Modbus Communication Protocol
Modbus Communication Instructions for use：
The serial port sending command must be completed within 10S, otherwise it will be
automatically locked. In order to avoid automatic locking, the following steps can be performed first.
Enter the unlock command
Enter the command that needs to modify or read the data
Save the command
Register
ADD R (Hex ) | ADD R (Dec ) | REGISTER NAME | FUNCTION | SERI AL I/F | Bit1 5 | Bit1 4 | Bit1 3 | Bit1 2 | Bit1 1 | Bit1 0 | Bit 9 | Bit 8 | Bit 7 | Bit 6 | Bit 5 | Bit 4 | Bit 3 | Bit 2 | Bit 1 | 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 zero bias | R/W | AXOFFSET[15:0] | |||||||||||||||
06 | 06 | AYOFFSET | Acceleration Y zero bias | R/W | AYOFFSET[15:0] | |||||||||||||||
07 | 07 | AZOFFSET | Acceleration Z zero bias | 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] | |||||||||||||||
1A | 26 | IICADDR | Device address | R/W | IICADDR[7:0] | |||||||||||||||
1B | 27 | LEDOFF | Turn off the LED lights | R/W | LEDO FF | |||||||||||||||
1C | 28 | MAGRANG X | Magnetic Field X Calibration Range | R/W | MAGRANGX[15:0] | |||||||||||||||
1D | 29 | MAGRANG Y | 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 | BANDWIDT H | Bandwidth | R/W | BANDWIDTH[3:0 ] | |||||||||||||||
20 | 32 | GYRORAN GE | Gyroscope range | R/W | GYRORANGE[3: 0] | |||||||||||||||
21 | 33 | ACCRANGE | Acceleration range | R/W | ACCRANGE[3:0] | |||||||||||||||
22 | 34 | SLEEP | Sleep | R/W | SLEE P | |||||||||||||||
23 | 35 | ORIENT | Installation direction | R/W | ORIE NT | |||||||||||||||
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/monthSl eep | R/W | MOUTH[15:8] | YEAR[7:0] | ||||||||||||||
31 | 49 | DDHH | day/time | R/W | HOUR[15:8] | DAY[7:0] | ||||||||||||||
32 | 50 | MMSS | minutes/seco nds | R/W | SECONDS[15:8] | MINUTE[7:0] | ||||||||||||||
33 | 51 | MS | millisecond | R/W | MS[15:0] |
34 | 52 | AX | AccelerationX | 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 velocity X | R | GX[15:0] |
38 | 56 | GY | Angular velocity Y | 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 | Roll | Roll angle | R | Roll[15:0] |
3E | 62 | Pitch | Pitch angle | R | Pitch[15:0] |
3F | 63 | Yaw | Heading | R | Yaw[15:0] |
40 | 64 | TEMP | Temperature | R | TEMP[15:0] |
45 | 69 | PressureL | Air pressure low 16 bits | R | PressureL[15:0] |
46 | 70 | PressureH | Air pressure high 16 bits | R | PressureH[15:0] |
47 | 71 | HeightL | Height lower 16 bits | R | HeightL[15:0] |
48 | 72 | HeightH | Height high 16 bits | R | HeightH[15:0] |
49 | 73 | LonL | Longitude lower 16 bits | R | LonL[15:0] |
4A | 74 | LonH | Longitude high 16 bits | R | LonH[15:0] |
4B | 75 | LatL | Latitude lower 16 bits | R | LatL[15:0] |
4C | 76 | LatH | Latitude high 16 bits | R | LatH[15:0] |
4D | 77 | GPSHeight | GPS Altitude | R | GPSHeight[15:0] |
4E | 78 | GPSYAW | GPS heading angle | R | GPSYAW[15:0] |
