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ICM-20600

High Performance 6-Ais MEM“ MotioTakig™ Deie i

2.5x3x0.91mm Package

InvenSense reserves the right to change the detail

specifications as may be required to permit

improvements in the design of its products.

InvenSense Inc.

1745 Technology Drive, San Jose, CA 95110 U.S.A

+1(408) 988–7339

www.invensense.com

Document Number: DS-000184

Revision: 1.0

Revision Date: 10/27/2016

GENERAL DESCRIPTION

The ICM-20600 is a 6-axis MotionTracking device that

combines a 3-axis gyroscope, 3-axis accelerometer, in a small

2.5 mm x 3 mm x 0.91 mm (14-pin LGA) package.

 High performance specs

o Gyroscope sensitivity error: ±1%

o Gyroscope noise: ±4 mdps/Hz

o Accelerometer noise: 100 µg/Hz

 Includes 1 KB FIFO to reduce traffic on the serial bus

interface, and reduce power consumption by allowing

the system processor to burst read sensor data and then

go into a low-power mode

 EIS FSYNC support

ICM-20600 includes on-chip 16-bit ADCs, programmable

digital filters, an embedded temperature sensor, and

programmable interrupts. The device features an operating

voltage range down to 1.71V. Communication ports include

C and high speed SPI at 10 MHz.

ORDERING INFORMATION

PART

TEMP RANGE

PACKAGE

ICM-20600†

−°C to +°C

14-Pin LGA

†Denotes RoHS and Green-Compliant Package

BLOCK DIAGRAM

APPLICATIONS

 Smartphones and Tablets

 Wearable Sensors

 IoT Applications

 Motion-based game controllers

 3D remote controls for Internet connected DTVs and

set top boxes, 3D mice

FEATURES

 3-Axis Gyroscope with Programmable FSR of

±250 dps, ±500 dps, ±1000 dps, and ±2000 dps

 3-Axis Accelerometer with Programmable FSR of ±2g,

±4g, ±8g, and ±16g

 User-programmable interrupts

 Wake-on-motion interrupt for low power operation

of applications processor

 1 KB FIFO buffer enables the applications processor to

read the data in bursts

 On-Chip 16-bit ADCs and Programmable Filters

 Host interface: 10 MHz SPI or 400 kHz Fast Mode I

 Digital-output temperature sensor

 VDD operating range of 1.71 to 3.45V

 MEMS structure hermetically sealed and bonded at

wafer level

 RoHS and Green compliant

TYPICAL OPERATING CIRCUIT

INT2

VDD

1.71 – 3.45VDC

C3, 10 nF

1.71 – 3.45VDC

SDI

SDO

INT2

FSYNC

SDA / SDI

VDDIO

AD0 / SDO

nCS

5 6 7

14 13 12

SCLK

SCL / SCLK

INT1

GND

FSYNC

ICM-20600

C2, 0.1 mF C4, 2.2 mF

nCS

RESV

REGOUT

C1, 0.1 mF

ICM-20600

Document Number: DS-000184 Page 2 of 57

Revision: 1.0

Revision Date: 10/27/2016

TABLE OF CONTENTS

General Description ............................................................................................................................................. 1

Ordering Information ........................................................................................................................................... 1

Block Diagram ...................................................................................................................................................... 1

Applications ......................................................................................................................................................... 1

Features ............................................................................................................................................................... 1

Typical Operating Circuit ...................................................................................................................................... 1

1 Introduction ......................................................................................................................................................... 7

1.1 Purpose and Scope .................................................................................................................................... 7

1.2 Product Overview...................................................................................................................................... 7

1.3 Applications ............................................................................................................................................... 7

2 Features ............................................................................................................................................................... 8

2.1 Gyroscope Features .................................................................................................................................. 8

2.2 Accelerometer Features ............................................................................................................................ 8

2.3 Additional Features ................................................................................................................................... 8

3 Electrical Characteristics ...................................................................................................................................... 9

3.1 Gyroscope Specifications .......................................................................................................................... 9

3.2 Accelerometer Specifications .................................................................................................................. 10

3.3 Electrical Specifications ........................................................................................................................... 11

3.4 I

C Timing Characterization ..................................................................................................................... 14

3.5 SPI Timing Characterization .................................................................................................................... 15

3.6 Absolute Maximum Ratings .................................................................................................................... 16

4 Applications Information ................................................................................................................................... 17

4.1 Pin Out Diagram and Signal Description ................................................................................................. 17

