WITMOTION WT53R-485 Laser Distance Sensor User Manual
- June 17, 2024
- WitMotion
Table of Contents
WITMOTION WT53R-485 Laser Distance Sensor
Tutorial Link
Link to instructions DEMO:
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″
Pin
| 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
*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
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/3V3 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. -
Six-in-one 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:
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.
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:
| Measurement Mode | Timing Preset Time (0x07) | Measurement Interval (0x08) |
|---|---|---|
| Default | 20 | 1 |
| Short-distance | 20 | 1 |
| Medium-distance | 250 | 50 |
| Long-distance | 250 | 50 |
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:
ID| Sign| Data length| Data bit 1 byte| Data bit 1 byte| | CRC
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.
Modbus Register
| Name | Address | Explanation | |
|---|---|---|---|
| System Restore | 0x00 | MODADDR 06 00 00 | |
| 00 01 CRCH CRCL | Write 0x01, restore default | ||
| Alarm Threshold | 0x02 | MODADDR 06 00 02 MH ML CRCH CRCL | MH alarm threshold |
high byte and low byte
Range 40mm~4000mm
Range 1.575″ ~157.480″
| 0x03| MODADDR 06 00 03
00 00 CRCH CRCL| Write 0x00, return speed 0.1Hz
MODADDR 06 00 03
00 01 CRCH CRCL| Write 0x01, return speed 0.2Hz
MODADDR 06 00 03
00 02 CRCH CRCL| Write 0x02, return speed 0.5Hz
MODADDR 06 00 03
00 03 CRCH CRCL| Write 0x03, return speed 1Hz
MODADDR 06 00 03
00 04 CRCH CRCL| Write 0x04, return speed 2Hz
MODADDR 06 00 03
00 05 CRCH CRCL| Write 0x05, return speed 5Hz
MODADDR 06 00 03
00 06 CRCH CRCL| Write 0x06, return speed 10Hz
MODADDR 06 00 03
00 07 CRCH CRCL| Write 0x07, return speed 20Hz
MODADDR 06 00 03
00 08 CRCH CRCL| Write 0x08, return speed 50Hz
MODADDR 06 00 03
00 09 CRCH CRCL| Write 0x09, return speed 100Hz
VL53L1
Timing preset time (Better not to change , default 20MS)
| 0x07| MODADDR 06 00 07 TIMEBUDGETH| TIMEBUDGET:
20-1000 MS can be changed 0x0014-0x03e8
VL53L1
Interval
| 0x08| MODADDR 06 00 08
PERIODH PERIODL| PERIOD ：
1-1000 MS can be changed
(Better not to change , default 1MS)| | CRCH CRCL| 0x0001-0x03e8
ID settings| 0x1A| MODADDR 06 00 1a
00 MODADDRL CRCH CRCL
| Write 0x00~0xFE
Data| 0x34| MODADDR 03 00 34
00 01 CRCH CRCL| Read, distance high 8 byte and distance low 8 byte
Output state| 0x35| MODADDR 03 00 35
00 01 CRCH CRCL| Read: 0x07, Sensor No Update
Read:0x00，Sensor Range Valid
Read:0x01，Sensor Sigma Fail
Read:0x02，Sensor Signal Fail
Read:0x03，Sensor Min Range Fail
Read:0x04，Sensor Phase Fail
Read:0x05, Sensor Hardware Fail
Model| 0x36| MODADDR 06 00
360001 CRCH CRCL| Write 0x00, short distance
(up to 1.3m, better environmental immunity)
MODADDR 06 00 36
00 02 CRCH CRCL| Write 0x01, medium distance
(up to 3 meters)
MODADDR 06 00 36
00 03 CRCH CRCL| Write 0x02, long distance mode
(up to 4 meters)
Calibration| 0x37| MODADDR 06 00 37
00 04 CRCH CRCL| Write 0x04 to enter calibration
MODADDR 03 00 37
00 01 CRCH CRCL| Read: 0x01, start calibration
Read: 0x02, calibration failed
Read: 0x03, calibration complete
Customer Support
WT53R-485 Manual v23-0720 | www.wit-motion.com | [email protected]