BW SENSING IMU100C User manual

IMU100C
High Cost-effective
IMU
Technical Manual

As a high cost-effective inertial measurement sensor, the IMU100C measures the attitude
parameters of the motion carrier (roll angle, pitch angle, angular velocity, acceleration).Attitude and
angular velocity deviations are estimated by a 6-state Kalman filter with appropriate gain, that is suitable for
inertial attitude measurement in motion or vibration.
IMU100C uses highly reliable MEMS accelerometers and gyroscopes，and ensure
measurement accuracy through algorithms, meanwhile, the seal design and strict process ensure that the
dynamic parameters of the carrier such as the angular velocity、acceleration and attitude can be accurately measured
under harsh conditions. Through various compensations such as nonlinear compensation, quadrature compensation,
drift compensation, the error source of IMU100C can be greatly eliminated, and the product accuracy level can be
improved. The IMU100C is equipped with digital interface that can be easily integrated into the user's system.
Introduction
Features
Applications
●Dynamic compensation and quadrature compensation
●Zero instability：30 °/h
●Special offset tracking algorithm eliminates drift
●Gyro drift compensation
●Standard RS232/RS485/TTL output interface
●Operating temperature:： -40℃+85℃
●High-performance Kalman filter algorithm
●Small size： L60 × W59× H29mm
IMU100C
High Cost-effective IMU
●Balance car
●Dumper
●Platform stability
●Individual combat equipment
●ROV underwater robot navigation
●Marine survey
●Robot
●Unmanned Aerial Vehicles
Bewis Sensing Technology LLC
www.bwsensing.com Tel: [phone]

Power supply
Operating current
Operating temperature
Store temperature
9V~35V DC
30mA （Max40mA ）
-40~+85℃
-55~+100℃
Specifications
Performance Specifications
Pitch angle
Roll angle
measuring range
Resolution
Range
Resolution 0.05°/sec
-180 °~+180°
0.01°
-90°~+90°
Resolution 0.01°
Gyro
Range
Zero instability
ARW
Noise density
Zero absolute error ±0.3 °/sec
0.007 °/s/√Hz
3.1 °/√h
30 °/h
±400°/sec
Range： X,Y,Z
Resolution 2 mg
±3.6 g
Accelerometer
Bias stability
500Hz
Maximum output frequency
±20 mg
50ms
Start delay
2000g
Anti-vibration performance
IMU100C
High Cost-effective IMU
Electrical Specifications
Bewis Sensing Technology LLC
www.bwsensing.com
Tel: [phone]

Connector
Protection level
Shell material
Installation
Metal connector
IP67
Magnesium alloy sanding oxidation
Three M4 screws
Mechanical Characteristic
Package size
IMU100C
High Cost-effective IMU
Resolution: The measured minimum change value that the
sensor can detect and resolve within the measurement range.
Accuracy: The error between the actual angle and the Root mean
square(RMS) of the measured angle of the sensor (≥16 times).
www.bwsensing.com Tel: [phone]
Bewis Sensing Technology LLC
Size：L60*W59*H29（mm）
48
4
11 24
4 Through hole
Bare plate
product size
Size：L44*W35*H11（mm）
Note: ±1mm error for length and width dimensions, please refer to actual size.
holeΦ 2mm
31
40
44
35

The correct installation method can avoid measurement error. The following points should be made
when installing the sensor:
First of all, to ensure that the sensor mounting surface and the measured surface completely close,
the measured surface should be as horizontal as possible, can not have the angle shown in Figure A
and Figure C, the correct installation is shown in Figure B and Figure D.
the measured surface the measured surface
C D
the measured surface the measured surface
AB
Secondly, the bottom cable of the sensor and the axis of the measured object shouldn't generate
the angle shown in E. When installing, the bottom cable of the sensor should be kept parallel or
orthogonal to the rotation axis of the measured object. This product can be installed horizontally or
vertically (vertical installation requires customization). The correct installation method is shown in
Figure F.
Finally, the installation surface of the sensor must be fixed with the measured surface tightly and
smoothly, to avoid measurement error that may be caused by the acceleration and vibration.
Installation direction
IMU100C
High Cost-effective IMU
uneven surface
generates the
angle
uneven surface
generates the
angle
Bewis Sensing Technology LLC
www.bwsensing.com Tel: [phone]

