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

6-Axis MEMS Motion Sensors

OVERVIEW

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.

6-Axis MotionTracking


Featured Video

Target Markets

  • Smartphones and Tablets
  • Hearables (TWS) and Wearables
  • Augmented Reality Glasses
  • Virtual Reality
  • High-Accuracy Robotics
  • Gaming Controllers
  • Drones, Flight Controllers

6-Axis Product Details

Product
ICM-42688-P

ICM-42688-V

ICM-42670-P

ICM-42605

ICM-40627

ICM-40609-D
Purchase
StatusProductionProductionProductionProductionProductionProduction
Key AttributeHighest Performance 6-axis IMU with advanced motion features and eventsHigh Precision 6-Axis MEMS MotionTracking Device with Advanced Sensor Fusion LibraryCost-Optimal Lowest power IMU with advanced motion featuresLow Power 6-axis IMU with high performance and advanced motion features and eventsHigh Performance 6-Axis MotionTracking IMU with Air Motion LibraryTDK SmartMotion™ solution designed for drone market
Target Market & ApplicationsRobotics, HMD, High performance IoT, AR, VRRobotics, HMD, High performance IoT, AR, VRWearables, TWS, Hearables, IoTSmartphones, Tablets, IoT and WearablesAirmouse, Smart Remote, Pointing DevicesEnhanced Drone Performance
# Axes666666
SensorsAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + 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)
FeaturesPedometer, 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 ODRPedometer, Tilt Detection, Tap Detection, Wake on Motion, Raise to Wake/Sleep, Significant Motion DetectionPedometer, Tilt Detection, Tap Detection, Wake on Motion, Raise to Wake/Sleep, Significant Motion Detection
Package-Pin2.5 × 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

Gyroscope
Specs

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
±250
±500
±1000
±2000
Gyro ZRO (dps)±0.5±0.5±1±0.5±5
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)
Gyro Sensitivity Error (%)±0.5%±0.5%±1%±0.5%±1%±0.5%
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)
Gyro Cross-Axis Sensitivity (%)±1.25%±1.25%±2%±1%±2%
Gyro Nonlinearity (%)±0.1%±0.1%±0.1%±0.1%±0.2%
Gyro Noise (dps/√Hz)0.00280.00280.0070.00380.0070.0045
Gyro Output Data Rate (Hz)12.5Hz to 32kHz12.5Hz to 32kHz12.5Hz to 1.6kHz12.5Hz to 8kHz12.5Hz to 8KHz

Accelerometer
Specs

FSR (g)±2/4/8/16±2/4/8/16±2/4/8/16±2/4/8/16±2/4/8/16
Accel ZGO (mg)±20±20±25±20±60
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)
Accel Sensitivity Error (%)±0.5%±0.5%±1%±0.5%±1%±0.5%
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)
Accel Cross-Axis Sensitivity (%)±1%±1%±1%±1%±2%
Accel Nonlinearity (%)±0.1%±0.1%±0.1%±0.1%±0.2%
Accel Noise (μg/√Hz)XY: 65, Z: 70XY: 65, Z: 7010070110100
Accel Output Data Rate (Hz)1.5625 Hz to 32 kHz1.5625 Hz to 32 kHz1.5625 Hz to 1.6 khz1.5625 Hz to 8 khz1.5625 Hz to 8 khz

General
Specs

Bus InterfaceSPI; I²C; I3C℠SPI; I²C; I3C℠SPI; I²C; I3C℠SPI; I²C; I3C℠SPI; I²CSPI; I²C
FSYNC SupportYesYesYesYesYesYes
Memory (FIFO)2Kbytes2Kbytes2.25 Kbytes2Kbytes2Kbytes
Accel Current LP ModeNANA9.8 µA (@25Hz)46 µA (@200 Hz)46 µA (@200 Hz)
Gyro Current LN Mode0.73 mA0.73 mA0.42 mA0.52 mA0.52 mA
Accel Current LN Mode0.28 mA0.28 mA0.20 mA0.25 mA0.25 mA
6-Axis Current LN Mode0.88 mA0.88 mA0.55 mA0.65 mA0.65 mA
Datasheet

