The Hexfellow Y200 is a rugged, 9-axis industrial-grade IMU module designed for robotics and AGV applications. It supports direct 12V to 60V input and connects via a CAN Bus interface using a standard XT30 connector.
The module produces high-accuracy roll, pitch, and yaw angle output at up to 200Hz, and combines a low-variance accelerometer and gyroscope for stable performance. Its reinforced enclosure and internal potting process enhance shock resistance and durability. Measuring 60 x 60 x 15 mm, the Y200 is built to operate in temperatures ranging from -20°C to 85°C, making it suitable for demanding industrial environments.
Hexfellow Y200 IMU specifications:
- IMU Type – 9-axis industrial-grade IMU (Gyroscope, Accelerometer, Magnetometer)
- Interface – XT30 connector for CAN bus (CANOpen protocol, Node ID: 0x10)
- Angle Output:
- Roll/Pitch Accuracy – ±0.15° (1σ RMS)
- Yaw Accuracy – ±0.2° (1σ RMS)
- Range – Roll: ±180°, Pitch: ±90°, Yaw: ±180° (Unreferenced)
- Resolution – 0.001°
- Gyroscope:
- Range – ±2000°/s
- Non-linearity – ±0.05%FS
- Noise Density – 0.015°/s/√Hz
- Bias Instability – 5°/h (Allan variance, 1σ)
- Bandwidth – 50Hz (-3dB)
- Zero Offset – ±0.5°/s (1σ RMS)
- Temperature Drift – ±1°/s (1σ RMS, -40~85°C)
- Accelerometer:
- Range – ±12g
- Non-linearity – ±0.5%FS
- Noise Density – 190μg/√Hz
- Bias Instability – 0.05mg (Allan variance, 1σ)
- Bandwidth – 50Hz (-3dB)
- Zero Offset – ±20mg (1σ RMS)
- Temperature Drift – ±20mg (1σ RMS, -40~85°C)
- Misc
- CAN_H and CAN_L pins are reversed compared to most devices – wiring swap required
- Comes with an EDS file for CANopen integration
- Future expansion supported via EXT-ID 0x0000000A
- Terminal resistor switch on the back
- Power – 12V to 60V (via XT30 2+2 connector)
- Dimensions – 60 x 60 x 15 mm
- Operating Temperature – -20°C to +85°C
The company mentions that it has support for both the reComputer Mini and the reComputer Robotics platform. In terms of software, the IMU supports Linux and works with both ROS 1 (Noetic) and ROS 2 (Humble) using SocketCAN for CAN communication. You can use the official driver from the hex_imu GitHub repository and build it with catkin_make (ROS 1) or colcon build (ROS 2). Launch files are also included to start the IMU node and visualize data in RViz (ROS Visualization). It publishes standard topics like /imu_data and /magnetic_data, and a Python example is provided to get azimuth output (ROS 1 only). More information about the IMU is available on the wiki on Seeed Studio, and the documentation website on the Hexfellow Robotics website is similar, but has more documentation about CANOpen.
At first glance, it was clear that the connectors were for power and CAN communication, but I couldn’t figure out which pin was which or why there were two connectors, so I asked Lord Grok about it. It turns out the two XT30 2+2 connectors are both for power and CAN communication. Each port includes CAN High (H), CAN Low (L), Voltage (V, 12–60V), and Ground (G). The left port is used to connect power and CAN signals from your system, while the right port (labeled “500K” for 500 kbps default baud rate) can be used to daisy-chain other devices. Note that the CAN_H and CAN_L pins are reversed compared to most standard devices, so you may need to swap them when wiring.
Now the only question that remains is whether the $160 price is justified. The short answer will be yes, because of its rugged build, internal potting, wide 12-60V input, and CAN Bus with XT30 connectors, as long as it’s used in applications where the cost is not an issue. If we compare this to IMUs like ST LSM6DSV320X and Bosch BHI260AP, they are low-power IMUs with embedded AI feature for wearables and edge devices. Those IMUs focus on intelligence and energy efficiency; the Y200 is designed for high-voltage compatibility and deployment in harsh environments, which justifies the higher price.
The Hexfellow Y200 9-axis industrial IMU is available on Seeed Studio’s store for $160.00. A bulk discount is available for orders of 10 or more, which brings the price down to $152.00 per unit. The package includes the Y200 IMU module with internal potting and reinforced casing, along with the required XT30 connectors for CAN bus integration.
Debashis Das is a technical content writer and embedded engineer with over five years of experience in the industry. With expertise in Embedded C, PCB Design, and SEO optimization, he effectively blends difficult technical topics with clear communication
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