IMU-3000 INVENSENSE, IMU-3000 Datasheet

GYRO, TRI-AXIS, PROG +/-2000 DEG/S

IMU-3000

Manufacturer Part Number
IMU-3000
Description
GYRO, TRI-AXIS, PROG +/-2000 DEG/S
Manufacturer
INVENSENSE
Datasheet

Specifications of IMU-3000

No. Of Axes
3
Sensor Case Style
QFN
No. Of Pins
24
Supply Voltage Range
2.1V To 3.6V
Operating Temperature Range
-40°C To +85°C
Interface
I2C, Serial
Interface Type
I2C, Serial
Rohs Compliant
Yes
Lead Free Status / RoHS Status
Lead free / RoHS Compliant

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Part Number:
IMU-3000
Manufacturer:
INVENSENS
Quantity:
8 687
Document Number: PS-IMU-3000A-00-01.1
Revision: 1.1
IMU-3000 Product Specification
Release Date: 08/19/2010
IMU-3000
Motion Processing Unit
Product Specification
Rev 1.1
1 of 56

Related parts for IMU-3000

IMU-3000 Summary of contents

Page 1

... IMU-3000 Product Specification IMU-3000 Motion Processing Unit Product Specification Rev 1 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

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... XTERNAL OMPONENTS P .......................................................................................................... 16 ROCEDURE 16- ADC S BIT S AND IGNAL ........................................................................................................................... 17 I ....................................................................................... 18 NTERFACE - A PARTY CCELEROMETER ........................................................................................................................ 19 S ........................................................................................................ 20 ENSOR Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 C ......................................... 17 ONDITIONING ....................................................... 18                                   ...

Page 3

... ENSOR EGISTERS ........................................................................................................ 38 EGISTERS .............................................................................................................. 38 OUNT ........................................................................................................................... 39 ..................................................................................................................... 41 .......................................................................................................... 42 ANAGEMENT ................................................................................................................................ ............................................................................................... 47 XIS ENSITIVITY .................................................................................................................... 48 G ...................................................................................................... 48 UIDELINES ............................................................................................................................ 50 ............................................................................................................. 51 ........................................................................................................................ 51 ........................................................................................................................... 54 .............................................................................................................................. Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 I/O L ................................ 35 US EVEL                                   ...

Page 4

... Added AUX register listing (Section 9). • Added AUX register description (Section 10.12). • Modified PCB Design Guidelines (Section 11.2.2). • Modified Reflow Specification (Section 11.9) • Added Environmental Compliance information (Section 13 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 2 C (Section ...

Page 5

... The IMU-3000 was designed to connect directly with a third-party 3-axis digital accelerometer, which slaves directly to the IMU-3000 master and can be clocked from the internal phase locked loop of the IMU-3000 device, providing highly accurate timing for a true 6-axis motion processing solution previously only available in costly and bulky inertial measurement units ...

Page 6

... IMU-3000 Product Specification 1.4 Applications • Game controllers • 3D Remote controls for Internet connected TVs and Set Top Boxes • Health and sports monitoring • Motion tracking • Gesture recognition and advanced user interfaces Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 7

... IMU-3000 collects the accelerometer data via a dedicated interface, while synchronizing data sampling at a user defined rate. The total data set obtained by the IMU-3000 includes 3-axis gyroscope data, 3-axis accelerometer data, and temperature data. • ...

Page 8

... Sine wave, 100mVpp; VDD=2.2V Sine wave, 100mVpp; VDD=2.2V Static FS_SEL=0 DLPFCFG=2 (100Hz) At 10Hz DLPFCFG=0 to ±1º/s of Final Untrimmed Best fit straight line (-30°C to +85° Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 =25°C. A Min Typical Max Unit ±250 º/s ±500 ±1000 ±2000 ...

Page 9

... Figure in Section 4.4) AD0 = 0 AD0 = 1 0.7*VDD R =1MΩ 0.9*VLOGIC LOAD R =1MΩ LOAD OPEN=1, 0.3mA sink current OPEN=1 LATCH_INT_EN Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Typical Max Units Notes 3 6 µA VDD ...

