Datasheet MPU-6000, MPU-6050 - 12
| Beschreibung | MPU-60X0 is the world's first integrated 6-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, and a Digital Motion ProcessorTM (DMP) all in a small 4x4x0.9mm package |
| Seiten / Seite | 52 / 12 — MPU-6000/MPU-6050 Product Specification. Electrical Characteristics. 6.1. … |
| Revision | 3.4 |
| Dateiformat / Größe | PDF / 1.6 Mb |
| Dokumentensprache | Englisch |
MPU-6000/MPU-6050 Product Specification. Electrical Characteristics. 6.1. Gyroscope Specifications. PARAMETER. CONDITIONS. MIN. TYP
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Document Number: PS-MPU-6000A-00
MPU-6000/MPU-6050 Product Specification
Revision: 3.4 Release Date: 08/19/2013
6 Electrical Characteristics 6.1 Gyroscope Specifications
VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, TA = 25°C
PARAMETER CONDITIONS MIN TYP MAX UNITS NOTES GYROSCOPE SENSITIVITY
Full-Scale Range FS_SEL=0 ±250 º/s FS_SEL=1 ±500 º/s FS_SEL=2 ±1000 º/s FS_SEL=3 ±2000 º/s Gyroscope ADC Word Length 16 bits Sensitivity Scale Factor FS_SEL=0 131 LSB/(º/s) FS_SEL=1 65.5 LSB/(º/s) FS_SEL=2 32.8 LSB/(º/s) FS_SEL=3 16.4 LSB/(º/s) Sensitivity Scale Factor Tolerance 25°C -3 +3 % Sensitivity Scale Factor Variation Over ±2 % Temperature Nonlinearity Best fit straight line; 25°C 0.2 % Cross-Axis Sensitivity ±2 %
GYROSCOPE ZERO-RATE OUTPUT (ZRO)
Initial ZRO Tolerance 25°C ±20 º/s ZRO Variation Over Temperature -40°C to +85°C ±20 º/s Power-Supply Sensitivity (1-10Hz) Sine wave, 100mVpp; VDD=2.5V 0.2 º/s Power-Supply Sensitivity (10 - 250Hz) Sine wave, 100mVpp; VDD=2.5V 0.2 º/s Power-Supply Sensitivity (250Hz - 100kHz) Sine wave, 100mVpp; VDD=2.5V 4 º/s Linear Acceleration Sensitivity Static 0.1 º/s/g
SELF-TEST RESPONSE
Relative Change from factory trim -14 14 % 1
GYROSCOPE NOISE PERFORMANCE FS_SEL=0
Total RMS Noise DLPFCFG=2 (100Hz) 0.05 º/s-rms Low-frequency RMS noise Bandwidth 1Hz to10Hz 0.033 º/s-rms Rate Noise Spectral Density At 10Hz 0.005 º/s/√Hz
GYROSCOPE MECHANICAL FREQUENCIES
X-Axis 30 33 36 kHz Y-Axis 27 30 33 kHz Z-Axis 24 27 30 kHz
LOW PASS FILTER RESPONSE
Programmable Range 5 256 Hz
OUTPUT DATA RATE
Programmable 4 8,000 Hz
GYROSCOPE START-UP TIME DLPFCFG=0
ZRO Settling (from power-on) to ±1º/s of Final 30 ms 1. Please refer to the following document for further information on Self-Test: MPU-6000/MPU-6050 Register Map and Descriptions 12 of 52
MPU-6000/MPU-6050 Product Specification
Revision: 3.4 Release Date: 08/19/2013
6 Electrical Characteristics 6.1 Gyroscope Specifications
VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, TA = 25°C
PARAMETER CONDITIONS MIN TYP MAX UNITS NOTES GYROSCOPE SENSITIVITY
Full-Scale Range FS_SEL=0 ±250 º/s FS_SEL=1 ±500 º/s FS_SEL=2 ±1000 º/s FS_SEL=3 ±2000 º/s Gyroscope ADC Word Length 16 bits Sensitivity Scale Factor FS_SEL=0 131 LSB/(º/s) FS_SEL=1 65.5 LSB/(º/s) FS_SEL=2 32.8 LSB/(º/s) FS_SEL=3 16.4 LSB/(º/s) Sensitivity Scale Factor Tolerance 25°C -3 +3 % Sensitivity Scale Factor Variation Over ±2 % Temperature Nonlinearity Best fit straight line; 25°C 0.2 % Cross-Axis Sensitivity ±2 %
GYROSCOPE ZERO-RATE OUTPUT (ZRO)
Initial ZRO Tolerance 25°C ±20 º/s ZRO Variation Over Temperature -40°C to +85°C ±20 º/s Power-Supply Sensitivity (1-10Hz) Sine wave, 100mVpp; VDD=2.5V 0.2 º/s Power-Supply Sensitivity (10 - 250Hz) Sine wave, 100mVpp; VDD=2.5V 0.2 º/s Power-Supply Sensitivity (250Hz - 100kHz) Sine wave, 100mVpp; VDD=2.5V 4 º/s Linear Acceleration Sensitivity Static 0.1 º/s/g
SELF-TEST RESPONSE
Relative Change from factory trim -14 14 % 1
GYROSCOPE NOISE PERFORMANCE FS_SEL=0
Total RMS Noise DLPFCFG=2 (100Hz) 0.05 º/s-rms Low-frequency RMS noise Bandwidth 1Hz to10Hz 0.033 º/s-rms Rate Noise Spectral Density At 10Hz 0.005 º/s/√Hz
GYROSCOPE MECHANICAL FREQUENCIES
X-Axis 30 33 36 kHz Y-Axis 27 30 33 kHz Z-Axis 24 27 30 kHz
LOW PASS FILTER RESPONSE
Programmable Range 5 256 Hz
OUTPUT DATA RATE
Programmable 4 8,000 Hz
GYROSCOPE START-UP TIME DLPFCFG=0
ZRO Settling (from power-on) to ±1º/s of Final 30 ms 1. Please refer to the following document for further information on Self-Test: MPU-6000/MPU-6050 Register Map and Descriptions 12 of 52