WitMotion BWT901CL Bluetooth 2.0 Inclinometer Sensor User Manual
- June 9, 2024
- WitMotion
Table of Contents
BWT901CL Bluetooth 2.0 Inclinometer Sensor
USER MANUAL BWT901CL
Bluetooth 2.0 Inclinometer Sensor
BWT901CL | manual V22-0412 | www.wit-motion.com -1-
Tutorial Link
Google Drive Link to instructions DEMO: WITMOTION Youtube Channel BWT901CL
Playlist If you have technical problems or cannot find the information that
you need in the provided documents, please contact our support team. Our
engineering team is committed to providing the required support necessary to
ensure that you are successful with the operation of our AHRS sensors.
Contact
Technical Support Contact Info
Application
AGV Truck Platform Stability Auto Safety System 3D Virtual Reality Industrial
Control Robot Car Navigation UAV Truck-mounted Satellite Antenna Equipment
BWT901CL | manual V22-0412 | www.wit-motion.com -2-
Contents
Tutorial Link……………………………………………………………………………………………………. – 2
Contact……………………………………………………………………………………………………………. – 2
Application……………………………………………………………………………………………………….- 2
Contents…………………………………………………………………………………………………………..- 3 1
Introduction………………………………………………………………………………………………… – 5 –
1.1 Warning Statement…………………………………………………………………………..- 6 1.2 LED
Status………………………………………………………………………………………….- 6 2 Use Instructions with
PC………………………………………………………………………….. – 7 2.1 Connection
Method………………………………………………………………………….. – 7 –
2.1.1 Serial Connection………………………………………………………………….. – 7 2.1.2 USB-HID
Connection………………………………………………………….. – 10 2.1.3 PC’s Bluetooth
Connection………………………………………………… – 14 2.2 Software
Introduction…………………………………………………………………… – 15 2.2.1 Main
Menu……………………………………………………………………………..- 15 2.2.2 Menu of
Configuration…………………………………………………………- 16 2.3
Calibration………………………………………………………………………………………..- 20 2.3.1 Accelerometer
Calibration…………………………………………………. – 20 2.3.2 Magnetic Field
Calibration…………………………………………………. – 22 2.3.3 Gyroscope Automatic
Calibration…………………………………….. – 24 2.3.4 Reset Z-axis
Angle……………………………………………………………… – 25 2.3.5 Reset Height to
0………………………………………………………………… – 26 2.4
Configuration………………………………………………………………………………….. – 27 2.4.1 Return
Content……………………………………………………………………. – 27 2.4.2 Output
Rate…………………………………………………………………………..- 28 2.4.3 Baud
Rate………………………………………………………………………………- 28 2.4.4 Data
Recording……………………………………………………………………. – 29 –
BWT901CL | manual V22-0412 | www.wit-motion.com -3-
2.4.5 Data Playback……………………………………………………………………….- 31 2.4.6 Standby and Wake
Up……………………………………………………….. – 33 2.4.7 Placement
Direction…………………………………………………………….- 34 2.4.8
Bandwidth…………………………………………………………………………….. – 35 2.4.9 6-axis/ 9-axis
Algorithm……………………………………………………. – 37 3 Use Instructions with Android
Phone……………………………………………………- 38 3.1 APP
Installation……………………………………………………………………………….- 38 3.2
Connection……………………………………………………………………………………….- 39 3.2.1 APP
Pairing…………………………………………………………………………….- 39 3.2.2 Phone’s Bluetooth
Pairing…………………………………………………..- 41 3.3
Calibration………………………………………………………………………………………..- 43 3.3.1 Acceleration
Calibration………………………………………………………- 43 3.3.2 Magnetic field
calibration……………………………………………………- 44 4 Multiple
Connection………………………………………………………………………………….- 45 4.1 Download
Link…………………………………………………………………………………- 45 4.2 Connection
Instructions……………………………………………………………….. – 45 –
BWT901CL | manual V22-0412 | www.wit-motion.com -4-
1 Introduction
The BWT901CL is a multi-sensor device detecting acceleration, angular
velocity, angle as well as magnetic filed. The robust housing and the small
outline makes it perfectly suitable for industrial retrofit applications such
as condition monitoring and predictive maintenance. Configuring the device
enables the customer to address a broad variety of use cases by interpreting
the sensor data by smart algorithms.
