm x
80mm
1 label/Reel
Paper
Desiccant
FA 10g
1 Inner Bag
–
Inner Bag
0.101mm
x 450mm x
530mm
1 Reel/Inner
Bag
MB4800
Tray
451mm x
429mm x
55mm
2 Tray/Outer
Box
–
Pad
451mm x
429mm x
20mm
3 Pad/Outer
Box
–
Inner Box
413mm x
391mm x
52mm
2 Inner Box/
Outer Box
Cardboard
Outer Box
462mm x
440mm x
208mm
1 Box
Cardboard
Label for
Outer Box
102mm x
127mm
1 label/Outer
Box
Paper
Silicon Sensing
Company Logo
Part Number
CRM20
2
CYYML .1
LLDDS
M a d e i SSSR
n Japan
Production Number:
CYYMLLLDDSSSSR
Country of Origin of Final
Assembly and Test
C.G. 18518
Figure 11.1 Part Marking
Code
Range
Configuration
C
0-9
Year Number
YY
00 - 99
Month Number
M
1 - 9, X, Y, Z
Batch Lot Number
LLL
001 -999
Lot Split
DD
00 - 99
SSSS
0001 - 9999
R
0-9
Measurement Times
Table 11.1 Production Number Code
12 Packaging Information
Quantity
Tape and Reel
Max. 1000 pcs/
1 Reel
Aluminium
Damp-proof Bag
1 Reel/Bag
Inner Box
Cardboard Box
Inner Bag x 1/Inner
Box
Outer Box
Cardboard Box
Inner Box/Outer
Box
110
3 B
3 B
Frame for label
55
9±0.5
W1±1.0
3±
10
0.5
89
270
30
5±
0.5
22
0.2
0.4
B
0.6
Inner Bag
Reel Information
0.8
CRM202
Type
30
152
Layer
Table 12.2 Packaging Specification
3±
0.5
Serial Number
80±1
Indicates Corner
Location of Pin 1
330±2
CRM202.1
W2±1.0
0.5
5±
172
7±0.5
EIAJ.RRM.12.D
Table 12.1 Packaging Information
Reel width
2±0.5
21±
0.8
13±0.2
R1
Reel width
mm
8
12
W1
9.5
13.5
W2
13.5
17.5
16
17.5
21.5
24
32
44
25.5
33.5
45.5
29.5
37.5
49.5
C.G. 18385
Detail size of
reel centre
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 27
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Emboss Tape Carrier Information
Inner Bag Packing Information
8±0.1
Desiccant
1.3
A
A
Inner Bag
B B VIEW
B
C C VIEW
2±0.3
C
0.4±0.05
2±0.3
7.5±0.1
(Tolerance between
each hole is ±0.2)
6.6±0.1
B
8.65±0.3
2±0.1
(Tolerance between
each hole is ±0.2)
16±0.3
le
Ho
C
1.75±0.1
4±0.1
.1
±0
1.5+0.1
0
5.8±0.1
5±0.3
Reel
2.95±0.1
C.G.18408
A A VIEW
C.G. 18392
Inner Box Packing Information
Tape Information
Drawing direction
400mm ~ 700mm
Empty
400mm
Empty
Sensor packing
2000mm
Cover tape
Inner Bag
Inner Box
C.G. 18389
Reel label position
C.G. 18409
Label for Reel Information
Part Number
CRM202.1
Number
No. S3011002001
C.G. 18519
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 28
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Outer Box Packing Information
MEMS ring Sensor, Silicon Pedestal, ASIC and the
Package Base and Lid. The MEMS ring Sensor, ASIC
and Pedestal are housed in a hermetically sealed
package cavity with a nitrogen back-filled partial
vacuum, this has particular advantages over sensors
supplied in plastic packages which have Moisture
Sensitivity Level limitations.
Pad
A schematic drawing of CRM102.1 showing the main
components is given in Figure 13.1 below. The principles
of construction for CRM202.1 are the same as CRM102.1.
Vacuum Cavity
Inner Box
Seal Ring
Tray
C
CY RM102
M a d YMLLLDD.1
e in
J a p a SSSSR
n
Lid
Bond Wires
MEMS Ring
Interconnection
Pad
Pedestal
ASIC
Inner Box
External Solder
Pads
Tray
Internal Bond
Wire Pads
Package Base
Pad
C.G. 18515
Box
Figure 13.1 CRM102.1 Main Components
Craft Tape
2
1
Maximum of two Reels per Outer Box.
If 1 Reel is contained in Outer Box, label is
pasted in position 1.
