The TSD20 LiDAR is a single-point LiDAR device based on the DTOF
principle. It offers a measuring frequency of 200Hz, a range of up
to 20 meters, and ambient light immunity up to 100Klux. This
cost-effective product is designed for applications such as drones,
sweeping robots, and industrial robots.

Eiginleikar

Compact size and low cost

Frábær árangur
High resistance to ambient light interference

Auðvelt í notkun og uppsetningu
Convenient for expansion

Notkunarleiðbeiningar fyrir vöru

Uppsetning

1. Choose a mounting location that provides a clear line of
sight for the LiDAR unit.

2. Securely mount the TSD20 LiDAR using appropriate
vélbúnaður.

Kveikt á

1. Connect the power source to the LiDAR unit following the
veittar leiðbeiningar.

2. Kveiktu á tækinu með því að nota tilgreindan aflhnapp.

Gagnaöflun

1. Ensure proper communication between the LiDAR unit and the
hýsingarkerfi.

2. Configure the desired measurement parameters using the
accompanying software.

Viðhald

1. Regularly clean the lens of the LiDAR unit to maintain
nákvæmar mælingar.

2. Athugið hvort einhverjar lausar tengingar eða skemmdir gætu haft áhrif á
frammistöðu.

Öryggisráðstafanir

1. Do not stare directly into the laser emitter.

2. Follow all safety guidelines provided in the user manual.

Algengar spurningar (algengar spurningar)

Q: What is the maximum measuring range of the TSD20 LiDAR?

A: The TSD20 LiDAR has a maximum measuring range of 20
metrar.

Q: Is the TSD20 LiDAR suitable for outdoor use?

A: Yes, the TSD20 LiDAR features ambient light immunity up to
100Klux, making it suitable for outdoor applications.

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P TSD20USER MANUAL

ONO

TSD20 einpunkts LiDAR byggt á DTOF meginreglunni
200Hz mælitíðni / 20 metra drægni / Ónæmi fyrir umhverfisljósi 100Klux / Hagkvæmt
Engin vara yfirview O The TSD20 LiDAR is our newly launched laser ranging product and is specially designed for applications such P as drones, sweeping robots, and industrial robots. Based on the DTOF principle, it features a compact size,

low cost, superior performance, and high resistance to ambient light interference. This product is easy to use,

flexible to install, convenient for expansion, and extremely cost-effective.

Eiginleikar
Byggt á DTOF meginreglunni (Direct Time of Flight)
O Hámarks mælisvið 20 m N Mæling á blindsvæði 5 cm
Mælitíðni 200Hz
Nákvæmni ±5 cm (<5 m), 1% (5 m) P Upplausn 1 mm

PONO

Rekstrarhitastig -20 ~ +60

Framboð Voltage33.6VDC Compact Size21 x 15 x7.43 mm Weight2g
O Ónæmi fyrir umhverfisljósi 8m@100Klux N Forrit O Hæðarhald og forðun hindrana með dróna P Forðun hindrana með vélmennum
Ljósgardínur í iðnaðarflokki

Forðastu hindranir með AGV

Hraðmælingar og öryggiseftirlit
PONO í umferðar- og iðnaðarsjálfvirkni

PONO

PO PO

ONO

PONO

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P TSD20USER MANUAL

ÓNÓ ÓNÓ

Tæknilýsing

Fyrirmynd

Svið

Tíðni

Nákvæmni

TSD20
O0.05m20m (90%reflectivity), N0.05m10m (10%reflectivity) O200Hzadjustable100/50/20/10/1Hz P ±5cm(<5m), 1%(5m)(1)

Endurtekningarhæfni

Umhverfisljós friðhelgi

O 6

Miðbylgjulengd

N 7

Ljóslíffræðilegt öryggi

PO 8

FOV

Bylgjulengd fyrir vísbendingu

±10 mm 8 m við 100 K Lux
O 905nm N Flokkur 1 PO 3°
N/A

10 11 12 13

Ljósfræðilegt öryggi fyrir ábendingu
O framboðsmagntage N Hámarksstraumur PO Meðalstraumur

Ekki í boði 3.3~3.6VDC 3.3V@70mA 3.3V@40mA

Meðalorkunotkun

<0.2W

Samskiptaviðmót

Verndunarstig

O 17

Stærð

N 18

Þyngd

PO 19

Rekstrarhitastig

UART/IIC Ekki til
O 21x 15 x 7.43 mm N 2g PO -20 ~ +60

Vír forskrift

6 pinna 0.8 mm tengi, 20 cm tinnaðir vírar

Sérsniðin

PONO fáanlegt í útliti / uppbyggingu / úttakssamskiptareglum

Guangzhou PONO Tækni Co., Ltd. | Allur réttur áskilinn

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PO PO

P TSD20USER MANUAL

Definitions of Pins No.

