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
1 of 57
MPU-6000 and MPU-6050
Product Specification
Revision 3.2
MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
2 of 57
CONTENTS
1 REVISION HISTORY ................................................................................................................................... 5
2 PURPOSE AND SCOPE ............................................................................................................................. 5
3 PRODUCT OVERVIEW ............................................................................................................................... 6
3.1 MPU-60X0 OVERVIEW ........................................................................................................................ 7
4 APPLICATIONS ........................................................................................................................................... 9
5 FEATURES ................................................................................................................................................ 10
5.1 GYROSCOPE FEATURES ..................................................................................................................... 10
5.2 ACCELEROMETER FEATURES ............................................................................................................. 10
5.3 ADDITIONAL FEATURES ...................................................................................................................... 10
5.4 MOTIONPROCESSING ......................................................................................................................... 11
5.5 CLOCKING ......................................................................................................................................... 11
6 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
2
C TIMING CHARACTERIZATION.......................................................................................................... 18
6.8 SPI TIMING CHARACTERIZATION (MPU-6000 ONLY) ........................................................................... 19
6.9 ABSOLUTE MAXIMUM RATINGS ........................................................................................................... 20
7 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
2
C AND SPI SERIAL COMMUNICATIONS INTERFACES ............................................................ 25
7.11 AUXILIARY I
2
C SERIAL INTERFACE ...................................................................................................... 26
MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
3 of 57
7.12
SELF-TEST ........................................................................................................................................ 27
7.13 MPU-60X0 SOLUTION FOR 9-AXIS SENSOR FUSION USING I
2
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 ...................................................................................................................................... 31
7.19 DIGITAL-OUTPUT TEMPERATURE SENSOR .......................................................................................... 31
7.20 BIAS AND LDO .................................................................................................................................. 31
7.21 CHARGE PUMP .................................................................................................................................. 31
8 PROGRAMMABLE INTERRUPTS ............................................................................................................ 32
8.1 FREE FALL, MOTION, AND ZERO MOTION SIGNAL PATHS ..................................................................... 33
8.2 FREE FALL INTERRUPT ....................................................................................................................... 34
8.3 MOTION INTERRUPT ........................................................................................................................... 34
8.4 ZERO MOTION INTERRUPT .................................................................................................................. 35
9 DIGITAL INTERFACE ............................................................................................................................... 36
9.1 I
2
C AND SPI (MPU-6000 ONLY) SERIAL INTERFACES .......................................................................... 36
9.2 I
2
C INTERFACE .................................................................................................................................. 36
9.3 I
2
C COMMUNICATIONS PROTOCOL ...................................................................................................... 36
9.4 I
2
C TERMS ........................................................................................................................................ 39
9.5 SPI INTERFACE (MPU-6000 ONLY) .................................................................................................... 40
10 SERIAL INTERFACE CONSIDERATIONS (MPU-6050) .......................................................................... 41
10.1 MPU-6050 SUPPORTED INTERFACES ................................................................................................. 41
10.2 LOGIC LEVELS ................................................................................................................................... 41
10.3 LOGIC LEVELS DIAGRAM FOR AUX_VDDIO = 0 .................................................................................. 42
10.4 LOGIC LEVELS DIAGRAM FOR AUX_VDDIO = 1 .................................................................................. 43
11 ASSEMBLY ............................................................................................................................................... 44
11.1 ORIENTATION OF AXES ...................................................................................................................... 44
11.2 PACKAGE DIMENSIONS ...................................................................................................................... 45
11.3 PCB DESIGN GUIDELINES .................................................................................................................. 46
11.4 ASSEMBLY PRECAUTIONS .................................................................................................................. 47
11.5 STORAGE SPECIFICATIONS ................................................................................................................. 51
11.6 PACKAGE MARKING SPECIFICATION .................................................................................................... 51
11.7 TAPE & REEL SPECIFICATION ............................................................................................................. 52
MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
4 of 57
11.8
LABEL .............................................................................................. ERROR! BOOKMARK NOT DEFINED.
11.9 PACKAGING ...................................................................................... ERROR! BOOKMARK NOT DEFINED.
12 RELIABILITY ............................................................................................................................................. 53
12.1 QUALIFICATION TEST POLICY ............................................................................................................. 55
12.2 QUALIFICATION TEST PLAN ................................................................................................................ 55
13 ENVIRONMENTAL COMPLIANCE ........................................................................................................... 56
MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.2
Release Date: 11/16/2011
5 of 57
1 Revision History
Revision
Date
Revision Description
11/24/2010 1.0 Initial Release
05/19/2011 2.0
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)
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/mg to LSB/g
10/12/2011 2.3
Updated accelerometer self test specifications in Table 6.2. Updated package
dimensions (section 11.2). Updated PCB design guidelines (section 11.3)
10/18/2011 3.0
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).
10/24/2011 3.1
Edits for clarity
Changed operating voltage range to 2.375V-3.46V
Added accelerometer Intelligence Function increment value of 1mg/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)
11/16/2011 3.2
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)
