High precision sensor Modbus protocol
High-precision sensor Modbus protocol
Instructions for use：
The serial port sending command must be completed within 10S, otherwise it will be automatically locked. To avoid automatic locking, you can perform the following steps first.
Enter the unlock command
Enter the command that needs to modify or read the data
Save the command
Register table
ADDR
(Hex)
ADDR
(Dec)
REGISTER NAME
FUNCTION
SERIAL
I/F
Bit15
Bit14
Bit13
Bit12
Bit11
Bit10
Bit9
Bit8
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
00
00
SAVE
save/reboot/reset
R/W
SAVE[15:0]
01
01
CALSW
calibration mode
R/W
CALSW[3:0]
04
04
BAUD
Serial port baud rate
R/W
BAUD[3:0]
05
05
AXOFFSET
Acceleration X offset
R/W
AXOFFSET[15:0]
06
06
AYOFFSET
Acceleration Y offset
R/W
AYOFFSET[15:0]
07
07
AZOFFSET
Acceleration Z offset
R/W
AZOFFSET[15:0]
08
08
GXOFFSET
Angular velocity X zero bias
R/W
GXOFFSET[15:0]
09
09
GYOFFSET
Angular velocity Y zero bias
R/W
GYOFFSET[15:0]
0A
10
GZOFFSET
Angular velocity Z zero bias
R/W
GZOFFSET[15:0]
0B
11
HXOFFSET
Magnetic Field X Zero Bias
R/W
HXOFFSET[15:0]
0C
12
HYOFFSET
Magnetic field Y zero bias
R/W
HYOFFSET[15:0]
0D
13
HZOFFSET
Magnetic field Z zero bias
R/W
HZOFFSET[15:0]
0E
14
WORKMODE【1】
Z-axis operation mode
R/W
WORKMODE[15:0]
10
16
GYROPTP【1】
Z-axis static peak-to-peak
R/W
GYROPTP[15:0]
11
17
GPTPTIME【1】
Z-axis peak-to-peak acquisition time
R/W
GPTPTIME[15:0]
12
18
GYROBAIS【1】
Z axis zero bias value
R/W
GYROBAIS[15:0]
13
19
GBAISTIME【1】
Z axis zero bias acquisition time
R/W
GBAISTIME[15:0]
14
20
GSTATICTHRE【1】
Z axis static threshold
R/W
GSTATICTHRE[15:0]
15
21
GSTATICTIME【1】
Z axis stabilization time
R/W
GSTATICTIME[15:0]
16
22
PGSCALE【1】
Z-axis calibration factor P
R/W
PGSCALE[15:0]
18
24
GSCALERANGE【1】
Z-axis calibration angle
R/W
GSCALERANGE[15:0]
1A
26
IICADDR
device address
R/W
IICADDR[7:0]
1B
27
LEDOFF
Turn off the LED lights
R/W
LEDOFF
1C
28
MAGRANGX
Magnetic Field X Calibration Range
R/W
MAGRANGX[15:0]
1D
29
MAGRANGY
Magnetic Field Y Calibration Range
R/W
MAGRANGY[15:0]
1E
30
MAGRANGZ
Magnetic Field Z Calibration Range
R/W
MAGRANGZ[15:0]
1F
31
BANDWIDTH
bandwidth
R/W
BANDWIDTH[3:0]
20
32
GYRORANGE
Gyroscope range
R/W
GYRORANGE[3:0]
21
33
ACCRANGE
Acceleration range
R/W
ACCRANGE[3:0]
22
34
SLEEP
sleep
R/W
SLEEP
23
35
ORIENT
Installation direction
R/W
ORIENT
24
36
AXIS6
algorithm
R/W
AXIS6
25
37
FILTK
Dynamic filtering
R/W
FILTK[15:0]
26
38
GPSBAUD
GPS baud rate
R/W
GPSBAUD[3:0]
27
39
READADDR
read register
R/W
READADDR[7:0]
2A
42
ACCFILT
acceleration filter
R/W
ACCFILT[15:0]
2E
46
VERSION
version number
R
VERSION[15:0]
30
48
YYMM
year/mouth
R/W
MOUTH[15:8]
YEAR[7:0]
31
49
DDHH
day/hour
R/W
HOUR[15:8]
DAY[7:0]
32
50
MMSS
minutes/seconds
R/W
SECONDS[15:8]
MINUTE[7:0]
33
51
MS
millisecond
R/W
MS[15:0]
34
52
AX
acceleration X
R
AX[15:0]
35
53
AY
acceleration Y
R
AY[15:0]
36
54
AZ
acceleration Z
R
AZ[15:0]
37
55
GX
Angular velocityX
R
GX[15:0]
38
56
GY
Angular velocityY
R
GY[15:0]
39
57
GZ
Angular velocity Z
R
GZ[15:0]
3A
58
HX
Magnetic FieldX
R
HX[15:0]
3B
59
HY
Magnetic field Y
R
HY[15:0]
3C
60
HZ
Magnetic field Z
R
HZ[15:0]
3D
61
LRoll
X-axis angle low
R
LRoll[15:0]
3E
62
HRoll
X-axis angle high
R
HRoll[15:0]
3F
63
LPitch
Y-axis angle low
R
LPitch[15:0]
40
64
HPitch
Y-axis angle high
R
HPitch[15:0]
41
65
LYaw
Z-axis angle low