BWT901CL’s scientific name is AHRS IMU sensor. A sensor measures 3-axis
angle, angular velocity, acceleration, magnetic field. Its strength lies in
the algorithm which can calculate three-axis angle accurately.
BWT901CL is an CE standard accelerometer. It is employed where the highest
measurement accuracy is required. BWT901CL offers several advantages over
competing sensor:
· Heated for best data availability: new WITMOTION patented zero-bias
automatic detection calibration algorithm outperforms traditional
accelerometer sensor
· High precision Roll Pitch Yaw (X Y Z axis) Acceleration + Angular Velocity +
Angle + Magnetic Field output
· Low cost of ownership: remote diagnostics and lifetime technical support by
WITMOTION service team
· Developed tutorial: providing manual, datasheet, Demo video, free software
for Windows computer, APP for Android smartphones
· WITMOTION sensors have been praised by thousands of engineers as a
recommended attitude measurement solution
BWT901CL | manual V22-0412 | www.wit-motion.com -5-
1.1 Warning Statement
Putting more than 5 Volt across the sensor wiring of the main power supply can
lead to permanent damage to the sensor.
For proper instrument grounding: use WITMOTION with its original factory-made
cable or accessories.
Do not access the I2C interface. Do not change the baud rate because
WITMOTION BLUETOOTH sensor’s baud rate is fixed.
1.2 LED Status
LED Red
Blue
Status Flashing Flashing Keeping still
Remark Charging Pairing process Successful pairing
BWT901CL | manual V22-0412 | www.wit-motion.com -6-
2 Use Instructions with PC
2.1 Connection Method
PC software is only compatible with Windows system. BWT901CL Playlist
2.1.1 Serial Connection
Step 1. Connect the sensor with offered Type-C wire. (Warm Reminder: If you
wanna use a longer cable, it should be a standard Type-C data cable) Step 2.
Unzip the software and install the driver CH340
https://drive.google.com/file/d/1I3hl9Thsj9aXfG6U-cQLpV9hC3bVEH2V/view?
usp=sharing *How to Install and update the CH340 driver Click the “Uninstall”
button first. Then click on the “Install” button.
BWT901CL | manual V22-0412 | www.wit-motion.com -7-
*How to verify your driver is working 1To check that the CH340 enumerates to a COM port, you can open the device manager. You can click the Start or (Windows) button and type “device manager to quickly search for the application.
2After opening the device manager, you will need to open the Ports (COM & LPT)
tree. The CH340 should show up as USB-SERIAL CH340 (COM##). Depending on your
computer, the COM port may show up as a different number.
BWT901CL | manual V22-0412 | www.wit-motion.com -8-
Step 4. Open the software(Minimu.exe)
Data will appear after auto-search finishes
Notice: If not successful, please operate manually Choose the com port and
baud rate 115200, data will be shown on the software.
BWT901CL | manual V22-0412 | www.wit-motion.com -9-
2.1.2 USB-HID Connection
Step 1. Open the software, Minimu.exe
Step 2. Insert the USB-HID adapter into the USB slot of the computerthe blue
light of HID adapter flashes
BWT901CL | manual V22-0412 | www.wit-motion.com – 10 –
Step 3. Install the driver CH340 and confirm the “com port” in device manager
https://drive.google.com/file/d/1I3hl9Thsj9aXfG6U-cQLpV9hC3bVEH2V/view?