IMU100C
High Cost-effective IMU
Electrical interfaces
Inertial
measureme
nt unit
1
3
4
5
GND
DC 5V
1
5
4
2
3
6
7
8
9
BLACK GND
YELLOW TXD
RED VCC
GREEN RXD
RS 232 wiring diagram
RED
1
VCC
DC 5V
BLUE
2
NC
BLACK
3
GND
GREEN
4
RXD
（B、D-）
YELLOW
5
TXD
（A、D+）
Sensor
YELLOW: TXD
DC 10-35V
6
8
9
3
2
4
5
1
3
73
2
4
5
6
8
9
RED VCC DC 5V
YELLOW A 485+
485-
BLACK GND
RS 485 wiring diagram
GND
11
Signal
acquisition
terminal
Inertial
measureme
nt unit
1
3
4
5
GREEN B
Electrical connections
Cable color
&
function
Note: The RS232 interface needs to share the product ground wire with the
communication ground wire.
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]

IMU100C
High Cost-effective IMU
Debugging software
Users can directly download serial assistant on official website (Supports-Download). You can also use more
convenient and intuitive PC software.
IMU100C supporting serial debugging software can be connected to the inclinometer on the computer for
angle display. The software debugging interface is as shown in the figure below. Using the debug software, it
can conveniently display the current X-direction tilt angle, and you can also modify and set other parameters by
yourself.
Software usage steps
①
②
③
Connect the serial port hardware of the inclinometer correctly and connect the power supply.
Select the computer serial port and baud rate and click to connect to the serial port.
Click Start and the tilt angle of the inclinometer in the X and Y directions will be displayed on the screen.
www.bwsensing.com Tel: [phone]
Bewis Sensing Technology LLC

Protocol
1Data Frame Format：
Data Format: Hexadecimal
Identifier: Fixed to 77
Frame Length: Length from Frame Length to Checksum（included）
Address Code: Address of acquiring module, default 0x00
Data: Content and length variable according to Command
Checksum: Sum of Frame Length, Address Code, Command and Data. (Please pay
attention that when the command or data changes, the checksum will change. )
（8 data bits，1 stop bit，No parity check，default baud rate 9600）
Identifier
（1byte）
0x77H
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（Xbyte）
Checksum
（1byte）
2 Command Format：
2.1 Read PITCH angle Command：77 04 00 01 05
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
0x01
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x81 SXXX.YY
Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1
means negative), XXX is the three digit integer part, YY is the fractional part. For example, if the return value is 77 07
00 81 10 34 63 2F, the pitch angle data is “10 34 63”, which means “-34.63 degrees”.”
0x07
0x07
0x04 0x05
2.2 Read ROLL angle Command： 77 04 00 02 06
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
0x02
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（3byte）
Checksum
（1byte）
0x82 SXXX.YY
0x04 0x06
Note: Data represents 3 byte angle value in format of compressed BCD code. S is the sign bit (0 means positive, 1
means negative), XXX is the three digit integer part, YY is the fractional part.For example, if the return value is 77 07 00
82 01 23 57 04, the roll angle data is "01 23 57", which means "123.57 degrees"
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC
www.bwsensing.com Tel: [phone]

SXXX.YY
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
0x84
2.3 Read PITCH, ROLL axis angle Command：77 04 00 04 08
0x040x04
0x0D
PITCH axis： +2.01°，ROLL axis： -0.51°，YAW axis：0.00°
77 0D 00 84 00 02 01 10 00 51 00 00 00 F5
Identifier;
fixed as 77
The length of the data,
fixed to 0D means that
in addition to 77, there
are 13 bytes behind
Address code,
default is 00
Command word,
fixed at 84
ROLL axis angle:
The format is the
same as the PITCH
axis
YAW axis or reserved
bit angle: the format
is the same as the
PITCH axis
The last byte is the sum
of all the previous data
except the first number
(0x77). If there is a carry,
the lower data is taken.
PITCH axis angle:
The first digit of the first byte is the
sign bit, 0 is the positive angle, and 1
is the negative angle.
The second and second bytes of the
first byte are integer bits of the angle,
which are compressed BCD codes.
The third byte is the decimal place of
the angle, which is the compressed
BCD code.
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC
www.bwsensing.com Tel：[phone]

