ICM-42670-P
ICM-42688-P
ICM-456xy
6-Axis
9-Axis
ICM-20948
ICG-20330
3-Axis
1-Axis & 2-Axis
ICM-42688-V
ICM-40627
ICM-42605
ICM-40609-D
IIM-42352
IIM-46230
IIM-46234
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Home › Solutions › SmartMotion › 6-Axis |
6-Axis MEMS Motion SensorsOVERVIEW InvenSense’s 6-axis family of motion sensors with a 3‑axis gyroscope and a 3‑axis accelerometer on the same silicon die are the highest performance sensors in the market with the lowest noise, best temperature stability, and highest sensitivity accuracy. These key factors are key to create applications such as navigation, imaging, and augmented reality, with the best user experience. This portfolio includes sensors with intelligent on‑board processing designed for the smart use of power where the main processor can be kept in low power mode, such as when a wearable device is keeping track of a user’s steps to count calorie expenditure. These devices enable manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for consumers. The 6-axis family also supports highly configurable multi‑interface devices that for example support external devices such as manometers and barometers. Combined with the InvenSense MotionApps™ Platform, sensor management is offloaded from the operating system and the motion‑based complexities are abstracted using a structured set of APIs for application‑development. |
| Product |  ICM-42688-P |  ICM-42688-V |  ICM-42670-P |  ICM-42605 |  ICM-40627 |  ICM-40609-D |  ICM-20609 |
|---|---|---|---|---|---|---|---|
| Purchase | |||||||
| Status | Production | Production | Production | Production | Production | Production | Production |
| Key Attribute | Highest Performance 6-axis IMU with advanced motion features and events | High Precision 6-Axis MEMS MotionTracking Device with Advanced Sensor Fusion Library | Cost-Optimal Lowest power IMU with advanced motion features | Low Power 6-axis IMU with high performance and advanced motion features and events | High Performance 6-Axis MotionTracking IMU with Air Motion Library | TDK SmartMotion™ solution designed for drone market | High Performance 6-Axis Motion Tracking IMU |
| Target Market & Applications | AR/VR/XR, Robotics, High-Performance IoT | Sensor Fusion with Quaternions, Yaw/Pitch/Roll | Wearables, TWS, Gaming, IoT | Mobile Devices, Tablets, Cameras, IoT | Air Mouse, Smart Remotes, Pointing Devices | Drones, Gimbals | Smartphones, Tablets, Gaming, Wearables, Robotics, IoT |
| # Axes | 6 | 6 | 6 | 6 | 6 | 6 | 6 |
| Sensors | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro |
| Embedded Processor(s) | Advanced Pedometer and Event Detection (APEX) | Advanced Pedometer and Event Detection (APEX) | Advanced Pedometer and Event Detection (APEX) | Advanced Pedometer and Event Detection (APEX) | Advanced Pedometer and Event Detection (APEX) | Advanced Pedometer and Event Detection (APEX) | DMP |