Page 10

... VLOGIC > 2V; 1mA sink current VLOGIC < 2V; 1mA sink current bus capacitance AUX_VDDIO=1 1mA sink current bus capacitance Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 =25°C. A Typical Units Notes -0.5V to 0.3*VLOGIC V 0.7*VLOGIC to VLOGIC V + 0.5V 0.1*VLOGIC 0 100 nA 20+0.1Cb to 250 ns < ...

Page 11

... SAMPLERATEDIV = 0 CLKOUTEN = 1 CLKSEL=0, 25°C -5 CLKSEL=1,2,3; 25°C -1 CLKSEL=0 CLKSEL=1,2,3 CLKSEL=1,2,3 CLKSEL=4 Cycle-to-cycle rms DLPFCFG=0 SAMPLERATEDIV = 0 DLPFCFG=1,2,3,4, SAMPLERATEDIV = 0 CLKOUTEN = 1 CLKSEL=5 DLPFCFG=0 SAMPLERATEDIV = 0 DLPFCFG=1,2,3,4, SAMPLERATEDIV = 0 CLKOUTEN = Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 =25°C. A Typical Max Units Notes 8 kHz 3 1 kHz 3 1.024 MHz ...

Page 12

... C bus cap. from 400pF +0.1C C bus cap. from 400pF +0.1C 0.6 1 Bus Timing Diagram Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Typical Max Units Notes 400 kHz µs µs µs µs µs ns 300 ns b 300 ns b µs µ ...

Page 13

... AD0, INT, SCL, SDA) CPOUT (2.1V ≤ VDD ≤ 3.6V ) Acceleration (Any Axis, unpowered) Operating Temperature Range Storage Temperature Range Electrostatic Discharge (ESD) Protection Latch-up Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Rating -0.5V to +6V -0.5V to VDD + 0.5V -0. -0.5V to VDD + 0.5V -0 ...

Page 14

... RESV 22 CLKOUT 23 SCL 24 SDA 14, NC 15, 16, 17 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Pin Description External reference clock input rd Interface party accelerometer, SDA pin. Logic levels are set to be either VDD or VLOGIC. See Section 7 for more details. rd Interface party accelerometer, SCL pin. Logic levels are set to be either VDD or VLOGIC. See Section 7 for more details. Digital I/O supply voltage. VLOGIC must be ≤ ...

Page 15

... VDD Bypass Capacitor Regulator Filter Capacitor Charge Pump Capacitor VLOGIC Bypass Capacitor Label Specification C1 Ceramic, X7R, 0.1µF ±10 Ceramic, X7R, 0.1µF ±10 Ceramic, X7R, 2.2nF ±10%, 50V C4 Ceramic, X7R, 10nF ±10 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Quantity ...

Page 16

... IMU-3000 Product Specification 4.4 Recommended Power-on Procedure Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 17

... Digital Motion Processor The embedded Digital Motion Processor (DMP) is located within the IMU-3000 and offloads computation of motion processing algorithms from the host processor. The DMP acquires and processes data from the on- Document Number: PS-IMU-3000A-00-01.1 Revision: 1 ...

Page 18

... Pass-Through Mode: allows an external system processor to act as master and directly communicate to the external accelerometer connected to the secondary I AUX_CL). This is useful for configuring the accelerometer, or for keeping the IMU-3000 in a low- power mode, when only the accelerometer used. In this mode, the secondary I ...

Page 19

... Items that can trigger an interrupt are (1) Clock generator locked to new reference oscillator (used when switching clock sources); (2) Digital Motion Processor Done (programmable function); (3) new data is available to be read (from the FIFO and Data registers); and (4) the IMU-3000 did not receive an acknowledge from the accelerometer on the Secondary I Interrupt Status register ...

Page 20

... The bias and LDO section generates the internal supply and the reference voltages and currents required by the IMU-3000. Its inputs are an unregulated VDD of 2.1V to 3.6V and a VLOGIC - logic reference supply voltage - of 1.71V to VDD. The LDO output is bypassed by a 0.1µF capacitor at REGOUT. ...