Command response：
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Identifier
（1byte）
0x77
0x05 0x8B
0x05
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x0B XX
Command：77 05 00 0B 02 12
2.5 Set baud rate
Note: 0x00 means 2400 0x01 means 4800 0x02 means 9600 0x03 means 19200, 0x04 means 115200, default
value is 0x02:9600 Each time the communication baud rate is changed successfully, the response command is
sent back at the original baud rate, and then the device communication baud rate is changed immediately.
Note: If high frequency output is required, set the baud rate to 115200. Modify the baud rate without sending
a save command, and it will take effect immediately.
0x00: success
0xFF: failure
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Command response：
2.5 Set module address
0x0F
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8F
Command：77 05 00 0F 01 15
new address
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.6 Query current address
0x1F
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x1F
Command： 77 04 00 1F 23
0x00: success
0xFF: failure
0x04
0x05
0x05
0x05
new address
0x00 0x23
new address new address
correct address
Note: For example, the following command "77 05 00 0F 0A 1E" means that the address of the product is changed
from hexadecimal address 00 to 0A.
Note: The query address command is to fix the command.。
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]

Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Command response：
2.7 Set the output frequency
0x0C
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8C
Command：77 05 00 0C 00 11
0x00: success
0xFF: failure
XX
The transmitted data field XX is the automatic output frequency option: 00 indicates the answer mode,
01 indicates 5Hz automatic output corresponding data type parameter
02 indicates 10Hz automatic output corresponding data type parameter
03 indicates 20Hz automatic output corresponding data type parameter
04 indicates 25Hz automatic output corresponding data type parameter
05 indicates 50Hz automatic output corresponding data type parameter
06 indicates 100HZ automatic output Corresponding data type parameter
Note: 1. When the automatic output frequency setting is high, the baud rate needs to be set to a high baud rate. Under
some data types, 100HZ cannot be output due to the baud rate limit.
2. The automatic output data type parameter is determined according to the following data type selection command. The
default is the automatic output angle.
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.8 Query gravitational acceleration g
0x54
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
0x54
Command： 77 04 00 54 58
0x04
0x0D SXYYYY
0x05
0x05
Note: The data field part is the value of g value of pitch, roll, Z axis (vertical horizontal plane), which consists of 1 bit sign
bit + 1 bit integer bit + 4 decimal places.
If the return value is "77 0D 00 54 00 01 07 00 94 21 10 06 30 64", they are 0.0107g, 0.9421g, -0.0630g respectively.
IMU100C
High Cost-effective IMU
Bewis Sensing Technology LLC
www.bwsensing.com Tel：[phone]

Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.10 Save settings
0x0A
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x8A
Command： 77 04 00 0A 0E
00:success
FF: failure
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.11 Quaternion
0x57
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（16byte）
Checksum
（1byte）
0x57
Command： 77 04 00 57 5B
SXYYYYYY
0x04
0x14
0x04
0x04
Note: It is not necessary to save the settings to set the baud rate. Other settings need to send the save settings.
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.9 Query angular velocity
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte）
Checksum
（1byte）
Command： 77 04 00 50 54
SXXXYY
0x04
0x0D
0x50
0x50
Note: The data field is the pitch, roll, and Z-axis (vertical horizontal) angular velocity. It consists of 1 sign bit + 3 integer
bits + 2 decimal places.
For example, the return value is “77 0D 00 50 10 93 76 14 98 87 00 14 03 C0”. The data field parts are: pitch axis
angular velocity: -93.76°/s, roll axis angular velocity: -498.87°/s Z-axis angular velocity :+14.03°/s
IMU100C
High Cost-effective IMU
Note: The data field contains 16 bytes, 4 bytes are a group, respectively
quaternary q0, q1, q2, q3, which is a compressed BCD code, the format is
SX YY YY YY, S is a sign bit (0 positive, 1 negative), X is a 1-bit integer bit,
and YYYYYY is a 6-digit decimal place. For example, the return command
77 14 00 57 00 99 99 96 00 00 02 90 10 00 26 73 10 00 00 01 7F
Then the quaternion data are:
Where q0 is 00 99 99 96, representing 0.999996.
q1 is 00 00 02 90, which means 0.000290
q2 is 10 00 26 73, which means -0.002673
q3 is 10 00 00 01, indicating -0.000001
Bewis Sensing Technology LLC
www.bwsensing.com Tel：[phone]

Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
Command response：
2.13 Automatic output data type selection
0x56
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（1byte）
Checksum
（1byte）
0x56
Command： 77 05 00 56 00 5B
00
0x05
0x05
XX
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte）
Checksum
（1byte）
Command response：
2.12 Simultaneous reading angle, accelerometer, gyroscope, quaternion
0x59
Identifier
（1byte）
0x77
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（43byte）
Checksum
（1byte）
0x59
Command： 77 04 00 59 5D
0x04
0x2F Data field
-
Note: The data field contains 43 bytes, which are angle, gravitational acceleration g value, angular velocity, quaternion,
compressed BCD code, four elements are the last 16 bytes, 4 bytes are a group, a total of 4 groups The rest is a group of
3 bytes, indicating the method to see the corresponding parameter return value.
For example, the return value is:
77 2F 00 59 10 00 60 10 03 06 00 00 00
10 01 07 10 05 43 01 01 54
10 00 13 10 00 04 00 00 09
10 87 06 35 00 01 76 91 00 02 06 94 00 49 11 75 5C
Then: the three axis angles are -0.6 degrees, -3.06 degrees, 0 degrees;
The g values of the three axes were -0.0107 g, -0.0543 g, and 1.0154 g, respectively;
The three angular angular velocities are -0.13 ° / s, -0.04 ° / s, 0.09 ° / s;
The four quaternions are -0.870635, 0.017691, 0.020694, 0.491175
IMU100C
High Cost-effective IMU
Note: Data field XX is the corresponding output data type, which needs to be performed in automatic output
mode:
0x00: When outputting automatically, the output parameter is triaxial angle data, and the output format refers
to command 2.3;
0x01: When the output is automatic, the output parameter is the triaxial acceleration value, and the output
format refers to the command 2.8;
0x02: When outputting automatically, the output parameter is the value of the three-axis gyroscope, and the
output format refers to the command 2.9;
0x03: When outputting automatically, the output parameter is triaxial angle data (reserving other data types);
0x04: When outputting automatically, the output parameter is a quaternion value, and the output format refers
to the command 2.11.
0x05: When outputting automatically, the output parameters are composed of angle, acceleration, angular
velocity and four elements. The output format refers to command 2.12.
Bewis Sensing Technology LLC
www.bwsensing.com Tel：[phone]

Ordering Information
Executive standard
●Enterprise Quality System Standard: ISO9001:2008 Standard(Certificate No.10114Q16846ROS)
●CE certification (certificate number: 3854210814)
●ROHS (certificate number: SO81426003)
Product number Package condition
IMU100C-485
IMU100C-232
IMU100C-TTL
IP67 Package/Metal Connector
IP67 Package/Metal Connector
IP67 Package/Metal Connector
IMU100C
High Cost-effective IMU
Way of communication
RS232
TTL
485
RS
Bewis Sensing Technology LLC
www.bwsensing.com Tel：[phone]

IMU100C
High Cost-effective
IMU
Wuxi Bewis Sensing Technology LLC
Address: Building 30, No. 58 Xiuxi Road, Binhu District, Wuxi City, Jiangsu Province, China
Tel/Whatsapp: [phone]
Email: [email protected]
Website: www.bwsensing.com