WitMotion BWT901CL Bluetooth 2.0 Inclinometer Sensor User Manual

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 –

References

• 没有找到站点

Read User Manual Online (PDF format)

Read User Manual Online (PDF format)  >>

Download This Manual (PDF format)

Download this manual  >>