M-G350-PD11 imu (inertial measurement unit) ? general description the M-G350-PD11 is a small form factor i nertial measurement unit (imu) with 6 degrees of freedom: triaxial angular rates and linear accelerations, and provides high-stability and high- precision measurement capab ilities 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 t he application after the power of the imu is turned on. with a general-purpose spi/uart supported for host communication, t he M-G350-PD11 reduces technical barriers for users to introduce inertial measurement and minimizes design resource s 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 z small size, lightweight : 24x24x10mm, 7grams z low-noise, high-stability ? gyro bias instability : 6 deg/hr ? angular random walk : 0.2 deg/ hr z initial bias error : to 0.5 deg/s (1 ) z 6 degrees of freedom ? triple gyroscopes : 300 deg/s, ? tri-axis accelerometer : 3 g z 16bit data resolution z digital serial interface : spi / uart z calibrated stability (bias, scale factor, axial alignment) z data output rate : to 1k sps z calibration temperature range : ?20 c to +70 c z operating temperature range : ?40 c to +85 c z single voltage supply : 3.3 v z low power consumption : 30ma (typ.) ? applications z motion analysis and control z unmanned systems z navigation systems z vibration control and stabilization z pointing and tracking systems ? functional block diagram digital interface temp. sens signal processing calibration digital processing self test triple gyroscopes tri-axis accelerometer analog front end signal conditioning a/d gpio sin sout brate sdi sdo sclk /cs drdy (gpio1) gnd spi uart /rst vcc gpio2 gpio3 1
? sensor section specification t a =25c, v cc =3.3v, angular rate=0 deg/s, 1g, unless otherwise noted. parameter test conditions / comments min. typ. max. unit gyro sensor sensitivity dynamic range - 300 - - deg/s sensitivity - typ-0.5% 0.0125 typ+0.5% (deg/s)/lsb temperature coefficient 1 , ? 20c t a +70c - 10 - ppm/c nonlinearity best fit straight line - 0.1 - % of fs misalignment 1 , axis-to-axis, = 90 ideal - 0.1 - deg bias initial error 1 - 0.5 - deg/s temperature coefficient 0.03 (linear approximation) 1 , ? 20c t a +70c 0.001 (deg/s )/c in-run bias stability 1 - 6 - deg/hr angular random walk 1 - 0.2 - deg/ hr linear acceleration effect <0.01 (deg/s)/g noise noise density 1 , f = 10 to 20 hz, no filtering - 0.004 - (deg/s)/ hz , rms frequency property 3 db bandwidth - - 133 - hz accelerometers sensitivity dynamic range - 3 - - g sensitivity - typ-0.5% 0.125 typ+0.5% mg/lsb temperature coefficient 1 , ? 20c t a +70c - 20 - ppm/c nonlinearity 1g , best fit straight line - 0.1 - % of fs misalignment 1 , axis-to-axis, = 90 ideal - 0.03 - deg bias initial error 1 - 8 - mg temperature coefficient 0.4 (linear approximation) 1 , ? 20c t a +70c 0.02 mg/c in-run bias stability 1 - 0.1 - mg velocity random walk 1 - 0.04 - (m/sec)/ hr noise noise density 1 , f = 10 to 20 hz, no filtering - 0.1 - mg/ hz , rms frequency property 3 db bandwidth - - 148 - hz temperature sensor scale factor *1 output = -15214(0xc492) @ +25c - 0.0042725 - c/lsb *1) this is a reference value used for internal temperatur e compensation. we provide no guarantee that the value gives an absolute value of the in ternal 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 specif ications are average values or 1 values. note) unless otherwise noted, the max / min va lues in the specifications are design values or max / min values at the factory tests. 2
? recommended operating condition parameter condition min typ max unit vcc to gnd 3.15 3.3 3.45 v digital input voltage to gnd gnd vcc v digital output voltage to gnd ? 0.3 vcc +0.3 v calibration temperature range performance parameters are applicable ? 20 70 c operating temperature range ? 40 85 c ? typical performance characteristics data output rate: 125sps average filter tap: n=16 gyro allan variance characteristic (n=9) gyro bias vs. temperatur e characteristic (n=40) data output rate: 125sps average filter tap: n=16 accelerometer allan variance characteri stic (n=9) accelerometer bias vs. temperature characteristic (n=40) gyro noise frequency characteristic a ccelerometer noise frequency characteristic the product characteristics shown above are just examples and are not guarant eed as specifications. 3
? outline dimensions a y g y a z g z a x g x outline dimensions (millimeters) notice: no part of this material may be reproduced or duplicated in any fo rm or by any means without the written permission of seiko ep son. seiko epson reserves the right to make c hanges to this material without notice. se iko epson does not assume any liability of a ny kind arising out of any inaccuracies contained in this material or due to its application or use in any product or circuit and, furt her, there is no representation that this material is app licable to products requiring high level reliab ility, such as, medical products. moreo ver, no license to any intellectual property rights is granted by implication or otherwise, and there is no representation or warranty that any thing made in accordance with this material will be free from any patent or copy right infringement of a third party. this material or portions thereof may contain technology or the subject relati ng to strategic products under the control of the foreign exchange and foreign trade la w of japan and may require an export license from the ministry of economy, trade and industry or other approval from another government ag ency. all brands or product names mentioned herein are trademarks and/ or registered trademarks of t heir 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 j apan rev.20121023 4
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