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DF ROBOT Gravity: 6DOF IMU Sensor for Motion & Gesture Detection (I2C / UART, Plug & Play)
The Gravity BMI323 6DOF IMU Sensor is a plug-and-play motion sensing module built around the Bosch BMI323. It combines a 3-axis accelerometer and a 3-axis gyroscope to measure linear acceleration, angular velocity, tilt, vibration and motion changes. Built-in step, tap, tilt, free-fall and activity events reduce basic host-side processing, while I2C/UART, 3.3–5 V compatibility, selectable addresses and Gravity wiring make it suitable for fast Arduino, ESP32 and Raspberry Pi prototyping.
Choose this Gravity version when the goal is to connect quickly, view data before writing application code and use one integrated DFRobot library. For compact, low-power product integration and direct access to the original BMI323 interface, choose the Fermion BMI323 6DOF version instead.
User Manual / Datasheet / Example Codes Etc.
Features
- Designed based on the Bosch BMI323 high-performance 6-axis inertial measurement unit (IMU)
- 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 2048-byte FIFO buffer ensures high-speed data transmission
- Supports multiple operating modes: Sleep, Low Power, Normal, High Performance – power consumption selectable on demand
- I²C/UART interface, compatible with mainstream development boards such as Arduino, Raspberry Pi, and ESP32
- Comes with GUI visualisation software – view data without programming
Specification
- Operating Voltage: DC 3.3–5 V
- Operating Current: 3.1 mA
- Communication Interface: I²C / UART
- Connector Type: PH2.0-4P (Gravity pinout) / 2.54 mm pin header holes
- I²C Addresses: 0x4A (default) / 0x4B / 0x4C / 0x4D
- Programmable Interrupt Pins: ×2
- Accelerometer Parameters
- Measurement Ranges: ±2 g, ±4 g, ±8 g, ±16 g
- ADC Resolution: 16-bit
- Sensitivity
- ±2 g range: 16384 LSB/g
- ±4 g range: 8192 LSB/g
- ±8 g range: 4096 LSB/g
- ±16 g range: 2048 LSB/g
- Sensitivity Error: ±0.5%
- Zero-g Offset: ±50 mg
- Output Data Rate (ODR)
- High Performance / Normal mode: 12.5 Hz ~ 6400 Hz
- Low Power mode: 0.78125 Hz ~ 400 Hz
- Physical Dimensions
- PCB Size: 32 mm × 27 mm
- Mounting Hole Spacing: 20 mm
- Mounting Hole Diameter: 3.1 mm
Applications
- Robot tilt and motion feedback
- Gesture-controlled devices
- Wearable motion detection
- Game controllers and interactive devices
Package Includes
- Gravity: BMI323 6 DOF IMU Sensor ×1
- Gravity 4P Sensor Cable ×1
- 2.54 mm Black Single Row Pin Header – 10-Pin ×1
