InvenSense Inc.
1745 Technology Drive, San Jose, CA 95110 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com
Document Number: PS-MPU-6500A-01
Revision: 1.0
Release Date: 09/18/2013
1 of 48
MPU-6500
Product Specification
Revision 1.0
MPU-6500 Product Specification
Document Number: PS-MPU-6500A-01
Revision: 1.0
Release Date: 09/18/2013
2 of 48
TABLE OF CONTENTS
TABLE OF TABLES .......................................................................................................................................... 5
1 DOCUMENT INFORMATION ...................................................................................................................... 6
1.1 REVISION HISTORY .............................................................................................................................. 6
1.2 PURPOSE AND SCOPE .......................................................................................................................... 7
1.3 PRODUCT OVERVIEW ........................................................................................................................... 7
1.4 APPLICATIONS ..................................................................................................................................... 7
2 FEATURES .................................................................................................................................................. 8
2.1 GYROSCOPE FEATURES ....................................................................................................................... 8
2.2 ACCELEROMETER FEATURES ............................................................................................................... 8
2.3 ADDITIONAL FEATURES ........................................................................................................................ 8
2.4 MOTIONPROCESSING ........................................................................................................................... 8
3 ELECTRICAL CHARACTERISTICS ........................................................................................................... 9
3.1 GYROSCOPE SPECIFICATIONS .............................................................................................................. 9
3.2 ACCELEROMETER SPECIFICATIONS ..................................................................................................... 10
3.3 ELECTRICAL SPECIFICATIONS ............................................................................................................. 11
3.4 I2C TIMING CHARACTERIZATION ......................................................................................................... 15
3.5 SPI TIMING CHARACTERIZATION ......................................................................................................... 16
3.6 ABSOLUTE MAXIMUM RATINGS ........................................................................................................... 18
4 APPLICATIONS INFORMATION .............................................................................................................. 19
4.1 PIN OUT DIAGRAM AND SIGNAL DESCRIPTION ..................................................................................... 19
4.2 TYPICAL OPERATING CIRCUIT ............................................................................................................. 20
4.3 BILL OF MATERIALS FOR EXTERNAL COMPONENTS .............................................................................. 20
4.4 BLOCK DIAGRAM ............................................................................................................................... 21
4.5 OVERVIEW ........................................................................................................................................ 21
4.6 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING ................................ 22
4.7 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ........................ 22
4.8 DIGITAL MOTION PROCESSOR ............................................................................................................ 22
4.9 PRIMARY I2C AND SPI SERIAL COMMUNICATIONS INTERFACES ............................................................ 22
4.10 AUXILIARY I2C SERIAL INTERFACE...................................................................................................... 24
4.11 SELF-TEST ........................................................................................................................................ 25
4.12 CLOCKING ......................................................................................................................................... 25
4.13 SENSOR DATA REGISTERS ................................................................................................................. 26
4.14 FIFO ................................................................................................................................................ 26
MPU-6500 Product Specification
Document Number: PS-MPU-6500A-01
Revision: 1.0
Release Date: 09/18/2013
3 of 48
4.15 INTERRUPTS ...................................................................................................................................... 26
4.16 DIGITAL-OUTPUT TEMPERATURE SENSOR .......................................................................................... 26
4.17 BIAS AND LDOS ................................................................................................................................ 27
4.18 CHARGE PUMP .................................................................................................................................. 27
4.19 STANDARD POWER MODES ................................................................................................................ 27
5 PROGRAMMABLE INTERRUPTS ............................................................................................................ 28
5.1 WAKE-ON-MOTION INTERRUPT ........................................................................................................... 29
6 DIGITAL INTERFACE ............................................................................................................................... 30
6.1 I2C AND SPI SERIAL INTERFACES ...................................................................................................... 30
6.2 I2C INTERFACE .................................................................................................................................. 30
6.3 I2C COMMUNICATIONS PROTOCOL ..................................................................................................... 30
6.4 I
2
C TERMS ........................................................................................................................................ 33
6.5 SPI INTERFACE ................................................................................................................................. 34
7 SERIAL INTERFACE CONSIDERATIONS ............................................................................................... 35
7.1 MPU-6500 SUPPORTED INTERFACES ................................................................................................. 35
8 ASSEMBLY ............................................................................................................................................... 36
8.1 ORIENTATION OF AXES ...................................................................................................................... 36
8.2 PACKAGE DIMENSIONS ...................................................................................................................... 37
8.3 PCB DESIGN GUIDELINES .................................................................................................................. 38
8.4 ASSEMBLY PRECAUTIONS .................................................................................................................. 38
8.5 STORAGE SPECIFICATIONS ................................................................................................................. 42
8.6 PACKAGE MARKING SPECIFICATION .................................................................................................... 42
8.7 TAPE & REEL SPECIFICATION ............................................................................................................. 42
8.8 LABEL ............................................................................................................................................... 44
8.9 PACKAGING ....................................................................................................................................... 45
8.10 REPRESENTATIVE SHIPPING CARTON LABEL ....................................................................................... 46
9 RELIABILITY ............................................................................................................................................. 47
9.1 QUALIFICATION TEST POLICY ............................................................................................................. 47
9.2 QUALIFICATION TEST PLAN ................................................................................................................ 47
10 COMPLIANCE ........................................................................................................................................... 48
10.1 ENVIRONMENTAL COMPLIANCE ........................................................................................................... 48
10.2 DRC COMPLIANCE ............................................................................................................................ 48
MPU-6500 Product Specification
Document Number: PS-MPU-6500A-01
Revision: 1.0
Release Date: 09/18/2013
4 of 48
Table of Figures
Figure 1: I2C Bus Timing Diagram ................................................................................................................... 15
Figure 2: SPI Bus Timing Diagram ................................................................................................................... 16
Figure 3: Pin out Diagram for MPU-6500 3.0x3.0x0.9mm QFN ....................................................................... 19
Figure 4: MPU-6500 QFN Application Schematic. (a) I2C operation, (b) SPI operation. ................................ 20
Figure 5: MPU-6500 Block Diagram ................................................................................................................. 21
Figure 6: MPU-6500 Solution Using I
2
C Interface ............................................................................................ 23
Figure 7: MPU-6500 Solution Using SPI Interface ........................................................................................... 24
Figure 8: Wake-on-Motion Interrupt Configuration ........................................................................................... 29
MPU-6500 Product Specification
Document Number: PS-MPU-6500A-01
Revision: 1.0
Release Date: 09/18/2013
5 of 48
Table of Tables
Table 1: Gyroscope Specifications ..................................................................................................................... 9
Table 2: Accelerometer Specifications ............................................................................................................. 10
Table 3: D.C. Electrical Characteristics ............................................................................................................ 11
Table 4: A.C. Electrical Characteristics ............................................................................................................ 13
Table 5: Other Electrical Specifications ............................................................................................................ 14
Table 6: I
2
C Timing Characteristics .................................................................................................................. 15
Table 7: SPI Timing Characteristics ................................................................................................................. 16
Table 8: fCLK = 20MHz .................................................................................................................................... 17
Table 9: Absolute Maximum Ratings ................................................................................................................ 18
Table 10: Signal Descriptions ........................................................................................................................... 19
Table 11: Bill of Materials ................................................................................................................................. 20
Table 12: Standard Power Modes for MPU-6500............................................................................................. 27
Table 13: Table of Interrupt Sources ................................................................................................................ 28
Table 14: Serial Interface .................................................................................................................................. 30
Table 15: I
2
C Terms .......................................................................................................................................... 33
