WITMOTION WT53R-TTL Laser Distance Sensor User Manual

: June 15, 2024
: WitMotion

Table of Contents

WITMOTION WT53R-TTL Laser Distance Sensor
Product Information
Product Usage Instructions
Tutorial Link
Application
Overview
Parameter
Hardware Connection
PC Connection
Communication Protocol
References
Read User Manual Online (PDF format)
Download This Manual (PDF format)

WITMOTION WT53R-TTL Laser Distance Sensor

Product Information

Specifications

Voltage: 5V-36V
Current: Not specified
Size: Not specified
Fixed Hole: Not specified
Acquisition Rate: Not specified
Measuring Distance: Not specified
Interface: Not specified
Baud Rate: Not specified
Ranging Error: Not specified

Product Usage Instructions

Overview

The WT53R-TTL Laser Ranging Sensor is designed to provide high working stability and precision laser ranging capabilities. It features a voltage stabilization circuit and operates within a voltage range of 5V to 36V. The sensor is housed in a black metal shell, making it waterproof and durable. It also includes an optical filter to effectively filter out optical interference. The sensor can be configured to set an alarm distance, which triggers a voltage output change on the alarm pin when the measured distance is less than the set value.

Parameter
The specific parameters of the WT53R-TTL Laser Ranging Sensor are as follows:

Voltage: 5V-36V
Current: Not specified
Size: Not specified
Fixed Hole: Not specified
Acquisition Rate: Not specified
Measuring Distance: Not specified
Interface: Not specified
Baud Rate: Not specified
Ranging Error: Not specified

FAQ

Q: What is the voltage range for the WT53R-TTL Laser Ranging Sensor?
A: The working voltage range for the sensor is 5V to 36V.
Q: Is the WT53R-TTL Laser Ranging Sensor waterproof?
A: Yes, the sensor is designed with a waterproof black metal shell.
Q: How does the alarm distance feature work?
A: The sensor allows you to set an alarm distance. When the measured distance is less than the set value, the voltage output of the alarm pin changes, triggering an alarm.
Q: Where can I find technical support for the WT53R-TTL Laser Ranging Sensor?
A: You can contact our support team at support@wit-motion.com for technical assistance.

Tutorial Link

Google Drive
Link to instructions DEMO: WITMOTION Youtube Channel

If you have technical problems or cannot find the information that you need in the provided documents, please contact our support team. Our engineering team is committed to providing the required support necessary to ensure that you are successful with the operation of our AHRS sensors.

Contact
Technical Support Contact Info

Application

Robot
UAV
Intelligent Device

Overview

With voltage stabilization circuit, the working voltage is 5V~36V.
Black metal shell design, waterproof, high working stability.
High precision laser ranging sensor and optical filter. Effectively filter out optical interference.
Set the alarm distance, if the measurement distance is less than the set value, the voltage output of the alarm pin changes.

Parameter

Parameter Specification

Voltage
- 5V-36V
Current
- <38mA
Size
- 23.2mm x69mm 0.913″ x 2.717″
Fixed Hole
- Spacing 16mm, hole radius 1mm Spacing 0.630″, hole radius 0.039″
Acquisition Rate
- 20Hz
Measuring Distance
- 40mm-4000mm (4000mm without optical cover)
- 1.575″-157.480″ (157.480″without optical cover)
Interface
- TTL
Baud Rate
- Supports 2400-921600, default 115200
Ranging Error
- ±20mm ±0.787″

Name	Function
Red	5~36V power output
Green	RX line（TTL）
Yellow	TX line（TTL）
Black	GND
White	Alarm line

(Requires external pull-up, low level when alarming)

Hardware Connection

Serial Connection

Step 1. Connect the sensor with offered Type-C wire.
(Warm Reminder: If you wanna use a longer cable,it should be a standard Type-C data cable)
Step 2. Unzip the software and install the driver CH340
- Software and driver download
How to Install and update the CH340 driver
- Click the “Uninstall” button first. Then click on the “Install” button.
How to verify your driver is working

To check that the CH340 enumerates to a COM port, you can open the device manager. You can click the Start or ⊞ (Windows) button and type “device manager to quickly search for the application.
after opening the device manager, you will need to open the Ports (COM & LPT) tree. The CH340 should show up as USB-SERIAL CH340 (COM##). Depending on your computer, the COM port may show up as a different number.