4.2 Typical Operating Circuit ......................................................................................................................... 18

4.3 Bill of Materials for External Components .............................................................................................. 18

4.4 Block Diagram ......................................................................................................................................... 19

4.5 Overview ................................................................................................................................................. 19

4.6 Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning ............................................... 19

4.7 Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning ......................................... 20

4.8 I

C and SPI Serial Communications Interfaces ........................................................................................ 20

4.9 Self-Test................................................................................................................................................... 21

4.10 Clocking ............................................................................................................................................... 21

4.11 Sensor Data Registers ......................................................................................................................... 21

4.12 FIFO ..................................................................................................................................................... 22

4.13 Interrupts ............................................................................................................................................ 22

4.14 Digital-Output Temperature Sensor ................................................................................................... 22

4.15 Bias and LDOs ..................................................................................................................................... 22

4.16 Charge Pump ...................................................................................................................................... 22

ICM-20600

Document Number: DS-000184 Page 3 of 57

Revision: 1.0

Revision Date: 10/27/2016

4.17 Standard Power Modes ...................................................................................................................... 22

5 Programmable Interrupts .................................................................................................................................. 23

5.1 Wake-on-Motion Interrupt ..................................................................................................................... 23

6 Digital Interface ................................................................................................................................................. 24

6.1 I

C and SPI Serial Interfaces .................................................................................................................... 24

6.2 I

C Interface ............................................................................................................................................. 24

6.3 I

C Communications Protocol ................................................................................................................. 24

6.4 I

C Terms ................................................................................................................................................. 26

6.5 SPI Interface ............................................................................................................................................ 26

7 Register Map ...................................................................................................................................................... 28

8 Register Descriptions ......................................................................................................................................... 31

8.1 Register 04 – Gyroscope Low Noise to Low Power Offset Shift and Gyroscope Offset Temperature Compensation (TC) Register 31

8.2 Register 05 – Gyroscope Low Noise to Low Power Offset Shift and Gyroscope Offset Temperature Compensation (TC) Register 31

8.3 Register 07 – Gyroscope Low Noise to Low Power Offset Shift and Gyroscope Offset Temperature Compensation (TC) Register 31

8.4 Register 08 – Gyroscope Low Noise to Low Power Offset Shift and Gyroscope Offset Temperature Compensation (TC) Register 32

8.5 Register 10 – Gyroscope Low Noise to Low Power Offset Shift and Gyroscope Offset Temperature Compensation (TC) Register 32

8.6 Register 11 – Gyroscope Low Noise to Low Power Offset Shift and Gyroscope Offset Temperature Compensation (TC) Register 32

8.7 Registers 13 to 15 – Accelerometer Self-Test Registers .......................................................................... 32

8.8 Register 19 – X-Gyro Offset Adjustment Register – High Byte ................................................................ 33

8.9 Register 20 – X-Gyro Offset Adjustment Register – Low Byte ................................................................ 33

8.10 Register 21 – Y-Gyro Offset Adjustment Register – High Byte ........................................................... 33

8.1 Register 22 – Y-Gyro Offset Adjustment Register – Low Byte ................................................................. 33

8.2 Register 23 – Z-Gyro Offset Adjustment Register – High Byte ................................................................ 33

8.3 Register 24 – Z-Gyro Offset Adjustment Register – Low Byte ................................................................. 34

8.4 Register 25 – Sample Rate Divider .......................................................................................................... 34

8.5 Register 26 – Configuration..................................................................................................................... 34

8.6 Register 27 – Gyroscope Configuration .................................................................................................. 35

8.7 Register 28 – Accelerometer Configuration ............................................................................................ 35

8.8 Register 29 – Accelerometer Configuration 2 ......................................................................................... 36

8.9 Register 30 – Gyroscope Low Power Mode Configuration ..................................................................... 37

8.10 Register 32 – Wake-on Motion Threshold (X-axis Accelerometer) .................................................... 38

8.11 Register 33 – Wake-on Motion Threshold (Y-axis Accelerometer) ..................................................... 38

8.12 Register 34 – Wake-on Motion Threshold (Z-axis Accelerometer) ..................................................... 38

8.13 Register 35 – FIFO Enable ................................................................................................................... 39

8.14 Register 54 – FSYNC Interrupt Status.................................................................................................. 39

8.15 Register 55 – INT/DRDY Pin / Bypass Enable Configuration ............................................................... 39