4F | 79 | GPSVL | GPS ground speed low 16 bits | R | GPSVL[15:0] |
50 | 80 | GPSVH | GPS ground speed high 16 bits | R | GPSVH[15:0] |
51 | 81 | q0 | Quaternion 0 | R | q0[15:0] |
52 | 82 | q1 | Quaternion 1 | R | q1[15:0] |
53 | 83 | q2 | Quaternion 2 | R | q2[15:0] |
54 | 84 | q3 | Quaternion 3 | R | q3[15:0] |
55 | 85 | SVNUM | Number of satellites | R | SVNUM[15:0] |
56 | 86 | PDOP | Position accuracy | R | PDOP[15:0] |
57 | 87 | HDOP | Horizontal accuracy | R | HDOP[15:0] | ||||||||||||
58 | 88 | VDOP | vertical accuracy | R | VDOP[15:0] | ||||||||||||
59 | 89 | DELAYT | Alarm signal delay | R/W | DELAYT[15:0] | ||||||||||||
5A | 90 | XMIN | X-axis angle alarm minimum value | R/W | XMIN[15:0] | ||||||||||||
5B | 91 | XMAX | X-axis angle alarm maximum value | R/W | XMAX[15:0] | ||||||||||||
5D | 93 | ALARMPIN | Alarm Pin Mapping | R/W | X-ALARM[15:12] | X+ALARM[11: 8] | Y- ALARM[7:4] | Y+ALARM[3:0] | |||||||||
5E | 94 | YMIN | Y-axis angle alarm minimum value | R/W | YMIN[15:0] | ||||||||||||
5F | 95 | YMAX | Y-axis angle alarm maximum value | R/W | YMAX[15:0] | ||||||||||||
61 | 97 | GYROCALIT HR | Gyro Still Threshold | R/W | GYROCALITHR[15:0] | ||||||||||||
62 | 98 | ALARMLEV EL | Angle alarm level | R/W | ALARMLEVEL[3: 0] | ||||||||||||
63 | 99 | GYROCALTI ME | Gyro auto calibration time | R/W | GYROCALTIME[15:0] |
68 | 104 | TRIGTIME | Alarm continuous trigger time | R/W | TRIGTIME[15:0] | ||||||||
69 | 105 | KEY | unlock | R/W | KEY[15:0] | ||||||||
6A | 106 | WERROR | Gyroscope change value | R | WERROR[15:0] | ||||||||
6B | 107 | TIMEZONE | GPS time zone | R/W | TIMEZONE[7:0] | ||||||||
6E | 110 | WZTIME | Angular velocity continuous rest time | R/W | WZTIME[15:0] | ||||||||
6F | 111 | WZSTATIC | Angular velocity integral threshold | R/W | WZSTATIC[15:0] | ||||||||
74 | 116 | MODDELAY | 485 data response delay | R/W | |||||||||
79 | 121 | XREFROLL | Roll angle zero reference value | R | XREFROLL[15:0] | ||||||||
7A | 122 | YREFPITCH | Pitch angle zero reference value | R | YREFPITCH[15:0] | ||||||||
7F | 127 | NUMBERID 1 | Device No.1- 2 | R | ID2[15:8] | ID1[7:0] | |||||||
80 | 128 | NUMBERID 2 | Device No. 3- 4 | R | ID4[15:8] | ID3[7:0] |
81 | 129 | NUMBERID 3 | Device No. 5- 6 | R | ID6[15:8] | ID5[7:0] |
82 | 130 | NUMBERID 4 | Device No. 7- 8 | R | ID8[15:8] | ID7[7:0] |
83 | 131 | NUMBERID 5 | Device No. 9- 10 | R | ID10[15:8] | ID9[7:0] |
84 | 132 | NUMBERID 6 | Device No. 11-12 | R | ID12[15:8] | ID11[7:0] |
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, and the CRC online calculation website.
command send
Modbus address | Function code | Register upper 8 bits | Register 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） | LEN[7:0] | DATA1H[15:8] | DATA1L[7:0] | …… | …… | DATAnH | DATAnL | CRCH[15:8] | CRCL[7:0] |
Write Register Format
Data is sent in hexadecimal, not ASCII.
