BW SENSING LEC315M Manuel utilisateur

LEC315M

Angle Compensation

3D Electronic Compass

with Modbus

Technical Manual

The LEC315M is a 3D Electronic Compass with high accuracy. It offers high

accuracy heading information when tilt angle reaches 40° initially.

LEC315M is a small size, low power consumption compass that is widely used in

the antenna steadiness, vehicle navigation, system integration, etc.

Introduction

Features

Applications

●Accuracy: 2°

Operating t emperature: -40℃～+85℃●

Low work current: <40mA●

● High pitch angle measurement range: ± 30°

● Hard magnetic, soft magnetic and angle

compensation

●RS232/RS485/TTL Optional, Modbus Optional

●Satellite tracking

Drilling equipment●

Optical range finder●

Combat equipment●

●Navigation of the underwater robot

Marine measurement●

Robotic system●

Unmanned aerial vehicles●

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

Power supply

Operating current

Operating temperature

Sore temperature

5VDC

30mA（40mA max）

-40~+85℃

-55~+100℃

Specifications

Compass Heading

Parameters

Compass Pitch

Parameters

Calibration

Physical

Specifications

Heading Accuracy

Resolution

Repeatibility

Pitch Accuracy

Roll Accuracy

Resolution

Hard Iron Calibration

Soft Iron Calibration

Limit Tilt User Calibration

Size

Weight

RS232/485/TTL Interface

Startup Delay

Max Output Frequency 50gHZ

<50 ms

Optional

130g

L55 x W37 x H24 (mm)

Yes

0.01°

0.2°

0.2º

0.3°

0.1°

2°（RMS）

RS-232 Communication Rate 2400 to 115200 baud rate

Interface

Specifications

Output Format Binary high energy protocol

Environment Shock Resistance 2000g

Measuring Range ±30°

Electrical Specifications

Performance Specifications

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

metal /Aviation plug（1.5m)

IP67

Magnesium Aluminum

Three M4 screws

Size：L55*W37*H24（mm)

Size：L33*W27*H6（mm）

Hole Φ 2mm

Resolution: the sensor is able to detect and distinguish the minimum the measured

change within measuring range.

Accuracy: error between actual angle and the root mean square of angle (≥16 times)

multiply measured by the sensor.

Mechanical Characteristics

Connector

Protection level

Shell material

Installation

Package size

Bare plate product size

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

Installation

Calibration

Although the LEC315M can compensate for magnetic interference, users should choose a

minimum magnetic interference environment to install and use it. Please make sure the LEC315M

is away from the iron, nickel, magnets, engines and other magnetic substances as far as possible

when place it.

Strictly avoid the magnet, motor and other strong magnetic material close to the

compass within 10cm, which may cause the compass measurement accuracy irreversible

decline.

Each LEC315M compass provides a 1.5-meter cable (optional). Every installation location

magnetic field environment is different, the user must evaluate the installation of the operating

environment feasibility.

Our recommended test method is: install the LEC315M compass on the vertical erected

aluminum (or other non-magnetic material) rod for the heading accuracy measurement

(turning rod perpendicular to the rotating platform, try to avoid large external magnetic field

interference).

The electronic compass has been calibrated at the factory. In the area where the

magnetic field is small, environmental calibration is not necessary when using it, and it can

be used directly. But in the process of actual use, it is suggested that the magnetic

calibration should be carried out. You can select the calibration method according to the

actual situation.

Plane-calibration:

1, place the electronic compass in working environment. Do not carry any magnetic

object such as keys and phones

2, connect the product to the system, and put it horizontally

3, send the command of the MODBUS protocol to start calibrating: 01 06 00 14 00 00 C9

4, keep the compass horizontal, rotate one round steadily over about 10 seconds

5, Make the compass in the following state (X at 90° or -90°, Y axis nears 0°, or Y at 90°or

-90 °, X axis nears 0°) approximately uniform rotation for a week -- this step can be omitted.

6, send command: 01 06 00 15 00 00 98 0E to save the calibration

7, the calibration is complete.

Multidimensional calibration:

1, place the electronic compass in working environment. Do not carry any magnetic

object such as keys and phones

2, keep the compass horizontal (within ±5 degrees)

3, send the command of the MODBUS protocol to start calibrating: 01 06 00 11 00 00 D9

4, set the product face up horizontally (The pitch and roll angles are both within ±5

degrees). Rotate one round steadily over about 10 seconds

5, place the product back up horizontally (The pitch is within 0±5 degrees and the roll is

within 180±5 degrees).Rotate one round steadily over about 10 seconds.