If 2 Reels are contained in Outer Box, labels
are pasted in positions 1 and 2.
Each label shows packaged reel information.
C.G. 18390
13 Internal Construction and Theory
of Operation
Construction
PinPoint® is available in two basic configurations, one
which will measure angular velocity about an axis
perpendicular to the plane of the host PCBA (‘in-plane’
sensing - CRM102.1) and one which measures angular
velocity about an axis which is parallel to the plane of
the host PCBA (‘orthogonal’ sensing - CRM202.1).
PinPoint® (CRM102.1 and CRM202.1) is supplied as
a PCBA surface mountable LCC ceramic packaged
device. It comprises five main components; silicon
Figure 13.2 CRM102.1 (Lid Removed)
Silicon MEMS Ring Sensor
The 3mm diameter by 65μm thick silicon MEMS ring
is fabricated by Silicon Sensing using a DRIE (Deep
Reactive Ion Etch) bulk silicon process on a 5 inch
wafer. The annular ring is supported in free-space by
eight pairs of ‘dog-leg’ shaped symmetrical spokes
which radiate from a central 1mm diameter solid hub.
The bulk silicon etch process and unique patented
ring design enable close tolerance geometrical
properties for precise balance and thermal stability
and, unlike other MEMS gyros, there are no small gaps
to create problems of interference and stiction.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 29
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
These features contribute significantly to PinPoint®’s
bias and scale factor stability over temperature, and
vibration and shock immunity. Another advantage
of the design is its inherent immunity to acceleration
induced rate error, or ‘g-sensitivity’.
Strain film actuators/transducers are attached to the
upper surface of the silicon ring perimeter and are
electrically connected to bond pads on the ring hub
via tracks on the spokes. These actuate or ‘drive’ the
ring into its Cos2 mode of vibration at a frequency
of 22kHz or detect radial motion of the ring perimeter
either caused by the primary drive actuator or by the
coriolis force effect when the gyro is rotating about
its sensing axis. There is a single pair of primary
drive actuators and a single pair of primary pick-off
transducers, and two pairs of secondary pick-off
transducers.
The combination of transducer technology and eight
secondary pick-off transducers improves PinPoint®’s
signal-to-noise ratio, the benefit of which is a very
low-noise device with excellent angular random walk
properties which are key to inertial navigation type
applications, as well as camera/antenna pointing
stability.
Pedestal
The hub of the MEMS ring is supported above the
ASIC on a 1mm diameter cylindrical silicon pedestal,
which is bonded to the ring and ASIC using an epoxy
resin.
ASIC
The ASIC is a 3mm x 3mm device fabricated using
0.35μm CMOS process. ASIC and MEMS are
physically separate and are connected electrically
by using gold bond wires and thus the ASIC has
no MEMS-to-ASIC internal tracking, meaning
there is reduced noise pick-up and excellent EMC
performance. Gold bond wires also connect the ASIC
to the internal bond pads on the Package Base.
Package Base and Lid
The LCC ceramic Package Base is a multi-layer
aluminium oxide construction with internal bond
wire pads connected through the Package Base via
integral multi-level tungsten interconnects to a series
of external solder pads. Similar integral interconnects
www.siliconsensing.com
in the ceramic layers connect the Lid to Vss, thus
the sensitive elements are inside a Faraday shield
for excellent EMC. Internal and external pads are
electroplated gold on electroplated nickel.
The Package Base incorporates a seal ring on the
upper layer onto which a Kovar ® metal Lid is seam
welded using a rolling resistance electrode, thus
creating a totally hermetic seal. Unlike other MEMS
gyro packages available on the market, PinPoint®
has a specially developed seam weld process which
eliminates the potential for internal weld spatter.
Inferior designs can cause dislodged weld spatter
which affects gyro reliability due to interference with
the vibratory MEMS element, especially where the
MEMS structure has small gaps, unlike PinPoint®
with its large gaps as described above.
Theory of Operation
Pinpoint® is a solid-state device and thus has no
moving parts other than the deflection of the ring
itself. It detects the magnitude and direction of
angular velocity by using the ‘coriolis force’ effect.
As the gyro is rotated coriolis forces acting on
the silicon ring cause radial movement at the ring
perimeter.
There are eight actuators/transducers distributed
evenly around the perimeter of the silicon MEMS ring.
Located about its primary axes (0° and 90°) are a
single pair of ‘primary drive’ actuators and a single
pair of ‘primary pick-off’ transducers. Located about
its secondary axes (45° and 135°) are two pairs of
‘secondary pick-off’ transducers.