For each register address, 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 upper 8 bits | Register low 8 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 地址 | Function code | Register upper 8 bits | Register low 8 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 Reset: 0x0001 |
Example： Send：50 06 00 00 00 FF C4 0B（reboot） Return：50 06 00 00 00 FF C4 0B |
Register Name: CALSW Register Address: 1 (0x01) Read and write direction: R/W Defaults: 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 (the heading angle is set to zero) Return: 50 06 00 01 00 04 D4 48 |
Register Name: BAUD Register Address: 4 (0x04) Read and write direction: R/W Default: 0x0002 | ||
Bit | NAME | FUNCTION |
15:4 | ||
3:0 | BAUD[3:0] | Set the 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 supported by WT931/JY931/HWT606/HWT906) 1001(0x09): 921600bps (only supported by WT931/JY931/HWT606/HWT906) |
Example：Send：50 06 00 04 00 06 45 88（Set the serial port baud rate:115200） Return：50 06 00 04 00 06 45 88 |
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 bias, actual acceleration offset=AXOFFSET[15:0]/10000(g) |
15:0 | AYOFFSET[15:0] | Acceleration Y-axis bias, actual acceleration offset=AYOFFSET[15:0]/10000(g) |
15:0 | AZOFFSET[15:0] | Acceleration Z-axis bias, actual acceleration offset=AZOFFSET[15:0]/10000(g) |
15:0 | GXOFFSET[15:0] | Angular velocity X-axis bias, actual angular velocity offset=GXOFFSET[15:0]/10000(°/s) |
15:0 | GYOFFSET[15:0] | Angular velocity Y-axis bias, actual angular velocity offset=GYOFFSET[15:0]/10000(°/s) |
15:0 | GZOFFSET[15:0] | Angular velocity Z-axis bias, 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 bias 0.1g), 0x03E8=1000, 1000/10000=0.1(g) Return: 50 06 00 05 03 E8 94 F4 |
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 to 0x02) Return: 50 06 00 1A 00 02 24 4D |
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 the LED light 0: Turn on the LED light |
Example: Send: 50 06 00 1B 00 01 35 8C (turn off the LED light) Return: 50 06 00 1B 00 01 35 8C |
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 |
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 |
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 |
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
Register Name: SLEEP Register Address: 34 (0x22) Read and write direction: R/W Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:1 | ||
0 | SLEEP | set hibernate 1(0x01): sleep Any serial port data, can wake up |
Example: Send: 50 06 00 22 00 01 E5 81 (go to 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 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 |
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 K value filter to 30) Return: 50 06 00 25 00 1E 15 88 |
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 |
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) |
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] | minute |
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 |
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 acceleration of gravity, preferably 9.8m/s2) |
15:0 | AY[15:0] | Acceleration Y=AY[15:0]/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2) |
15:0 | AZ[15:0] | Acceleration Z=AZ[15:0]/32768*16g (g is the acceleration of gravity, 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; |
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 velocity X=GX[15:0]/32768*2000°/s |
15:0 | GY[15:0] | Angular velocity Y=GY[15:0]/32768*2000°/s |
15:0 | GZ[15:0] | Angular velocity Z=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; |