| Features | Pedometer, Tilt Detection, Tap Detection, Wake on Motion, Raise to Wake/Sleep, Significant Motion Detection, Real Time Clock (RTC) input, 19/18 bit data format in FIFO for Gyro/Accel | Pedometer, Tilt Detection, Tap Detection, Wake on Motion, Raise to Wake/Sleep, Significant Motion Detection Real Time Clock (RTC) input, 19/18 bit data format in FIFO for Gyro/Accel | Wake on Motion, Freefall Detection, Low-G detection, Pedometer, Tilt Detection, Significant Motion Detection, Independent FIFO ODR | Pedometer, Tilt Detection, Tap Detection, Wake on Motion, Raise to Wake/Sleep, Significant Motion Detection | Pedometer, Tilt Detection, Tap Detection, Wake on Motion, Raise to Wake/Sleep, Significant Motion Detection | 32g Accel FSR and 32kHz ODR for max data collection. Best-in-class accuracy over temperature | DMP Features: 6-axis sensor fusion, gyro dynamic calibration, significant motion detection, pedometer |
| Package-Pin | 2.5 × 3 × 0.91 mm LGA 14-leads | 2.5 × 3 × 0.91 mm LGA 14-leads | 2.5 × 3 × 0.76 mm LGA 14-leads | 2.5 × 3 × 0.91 mm LGA 14-leads | 2.5 × 3 × 0.91 mm LGA 14-leads | 3 × 3 × 0.91 mm LGA 24-leads | 3 × 3 × 0.75 mm LGA 16-leads |
Gyroscope | |||||||
| FSR (dps) | ±15.625 ±31.25 ±62.5 ±125 ±250 ±500 ±1000 ±2000 | ±15.625 ±31.25 ±62.5 ±125 ±250 ±500 ±1000 ±2000 | ±250 ±500 ±1000 ±2000 | ±15.625 ±31.25 ±62.5 ±125 ±250 ±500 ±1000 ±2000 | ±250 ±500 ±1000 ±2000 | ±15.625 ±31.25 ±62.5 ±125 ±250 ±500 ±1000 ±2000 | ±250 ±500 ±1000 ±2000 |
| Gyro ZRO (dps) | ±0.5 | ±0.5 | ±1 | ±0.5 | ±5 | ±1 | ±10 MAX |
| Gyro Offset Stability TC (dps/°C) | ±0.005 (0°C to 70°C) | ±0.005 (0°C to 70°C) | ±0.015 (-40°C to 85°C) | ±0.02 (-40°C to 85°C) | ±0.03 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.1 MAX (-40°C to 85°C) |
| Gyro Sensitivity Error (%) | ±0.5% | ±0.5% | ±1% | ±0.5% | ±1% | ±0.5% | ±2% MAX |
| Gyro Sensitivity/Temp (%/°C) | ±0.005 (0°C to 70°C) | ±0.005 (0°C to 70°C) | ±0.007 (-40°C to 85°C) | ±0.005 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.045 (-40°C to 85°C) | ±0.024 MAX (-40°C to 85°C) |
| Gyro Cross-Axis Sensitivity (%) | ±1.25% | ±1.25% | ±2% | ±1% | ±2% | ±1% | ±2% |
| Gyro Nonlinearity (%) | ±0.1% | ±0.1% | ±0.1% | ±0.1% | ±0.2% | ±0.1% | ±0.1% |
| Gyro Noise (dps/√Hz) | 0.0028 | 0.0028 | 0.007 | 0.0038 | 0.007 | 0.0045 | 0.006 |
| Gyro Output Data Rate (Hz) | 12.5Hz to 32kHz | 12.5Hz to 32kHz | 12.5Hz to 1.6kHz | 12.5Hz to 8kHz | 12.5Hz to 8KHz | 1.5625Hz to 32kHz | 3.9Hz to 8kHz |
Accelerometer | |||||||
| FSR (g) | ±2/4/8/16 | ±2/4/8/16 | ±2/4/8/16 | ±2/4/8/16 | ±2/4/8/16 | ±4/8/16/32 | ±2/4/8/16 |
| Accel ZGO (mg) | ±20 | ±20 | ±25 | ±20 | ±60 | ±40 | ±100 MAX |
| Offset Stability TC (mg/°C) | ±0.15 (-40°C to 85°C) | ±0.15 (-40°C to 85°C) | ±0.15 (-40°C to 85°C) | ±0.15 (-40°C to 85°C) | ±0.5 (-40°C to 85°C) | ±0.15 (-40°C to 85°C) | ±1.5 (-40°C to 85°C) |
| Accel Sensitivity Error (%) | ±0.5% | ±0.5% | ±1% | ±0.5% | ±1% | ±0.5% | ±2% MAX |
