BW SENSING VG127C User manual

VG127C
Cost-effective Dynamic
Inclinometer
Technical Manual

The VG127C dynamic tilt sensor product is a cost-effective inertial measurement equipment
that can measure the attitude parameters (roll and pitch) information of the moving carrier. The
attitude deviation is estimated by the 6-state Kalman filter with appropriate gain, which is suitable
for inclination measurement under motion or vibration.
VG127C uses high-quality and reliable MEMS accelerometers and gyroscopes, and uses
algorithms to ensure measurement accuracy. At the same time, the sealing design and strict process
ensure that the product can accurately measure the roll angle and pitch angle attitude parameters
of the carrier in harsh environments . Through various compensations such as nonlinear
compensation, quadrature compensation, temperature compensation and drift compensation, the
error caused by interference can be greatly eliminated and the product accuracy level can be
improved. VG127C has a digital interface, which can be easily integrated into the user's system.
●Underwater unmanned boat
●Turbine sloshing monitoring
●Stable platform
●Large ships
●Photoelectric Pod
●Autonomous driving
●Special vehicles
●Unmanned aerial vehicle
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
Introduction
Features
●Dynamic accuracy: 1°
●Static accuracy: 0.01°
●Nonlinear orthogonal compensation
●Special offset tracking algorithm
eliminates the drift
●RS232/RS485/TTL/Modbus interface output optional
●Operating temperature: -40°C~+85°C
●High performance Kalman filter algorithm
●Small size: L60 × W59× H29(mm)
Applications

200Hz
<50ms
360g
280g
L60 × W59× H29（mm）
0.005°
0.01°
1°
≥100000 hours/time
According to GBT17626
≥100 MΩ
2000g，0.5ms，3 times / axis
VG127C
Cost-effective Dynamic Inclinometer
Power supply
Operating current
Operating temperature
Store temperature
9-35VDC
30mA（Max 40mA）
-40℃~+85℃
-55℃~+100℃
Specifications
Electrical Specifications
Performance Specifications
Attitude parameter
Dynamic accuracy
Static accuracy
Resolution
Tilt range
Size
Pitch ± 90º, Roll ±180º
Physical characteristics Weight (including cable)
Weight (including package)
Interface characteristics
Start delay
Maximum output frequency
Serial communication rate 2400 to 115200 baud rate
Binary high performance protocol
Digital output format
MTBF
Electromagnetic compatibility
Insulation resistance
Impact resistance
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).
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]

hole Φ 2mm
31
40
44
35
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
Mechanical Characteristic
Connector
Protection level
Shell material
Installation
Metal connector
IP67
Magnesium alloy anodizing
Four M4 screws
Package size
Product Size: L60× W59× H29mm
PCB size
PCB Size: L44*W35*H11mm, ±1mm error for lengh and width dimensions, please refer to actual size

VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
Installation direction
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
uneven surface
generates the
angle
uneven surface
generates the
angle
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.
Electrical interfaces
RED
1
VCC
DC 9-35V
BLUE
2
NC
BLACK
3
GND
GREEN
4
RXD
（B、D-）
YELLOW
5
TXD
（A、D+）
Electrical connectionss
Cable color
&
function
Electrical interfaces
RED
1
VCC
DC 9-35V
BLUE
2
NC
BLACK
3
GND
GREEN
4
RXD
（B、D-）
YELLOW
5
TXD
（A、D+）
Electrical connectionss
Cable color
&
function

VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
Electrical interfaces
RED
1
VCC
9-35VDC
BLUE
2
NC
BLACK
3
GND
GREEN
4
RXD
（B、D-）
YELLOW
5
TXD
（A、D+）
Electrical connectionss
Cable color
&
function
REDD VCC 9-35VDC
485A/485+
485B/485-
GND
1
3
4
5
GREEN B
YELLOW A Signal
acquisition
terminal
BLACK GND
RS 485 wiring diagram
Inclination
Sensor
1
3
4
5
GND
9-35VDC
1
5
4
2
3
6
7
8
9
BLACK GND
YELLOW TXD
RED VCC
GREEN RXD
Inclination
Sensor
RS 232 wiring diagram

You can download the serial debugging assistant directly on the official website (technical service
-> download area), or you can use the more convenient and intuitive host computer software.
The VG127C supporting serial port debugging software can connect the inclination sensor on the
computer to display the angle. The software debugging interface is shown in the figure below. Using
the tilt angle to debug the host computer, you can easily display the current X direction and Y
direction tilt angle, and you can also modify and set other parameters.
Software use steps:
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
①
②
③
④
Connect the serial port hardware of the inclinometer correctly and connect the power supply.
Select the correct device model (select azimuth series).
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.
Debug software

