User Manual
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
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4.17 Registers 59 to 64 – Accelerometer Measurements
ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and
ACCEL_ZOUT_L
Type: Read Only
Register
(Hex)
Register
(Decimal)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
3B
59
ACCEL_XOUT[15:8]
3C
60
ACCEL_XOUT[7:0]
3D
61
ACCEL_YOUT[15:8]
3E
62
ACCEL_YOUT[7:0]
3F
63
ACCEL_ZOUT[15:8]
40
64
ACCEL_ZOUT[7:0]
Description:
These registers store the most recent accelerometer measurements.
Accelerometer measurements are written to these registers at the Sample Rate as defined in
Register 25.
The accelerometer measurement registers, along with the temperature measurement registers,
gyroscope measurement registers, and external sensor data registers, are composed of two sets of
registers: an internal register set and a user-facing read register set.
The data within the accelerometer sensors’ internal register set is always updated at the Sample
Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values
whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read
measurements from the same sampling instant. Note that if burst reads are not used, the user is
responsible for ensuring a set of single byte reads correspond to a single sampling instant by
checking the Data Ready interrupt.
Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS (Register 28). For
each full scale setting, the accelerometers’ sensitivity per LSB in ACCEL_xOUT is shown in the table
below.
AFS_SEL
Full Scale Range
LSB Sensitivity
0
±2g
16384 LSB/g
1
±4g
8192 LSB/g
2
±8g
4096 LSB/g
3
±16g
2048 LSB/g
Parameters:
ACCEL_XOUT 16-bit 2’s complement value.
Stores the most recent X axis accelerometer measurement.
ACCEL_YOUT 16-bit 2’s complement value.
Stores the most recent Y axis accelerometer measurement.
ACCEL_ZOUT 16-bit 2’s complement value.
Stores the most recent Z axis accelerometer measurement.