R
LYaw[15:0]
42
66
HYaw
Z-axis angle high
R
HYaw[15:0]
43
67
TEMP
Module temperature
R
TEMP[15:0]
61
97
GYROCALITHR
Gyro Calibration Threshold
R/W
GYROCALITHR[15:0]
63
99
GYROCALTIME
Gyro calibration time
R/W
GYROCALTIME[15:0]
69
105
KEY
unlock
R/W
KEY[15:0]
6A
105
WERROR
Gyroscope change value
R/W
WERROR[15:0]
6E
110
WZTIME
Z-axis still time threshold
R/W
WZTIME[15:0]
6F
111
WZSTATIC
Z-axis static threshold
R/W
WZSTATIC[15:0]
74
116
MODDELAY
485 data response delay
R/W
MODDELAY[15:0]
7F
127
NUMBERID1
Device No.1-2
R
ID2[15:8]
ID1[7:0]
80
128
NUMBERID2
Device No3-4
R
ID4[15:8]
ID3[7:0]
81
129
NUMBERID3
Device No5-6
R
ID6[15:8]
ID5[7:0]
82
130
NUMBERID4
Device No7-8
R
ID8[15:8]
ID7[7:0]
83
131
NUMBERID5
Device No9-10
R
ID10[15:8]
ID9[7:0]
84
132
NUMBERID6
Device No11-12
R
ID12[15:8]
ID11[7:0]
95
149
LREFROLL
ROLL angle zero is low
R/W
LREFROLL[15:0]
96
150
HREFROLL
ROLL angle zero bias high
R/W
HREFROLL[15:0]
97
151
LREFPITCH
PITCH corner zero bias low
R/W
LREFPITCH[15:0]
98
152
HREFPITCH
PITCH corner zero bias high
R/W
HREFPITCH[15:0]
explanation：
1. The callout register is only applicable to HWTX073
Protocol format
Read register format
Data is sent in hexadecimal, not ASCII.
Each register address, the number of read registers, and the read data are represented by two bytes. The high and low bits of the register address are represented by ADDRH and ADDRL, the high and low bits of the number of registers to be read are represented by LENH and LENL, and the high and low bits of the read data are represented by DATA1H and DATA1L.
The last two bits of the read command are standard CRC check bits. It can be calculated using the CRC check digit calculation tool.
command send
Modbus address
function code
registers high 8 bits
registers lower 8 bits
Read length high 8 bits
Read length lower 8 bits
Check digit high 8 bits
Check digit lower 8 bits
ID
0x03（read）
ADDRH[15:8]
ADDRL[7:0]
LENH[15:8]
LENL[7:0]
CRCH[15:8]
CRCL[7:0]
Data return
Modbus address
function code
read length
Data high 8 bits
Data lower 8 bits
Data high 8 bits
Data lower 8 bits
Data high 8 bits
Data lower 8 bits
Check digit high 8 bits
Check digit lower 8 bits
ID
0x03（read）
LENL[7:0]
DATA1H[15:8]
DATA1L[7:0]
……
……
DATAnH
DATAnL
CRCH[15:8]
CRCL[7:0]
Example：Read acceleration, angular velocity, magnetic field
Read register format
Data is sent in hexadecimal, not ASCI.
For each register address, the write data is represented by two bytes. The high and low bits of the register address are represented by ADDRH and ADDRL, and the high and low bits of the written data are represented by DATAH and DATAL.
command send
Modbus address
function code
register high 8 bits
register lower8 bits
Data high 8 bits
Data lower 8 bits
Check digit high 8 bits
Check digit lower 8 bits
ID
0x06（write）
ADDRH[15:8]
ADDRL[7:0]
DATAH[15:8]
DATAL[7:0]
CRCH[15:8]
CRCL[7:0]
Data return
Modbus address
function code
register high 8 bits
register lower8 bits
Data high 8 bits
Data lower 8 bits
Check digit high 8 bits
Check digit lower 8 bits
ID
0x06（write）
ADDRH[15:8]
ADDRL[7:0]
DATAH[15:8]
DATAL[7:0]
CRCH[15:8]
CRCL[7:0]
Register Description
All the following examples are commands when the Modbus address is 0x50 (default). If you change the Modbus address, you need to change the address and CRC check bit in the command accordingly.