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

GND

5VDC

BLACK GND

YELLOW TXD

RED VCC

GREEN RXD

RS 232 wiring diagram

Electrical Connections

RED

5VDC

BLUE

BLACK

GND

GREEN

RXD

（B、D-）

YELLOW

TXD

（A、D+）

RED VCC 5VDC

YELLOW TXD 485+

485-

BLACK GND

RS 485 wiring diagram

GND

Signal

acquisition

Electronic

Compass

GREEN RXD

6, place the product vertically with a smooth side of the shell down (The pitch is within

0±5 degrees and the roll is within 90±5 degrees).Rotate one round steadily over about 10

seconds

7, place the product vertically with the other smooth side of the shell down (The pitch is

within 0±5 degrees and the roll is within -90±5 degrees).Rotate one round steadily over

about 10 seconds

8, after rotating four faces , send command: 01 06 00 12 00 00 29 CF to save the

calibration. Because of the MODBUS protocol, there is no return value to indicate the

quality of the calibration.

9, the calibration is complete.

Wiring Diagram

Line function

Electronic

Compass

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

Communacation Protocol

1 Data frame format：（8data bits, 1 stop bit, no parity check, default baud rate 9600）

0x77

2 Command format：

2.1 Read the PITCH angle Command：01 03 00 01 00 01 D5 CA

2.2 Read the ROLL angle Command： 01 03 00 02 00 01 25 CA

Data Format: Hexadecimal.

Address code: default 01 (note: address must not exceed FFF).

Function code: 03 for read register, 06 for prefabricated register.

Address of register: the starting address of the register that needs to be operated.

Number of registers: the number of registers to operate on.

CRC check: Through the calculation of the host computer. (suggested using CRC software)

Address Code

（1byte）

Function Code

（1byte）

The first address of

the read register

（2 byte）

Number of

read registers

（2byte）

CRC check

（2 byte）

Command response：

XX XX denotes pitch angle with an angle value of hexadecimal number. (PLC or configuration software

read out the number is directly the decimal number). The angle is calculated as follows:

Actual angle = (data converted to decimal -20000 / 100).

For example: the return value of the angle value is 3D52, turning it into decimal is 15698,

The real data is （15698-20000）/100=-43.02°, and the other axes are the same.

03(read)

06(write)

Address Code

（1byte）

Function Code

（1byte）

The first address of

the read register

（2 byte）

Number of

read registers

（2byte）

CRC check

（2 byte）

03 00 01 00 01 XX XX

Address Code

（1byte）

Function Code

（1byte）

Number of

bytes of data

（1 byte）

Data

（2byte）

CRC check

（2 byte）

03 02 XX XX ZZ ZZ

Address Code

（1byte）

Function Code

（1byte）

The first address of

the read register

（2 byte）

Number of

read registers

（2byte）

CRC check

（2 byte）

03 00 02 00 01 XX XX

Address Code

（1byte）

Function Code

（1byte）

Number of

bytes of data

（1 byte）

Data

（2byte）

CRC check

（2 byte）

03 02 XX XX ZZ ZZ

XX XX XX XX XX XX

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

2.3 Read the HEADING angle Command： 01 03 00 03 00 01 74 0A

2.4 Read the Heading, Pitch and Roll angle Command： 01 03 00 01 00 03 54 0B

Command response：

Address Code

（1byte）

Function Code

（1byte）

The first address of

the read register

（2 byte）

Number of

read registers

（2byte）

CRC check

（2 byte）

03 00 03 00 01 XX XX

Address Code

（1byte）

Function Code

（1byte）

Number of

bytes of data

（1 byte）

Data

（2byte）

CRC check

（2 byte）

03 02 XX XX ZZ ZZ

Command response：

Address Code

（1byte）

Function Code

（1byte）

The first address of

the read register

（2 byte）

Number of

read registers

（2byte）

CRC check

（2 byte）

03 00 01 00 03 XX XX

Address Code

（1byte）

Function Code

（1byte）

Number of

bytes of data

（2 byte）

Data

（2byte）

CRC check

（2 byte）

03 06 XX XX YY YY ZZ ZZ ZZ ZZ

XX XX means PITCH angle YY YY means ROLL angle ZZ ZZ denotes HEADING angle

2.5 Set relative / absolute zero Command： 01 06 00 0A 00 00 A9 C8 / 01 06 00 0A 00 01 68 08

Command response：

Address Code

（1byte）

Function Code

（1byte）

Function Code

（1byte）

Zero Point Type

(2byte)

CRC check

（2 byte）

06 00 0A 00 00(Absolute)

00 01(Relative) XX XX

Address Code

（1byte）

Function Code

（1byte）

Function Code

（1byte）

Zero Point Type

(2byte)

CRC check

（2 byte）

06 00 0A 00 00(Absolute)

00 01(Relative) XX XX

Note: The measured angle is referred to the zero point calibrated in factory if absolute zero

point is set. The measured angle is referred to the current angle if relative zero point is set.

