InvenSense - MPU-6000 - Product Specification - rev 3 2, Mechatronika (Elektronika, Mechanika, Obwody ...
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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: 3.2
Release Date: 11/16/2011
MPU-6000 and MPU-6050
Product Specification
Revision 3.2
1 of 57
Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
MPU-6000/MPU-6050 Product Specification
CONTENTS
1
REVISION HISTORY ...................................................................................................................................5
2
PURPOSE AND SCOPE .............................................................................................................................5
3
PRODUCT OVERVIEW ...............................................................................................................................6
3.1
MPU-60X0
O
VERVIEW
........................................................................................................................ 7
4
APPLICATIONS...........................................................................................................................................9
5
FEATURES ................................................................................................................................................10
5.1
G
YROSCOPE
F
EATURES
..................................................................................................................... 10
5.2
A
CCELEROMETER
F
EATURES
.............................................................................................................10
5.3
A
DDITIONAL
F
EATURES
......................................................................................................................10
5.4
M
OTION
P
ROCESSING
......................................................................................................................... 11
5.5
C
LOCKING
.........................................................................................................................................11
6
ELECTRICAL CHARACTERISTICS .........................................................................................................12
6.1
G
YROSCOPE
S
PECIFICATIONS
............................................................................................................ 12
6.2
A
CCELEROMETER
S
PECIFICATIONS
..................................................................................................... 13
6.3
E
LECTRICAL AND
O
THER
C
OMMON
S
PECIFICATIONS
............................................................................14
6.4
E
LECTRICAL
S
PECIFICATIONS
,
C
ONTINUED
.........................................................................................15
6.5
E
LECTRICAL
S
PECIFICATIONS
,
C
ONTINUED
.........................................................................................16
6.6
E
LECTRICAL
S
PECIFICATIONS
,
C
ONTINUED
.........................................................................................17
6.7
I
2
C
T
IMING
C
HARACTERIZATION
..........................................................................................................18
6.8
SPI
T
IMING
C
HARACTERIZATION
(MPU-6000
ONLY
) ...........................................................................19
6.9
A
BSOLUTE
M
AXIMUM
R
ATINGS
...........................................................................................................20
7
APPLICATIONS INFORMATION ..............................................................................................................21
7.1
P
IN
O
UT AND
S
IGNAL
D
ESCRIPTION
.................................................................................................... 21
7.2
T
YPICAL
O
PERATING
C
IRCUIT
.............................................................................................................22
7.3
B
ILL OF
M
ATERIALS FOR
E
XTERNAL
C
OMPONENTS
.............................................................................. 22
7.4
R
ECOMMENDED
P
OWER
-
ON
P
ROCEDURE
...........................................................................................23
7.5
B
LOCK
D
IAGRAM
...............................................................................................................................24
7.6
O
VERVIEW
........................................................................................................................................24
7.7
T
HREE
-A
XIS
MEMS
G
YROSCOPE WITH
16-
BIT
ADC
S AND
S
IGNAL
C
ONDITIONING
................................ 25
7.8
T
HREE
-A
XIS
MEMS
A
CCELEROMETER WITH
16-
BIT
ADC
S AND
S
IGNAL
C
ONDITIONING
........................25
7.9
D
IGITAL
M
OTION
P
ROCESSOR
............................................................................................................ 25
7.10
P
RIMARY
I
2
C
AND
SPI
S
ERIAL
C
OMMUNICATIONS
I
NTERFACES
............................................................25
7.11
A
UXILIARY
I
2
C
S
ERIAL
I
NTERFACE
......................................................................................................26
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Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
MPU-6000/MPU-6050 Product Specification
7.12
S
ELF
-T
EST
........................................................................................................................................27
7.13
MPU-60X0
S
OLUTION FOR
9-
AXIS
S
ENSOR
F
USION
U
SING
I
2
C
I
NTERFACE
.......................................... 28
7.14
MPU-6000
U
SING
SPI
I
NTERFACE
..................................................................................................... 29
7.15
I
NTERNAL
C
LOCK
G
ENERATION
..........................................................................................................30
7.16
S
ENSOR
D
ATA
R
EGISTERS
................................................................................................................. 30
7.17
FIFO ................................................................................................................................................30
7.18
I
NTERRUPTS
......................................................................................................................................31
7.19
D
IGITAL
-O
UTPUT
T
EMPERATURE
S
ENSOR
..........................................................................................31
7.20
B
IAS AND
LDO ..................................................................................................................................31