SAVE（save/reboot/reset）
Register Name: SAVE
Register Address: 0 (0x00)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:0
SAVE[15:0]
Save: 0x0000
Reboot: 0x00FF
Factory reset: 0x0001
example：
send：50 06 00 00 00 FF C4 0B（reboot）
return：50 06 00 00 00 FF C4 0B
CALSW
Register Name: CALSW
Register Address: 1 (0x01)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:4
3:0
CAL[3:0]
To set the calibration mode:
0000(0x00): normal working mode
0001(0x01): Auto adder calibration
0011(0x03): height reset
0100(0x04): Set the heading angle to zero
0111(0x07): Magnetic Field Calibration (Spherical Fitting)
1000(0x08): set angle reference
1001(0x09): Magnetic Field Calibration (Dual Plane Mode)
example：
send：50 06 00 01 00 04 D4 48（Heading angle set to zero）
return：50 06 00 01 00 04 D4 48
BAUD RATE
Register Name: BAUD RATE
Register Address: 4 (0x04)
Read and write direction: R/W
Default: 0x0002
Bit
NAME
FUNCTION
15:4
3:0
BAUD[3:0]
Set serial port baud rate：
0001(0x01): 4800bps
0010(0x02): 9600bps
0011(0x03): 19200bps
0100(0x04): 38400bps
0101(0x05): 57600bps
0110(0x06): 115200bps
0111(0x07): 230400bps
1000(0x08): 460800bps（Only supportWT931/JY931/HWT606/HWT906）
1001(0x09): 921600bps（Only support WT931/JY931/HWT606/HWT906）
example：
send：50 06 00 04 00 06 45 88（Set serial port baud rate 115200）
return：50 06 00 04 00 06 45 88
AXOFFSET~HZOFFSET（Zero bias setting）
Register Name: AXOFFSET~HZOFFSET
Register Address: 5~13 (0x05~0x0D)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:0
AXOFFSET[15:0]
Acceleration X-axis offset, actual acceleration offset=AXOFFSET[15:0]/10000(g)
15:0
AYOFFSET[15:0]
Acceleration Y-axis offset, actual acceleration offset=AYOFFSET[15:0]/10000(g)
15:0
AZOFFSET[15:0]
Acceleration Z-axis offset, actual acceleration offset=AZOFFSET[15:0]/10000(g)
15:0
GXOFFSET[15:0]
Angular velocity X-axis offset, actual angular velocity offset=GXOFFSET[15:0]/10000(°/s)
15:0
GYOFFSET[15:0]
Angular velocity Y-axis offset, actual angular velocity offset=GYOFFSET[15:0]/10000(°/s)
15:0
GZOFFSET[15:0]
Angular velocity Z-axis offset, actual angular velocity offset=GZOFFSET[15:0]/10000(°/s)
15:0
HXOFFSET[15:0]
Magnetic field X-axis zero bias
15:0
HYOFFSET[15:0]
Magnetic field Y-axis zero bias
15:0
HZOFFSET[15:0]
Magnetic field Z-axis zero bias
example：
send：50 06 00 05 03 E8 94 F4（Set acceleration X-axis zero bias0.1g）,0x03E8=1000，1000/10000=0.1(g)
return：50 06 00 05 03 E8 94 F4
WORKMODE（Z-axis operation mode）
Register Name: WORKMODE
Register address: 14(0x0E)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:4
3:0
WORKMODE[3:0]
Set the Z-axis operation mode:
0000(0x00): normal data mode
0001(0x01): peak-to-peak mode
0010(0x02): seek zero bias mode
0011 (0x03): find scale factor mode
example：
send：50 06 00 0E 00 01 24 48（Automatically obtain zero bias）
return：50 06 00 0E 00 01 24 48
GYROPTP（Z-axis static peak-to-peak）
Register Name: GYROPTP
Register address: 16(0x10)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:0
GYROPTP[15:0]
Parameters used in calculating zero offset, no need to set for sensor automatic acquisition
Write 0x01 to the "WORKMODE" register to enter the "peak-to-peak mode", in this mode the sensor automatically calculates the maximum and minimum values of the Z-axis angular velocity within the time set by "GPTPTIME" and records them in "GYROPTP". In "Zero Offset Mode", this data will be used to calculate and filter the zero offset.