The zero point is the zero point of the dip Angle, and when installing, try to install it in the

zero attachment. The Angle changes more, which will cause the change of azimuth.

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

2.6 Query the relative /Absolute zero point Command： 01 03 00 05 00 01 94 0B

Command response：

Address Code

（1byte）

Function Code

（1byte）

The first address of

the read register

（2 byte）

Number of

read registers

（2byte）

CRC check

（2 byte）

03 00 05 00 01 XX XX

Address Code

（1byte）

Function Code

（1byte）

Number of

bytes of data

（1 byte）

Data

（2byte）

CRC check

（2 byte）

03 02 ZZ ZZ

00 00(Absolute)

00 01(Relative)

2.7 Set baud rate Command： 01 06 00 0B 00 02 79 C9

Send

Address Code

（1byte）

Function Code

（1byte）

CRC check

（2 byte）

01 06 00 0B XX XX

Response

Function Code

（2byte）

06 00 0B

Baud rate type

（2byte）

XX XX

Note: if XX XX in the baud rate type is

0000, the baud rate is revised to 2400;

0001 indicates that the baud rate is revised to 4800;

0002 indicates that the baud rate is revised to 9600 (the default value);

0003 indicates that the baud rate is revised to 19200;

0004 indicates that the baud rate is revised to 115200;

If the baud rate is changed immediately after the command is sent, the return value is generally confusing.

2.8 Set address Command： 01 06 00 0D 00 02 99 CB

Send

Address Code

（1byte）

Function Code

（1byte）

CRC check

（2 byte）

01 06 00 0D HH LL

Response

Function Code

（2byte）

06 00 0D

Modified address

（2byte）

HH LL

XX XX

Note: HH LL represents the address of the product to be changed, HH represents the high position of the

address, and LL represents the status of the address, which is 00 00-00 FF. In the example, the address of

the product is changed to 0002.

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

LEC315M

Angle Compensation 3D Electronic Compass with Modbus

2.9 Query address Command： 77 04 00 2F 33

Send

Identifier

（1byte）

Function

Length

（1byte）

Checksum

(1byte)

77 04 00

Response

Product custom

protocol address

（1byte）

05 00

MODBUS

address

（1byte）

Note: Because the MODBUS protocol specifies that the product can communicate only when it knows the

address of the module, when the MODBUS protocol communication, the address is known in advance and

can not be queried. This product uses custom protocols to query the address of the MODBUS protocol. You

can see the product introduction of a custom protocol about related custom protocol. And the command is

valid for 10 seconds before power.

The XX in the MODBUS address is the product address of the protocol.

Function

Length

（1byte）

2.9 Query address Command： 77 04 00 2F 33

Send

Identifier

（1byte）

Function

Length

（1byte）

Checksum

(1byte)

77 04 00

Response

Product custom

protocol address

（1byte）

05 00

MODBUS

address

（1byte）

Note: Because the MODBUS protocol specifies that the product can communicate only when it knows the

address of the module, when the MODBUS protocol communication, the address is known in advance and

can not be queried. This product uses custom protocols to query the address of the MODBUS protocol. You

can see the product introduction of a custom protocol about related custom protocol. And the command is

valid for 10 seconds before power.

The XX in the MODBUS address is the product address of the protocol.

Function

Length

（1byte）

2.10 Save setting Command：01 06 00 0F 00 00 78 09

Address Code

（1byte）

Function Code

（1byte）（2byte）CRC check

（2 byte）

06 00 0F 00 00 XX XX

Function Code

（1byte）

Command response：

Address Code

（1byte）

Function Code

（1byte）（2byte）CRC check

（2 byte）

06 00 0F 00 00 XX XX

Function Code

（1byte）

Note: command should be sent without a power outage after all previous settings that need to be changed

are changed. Otherwise, there is no memory function.

Bewis Sensing Technology LLC www.bwsensing.com Tel：+86 189 2129 2620

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