| Accel Sensitivity/Temp (%/°C) | ±0.005 (-40°C to 85°C) | ±0.005 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.005 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.007 (-40°C to 85°C) | ±0.016 MAX (-40°C to 85°C) |
| Accel Cross-Axis Sensitivity (%) | ±1% | ±1% | ±1% | ±1% | ±2% | ±1% | ±2% |
| Accel Nonlinearity (%) | ±0.1% | ±0.1% | ±0.1% | ±0.1% | ±0.2% | ±0.1 | ±0.25% MAX |
| Accel Noise (μg/√Hz) | XY: 65, Z: 70 | XY: 65, Z: 70 | 100 | 70 | 110 | 100 | 210 MAX |
| Accel Output Data Rate (Hz) | 1.5625 Hz to 32 kHz | 1.5625 Hz to 32 kHz | 1.5625 Hz to 1.6 kHz | 1.5625 Hz to 8 kHz | 1.5625 Hz to 8 kHz | 1.5625 Hz to 32 kHz | 4 Hz to 4 kHz |
General | |||||||
| Bus Interface | SPI; I²C; I3C℠ | SPI; I²C; I3C℠ | SPI; I²C; I3C℠ | SPI; I²C; I3C℠ | SPI; I²C | SPI; I²C | SPI; I²C |
| FSYNC Support | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
| Memory (FIFO) | 2 Kbytes | 2 Kbytes | 2.25 Kbytes | 2 Kbytes | 2 Kbytes | 2 Kbytes | 4 Kbytes |
| Accel Current LP Mode | NA | NA | 9.8 µA (@25Hz) | 46 µA (@200 Hz) | 46 µA (@200 Hz) | 60 µA | 57 µA (@100 Hz) |
| Gyro Current LN Mode | 0.73 mA | 0.73 mA | 0.42 mA | 0.52 mA | 0.52 mA | 0.61 mA | 2.6 mA 1.6 mA (Gyro LP mode @100Hz) |
| Accel Current LN Mode | 0.28 mA | 0.28 mA | 0.20 mA | 0.25 mA | 0.25 mA | 0.27 mA | 0.39 mA |
| 6-Axis Current LN Mode | 0.88 mA | 0.88 mA | 0.55 mA | 0.65 mA | 0.65 mA | 0.77 mA | 3 mA 1.9 mA (Gyro LP @100Hz + Accel LN) |
Datasheet |
NOT RECOMMENDED FOR NEW DESIGNS
| Product |  ICM-20602 |  ICM-20600 |  ICM-20603 |  MPU-6500 |
|---|---|---|---|---|
| Purchase | ||||
| Status | NR/ND | NR/ND | NR/ND | NR/ND |
| Key Attribute | High Performance 6-Axis Motion Tracking IMU | High Performance 6-Axis Motion Tracking IMU | High Performance 6-Axis Motion Tracking IMU with Specialized Software for HMD and VR | 6-Axis MotionTracking IMU |
| Target Market & Applications | Gaming, Wearables, Robotics, IoT | Smartphones, IoT | Head Mount Tracking and VR Applications | General IMU Market |
| # Axes | 6 | 6 | 6 | 6 |
| Sensors | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro |
| Embedded Processor(s) | No | No | No | DMP |
| Features | Wake on Motion | Wake on Motion | External SW Senor Fusion Library with 1Khz Sensor Fusion output and bias tracking dynamic calibration | DMP Features: 6-axis sensor fusion, gyro dynamic calibration, Tap Detection, Android Orientation, Pedometer |
| Package-Pin | 3 × 3 × 0.75 mm LGA 16-leads | 2.5 × 3 × 0.91 mm LGA 14-leads | 3 × 3 × 0.75 mm LGA 16-leads | 3 × 3 × 0.9 mm QFN 24-leads |
Gyroscope | ||||
| FSR (dps) | ±250 ±500 ±1000 ±2000 | ±250 ±500 ±1000 ±2000 | ±250 ±500 ±1000 ±2000 | ±250 ±500 ±1000 ±2000 |
| Gyro ZRO (dps) | ±1 | ±1 | ±1 | ±5 |
| Gyro Offset Stability TC (dps/°C) | ±0.01 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.24 (-40°C to 85°C) |
| Gyro Sensitivity Error (%) | ±1% | ±1% | ±1% | ±3% |
| Gyro Sensitivity/Temp (%/°C) | ±0.016 (-40°C to 85°C) | ±0.016 (-40°C to 85°C) | ±0.02 MAX (-40°C to 85°C) | ±0.032 (-40°C to 85°C) |
| Gyro Cross-Axis Sensitivity (%) | ±1% | ±1% | ±1% | ±2% |