Z-axis static peak-to-peak value = GYROPTP/1000 (°/s)
eaxmple：
send：50 03 00 10 00 01 88 4E（read Z-axis static peak-to-peak）
return：50 03 02 00 64 44 63
0x0064=100，Z-axis static peak-to-peak = 100/1000=0.1（°/s）
GPTPTIME（Z-axis peak-to-peak acquisition time）
Register name: GPTPTIME
Register address: 17(0x11)
read and write direction: R/W
Defaults: 0x000A
Bit
NAME
FUNCTION
15:0
GPTPTIME[15:0]
Calculate the peak-to-peak time, the default is 10S
Example:
Send: 50 06 00 11 00 0A 54 49 (set the Z-axis peak-to-peak acquisition time to 10S)
Return: 50 06 00 11 00 0A 54 49
After entering the "Peak-to-Peak Mode", obtain the difference between the maximum value and the minimum value of the Z-axis angular velocity within the "GPTPTIME" time, store it in "GYROPTP", and use this data for zero bias in the "Zero Bias Mode". calculation filter.
GYROBAIS（Z-axis zero bias value）
Register Name: GYROBAIS
Register address: 18(0x12)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:0
GYROBAIS[15:0]
The zero bias value of the horizontal gyroscope, which can be obtained through the "Zero Bias Mode"
The Z-axis horizontal gyroscope has a certain zero bias value when placed at rest, and the angular velocity at rest can be eliminated by this zero bias value. The zero offset value can be automatically calculated by automatically obtaining the zero bias. Enter the "Zero bias Mode" to automatically calculate the zero bias value according to the peak-to-peak value of "GYROPTP" and the "GBAISTIME" bias acquisition time.
Z axis zero bias value = GYROBAIS/1000 (°/s)
example：
send：50 03 00 12 00 01 88 4E（Read Z-axis static peak-to-peak value）
return：50 03 02 00 64 B1 0F
0x0064=100，Z-axis static peak-to-peak value = 100/1000=0.1（°/s）
GBAISTIME（Z-axis zero bias acquisition time）
Register Name: GBAISTIME
Register Address: 19(0x13)
Read and write direction: R/W
Default: 0x000A
Bit
NAME
FUNCTION
15:0
GBAISTIME[15:0]
Time required to calculate the zero offset value of the horizontal gyroscope
Example:
Send: 50 06 00 13 00 0A 2F5 89 (set the Z-axis zero bias acquisition time to 10S)
Return: 50 06 00 13 00 0A 2F5 89
The time required to obtain the Z-axis zero biast, and the zero bias value is obtained according to this time when the zero bias is obtained.
GSTATICTHRE（Z-axis static threshold）
Register Name: GSTATICTHRE
Register address: 20(0x14)
Read and write direction: R/W
Default: 0x0032
Bit
NAME
FUNCTION
15:0
GSTATICTHRE[15:0]
The larger the GSTATICTHRE[15:0], the weaker the seismic performance and the smaller the error
The smaller the GSTATICTHRE[15:0], the better the seismic performance and the larger the error.
Default value 50
The Z-axis horizontal gyroscope has slight data jitter when it is placed at rest. This parameter can filter out these slight jitters. When the angular velocity is less than the "GSTATICTHRE" setting value and continues for the time set by "GSTATICTIME", it is regarded as stationary, and the Z-axis angular velocity is zero. This parameter can be appropriately increased when it is used in scenes with jitter and the Z-axis is accumulated due to jitter, and this parameter can be appropriately decreased in scenes with very slow and uniform rotation.
Z-axis zero bias value = GSTATICTHRE/1000 (°/s)）
example：
send：50 06 00 14 00 64 C5 A4（（set Z-axis static threshold0.1g）,0x0064=100，100/10000=0.1(°)）
return：50 06 00 14 00 64 C5 A4
GSTATICTIME（Z-axis stabilization time）
Register Name: GSTATICTIME
Register address: 21(0x15)
Read and write direction: R/W
Default: 0x0064
Bit
NAME
FUNCTION
15:0
GSTATICTIME[15:0]
Z-axis judges the still time
Z-axis static judgment time threshold. It is considered stationary when the angular velocity is less than the value set by "GSTATICTHRE" for the time set by "GSTATICTIME". If the stabilization time is required to be higher, this parameter can be adjusted appropriately. Lowering this parameter can speed up settling time but may also increase error.
Z-axis stabilization time = GSTATICTIME/1000 (s)
example：
send：50 06 00 15 00 32 14 5A（（Set Z-axis stabilization time 0.05s）,0x0032=50，50/10000=0.05(°)）
return：50 06 00 15 00 32 14 5A
PGSCALE（Z-axis calibration factor P）
Register Name: PGSCALE
Register address: 22(0x16)
Read and write direction: R/W
Default: 0x2710
Bit
NAME
FUNCTION
15:0
PGSCALE[15:0]
range：0~20000
This parameter is written in the factory using a high-precision turntable, please do not modify it
There is an error in the measurement of the Z-axis gyroscope, and a high-precision turntable will be used to measure this error when leaving the factory, and this parameter will be written into the sensor. Do not modify this parameter unless necessary. This parameter can be automatically calculated in the "scale factor mode". After entering the "scale factor mode", rotate the sensor by the angle set by "GSCALERANGE" to calculate the calibration factor.