Data format: hexadecimal
Address code: 01 by default (Note: the address cannot exceed FF)
Function code: 03 means read register, 06 means set register
Register address: the starting address of the register to be operated
Number of registers: the number of registers that need to be operated
CRC check: calculated by the host, no check is required when sending commands. (It is recommended
to use CRC calculation software to obtain) Register data storage order:
X-axis angle: register 00 01
Y-axis angle: register 00 02
Three-axis acceleration: the register start address is 00 28, a total of 6 registers
Three-axis angular velocity: the register start address is 00 2E, a total of 6 registers
Quaternion: Register starting address 00 3A, a total of 8 registers
Product address: register 00 03
Zero point type: register 00 04
2 Command Format:
2.1 Read X-axis angle Command：01 03 00 01 00 01 D5 CA
Identifier
（1byte）
Function
（1byte）
0x03（read）
0x06（write）
High address
of register
（1byte）
xx
Low address
of register
（1byte）
xx
High order of
the number of
registers
（1byte）
xx
（1byte）
xx
Checksum
（2byte）
xxxx
Address
（1byte）
Function
（1byte）
Checksum
(2byte)
0x00 0x01 0xD5CA
0x01 0x03
Command response：
Address
（1byte）
0x01
Function
（1byte）
Byte
（1byte）
Data high
（1byte）
Data low
（1byte）
Checksum
（2byte）
xx xx xxxx
0x03 0x02
Note: Data is a hexadecimal number (PLC or configuration software uses a 16-bit register to read data directly
in decimal). After conversion to decimal, the real data = (Data-20000)/100. If Data is 3D52, it is 15698 when
converted to decimal, the real data = (15698-20000)/100=-43.02 degrees
0x01
0x00 0x01
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
Protocol
1.Data Frame Format： （8 data bits，1 stop bit，No parity check，default baud rate 9600）
Low order of
the number of
registers
High address
of register
Low address
of register
High order of
the number of
registers
Low order of
the number of
registers

2.3 Read X, Y axis angle Command： 01 03 00 01 00 02 95 CB
Address
（1byte）
Function
（1byte）
Checksum
(2byte)
0x00 0x02 xxxx
0x01 0x03
Command response：
Address
（1byte）
Function
（1byte）
...... Checksum
（2byte）
......
0x01 0x03
Byte
（1byte）
X axis angle
（2byte）
Y axis angle
（2byte）
0x04 xx xx xxxx
xx xx
2.4 Set communication rate Command： 01 06 00 0B 00 02 79 C9
Address
（1byte）
Function
（1byte）
Function
(1byte)
Function
(1byte)
Data
（2byte）
Checksum
（2byte）
Command response：
Note: Data is 0x00 00 means 2400
0x00 01 means 4800
0x00 02 means 9600 (default value)
0x00 03 means 19200
0x00 04 means 115200
Address
（1byte）
Function
（1byte）
Function
(1byte)
Function
(1byte)
Data
（2byte）
Checksum
（2byte）
0x01
0x0B0x06 0x00 0x0002 0x79 C9
0x01
0x0B0x06 0x00 0x0002 0x79 C9
2.2 Read Y axis angle Command： 01 03 00 02 00 01 25 CA
Address
（1byte）
Function
（1byte）
Checksum
(2byte)
0x00 0x01 xxxx
0x01 0x03
Command response：
Address
（1byte）
0x01
Function
（1byte）
Byte
（1byte）
Data high
（1byte）
Data low
（1byte）
xx xx
0x03 0x02
0x00 0x02
Checksum
（2byte）
xxxx
0x00 0x01
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
High address
of register
High address
of register
Low address
of register
Low address
of register
High order of
the number of
registers
High order of
the number of
registers
Low order of
the number of
registers
Low order of
the number of
registers