usp=sharing *How to Install and update the CH340 driver Please kindly refer to
Chapter 2.1.1 Serial Connection, content of installing or updating CH340
driver Step 3. Turn on the sensor and the blue light of the sensor flashes
Step 4. Close the pop-up window
BWT901CL | manual V22-0412 | www.wit-motion.com – 11 –
Step 5. the software will be set up unbinding automatically and search devices
successfully (Bluetooth Pairing process)
Step 6. Set successfully, click “ok”
BWT901CL | manual V22-0412 | www.wit-motion.com – 12 –
Step 7. Wait till the sensor’s blue LED light remains on–means pairing
succeeded
Step 8. Data will appear once the auto-search finishes
BWT901CL | manual V22-0412 | www.wit-motion.com – 13 –
2.1.3 PC’s Bluetooth Connection
Step 1. Turn on the computer’s Bluetooth Step 2. Turn on the sensor Step 3.
Search HC-06 device and input pairing password, 1234
Step 4. Confirm the “outgoing com port” on “More Bluetooth Options” page
Step 5. Open software (Minimu.exe) and choose the correct com port Step 6.
Data will appear once the automatic search finishes.
BWT901CL | manual V22-0412 | www.wit-motion.com – 14 –
2.2 Software Introduction
Link to download software
2.2.1 Main Menu
Button File Tools Record 3D Config
Help
Auto-search Port Baud Type Open Close
Main Menu of Software
Function
Launch recorded HEX file (Bin format)
Hide or display tools box on left side
Record function
3D DEMO
Configuration setting
Language
English or Chinese
Bluetooth Set
Binding device or unbind
Firmware update Option for firmware update
About Minimu
Info about Minimu.exe
Factory test
For manufacturer internal test only
Auto searching the sensor
Com port selection
Baud rate selection
Fixed setting as Normal for BWT901CL
Open com port
Close com port
BWT901CL | manual V22-0412 | www.wit-motion.com – 15 –
2.2.2 Menu of Configuration
Button Read Config Lock Unlock Calibrate Time Save Config
Menu of Configuration Function Reading the current configuration Lock the sensor Unlock the sensor Calibration time of chip Save configuration
BWT901CL | manual V22-0412 | www.wit-motion.com – 16 –
Button Reset Sleep
Alarm
Algorithm Installation Direction Instruction Start-up
Menu of System Function Reset to factory setting Sleep function, not available for Bluetooth sensor series Alarm function, not available for Bluetooth sensor series 6-axis algorithm or 9-axis Vertical or horizontal installation Instructions sending to start-up the sensor
Button Acceleration Magnetic Field Reset Height
Reset Z-axis Angle
Angle Reference Gyro Auto Calibrate
Menu of Calibrate Function Accelerometer calibration Magnetometer calibration Reset height data to 0 (only for sensor built-in barometer, including WT901B, WTGAHRS2, WTGAHRS1, HWT901B) Reset Z-axis angle to 0 degree, not available for BWT901CL in 9-axis algorithm Setting current angle as 0 degree Auto- calibration of gyroscope
Button Acceleration Gyro Band Width GPS Time Zone
Menu of Range Function Acceleration measurement range Gyroscope measurement range Bandwidth range GPS positioning of time zone
BWT901CL | manual V22-0412 | www.wit-motion.com – 17 –
Button Baud Rate
Output Rate Device Address
Menu of Communication Function Baud rate selection, not available for Bluetooth sensor series Return rate selection Not available for Bluetooth sensor series
Menu of Content
Button
Function
Time
Time data output
Acceleration
Acceleration data output
Velocity
Angular velocity data output
Angle
Angle data output
Magnetism
Magnetic field data output
Port
Port data output, not available for Bluetooth
sensor series
Pressure
Pressure output, only available with the
sensor built-in barometer like HWT901B,
WTGAHRS2, WT901B, etc
Location
Latitude&Longitude data output, only for
GPS IMU series, such as WTGAHRS1,
WTGAHRS2
PDOP
Ground velocity data output, only for GPS
IMU series, such as WTGAHRS1,
WTGAHRS2
Quaternion
Quaternion data output
Positioning Accuracy
Option for GPS positioning accuracy output,
including Satellite quantity, PDOP, HDOP,
VDOP data, only for GPS IMU series, such as
WTGAHRS1, WTGAHRS2
GPS Original
Only output GPS raw data, only for GPS IMU
series, such as WTGAHRS1, WTGAHRS2
Menu of Port
D0 Model
Not available for Bluetooth sensor series
D1 Model
Not available for Bluetooth sensor series
BWT901CL | manual V22-0412 | www.wit-motion.com – 18 –
D2 Model D3 Model Pulse width Cycle
Not available for Bluetooth sensor series Not available for Bluetooth sensor series Not available for Bluetooth sensor series Not available for Bluetooth sensor series
BWT901CL | manual V22-0412 | www.wit-motion.com – 19 –
2.3 Calibration
Preparation: Make sure the sensor is “Online”. Calibration on PC software It
is required to calibrate for the first time usage.