| Gyro Nonlinearity (%) | ±0.1% | ±0.1% | ±0.1% | ±0.1% |
| Gyro Noise (dps/√Hz) | 0.004 | 0.004 | 0.004 | 0.01 |
| Gyro Output Data Rate (Hz) | 3.9Hz to 8kHz | 3.9Hz to 8kHz | 3.9Hz to 8kHz | 4Hz to 8kHz |
Accelerometer | ||||
| FSR (g) | ±2/4/8/16 | ±2/4/8/16 | ±2/4/8/16 | ±2/4/8/16 |
| Accel ZGO (mg) | ±40 | ±40 | ±40 | ±60 |
| Offset Stability TC (mg/°C) | X, Y: ±0.5, Z: ±1 (-40°C to 85°C) | X, Y: ±0.5, Z: ±1 (-40°C to 85°C) | X, Y: ±0.5, Z: ±1 (-40°C to 85°C) | X, Y: ±0.64, Z: ±1 (-40°C to 85°C) |
| Accel Sensitivity Error (%) | ±1% | ±1% | ±1% | ±3% |
| Accel Sensitivity/Temp (%/°C) | ±0.012 (-40°C to 85°C) | ±0.012 (-40°C to 85°C) | ±0.016 MAX (-40°C to 85°C) | ±0.026 (-40°C to 85°C) |
| Accel Cross-Axis Sensitivity (%) | ±1% | ±1% | ±1% | ±2% |
| Accel Nonlinearity (%) | ±0.3% | ±0.3% | ±0.3% | ±0.5% |
| Accel Noise (μg/√Hz) | 100 | 100 | 100 | 300 |
| Accel Output Data Rate (Hz) | 3.9 Hz to 4 kHz | 3.9 Hz to 4 kHz | 3.9 Hz to 4 kHz | 4 Hz to 1 kHz |
General | ||||
| Bus Interface | SPI; I²C | SPI; I²C | SPI; I²C | SPI; I²C |
| FSYNC Support | Yes | Yes | Yes | Yes |
| Memory (FIFO) | 1 Kbyte | 1 Kbyte | 1 Kbyte | 512 bytes |
| Accel Current LP Mode | 40 µA (@100 Hz) | 40 µA (@100 Hz) | 40 µA (@100 Hz) | 7.27µA (@0.98 Hz) |
| Gyro Current LN Mode | 2.55 mA 1.08 mA (Gyro LP mode @100Hz) | 2.55 mA 1.08 mA (Gyro LP mode @100Hz) | 2.55 mA 1.08 mA (Gyro LP mode @100Hz) | 3.2 mA |
| Accel Current LN Mode | 0.32 mA | 0.32 mA | 0.32 mA | 0.45 mA |
| 6-Axis Current LN Mode | 2.79 mA 1.33 mA (Gyro LP @100Hz + Accel LN) | 2.79 mA 1.33 mA (Gyro LP @100Hz + Accel LN) | 2.79 mA 1.33 mA (Gyro LP @100Hz + Accel LN) | 3.4 mA |
Datasheet |
END OF LIFE
| Product |  ICG-20660/L |  ICM-20689 |  ICM-20690 |  ICM-20649 |  MPU-6050 |
|---|---|---|---|---|---|
| Purchase | |||||
| Status | EOL, LTB 01/31/2024 PCN-000626 | EOL, LTB 01/31/2024 PCN-000626 | EOL, LTB 01/31/2024 PCN-000613 | EOL, LTB 01/31/2024 PCN-000615 | EOL, LTB 01/31/2024 PCN-000614 |
| Key Attribute | High Performance 6-Axis IMU with Enhanced Camera Support | High Performance 6-Axis Motion Tracking IMU in legacy package | 6-Axis Dual-Mode (UI and OIS) MEMS Motion Tracking Device | High Performance, High Sense Range 6-Axis Motion Tracking IMU | 6-Axis MotionTracking IMU |
| Target Market & Applications | Camera Applications: EIS and OIS | Smartphones, Tablets, Drones, Gaming, Wearables | Smartphones and Tablets, Head Mounted Displays | Sports, Wearable Sensors, High Impact Applications | General IMU Market |
| # Axes | 6 | 6 | 6 | 6 | 6 |
| Sensors | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro | Accel + Gyro |
| Embedded Processor(s) | No | DMP | No | DMP | DMP |
| Features | Low Sensitivity Errors gyros | DMP Features: 6-axis sensor fusion, gyro dynamic calibration | Wake on Motion | DMP based 6 & 9-axis Cal/Fusion, Android M features : Pedometer, Significant Motion, Bring to See, Basic Activity Classfication, Pick Up | DMP Features: 6-axis sensor fusion, gyro dynamic calibration, Tap Detection, Android Orientation, Pedometer |