8.16 Register 57 – FIFO Watermark Interrupt Status ................................................................................. 40

8.17 Register 58 – Interrupt Status ............................................................................................................. 40

8.18 Registers 59 to 64 – Accelerometer Measurements: X-Axis High Byte .............................................. 40

ICM-20600

Document Number: DS-000184 Page 4 of 57

Revision: 1.0

Revision Date: 10/27/2016

8.19 Registers 65 and 66 – Temperature Measurement ............................................................................ 41

8.20 Registers 67 to 72 – Gyroscope Measurements ................................................................................. 41

8.21 Registers 80 to 82 – Gyroscope Self-Test Registers ............................................................................ 42

8.22 Register 96-97 – FIFO Watermark Threshold in Number of Bytes ..................................................... 43

8.23 Register 104 – Signal Path Reset ......................................................................................................... 43

8.24 Register 105 – Accelerometer Intelligence Control ............................................................................ 44

8.25 Register 106 – User Control ................................................................................................................ 44

8.26 Register 107 – Power Management 1 ................................................................................................ 45

8.27 Register 108 – Power Management 2 ................................................................................................ 45

8.28 Register 112 – I

C Interface ................................................................................................................ 46

8.29 Register 114 and 115 – FIFO Count Registers ..................................................................................... 46

8.30 Register 116 – FIFO Read Write .......................................................................................................... 46

8.31 Register 117 – Who Am I .................................................................................................................... 46

8.32 Registers 119, 120, 122, 123, 125, 126 – Accelerometer Offset Registers ......................................... 47

9 Use Notes ........................................................................................................................................................... 48

9.1 Temperature Sensor Data ....................................................................................................................... 48

9.2 Accelerometer-Only Low-Noise Mode .................................................................................................... 48

9.3 Accelerometer Low-Power Mode ........................................................................................................... 48

9.4 Sensor Mode Change .............................................................................................................................. 48

9.5 Temp Sensor during Gyroscope Standby Mode ...................................................................................... 48

9.6 Gyroscope Mode Change ........................................................................................................................ 48

9.7 Power Management 1 Register Setting .................................................................................................. 48

9.8 Unlisted Register Locations ..................................................................................................................... 48

9.9 Clock Transition When Gyroscope is Turned Off .................................................................................... 48

9.10 Sleep Mode ......................................................................................................................................... 48

9.11 No special operation needed for FIFO read in low power mode........................................................ 49

9.12 Gyroscope Standby Procedure ........................................................................................................... 49

10 Reference ........................................................................................................................................................... 50

11 Orientation of Axes ............................................................................................................................................ 51

11.1 ICM-20600 Supported Interfaces ....................................................................................................... 51

12 Package Dimensions .......................................................................................................................................... 52

13 Part Number Package Marking .......................................................................................................................... 54

14 Environmental Compliance ................................................................................................................................ 55

15 Revision History ................................................................................................................................................. 56

ICM-20600

Document Number: DS-000184 Page 5 of 57

Revision: 1.0

Revision Date: 10/27/2016

LIST OF FIGURES

Figure 1. I

C Bus Timing Diagram ............................................................................................................................................................. 14

Figure 2. SPI Bus Timing Diagram ............................................................................................................................................................. 15

Figure 3. Pin out Diagram for ICM-20600 2.5 mm x 3.0 mm x 0.91 mm LGA .......................................................................................... 17

Figure 4. ICM-20600 LGA Application Schematic (I

C Operation) ............................................................................................................ 18

Figure 5. ICM-20600 LGA Application Schematic (SPI Operation) ........................................................................................................... 18

Figure 6. ICM-20600 Block Diagram ......................................................................................................................................................... 19

Figure 7. ICM-20600 Solution Using I

C Interface .................................................................................................................................... 20

Figure 8. ICM-20600 Solution Using SPI Interface ................................................................................................................................... 21

Figure 9. START and STOP Conditions ...................................................................................................................................................... 24

Figure 10. Acknowledge on the I

C Bus ................................................................................................................................................... 25

Figure 11. Complete I

C Data Transfer ..................................................................................................................................................... 25

Figure. 12 Typical SPI Master / Slave Configuration ................................................................................................................................ 27

Figure 13. Orientation of Axes of Sensitivity and Polarity of Rotation .................................................................................................... 51

Figure 14. Package Dimensions................................................................................................................................................................ 52

Figure 15. Part Number Package Marking ............................................................................................................................................... 54