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 (reading 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; |
Register Name: Roll~Yaw Register address: 61~63 (0x3D~0x3F) Read and write direction: R Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | Roll[15:0] | Roll angle X=Roll[15:0]/32768*180° |
15:0 | Pitch[15:0] | Pitch angle Y=Pitch[15:0]/32768*180° |
15:0 | Yaw[15:0] | Heading angle Z=Yaw[15:0]/32768*180° |
Example: Send: 50 03 00 3D 00 03 99 86 (read three-axis angle) Return: 50 03 06 RollH RollL PitchH PitchL YawH YawL CRCH CRCL Roll[15:0]=((short)RollH <<8)|RollL; Pitch[15:0]=((short)PitchH <<8)|PitchL; Yaw[15:0]=((short)YawH <<8)|YawL; |
Register Name: TEMP Register Address: 64 (0x40) 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 40 00 01 88 5F (read chip temperature) Return: 50 03 02 TEMPH TEMPL CRCH CRCL TEMP[15:0]=((short)TEMPH <<8)|TEMPL ; |
Register Name: PressureL~HeightH Register address: 69~72 (0x45~0x48) Read and write direction: R Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | PressureL[15:0] | Air pressure=((int)PressureH[15:0]<<16)|PressureL[15:0](Pa) |
15:0 | PressureH[15:0] | |
15:0 | HeightL[15:0] | Altitude=((int)HeightH[15:0]<<16)|HeightL[15:0](cm) |
15:0 | HeightH[15:0] | |
Register Name: LonL~LatH Register address: 73~76 (0x49~0x4C) Read and write direction: R Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | LonL[15:0] | Lon[31:0]=((int)LonH[15:0]<<16)|LonL[15:0](Pa) |
15:0 | LonH[15:0] | |
15:0 | LatL[15:0] | Lat[31:0]=((int)LatH[15:0]<<16)|LatL[15:0](cm) |
15:0 | LatH[15:0] | |
Example: Send: 50 03 00 49 00 04 98 5E (read latitude and longitude) Return: 50 03 06 LonL0 LonL1 LonH0 LonH1 LatL0 LatL1 LatH0 LatH1 CRCH CRCL LonL=((short)LonL0<<8)|LonL1; LonH=((short)LonH0<<8)|LonH1; LatL=((short)LatL0<<8)|LatL1; LatH=((short)LatH0<<8)|LatH1; The NMEA8013 standard stipulates that the longitude output format of GPS is ddmm.mmmmm (dd is degrees, mm.mmmmm is minutes), and the decimal point is removed from the longitude/latitude output, so the degrees of longitude/latitude can be calculated as follows: dd=Lon[31:0]/10000000; |
dd=Lat[31:0]/10000000;
The longitude/latitude fraction can be calculated like this: mm.mmmmm=(Lon[31:0]%10000000)/100000; (% means remainder operation) mm.mmmmm=(Lat[31:0]%10000000)/100000; (% means remainder operation)
Register Name: GPSHeight~GPSVH Register address: 77~80 (0x4D~0x50) Read and write direction: R Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | GPSHeight[15:0] | GPS Altitude=GPSHeight[15:0]/10(m) |
15:0 | GPSYAW[15:0] | GPS heading=GPSYAW[15:0]/100(°) |
15:0 | GPSVL[15:0] | GPS ground speed=(((int)GPSVH[15:0]<<16)|GPSVL[15:0])/1000(km/h) |
15:0 | GPSVH[15:0] | |
Example: Send: 50 03 00 4D 00 04 D9 9F (read GPS data) Returns: 50 03 06 GPSHH GPSHL GPSYAWH GPSYAWL GPSVL0 GPSVL1 GPSVH0 GPSVH1 CRCH CRCL GPSHeight=((short)GPSHH <<8)|GPSHL ; GPSVL=((short)GPSVL1<<8)|GPSVL0 ; GPSVL=((short)GPSVL0<<8)|GPSVL1 ; GPSVH=((short)GPSVH0<<8)|GPSVH1 ; |
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] | Quaternion 0=q0[15:0]/32768 |
15:0 | q1[15:0] | Quaternion 1=q1[15:0]/32768 |
15:0 | q2[15:0] | Quaternion 2=q2[15:0]/32768 |
15:0 | q3[15:0] | Quaternion 3=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 ; |
Register Name: SVNUM~VDOP Register address: 85~88 (0x55~0x58) Read and write direction: R Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | SVNUM[15:0] | Number of GPS satellites = SVNUM[15:0] |