PC Connection

Software and driver download
To connect with a computer, a serial port module with USB to TTL level is required. The following two USB-to-serial modules are recommended:

USB-TTL serial module (Figure 1): Connect the module to the USB-TTL, then plug it into the computer.

Connect USB-TTL: VCC TX RX GND Connect to +5V/3.3V RX TX GND of USB. Note that TX and RX need to be crossed, TX is connected to RX, and RX is connected to TX.

6-in-1 module (Picture 2): DIP switch 1 of the module is set to ON, DIP switch 2 is set to 2, and switch S1 is set to other (screen printing).

Connection method: VCC TX RX GND Connect to +5V RX TX GND. Note that TX and RX need to be crossed, TX is connected to RX, and RX is connected to TX.

PC-serial module connection diagram:

Alarm Connection

The sensor has its own hardware alarm function, and the alarm distance can be set by the host computer. When the sensor measurement distance is less than the alarm threshold, the alarm line will trigger the alarm level.
Alarm line wiring description: When the measurement distance is less than the set threshold, the alarm line will generate a low-level signal. The non-alarm state is a floating state.
The circuit recommends using a 100K resistor for pull-up. When an alarm occurs, the alarm line is pulled down to a low level.

Software Connection
(Old version software instruction)

Note:

The object to be measured and the sensor should be as parallel as possible. If there is a deviation, the deviation angle cannot be greater than the laser emission angle.
To detect fast-moving objects, the sampling frequency should be adjusted (WT53R-TTL sets the timing preset time and measurement time interval).
The laser light source is a beam-type laser that is invisible to the naked eye (the laser can be seen with a mobile phone camera). Obstacles in the emission angle of the light source will affect the ranging effect.
The module is affected by natural light. In general, the stronger the natural light, the greater the impact. That is, the ranging distance becomes shorter, the accuracy becomes worse, and the fluctuation becomes larger. Under strong light (such as sunlight), it is generally recommended to be used in close-range detection scenarios.

Device
First, connect the module to the computer through the serial port module. After installing the driver corresponding to the serial port module, the corresponding serial port number can be queried in the device manager, as follows: WITMOTION-WT53R-TTL-Laser-Distance-Sensor-
IMAGE-7

Data View

After the hardware is connected, open the host computer, select the corresponding serial port, and click the serial port. The host computer automatically searches for the sensor device, and the search window can be manually closed after the device is found. Check the corresponding device on the left side of the host computer to see the sensor data. The operation process is as follows:
Open the host computer and select the corresponding serial port number (default baud rate: 115200):
Click “Search Device” below, after the search is complete, check the corresponding sensor to view the data, as follows:

ID

When there are multiple Modbus connections, different Modbus IDs need to be set to read data normally. After setting the ID, the data can be read normally only when the host computer is used to search for the device again. The device ID is saved after power off. The specific process is as follows:
After connecting the sensor normally, click “Configuration” to select the corresponding device and enter the configuration interface.
After entering the device ID, click “Set up”. ID can be set in the range 0x00~0x7F.
After setting, other parameters cannot be changed due to the change of the device ID. Click “Search Device” to search for the device again.

Reset

Reset will restore all user setting parameters to the default state.
After connecting the sensor normally, click “Configuration” to select the corresponding device, and then enter the configuration interface.
Click “ Reset ”， if the baud rate or ID is not the default setting (default baud rate: 115200, ID: 0X50), search for the device again.

Baud Rate

After the normal connection, the baud rate can be modified on the host computer. After modifying the baud rate, the baud rate of the serial port needs to be modified manually.
Then search for the sensor again. The specific process is as follows:
After connecting the sensor normally, click “Configuration” to select the corresponding device and enter the configuration interface.
Click the drop-down box next to “communication rate”, select the baud rate and click.
After the setting is completed, the baud rate of the host computer will be automatically modified.

