WITMOTION BWT61CL Bluetooth Inclinometer Sensor User Manual
- June 14, 2024
- WitMotion
Table of Contents
BWT61CL Bluetooth Inclinometer Sensor
Product Information
Specifications:
- Product Name: BWT61CL
- Bluetooth Version: 2.0
- Sensor Type: Inclinometer
- Application: AGV Truck, Platform Stability, Auto Safety System,
3D Virtual Reality, Industrial Control, Robot, Car Navigation, UAV,
Truck-mounted Satellite Antenna Equipment
Introduction
The BWT61CL is a multi-sensor device that detects acceleration,
angular velocity, and angle. It is designed with a robust housing
and a small outline, making it suitable for industrial retrofit
applications such as condition monitoring and predictive
maintenance. The device can be configured to address a broad
variety of use cases by interpreting the sensor data with smart
algorithms.
Warning Statement
-
Do not put more than 5 volts across the sensor wiring of the
main power supply as it can cause 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 or change the baud rate as the
WITMOTION BLUETOOTH sensor’s baud rate is fixed.
LED Status
| LED | Status | Remark |
|---|---|---|
| Red | Flashing | Charging |
| Blue | Flashing | Pairing process |
| Blue | Keeping still | Successful pairing |
Use Instructions with PC
To use the BWT61CL with a PC, follow these steps:
-
Connect the BWT61CL to the PC using the provided cable.
-
Install the 2023 New Software as instructed in section 2 of the
user manual. -
Follow the instructions in section 3 to establish a PC
connection. -
Configure the desired settings such as bandwidth according to
section 3.4.7.
Use Instructions with Android Phone
To use the BWT61CL with an Android phone, follow these
steps:
-
Install the APP as instructed in section 4.1 of the user
manual. -
Establish a connection between the BWT61CL and your phone as
described in section 4.2.
FAQ
Q: What is the application of the BWT61CL?
A: The BWT61CL can be used in various applications such as AGV
Trucks, Platform Stability, Auto Safety Systems, 3D Virtual
Reality, Industrial Control, Robots, Car Navigation, UAVs, and
Truck-mounted Satellite Antenna Equipment.
Q: What should I do if I have technical problems or cannot find
the information I need?
A: If you have technical problems or cannot find the required
information in the provided documents, please contact our support
team. Our engineering team is committed to providing the necessary
support to ensure your success with the operation of our AHRS
sensors.
USER MANUAL BWT61CL
Bluetooth 2.0 Inclinometer Sensor
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Tutorial Link
Google Drive Link to instructions DEMO: WITMOTION Youtube Channel BWT61CL
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
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Contents
Tutorial Link …………………………………………………………………… – 2 Contact
………………………………………………………………………… – 2 Application …………………………………………………………………….. – 2
Contents……………………………………………………………………….. – 3 1 Introduction
………………………………………………………………. – 5 –
1.1 Warning Statement ………………………………………………. – 6 1.2 LED Status
…………………………………………………………. – 6 2 Instructions of 2023 New Software ……………………………………
– 7 3 Use Instructions with PC………………………………………………… – 8 3.1 PC Connection
…………………………………………………….. – 8 –
3.1.1 Serial Connection ……………………………………………. – 8 3.1.2 USB-HID
connection………………………………………. – 11 3.1.3 PC’s Bluetooth Connection ………………………………..
– 15 3.2 Software Introduction ………………………………………….. – 16 3.2.1 Main Menu
………………………………………………….. – 16 3.2.2 Menu of Configuration ……………………………………. – 18
3.3 Calibration ……………………………………………………….. – 20 3.3.1 Accelerometer Calibration
……………………………….. – 20 3.3.2 Reset Z-axis Angle ………………………………………… – 21 3.4
Configuration…………………………………………………….. – 23 3.4.1 Set Baud Rate
……………………………………………… – 23 3.4.2 Data Recording …………………………………………….. – 23 3.4.3
Data Playback ……………………………………………… – 25 3.4.4 Standby and Wake Up
……………………………………. – 27 3.4.5 Placement Direction ………………………………………. – 27 3.4.6
Static Threshold……………………………………………. – 29 –
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3.4.7 Bandwidth ………………………………………………….. – 30 4 Use Instructions with Android
Phone ……………………………….. – 32 –
4.1 APP Installation …………………………………………………. – 32 4.2
Connection……………………………………………………….. – 33 –
4.2.1 APP Pairing …………………………………………………. – 33 4.2.2 Phone’s Bluetooth Pairing
………………………………… – 35 4.3 Calibration ……………………………………………………….. – 37 4.3.1
Acceleration Calibration ………………………………….. – 37 4.3.2 Reset Z-axis Angle
………………………………………… – 38 5 Multiple Connection ……………………………………………………. – 39 5.1
Download Link …………………………………………………… – 39 5.2 Connection Instructions
……………………………………….. – 39 –
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1 Introduction
The BWT61CL is a multi-sensor device detecting acceleration, angular velocity
and angle . 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.
BWT61CL’s scientific name is AHRS IMU sensor. A sensor measures 3-axis
angle, angular velocity, acceleration. Its strength lies in the algorithm
which can calculate three-axis angle accurately. BWT61CL is an CE standard
accelerometer. It is employed where the highest measurement accuracy is
required. BWT61CL 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 · 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
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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
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2 Instructions of 2023 New Software
In order to improve the user experience and our customer service, we develop a
new version PC software. Below is the new software and universal instruction
download link. https://drive.google.com/drive/folders/1dnwmnH7mi4zBpNqDywLz
rzsV7BfeKaD9?usp=share_link
Note: The 2022 old version software will be reserved for use. You can check
“Chapter 3 Use Instructions with PC” for more details. BWT61CL | manual
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3 Use Instructions with PC
3.1 PC Connection
PC software is only compatible with Windows system. BWT61CL Playlist
3.1.1 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 e “Uninstall”
button first. Then click on the “Install” button.
