Balance, orientation and motion tracking
9-axis LSM6DS3TR-C + LIS3MDL gives angular rate and acceleration for balancing, tilt and heading estimation over i2c/spi.
Engineering inference
Adafruit Industries
Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU
Adafruit 5543 Precision 9-DoF IMU (STEMMA QT): ST LSM6DS3TR-C accel ±2/4/8/16 g and gyro ±125–2000 dps (up to 1.6 kHz ODR) + ST LIS3MDL magnetometer ±4/8/12/16 gauss; raw 9-axis data for host-side fusion; I2C accel/gyro 0x6A / 0x6B, magnetometer 0x1C / 0x1E; 3–5 V supply and logic; 1.0 × 0.7 in board.
5543Development boardPrice$19.95www.adafruit.com · in stock
Buy at www.adafruit.com Overview
Motor essentials
Facts about the complete product. Unknown values remain open design questions.
A good fit for
Guidance to help you shortlist. The basis is shown for each recommendation.
No-load speed, rated performance and stall limits describe different operating points. A stall specification is not a continuous operating rating.
3D model & CAD
3D model & CAD files
Generated from the datasheet's dimensioned drawing and measured against it. Download the STEP to check fit in your own enclosure.
- Envelope (L × W × H)
- 25.4 × 17.78 × 1.6 mm
- Verification
- generated
- Envelope complete
- No — some heights assumed
thickness=1.6 mm assumed: PCB thickness not printed; 1.6 mm assumed for the CAD envelope only
Axes & interface
Axes, ranges and interface
What it measures, how fast, and how the controller reads it.
- Sensor type
- imu 9dof
- Sensor IC
- LSM6DS3TR-C + LIS3MDL
- Axes
- 9 DoF
- Accelerometer range
- 16 ±g
- Gyroscope range
- 2,000 ±°/s
- Magnetometer range
- 1,600 ±µT
- Max output data rate
- 1,600 Hz
- On-chip sensor fusion
- No
- Interface
- I2C/SPI
- I2C address
- accel/gyro 0x6A / 0x6B; magnetometer 0x1C / 0x1E
- Supply voltage
- 3–5 V
| Pin / wire | Position | Role | Notes |
|---|---|---|---|
| VIN | power in | this is the power pin. Since the sensor chip uses 3 VDC, we have included a voltage regulator on board that will take 3-5VDC and safely convert it down. | |
| 3Vo | power out | this is the 3.3V output from the voltage regulator, you can grab up to 100mA from this if you like | |
| GND | ground | common ground for power and logic I2C Logic Pins | |
| SCL | i2c scl | I2C clock pin, connect to your microcontroller I2C clock line. This pin is level shifted so you can use 3-5V logic, and there's a 10K pullup on this pin. | |
| SDA | i2c sda | I2C data pin, connect to your microcontroller I2C data line. This pin is level shifted so you can use 3-5V logic, and there's a 10K pullup on this pin. | |
| ADM | address | LIS3MDL Magnetometer I2C address pin. Pulling this pin high will change the I2C address from 0x1C to 0x1E. | |
| AGAD | address | LSM6DS3TR-C Accel/Gyro I2C address pin. Pulling this pin high will change the I2C address from 0x6A to 0x6B. | |
| INT1 | interrupt | This is the primary interrupt pin. You can setup the LSM6DS3TR-C to pull this low when certain conditions are met such as new measurement data being available. Consult the datasheet (http://adafru.it/4503450363) for usage. | |
| INT2 | interrupt | This is the primary interrupt pin. You can setup the LSM6DS3TR-C to pull this low when certain conditions are met such as new measurement data being available. Consult the datasheet (http://adafru.it/4503450363) for usage. | |
| INTM | interrupt | This is the primary interrupt pin for the Magnetometer. You can setup the LIS3MDL to pull this low when certain conditions are met such as a value exceeding a threshold. Consult the datasheet (https://adafru.it/IbR) for usage. | |
| DRDY | interrupt | The data ready pin. When measurement data is available the sensor will pull this pin low. |
| Connector | Type |
|---|---|
| main | 2× STEMMA QT / Qwiic (JST SH 4-pin) + 0.1″ header pads |
Ranges are the largest selectable full-scale setting; noise densities are typical datasheet values.