Z-axis calibration factor P=PGSCALE/10000.0
example：
send：50 03 00 16 00 01 68 4F（Read Z-axis calibration factor P）
return：50 03 02 27 74 24 48
0x2774 = 10100，Read Z-axis calibration factor P= 10100/10000=1.01
GSCALERANGE（Z-axis calibration angle）
Register Name: GSCALERANGE
Register address: 24(0x18)
Read and write direction: R/W
Default: 0x02D0
Bit
NAME
FUNCTION
15:0
GSCALERANGE[15:0]
When calibrating factors, it is necessary to calibrate according to this parameter
example：
send：50 06 00 18 01 68 04 32（（Set the Z-axis calibration angle to 360），0x0168=360）
return：50 06 00 18 01 68 04 32
The angle of rotation required in the Z-axis "scale factor mode", generally set to an integer multiple of 360°.
IICADDR（Device address）
Register Name: IICADDR
Register Address: 26 (0x1A)
Read and write direction: R/W
Default: 0x0050
Bit
NAME
FUNCTION
15:8
7:0
IICADDR[7:0]
Set the device address for I2C and Modbus communication
0x01~0x7F
example：
send：50 06 00 1A 00 02 24 4D（Set the device address to0x02）
return：50 06 00 1A 00 02 24 4D
LEDOFF（turn off LED light）
Register Name: LEDOFF
Register Address: 27 (0x1B)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:1
0
LEDOFF
1: turn off LED light
0: turn on LED light
example：
send：50 06 00 1B 00 01 35 8C（turn off LED light ）
return ：50 06 00 1B 00 01 35 8C
MAGRANGX~MAGRANGZ（Magnetic Field Calibration Range）
Register Name: MAGRANGX~MAGRANGZ
Register Address: 28~30 (0x1C~0x1E)
Read and write direction: R/W
Default: 0x01F4
Bit
NAME
FUNCTION
15:0
MAGRANGX[15:0]
Magnetic field calibration X-axis range
15:0
MAGRANGY[15:0]
Magnetic Field Calibration Y-axis Range
15:0
MAGRANGZ[15:0]
Magnetic field calibration Z-axis range
example：
send：50 06 00 1C 01 F4 45 9A（Set the magnetic field calibration X-axis range to 500）
return：50 06 00 1C 01 F4 45 9A
BANDWIDTH（bandwidth）
Register Name: BANDWIDTH
Register Address: 31 (0x1F)
Read and write direction: R/W
Default: 0x0004
Bit
NAME
FUNCTION
15:4
3:0
BANDWIDTH[3:0]
set bandwidth
0000(0x00): 256Hz
0001(0x01): 188Hz
0010(0x02): 98Hz
0011(0x03): 42Hz
0100(0x04): 20Hz
0101(0x05): 10Hz
0110(0x06): 5Hz
Example:
Send: 50 06 00 1F 00 01 74 4D (set the bandwidth to 188Hz)
Return: 50 06 00 1F 00 01 74 4D
GYRORANGE（Gyroscope range）
Register Name: GYRORANGE
Register Address: 32 (0x20)
Read and write direction: R/W
Default: 0x0003
Bit
NAME
FUNCTION
15:4
3:0
GYRORANGE[3:0]
Set the gyro range
0011(0x03): 2000°/s
The default is 2000°/s, fixed and cannot be set
Example:
Send: 50 06 00 20 00 03 C5 80 (set the gyro range to 2000°/s)
Return: 50 06 00 20 00 03 C5 80
ACCRANGE（Accelerometer range）
Register Name: ACCRANGE
Register Address: 33 (0x21)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:4
3:0
ACCRANGE[3:0]
Set the accelerometer range
0000(0x00): ±2g
0011(0x03): ±16g
This parameter cannot be set. The internal adaptive acceleration range of the product will automatically switch to 16g when the acceleration exceeds 2g.
