MPU-6000 INVENSENSE, MPU-6000 Datasheet
MPU-6000
Specifications of MPU-6000
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MPU-6000 Summary of contents
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... Borregas Ave, Sunnyvale, CA 94089 U.S.A. Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 MPU-6000 and MPU-6050 Product Specification CONFIDENTIAL & PROPRIETARY InvenSense Inc. Website: www.invensense.com Revision 1 Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... MPU-6000/MPU-6050 Product Specification CONTENTS 1 REVISION HISTORY ................................................................................................................................... 5 2 PURPOSE AND SCOPE ............................................................................................................................. 6 3 PRODUCT OVERVIEW ............................................................................................................................... 6 4 APPLICATIONS ........................................................................................................................................... 7 5 FEATURES .................................................................................................................................................. 8 5 YROSCOPE EATURES 5 CCELEROMETER EATURES 5 DDITIONAL EATURES 5 .......................................................................................................................... 9 OTION ROCESSING 5.5 C ........................................................................................................................................... 9 LOCKING 6 ELECTRICAL CHARACTERISTICS ......................................................................................................... 10 6 YROSCOPE PECIFICATIONS 6 CCELEROMETER PECIFICATIONS 6 LECTRICAL AND THER 6.4 ...
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... CONFIDENTIAL & PROPRIETARY AXIS ENSOR USION SING ..................................................................................................... 26 NTERFACE ..................................................................... 28 ERO OTION IGNAL ATHS .................................................................................................................. 29 .......................................................................................................... 30 ................................................................................................................. 30 S .......................................................................................... 31 ENSOR ) S I .......................................................................... 32 ONLY ERIAL NTERFACES ...................................................................................................... 32 ROTOCOL ) .................................................................................................... 36 ONLY I ................................................................................................. 37 NTERFACES AUX_VDDIO = 0 .................................................................................. 38 AUX_VDDIO = 1 .................................................................................. 39 ...................................................................................................................... 40 ...................................................................................................................... 41 : ................................................................................................................. 42 .................................................................................................................. ................................................................................... 43 OUNT UIDELINES .................................................................................................. 43 RECAUTIONS Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 .......................................... 25 NTERFACE ...
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... PECIFICATION 12.6 T & APE EEL PECIFICATION 12.7 L ............................................................................................................................................... 50 ABEL 12.8 P ....................................................................................................................................... 50 ACKAGING 13 RELIABILITY ............................................................................................................................................. 51 13 UALIFICATION EST OLICY 13 UALIFICATION EST LAN 14 ENVIRONMENTAL COMPLIANCE ........................................................................................................... 52 CONFIDENTIAL & PROPRIETARY .............................................................................................................. .............................................................................. 44 ROSS XIS ENSITIVITY .................................................................................................. 45 ................................................................................................................. 45 ................................................................................................................ 45 ............................................................................................................ 47 PCB .......................................................................................................... 47 .................................................................................................... 47 ............................................................................................................. 48 ............................................................................................................. 51 ................................................................................................................ Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... MPU-6000/MPU-6050 Product Specification 1 Revision History Revision Date Revision Description 11/24/2010 1.0 First revision of MPU-60X0 Product Specification CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... Communication with all registers of the device is performed using either I (MPU-6000 only). For applications requiring faster communications, reading of the sensor and interrupt registers may be performed using SPI at 20MHz (MPU-6000 only). Additional features include an embedded temperature sensor and an on-chip oscillator with ±1% variation over the operating temperature range. ...
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... MPU-6000/MPU-6050 Product Specification The MPU-6000 and MPU-6050 are identical, except that the MPU-6050 supports the I and has a separate VLOGIC reference pin. The MPU-6000 supports both I single supply pin, VDD, which is both the device’s logic reference supply and the analog supply for the part. ...
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... Digital-output temperature sensor • User-programmable digital filters for gyroscope, accelerometer, and temp sensor • 10,000 g shock tolerant • 2 400kHz Fast Mode I C for communicating with all registers CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 C interface voltages (MPU-6050 only ...
