M-G350-PD11
IMU (Inertial Measurement Unit)
GENERAL DESCRIPTION
The M-G350-PD11 is a small form factor inertial measurement unit (IMU) with 6 degrees of freedom: triaxial angular rates
and linear accelerations, and provides high-stability and high-precision measurement capabilities with the use of
high-precision compensation technology. A variety of calibration parameters are stored in a memory of the IMU, and are
automatically reflected in the measurement data being sent to the application after the power of the IMU is turned on. With a
general-purpose SPI/UART supported for host communication, the M-G350-PD11 reduces technical barriers for users to
introduce inertial measurement and minimizes design resources to implement inertial movement analysis and control
applications.
The features of the IMU such as high stability, high precision, and small size make it easy to create and differentiate
applications in various fields of industrial systems.
FEATURES
Small Size, Lightweight
: 24x24x10mm, 7grams
Low-Noise, High-stability
Gyro Bias Instability
: 6 deg/hr
Angular Random Walk
: 0.2 deg/
hr
Initial Bias Error
: to 0.5 deg/s (1σ)
6 Degrees Of Freedom
Triple Gyroscopes
:
±300
deg/s,
Tri-Axis Accelerometer
:
±3
G
16bit data resolution
Digital Serial Interface
: SPI / UART
Calibrated Stability (Bias, Scale Factor, Axial alignment)
Data output rate
: to 1k Sps
Calibration temperature range
:
−20°C
to +70°C
Operating temperature range
:
−40°C
to +85°C
Single Voltage Supply
: 3.3 V
Low Power Consumption
: 30mA (Typ.)
APPLICATIONS
Motion analysis and control
Unmanned systems
Navigation systems
Vibration control and stabilization
Pointing and tracking systems
FUNCTIONAL BLOCK DIAGRAM
Temp.
Sens
Signal Conditioning
Analog Front End
Digital Interface
UART
SIN
SOUT
BRATE
SDI
SDO
SCLK
/CS
VCC
GPIO
GND
/RST
DRDY GPIO2 GPIO3
(GPIO1)
Signal
Processing
Calibration
A/D
Digital
Processing
Self test
Triple
Gyroscopes
SPI
Tri-axis
Accelerometer
1
SENSOR SECTION SPECIFICATION
T
A
=25°C, V
CC
=3.3V, angular rate=0 deg/s,
≤±1G,
unless otherwise noted.
Parameter
GYRO SENSOR
Sensitivity
Dynamic Range
Sensitivity
Temperature Coefficient
Nonlinearity
Misalignment
Bias
Initial Error
Temperature Coefficient
(Linear approximation)
In-Run Bias Stability
Angular Random Walk
Linear Acceleration Effect
Noise
Noise Density
Frequency Property
3 dB Bandwidth
ACCELEROMETERS
Sensitivity
Dynamic Range
Sensitivity
Temperature Coefficient
Nonlinearity
Misalignment
Bias
Initial Error
Temperature Coefficient
(Linear approximation)
In-Run Bias Stability
Velocity Random Walk
Noise
Noise Density
Frequency Property
3 dB Bandwidth
TEMPERATURE SENSOR
Scale Factor
*1
1
σ,
f = 10 to 20 Hz, no filtering
1
σ,
f = 10 to 20 Hz, no filtering
Test Conditions /
Comments
Min.
Typ.
Max.
Unit
-
-
1
σ, −20°C ≤
T
A
≤
+70°C
Best fit straight line
1
σ,
Axis-to-axis,
Δ
= 90° ideal
±1
σ
1
σ, −20°C ≤
T
A
≤
+70°C
1
σ
1
σ
±300
Typ-0.5%
-
-
-
-
-
0.0125
10
0.1
±0.1
0.5
0.03
0.001
6
0.2
<0.01
-
Typ+0.5%
-
-
-
-
deg/s
(deg/s)/LSB
ppm/°C
% of FS
deg
deg/s
(deg/s )/°C
-
-
-
-
deg/hr
deg/
hr
(deg/s)/G
-
-
0.004
133
-
-
(deg/s)/
Hz
, rms
Hz
-
-
-
1σ,
−20°C ≤
T
A
≤
+70°C
≤
1G , Best fit straight line
1
σ,
Axis-to-axis,
Δ
= 90° ideal
±1
σ
1
σ, −20°C ≤
T
A
≤
+70°C
1
σ
1
σ
±3
Typ-0.5%
-
-
-
-
-
0.125
20
0.1
0.03
8
0.4
0.02
0.1
0.04
0.1
148
0.0042725
-
Typ+0.5%
-
-
-
-
G
mG/LSB
ppm/°C
% of FS
deg
mG
mG/°C
-
-
-
-
-
-
-
-
-
-
mG
(m/sec)/
hr
mG/
Hz
, rms
Hz
°C/LSB
-
Output = -15214(0xC492)
@ +25°C
*1) This is a reference value used for internal temperature compensation. We provide no guarantee that the value gives an
absolute value of the internal temperature.
Note) The values in the specifications are based on the data calibrated at the factory. The values may change according to
the way the product is used.
Note) The Typ values in the specifications are average values or 1σ values.
Note) Unless otherwise noted, the Max / Min values in the specifications are design values or Max / Min values at the factory
tests.
2
RECOMMENDED OPERATING CONDITION
Parameter
VCC to GND
Digital Input Voltage to GND
Digital Output Voltage to GND
Condition
min
3.15
GND
−0.3
−20
−40
Typ
3.3
Max
3.45
VCC
VCC
+0.3
70
85
Unit
V
V
V
°C
°C
Calibration temperature range
Operating Temperature Range
Performance parameters
are applicable
TYPICAL PERFORMANCE CHARACTERISTICS
Data Output Rate: 125Sps
Average Filter TAP: N=16
Gyro Allan Variance Characteristic (N=9)
Gyro Bias vs. Temperature Characteristic (N=40)
Data Output Rate: 125Sps
Average Filter TAP: N=16
Accelerometer Allan Variance Characteristic (N=9)
Accelerometer Bias vs. Temperature Characteristic (N=40)
Gyro Noise Frequency Characteristic
Accelerometer Noise Frequency Characteristic
The product characteristics shown above are just examples and are not guaranteed as specifications.
3
OUTLINE DIMENSIONS
a
Z
a
X
g
X
a
Y
g
Y
g
Z
Outline Dimensions (millimeters)
NOTICE:
No part of this material may be reproduced or duplicated in any form or by any means without the written permission of Seiko Epson.
Seiko Epson reserves the right to make changes to this material without notice. Seiko Epson does not assume any liability of any kind
arising out of any inaccuracies contained in this material or due to its application or use in any product or circuit and, further, there is no
representation that this material is applicable to products requiring high level reliability, such as, medical products. Moreover, no license
to any intellectual property rights is granted by implication or otherwise, and there is no representation or warranty that anything made in
accordance with this material will be free from any patent or copyright infringement of a third party. This material or portions thereof may
contain technology or the subject relating to strategic products under the control of the Foreign Exchange and Foreign Trade Law of Japan
and may require an export license from the Ministry of Economy, Trade and Industry or other approval from another government agency.
All brands or product names mentioned herein are trademarks and/or registered trademarks of their respective companies.
©Seiko
Epson Corporation 2012, All rights reserved
M Project
421-8 Hino, Hino-shi, Tokyo 191-8501, JAPAN
Phone: +81-42-587-8291 FAX: +81-42-587-5117
Document code:412136501
First issue August, 2011 in Japan
Revised Oct, 2012 in Japan
Rev.20121023
4
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