USER MANUAL BWT901CL Bluetooth 2.0 Inclinometer Sensor BWT901CL | manual v0924 | http://wiki.wit-motion.
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.
Contents Tutorial Link................................................................................................................... - 2 Contact............................................................................................................................ - 2 Application...................................................................................................................... - 2 Contents............................................................................................
2.4.5 Data Playback.................................................................................. - 26 2.4.6 Standby and Wake Up................................................................. - 28 2.4.7 Placement Direction...................................................................... - 29 2.4.8 Bandwidth......................................................................................... - 30 2.4.9 6-axis/ 9-axis Algorithm.............................................................
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.
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 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 Download Link Step 3. Insert the converter to computer and confirm the “com port” in device manager Step 4. Open the software(Minimu.
2.1.2 USB-HID Connection Step 1. Insert the USB-HID adapter into USB slot of computer Step 2. Turn on the sensor after red light of HID adapter flashes Step 3. Wait till the sensor's blue LED light remains on--means pairing succeeded Step 4. Open the software, Minimu.exe Step 5. Data will appear once the auto-search finishes BWT901CL | manual v0924 | http://wiki.wit-motion.
2.1.3 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. BWT901CL | manual v0924 | http://wiki.wit-motion.
2.2 Software Introduction Link to download software 2.2.1 Main Menu Main Menu of Software Button Function File Launch recorded HEX file (Bin format) Tools Hide or display tools box on left side Record Record function 3D 3D DEMO Config Configuration setting Help Language English or Chinese Bluetooth Set Binding device or unbind Firmware update Option for firmware update About Minimu Info about Minimu.
2.2.2 Menu of Configuration Menu of Configuration Button Function Read Config Reading the current configuration Lock Lock the sensor Unlock Unlock the sensor Calibrate Time Calibration time of chip Save Config Save configuration BWT901CL | manual v0924 | http://wiki.wit-motion.
Menu of System Button Function Reset Reset to factory setting Sleep Sleep function, not available for Bluetooth sensor series Alarm Alarm function, not available for Bluetooth sensor series Algorithm 6-axis algorithm or 9-axis Installation Direction Vertical or horizontal installation Instruction Start-up Instructions sending to start-up the sensor Menu of Calibrate Button Function Acceleration Accelerometer calibration Magnetic Field Magnetometer calibration Reset Height Reset height d
Menu of Communication Button Function Baud Rate Baud rate selection, not available for Bluetooth sensor series Output Rate Return rate selection Device Address 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
D2 Model Not available for Bluetooth sensor series D3 Model Not available for Bluetooth sensor series Pulse width Not available for Bluetooth sensor series Cycle Not available for Bluetooth sensor series BWT901CL | manual v0924 | http://wiki.wit-motion.
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.
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, 0，1, 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 v0924 | http://wiki.wit-motion.
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.
Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly BWT901CL | manual v0924 | http://wiki.wit-motion.
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.
2.3.4 Reset Z-axis Angle Note：If you want to avoid magnetic interference, you can change the algorithm to 6-axis，function 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.
2.3.5 Reset Height to 0 Only available for the module built-in barometer like WT901B, HWT901B, WTGAHRS1, WTGAHRS2. BWT901CL | manual v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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.
2.4.4 Data Recording Method are as follows: Step 1: Click “Record” and “Begin” Step 2: Click “Stop” BWT901CL | manual v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
Step 4: Click “Run” and the Binary file will be playback When playback, the rate can be editable. BWT901CL | manual v0924 | http://wiki.wit-motion.
2.4.6 Standby and Wake Up Not available for Bluetooth sensor series. BWT901CL | manual v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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.
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.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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 v0924 | http://wiki.wit-motion.
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.
5 FCC Statement This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions: 1) this device may not cause harmful interference, and 2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules.