example：
send：50 06 00 21 00 03 94 40（Set the accelerometer range to 16g）
return：50 06 00 21 00 03 94 40
SLEEP（sleep）
Register Name: SLEEP
Register Address: 34 (0x22)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:1
0
SLEEP
set sleep
1(0x01): sleep
Any serial port data, can wake up
example：
send：50 06 00 22 00 01 E5 81（enter sleep）
return：50 06 00 22 00 01 E5 81
ORIENT（Installation direction）
Register Name: ORIENT
Register Address: 35 (0x23)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:1
0
ORIENT
Set the installation direction
0 (0x00): horizontal installation
1(0x01): vertical installation (the Y-axis arrow of the coordinate axis must be upward)
example：
send：50 06 00 23 00 01 B4 41（Set up vertical installation）
return：50 06 00 23 00 01 B4 41
AXIS6（algorithm）
Register Name: AXIS6
Register Address: 36 (0x24)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:1
0
AXIS6
set algorithm
0(0x00): 9-axis algorithm (magnetic field solution navigation angle, absolute heading angle)
1(0x01): 6-axis algorithm (integral solution navigation angle, relative heading angle)
Example:
Send: 50 06 00 24 00 01 05 80 (set the 6-axis algorithm mode)
Return: 50 06 00 24 00 01 05 80
FILTK（K value filter）
Register Name: FILTK
Register Address: 37 (0x25)
Read and write direction: R/W
Default: 0x001E
Bit
NAME
FUNCTION
15:0
FILTK[15:0]
Range: 1~10000, the default is 30 (it is not recommended to modify, once modified, if the angle does not meet the requirements for use, please modify it to 30)
The smaller the FILTK[15:0], the stronger the seismic performance and the weaker the real-time performance.
The larger the FILTK[15:0], the weaker the seismic performance and the stronger the real-time performance.
example：
send：50 06 00 25 00 1E 15 88（Set the K value filter to 30）
return：50 06 00 25 00 1E 15 88
ACCFILT（acceleration filter）
Register Name: ACCFILT
Register Address: 42 (0x2A)
Read and write direction: R/W
Default: 0x01F4
Bit
NAME
FUNCTION
15:0
ACCFILT[15:0]
Range: 1~10000, the default is 500 (it is not recommended to modify, once modified, if the angle does not meet the requirements for use, please modify it to 500)
The smaller the ACCFILT[15:0], the stronger the seismic performance and the weaker the real-time performance.
The larger the ACCFILT[15:0], the weaker the seismic performance and the stronger the real-time performance.
This parameter is an empirical value, which needs to be debugged according to different environments. In the tractor environment,
ACCFILT[15:0] can be adjusted to 100, because the vibration of the tractor is serious and the anti-vibration performance needs to be improved
Example:
Send: 50 06 00 2A 01 F4 A5 94 (set acceleration filter 500)
Return: 50 06 00 2A 01 F4 A5 94
VERSION（version number）
Register Name: VERSION
Register Address: 46 (0x2E)
Read and write direction: R
Default: none
Bit
NAME
FUNCTION
15:0
VERSION[15:0]
Different products, different version numbers
Example:
Send: 50 03 00 2E 00 01 E9 82 (read version number)
Return: 50 03 00 02 VH VL CRCH CRCL
VERSION[15:0]=(short)(((short)VH<<8)|VL)
YYMM~MS（on-chip time）
Register Name: YYMM~MS
Register address: 48~51 (0x30~0x33)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:8
YYMM[15:8]
mouth
7:0
YYMM[7:0]
year
15:8
DDHH[15:8]
hour
7:0
DDHH[7:0]
day
15:8
MMSS[15:8]
second
7:0
MMSS[7:0]
munite
15:0
MS[15:0]
millisecond
Example:
Send: 50 06 00 30 03 16 05 7A (set year 22-03)
Return: 50 06 00 30 03 16 05 7A
Send: 50 06 00 31 09 0C D3 D1 (set date 12-09)
Return: 50 06 00 31 09 0C D3 D1
Send: 50 06 00 32 3A 1E B7 2C (set minutes and seconds 30:58)
Return: 50 06 00 32 3A 1E B7 2C
Send: 50 06 00 33 01 F4 74 53 (set milliseconds 500)
Return: 50 06 00 33 01 F4 74 53
AX~AZ（acceleration）
Register Name: AX~AZ
Register address: 52~54 (0x34~0x36)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
