InvenSense Inc. Document Number: PS-MPU-6000A-00 1197 Borregas Ave, Sunnyvale, CA 94089 U.S.A. Revision: 3.1 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Release Date: 10/24/2011 Website: www.invensense.com MPU-6000 and MPU-6050 Product Specification Revision 3.1 1 of 57 Document Number: PS-MPU-6000A-00 Revision: 3.1 MPU-6000/MPU-6050 Product Specification Release Date: 10/24/2011 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 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 2 6.7 I 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 2 7.10 PRIMARY I C AND SPI SERIAL COMMUNICATIONS INTERFACES ............................................................ 25 2 7.11 AUXILIARY I C SERIAL INTERFACE ...................................................................................................... 26 2 of 57