NOT RECOMMENDED FOR NEW DESIGNS

Product
ICG-20660/L

ICM-20602

ICM-20600

ICM-20601

ICM-20603

ICM-20609

ICM-20690

ICM-20649

ICM-20689

MPU-6050

MPU-6500
Purchase
StatusNR/NDNR/NDNR/NDNR/NDNR/NDNR/NDNR/NDNR/NDNR/NDNR/NDNR/ND
Key AttributeHigh Performance 6-Axis IMU with Enhanced Camera SupportHigh Performance 6-Axis Motion Tracking IMUHigh Performance 6-Axis Motion Tracking IMU High Performance, High Sense Range 6-Axis Motion Tracking IMU High Performance 6-Axis Motion Tracking IMU with Specialized Software for HMD and VRHigh Performance 6-Axis Motion Tracking IMU6-Axis Dual-Mode (UI and OIS) MEMS Motion Tracking Device High Performance, High Sense Range 6-Axis Motion Tracking IMU High Performance 6-Axis Motion Tracking IMU in legacy package6-Axis MotionTracking IMU6-Axis MotionTracking IMU
Target Market & ApplicationsCamera Applications: EIS and OISGaming, Wearables, Robotics, IoT Smartphones, IoTNon-Impact Sports and Wearable SensorsHead Mount Tracking and VR ApplicationsSmartphones, Tablets, Gaming, Wearables, Robotics, IoT Smartphones and Tablets, Head Mounted DisplaysSports, Wearable Sensors, High Impact ApplicationsSmartphones, Tablets, Drones, Gaming, Wearables General IMU MarketGeneral IMU Market
# Axes66666666666
SensorsAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + GyroAccel + Gyro
Embedded Processor(s)NoNoNoNoNoDMPNoDMPDMPDMPDMP
FeaturesLow Sensitivity Errors gyrosWake on MotionWake on MotionHigh FSR, Wake on MotionExternal SW Senor Fusion Library with 1Khz Sensor Fusion output and bias tracking dynamic calibrationDMP Features: 6-axis sensor fusion, gyro dynamic calibration, significant motion detection, pedometer Wake on MotionDMP based 6 & 9-axis Cal/Fusion, Android M features : Pedometer, Significant Motion, Bring to See, Basic Activity Classfication, Pick UpDMP Features: 6-axis sensor fusion, gyro dynamic calibrationDMP Features: 6-axis sensor fusion, gyro dynamic calibration, Tap Detection, Android Orientation, PedometerDMP Features: 6-axis sensor fusion, gyro dynamic calibration, Tap Detection, Android Orientation, Pedometer
Package-Pin3 × 3 × 0.75 mm
LGA 16-leads
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 × 0.75 mm
LGA 16-leads
3 × 3 × 0.75 mm
LGA 16-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
4 × 4 × 0.9 mm
QFN 24-leads
4 × 4 × 0.9 mm
QFN 24-leads

Gyroscope
Specs

FSR (dps)±125
±250
±500
±250
±500
±1000
±2000
±250
±500
±1000
±2000
±500
±1000
±2000
±4000
±250
±500
±1000
±2000
±250
±500
±1000
±2000
±31.25
±62.5
±125
±250
±500
±1000
±2000
±500
±1000
±2000
±4000
±250
±500
±1000
±2000
±250
±500
±1000
±2000 
±250
±500
±1000
±2000 
Gyro ZRO (dps)±5±1±1±5±1±10 MAX±1±5±5±20±5
Gyro Offset Stability TC
(dps/°C)
±0.053
(-20°C to 75°C)
±0.01
(-40°C to 85°C)
±0.01
(-40°C to 85°C)
±0.1
(-40°C to 85°C)
±0.01
(-40°C to 85°C)
±0.1 MAX
(-40°C to 85°C)
±0.01
(-40°C to 85°C)
±0.025
(-40°C to 85°C)
±0.04
(-40°C to 85°C)
±0.16
(-40°C to 85°C)
±0.24
(-40°C to 85°C)
Gyro Sensitivity Error (%)ICG-20660: ±3% TYP ICG-20660L: ±1% MAX±1%±1%±2%±1%±2% MAX±0.5%±0.5%±2±3%±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±0.016
(-40°C to 85°C)
±0.016
(-40°C to 85°C)
±0.024
(-40°C to 85°C)
±0.02 MAX
(-40°C to 85°C)
±0.024 MAX
(-40°C to 85°C)
±0.01
(-40°C to 85°C)
±0.016
(-40°C to 85°C)
±0.012
(-40°C to 85°C)
±0.016
(-40°C to 85°C)
±0.032
(-40°C to 85°C)
Gyro Cross-Axis Sensitivity (%)±5%±1%±1%±2%±1%±2%±1%±2%±2%±2%±2%
Gyro Nonlinearity (%)±0.1%±0.1%±0.1%±0.3%±0.1%±0.1%±0.1%±0.1%±0.1%±0.2%±0.1%
Gyro Noise (dps/√Hz)ICG-20660: 0.0065 ICG-20660L: 0.0050.0040.0040.0130.0040.0060.0040.01750.0060.0050.01
Gyro Output Data Rate (Hz)1kHz to 8kHz3.9Hz to 8kHz3.9Hz to 8kHz3.9Hz to 8kHz3.9Hz to 8kHz3.9Hz to 8kHz3.91Hz to 32kHz4.4Hz to 9KHz3.9Hz to 8kHz4Hz to 8kHz4Hz to 8kHz

