WITMOTION WT9011DCL User Manual

Tutorial Link & Contact

For tutorials and demonstrations, please refer to the following resources:

• Google Drive Link
• WITMOTION YouTube Channel WT9011DCL Playlist

If you encounter technical problems or need further information, WITMOTION's engineering team is available to provide support. Contact information can be found via the Technical Support Contact Info link (Note: Actual link not provided in OCR).

Application Areas

The WT9011DCL sensor is suitable for a wide range of applications:

• Unmanned/Assisted Driving
• Large-scale farming automated farming
• Safety monitoring for working at heights
• Unmanned aerial vehicle
• Industrial attitude monitoring
• Human motion tracking/capture
• Robot, Automated Guided Transporter
• Pedestrian Navigation
• Truck-mounted Satellite Antenna Equipment

1 Introduction

The WT9011DCL-BLE5.0 is a multi-sensor device capable of detecting acceleration, angular velocity, angle, and magnetic field. Its robust housing and compact size make it ideal for industrial retrofit applications such as condition monitoring and predictive maintenance. The device's configuration capabilities allow users to interpret sensor data using smart algorithms for various use cases.

Scientifically known as an AHRS IMU sensor, it measures 3-axis angle, angular velocity, acceleration, and magnetic field. Its primary strength lies in its algorithm for accurate three-axis angle calculation, making it suitable for applications requiring high measurement accuracy.

Advantages of the WT9011DCL over competing sensors include:

• Heated for best data availability: Features a new WITMOTION patented zero-bias automatic detection calibration algorithm that surpasses traditional accelerometer sensors.
• High precision output: Provides Roll Pitch Yaw (X Y Z axis) data for Acceleration, Angular Velocity, Angle, and Magnetic Field.
• Low cost of ownership: Offers remote diagnostics and lifetime technical support from the WITMOTION service team.
• Comprehensive resources: Includes developed tutorials, manuals, datasheets, demo videos, free software for Windows, and an APP for Android smartphones.
• Industry recognition: WITMOTION sensors are praised by thousands of engineers as a recommended attitude measurement solution.

1.1 Warning Statement

Please adhere to the following warnings to prevent sensor damage and ensure proper operation:

• Applying more than 5 Volts across the sensor wiring of the main power supply can cause permanent damage.
• For proper instrument grounding, use WITMOTION's original factory-made cables or accessories.
• Do not access the I2C interface.
• Do not change the baud rate, as the WitMotion Bluetooth sensor's baud rate is fixed.
• Operating Temperature: -20°C to 60°C
• Storage Temperature: -40°C to 85°C
• Working and Storage Humidity: 10% - 90%
• Radiation Warning: Any changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment.

This device complies with Part 15 of the FCC Rules. Operation is subject to two conditions: (1) this device must not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.

Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy. If not installed and used according to instructions, it may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment causes harmful interference to radio or television reception (which can be determined by turning the equipment off and on), the user is encouraged to try to correct the interference by one or more of the following measures:

• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.

This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment.

1.2 LED Status

The sensor features an LED indicator for status:

2 Use Instructions with Android Phone

For detailed APP configuration, please refer to the provided links.

• APP Configuration Link

2.1 APP Installation

Install the APK file and grant permissions for Location and Storage.

About Android APP:

1. It is required to allow for application positioning (Always allowed) and turn on the positioning function and Bluetooth. Note: Paired devices can be searched without positioning enabled, but Google's requirements state that if an APP is installed on a higher version of Android (6.0) and paired with a Bluetooth device, positioning must be allowed when using Bluetooth simultaneously.
2. After turning on Bluetooth, it takes approximately one minute to search for authorization to find Bluetooth devices.

To check the tutorial video, visit: WITMOTION Android APP Tutorial

2.2 Connection

Step 1: Install the APK file and grant Location and Storage permissions.

Step 2: Open the APP and click "Connect".

Step 3: Turn on the sensor, select "BWT901BLCL5.0" or "WT901BLECL", and then scan for the device. The device ID will be recognized as "WT901BLE" followed by its MAC address.

Step 4: When pairing is complete, the sensor's blue LED will flash briefly (about one second). After a few seconds, data will be displayed automatically.

Visual Description: The APP displays connection status, available equipment with RSSI values, and a success message upon connection. The data dashboard shows real-time readings for Acceleration, Gyroscope, and Angle, often visualized with graphs and numerical readouts.

2.3 Calibration

2.3.1 Acceleration Calibration

Step 1: Keep the module horizontally stationary.

Step 2: Navigate to the "Calibration" menu.

Step 3: Select "Acceleration Calibration" and wait for 3 seconds.

Step 5: Check the result to confirm if there is 1g on the Z-axis acceleration.