| Package-Pin | 3 × 3 × 0.75 mm LGA 16-leads | 4 × 4 × 0.9 mm QFN 24-leads | 2.5 × 3 × 0.91 mm LGA 14-leads | 3 × 3 × 0.9 mm QFN 24-leads | 4 × 4 × 0.9 mm QFN 24-leads |
Gyroscope | |||||
| FSR (dps) | ±125 ±250 ±500 | ±250 ±500 ±1000 ±2000 | ±31.25 ±62.5 ±125 ±250 ±500 ±1000 ±2000 | ±500 ±1000 ±2000 ±4000 | ±250 ±500 ±1000 ±2000 |
| Gyro ZRO (dps) | ±5 | ±5 | ±1 | ±5 | ±20 |
| Gyro Offset Stability TC (dps/°C) | ±0.053 (-20°C to 75°C) | ±0.04 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.025 (-40°C to 85°C) | ±0.16 (-40°C to 85°C) |
| Gyro Sensitivity Error (%) | ICG-20660: ±3% TYP ICG-20660L: ±1% MAX | ±2 | ±0.5% | ±0.5% | ±3% |
| Gyro Sensitivity/Temp (%/°C) | ICG-20660: ±0.032 (-20°C to 75°C) TYP ICG-20660L: ±0.032 (-20°C to 75°C) MAX | ±0.012 (-40°C to 85°C) | ±0.01 (-40°C to 85°C) | ±0.016 (-40°C to 85°C) | ±0.016 (-40°C to 85°C) |
| Gyro Cross-Axis Sensitivity (%) | ±5% | ±2% | ±1% | ±2% | ±2% |
| Gyro Nonlinearity (%) | ±0.1% | ±0.1% | ±0.1% | ±0.1% | ±0.2% |
| Gyro Noise (dps/√Hz) | ICG-20660: 0.0065 ICG-20660L: 0.005 | 0.006 | 0.004 | 0.0175 | 0.005 |
| Gyro Output Data Rate (Hz) | 1kHz to 8kHz | 3.9Hz to 8kHz | 3.91Hz to 32kHz | 4.4Hz to 9KHz | 4Hz to 8kHz |
Accelerometer | |||||
| FSR (g) | ±2/4/8/16 | ±2/4/8/16 | ±2/4/8/16 | ±4/8/16/32 | ±2/4/8/16 |
| Accel ZGO (mg) | X/Y: ±40 Z: ±65 | ±20 | ±40 | ±65 | X/Y: ±50 Z: ±80 |
| Offset Stability TC (mg/°C) | ±0.526 (-20°C to 75°C) | X, Y: ±0.5, Z: ±.75 (-40°C to 85°C) | X, Y: ±0.5, Z: ±0.7 (-40°C to 85°C) | ±0.8 (0°C to 85°C) | X, Y: ±0.5, Z: ±0.86 (-0°C to 70°C) |
| Accel Sensitivity Error (%) | ICG-20660: ±1% TYP ICG-20660L: ±1% MAX | ±2% | ±0.5% | ±0.5% | ±3% |
| Accel Sensitivity/Temp (%/°C) | ICG-20660: ±0.026 (-20°C to 75°C) TYP ICG-20660L: ±0.026 (-20°C to 75°C) MAX | ±0.008 (-40°C to 85°C) | ±0.008 (-40°C to 85°C) | ±0.0168 (-40°C to 85°C) | ±0.02 (-40°C to 85°C) |
| Accel Cross-Axis Sensitivity (%) | ±2% | ±2% | ±1% | ±2% | ±2% |
| Accel Nonlinearity (%) | ±0.5% | ±0.5% | ±0.3% | ±0.5% | ±0.5% |
| Accel Noise (μg/√Hz) | 220 | 150 | 100 | 285 | 400 |
| Accel Output Data Rate (Hz) | 4 Hz to 4 kHz | 4 Hz to 4 kHz | 3.91 Hz to 4 kHz | 4.5 Hz to 4.5 kHz | 4 Hz to 1 kHz |
General | |||||
| Bus Interface | SPI; I²C | SPI; I²C | SPI; I²C | SPI; I²C | SPI; I²C |
| FSYNC Support | Yes | Yes | Yes | Yes | Yes |
| Memory (FIFO) | 512 bytes | 4 Kbytes | 1 Kbyte | 4 Kbytes | 1 Kbytes |
| Accel Current LP Mode | 57 µA (@100 Hz) | 57 µA (@100 Hz) | 50 µA (@100 Hz) | 68.9 µA (@102.3 Hz) | 10µA (@1.25 Hz) |
| Gyro Current LN Mode | 2.6 mA 1.6 mA (Gyro LP mode @100Hz) | 2.55 mA 1.2 mA (Gyro LP mode @100Hz) | 1.23 mA (Gyro LP Mode @102.3Hz) | 3.6 mA | |
| Accel Current LN Mode | 0.39 mA | 0.33 mA | 68.9 µA (Accel LP Mode @102.3 Hz) | 500 | |
| 6-Axis Current LN Mode | 3 mA | 3 mA 1.9 mA (Gyro LP @100Hz + Accel LN) | 2.7 mA 1.4 mA (Gyro LP @100Hz + Accel LN) | 1.27 mA (Gyro/Accel LP Mode @102.3Hz) | 3.8 mA |
Datasheet |
