BWT61 Manual

USER MANUAL BWT61
Bluetooth 2.0 Inclinometer Sensor
BWT61 | manual v0707 | http://wiki.wit-motion.com/english

-1-
Tutorial Link
Google Drive
Link to instructions DEMO:

WITMOTION Youtube Channel
BWT61 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

-2-
Contents
Tutorial Link................................................................................................- 2 -
Contact......................................................................................................... - 2 -
Application.................................................................................................. - 2 -
Contents...................................................................................................... - 3 -
1 Introduction............................................................................................- 5 -
1.1 Warning Statement................................................................... - 6 -
1.2 LED Status.................................................................................... - 6 -
2 Use Instructions with PC................................................................... - 7 -
2.1 PC Connection............................................................................. - 7 -
2.1.1 Serial Connection............................................................ - 7 -
2.1.2 USB-HID Connection..................................................... - 9 -
2.1.3 PC’s Bluetooth Connection........................................ - 10 -
2.2 Software Introduction............................................................ - 11 -
2.2.1 Main Menu....................................................................... - 11 -
2.2.2 Menu of Configuration................................................ - 13 -
2.3 Calibration.................................................................................. - 15 -
2.3.1 Accelerometer Calibration......................................... - 16 -
2.3.2 Reset Z-axis Angle....................................................... - 17 -
2.4 Configuration............................................................................. - 18 -
2.4.1 Set Baud Rate................................................................ - 18 -
2.4.2 Data Recording.............................................................. - 18 -
2.4.3 Data Playback................................................................ - 20 -
2.4.4 Standby and Wake Up................................................ - 23 -
2.4.5 Placement Direction.................................................... - 23 -
2.4.6 Static Threshold............................................................ - 24 -
2.4.7 Bandwidth........................................................................- 25 -
-3-
3 Use Instructions with Android Phone........................................ - 27 -
3.1 APP Installation........................................................................ - 27 -
3.2 Connection................................................................................. - 29 -
3.2.1 APP Pairing...................................................................... - 29 -
3.2.2 Phone’s Bluetooth Pairing..........................................- 32 -
3.3 Calibration.................................................................................. - 34 -
3.3.1 Acceleration Calibration............................................. - 34 -
3.3.2 Reset Z-axis Angle....................................................... - 35 -
4 Multiple Connection.......................................................................... - 36 -
4.1 Download Link.......................................................................... - 36 -
4.2 Connection Instructions........................................................ - 36 -
5 MCU Connection................................................................................. - 37 -
5.1 Arduino........................................................................................ - 37 -
5.2 STM32.......................................................................................... - 37 -
5.3 Raspberry pi.............................................................................. - 37 -
5.4 C#..................................................................................................- 37 -
5.5 C++.............................................................................................. - 38 -
5.6 Matlab.......................................................................................... - 38 -

-4-
1 Introduction
The BWT61 is a multi-sensor device detecting acceleration, angular velocity

and angle . 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.
BWT61’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.
BWT61 is an CE standard accelerometer. It is employed where the highest

measurement accuracy is required. BWT61 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 , and sample code for
MCU integration including 51 serial, STM32, Arduino, Matlab, Raspberry Pi,
communication protocol for project development
• WITMOTION sensors have been praised by thousands of engineers as a

recommended attitude measurement solution

-5-
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.
 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 change the baud rate because
WITMOTION BLUETOOTH sensor’s baud rate is
fixed.
 For secondary developing project or integration:
use WITMOTION with its compiled sample code
1.2 LED Status
LED Status Remark
Red Flashing working

Flashing pairing process
Blue
Keeping still successful pairing

-6-
2 Use Instructions with PC
2.1 PC Connection
PC software is only compatible with Windows system.
BWT61 Playlist
2.1.1 Serial Connection
Step 1. Connect the sensor with a serial converter

PIN Connection:
VCC - 5V
TX - RX
RX - TX
GND - GND
(When connecting with computer, VCC-5V is recommended.)

-7-
Recommended tools:
3-in-1 converter 6-in-1 converter TTL serial cable
Step 2. Unzip the software and install the driver CH340 or CP2102
(Depending on which accessory for usage.)
Link to tutorial of 3-in-1 serial converter/ TTL serial cable (CH340 driver)
Link to tutorial of 6-in-1 serial converter (CP2102 driver)
Step 3. Plugin the converter to computer and confirm the “com port” in device
manager
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.

-8-
2.1.2 USB-HID Connection
Step 1. Insert the USB-HID adapter to USB slot in the beginning
Step 2. Power on the sensor after red light of HID adapter flashes
Step 3. Wait till the sensor's blue LED light keeps on--pairing succeeds
Step 4. Open the software, Minimu.exe
Step 5. Data will appear once the auto-search finishes.

-9-
2.1.3 PC’s Bluetooth Connection
Step 1. Turn on computer's Bluetooth
Step 2. Power 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

- 10 -
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 Unity DEMO
Config Configuration setting
Language Switch to English or Chinese
Help 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-search Auto searching the sensor
Port Com port selection
Baud Baud rate selection
- 11 -
Type Fixed setting as JY61 for BWT61
Open Open com port
Close Close com port
Acc Calibrate Acceleration calibration

- 12 -
2.2.2 Menu of Configuration
Menu of Configuration
Button Function
Zero Z Angle Reset Z-axis angle to 0 degree
Acceleration Calibration Ability to proceed accelerometer calibration
Sleep Sleep function, not available for Bluetooth
sensor series
Baudrate 115200(100Hz) (Fixed)/ 9600(20Hz)
Mode Serial / IIC(only for modules)
Direction Vertical or horizontal installation
Static threshold Static threshold for angular velocity
Bandwidth Option for bandwidth range

- 13 -
Menu of Data
Button Function
Time Real time
Acceleration Data for Acceleration
Angular Velocity Data for Angular Velocity
Angle Data for Angle

- 14 -
2.3 Calibration
Preparation:
Make sure the sensor is “Online”.
Calibration on PC software：
It is required to calibrate for the first time usage.