15:0 | PDOP[15:0] | Position positioning longitude=PDOP[15:0]/100 |
15:0 | HDOP[15:0] | Horizontal positioning longitude=HDOP[15:0]/100 |
15:0 | VDOP[15:0] | Vertical positioning longitude=VDOP[15:0]/100 |
Example: Send: 50 03 00 55 00 04 59 98 (read GPS positioning accuracy) return:50 03 08 SVNUMH SVNUML PDOPH PDOPL HDOPH HDOPL VDOPH VDOPL CRCH CRCL q0SVNUM15:0]=((short)SVNUMH <<8)|SVNUML; PDOP[15:0]=((short)PDOPH<<8)|PDOPL ; HDOP[15:0]=((short)HDOPH<<8)|HDOPL; VDOP[15:0]=((short)VDOPH<<8)|VDOPL; |
Register Name: DELAYT Register Address: 89 (0x59) Read and write direction: R/W Default: 0x0000 | |||
Bit | NAME | FUNCTION | |
15:0 | DELAYT[15:0] | Unit: ms After the angle alarm occurs, the port will generate a corresponding alarm signal. When the alarm disappears, the alarm signal will last for a delay of DELAYT[15:0] before disappearing. | |
Example: Send: 50 06 00 59 03 E8 54 E6 (set the alarm signal delay 1000ms) Return: 50 06 00 59 03 E8 54 E6 |
Register Name: XMIN~XMAX Register address: 90~91 (0x5A~0x5B) Read and write direction: R/W Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | XMIN[15:0] | Set the X-axis angle alarm minimum value X-axis angle alarm minimum value=XMIN[15:0]*180/32768(°) |
15:0 | XMAX[15:0] | Set the X-axis angle alarm maximum value X-axis angle alarm maximum value=XMAX[15:0]*180/32768(°) |
Example: Send: 50 06 00 5A FC 72 65 7D (set -5 degrees), 0xFC72=-910, -910*180/32768=-5 Return: 50 06 00 5A FC 72 65 7D Send: 50 06 00 5B 03 8E 75 0C (set 5 degrees), 0x038E=910, 910*180/32768=5 Return: 50 06 00 5B 03 8E 75 0C The X axis will not alarm between -5°~5°, once it exceeds this range, an alarm will occur |
Register Name: ALARMPIN Register Address: 93 (0x5D) Read and write direction: R/W Default: 0x4365 | ||
Bit | NAME | FUNCTION |
0001(0x01): D0 | ||
0010(0x02): D1 | ||
0011(0x03): D2 | ||
15:12 | X-ALARM[15:12] | |
0100(0x04): D3 | ||
0101(0x05): SCL | ||
0110(0x06): SDA | ||
0001(0x01): D0 | ||
0010(0x02): D1 | ||
0011(0x03): D2 | ||
11:8 | X+ALARM[11:8] | |
0100(0x04): D3 | ||
0101(0x05): SCL | ||
0110(0x06): SDA | ||
0001(0x01): D0 | ||
7:4 | Y-ALARM[7:4] | 0010(0x02): D1 |
0011(0x03): D2 |
0100(0x04): D3 0101(0x05): SCL 0110(0x06): SDA | ||
3:0 | Y+ALARM[3:0] | 0001(0x01): D0 0010(0x02): D1 0011(0x03): D2 0100(0x04): D3 0101(0x05): SCL 0110(0x06): SDA |
Example: Set X-alarm signal to output on D3 port Set the X+ alarm signal to output at port D1 Set the Y-alarm signal to output on the SCL port Set the Y+ alarm signal to output at the SCL port Example: Send: 50 06 00 5D 42 55 E5 06 Return: 50 06 00 5D 42 55 E5 06 |
Register Name: YMIN~YMAX Register address: 94~95 (0x5E~0x5F) Read and write direction: R/W Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | YMIN[15:0] | Set the Y-axis angle alarm minimum value Y axis angle alarm minimum value=YMIN[15:0]*180/32768(°) |
15:0 | YMAX[15:0] | Set the Y-axis angle alarm maximum value Y-axis angle alarm maximum value=YMAX[15:0]*180/32768(°) |
Example: Send: 50 06 00 5E FC 72 24 BC (set -5 degrees), 0xFC72=-910, -910*180/32768=-5 Return: 50 06 00 5E FC 72 24 BC Send: 50 06 00 5F 03 8E 34 CD (set 5 degrees), 0x038E=910, 910*180/32768=5 Return: 50 06 00 5F 03 8E 34 CD The Y axis will not alarm between -5°~5°, once it exceeds this range, an alarm will occur |
Register Name: GYROCALITHR Register Address: 97 (0x61) Read and write direction: R/W Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | GYROCALITHR[15:0] | Set the gyroscope inactivity threshold: Gyro static threshold=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 |