Specifications
Motor performance
No-load, rated-load and stall figures retain their separate test conditions.
Stall torque and current are not continuous ratings. Check the duty cycle and starting load when choosing the driver and power supply.
Thermal limits by level
Product operating conditions, chip ambient ratings, package case limits and junction maxima remain separate.
Motor body
LSM6DS3TR-C · sensor
LIS3MDL · sensor
Mechanical dimensions
Reported product dimensions may exclude protruding components. Unknown height does not establish a complete clearance envelope.
- Length
- 25.4 mm
- Width
- 17.78 mm
- Reported height / thickness
- 1.6 mm
Attached generated geometry is an approximate envelope. A generated outline does not establish an electrically verified PCB footprint.
Board connectors
| ID / type | Pins | Pitch | Notes |
|---|---|---|---|
| main2× STEMMA QT / Qwiic (JST SH 4-pin) + 0.1″ header pads | 4 | Unknown | — |
Complete structured record
Every available field, including details beyond the summaries. Null means the value has not been established.
Sourcing & files
Supplier offers
US / USD is the target market. Observed price and stock are separate from a delivery quote.
www.adafruit.com
US · USD
$19.95Minimum quantity unknown
- Observed stock
- in stock
- Checked
- Oct 1, 2026, 12:46 PM UTC
- Delivery estimate
- Not quoted
Observed within the last 24 hours. Confirm the current supplier quote.
Visit supplier (opens in a new tab)Delivery depends on quantity, postal code and shipping method. A dispatch statement such as “ship today” is not an arrival estimate.
Design files and references
Each source keeps its own verification status. Confirm the part revision and file contents before using it in a design.
Datasheet (opens in a new tab)
Manufacturer reference
Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU (Adafruit 5543) — store photo (opens in a new tab)
Manufacturer reference
store gallery image
STEP (generated from datasheet drawing) — link unavailable
Generated asset
cad_check passed
Generated envelope geometry may also exist for this record. It does not replace manufacturer CAD or a verified electrical land pattern.
Source evidence
Document provenance, retrieval dates and the field groups supported by each source.
Supports: spec.constraints.electrical.io_voltage_v, spec.constraints.electrical.supply_voltage_max_v, spec.constraints.electrical.supply_voltage_min_v, spec.geometry.cad.assumptions, spec.geometry.cad.bbox.height_mm, spec.geometry.cad.bbox.length_mm, spec.geometry.cad.bbox.width_mm, spec.geometry.cad.envelope_complete, spec.geometry.cad.mesh_path, spec.geometry.cad.step_path, spec.geometry.cad.verification, spec.geometry.dimensions.height_mm, spec.geometry.dimensions.length_mm, spec.geometry.dimensions.width_mm, spec.provides.accel_range_g, spec.provides.axes, spec.provides.features, spec.provides.gyro_range_dps, spec.provides.i2c_address, spec.provides.interface, spec.provides.mag_range_ut, spec.provides.output_data_rate_hz, spec.provides.sensor_fusion, spec.provides.sensor_ic, spec.provides.sensor_type, spec.usage.connectors, spec.usage.pinout, spec.usage.pinout_complete
sha256 ac884af2b2b38f16c32de4bed139da6cb338b6b0e7c4a5dc4ae69af3ea63bce0
Supports: offers
FAQ
Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU questions
What voltage powers the Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU?
Supply range 3–5 V.
How much does the Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU cost?
From $19.95 at www.adafruit.com. Prices are observed unit prices before tax and shipping.
What are the Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU dimensions?
25.4 × 17.78 × 1.6 mm. A STEP model is available for enclosure fit checks.
Where does this Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU data come from?
Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.
Sources
- Adafruit LSM6DS3TR-C + LIS3MDL 9-DoF IMU datasheet — Adafruit Industries
- www.adafruit.com listing