AX[15:0]
acceleration X=AX[15:0]/32768*16g (g is the gravitational acceleration, preferably 9.8m/s2)
15:0
AY[15:0]
acceleration Y=AY[15:0]/32768*16g (g is the gravitational acceleration, preferably 9.8m/s2)
15:0
AZ[15:0]
acceleration Z=AZ[15:0]/32768*16g (g is the gravitational acceleration, preferably 9.8m/s2)
Example:
Send: 50 03 00 34 00 03 49 84 (read three-axis acceleration)
Return: 50 03 06 AXH AXL AYH AYL AZH AZL CRCH CRCL
AX[15:0]=((short)AXH <<8)|AXL;
AY[15:0]=((short)AYH <<8)|AYL;
AZ[15:0]=((short)AZH <<8)|AZL;
GX~GZ（Angular velocity）
Register Name: GX~GZ
Register address: 55~57 (0x37~0x39)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
GX[15:0]
Angular velocityX=GX[15:0]/32768*2000°/s
15:0
GY[15:0]
Angular velocityY=GY[15:0]/32768*2000°/s
15:0
GZ[15:0]
Angular velocityZ=GZ[15:0]/32768*2000°/s
Example:
Send: 50 03 00 37 00 03 B9 84 (read triaxial angular velocity)
Return: 50 03 06 GXH GXL GYH GYL GZH GZL CRCH CRCL
GX[15:0]=((short)GXH <<8)|GXL;
GY[15:0]=((short)GYH <<8)|GYL;
GZ[15:0]=((short)GZH <<8)|GZL;
HX~HZ（magnetic field）
Register name: HX~HZ
Register Address: 58~60 (0x3A~0x3C)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
HX[15:0]
magnetic field X=HX[15:0] (unit：LSB)
15:0
HY[15:0]
magnetic field Y=HY[15:0] (unit：LSB)
15:0
HZ[15:0]
magnetic field Z=HZ[15:0] (unit ：LSB)
example：
send：50 03 00 3A 00 03 28 47（Read the three-axis magnetic field）
return：50 03 06 HXH HXL HYH HYL HZH HZL CRCH CRCL
HX[15:0]=((short)HXH <<8)|HXL;
HY[15:0]=((short)HYH <<8)|HYL;
HZ[15:0]=((short)HZH <<8)|HZL;
Roll~Yaw（angle）
Register Name: Roll~Yaw
Register address: 61~66 (0x3D~0x42)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
LRoll[15:0]
Roll Angle X Low
15:0
HRoll[15:0]
Roll angle X high position, roll angle X=(((int)HRoll<<16)| LRoll)/1000°
15:0
LPitch[15:0]
Pitch angle Y low
15:0
HPitch[15:0]
Pitch angle Y high position, pitch angle X=(((int)HPitch<<16)| LPitch)/1000°
15:0
LYaw[15:0]
Heading Angle Z Low
15:0
HYaw[15:0]
Heading angle Z high position, heading angle Z=(((int)HYaw<<16)| LYaw)/1000°
example：
send：50 03 00 3D 00 06 59 85（Read the 3-axis angle）
return：50 03 0C LRollH LRollL HRollH HRollL LPitchH LPitchL HPitchH HPitchL LYawH LYawL HYawH HYawL CRCH CRCL
TEMP（temperature）
Register Name: TEMP
Register Address: 67 (0x43)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
TEMP[15:0]
temperature=TEMP[15:0]/100℃
example：
send：50 03 00 67 00 01 38 54（Read Triaxial Magnetic Fields）
return：50 03 02 TEMPH TEMPL CRCH CRCL
TEMP[15:0]=((short)TEMPH <<8)|TEMPL ;
q0~q3（Quaternion）
Register Name: q0~q3
Register Address: 81~84 (0x51~0x54)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
q0[15:0]
Quaternion0=q0[15:0]/32768
15:0
q1[15:0]
Quaternion1=q1[15:0]/32768
15:0
q2[15:0]
Quaternion2=q2[15:0]/32768
15:0
q3[15:0]
Quaternion3=q3[15:0]/32768
example：
send：50 03 00 51 00 04 18 59（read quaternion）
return：50 03 08 q0H q0L q1H q1L q2H q2L q3H q3L CRCH CRCL
q0[15:0]=((short)q0H <<8)|q0L ;
q1[15:0]=((short)q1H <<8)|q1L ;
q2[15:0]=((short)q2H <<8)|q2L ;
q3[15:0]=((short)q3H <<8)|q3L ;
GYROCALITHR（Gyro Still Threshold）
Register Name: GYROCALITHR
Register Address: 97 (0x61)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:0
GYROCALITHR[15:0]
set Gyro Still Threshold：
Gyro Still Threshold value=GYROCALITHR[15:0]/1000(°/s)
example：
send：50 06 00 61 00 32 54 40（Set the gyro static threshold to 0.05°/s）
return：50 06 00 61 00 32 54 40
When the angular velocity change is less than 0.05°/s and lasts for the time of "GYROCALTIME", the sensor recognizes it as stationary and automatically resets the angular velocity less than 0.05°/s to zero
The setting rule of the static threshold of the gyroscope can be determined by reading the value of the "WERROR" register. The general setting rule is: GYROCALITHR=WERROR*1.2, unit: °/s.