7.21
C
HARGE
P
UMP
..................................................................................................................................31
8
PROGRAMMABLE INTERRUPTS............................................................................................................32
8.1
F
REE
F
ALL
,
M
OTION
,
AND
Z
ERO
M
OTION
S
IGNAL
P
ATHS
.....................................................................33
8.2
F
REE
F
ALL
I
NTERRUPT
....................................................................................................................... 34
8.3
M
OTION
I
NTERRUPT
........................................................................................................................... 34
8.4
Z
ERO
M
OTION
I
NTERRUPT
..................................................................................................................35
9
DIGITAL INTERFACE ...............................................................................................................................36
9.1
I
2
C
AND
SPI
(MPU-6000
ONLY
)
S
ERIAL
I
NTERFACES
.......................................................................... 36
9.2
I
2
C
I
NTERFACE
..................................................................................................................................36
9.3
I
2
C
C
OMMUNICATIONS
P
ROTOCOL
...................................................................................................... 36
9.4
I
2
C
T
ERMS
........................................................................................................................................39
9.5
SPI
I
NTERFACE
(MPU-6000
ONLY
) ....................................................................................................40
10
SERIAL INTERFACE CONSIDERATIONS (MPU-6050) ..........................................................................41
10.1
MPU-6050
S
UPPORTED
I
NTERFACES
................................................................................................. 41
10.2
L
OGIC
L
EVELS
...................................................................................................................................41
10.3
L
OGIC
L
EVELS
D
IAGRAM FOR
AUX
_VDDIO
=
0 .................................................................................. 42
10.4
L
OGIC
L
EVELS
D
IAGRAM FOR
AUX_VDDIO
=
1 .................................................................................. 43
11
ASSEMBLY ...............................................................................................................................................44
11.1
O
RIENTATION OF
A
XES
......................................................................................................................44
11.2
P
ACKAGE
D
IMENSIONS
......................................................................................................................45
11.3
PCB
D
ESIGN
G
UIDELINES
.................................................................................................................. 46
11.4
A
SSEMBLY
P
RECAUTIONS
..................................................................................................................47
11.5
S
TORAGE
S
PECIFICATIONS
.................................................................................................................51
11.6
P
ACKAGE
M
ARKING
S
PECIFICATION
.................................................................................................... 51
11.7
T
APE
&
R
EEL
S
PECIFICATION
............................................................................................................. 52
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Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
MPU-6000/MPU-6050 Product Specification
11.8
L
ABEL
..............................................................................................
E
RROR
!
B
OOKMARK NOT DEFINED
.
11.9
P
ACKAGING
......................................................................................
E
RROR
!
B
OOKMARK NOT DEFINED
.
12
RELIABILITY .............................................................................................................................................53
12.1
Q
UALIFICATION
T
EST
P
OLICY
.............................................................................................................55
12.2
Q
UALIFICATION
T
EST
P
LAN
................................................................................................................55
13
ENVIRONMENTAL COMPLIANCE...........................................................................................................56
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Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
MPU-6000/MPU-6050 Product Specification
1 Revision History
Revision
Date
Revision
Description
11/24/2010
1.0
Initial Release
For Rev C parts. Clarified wording in sections (3.2, 5.1, 5.2, 6.1-6.4, 6.6, 6.9, 7,
7.1-7.6, 7.11, 7.12, 7.14, 8, 8.2-8.4, 10.3, 10.4, 11, 12.2)
05/19/2011
2.0
07/28/2011
2.1
Edited supply current numbers for different modes (section 6.4)
08/05/2011
2.2
Unit of measure for accelerometer sensitivity changed from LSB/m
g
to LSB/
g
Updated accelerometer self test specifications in Table 6.2. Updated package
dimensions (section 11.2). Updated PCB design guidelines (section 11.3)
10/12/2011
2.3
For Rev D parts. Updated accelerometer specifications in Table 6.2. Updated
accelerometer specification note (sections 8.2, 8.3, & 8.4). Updated qualification
test plan (section 12.2).
10/18/2011
3.0
Edits for clarity
Changed operating voltage range to 2.375V-3.46V
Added accelerometer Intelligence Function increment value of 1m
g
/LSB
(Section 6.2)
Updated absolute maximum rating for acceleration (any axis, unpowered) from
0.3ms to 0.2ms (Section 6.9)
Modified absolute maximum rating for Latch-up to Level A and ±100mA (Section
6.9, 12.2)
10/24/2011
3.1
Updated self-test response specifications for Revision D parts dated with
date code 1147 (YYWW) or later.
Edits for clarity
Added Gyro self-test (sections 5.1, 6.1, 7.6, 7.12)
Added Min/Max limits to Accel self-test response (section 6.2)
Updated Accelerometer low power mode operating currents (Section 6.3)
Added gyro self test to block diagram (section 7.5)
Updated packaging labels and descriptions (sections 11.8 & 11.9)
11/16/2011
3.2
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