When i test ADIS16209， the Y-axis output was affected by X-axis inclination angle,

1、X-axis 0°，Y-axis rotate 0°\10°\20°\30° ，the output is right.

2、X-axis inclination 30°，Y-axis rotate 10°\20°\30°, --> Y-axis output 8.6°\17.2°\ 25.8°

3、Y-axis inclination 30°, X-axis rotate 0°\10°\20°\30°，--> Y-axis output 30.2°\29.7°\28.2°\25.6°

Thank you for posting this. The errors you are observing seem to follow a scale factor of 0.866, which is equal to cos(30 deg). Are you trying to measure movement around an axis of rotation that has been tilted by 30 degrees? If so, the ROT_OUT register will give you better results, since it uses an atan(Accel_y/Accel_x) function. The xINCL_OUT measurements assume a 1g gravity reference (XINCL_OUT = asin(Accel_x/1g), which is not the case when the axis of rotation is not in the horizon plane. Let me know if this helps. If not, can you provide a more detailed description of your test procedure, equipment and orientation validation mechanism?