Page 21

... SDA and SCL lines typically need pull-up resistors to VDD. The maximum bus speed is 400kHz. The slave address of the IMU-3000 is b110100X which is 7 bits long. The LSB bit of the 7 bit address is determined by the logic level on pin ADO. This allows two IMU-3000s to be connected to the same I When used in this configuration, the address of the one of the devices should be b1101000 (pin ADO is logic low) and the address of the other should be b1101001 (pin AD0 is logic high) ...

Page 22

... STOP condition (P). A LOW to HIGH transition on the SDA line while SCL is HIGH defines the stop condition. All SDA changes should take place when SCL is low, with the exception of start and stop conditions. 2 Acknowledge on the I C Bus 2 Complete I C Data Transfer Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 23

... Upon receiving the ACK signal from the IMU-3000, the master transmits a start signal followed by the slave address and read bit result, the IMU-3000 sends an ACK signal and the data. The communication ends with a not acknowledge (NACK) signal and a stop bit from master ...

Page 24

... The IMU-3000 supports I C communications on both its primary (microprocessor) serial interface and its secondary (accelerometer) interface. 7.3 Logic Levels The IMU-3000 accelerometer bus I/O logic levels are set to be either VDD or VLOGIC, as shown in the table below. I/O Logic Levels vs. AUX_VDDIO bit AUX_VDDIO 0 ...

Page 25

... IMU-3000 Product Specification 7.3.1 AUX_VDDIO = 0 The figure below shows logic levels and voltage connections for AUX_VDDIO = 0. Note that the actual configuration will depend on the type of third-party accelerometer used. I/O Levels and Connections for AUX_VDDIO = 0 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 26

... VDD is the reference voltage for the accelerometer secondary bus, as shown in the figure below. This is useful when interfacing to a third-party accelerometer where there is only one supply for both the logic rd and analog sections of the 3 party accelerometer. I/O Levels and Connections for Two Example Power Configurations (AUX_VDDIO = 1) Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 27

... IMU-3000 Product Specification 8 Motion Processing Library (MPL) To assist in the rapid development and deployment of products using the IMU-3000, InvenSense provides a Motion Processing Library (MPL) software development kit that has been verified to work in the hardware and software environment shown in the figure below. IMU‐3000 Evaluation Board ...

Page 28

... The DMP can be used to minimize power, simplify timing and software architecture, and saving valuable MIPS on the host processor for use in the application. The IMU-3000 MPL Functional Specification describes in detail the API and System Layer routines needed for interfacing to the IMU-3000. ...

Page 29

... R/W R/W R/W R/W R R/W DMP_EN FIFO_EN AUX_IF_EN R/W H_RESET SLEEP STBY_XG Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Bit4 Bit3 Bit2 Bit1 ID X_OFF_H X_OFF_L Y_OFFS_H Y_OFFS_L Z_OFFS_H Z_OFFS_L GYRO_ AUX_ AUX_ AUX_ ZOUT XOUT YOUT ZOUT AUX_ VDDIO AUX_ID ...

Page 30

... IMU-3000 Product Specification 10 Register Description This section details each register within the InvenSense IMU-3000 gyroscope. Note that any bit that is not defined should be set to zero in order to be compatible with future InvenSense devices. The register space allows single-byte reads and writes, as well as burst reads and writes. When performing burst reads or writes, the memory pointer will increment until either (1) reading or writing is terminated by the master, or (2) the memory pointer reaches registers ...

Page 31

... OUT Description: This register determines what data goes into the IMU-3000 FIFO, which is a 512 byte First-In-First- Out buffer (see register 60). Sensor data is automatically placed into the FIFO after each ADC sampling period is complete. The ADC sample rate is controlled by register 21. ...