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... MPU-6000/MPU-6050 Product Specification • 1MHz SPI serial interface for communicating with all registers (MPU-6000 only) • 20MHz SPI serial interface for reading of sensor and interrupt registers (MPU-6000 only) • MEMS structure hermetically sealed and bonded at wafer level • RoHS and Green compliant 5 ...
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... Sine wave, 100mVpp; VDD=2.5V Sine wave, 100mVpp; VDD=2.5V Static FS_SEL=0 DLPFCFG=2 (100Hz) Bandwidth 1Hz to10Hz At 10Hz and Z axes Programmable 4 DLPFCFG=0 to ±1º/s of Final Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 = 25°C A TYP MAX UNITS NOTES ±2000 º/s ±1000 º/s ±500 º/s ±250 º ...
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... Output in two’s complement format ±2g mode ±4g mode ±8g mode ±16g mode (±2g) Best Fit Straight Line X, Y, and Z axes @10Hz Programmable Range Programmable Range Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 = 25°C A MIN TYP MAX UNITS NOTES ±2 g ± ...
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... TEMPERATURE RANGE Specified Temperature Range Performance parameters are not applicable beyond Specified Temperature Range SERIAL INTERFACE SPI Operating Frequency, All MPU-6000 only, Low Speed Registers Read/Write Characterization MPU-6000 only, High Speed Characterization SPI Operating Frequency, Sensor MPU-6000 only and Interrupt Registers Read Only ...
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... MPU-6000/MPU-6050 Product Specification 6.4 Electrical Specifications, Continued VDD = 2.5V±5%, 3.0V±5%, or 3.3V±5%, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T PARAMETER CONDITIONS TEMPERATURE SENSOR Range Sensitivity Untrimmed Temperature Offset 35 Linearity Best fit straight line (-40°C to +85° ADDRESS AD0 = 0 AD0 = 1 DIGITAL INPUTS (SDI/SDA, ...
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... MPU-6000/MPU-6050 Product Specification 6.5 Electrical Specifications, Continued Typical Operating Circuit of Section 7.2, VDD = 2.5V±5%, 3.0V±5%, or 3.3V±5%, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD 25°C A Parameters 2 Primary I C I/O (SCL, SDA LOW-Level Input Voltage HIGH-Level Input Voltage Hysteresis hys VIL, LOW Level Input Voltage ...
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... CLK_SEL=1,2,3; 25°C -1 CLK_SEL=0 CLK_SEL=1,2,3 CLK_SEL=1,2,3 CLK_SEL=4 Cycle-to-cycle rms DLPFCFG=0 SAMPLERATEDIV = 0 DLPFCFG=1,2,3,4, SAMPLERATEDIV = 0 CLKOUTEN = 1 CLK_SEL=5 Full programmable range 3.9 DLPFCFG=0 SAMPLERATEDIV = 0 DLPFCFG=1,2,3,4, SAMPLERATEDIV = 0 CLKOUTEN = Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Typical Max Units Notes 8 kHz 1 kHz 1 kHz 1.024 MHz + -15 to +10 % ± ...
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... C bus cap. from 10 to 400pF 20+0. bus cap. from 10 to 400pF 20+0.1C b 0.6 1 Bus Timing Diagram Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Typical Max Units Notes 400 kHz µs µs µs µs µs ns 300 ns b 300 ...
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... MPU-6000/MPU-6050 Product Specification 6.8 SPI Timing Characterization (MPU-6000 only) Typical Operating Circuit of Section 7.2, VDD = 2.5V±5%, 3.0V±5%, or 3.3V±5%, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD,T = -40°C to +85°C, unless otherwise noted. A Parameters SPI TIMING f , SCLK Clock Frequency SCLK t , SCLK Low Period ...