PONO Definition / Wire Color

2
O 3 N 4 PO5

3.3 TX SCL RXSDA
NC

Notendaviðmót
/
External Power +
O RXSCL N TXSDA PO/

ONO

6 Mál

GND
PONO

External Power –

PO PO

PONO

ONO

PONO

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P TSD20USER MANUAL

Measuring Characteristic
O Because of the divergence angle, there would be a light spot with changing size on the target surface
eftir fjarlægð. Í raunverulegri notkun ætti yfirborðsflatarmál markhlutsins að vera stærra en
N light spot so that the distance can be accurately measured. PO The diameters of the light spot of TSD20in different distances are shown below

Fjarlægð

10m

20m

Diameter of the light spot

5 cm

10 cm

25 cm

50 cm

100m

O Communication Protocol: UART

N Communication Interface

POBaud Rate

UART

Gagnabit

Hættu Bit

PONO 460800 (adjustable) 8 1

Jöfnunarhluti

Engin

2. Output Format
O Frame Header ON 5C

O Distance 2 Bytes

í síma 02

P Distance value 2 bytes means the measuring distance

Athugaðu bæti EC
Frá 02 til 11,

Rammahaus 1 bæti

is 4354mm, little-endian, range 0-65535. When out of

opposite of the Check

range, it would output 50000

byte, 1 byte

Both the input and output of this product adopt the Hexadecimal Little-Endian Mode.

O O 3. Checksum Function: All checksum bytes above are calculated using this function. N N Begin with the second byte and end with the last second byte, find the inverse of the sum. O O uint8_t Check_Sum(uint8_t *_pbuff, uint16_t _cmdLen) P P {

uint8_t cmd_sum=0;

uint16_t i;

ONO }

for(i=0;i<_cmdLen;i++) {
O cmd_sum += _pbuff[i];
}
N cmd_sum = (~cmd_sum); PO return cmd_sum;

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PO PO

P TSD20USER MANUAL

4. UART Commands

Lýsing

Að lesa raðnúmer.

O Send

Til baka

ON 5A 0D 04 0D 0D 0D P 0D BA checksum

5A 8D 04 10 01 00 00 5F checksum

Note 10 01 00 00 means the serial no. is 272: little-endian, the serial no. shown in the
upper computer is: S0000000272 (Add S before the number).

2
3
ONO 4 5 6
7

Reading software
PONO version no.

5A 16 02 16 16 BB eftirlitsumma

5A 96 02 03 02 62 eftirlitssumma

Baud rate setting Change IIC

5A 06 02 80 04 73

5A 86 02 80 04 F3

tékksumma

ONO 5A 1F 02 1F 1F P A0(checksum)

5A 9F 02 1F 1F 20 (eftirlitsumma)

03 02 means the software version no. is V2.3: little-endian, 02 represents 2, 03
O represents 3, Add a point (.) in the middle. N60 009600 POC0 0019200
80 0138400 80 04115200 00 09230400 00 0A256000 00 12460800 Any other baud rate is not available 5A 9F 02 1F 1F 20 Change succeed

Start Ranging

5A 0A 02 02 00 F1 5A 8A 02 02 00 71 Return 5A 8A 02 02 00 71

Stop Ranging

5A 0A 02 00 00 F3

NO5A 0B 02 E7 03 PO Frequency setting 08(checksum)

5A 8A 02 00 00 73
5A 8B 02 E7 03 88(checksum)

Stops distance measurement. E7 03 (little-endian) represents the
O frequency divisor: 999. N Output frequency: f=10000/(999+1)=10Hz.
OSupported frequencies: P200/100/50/20/10/1Hz.