Command response：
Note: Absolute zero point: based on the factory-calibrated zero point;
Relative zero point: based on the zero point set at the current position.
Address
（1byte）
0x01
Function
（1byte）
Function
(1byte)
Function
(1byte)
Data
（2byte）
Checksum
（2byte）
0x0A
2.6 Query relative/absolute zero point Command： 01 03 00 05 00 01 94 0B
Address
（1byte）
Function
（1byte）
Function
（1byte）
Function
（1byte）
Data
（2byte）
Checksum
（2byte）
Command response：
2.7 Set module address
0x0D
Address low
（1byte）
Function
（1byte）
Function
（1byte）
Function
（1byte）
Data
（2byte）
Checksum
（2byte）
Command： 01 06 00 0D 00 03 58 08
Address
（1byte）
0x01
Function
（1byte）
Function
(1byte)
Function
(1byte)
Data
（2byte）
Checksum
（2byte）
0x0A
0x0000: Absolute zero
0x0001: Relative zero
Command：01 06 00 0A 00 00 A9 C8
2.5 Set relative/absolute zero point
0x06 0x00 0xA9 C8
0x06 0x00 0xA9 C8
Module address xxxx
0x01
0x06 0x00
Module address
0x0D0x06 0x00 Module address xxxx
Command response：
Address
（1byte）
Function
（1byte）
Byte
（1byte）
Data high
（1byte）
Data low
（1byte）
Checksum
（2byte）
0x01
xx
0x03 0x02 xx xxxx
Address
（1byte）
Function
（1byte）
Checksum
（1byte）
0x01 0x03
0x94 0B
0x01
0x00
0x00 0x05
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
High address
of register
Low address
of register
High order of
the number of
registers
Low order of
the number of
registers
0x0000: Absolute zero
0x0001: Relative zero

Address
（1byte）
0x01
Function
（1byte）
Function
（1byte）
Function
（1byte）
Data
（2byte）
Checksum
（2byte）
0x0F 0x0000
2.8 Save Settings Command：01 06 00 0F 00 00 B9 C9
Command response：
Address
（1byte）
Function
（1byte）
Function
（1byte）
Function
（1byte）
Data
（2byte）
Checksum
（2byte）
0x0F
0x06 0x00 0xB9 C9
0xB9 C9
0x01
0x0000
0x06 0x00
Note: For all the previous setting items, you need to send a save command after modification, otherwise, after power off,
these settings will be restored to the state before the setting.
2.9 Read three-axis acceleration Command：01 03 00 28 00 06 45 C0
Address
（1byte）
Function
（1byte）
Checksum
(2byte)
0x00 0x06 0x45C0
0x01 0x03
Command response：
Address
（1byte）
Function
（1byte）
Checksum
（2byte）
0x01 0x03
Byte
（1byte）
X axis angle
（4byte）
Y axis angle
（4byte）
0x0C YCRC
X
0x00 0x28
Z axis angle
（4byte）
Z
Note: The Data of each axis is 32-bit single-precision floating-point type (4 bytes), with the low bit in the front and the
high bit in the back.
2.10 Read three-axis angular velocity Command：01 03 00 2E 00 06 A5 C1
Address
（1byte）
Function
（1byte）
Checksum
(2byte)
0x00 0x06 0xA5C1
0x01 0x03
Command response：
Address
（1byte）
Function
（1byte）
Checksum
（2byte）
0x01 0x03
Byte
（1byte）
X axis angle
（4byte）
Y axis angle
（4byte）
0x0C YCRC
X
0x00 0x2E
Z axis angle
（4byte）
Z
Note: The Data of each axis is 32-bit single-precision floating-point type (4 bytes), with the low bit in the front and the
high bit in the back.
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
High address
of register
High address
of register
Low address
of register
Low address
of register
High order of
the number of
registers
High order of
the number of
registers
Low order of
the number of
registers
Low order of
the number of
registers

2.11 Read quaternion Command： 01 03 00 3A 00 08 64 01
Address
（1byte）
Function
（1byte）
Checksum
(2byte)
0x00 0x08 xxxx
0x01 0x03
Command response：
Address
（1byte）
Function
（1byte）
Checksum
（2byte）
0x01 0x03
Byte
（1byte）
Data1
（4byte）
Data2
（4byte）
0x10 q2 CRC
q1
0x00 0x3A
Data3
（4byte）
Note: The Data of each quaternion is a 32-bit single-precision floating-point type (4 bytes), with the low bit in the
front and the high bit in the back.
Data4
（4byte）
q3 q4
VG127C
Cost-effective Dynamic Inclinometer
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]
High address
of register
Low address
of register
High order of
the number of
registers
Low order of
the number of
registers

VG127C
Cost-effective Dynamic Inclinometer
Executive standard
●Enterprise Quality System Standard: ISO9001:2015 Standard (Certificate No.:23919Q10455ROS)
●CE certification (certificate number: M.2019.103.UY1151)
●RoHS (certificate number: G190930099)
Bewis Sensing Technology LLC www.bwsensing.com Tel：[phone]

VG127C
Cost-effective Dynamic
Inclinometer
Wuxi Bewis Sensing Technology LLC
Address: Building 30, No. 58 Xiuxi Road, Binhu District, Wuxi City, Jiangsu Province, China
Tel/Whatsapp: [phone]
Email: [e-mail]
Website: www.bwsensing.com