DFRobot Gravity SEN0696 10DOF IMU Sensor
DFRobot Gravity SEN0696 10DOF Inertial Measurement Unit (IMU) Sensor combines a Bosch BMI323 6-axis IMU, BMM350 3-axis magnetometer, and BMP581 barometric pressure sensor. The SEN0696 provides acceleration, angular velocity, magnetic field, pressure, and altitude-change data in a single module. The sensor supports accelerometer ranges up to ±16g, gyroscope ranges up to ±2000°/s, and output rates up to 6400Hz for high-speed motion tracking.
Designed for rapid prototyping, the DFRobot SEN0696 features I2C and UART interfaces, 3.3V to 5V operation, and an integrated DFRobot library with GUI visualization software. Built-in hardware functions support step counting, tap detection, tilt sensing, free-fall detection, and activity recognition. The module is ideal for robotics, wearable devices, elevation monitoring, terrain analysis, and multi-sensor motion/orientation applications.
Features
- Designed based on the Bosch BMI323 6-axis IMU + BMM350 magnetometer + BMP581 barometric pressure sensor
- High-accuracy, high-stability output with built-in low noise and on-chip temperature compensation
- Built-in hardware motion algorithms, including step counting, tap, tilt, free-fall, and activity recognition
- Integrated 2KB FIFO buffer ensures high-speed data transmission
- Magnetometer employs 3rd-generation TMR technology with enhanced interference immunity
- Integrated high-precision barometric pressure sensor for pressure and altitude data acquisition
- Supports multiple operating modes, including Sleep, Low Power, Normal, and High Performance – power consumption selectable on demand
- Standard I2C/UART interfaces, compatible with mainstream development boards such as Arduino, Raspberry Pi, and ESP32
- Comes with GUI visualization software featuring a built-in multi-axis attitude fusion algorithm – view data and 3D attitude without programming
- RoHS-compliant
Applications
- Indoor robot floor and ramp change monitoring
- Mobile robot motion, heading, and pressure data collection
- Wearable floor-change and elevation logging
- Robot terrain and vertical-motion evaluation
- Multi-sensor algorithm prototyping
Specifications
- 3.3VDC to 5VDC operating voltage
- 3.59mA operating current
- I2C/UART communication interfaces
- PH2.0-4P connector (Gravity pinout), 2.54mm pin header holes
- 0x4A (default), 0x4B, 0x4C, and 0x4D I2C addresses
- 4x programmable interrupt pins
- BMI323
- ±2g, ±4g, ±8g, and ±16g accelerometer measurement ranges
- 16-bit accelerometer ADC resolution
- Accelerometer sensitivity
- 16,384LSB/g in the ±2g range
- 8192LSB/g in the ±4g range
- 4096LSB/g in the ±8g range
- 2048LSB/g in the ±16g range
- ±0.5% accelerometer sensitivity error
- ±50mg accelerometer zero-g offset
- Accelerometer Output Data Rate (ODR)
- 12.5Hz to 6400Hz in High Performance/Normal mode
- 0.78125Hz to 400Hz in Low Power mode
- ±125°/s, ±250°/s, ±500°/s, ±1000°/s, and ±2000°/s gyroscope angular rate ranges
- 16-bit gyroscope ADC resolution
- Gyroscope sensitivity
- 16.384LSB/(°/s) in the ±2000°/s range
- 32.768LSB/(°/s) in the ±1000°/s range
- 65.536LSB/(°/s) in the ±500°/s range
- 131.072LSB/(°/s) in the ±250°/s range
- Gyroscope sensitivity error
- ±3% without self-calibration
- ±0.7% after self-calibration
- ±1°/s gyroscope zero-rate offset
- Gyroscope ODR
- 12.5Hz to 6400Hz in High Performance/Normal mode
- 0.78125Hz to 400Hz in Low Power mode
- BMM350
- ±2000µT measurement range
- Approx. 0.1µT magnetic field resolution
- ±2µT zero-field offset drift (-40°C to +85°C, after calibration)
- ±1% X-/Y-axis gain error (25°C, after API compensation)
- ±3% Z-axis gain error (25°C, after API compensation)
- ±0.010%/K sensitivity temperature drift
- ±200nT/K offset temperature error
- Operating modes
- Normal periodic measurement
- Triggered forced measurement
- Low-power sleep standby
- 400Hz, 200Hz, 100Hz, 50Hz, 25Hz, 12.5Hz, 6.25Hz, 3.125Hz, and 1.5625Hz normal mode output data rates, typical deviation ±2%
- 200Hz forced mode maximum trigger frequency (avg=0 only)
- 190nTRMS X-/Y-axis output noise
- 450nTRMS Z-axis output noise
- BMP581
- 30kPa to 125kPa pressure measurement range
- ±6Pa typical pressure relative accuracy within 700hPa to 1100hPa, +15°C to +55°C
- ±0.5Pa/K pressure temperature-induced offset
- Approx. 0.0156Pa pressure resolution
- ±10Pa pressure long-term annual drift
- -40°C to +85°C temperature measurement range
- ±0.5K temperature absolute accuracy within -5°C to +55°C and over the full temperature range
- Approx. 0.000015°C temperature resolution
- 0.125Hz to 240Hz ODR
- Physical dimensions
- 32mm × 27mm PCB size
- 20mm mounting hole spacing
- ø3mm mounting hole diameter
Kit Contents
- 1x Gravity high-precision 10DOF IMU sensor
- 1x Gravity 4P sensor cable
- 1x 10-pin, 2.54mm black single-row pin header
Videos
Pinout
Dimensions
Onboard Sensors
Bosch BMI323 6-Axis Inertial Measurement Unit (IMU)
Compact, low-power Inertial Measurement Unit ideal for wearables, hearables, and mobile devices.
Bosch BMM350 High-Performance Magnetometers
16-bit, 3-axis digital sensors with TMR technology.
Bosch BMP581 Barometric Pressure Sensor
Features a wide 300hPa to 1250hPa measurement range and absolute accuracy of ±30Pa.
Development Tools
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Development platform includes the FireBeetle 2 ESP32-C5 microcontroller and an IO expansion shield.
DFRobot DFR1075 Development Board
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