2.3.1 Accelerometer Calibration
Purpose: The accelerometer calibration is used to remove the zero bias of the
accelerometer. Before calibration, there will be different degrees of bias
error. After calibration, the measurement will be accurate. Methods:
Step 1. Keep the module horizontally stationary Step 2. Click the
accelerometer calibration Step 3. Click the “Start calibration”and wait for 3
seconds
BWT901CL | manual V22-0412 | www.wit-motion.com – 20 –
Step 4. Click “Complete Calibration” Step 5. Judge the result–confirm if there
is 1g on Z-axis acceleration
1. After1 ~ 2 seconds, the three axial acceleration value of the module is
about 0, 01, the X and Y axis Angle is around 0°. After calibration, the x-y
axis Angle is accurate.
Note: When putting the module horizontal, there is 1g of gravitational
acceleration on the Z-axis.
BWT901CL | manual V22-0412 | www.wit-motion.com – 21 –
2.3.2 Magnetic Field Calibration
Purpose: Magnetic calibration is used to remove the zero bias of the magnetic
field sensor. Usually, the magnetic field sensor will have a large zero error
when it is manufactured. If it is not calibrated, it will bring a large
measurement error, which will affect the accuracy of the measurement of the
z-axis Angle of the heading Angle. Preparation: Sensors should be 20CM away
from magnetic and iron and other materials Methods: Step 1. Open the Config
menu Step 2. Click the magnetic field calibration button. click the “Start
calibration”
BWT901CL | manual V22-0412 | www.wit-motion.com – 22 –
Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly
BWT901CL | manual V22-0412 | www.wit-motion.com – 23 –
Step 4. After rotation, click “End calibration”
Successful result: Most of data dots will be within the ellipse. If not
successful, please stay away from the objective that can create magnetic field
interference.
2.3.3 Gyroscope Automatic Calibration
The gyroscope calibration is to calibrate the angular velocity, and the sensor
will calibrate automatically. It is recommended that the automatic calibration
of gyroscopes can be inactivated only if the module rotates at a constant
speed.
BWT901CL | manual V22-0412 | www.wit-motion.com – 24 –
2.3.4 Reset Z-axis Angle
NoteIf you want to avoid magnetic interference, you can change the algorithm
to 6-axisfunction of resetting Z-axis angle can be used. The z-axis angle is
an absolute angle, and it takes the northeast sky as the coordinate system can
not be relative to 0 degree. Z-axis to 0 is to make the initial angle of the
z-axis angle is relative 0 degree. When the module is used before and z-axis
drift is large, the z-axis can be calibrated. When the module is powered on,
the z-axis will automatically return to 0. Calibration methods as follow: Step
1: Keep the module static. Step 2: Open the “Config” and then click the “Reset
Z-axis Angle” option, you will see the angle of the Z-axis backs to 0 degree
in the “Data”.
BWT901CL | manual V22-0412 | www.wit-motion.com – 25 –
2.3.5 Reset Height to 0
Only available for the module built-in barometer like WT901B, HWT901B,
WTGAHRS1, WTGAHRS2.
