User Manual

MPU-6000/MPU-6050 Register Map and

Descriptions

Document Number: RM-MPU-6000A-00

Revision: 4.2

Release Date: 08/19/2013

5 of 46

2 Purpose and Scope

This document provides preliminary information regarding the register map and descriptions for the Motion

Processing Units™ MPU-6000™ and MPU-6050™, collectively called the MPU-60X0™ or MPU™.

The MPU devices provide the world’s first integrated 6-axis motion processor solution that eliminates the

package-level gyroscope and accelerometer cross-axis misalignment associated with discrete solutions. The

devices combine a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die together with an

onboard Digital Motion Processor™ (DMP™) capable of processing complex 9-axis sensor fusion algorithms

using the field-proven and proprietary MotionFusion™ engine.

The MPU-6000 and MPU-6050’s integrated 9-axis MotionFusion algorithms access external magnetometers

or other sensors through an auxiliary master I

C bus, allowing the devices to gather a full set of sensor data

without intervention from the system processor. The devices are offered in the same 4x4x0.9 mm QFN

footprint and pinout as the current MPU-3000™ family of integrated 3-axis gyroscopes, providing a simple

upgrade path and facilitating placement on already space constrained circuit boards.

For precision tracking of both fast and slow motions, the MPU-60X0 features a user-programmable

gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps). The parts also have a user-

programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g.

The MPU-6000 family is comprised of two parts, the MPU-6000 and MPU-6050. These parts are identical to

each other with two exceptions. The MPU-6050 supports I

C communications at up to 400kHz and has a

VLOGIC pin that defines its interface voltage levels; the MPU-6000 supports SPI at up to 20MHz in addition

to I

C, and has a single supply pin, VDD, which is both the device’s logic reference supply and the analog

supply for the part.

For more detailed information for the MPU-60X0 devices, please refer to the “MPU-6000 and MPU-6050

Product Specification”.