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... CPOUT (2.5V ≤ VDD ≤ 3.6V ) Acceleration (Any Axis, unpowered) Operating Temperature Range Storage Temperature Range Electrostatic Discharge (ESD) Protection Latch-up CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 -0.5V to +6V -0.5V to VDD + 0.5V -0.5V to VDD + 0.5V -0.5V to 30V 10,000g for 0.3ms -40° ...
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... MPU-6000/MPU-6050 Product Specification 7 Applications Information 7.1 Pin Out and Signal Description MPU- MPU- Pin Number 6000 6050 19 14 15, 16, 17 Top View CLKIN MPU-6000 AUX_DA QFN Package 24-pin, 4mm x 4mm x 0.9mm CONFIDENTIAL & PROPRIETARY Pin Name CLKIN Optional external reference clock input. Connect to GND if unused. ...
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... MPU-6000/MPU-6050 Product Specification 7.2 Typical Operating Circuit GND 10nF CLKIN 2 3 MPU-6000 4 5 AUX_DA AUX_CL C1 0.1µF GND 7.3 Bill of Materials for External Components Component Regulator Filter Capacitor (Pin 10) VDD Bypass Capacitor (Pin 13) Charge Pump Capacitor (Pin 20) VLOGIC Bypass Capacitor (Pin 8) * MPU-6050 Only ...
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... VLOGIC rise 6. T VLG-VDD always be ≤VDD amplitude 7. VDD and VLOGIC must be monotonic ramps Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 is VDD rise time: Time for VDD to rise is ≤100msec is VLOGIC rise time: Time for is ≤3msec is the delay from the start of VDD ...
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... Z Gyro Temp Sensor Charge Pump 20 CPOUT Note: Pin names in round brackets ( ) apply only to MPU-6000 Pin names in square brackets [ ] apply only to MPU-6050 7.6 Overview The MPU-60X0 is comprised of the following key blocks and functions: • Three-axis MEMS rate gyroscope sensor with 16-bit ADCs and signal conditioning • ...
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... Primary I C and SPI Serial Communications Interfaces The MPU-60X0 communicates to a system processor using either SPI (MPU-6000 only interfaces, and the device always acts as a slave when communicating to the system processor. The logic level for communications to the master is set by the voltage on the VLOGIC pin – (MPU-6050 VDD (MPU-6000). The LSB of the of the I CONFIDENTIAL & ...
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... C Master Mode, where the MPU-60X0 acts bus; and Pass-Through Mode, where the 2 C buses together, to allow the system processor bus (Pins 23 and 24) through analog Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 C bus pins (AUX_DA and AUX_CL bus control logic (third- 2 ...
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... In the figure below, the system processor master to the optional external compass sensor. The MPU-6000 has limited capabilities Master, and depends on the system processor to manage the initial configuration of any auxiliary sensors. The MPU-6000 has an interface bypass multiplexer, which connects the system processor I ...
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... MPU-6000/MPU-6050 Product Specification 7.14 MPU-6000 Using SPI Interface In the figure below, the system processor is an SPI master to the MPU-6000. Pins 8, 9, 23, and 24 are used to support the /CS, SDO, SCLK, and SDI signals for SPI communications. Because these SPI pins are 2 shared with the I ...
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... X Accel Y Accel Z Accel CONFIDENTIAL & PROPRIETARY Module Free Fall Motion Zero Motion FIFO PLL DMP Sensor Registers Master Master MPU-60X0 Signal Conditioning ADC ADC ADC Sensor Filtering Registers ADC ADC ADC Motion Detection Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... A qualifying motion sample is one where the high passed sample from any axis has an absolute value exceeding a user-programmable threshold. A counter increments for each qualifying sample, and decrements for each non-qualifying sample. Once the counter reaches a user-programmable CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... Zero Motion is no longer detected. While Free Fall and Motion are indicated with a flag which clears after being read, reading the state of the Zero Motion detected from the MOT_DETECT_STATUS register does not clear its status. CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... 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); (4) accelerometer event interrupts; and (5) the MPU-60X0 did not CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... An on-board charge pump generates the high voltage required for the MEMS oscillators. Its output is bypassed by a capacitor at CPOUT. For further details on the capacitor, please refer to the for External Components section. CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 C bus. The interrupt status can be read ...
