MPU-6000 and MPU-6050 Product Specification Revision 1.0

MPU-6000/MPU-6050 Product SpecificationDocument Number: PS-MPU-6000A-00Revision: 1.0Release Date: 11/24/20106 Electrical Characteristics6.1 Gyroscope SpecificationsVDD = 2.5V±5%, 3.0V±5%, or 3.3V±5%, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T A = 25°CPARAMETER CONDITIONS MIN TYP MAX UNITS NOTESGYROSCOPE SENSITIVITYFull-Scale Range FS_SEL=3 ±2000 º/sFS_SEL=2 ±1000 º/sFS_SEL=1 ±500 º/sFS_SEL=0 ±250 º/sGyroscope ADC Word Length 16 BitsSensitivity 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 %TemperatureNonlinearity Best fit straight line; 25°C 0.2 %Cross-Axis Sensitivity ±2 %GYROSCOPE ZERO-RATE OUTPUT (ZRO)Initial ZRO Tolerance 25°C ±20 º/sZRO Variation Over Temperature -40°C to +85°C ±20 º/sPower-Supply Sensitivity (1-10Hz) Sine wave, 100mVpp; VDD=2.5V 0.2 º/sPower-Supply Sensitivity (10 - 250Hz) Sine wave, 100mVpp; VDD=2.5V 0.2 º/sPower-Supply Sensitivity (250Hz - 100kHz) Sine wave, 100mVpp; VDD=2.5V 4 º/sLinear Acceleration Sensitivity Static 0.1 º/s/gGYROSCOPE NOISE PERFORMANCE FS_SEL=0Total RMS Noise DLPFCFG=2 (100Hz) 0.05 º/s-rmsLow-frequency RMS noise Bandwidth 1Hz to10Hz 0.033 º/s-rmsRate Noise Spectral Density At 10Hz 0.005 º/s/√HzGYROSCOPE MECHANICALFREQUENCIESX-Axis 30 33 36 kHzY-Axis 27 30 33 kHzZ-Axis 24 27 30 kHzSELF TEST RESPONSEX, Y, and Z axes 50 º/sOUTPUT DATA RATEProgrammable 4 8,000 HzGYROSCOPE START-UP TIMEDLPFCFG=0ZRO Settling to ±1º/s of Final 30 msCONFIDENTIAL & PROPRIETARY 10 of 53