Accelerometer
Specs

FSR (g)±2/4/8/16±2/4/8/16±2/4/8/16±4/8/16/32±2/4/8/16±2/4/8/16±2/4/8/16±4/8/16/30±2/4/8/16±2/4/8/16±2/4/8/16
Accel ZGO (mg)X/Y: ±40 Z: ±65 ±40±40±60±40±100 MAX±40±65±20X/Y: ±50
Z: ±80
±60
Offset Stability TC
(mg/°C)
±0.526
(-20°C to 75°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: ±0.5, Z: ±1
(-40°C to 85°C)
±1.5
(-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: ±.75
(-40°C to 85°C)
X, Y: ±0.5, Z: ±0.86
(-0°C to 70°C)
X, Y: ±0.64, Z: ±1
(-40°C to 85°C)
Accel Sensitivity Error (%)ICG-20660: ±1% TYP ICG-20660L: ±1% MAX±1%±1%±2%±1%±2% MAX±0.5%±0.5%±2%±3%±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±0.012
(-40°C to 85°C)
±0.012
(-40°C to 85°C)
±0.016
(-40°C to 85°C)
±0.016 MAX
(-40°C to 85°C)
±0.016 MAX
(-40°C to 85°C)
±0.008
(-40°C to 85°C)
±0.0168
(-40°C to 85°C)
±0.008
(-40°C to 85°C)
±0.02
(-40°C to 85°C)
±0.026
(-40°C to 85°C)
Accel Cross-Axis Sensitivity (%)±2%±1%±1%±2%±1%±2%±1%±2%±2%±2%±2%
Accel Nonlinearity (%)±0.5%±0.3%±0.3%±0.5%±0.3%±0.25% MAX±0.3%±0.5%±0.5%±0.5%±0.5%
Accel Noise (μg/√Hz)220100100390100210 MAX100285150400300
Accel Output Data Rate (Hz)4 Hz to 4 kHz3.9 Hz to 4 kHz3.9 Hz to 4 kHz4 Hz to 4 kHz3.9 Hz to 4 kHz4 Hz to 4 kHz3.91 Hz to 4 kHz4.5 Hz to 4.5 kHz4 Hz to 4 kHz4 Hz to 1 khz4 Hz to 1 khz

General
Specs

Bus InterfaceSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²CSPI; I²C
FSYNC SupportYesYesYesYesYesYesYesYesYesYesYes
Memory (FIFO)512 bytes1Kbytes1Kbytes512 bytes1Kbytes4Kbytes1Kbytes4Kbytes4Kbytes1 Kbytes512 bytes
Accel Current LP Mode57 µA (@100 Hz)40 µA (@100 Hz)40 µA (@100 Hz)57 µA (@100 Hz)40 µA (@100 Hz)57 µA (@100 Hz)50 µA (@100 Hz)68.9 µA (@102.3 Hz)57 µA (@100 Hz)10µA (@1.25 Hz)7.27µA (@0.98 Hz)
Gyro Current LN Mode2.55 mA 1.08 mA (Gyro LP mode @100Hz)2.55 mA 1.08 mA (Gyro LP mode @100Hz)2.6 mA 1.6 mA (Gyro LP mode @100Hz)2.55 mA 1.08 mA (Gyro LP mode @100Hz)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)2.6 mA 1.6 mA (Gyro LP mode @100Hz)3.6 mA3.2 mA
Accel Current LN Mode0.32 mA0.32 mA0.39 mA0.32 mA0.39 mA0.33 mA68.9 µA (Accel LP Mode @102.3 Hz)0.39 mA5000.45 mA
6-Axis Current LN Mode3 mA 2.79 mA
1.33 mA (Gyro LP @100Hz + Accel LN)
2.79 mA
1.33 mA (Gyro LP @100Hz + Accel LN)
3 mA
1.9 mA (Gyro LP @100Hz + Accel LN)
2.79 mA
1.33 mA (Gyro LP @100Hz + Accel LN)
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 mA
1.9 mA (Gyro LP @100Hz + Accel LN)
3.8 mA3.4 mA
Datasheet

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