Page 32

... Description: This register determines the sample rate of the IMU-3000 gyros. The analog gyros are sampled internally at either 1kHz or 8kHz, determined by the DLPF_CFG setting (see register 22). This sampling is then filtered digitally and delivered into the sensor registers after the number of cycles determined by this register ...

Page 33

... Low Pass Filter Bandwidth 256Hz 188Hz 98Hz 42Hz 20Hz 10Hz 5Hz Reserved Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Bit3 Bit2 Bit1 Bit0 DLPF_CFG Analog Sample Rate 8kHz 1kHz 1kHz 1kHz 1kHz 1kHz ...

Page 34

... DLPF Characteristics: The gain and phase responses of the digital low pass filter settings (DLPF_CFG) are shown below: 0 -10 -20 -30 -40 -50 0 -45 - Gain and Phase vs. Digital Filter Setting - - Gain and Phase vs. Digital Filter Setting, Showing Passband Details Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Bode Diagram Frequency (Hz) Bode Diagram ...

Page 35

... If LATCH_INT_EN = 1, the INT pin is held active until the interrupt status register is cleared. Note that if the application requires reading every sample of data from the IMU-3000 best to enable the raw data ready interrupt (RAW_RDY_EN). This allows the application to know when new sample data is available ...

Page 36

... FIFO_FULL Description: This register is used to determine the status of the IMU-3000 interrupt. Whenever one of the interrupt sources is triggered, the corresponding bit will be set. The polarity of the interrupt pin (active high/low) and the latch type (pulse or latch) has no affect on these status bits. In normal use, the RAW_DATA_RDY interrupt is used to determine when new sensor data is available in either the sensor registers ( the FIFO (60) ...

Page 37

... GYRO_ZOUT_H/L 16-bit Z gyro output data (2’s complement data format) 16-bit X aux (accel) output data (as available from aux) AUX_XOUT_H/L 16-bit Y aux (accel) output data (as available from aux) AUX_YOUT_H/L 16-bit Z aux (accel) output data (as available from aux) AUX_ZOUT_H/L Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Bit6 Bit5 Bit4 Bit3 ...

Page 38

... These registers indicate how many bytes of valid data are contained in the FIFO. The FIFO can contain up to 512 bytes of data If the FIFO gets filled up completely, the length will read 512. In this state, the IMU-3000 continues to put new sensor data into the FIFO, thus overwriting old FIFO data. Note, however, that the alignment of sensor data can change in this overflow condition ...

Page 39

... This is the output register of the FIFO. Each read of this register gets the oldest contents of the IMU- 3000 FIFO buffer; thus the data is read out in the same order that the IMU-3000 put the data in. If the FIFO operation is enabled, the IMU-3000 puts new data into the FIFO at each sample interval. ...

Page 40

... IMU-3000 Product Specification (Note that AUX_XOUT, AUX_YOUT, and AUX_ZOUT are the X, Y, and Z accelerometer outputs, Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Reading from the FIFO respectively ...

Page 41

... IMU-3000 and allow the processor to control the accelerometer device (as well as the IMU). Pass through mode is useful for allowing the processor to configure the accelerometer, since the IMU-3000 can perform burst reads on the accelerometer, but is not set up to configure the device. ...

Page 42

... On power up, the IMU-3000 defaults to the internal oscillator highly recommended that the device is configured to use one of the gyros (or an external clock) as the clock reference, due to the improved stability. Parameters: Reset device and internal registers to the power-up-default settings H_RESET Enable low power sleep mode ...

Page 43

... Do use ESD protection measures to ensure that personnel prevent Human Body Model (HBM) type ESD damage 6. Do not mechanically impact or shock the package in any of the production processes 11.1 Orientation The diagram below shows the orientation of the axes of sensitivity and the polarity of rotation. Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 44

... IMU-3000 Product Specification 11.2 PCB Layout Guidelines 11.2.1 Package Dimensions Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 45

... PCB Design Guidelines The Pad Diagram is shown in Figure 2 using a JEDEC type extension with solder rising on the outer edge. The Pad Dimensions Table shows pad sizing (mean dimensions) for the IMU-3000 product. JEDEC type extension with solder rising on outer edge Nominal Package I/O Pad Dimensions (mm) ...

