MPU6050 6-axis IMU: specs and pinout
Six-axis motion tracking device with a 3-axis gyroscope and 3-axis accelerometer, controlled over I2C.
Specs
| Spec | Value | Source |
|---|---|---|
| Supply voltage VDD | 2.375 V to 3.46 V | source Overview (p.7); Electrical Characteristics (p.12) |
| Logic reference VLOGIC (MPU-6050) | 1.71 V to VDD (1.8 V +/-5 % or VDD) | source Pin table (p.8); overview (p.7) |
| Gyroscope full-scale range | +/-250, +/-500, +/-1000, +/-2000 deg/s | source Overview (p.7) |
| Accelerometer full-scale range | +/-2 g, +/-4 g, +/-8 g, +/-16 g | source Overview (p.7) |
| Gyroscope operating current | 3.6 mA | source Features (p.10) |
| Accelerometer normal operating current | 500 uA | source Features (p.10) |
| Operating current, all 6 axes and DMP enabled | 3.9 mA | source Features (p.10) |
| Standby current | 5 uA | source Features (p.10) |
| I2C address | 1101000 (AD0 low); 1101001 (AD0 high) | source I2C address table (p.15); AD0 is pin 9 (p.25) |
| Absolute maximum VDD | -0.5 V to +6 V | source Absolute Maximum Ratings (p.20) |
Power
| Value | Source | |
|---|---|---|
| Supply | VDD 2.375-3.46 V; VLOGIC 1.71 V to VDD. The 3-5 V module supply is a board (regulator) claim, not a chip rating. | source Features (p.10); Electrical Characteristics, VDD power supply (p.14) |
| Current | 3.9 mA (gyroscope + accelerometer + DMP enabled) | source Features (p.10); Electrical Characteristics, VDD power supply (p.14) |
Chip pins
These are the pins of the chip on the module, from the chip datasheet. The module's own header may label or expose them differently. Module header labels come from the Compoden listing, not an official module schematic.
| Pin | Function | Voltage | Notes | Source |
|---|---|---|---|---|
| VDD | Power supply voltage and digital I/O supply voltage (pin 13) | 2.375-3.46 V; absolute max -0.5 V to +6 V | A 5 V module needs the regulator on the board; the chip is not specified at 5 V. | source Section 7.1 Pin Out and Signal Description (p.21); Absolute Maximum Ratings (p.20) |
| GND | Power supply ground (pin 18) | 0 V | source Section 7.1 Pin Out and Signal Description (p.21) | |
| VLOGIC | Digital I/O supply voltage, MPU-6050 (pin 8) | 1.71 V to VDD (1.8 V +/-5 % or VDD); absolute max -0.5 V to VDD + 0.5 V | source Section 7.1 Pin Out and Signal Description (p.21); Electrical Specifications (p.14-15); Absolute Maximum Ratings (p.20) | |
| SCL | I2C serial clock (pin 23) | VIH min 0.7 x VLOGIC; Input absolute max -0.5 V to VDD + 0.5 V | Datasheet states no 5 V tolerance; absolute max is VDD + 0.5 V. | source Section 7.1 Pin Out and Signal Description (p.21); Absolute Maximum Ratings (p.20) |
| SDA | I2C serial data (pin 24) | VIH min 0.7 x VLOGIC; Input absolute max -0.5 V to VDD + 0.5 V | Datasheet states no 5 V tolerance; absolute max is VDD + 0.5 V. | source Section 7.1 Pin Out and Signal Description (p.21); Absolute Maximum Ratings (p.20) |
| AD0 | I2C slave address LSB (pin 9) | Input absolute max -0.5 V to VDD + 0.5 V | Low = 1101000, high = 1101001 (7-bit, binary). | source Section 7.1 Pin Out and Signal Description (p.21); Section 9.1 I2C and SPI serial interfaces |
| INT | Interrupt digital output, totem pole or open-drain (pin 12) | Input absolute max -0.5 V to VDD + 0.5 V | source Section 7.1 Pin Out and Signal Description (p.21) | |
| FSYNC | Frame synchronization digital input (pin 11) | Input absolute max -0.5 V to VDD + 0.5 V | Datasheet: connect to GND if unused. | source Section 7.1 Pin Out and Signal Description (p.21) |
| CLKIN | Optional external reference clock input (pin 1) | Input absolute max -0.5 V to VDD + 0.5 V | Datasheet: connect to GND if unused. | source Section 7.1 Pin Out and Signal Description (p.21) |
Common mistakes
- Treating the 2.375-3.46 V VDD range as a 5 V supply: the chip is only specified from 2.375 V to 3.46 V, so a 5 V board needs its own regulator (source)
- Leaving AD0 unconnected or guessing it: AD0 sets the I2C address LSB, 1101000 (low) or 1101001 (high), so the wrong level hides the device (source)
- Budgeting 3.5 mA: the datasheet gives 3.9 mA with all six axes and the DMP enabled, and 3.6 mA for the gyroscope alone (source)
What we could not confirm
- Module-level 3-5 V supply and onboard regulator: not in datasheet.
- A newer revision 3.4 exists on the TDK site; values here are from Rev 3.1.
- Absolute-maximum rating is 6 V; the operating range is 2.375-3.46 V.
- Pin rows match the BOM pin references (VLOGIC pin 8, REGOUT pin 10, VDD pin 13, CPOUT pin 20).
- Listing says connect VCC to 5 V (or 3.3 V) and logic stays on the Arduino's I2C pins; chip pins are absolute max VDD + 0.5 V and no official module schematic shows whether the GY-521 board protects SDA/SCL from 5 V. Treat 5 V I2C as unverified.
- Pins AUX_DA, AUX_CL, REGOUT, CPOUT, CLKOUT and RESV are omitted from the table (not on the module header per the listing).
Sources
- link (TDK/InvenSense PS-MPU-6000A-00 Rev 3.1, 10/2011)
- Copy of the InvenSense datasheet hosted by a hosted copy: link
- Register map: InvenSense RM-MPU-6000A rev 4.0 (copy hosted by a hosted copy)
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