DFRobot Gravity SEN0694 9DOF IMU Sensor
DFRobot Gravity SEN0694 9DOF Inertial Measurement Unit (IMU) Sensor combines a Bosch BMI323 3-axis accelerometer and gyroscope with a Bosch BMM350 3-axis magnetometer. The SEN0694 sensor measures acceleration, angular velocity, and magnetic fields for accurate motion, orientation, and heading detection. Supporting accelerometer ranges up to ±16g, gyroscope ranges up to ±2000°/s, and output data rates up to 6400Hz, the SEN0694 delivers high-speed motion tracking. The integrated magnetometer provides magnetic heading data up to ±2000µT, making the sensor suitable for electronic compass and navigation applications.
The DFRobot SEN0694 sensor features built-in step counting, tap detection, tilt sensing, free-fall detection, and activity recognition to reduce host processor workload. Three programmable interrupt pins enable event-driven responses, while I2C and UART interfaces simplify integration with Arduino, ESP32, Raspberry Pi, and other embedded platforms. Designed for rapid prototyping, the SEN0694 offers Gravity-compatible connectivity, selectable I2C addresses, and support for 3.3V to 5V operation. The combination of motion sensing and magnetic heading capabilities makes the SEN0694 ideal for robotics, wearable devices, handheld controllers, electronic compasses, and orientation-aware Internet of Things (IoT) systems.
Features
- 9DOF motion sensing - integrates a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer for acceleration, angular velocity, and magnetic field measurement
- BMI323 + BMM350 sensor combination - uses the Bosch BMI323 for 6-axis inertial sensing and the BMM350 for 3-axis magnetic field sensing, enabling heading-aware motion data evaluation
- Built-in motion event detection - supports step counting, tap detection, tilt detection, free-fall detection, and activity recognition, reducing the need to build every basic motion event from raw sensor data
- I2C/UART for flexible development - supports both I2C and UART communication for Arduino, ESP32, Raspberry Pi, and other embedded platforms
- 4x selectable I2C addresses - supports 0x4A, 0x4B, 0x4C, and 0x4D to reduce conflicts in multi-sensor I2C systems
- 3x programmable interrupt pins - allows motion events or sensor conditions to trigger host-side responses without continuous polling
- RoHS-compliant
Applications
- Electronic compass prototypes
- Mobile robot direction feedback
- Handheld orientation controllers
- Wearable heading and movement devices
Specifications
- 3.3VDC to 5VDC operating voltage
- 3.42mA 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
- BMI323
- ±2g, ±4g, ±8g, and ±16g accelerometer measurement ranges
- 16-bit accelerometer ADC resolution
- Accelerometer sensitivity
- 16384LSB/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
- Normal periodic measurement, triggered forced measurement, and low-power sleep standby operating modes
- ±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
- 400Hz, 200Hz, 100Hz, 50Hz, 25Hz, 12.5Hz, 6.25Hz, 3.125Hz, and 1.5625Hz normal mode output data rate, typical deviation ±2%
- 200Hz forced mode maximum trigger frequency (avg=0 only)
- 190nTRMS X-/Y-axis output noise
- 450nTRMS Z-axis output noise
- 3x programmable interrupt pins
- Physical dimensions
- 32mm × 27mm PCB size
- 20mm mounting hole spacing
- ø3mm mounting hole diameter
Kit Contents
- 1x Gravity high-precision 9DOF 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.
Development Tools
DFRobot FireBeetle 2 ESP32-C5 Development Kit
Development platform includes the FireBeetle 2 ESP32-C5 microcontroller and an IO expansion shield.
DFRobot DFR1075 Development Board
Features a RISC-V processor, supporting Wi-Fi® 6, BLUETOOTH® 5, and Zigbee for smart homes.
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