Page 46

... MEMS gyro. 11.2.3 Exposed Die Pad Precautions The IMU-3000 has very low active and standby current consumption. The exposed die pad is not required for heat sinking, and should not be soldered to the PCB since soldering to it contributes to performance changes due to package thermo-mechanical stress ...

Page 47

... Orientation Error The specification for cross-axis sensitivity in Section 3 includes the effect of the die orientation error with respect to the package. Cross-Axis Sensitivity (θ or Φ) (sinθ or sinΦ) 0º 0% 0.5º 0.87% 1º 1.75 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 48

... Therefore, MEMS devices require different handling precautions than conventional ICs prior to mounting onto printed circuit boards (PCBs). The IMU-3000 gyroscope has a shock tolerance of 10,000g. InvenSense packages its gyroscopes as it deems proper for protection against normal handling and shipping. It recommends the following handling precautions to prevent potential damage. • ...

Page 49

... IMU-3000 Product Specification 11.9 Reflow Specification The IMU-3000 gyroscope was qualified in accordance with IPC/JEDEC J-STD-020C. This standard classifies proper packaging, storage and handling to avoid subsequent thermal and mechanical damage during assembly solder reflow attachment. Classification specifies a bake cycle, moisture soak cycle in a temperature humidity oven, followed by three solder reflow cycles and functional testing for qualification ...

Page 50

... IMU-3000 Product Specification 11.10 Storage Specifications The storage specification of the IMU-3000 gyroscope conforms to IPC/JEDEC J-STD-020C Moisture Sensitivity Level (MSL) 3. Storage Specifications for IMU-3000 Calculated shelf-life in moisture-sealed bag After opening moisture-sealed bag Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 12 months -- Storage conditions: <40°C and <90% RH 168 hours -- Storage conditions: ambient ≤ ...

Page 51

... IMU-3000 Product Specification 11.11 Package Marking Specification 11.12 Tape & Reel Specification Package Marking Specification Tape Dimensions Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 ...

Page 52

... Pieces per Carton (max) Reel Outline Drawing REEL (mm) V 100 User Direction of Feed Label Reel Tape and Reel Specification 5,000 1 3 15,000 Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 W Z 13.2 2.2 Cover Tape (Anti-Static) Carrier Tape (Anti-Static) Terminal Tape ...

Page 53

... IMU-3000 Product Specification 11.13 Label 11.14 Packaging Moisture Barrier Bag With Labels Reel in Box Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Anti-static Label Moisture-Sensitive Caution Label Tape & Reel Label Box with Tape & Reel Label Location of Label Moisture-Sensitive Caution Label ...

Page 54

... JEDEC JESD22-A104D Condition N, -40°C to +85°C, Board T/C Soak Mode 2, 100 cycles Tests are preceded by MSL3 Preconditioning in accordance with JEDEC JESD22-A113F (1) – Accelerated Life Tests Device Component Level Tests Board Level Tests Document Number: PS-IMU-3000A-00-01.1 Revision: 1.1 Release Date: 08/19/2010 Acc / Lot Sampl Reject Quantity e / Lot ...

Page 55

... IMU-3000 Product Specification 13 Environmental Compliance The IMU-3000 is RoHS and Green compliant. The IMU-3000 is in full environmental compliance as evidenced in report HS-IMU-3000, Materials Declaration Data Sheet. Environmental Declaration Disclaimer: InvenSense believes this environmental information to be correct but cannot guarantee accuracy or completeness. Conformity documents for the above component constitutes are on file. InvenSense subcontracts manufacturing and the information contained herein is based on data received from vendors and suppliers, which has not been validated by InvenSense ...

Page 56

... IMU-3000 Product Specification This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense for its use, or for any infringements of patents or other rights of third parties that may result from its use. Specifications are subject to change without notice. InvenSense reserves the right to make changes to this product, including its circuits and software, in order to improve its design and/or performance, without prior notice ...

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