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... MPU-6000/MPU-6050 Product Specification 10 Digital Interface 2 10 and SPI (MPU-6000 only) Serial Interfaces The internal registers and memory of the MPU-6000/MPU-6050 can be accessed using either I or SPI at 1MHz (MPU-6000 only). SPI operates in four-wire mode. Serial Interface Pin Number MPU-6000 MPU-6050 Note prevent switching into I C mode when using SPI (MPU-6000), the I setting the I2C_IF_DIS configuration bit ...
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... DATA OUTPUT BY TRANSMITTER (SDA) DATA OUTPUT BY RECEIVER (SDA) SCL FROM MASTER START condition CONFIDENTIAL & PROPRIETARY START and STOP Conditions Acknowledge on the I C Bus Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 P STOP condition not acknowledge acknowledge 8 9 clock pulse for acknowledgement ...
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... CONFIDENTIAL & PROPRIETARY 9 1 – ACK DATA ACK 2 Complete I C Data Transfer th clock cycle (when the clock is high), the MPU-60X0 acknowledges the DATA P ACK ACK DATA DATA ACK ACK Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 1 – STOP DATA ACK condition P ACK 2 C ...
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... Transmit or received data P Stop condition: SDA going from low to high while SCL is high CONFIDENTIAL & PROPRIETARY S AD+R ACK ACK DATA S AD+R ACK ACK DATA th clock cycle Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 C address and NACK P ACK NACK P DATA ...
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... SPI Interface (MPU-6000 only) SPI is a 4-wire synchronous serial interface that uses two control and two data lines. The MPU-6000 always operates as a Slave device during standard Master-Slave SPI operation. With respect to the Master, the Serial Clock output (SCLK), the Data Output (SDO) and the Data Input (SDI) are shared among the Slave devices. The Master generates an independent Chip Select (/CS) for each Slave device ...
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... C bus, as shown in the figure of Section 10.2.2. CONFIDENTIAL & PROPRIETARY (Pins: SDA, SCL, AD0, CLKIN, INT) VLOGIC VLOGIC 2 C bus, as shown in the figure of Section 10.2.1. When Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 AUXILLARY LOGIC LEVELS (Pins: AUX_DA, AUX_CL) VLOGIC VDD ≤ VDD. ...
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... INT VDD_IO (0V - VLOGIC) 2 SDA I C (0V - VLOGIC) Master IO SCL rd 3 Party Magnetometer (0V - VLOGIC) SDA (0V - VLOGIC) SCL Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 C bus. It VLOGIC VDD_IO SYSTEM BUS System Processor IO VLOGIC VDD_IO (0V, VLOGIC) CS (0V - VLOGIC) INT 1 (0V - VLOGIC) INT 2 (0V, VLOGIC) ...
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... C (0V - VLOGIC) Master IO SCL 0V - VDD SDA 0V - VDD SCL rd 3 Party Magnetometer Configuration 2 3.0V±5% 3.0V± Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 C bus. It VLOGIC VDD_IO SYSTEM BUS System Processor IO VLOGIC VDD VDD INT 1 (0V - VLOGIC) INT 2 (0V - VLOGIC) ...
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... Quad Flat No leads package (QFN) surface mount integrated circuits. 12.1 Orientation of Axes The diagram below shows the orientation of the axes of sensitivity and the polarity of rotation. Note the pin 1 identifier in the figure. Orientation of Axes of Sensitivity CONFIDENTIAL & PROPRIETARY +Z +X and Polarity of Rotation Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 +Y ...
