USER MANUAL

SINDT(RS485)
IP67 Inclinometer

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

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Tutorial Link

Google Drive

Link to instructions DEMO:

WITMOTION Youtube Channel
SINDT 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

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

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 Contents

Tutorial Link................................................................................................................... - 2 -

Contact............................................................................................................................ - 2 -

Application...................................................................................................................... - 2 -

Contents.......................................................................................................................... - 3 -

1 Introduction............................................................................................................ - 4 -

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................................................................................. - 8 -

2.2.1 Main Menu........................................................................................ - 8 -

2.2.2 Menu of Configuration..................................................................- 10 -

2.3 Calibration..................................................................................................... - 13 -

2.3.1 Accelerometer Calibration.......................................................... - 13 -

2.3.2 Gyroscope Automatic Calibration............................................ - 14 -

2.3.3 Reset Z-axis Angle........................................................................ - 15 -

2.3.4 Reset Height to 0........................................................................... - 15 -

2.4 Configuration............................................................................................... - 16 -

2.4.1 Baud Rate..........................................................................................- 16 -

2.4.2 Data Recording............................................................................... - 16 -

2.4.3 Data Playback.................................................................................. - 18 -

2.4.4 Standby and Wake Up................................................................. - 20 -

2.4.5 Placement Direction...................................................................... - 21 -

2.4.6 Bandwidth......................................................................................... - 22 -

2.4.7 Restore Factory Setting............................................................... - 24 -

2.4.8 6-axis/ 9-axis Algorithm............................................................. - 25 -

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

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1 Introduction

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

and angle. 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.

SINDT’s scientific name is AHRS IMU sensor. A sensor measures 3-axis angle,
angular velocity as well as acceleration. Its strength lies in the algorithm which
can calculate dual-axis angle accurately.

SINDT 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) 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

SINDT-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.

SINDT-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.

SINDT Playlist

2.1.1 Serial Connection

Step 1. Connect the sensor with a serial converter

PIN Connection:
VCC - 9~36V
B - B
A - A
GND - GND

(VCC-9~36V is recommended for connection)

SINDT-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)

Data will appear after auto-search finishes

Notice: If not successful, please operate manually

Choose the com port and baud rate 9600, data will be shown on the software.

SINDT-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
Language English or Chinese
Help Bluetooth Set 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
SINDT-RS485 | manual v0707 | http://wiki.wit-motion.com/english
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Baud Baud rate selection
Type Fixed setting as Modbus for SINDT
Open Open com port
Close Close com port

SINDT-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
Lock Lock the sensor
Unlock Unlock the sensor
Calibrate Time Calibration time of chip
Save Config Save configuration

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

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 Menu of System
Button Function
Reset Reset to factory setting
Sleep Sleep function
Alarm Alarm function
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
(not available for SINDT)
Reset Height Reset height data to 0
(only for sensor built-in barometer,
including WT901B, WTGAHRS2,
WTGAHRS1, HWT901B)
Reset Z-axis Angle Reset Z-axis angle to 0 degree, only
available for SINDT in 6-axis algorithm
Angle Reference Setting current angle as 0 degree
Gyro Auto Calibrate Auto-calibration of gyroscope

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

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 Menu of Range
Button Function
Acceleration Acceleration measurement range
Gyro Gyroscope measurement range
Band Width Bandwidth range
GPS Time Zone GPS positioning of time zone

Menu of Communication
Button Function
Baud Rate Baud rate selection
Device Address 0x50

SINDT-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
Step 3. Click the “Start calibration”and wait for 3 seconds

Step 4. Click “Complete Calibration”

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

2.3.2 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.

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

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2.3.3 Reset Z-axis Angle

Note：If you want to avoid magnetic interference, you can change the algorithm

to 6-axis,function of restting 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, 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.

2.3.4 Reset Height to 0

Only available for the module built-in barometer like WT901B, HWT901B,
WTGAHRS1, WTGAHRS2.

SINDT-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”

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

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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.

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

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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”

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

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

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

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

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2.4.4 Standby and Wake Up

Sleep: The module paused working and entered the standby mode. Power
consumption is reduced after sleeping.

Wake up: The module enters the working state from the standby state.

The module defaults to a working state, in the“Config”of the software, click

“Sleep”option to enter the sleep state, click“Sleep”again to release sleep.

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

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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

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

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2.4.6 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.

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

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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.

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

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2.4.7 Restore Factory Setting

Operation method:

Connect the SINDT to the computer through the USB to serial port module, click
the configuration option, open the configuration bar, and click "Reset".

After restoring the factory settings, power on the module again. (This method
needs to know the baud rate of the module in advance, if the baud rate does not
match the instruction will not take effect.)

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

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2.4.8 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 SINDT 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.

Method:

Step 1: Switch to the"6-axis" algorithm on “Config” menu

Step 2: Proceed the “Accelerometer calibration” and “Reset Z-axis angle”

calibration.

After the calibration is completed, it can be used normally.

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

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