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.

  1. Enter the unlock command

  2. Enter the command that needs to modify or read the data

  3. Save the command

Register table

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

Data return

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

Data return

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)

CALSW

BAUD RATE

AXOFFSET~HZOFFSET(Zero bias setting)

WORKMODE(Z-axis operation mode)

GYROPTP(Z-axis static peak-to-peak)

GPTPTIME(Z-axis peak-to-peak acquisition time)

GYROBAIS(Z-axis zero bias value)

GBAISTIME(Z-axis zero bias acquisition time)

GSTATICTHRE(Z-axis static threshold)

GSTATICTIME(Z-axis stabilization time)

PGSCALE(Z-axis calibration factor P)

GSCALERANGE(Z-axis calibration angle)

IICADDR(Device address)

LEDOFF(turn off LED light)

MAGRANGX~MAGRANGZ(Magnetic Field Calibration Range)

BANDWIDTH(bandwidth)

GYRORANGE(Gyroscope range)

ACCRANGE(Accelerometer range)

SLEEP(sleep)

ORIENT(Installation direction)

AXIS6(algorithm)

FILTK(K value filter)

ACCFILT(acceleration filter)

VERSION(version number)

YYMM~MS(on-chip time)

AX~AZ(acceleration)

GX~GZ(Angular velocity)

HX~HZ(magnetic field)

Roll~Yaw(angle)

TEMP(temperature)

q0~q3(Quaternion)

GYROCALITHR(Gyro Still Threshold)

GYROCALTIME(Gyro auto calibration time)

KEY(unlock)

WERROR(Gyroscope change value)

WZTIME(Angular velocity continuous rest time)

WZSTATIC(Angular velocity integral threshold)

MODDELAY(485 data response delay)

NUMBERID1~NUMBERID6(device number)

XREFROLL~YREFPITCH(Angle zero reference value)

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