This register needs to be used in conjunction with the GYROCALTIME register
GYROCALTIME（Gyro auto calibration time）
Register Name: GYROCALTIME
Register Address: 99 (0x63)
Read and write direction: R/W
Default: 0x03E8
Bit
NAME
FUNCTION
15:0
GYROCALTIME[15:0]
set gyro auto calibration time
example：
send：50 06 00 63 01 F4 74 42（Set gyroscope auto-calibration time500ms,0x01F4=500(ms)）
return：50 06 00 63 01 F4 74 42
When the angular velocity change is less than "GYROCALITHR" and lasts for 500ms, the sensor recognizes that it is stationary and automatically resets the angular velocity less than 0.05°/s to zero
This register needs to be used in conjunction with the GYROCALITHR register
KEY（unlock）
Register Name: KEY
Register Address: 105 (0x69)
Read and write direction: R/W
Default: 0x0000
Bit
NAME
FUNCTION
15:0
KEY[15:0]
Unlock register: When performing a write operation, you need to set this register first
Example:
Send: 50 06 00 69 B5 88 22 A1 (unlocked)
Return: 50 06 00 69 B5 88 22 A1
Unlock, write 0xB588 to this register (other values are invalid）
WERROR（Gyroscope change value）
Register Name: WERROR
Register Address: 106 (0x6A)
Read and write direction: R
Default: 0x0000
Bit
NAME
FUNCTION
15:0
WERROR[15:0]
Gyroscope change value=WERROR[15:0]/1000*180/3.1415926(°/s)
When the sensor is stationary, the "GYROCALITHR" register can be set by changing this register
WZTIME（Angular velocity continuous rest time）
Register Name: WZTIME
Register Address: 110 (0x6E)
Read and write direction: R/W
Default: 0x01F4
Bit
NAME
FUNCTION
15:0
WZTIME[15:0]
Angular velocity continuous rest time
Example:
Send: 50 06 00 6E 01 F4 E5 81 (set the angular velocity continuous static time 500ms, 0x01F4=500(ms))
Return: 50 06 00 6E 01 F4 E5 81
When the angular velocity is less than "WZSTATIC" and lasts for 500ms, the angular velocity output is 0, and the Z-axis heading angle is not integrated
This register needs to be used in conjunction with the "WZSTATIC" register
WZSTATIC（Angular velocity integral threshold）
Register Name: WZSTATIC
Register Address: 111 (0x6F)
Read and write direction: R/W
Default: 0x012C
Bit
NAME
FUNCTION
15:0
WZSTATIC[15:0]
Angular velocity integral threshold=WZSTATIC[15:0]/1000(°/s)
Example:
Send: 50 06 00 6F 01 F4 E5 81 (set the angular velocity integration threshold to 0.5°/s, 0x01F4=500, 500/1000=0.5(°/s))
Return: 50 06 00 6F 01 F4 E5 81
When the angular velocity is greater than 0.5°/s, the Z-axis heading angle starts to integrate the acceleration
When the angular velocity is less than 0.5°/s, and the duration set by the register "WZTIME", the angular velocity output is 0, and the Z-axis heading angle is not integrated
This register needs to be used in conjunction with the "WZTIME" register
MODDELAY（485 data response delay）
Register Name: MODDELAY
Register Address: 116 (0x74)
Read and write direction: R/W
Default: 0x0BB8
Bit
NAME
FUNCTION
15:0
MODDELAY[15:0]
Set 485 data response delay, default 3000, unit: us
Example:
Send: 50 06 00 74 03 E8 C4 EF (set 485 data response delay 1000us)
Return: 50 06 00 74 03 E8 C4 EF
When the sensor receives the Modbus read command, the sensor delays 1000us and returns data
This register only supports Modbus version of the sensor
NUMBERID1~NUMBERID6（device number）
Register Name: NUMBERID1~NUMBERID6
Register address: 127~132 (0x7F~0x84)
Read and write direction: R
Default: none
Bit
NAME
FUNCTION
15:0
NUMBERID1[15:0]
15:0
NUMBERID2[15:0]
15:0
NUMBERID3[15:0]
15:0
NUMBERID4[15:0]
15:0
NUMBERID5[15:0]
15:0
NUMBERID6[15:0]
Device number：WT4200000001
XREFROLL~YREFPITCH（Angle zero reference value)
Register Name: LREFROLL~HREFPITCH
Register address: 149~152 (0x95~0x98)
Read and write direction: R/W
Default: 0x00000
Bit
NAME
FUNCTION
15:0
LREFROLL[15:0]
Roll angle zero reference value low
15:0
HREFROLL[15:0]
Roll Angle Zero Reference Value High, Roll Angle Zero Reference =
15:0
LREFPITCH[15:0]
(((int)HREFROLL<<16)| LREFROLL)/1000(°)
15:0
HREFPITCH[15:0]
Pitch angle zero reference value low
Example: The current roll angle is 2°, set the roll angle zero, subtract 2°, then REFROLL[31:0]=2*1000=2000=0x07D0
LREFROLL[15:0]=0x07D0, HREFROLL[15:0]=0;
Send: 50 06 00 95 07 D0 97 CB (set "LREFROLL")
Return: 50 06 00 95 07 D0 97 CB
Send: 50 06 00 96 00 00 64 67 (set "HREFROLL")
Return: 50 06 00 96 00 00 64 67
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