HWT906 High-Precision 9-Axis Inclinometer User Manual

1. Introduktion

The WitMotion HWT906 is a high-precision 9-axis Inertial Measurement Unit (IMU) designed for accurate attitude and motion sensing. It integrates a 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetic field sensor, and provides 3-axis angle output (Pitch, Roll, Yaw). Featuring advanced temperature compensation and a Kalman filter fusion algorithm, the HWT906 delivers stable and reliable data with low drift and a high data return rate of up to 1000Hz. Its compact size and robust aluminum casing make it suitable for various applications requiring precise motion tracking and tilt angle measurement.

2. Specifikationer

The following table details the technical specifications of the HWT906 Inclinometer:

3. Produktfunktioner

• 9-akset måling: Provides 3-axis acceleration, 3-axis angular rate (gyro), 3-axis angle, and 3-axis magnetic field data.
• High-Speed Data Output: Configurable data return rate from 0.2Hz to 1000Hz, with a default of 500Hz, ensuring real-time data acquisition.
• Temperaturkompensation: Built-in multiple MEMS sensors in arrays effectively reduce temperature drift, enhancing measurement stability across varying temperatures.
• Kalman Filter Fusion Algorithm: Utilizes a patented zero-bias automatic detection calibration algorithm and R&D dynamic fusion algorithm for highly accurate three-axis angle calculation (X/Y-axis static 0.05°, Z-axis dynamic 1°).
• Stødsikkert design: Encased in a premium aluminum casing for enhanced durability and protection.
• Alsidige grænseflader: Supports Serial TTL, I2C, and SPI communication protocols for broad compatibility with microcontrollers.
• Comprehensive Software Support: Includes PC software for data visualization, configuration, and 3D motion demonstration, along with sample codes for various development platforms (STM32, Arduino, 51, Windows C++/C#, Matlab).
• Datalagring og eksport: Ability to record and export sensor data to TXT format for further analysis.

4. Opsætning og installation

4.1. Pakkens indhold

Før du starter, skal du sørge for, at alle dele er til stede i pakken:

• 1 x HWT906 Inclinometer Module
• 1 x Type-C datakabel
• 1 x Evaluation Board

4.2. Ledningsforbindelser

The HWT906 supports Serial (TTL), I2C, and SPI communication. Connect the module to your microcontroller (MCU) according to the desired interface as shown in the diagrams below. Ensure correct voltage (3.3-5V) and ground connections.

4.3. Using the Evaluation Board

The included evaluation board simplifies initial setup and development. It features a CH340 driver for USB-to-serial communication, a Type-C interface for easy connectivity, and LED indicator lights for data transmission and reception. All pins of the HWT906 module are led out on the evaluation board for convenient prototyping.

4.4. Development Kits and Software

WitMotion provides various development resources to assist with integration:

• PC-software: For real-time data display, configuration, and 3D visualization.
• Drivere: Necessary drivers for the CH340 USB-to-serial chip.
• Sample Codes: Routines for STM32, Arduino, 51 microcontrollers, Windows C++/C#, and Matlab.
• Manual: Detailed documentation for software and hardware.

These resources are typically available for download from the WitMotion website or provided with the product. Note that the schematic source code for the module is not available.

5. Betjeningsvejledning

5.1. Brug af pc-software

The WitMotion PC software allows for real-time monitoring and configuration of the HWT906 sensor. After connecting the sensor via the evaluation board and installing the necessary drivers:

1. Launch the WitMotion Attitude Measurement System software.
2. Select the correct COM port and Baud Rate (default 921600) in the software interface.
3. Click 'Open' to establish communication with the sensor.
4. The software will display real-time data for Angle X, Y, and Z, along with visual indicators.

5.2. Data Recording and Export

The PC software allows you to record sensor data and export it for further analysis:

1. Navigate to the 'Record' tab within the software.
2. Start recording data as needed.
3. Once recording is complete, you can export the data to a TXT file. This provides a clear, time-stamped record of sensor readings.

5.3. 3D Motion Demonstration

The software also includes a 3D DEMO feature to visualize the sensor's motion state intuitively. This can be helpful for understanding the sensor's orientation in real-time.

6. Vedligeholdelse

To ensure the longevity and optimal performance of your HWT906 inclinometer:

• Hold rent: Regularly clean the module with a soft, dry cloth. Avoid using harsh chemicals or abrasive materials.
• Undgå ekstreme forhold: While the module has temperature compensation, avoid prolonged exposure to extreme temperatures or humidity outside its specified operating range.
• Håndteres med forsigtighed: Despite its shock-proof casing, avoid dropping or subjecting the module to severe physical impact.
• Korrekt opbevaring: When not in use, store the module in a dry, dust-free environment.
• Firmwareopdateringer: Check the WitMotion official website periodically for any firmware updates that may improve performance or add new features.

7. Fejlfinding

If you encounter issues with your HWT906 inclinometer, consider the following:

• Ingen dataoutput:
  - Check all wiring connections (VCC, GND, TX/RX, SDA/SCL, CS/SCK/MOSI/MISO) for proper seating and continuity.
  - Verify the power supply voltage ligger inden for området 3.3-5V.
  - Ensure the correct COM port and baud rate are selected in the PC software. Reinstall CH340 drivers if necessary.
  - Confirm the module is properly recognized by your operating system.
• Upræcise læsninger:
  - Perform a calibration using the PC software if available. Magnetic interference can affect compass readings; ensure the sensor is away from strong magnetic fields.
  - Check for physical vibrations or movement that might be affecting the sensor during static measurements.
  - Ensure the sensor is mounted securely and correctly oriented for your application.
• Problemer med softwareforbindelse:
  - Close any other applications that might be using the COM port.
  - Restart the PC software and reconnect the module.
• Modulet svarer ikke:
  - Disconnect and reconnect the power supply to the module.
  - If using a custom circuit, double-check your circuit design and component values.

For persistent issues, refer to the detailed manual provided with the development kit or contact WitMotion technical support.

8. Brugertips

• Indledende kalibrering: Always perform an initial calibration of the sensor, especially the magnetic field sensor, in its intended operating environment to minimize environmental interference and improve accuracy.
• Stabil strømforsyning: Use a stable and clean power supply within the specified voltage range (3.3-5V) to prevent noise in sensor readings.
• Monteringsretning: Pay close attention to the sensor's mounting orientation relative to your application's coordinate system. The X, Y, Z axes are marked on the module.
• Softwareudforskning: Take time to explore all features of the WitMotion PC software, including data logging, configuration options, and the 3D visualization tool, to fully leverage the sensor's capabilities.
• Udviklingsressourcer: Brug de medfølgende sample codes and documentation for your chosen development platform (Arduino, STM32, etc.) to accelerate your project integration.

9. Garanti og support

WitMotion provides lifetime technical support for the HWT906 inclinometer. For any technical inquiries, troubleshooting assistance, or support regarding the product, please contact WitMotion Tech Store directly through their official channels. Ensure you have your product model and any relevant details ready when seeking support.