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.

Features

Compact size and low cost

Superior performance
High resistance to ambient light interference

Easy to use and install
Convenient for expansion

Product Usage Instructions

Installation

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

2. Securely mount the TSD20 LiDAR using appropriate
hardware.

Powering On

1. Connect the power source to the LiDAR unit following the
provided guidelines.

2. Power on the device using the designated power button.

Data Acquisition

1. Ensure proper communication between the LiDAR unit and the
host system.

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

Maintenance

1. Regularly clean the lens of the LiDAR unit to maintain
accurate measurements.

2. Check for any loose connections or damage that may affect
performance.

Safety Precautions

1. Do not stare directly into the laser emitter.

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

Frequently Asked Questions (FAQ)

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

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

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 Single-Point LiDAR Based on DTOF Principle
200Hz Measuring Frequency / 20 meters Range / Ambient Light Immunity 100Klux / Cost-effective
NO Product Overview 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.

Features
Based on DTOF principle (Direct Time of Flight)
O Maximum Measuring Range20 m N Measuring Blind Zone5 cm
Measuring Frequency200Hz
O Accuracy±5cm(<5m), 1%(5m) P Resolution1mm

PONO

Operating Temperature-20~+60

Supply Voltage33.6VDC Compact Size21 x 15 x7.43 mm Weight2g
O Ambient Light Immunity8m@100Klux N Applications O Drone Altitude Holding and Obstacle Avoidance P Robots Obstacle Avoidance
Industrial Grade Light Curtain

AGV Obstacle Avoidance

High-speed Measuring and Safety Monitoring
PONO in Traffic and Industrial Automation

PONO

PO PO

ONO

PONO

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P TSD20USER MANUAL

ONO ONO

Specifications

Model

Range

Frequency

Accuracy

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

Repeatability

Ambient Light Immunity

O 6

Central Wavelength

N 7

Photobiological Safety

PO 8

FOV

Wavelength for Indication

±10mm 8m@100KLux
O 905nm N Class 1 PO 3°
N/A

10 11 12 13

Photobiological Safety for Indication
O Supply Voltage N Peak Current PO Average Current

N/A 3.3~3.6VDC 3.3V@70mA 3.3V@40mA

Average Power Consumption

<0.2W

Communication Interface

Protection Level

O 17

Dimension

N 18

Weight

PO 19

Operating Temperature

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

Wire Specification

6pin 0.8mm terminal, 20cm tinned stranded wires

Customization

PONO available in appearance / structure / output protocol

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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

User Interface
/
External Power +
O RXSCL N TXSDA PO/

ONO

6 Dimensions

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
depending on the distance. In actual use, the surface area of the target object should be larger than the
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

Distance

10m

20m

Diameter of the light spot

5cm

10cm

25cm

50cm

100m

O Communication Protocol: UART

N Communication Interface

POBaud Rate

UART

Data Bit

Stop Bit

PONO 460800 (adjustable) 8 1

Parity Bit

None

2. Output Format
O Frame Header ON 5C

O Distance 2 Bytes

ON 02

P Distance value 2 bytes means the measuring distance

Check Byte EC
From 02 to 11,

Frame header 1 byte

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

Description

Reading serial no.

O Send

Return

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 checksum

5A 96 02 03 02 62 checksum

Baud rate setting Change IIC

5A 06 02 80 04 73

5A 86 02 80 04 F3

checksum

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

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

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:

PONO I2C multiple registers read sequence is as follow:

PONO

ONO

Definitions of registers

No.

0x00

0x01

0x02

0x03

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

Attribute Read-only Read-only Write-only

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

LiDAR ID

Read-only

read&write tests

0x04

6 7
8 9

0x05
O 0x06 N0x07 PO0x08

IIC to UART Switch
Software Version – High Byte
Software Version – Low Byte
Serial Number – High Byte

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

Write 0xA5 to register 0x04 and 0x5A to register 0x05 simultaneously
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

Read-only

Byte
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

Serial number is 4 bytes, high byte first, range: 1-4294967294
IIC slave address in 7-bit mode, range: 0127
Write 0x01 to perform factory reset

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P TSD20USER MANUAL

Quick Test

Test materials: TTL to USB adapter board, 5V DC power, Lidarviewer / serial port assistant. After the TSD20 successfully connected to your computer

PONO TSD/WTT sensor

Adapter

Type-C cable

PC(Windows)

Software

USBdriver

cable

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 sample figure of Lidarviewer::

ONO

PONO

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P TSD20USER MANUAL

Attentions – There is NO protection for reverse polarity and overvoltage, please strictly follow the specification for correct
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%.)
– When touching this product, please wear anti-static gloves to prevent the product from failing.
– There is a risk of failure when using this product to measure high-reflective objects (such as 3M tapes) and
PONO PONO mirrors.

ONO

PONO

ONO

PONO

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Documents / Resources

PONO TSD20 Single Point LiDAR Based on DTOF Principle [pdf] User Manual
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

References

User Manual

PONO TSD20 Single Point LiDAR Based on DTOF Principle User Manual

TSD20 Single Point LiDAR Based on DTOF Principle

Product Information

Specifications

Product Overview

Features

Product Usage Instructions

Installation

Powering On

Data Acquisition

Maintenance

Safety Precautions

Frequently Asked Questions (FAQ)

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

Q: Is the TSD20 LiDAR suitable for outdoor use?

Documents / Resources

References

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