Return Rate

The sensor can set the automatic return speed of 0.1~100Hz (due to the influence of the measurement distance, the time is not absolutely accurate, and the return rate is useless in Modbus mode.) The setting process is as follows:
After connecting the sensor normally, click “Configuration” to select the corresponding device and enter the configuration interface.
Select the desired backhaul rate from the drop-down list of Backhaul Speed, and click.

Calibration Module

The sensor can be calibrated manually, fix the sensor, place a white object at a distance of 14cm (5.512″) in front of the sensor and click to calibrate.
After connecting the sensor normally, click “Configuration” to select the corresponding device and enter the configuration interface.
Fix the sensor and calibration object, click “Calibration module”.

Measurement Mode

The laser ranging module can set three distance modes, the short-distance mode has a maximum measurement distance of 1.3 meters, the medium-distance mode has a maximum measurement distance of 3 meters, and the long-distance mode has a maximum measurement distance of 4 meters. The default setting is long-distance mode.
After connecting the sensor normally, click “Configure” to select the corresponding device and enter the configuration interface.

WITMOTION-WT53R-TTL-Laser-Distance-Sensor-IMAGE-23

Click the drop-down box next to the measurement mode to select the corresponding mode.
Note:
- When changing the measurement mode, the host computer automatically changes the setting values of the two registers, register 0x07 (timing preset time) and register 0x08 (measurement interval) according to the mode selection.
- The setting values of the host computer are as follows:

WITMOTION-WT53R-TTL-Laser-Distance-Sensor-IMAGE-25

Example of serial:
- MODADDR 06 00 07 00 14 CRCH CRCL
- // Set register 7 to 20
Time delay100ms
- MODADDR 06 00 08 00 01 CRCH CRCL
- // Set register 8 to 1
Time delay100ms
- MODADDR 06 00 36 00 01 CRCH CRCL
- // Set to short-distance

Alarm Threshold

The sensor has a distance alarm function, and the alarm threshold can be set. When the distance is less than the alarm threshold, the alarm line will generate an alarm level (low level). The process of setting the alarm threshold is as follows:
After connecting the sensor normally, click “Configure” to select the corresponding device and enter the configuration interface.
Click “Alarm threshold” after entering the threshold for Alarm Threshold. The alarm threshold setting range is 40~400cm (15.748″~157.480″). As shown below, set it to 1m (39.370″):

Communication Protocol

Serial Mode

The data returned by the sensor is as follows:
For example : d: 490mm 19.291″
State: 7, No Update
d: 490mm 19.291″ means measuring distance
State: 7, No Update indicates the status bit of the measurement data

Modbus Protocol

The sensor adopts the industrial standard Modbus protocol, and the specific reading and writing format is as follows:
Modbus communication, the command number is divided into two kinds of read command and write command, 0x03 (read command) reads the corresponding register data, 0x06 (write command) writes data to the corresponding register.
The host computer sends the data frame

ID| Sign| Register high byte| Register low byte| Read length high byte| Read length low byte| CRC Check high byte| CRC Check low byte
---|---|---|---|---|---|---|---
ID| CMD| RegH| RegL| LenH| LenL| CRCH| CRCL

For example: the module address is 0x50 (default), the read command is 0x03, the register 0x34 (measurement distance), and the length is one byte. Command: 50 03 00 34 00 01
Module response frame:

Check high byte

| CRC

Check low byte

---|---|---|---|---|---|---|---
ID| CMD| LenH| DataH| DataL| …..| CRCH| CRCL

For example: the module address is 0x00, the read command is 0x03, and the length is 2 bits.
Command: 50 03 02 00 1C 44 41
As follows: Read the measured distance
Send command: 50 03 00 34 00 01 C8 45
Accept data : 50 03 02 07 0B 06 7F
Data analysis 0x50 is the Modbus address, 0x03 is sign, 0x02 is the data length, 0x07 0x0B measurement data corresponds to 0x070B is decimal 1803, the measurement distance is 18036mm (710.079″), and 0x06 0x7F is the CRC check byte.