BWT901CL | manual V22-0412 | www.wit-motion.com – 26 –
2.4 Configuration
2.4.1 Return Content
Setting method: The content of the data return can be set according to user
needs, click the configuration option bar, and check the data content to be
output. Taking BWT901CL as an example, the default output of the module is
acceleration, angular velocity, angle, and magnetic field. Notice: If choosing
the GPS Original, there will be no other data output.
BWT901CL | manual V22-0412 | www.wit-motion.com – 27 –
2.4.2 Output Rate
The default return rate of the module is 10Hz, the highest return rate
supports 200Hz. 10Hz refers to 10 packets returned every second. There contain
33bytes in a data packet in default. Reminder: If there being many types of
return data and low baud rate of communication, the module will automatically
reduce the frequency and output at a maximum allowable output rate. The
default baud rate is 115200.
2.4.3 Baud Rate
Not available for Bluetooth sensor series.
BWT901CL | manual V22-0412 | www.wit-motion.com – 28 –
2.4.4 Data Recording
Method are as follows: Step 1: Click “Record” and “Begin” Step 2: Click “Stop”
BWT901CL | manual V22-0412 | www.wit-motion.com – 29 –
Step 3: Extract the data as “txt” file
Notice: If there is repeated “TIME” of data, that’s caused by low-resolution
of the Windows system’s time. The changes in other data is correct. It is
highly recommended that data can be pasted to a Excel file. In this way, all
data will be shown in order.
BWT901CL | manual V22-0412 | www.wit-motion.com – 30 –
2.4.5 Data Playback
New function: When creating recorded file each time, there will a BIN file
created in the folder of record file in path of installed software meanwhile.
Recorded data playback method: Step 1: Disconnect the sensor Step 2: Click
“File” Button and then click “Load”
Step 3: Choose the original path of software installation and load the Bin
file
BWT901CL | manual V22-0412 | www.wit-motion.com – 31 –
Step 4: Click “Run” and the Binary file will be playback When playback, the
rate can be editable.
BWT901CL | manual V22-0412 | www.wit-motion.com – 32 –
2.4.6 Standby and Wake Up
Not available for Bluetooth sensor series.
BWT901CL | manual V22-0412 | www.wit-motion.com – 33 –
2.4.7 Placement Direction
The default installation direction of the module is horizontal. When the
module needs to be installed vertically, the vertical installation can be set.
Step 1: Rotate the module 90 degrees around the X-axis Step 2: Place the
sensor 90 degrees vertically
Step 3: Click “Vertical” as install directions on “Config” menu
BWT901CL | manual V22-0412 | www.wit-motion.com – 34 –
2.4.8 Bandwidth Default bandwidth is 20Hz.
Function: 1. The higher rate of bandwidth setting will lead to the higher
fluctuation in data waveform. Conversely, the lower rate of bandwidth, data
will become more fluent. For example: Bandwidth as 20Hz, Output rate as 10Hz.
The waveform is very steady.
BWT901CL | manual V22-0412 | www.wit-motion.com – 35 –
Bandwidth as 256Hz, Output rate as 10Hz. The waveform will show more
fluctuation.
2. The higher rate of bandwidth will solve the data-repeating problem. For
example, if the bandwidth setting is 20Hz, retrieval rate as 100Hz, there will
be 5 repeating data. If you prefer there is no repeating data, it is required
to increase the bandwidth more than 100Hz.
BWT901CL | manual V22-0412 | www.wit-motion.com – 36 –
2.4.9 6-axis/ 9-axis Algorithm
6-axis algorithm: Z-axis angle is mainly calculated based on angular velocity
integral. There will be calculated error on Z-axis angle. 9-axis algorithm:
Z-axis angle is mainly calculated and analyzed based on the magnetic field.
Z-axis angle will have few drift. The default algorithm of BWT901CL is 9-axis.