Register Name: ALARMLEVEL Register Address: 98 (0x62) Read and write direction: R/W Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:4 | ||
3:0 | ALARMLEVEL[3:0] | To set the alarm level: 0000(0x00): Low level alarm (high level when not alarming, low level when alarming) 0001(0x01): High level alarm (low level when not alarming, high level when alarming） |
Example: Send: 50 06 00 62 00 01 E4 55 (set high level alarm) Return: 50 06 00 62 00 01 E4 55 |
Register Name: GYROCALTIME Register Address: 99 (0x63) Read and write direction: R/W Default: 0x03E8 | ||
Bit | NAME | FUNCTION |
15:0 | GYROCALTIME[15:0] | Set gyroscope auto-calibration time |
Example: Set gyroscope auto-calibration time to 500ms Send: 50 06 00 63 01 F4 74 42 (set high level alarm) 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 |
Register Name: TRIGTIME Register Address: 104 (0x68) Read and write direction: R/W Default: 0x0000 | ||
Bit | NAME | FUNCTION |
15:0 | TRIGTIME[15:0] | Set the alarm continuous trigger time |
Example: Set the alarm continuous trigger time to 500ms Send: 50 06 00 68 01 F4 05 80 (set high level alarm) Return: 50 06 00 68 01 F4 05 80 When the angle alarm occurs, the alarm signal will not be output immediately, and the alarm signal can be output only when the angle alarm lasts for 500ms. This register is used to filter out alarms caused by malfunctions |
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) |
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 |
Register Name: TIMEZONE Register Address: 107 (0x6B) Read and write direction: R/W Default: 0x0014 | ||
Bit | NAME | FUNCTION |
15:8 | ||
Set GPS time zone： | ||
00000000(0x0000): UTC-12 | ||
00000001(0x0001): UTC-11 | ||
00000010(0x0002): UTC-10 | ||
00000011(0x0003): UTC-9 | ||
00000100(0x0004): UTC-8 | ||
7:0 | TIMEZONE[7:0] | 00000101(0x0005): UTC-7 |
00000110(0x0006): UTC-6 | ||
00000111(0x0007): UTC-5 | ||
00001000(0x0008): UTC-4 | ||
00001001(0x0009): UTC-3 | ||
00001010(0x000A): UTC-2 | ||
00001011(0x000B): UTC-1 |
00001100(0x000C): UTC 00001101(0x000D): UTC+1 00001110(0x000E): UTC+2 00001111(0x000F): UTC+3 00010000(0x0010): UTC+4 00010001(0x0011): UTC+5 00010010(0x0012): UTC+6 00010011(0x0013): UTC+7 00010100(0x0014): UTC+8（Default East 8th District） 00010101(0x0015): UTC+9 00010110(0x0016): UTC+10 00010111(0x0017): UTC+11 00011000(0x0018): UTC+12 | ||
Example: Send: 50 06 00 6B 00 15 34 58 (set GPS time zone to East 9) Return: 50 06 00 6B 00 15 34 58 |
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) 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 |
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) 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 |
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 |
Register Name: XREFROLL~YREFPITCH Register address: 121~122 (0x79~0x7A) Read and write direction: R/W Default: 0x00000 | ||
Bit | NAME | FUNCTION |
15:0 | XREFROLL[15:0] | Roll angle zero reference value=XREFROLL[15:0]/32768*180(°) |
15:0 | YREFPITCH[15:0] | Pitch angle zero reference value=YREFPITCH[15:0]/32768*180(°) |
Example: The current roll angle is 2°, set the roll angle zero, subtract 2°, then XREFROLL[15:0]=2*32768/180=364=0x016C FFAA 79 6C 01 Example: The current roll angle is 2°, set the roll angle zero, subtract 2°, then XREFROLL[15:0]=2*32768/180=364=0x016C Send: 50 06 00 79 01 6C 54 2F Return: 50 06 00 79 01 6C 54 2F |
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 label：WT4200000001 |
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