- 15 -
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:
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, 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 one G of gravitational

acceleration on the Z-axis.

- 16 -
2.3.2 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: firstly keep the module static, click the “Config”
open the configuration bar and then click “Reset Z-axis Angle” option, you will
see the the angle of the Z axis backs to 0 degree in the module data bar.

- 17 -
2.4 Configuration
2.4.1 Set Baud Rate
Not available for Bluetooth sensor series.
2.4.2 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 data.
For raw data analysis, please kindly refer to the register list shown on the
datasheet of the corresponding model.

- 18 -
It is highly recommended that data can be pasted to a Excel file. In this way, all
data will be shown in order.

- 19 -
2.4.3 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”

- 20 -
Step 3: Choose the original path of software installation and load the Bin file

- 21 -
Step 4: Click “Run” and the Binary file will be playback
When playback, the rate can be editable.

- 22 -
2.4.4 Standby and Wake Up
Not available for Bluetooth sensor series.
2.4.5 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
Step 3: Click “Vertical” as install directions on “Config” menu

- 23 -
2.4.6 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.

- 24 -
2.4.7 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.

- 25 -
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.

- 26 -
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

- 27 -
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.

- 28 -
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 “6-axis Series”
Step 3. Power on the Bluetooth sensor BWT61 and the Bluetooth of the device.

- 29 -
Step 4. Search the Bluetooth connection in the phone, the name of which
was ”HC -06 ", password is 1234.

- 30 -
Step 5. When pairing is done, the blue LED light of sensor will remain still.
After a few seconds, the data will show automatically.

- 31 -
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”

- 32 -
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.

- 33 -
3.3 Calibration
Link to calibration demo:
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 4. Judge the result--confirm if there is 1g on Z-axis acceleration

- 34 -
3.3.2 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°.

- 35 -
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
Step 1. Open the multiple-connection PC software
Step 2. Plugin the USB-HID adapter in the beginning
Step 3. Power 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:
1. The multiple-connection will require the USB-HID 2.0 adapter.
The USB-HID adapter is driver-free design.
2. Each BWT61 Bluetooth 2.0 sensor can only pair with 1 USB-HID adapter.
3. The multiple-connection can reach up to 8pcs.

- 36 -
5 MCU Connection
Link to download all sample code
Link to sample code instructions demo

Notice: There is no sample code provided for Linux or Python system at
present.
5.1 Arduino
Download link
Arduino UNO3 Demo Link
5.2 STM32
Download link
5.3 Raspberry pi
Tutorial link
5.4 C#
DEMO link

- 37 -
5.5 C++
DEMO link
5.6 Matlab
Receive Sample Code
Dataplot DEMO

- 38 -

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USER MANUAL BWT61

Bluetooth 2.0 Inclinometer Sensor

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

Link to instructions DEMO:

Technical Support Contact Info

● Auto Safety System

● Truck-mounted Satellite Antenna Equipment

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

The BWT61 is a multi-sensor device detecting acceleration, angular velocity

BWT61 is an CE standard accelerometer. It is employed where the highest

• Heated for best data availability: new WITMOTION patented zero-bias

• High precision Roll Pitch Yaw (X Y Z axis) Acceleration + Angular Velocity +

• Low cost of ownership: remote diagnostics and lifetime technical support by

• Developed tutorial: providing manual, datasheet, Demo video, free software

• WITMOTION sensors have been praised by thousands of engineers as a

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

 Putting more than 5 Volt across the sensor wiring of

the main power supply can lead to permanent damage

 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 change the baud rate because

WITMOTION BLUETOOTH sensor’s baud rate is

 For secondary developing project or integration:

use WITMOTION with its compiled sample code

1.2 LED Status

LED Status Remark

Red Flashing working

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

2.1.1 Serial Connection

Step 1. Connect the sensor with a serial converter

(When connecting with computer, VCC-5V is recommended.)

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

3-in-1 converter 6-in-1 converter TTL serial cable

Link to tutorial of 6-in-1 serial converter (CP2102 driver)

Step 4. Open the software(Minimu.exe)

Notice: If not successful, please operate manually

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

Step 1. Insert the USB-HID adapter to USB slot in the beginning

Step 4. Open the software, Minimu.exe

Step 5. Data will appear once the auto-search finishes.

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

Step 1. Turn on computer's Bluetooth

Step 2. Power on the sensor

Step 3. Search HC-06 device and input pairing password, 1234

Step 6. Data will appear once the automatic search finishes

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

Link to download software

2.2.1 Main Menu

Main Menu of software

Tools Hide or display tools box on left side

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

It is required to calibrate for the first time usage.

BWT61 | manual v0707 | http://wiki.wit-motion.com/english

2. After 1 ~ 2 seconds, the three axial acceleration value of the module is

Note: when putting the module horizontal, there is one G of gravitational