Visual Description: The calibration screen shows the sensor's orientation and progress. A message indicates "Calibrating, please rotate the module in all directions!". The result screen confirms successful calibration.

2.3.2 Magnetic Field Calibration

Step 1: Click the "Calibration" menu.

Step 2: Select the "Magnetic calibration" button.

Step 3: Slowly rotate the module 360° around the X, Y, and Z axes.

Step 4: After rotation, click "Finish".

Result Check: The Z-axis angle should exhibit less drift after calibration. Notice: If Z-axis drift persists, move away from objects that may create magnetic field interference.

Visual Description: Similar to acceleration calibration, this process involves rotating the device. The calibration screen guides the user through the steps.

2.4 Multi-connection

A video demonstration for multi-connection is available at: Multi-connection Video Demo

Up to 4 devices can be connected simultaneously, similar to the PC software. The table below shows actual measured distances for different phones:

(BD = Best distance; MD = Max distance)

3 Use Instructions with iPhone

A new version of the iOS APP is being launched with many upcoming features. The current version includes history recording functionality.

If your iPhone has a text reader, recorded files can be easily opened using a text editor like Micro Software.

For related video content, see: iPhone APP Tutorials

3.1 How to install

Step 1: Search for "WITMOTION" on the iOS App Store and install the APP.

Visual Description: The process involves opening the App Store, searching for "WITMOTION", and tapping the install button.

3.2 How to setup

Step 1: Turn on the sensor and then click "Scan".

The sensor device ID will be recognized as "WT901BLE" followed by a number. The second column displays its SSID number.

Step 2: Select the device to go online. The APP will display data, such as angle data curves.

Visual Description: The APP interface shows a "Scan" screen to find devices, and after connection, displays real-time data with graphical representations of angles and other sensor readings.

3.3 How to configure

For detailed menu settings and function introductions, refer to Chapter 4.2. Click the "SET" button to automatically open the menu.

Visual Description: The configuration menu appears after tapping "SET", showing options like "Acc Cali", "Mag Cali", "Rate", "Restore", and "Rename".

3.3.1 Rename

You can edit the device name by clicking "Rename". The name will be prefixed with "WT" followed by your input.

Visual Description: A dialog box prompts the user to input a new device name.

3.4 Data Recording

Data can be easily recorded by pressing the "Record" button. The recorded file is currently in TXT format. You can send this file to a computer and paste the data into an Excel file for review.

For any issues, please contact support@wit-motion.com.

Step 1: Click "Record".

Step 2: When finished recording, click "End".

Step 3: To save the file, select "Save to Files" to store it in your mobile device's folder. This method is recommended for convenience.

Visual Description: The interface shows a graph of recorded data and fields for acceleration (ax, ay, az) and magnitude. After recording, options appear to save the file to cloud storage or local folders.

Step 4: Return to your mobile desktop and open the "Files" application to check the recorded files.

Step 5: The file content will be displayed in a structured text format, including timestamp, sensor readings (a, ver, eq, T, w, Angle, q, h), and date.

4 Use Instructions with PC

The WITMOTION PC software is compatible with Windows systems.

• Link to download software: [Link not provided in OCR]
• Instructions Video link: [Link not provided in OCR]

4.1 PC Connection

4.1.1 Serial Connection

Step 1: Connect the sensor using the provided Type-C wire. (A longer cable should be a standard Type-C data cable).

Step 2: Unzip the software and install the CH340 driver. Download link: CH340 Driver Installation

To install and update the CH340 driver: Click the "Uninstall" button first, then click the "Install" button.

How to verify your driver is working:

1. To confirm the CH340 enumerates to a COM port, open the device manager. Click the Start or [Windows] button and type "device manager".
2. In the device manager, expand the "Ports (COM & LPT)" tree. The CH340 should appear as "USB-SERIAL CH340 (COM##)". The COM port number may vary by computer.

Visual Description: Screenshots show the CH340 driver setup window and the Windows Device Manager listing the connected COM port.

4.1.2 BLE 5.0 Adapter Connection

Note: For Windows 10 OS computers, driver installation is not required.

Step 1: Insert the adapter into a USB port and verify that a port is generated in the device manager.

Step 2: Turn on the sensor switch after the adapter's blue light flashes. The sensor's LED will flash quickly (once per second).

Step 3: Run the MiniIMU.exe application. Click the search button and wait for 30 seconds.

Step 4: Data will appear after the auto-search is complete. The sensor's LED will flash slowly (once every two seconds), and the adapter's LED light will remain steady.

4.2 Software Introduction

4.2.1 Main Menu

The WITMOTION PC software provides various functions accessible through its main menu.

Visual Description: The main software window displays real-time sensor data, including Angle X, Angle Y, and Angle Z values, along with a compass rose and gauge indicators for orientation.