InvenSense Inc.
1197 Borregas Ave, Sunnyvale, CA 94089 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013 MPU-6000 and MPU-6050
Product Specification
Revision 3.4 1 of 52 MPU-6000/MPU-6050 Product Specification Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013 CONTENTS
1 REVISION HISTORY .5 2 PURPOSE AND SCOPE .6 3 PRODUCT OVERVIEW .7
3.1 MPU-60X0 OVERVIEW .7 4 APPLICATIONS.9 5 FEATURES .10 6 7 5.1 GYROSCOPE FEATURES .10 5.2 ACCELEROMETER FEATURES .10 5.3 ADDITIONAL FEATURES .10 5.4 MOTIONPROCESSING.11 5.5 CLOCKING .11 ELECTRICAL CHARACTERISTICS .12
6.1 GYROSCOPE SPECIFICATIONS .12 6.2 ACCELEROMETER SPECIFICATIONS.13 6.3 ELECTRICAL AND OTHER COMMON SPECIFICATIONS.14 6.4 ELECTRICAL SPECIFICATIONS, CONTINUED .15 6.5 ELECTRICAL SPECIFICATIONS, CONTINUED .16 6.6 ELECTRICAL SPECIFICATIONS, CONTINUED .17 6.7 I C TIMING CHARACTERIZATION.18 6.8 SPI TIMING CHARACTERIZATION (MPU-6000 ONLY) .19 6.9 ABSOLUTE MAXIMUM RATINGS .20 2 APPLICATIONS INFORMATION .21
7.1 PIN OUT AND SIGNAL DESCRIPTION .21 7.2 TYPICAL OPERATING CIRCUIT.22 7.3 BILL OF MATERIALS FOR EXTERNAL COMPONENTS .22 7.4 RECOMMENDED POWER-ON PROCEDURE .23 7.5 BLOCK DIAGRAM .24 7.6 OVERVIEW .24 7.7 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING.25 7.8 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING .25 7.9 DIGITAL MOTION PROCESSOR .25 7.10 PRIMARY I C AND SPI SERIAL COMMUNICATIONS INTERFACES .25 7.11 AUXILIARY I C SERIAL INTERFACE .26 2 2 2 of 52 MPU-6000/MPU-6050 Product Specification Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013 7.12 SELF-TEST .27 7.13 MPU-60X0 SOLUTION FOR 9-AXIS SENSOR FUSION USING I C INTERFACE .28 7.14 MPU-6000 USING SPI INTERFACE .29 7.15 INTERNAL CLOCK GENERATION .30 7.16 SENSOR DATA REGISTERS .30 7.17 FIFO .30 7.18 INTERRUPTS .30 7.19 DIGITAL-OUTPUT TEMPERATURE SENSOR .31 7.20 BIAS AND LDO .31 7.21 CHARGE PUMP .31 2 8 PROGRAMMABLE INTERRUPTS.32 9 DIGITAL INTERFACE .33
2 9.1 I C AND SPI (MPU-6000 ONLY) SERIAL INTERFACES .33 9.2 I C INTERFACE .33 9.3 I C COMMUNICATIONS PROTOCOL .33 9.4 I C TERMS .36 9.5 SPI INTERFACE (MPU-6000 ONLY) .37 2
2
2 10 SERIAL INTERFACE CONSIDERATIONS (MPU-6050) .38
10.1 MPU-6050 SUPPORTED INTERFACES.38 10.2 LOGIC LEVELS .38 10.3 LOGIC LEVELS DIAGRAM FOR AUX_VDDIO = 0 .39 11 ASSEMBLY .40
11.1 ORIENTATION OF AXES .40 11.2 PACKAGE DIMENSIONS .41 11.3 PCB DESIGN GUIDELINES .42 11.4 ASSEMBLY PRECAUTIONS .43 11.5 STORAGE SPECIFICATIONS.46 11.6 PACKAGE MARKING SPECIFICATION …
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