Balance, orientation and motion tracking
9-axis LSM9DS1 gives angular rate and acceleration for balancing, tilt and heading estimation over i2c/spi.
Engineering inference
Adafruit Industries
Adafruit LSM9DS1 9-DoF IMU
Adafruit 4634 LSM9DS1 9-DoF IMU (STEMMA QT): ST LSM9DS1 accelerometer ±2/4/8/16 g, gyroscope ±245/500/2000 dps, magnetometer ±4/8/12/16 gauss — the same IMU as the Arduino Nano 33 BLE. Raw 9-axis data for your own fusion (no on-chip fusion), I2C or SPI with separate accel/gyro and magnetometer selects, 3–5 V supply and logic, 1.0 × 0.7 in board with two mounting holes.
4634Development 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 (guide, fab print, store page); 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
- LSM9DS1
- Axes
- 9 DoF
- Accelerometer range
- 16 ±g
- Gyroscope range
- 2,000 ±°/s
- Magnetometer range
- 1,600 ±µT
- On-chip sensor fusion
- No
- Interface
- I2C/SPI
- Supply voltage
- 3–5 V
| Pin / wire | Position | Role | Notes |
|---|---|---|---|
| Vin | power in | this is the power pin. Since the chip uses 3 VDC, we have included a voltage regulator on board that will take 3-5VDC and safely convert it down. To power the board, give it the same power as the logic level of your microcontroller - e.g. for a 5V micro like Arduino, use 5V | |
| 3V3 | 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 Pins | |
| SCL | i2c scl | I2C clock pin, connect to your microcontrollers 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 microcontrollers I2C data line. This pin is level shifted so you can use 3-5V logic, and there's a 10K pullup on this pin. | |
| CSAG | spi cs | this is the Accelerometer+Gyro subchip Chip Select, it's level shifted so you can use 3-5V logic input | |
| CSM | spi cs | this is the Magnetometer subchip Select, it's level shifted so you can use 3-5V logic input | |
| SDOAG | spi miso | this is the Accelerometer+Gyro subchip MISO pin - it's 3V logic out, but can be read properly by 5V logic chips. | |
| SDOM/DOM | spi miso | this is the Magnetometer subchip MISO pin - it's 3V logic out, but can be read properly by 5V logic chips. | |
| DEN | other | this is a pin that supposedly could be used to dynamically enable/disable the Gyro. There's actually no documentation on it but we break it out for you anyways. | |
| INT1 & INT2 | interrupt | These are interrupts from the accelerometer/gyro subchip. We don't have specific library support for these so check the datasheet for what you can make these indicate. They are 3V-logic outputs | |
| DRDY | interrupt | this is the accelerometer/gyro subchip data ready output. We don't have specific library support for these so check the datasheet for how you can set the registers to enable this pin. It is a 3V-logic output. | |
| INTM | interrupt | This is the interrupt from the magnetometer subchip. We don't have specific library support for it so check the datasheet for what you can make it indicate. It is a 3V-logic output. |
| Connector | Type |
|---|---|
| stemma_qt | STEMMA QT / Qwiic I2C (JST SH 4-pin), two connectors |
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
LSM9DS1 · 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 |
|---|---|---|---|
| stemma_qtSTEMMA QT / Qwiic I2C (JST SH 4-pin), two connectors | 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, 07:50 AM 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 LSM9DS1 9-DoF IMU (Adafruit 4634) — store photo (opens in a new tab)
Manufacturer reference
store gallery image of the black STEMMA QT breakout
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.interface, spec.provides.mag_range_ut, spec.provides.sensor_fusion, spec.provides.sensor_ic, spec.provides.sensor_type, spec.usage.connectors, spec.usage.pinout, spec.usage.pinout_complete
sha256 6874558a74555681d2b4578ac9c034884d7f9ccac7e79597f59cf9633bd91d03
Supports: offers
FAQ
Adafruit LSM9DS1 9-DoF IMU questions
What voltage powers the Adafruit LSM9DS1 9-DoF IMU?
Supply range 3–5 V.
How much does the Adafruit LSM9DS1 9-DoF IMU cost?
From $19.95 at www.adafruit.com. Prices are observed unit prices before tax and shipping.
What are the Adafruit LSM9DS1 9-DoF IMU dimensions?
25.4 × 17.78 × 1.6 mm. A STEP model is available for enclosure fit checks.
Where does this Adafruit LSM9DS1 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 LSM9DS1 9-DoF IMU datasheet — Adafruit Industries
- www.adafruit.com listing