ONO

P TSD20USER MANUAL
Communication Protocol: IIC TSD20LiDAR IIC slave interface supports maximum clock frequency 400K. The default address is 0x52 (7bit address mode).
PONO I2C single register write sequence is as follow:

Lestraröð PONO I2C margra skráa er sem hér segir:

PONO

ONO

Definitions of registers

Nei.

Skrá heimilisfang

0x00

0x01

0x02

0x03

NO Register definition
Distance-High byte Distance-Low byte
PO Laser control

Eiginleiki Aðeins lesað Aðeins skrifað

Remarks 2byte for distance 2byte for distance 0: laser off; 1: laser on
default 0x4A, be used to communicate

LiDAR auðkenni

Eingöngu lesin

read&write tests

0x04

6 7
8 9

0x05
O 0x06 N0x07 PO0x08

IIC til UART rofi
Software Version – High Byte
Software Version – Low Byte
Serial Number – High Byte

Write-only Write-only Read-only
Read-only Read-only

Skrifaðu 0xA5 til að skrá 0x04 og 0x5A til að skrá 0x05 samtímis.
O Software version is 2 bytes, high byte first, PON then low byte

10
11
O 12 ON 13
14

0x09
0x0A 0x0B 0x0C 0x0D

Serial Number – Sub-high

Eingöngu lesin

Bæti
Serial Number – Sub-low
O Byte
Serial Number – Low Byte

Read-only Read-only

ON IIC Slave Address P Factory Reset

Read/write Write-only

Raðnúmerið er 4 bæti, hæsta bætið fyrst, svið: 1-4294967294
IIC slave address in 7-bit mode, range: 0127
Skrifaðu 0x01 til að framkvæma verksmiðjustillingar

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P TSD20USER MANUAL

Hraðpróf

Prófunarefni: TTL í USB millistykki, 5V DC aflgjafi, Lidarviewer / serial port assistant. After the TSD20 successfully connected to your computer

PONO TSD/WTT sensor

Millistykki

Type-C snúru

Tölva (Windows)

Hugbúnaður

USB-rekill

snúru

PONO

ONO

PONO

select the baud rate and click “connect”, then the data can be monitored on the upper computer. Here
PONO PONO is a sampLídar-myndinviewer::

ONO

PONO

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P TSD20USER MANUAL

Athugið – Það er EKKI vörn gegn öfugri pólun og ofspennu.tage, vinsamlegast fylgið nákvæmlega forskriftinni til að tryggja rétta notkun.
O power supply and wiring.
– The photobiological safety of this product is Class 1, so please DO NOT look straight at the lens after
N successfully connected. O – When operating this product in a dusty place, it is better to add a piece of red transparent glass or acrylic P plate over the lens for dust prevention. (905nm wavelength needs a transmittance 85%.)
– Þegar þú snertir þessa vöru skaltu nota hanska sem eru með rafstöðueiginleika til að koma í veg fyrir að varan bili.
– Hætta er á bilun þegar þessi vara er notuð til að mæla hluti með mikilli endurskinsgeislun (eins og 3M spólur) og
PONO PONO speglar.

ONO

PONO

ONO

PONO

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Skjöl / auðlindir

PONO TSD20 Single Point LiDAR Based on DTOF Principle [pdfNotendahandbók
TSD20, TSD20 Single Point LiDAR Based on DTOF Principle, TSD20, Single Point LiDAR Based on DTOF Principle, Point LiDAR Based on DTOF Principle, LiDAR Based on DTOF Principle, Based on DTOF Principle, DTOF Principle, Principle

Heimildir

Notendahandbók

PONO TSD20 Single Point LiDAR byggt á DTOF meginreglunni notendahandbók

TSD20 einpunkts LiDAR byggt á DTOF meginreglunni

Upplýsingar um vöru

Tæknilýsing

Vara lokiðview

Eiginleikar

Notkunarleiðbeiningar fyrir vöru

Uppsetning

Kveikt á

Gagnaöflun

Viðhald

Öryggisráðstafanir

Algengar spurningar (algengar spurningar)

Q: What is the maximum measuring range of the TSD20 LiDAR?

Q: Is the TSD20 LiDAR suitable for outdoor use?

Skjöl / auðlindir

Heimildir

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