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... L1 0.35 0.40 I 0.20 0.25 R 0.05 --- s 0.05 --- S1 0.15 0.20 CONFIDENTIAL & PROPRIETARY (12x MAX 0.95 0.05 0.30 --- 4.10 3.05 4.10 2.85 --- 0.32 0.40 0.45 0.30 0.10 0.15 0. Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 I PIN 1 IDENTIFIER 0. L(12x corner lead dim ...
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... The Pad Diagram is shown below using a JEDEC type extension with solder rising on the outer edge. The Pad Dimensions Table shows pad sizing (mean dimensions) recommended for the MPU-60X0 product. JEDEC type extension with solder rising on outer edge PIN 1 IDENTIFIER Tout L CONFIDENTIAL & PROPRIETARY Tin PCB Lay-out Diagram Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Tout ...
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... The MPU-60X0 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 CONFIDENTIAL & PROPRIETARY DIMENSIONS IN MILLIMETERS Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 NOM 0.50 ...
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... Cross-Axis Sensitivity vs. Orientation Error Orientation Error CONFIDENTIAL & PROPRIETARY Z Φ Y Θ with Orientation Errors (Θ and Φ) ) Relative to PCB Axes ( Cross-Axis Sensitivity (θ or Φ) (sinθ or sinΦ) 0º 0% 0.5º 0.87% 1º 1.75 Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... Production reflow should never exceed the maximum constraints listed in the table and shown in the figure below that were used for the qualification profile, as these represent the maximum tolerable ratings for the device. CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 ...
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... BC 217 255 260 t < 480 AF 255 10< t < 217 60 < t < 120 DH 25 must equal or exceed the classification temperature. Pmax Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Rate (°C/sec) r < 3 (TLiquidus-TPmax) r < 3 (TLiquidus-TPmax) r < 3 (TLiquidus-TPmax) r < 4 (TPmax-TLiquidus) ...
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... MPU-6000/MPU-6050 Product Specification 12.4.9 Storage Specifications The storage specification of the MPU-60X0 gyroscope conforms to IPC/JEDEC J-STD-020D.01 Moisture Sensitivity Level (MSL) 3. Calculated shelf-life in moisture-sealed bag After opening moisture-sealed bag 12.4.10 Gyro Removal from PCB Never apply high mechanical force while removing MEMS gyros from PCB. Otherwise, the QFN package leads can be removed and failure analysis of the gyro unit will be impossible ...
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... MPU-6000/MPU-6050 Product Specification 12.6 Tape & Reel Specification Reel Dimensions and Package Size PKG SIZE L CONFIDENTIAL & PROPRIETARY Tape Dimensions Reel Outline Drawing REEL (mm Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Z ...
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... Pcs/Carton (max) 15,000 CONFIDENTIAL & PROPRIETARY 100 User Direction of Feed Label Reel Tape and Reel Specification Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 13.2 2.2 Cover Tape (Anti-Static) Carrier Tape (Anti-Static) Terminal Tape ...
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... MPU-6000/MPU-6050 Product Specification 12.7 Label 12.8 Packaging Moisture Barrier Bag With Labels Reel in Box CONFIDENTIAL & PROPRIETARY Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Anti-static Label Moisture-Sensitive Caution Label Tape & Reel Label Box with Tape & Reel Label Location of Label ...
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... JEDEC JESD22-A104D Condition N, (1) Temperature Cycling (TC) [ -40°C to +85°C], Soak Mode 2 [5’], 100 cycles CONFIDENTIAL & PROPRIETARY Accelerated Life Tests Device Component Level Tests Board Level Tests Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 Lot Sample Acc / Quantity / Lot Reject ...
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... Tests are preceded by MSL3 Preconditioning in accordance with JEDEC JESD22-A113F 14 Environmental Compliance The MPU-60X0 is RoHS and Green compliant. The MPU-60X0 is in full environmental compliance as evidenced in report HS-MPU-6000A, 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 ...
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... MPU-6000/MPU-6050 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 ...