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*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.
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(Old version software instruction) 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.
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3.1.2 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
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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
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Step 5. the software will be set up unbinding automatically and search devices
successfully (Bluetooth Pairing process)
Step 6. Set successfully, click “ok”
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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
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3.1.3 PC’s Bluetooth Connection
Step 1. Turn on 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
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3.2 Software Introduction
Link to download software
3.2.1 Main Menu
Button File Tools Record 3D Config
Help
Auto-search Port Baud Type
Main Menu of software
Function
Launch recorded HEX file (Bin format)
Hide or display tools box on left side
Record function
3D Unity DEMO
Configuration setting
Language
Switch to English or Chinese
Bluetooth Set
Option for 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 JY61 for BWT61CL
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Open Close Acc Calibrate
Open com port Close com port Acceleration calibration
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3.2.2 Menu of Configuration
Button Reset Z-axis Angle Acceleration Calibration Sleep
Baudrate Mode Direction Static threshold Bandwidth
Menu of Configuration Function Reset Z-axis angle to 0 degree Ability to proceed accelerometer calibration Sleep function, not available for Bluetooth sensor series 115200(100Hz) (Fixed)/ 9600(20Hz) Serial / IIC(only for modules) Vertical or horizontal installation Static threshold for angular velocity Option for bandwidth range
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Button Time Acceleration Angular Velocity Angle
Menu of Data Function Real time Data for Acceleration Data for Angular Velocity Data for Angle
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3.3 Calibration
Preparation: Make sure the sensor is “Online”. Calibration on PC software It
is required to calibrate for the first time usage.
3.3.1 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:
1. Firstly keep the module horizontally stationary, then click “Acceleration
Calibration” in the “Config” of the software.
2. After 1 ~ 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 one G of gravitational
acceleration on the Z-axis.
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3.3.2 Reset Z-axis Angle
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
module data bar.
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3.4 Configuration
3.4.1 Set Baud Rate
Not available for Bluetooth sensor series.
3.4.2 Data Recording
There is no memory chip in the sensor module, and the data can be recorded and
saved on the computer.
Method are as follows: Click”Record”and”Begin”will save the data as a TXT
file. The saved file is in the directory of the PC software program Data.tsv.
The beginning of the file has the value corresponding to the colected data.
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It is highly recommended that data can be pasted to a Excel file. In this way,
all data will be shown in order.
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3.4.3 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
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Step 4: Click “Run” and the Binary file will be playback When playback, the
rate can be editable.
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3.4.4 Standby and Wake Up
Not available for Bluetooth sensor series.
3.4.5 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
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Step 3: Click “Vertical” as install directions on “Config” menu
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3.4.6 Static Threshold
Static threshold: When the module is stationary, the angular velocity measured
by the gyro chip changes slightly. The function of the static threshold is
that when the angular velocity is less than the threshold, the module output
angular velocity is 0. Setting method: Click the “Still Threshold” option in
the configuration bar of the PC software to set the threshold. The module
default is 0.122°/ s.
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3.4.7 Bandwidth Default bandwidth is 10Hz.
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 5Hz.
The waveform is very steady.
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Bandwidth as 256Hz, Output rate as 20Hz. 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.
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4 Use Instructions with Android Phone
For APP configuration introduction, please referring to the Chapter 2.2
4.1 APP Installation
Install the APK file, give permission of Location and Storage
Link to download 2022v Android APP WITMOTION 2023v New Android APP
About Android APP: 1. It is required to allow for application positioning
(Always allowed), and turn on the positioning function and Bluetooth Note:
Paired devices can be searched without turning on positioning, but according
to Google’s requirements, if APP installed on a higher version of Android
(6.0) mobile phone is paired with a Bluetooth device, positioning must be
allowed when using Bluetooth at the same time. 2. After turning on Bluetooth,
it takes about one minute to search for authorization to find Bluetooth.
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4.2 Connection
BWT61CL Playlist
4.2.1 APP Pairing
Step 1. Install the APK file, give permission of Location and Storage Step 2.
Open APP and choose “6-axis Series”
Step 3. Turn on the sensor and search “HC-06”, input password “1234”.
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Step 4. When pairing is done, the blue LED light of sensor will remain still.
After a few seconds, the data will show automatically.
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4.2.2 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 addrees” device and input the password “1234”
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Step 5. Open the WITMOTION APP, and choose “6-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 remain still. Connection
with APP is successful.
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4.3 Calibration
4.3.1 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 4. Judge the result–confirm if there is 1g on Z-axis acceleration
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4.3.2 Reset Z-axis Angle
Step 1. Keep the module horizontally stationary Step 2. Click the
“Calibration” menu Step 3. Click the “Z-axis return to zero” and wait for 3
seconds Step 4. Check the data of “Angle Z” to see if it is 0°
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5 Multiple Connection
For software introduction, please referring to the Chapter 2.2.
5.1 Download Link
For multi-connection, please download the multi-connection HID software.
Download link
5.2 Connection 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
stops flashing–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: The multiple connection will require the USB-HID 2.0 adapter (need to
install CH340 driver) 1. Each BWT61CL Bluetooth 2.0 sensor can only pair with
1 USB-HID adapter.
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