The ‘primary drive’ actuators and ‘primary pick-off’
transducers act together in a closed-loop system to
excite and control the ring primary operating vibration
amplitude and frequency (22kHz).
Secondary ‘pick-off’ transducers detect radial
movement at the secondary axes, the magnitude of
which is proportional to the angular speed of rotation
and from which the gyro derives angular rate. The
transducers produce a double sideband, suppressed
carrier signal, which is demodulated back to a
baseband, the width of which is controlled by the
user by one simple external capacitor. This gives the
user complete flexibility over in system performance,
and makes the transduction completely independent
of DC or low frequency parametric conditions of the
electronics.
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 30
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
www.siliconsensing.com
Technical Datasheet
Referring to Figures 13.3(a) to 13.3(d)
Figure 13.3(a) shows the structure of the silicon MEMS
ring. Figure 13.3(b) shows the ring diagrammatically,
the spokes, actuators and transducers removed for
clarity, indicating the Primary Drive actuators (single
pair), Primary Pick-Off transducers (single pair) and
Secondary Pick-Off transducers (two pairs).
In Figure 13.3(b) the annular ring is circular and is
representative of the gyro when unpowered.
PPO
SPO
SPO
PD
When powered-up the ring is excited along its primary
axes using the Primary Drive actuators and Primary
Pick-Off transducers acting in a closed-loop control
system within the ASIC. The circular ring is deformed
into a ‘Cos2θ’ mode which is elliptical in form and
has a natural frequency of 22kHz. This is depicted in
Figure 13.3(c). In Figure 13.3(c) the gyro is powered-up
but still not rotating. At the four Secondary Pick-Off
nodes located at 45° to the primary axes on the ring
perimeter there is effectively no radial motion.
PD
SPO
SPO
PPO
C.G 18399
Figure 13.3(b)
ν
Zero Radial
Motion
SPO
If the gyro is now subjected to applied angular rate,
as indicated in Figure 13.3(d), then this causes the ring
to be subjected to coriolis forces acting at a tangent
to the ring perimeter on the primary axes. These
forces in turn deform the ring causing radial motion
at the Secondary Pick-Off transducers. It is the motion
detected at the Secondary Pick-off transducers which
is proportional to the applied angular rate.
The DSBSC signal is demodulated with respect to
the primary motion, which results in a low frequency
component which is proportional to angular rate.
ν
Cos2θ
Vibration
Mode at
22kHz
ν
ν
C.G 18400
Figure 13.3(c)
All of the gyro control circuitry is hosted in the ASIC.
A block diagram of the ASIC functions is given in
Figure 1.1 in Section 1.
ν
Fc
Resultant
Radial Motion
PPO+
SPO-
Fc = Coriolis Force
SPO+
SPOSPO+
ν
ν
PD+
PDPD+
Applied Rate
PD-
Fc
SPO+
SPOSPO+
Fc
SPOPPO+
Figure 13.3(a)
C.G 18398
ν
C.G 18400
Figure 13.3(d)
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 31
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
14 Patent Applications
The following patent applications have been filed for
the PinPoint® gyro sensors:
Patent Application
Status
US5226321
Granted
US5419194
Granted
US6698271
Granted
WO2009/119205
Patent Pending
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 32
CRM202-00-0100-132 Rev 4
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
www.siliconsensing.com
Notes
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
CRM202-00-0100-132 Rev 4
Page 33
Precision Navigation and Pointing Gyroscope
CRM202.1
Technical Datasheet
Silicon Sensing Systems Limited
Clittaford Road Southway
Plymouth Devon
PL6 6DE United Kingdom
Silicon Sensing Systems Japan Limited
1-10 Fuso-Cho
Amagasaki
Hyogo 6600891 Japan
T: +44 (0)1752 723330
F: +44 (0)1752 723331
W: siliconsensing.com
T: +81 (0)6 6489 5868
F: +81 (0)6 6489 5919
W: siliconsensing.com
www.siliconsensing.com
Specification subject to change without notice.
© Copyright 2013
Silicon Sensing Systems Limited
All rights reserved.
Printed in England 03/2013
Date 12/03/2013
CRM202-00-0100-132 Rev 4
DCR No. 710004196
© Copyright 2013 Silicon Sensing Systems Limited. All rights reserved. Silicon Sensing is an Atlantic Inertial Systems, Sumitomo Precision Products joint venture company.
Specification subject to change without notice.
Page 34
CRM202-00-0100-132 Rev 4
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