If there is magnetic field interference around installed environment, it is
recommended to switch to 6-axis algorithm to detect the angle. Method: Step 1:
Switch to the”6-axis” algorithm on “Config” menu Step 2: Proceed the
“Accelerometer calibration” and “Reset Z-axis angle” calibration. After the
calibration is completed, it can be used normally.
BWT901CL | manual V22-0412 | www.wit-motion.com – 37 –
3 Use Instructions with Android Phone
For APP configuration introduction, please referring to the Chapter 2.2
3.1 APP Installation
Install the APK file, give permission of Location and Storage
Link to download Android APP
About Android APP: 1. Note: Paired devices can be searched without turning on
positioning. According to Google’s requirements, if APP installed on a higher
version of Android (6.0) mobile phone, pairing with a Bluetooth device,
Location must be allowed when using Bluetooth at the same time. 2. It is
recommended to use method shown in the Chapter 3.3.1 If Bluetooth device
cannot be shown on search result, it is recommended to try another method in
the Chapter 3.3.2
BWT901CL | manual V22-0412 | www.wit-motion.com – 38 –
3.2 Connection
3.2.1 APP Pairing
Step 1. Install the APK file, give permission of Location and Storage Step 2.
Open APP and choose “9-axis Series”
Step 3. Turn on the sensor and search “HC-06”, input password “1234”.
BWT901CL | manual V22-0412 | www.wit-motion.com – 39 –
Step 4. When pairing is done, the blue LED light of sensor will remain still.
After a few seconds, the data will show automatically.
BWT901CL | manual V22-0412 | www.wit-motion.com – 40 –
3.2.2 Phone’s Bluetooth Pairing
Step 1. Install the APK file, give permission of Location and Storage Step 2.
Turn on the Bluetooth in the setting menu of smartphone Step 3. Search the
Bluetooth sensor (First pairing the device will be recognize as mac address
and will be shown as HC-06 after successful pairing.)
Step 4. Click the “MAC address” device and input the password “1234”
BWT901CL | manual V22-0412 | www.wit-motion.com – 41 –
Step 5. Open the WITMOTION APP, and choose “9-axis Series” Step 6. Click
“Scan” and select the paired Bluetooth device “HC-06” (No need to input
password) Step 7. The Blue LED light of sensor will keep on. Connection with
APP is successful.
BWT901CL | manual V22-0412 | www.wit-motion.com – 42 –
3.3 Calibration
BWT901CL Playlist
3.3.1 Acceleration Calibration
Step 1. Keep the module horizontally stationary Step 2. Click the
“Calibration” menu Step 3. Click the “Acceleration Calibration” and wait for 3
seconds Step 5. Judge the result–confirm if there is 1g on Z-axis acceleration
BWT901CL | manual V22-0412 | www.wit-motion.com – 43 –
3.3.2 Magnetic field calibration
Step 1. Click “Calibration” menu Step 2. Click the “Magnetic calibration”
button Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis
accordingly Step 4. After rotation, click “Finish”
Check the result: The Z-axis angle will have fewer drift than before. Notice:
If not successful, please stay away from the objective that can create
magnetic field interference.
BWT901CL | manual V22-0412 | www.wit-motion.com – 44 –
4 Multiple Connection
For software introduction, please referring to the Chapter 2.2.
4.1 Download Link
For multi-connection, please download the multi-connection HID software.
Download link
4.2 Connection Instructions
DEMO Link Instructions: Step 1. Open the multiple-connection PC software
Step 2: Plugin the USB-HID adapter in the beginning
Step 3. Turn on the sensor after the red light of USB-HID adapter begins
flashing
Step 4. Wait till sensor’s blue LED light keeps on–means pairing succeeds
Step 5. For multiple-connection, repeat Step 2-4
Step 6. Click the HID device accordingly and the data will show Notice: 1. The
multiple connection will require the USB-HID 2.0 adapter (need to install
CH340 driver) 2. Each BWT901CL Bluetooth 2.0 sensor can only pair with 1 USB-
HID adapter.
BWT901CL | manual V22-0412 | www.wit-motion.com – 45 –