Data Sheet

MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013
12 of 52
6 Electrical Characteristics
6.1 Gyroscope Specifications
VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T
A
= 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
Temperature
±2
%
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