WiT HWT9053 User manual

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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USER MANUAL
HWT9053(RS485)
IP67 Inclinometer

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Tutorial Link
Google Drive
Link to instructions DEMO:
WITMOTION Youtube Channel
HWT9053 RS485 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

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Contents
Tutorial Link...............................................................................- 2 -
Contact........................................................................................ - 2 -
Application................................................................................. - 2 -
Contents......................................................................................- 3 -
1.1 Warning Statement..................................................- 5 -
2 Use Instructions with PC.................................................- 6 -
2.1 Connection Method.................................................. - 6 -
2.1.1 Serial Connection...................................................................... - 6 -
2.2 Software Introduction.............................................- 9 -
2.2.1 Main Menu................................................................................ - 9 -
2.2.2 Menu of Configuration............................................................- 11 -
2.3 Calibration.................................................................- 14 -
2.3.1 Accelerometer Calibration...................................................... - 14 -
2.3.2 Magnetic Field Calibration......................................................- 16 -
2.3.3 Gyroscope Automatic Calibration...........................................- 18 -
2.3.4 Reset Z-axis Angle.................................................................. - 18 -
2.4 Configuration........................................................... - 19 -
2.4.1 Baud Rate................................................................................ - 19 -
2.4.2 Data Recording........................................................................- 19 -
2.4.3 Data Playback..........................................................................- 21 -
2.4.4 Placement Direction................................................................ - 24 -
2.4.5 Bandwidth............................................................................... - 25 -
2.4.6 Restore Factory Setting........................................................... - 26 -

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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1 Introduction
The HWT9053 integrates high-precision gyroscopes, accelerometers, and
MMC3630 magnetic field sensors. It uses high-performance microprocessors
and advanced dynamics calculation and Kalman dynamic filtering algorithms to
quickly solve the current real-time motion posture of the module.
HWT9053 offers several advantages over competing sensor:
•The use of advanced digital filtering technology can effectively reduce
measurement noise and improve measurement accuracy.
•The module integrates an attitude solver, with the dynamic Kalman filter
algorithm, can accurately output the current attitude of the module in a
dynamic environment, the attitude measurement accuracy is 0.001°
(HWT9052 is 0.01°), the stability is extremely high, and the performance is
even better than a certain Some professional inclinometers
•The module has its own voltage stabilization circuit, and the working voltage is
5V~36V.
•Support 485 interface. It is convenient for users to choose the best connection
method. The serial port rate is adjustable from 4800bps to 921600bps.
•4-layer PCB board technology, thinner, smaller and more reliable.

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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1.1 Warning Statement
Putting more than 36 Volt across the sensor wiring of
the main power supply can lead to permanent damage
to the sensor.
VCC cannot connect with GND directly, otherwise it
will lead to the burning of the circuit board.
For proper instrument grounding: use WITMOTION
with its original factory-made cable or accessories.
Do not access the I2C interface.
For secondary developing project or integration: use
WITMOTION with its compiled sample code.

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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2 Use Instructions with PC
2.1 Connection Method
PC software is only compatible with Windows system.
Link to HWT9053’s demo video
2.1.1 Serial Connection
Step 1. Connect the sensor with a serial converter
PIN Connection:
VCC - 5~36V
B - B
A - A
GND - GND
(VCC 5~36V is recommended for connection)

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Recommended tools:
3-in-1 serial converter 6-in-1 serial converter
Link to tutorial of 3-in-1 serial converter(CH340 driver)
Link to tutorial of 6-in-1 serial converter (CP2102 driver)
Step 1. Unzip the software and install the driver CH340 or CP2102
(Depending on which accessory for usage.)
Step 2. Insert the converter to computer and confirm the “com port” in device
manager
Step 3. Open the software (Minimu.exe).

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Step 1.Choose the com port and baud rate 9600.
Step 2.Open the com port.
Step 3.Choose HWT9053, then click Auto-search.
Step 4.Click 0×50.

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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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
Bind or unbind
Buletooth 2.0
transparent set
One click configuration or advanced
configuration
Firmware update
Option for firmware update
About Minimu
Info about Minimu.exe
Factory test
For manufacturer internal test only
Auto-search
Auto searching the sensor
UDP out
Start forwarding or forwarding settings

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Port
Choose port
Baud
Baud rate selection
Type
Fixed setting as Modbus for HWT9053
Open
Open com port
Close
Close com port

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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2.2.2 Menu of Configuration
Menu of Configuration
Button
Function
Read Config
Reading the current configuration
Calibrate Time
Calibration time of chip

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Menu of System
Button
Function
Reset
Reset to factory setting
Algorithm
6-axis algorithm or 9-axis
Installation Direction
Vertical or horizontal installation
Menu of Calibrate
Button
Function
Acceleration
Accelerometer calibration
Magnetic Field
Magnetometer calibration
Angle Reference
Setting current angle as 0 degree
Gyro Auto Calibrate
Auto-calibration of gyroscope

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Menu of Range
Button
Function
Band Width
Bandwidth range
Menu of Communication
Button
Function
Baud Rate
Baud rate selection
Device Address
0x50

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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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

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Step 3. 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.

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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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 then click the “Start
calibration”

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly
Step 4. After rotation, click “End calibration”
Successful result:

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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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 cannot 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: firstly keep the module static, click the “Config”
open the configuration bar and then click “Reset Z-axis Angle” option, you will
see the angle of the Z axis backs to 0 degree in the module data bar.

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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2.4 Configuration
2.4.1 Baud Rate
The module supports multiple baud rates, and the default baud rate is 9600.
To set the baud rate of the module, you need to select the baud rate to be
changed in the communication rate drop-down box in the configuration bar
based on the correct connection between the software and the module.
Note: After the change, the module will no longer output data at the original
baud rate. The data will be output only when the baud rate that has been
changed is selected on the PC software again.
2.4.2 Data Recording
Method are as follows:
Step 1: Click “Record” and “Begin”
Step 2: Click “Stop”
Step 3: Extract the data as “txt” file

HWT9053-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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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.