I am wondering if there is a way to shift the -10-10V input range to be 0-10V to gain more resolution from my inputs.
If not, what would be the best way to apply a voltage offset and gain to maximise this range?
MAX22005
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The MAX22005 is a twelve-channel industrial-grade analog input voltage-mode device that can also be configured as analog-input current-mode device using...
Datasheet
MAX22005 on Analog.com
I am wondering if there is a way to shift the -10-10V input range to be 0-10V to gain more resolution from my inputs.
If not, what would be the best way to apply a voltage offset and gain to maximise this range?
No, it is not possible to gain more resolution for 0-10V input range compared to -10-10V range. You can get up to 21 effective bit resolution by using lower sampling rate, refer to Table 7 of the datasheet. It is possible to improve accuracy by re-calibrating offset and gain for your particular application due to soldering stress of the IC.