WITMOTION WT53R-485 Laser Distance Sensor User Manual

User Manual for WITMOTION models including: WT53R-485 Laser Distance Sensor, WT53R-485, Laser Distance Sensor, Distance Sensor, Sensor

User Manual (PDF)

WITMOTION WT53R-485 laser distance sensor, 4CM-4M measuring counter with alarm function, ± 20mm accuracy, 5-36V UART, waterproof digital measuring tool range finder : DIY & Tools

File Info : application/pdf, 27 Pages, 1.38MB

A1sGQ1c FQL

USER MANUAL WT53R-TTL
Laser Ranging Sensor
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 1

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
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 2

Contents
Tutorial Link ............................................................................................... 2 Contact ..................................................................................................... 2 Application ................................................................................................. 2 Contents.................................................................................................... 3 1 Overview.............................................................................................. 4 2 Parameter ............................................................................................ 4 3 Pin ...................................................................................................... 5 4 Hardware Connection ............................................................................. 6
4.1 Serial Connection ........................................................................... 6 4.2 PC Connection ............................................................................... 8 4.3 Alarm Connection ........................................................................... 9 5 Software Connection ............................................................................ 10 5.1 Device........................................................................................ 10 5.2 Data View ................................................................................... 11 5.3 ID.............................................................................................. 13 5.4 Reset ......................................................................................... 15 5.5 Baud Rate ................................................................................... 16 5.6 Return Rate................................................................................. 18 5.7 Calibration Module........................................................................ 19 5.8 Measurement Mode ...................................................................... 20 5.9 Alarm Threshold........................................................................... 22 6 Communication Protocol ....................................................................... 23 6.1 Serial Mode ................................................................................. 23 6.2 Modbus Protocol........................................................................... 24 6.3 Modbus Register .......................................................................... 26
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 3

1 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.

2 Parameter

Parameter Voltage Current Size
Fixed Hole
Acquisition Rate Measuring Distance
Interface Baud Rate Ranging Error

Specification 5V-36V
<38mA
23.2mm x69mm 0.913" x 2.717" Spacing 16mm, hole radius 1mm Spacing 0.630", hole radius 0.039" 20Hz 40mm-4000mm (4000mm without optical cover) 1.575"-157.480" (157.480"without optical cover) TTL Supports 2400-921600, default 115200
±20mm ±0.787"

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 4

3 Pin

Name Red
Green Yellow Black
White

Function 5~36V power output
RX lineTTL TX lineTTL
GND Alarm line (Requires external pull-up, low level when alarming)

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 5

4 Hardware Connection
4.1 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 1 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 6

2 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 7

4.2 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:
1. 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. 2. 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 8

PC-serial module connection diagram:
4.3 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 9

5 Software Connection
(Old version software instruction) Note: 1. 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. 2. To detect fast-moving objects, the sampling frequency should be adjusted (WT53R-TTL sets the timing preset time and measurement time interval). 3. 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. 4. 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.
5.1 Device
Software and driver download 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:
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 10

5.2 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):
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 11

Click "Search Device" below, after the search is complete, check the corresponding sensor to view the data, as follows:
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 12

5.3 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 13

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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 14

5.4 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 15

5.5 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 16

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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 17

5.6 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 18

5.7 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".
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 19

5.8 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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 20

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
Default Short-distance Medium-distance Long-distance

Timing Preset Time 0x07 20 20 250 250

Measurement Interval 0x08 1 1 50 50

Example of serial: MODADDR 06 00 07 00 14 CRCH CRCL
Time delay100ms MODADDR 06 00 08 00 01 CRCH CRCL
Time delay100ms MODADDR 06 00 36 00 01 CRCH CRCL

// Set register 7 to 20 // Set register 8 to 1 // Set to short-distance

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 21

5.9 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"):
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 22

6 Communication Protocol
6.1 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
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 23

6.2 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 ID

Sign CMD

Read length high byte
LenH

Read length low byte
LenL

CRC Check high byte
CRCH

CRC Check low byte
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:

Sign Data

Data bit Data bit

CRC

length 1 byte 1 byte

Check Check

high

low

byte

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

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 24

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.
WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 25

6.3 Modbus Register

Name System Restore Alarm Threshold
VL53L1 Timing preset time (Better not to change , default 20MS) VL53L1 Interval

Address 0x00 0x02 0x03
0x07 0x08

MODADDR 06 00 00 00 01 CRCH CRCL MODADDR 06 00 02 MH ML CRCH CRCL
MODADDR 06 00 03 00 00 CRCH CRCL MODADDR 06 00 03 00 01 CRCH CRCL MODADDR 06 00 03 00 02 CRCH CRCL MODADDR 06 00 03 00 03 CRCH CRCL MODADDR 06 00 03 00 04 CRCH CRCL MODADDR 06 00 03 00 05 CRCH CRCL MODADDR 06 00 03 00 06 CRCH CRCL MODADDR 06 00 03 00 07 CRCH CRCL MODADDR 06 00 03 00 08 CRCH CRCL MODADDR 06 00 03 00 09 CRCH CRCL MODADDR 06 00 07 TIMEBUDGETH

Explanation Write 0x01, restore default
MH alarm threshold high byte and low byte Range 40mm~4000mm Range 1.575" ~157.480" Write 0x00, return speed 0.1Hz
Write 0x01, return speed 0.2Hz
Write 0x02, return speed 0.5Hz
Write 0x03, return speed 1Hz
Write 0x04, return speed 2Hz
Write 0x05, return speed 5Hz
Write 0x06, return speed 10Hz
Write 0x07, return speed 20Hz
Write 0x08, return speed 50Hz
Write 0x09, return speed 100Hz
TIMEBUDGET: 20-1000 MS can be changed 0x0014-0x03e8

MODADDR 06 00 08 PERIOD PERIODH PERIODL 1-1000 MS can be changed

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 26

(Better not to change , default 1MS) ID settings

0x1A

Data
Output state

0x34 0x35

Model

0x36

Calibration

0x37

CRCH CRCL

0x0001-0x03e8

MODADDR 06 00 1a

MODADDRL

CRCH CRCL

MODADDR 03 00 34

00 01 CRCH CRCL

MODADDR 03 00 35

00 01 CRCH CRCL

MODADDR 06 00 36 00 01 CRCH CRCL MODADDR 06 00 36 00 02 CRCH CRCL MODADDR 06 00 36 00 03 CRCH CRCL MODADDR 06 00 37 00 04 CRCH CRCL MODADDR 03 00 37 00 01 CRCH CRCL

Write 0x00~0xFE
Read, distance high 8 byte and distance low 8 byte Read: 0x07, Sensor No Update Read:0x00Sensor Range Valid Read:0x01Sensor Sigma Fail Read:0x02Sensor Signal Fail Read:0x03Sensor Min Range Fail Read:0x04Sensor Phase Fail Read:0x05, Sensor Hardware Fail Write 0x00, short distance (up to 1.3m, better environmental immunity) Write 0x01, medium distance (up to 3 meters) Write 0x02, long distance mode (up to 4 meters) Write 0x04 to enter calibration
Read: 0x01, start calibration Read: 0x02, calibration failed Read: 0x03, calibration complete

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com 27

References

Microsoft Word 2016