SEN0149

SEN0149 Datasheet


Ultrasonic SKU:SEN0149

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Ultrasonic SKU:SEN0149

URM06-RS485 Ultrasonic

Introduction

Ultrasonic sensors emit ultrasonic pulses, and by measuring the time of ultrasonic pulse reaches the object and back to the transducer, the distance of sensor from the target object is calculated. They are widely used in detecting displacement, thickness, distance, water level, material level and transparent objects. The URM06 - RS485 Ultrasonic sensor provides very short to long-range detection and ranging from 20cm ~ 10m, comes in a compact, robust PVC housing and matches 35mm electrical pipe mounting. It comes with RS485 interface and works at high output acoustic power. The ultrasonic sensor detects objects from 20cm to 1000cm and provides range information with 1cm resolution. The URM06 has 15 degree beam angle which has excellent receive sensitivity. And it works best when detecting soft targets. The similar sensors are widely used in professional mobile robot systems such as Pioneer robots. The URM06 series sensors are the best ultrasonic sensor available in the market regarding its beam angle, senstivity and accuracy.

Specification
• Working Voltage 6V-12V 5V is acceptable but not recommended
• Rated Current 16mA
• Peek Current 2A
• Interface RS-485
• Working Frequency 49.5KHZ
• Working Temperature -10 ~
• Detecting Angle
• Detecting Range 20cm ~ 10m
• Size 50mm diameter *43mm length
• Mounting Thread Diameter 35mm
• Weight 50g
• robot navigation
• obstacle avoidance
• measuring distance devices
• engineering measurement tools
• industrial control system

Connection Diagram

Connection Diagram

Pin Definition
• VCC 2A 5V is acceptable but not recommended
• GND Ground
• A RS-485 A pin
• B RS-485 B pin

Communication Protocol Default Information:

Default Baudrate 19200,8,N,1

Default Address 0x11

Communication Command Format

Communication Commands and Returns frame Format:

Header Address Length Cmd

Data
55 AA 11
01 Data1~DataN SUM

PS The sum byte value is the sum of all the byte value before. Just keep one byte from the total sum value.

Measure Distance

You could send a measure command to the Ultrasonic module. It will measure the distance, and send the value back through UART port.

For example:

Send Command 0x55 0xAA 0x11 0x00 0x02 0x12

Header----------------0x55 Header----------------0xAA Address---------------0x11 Length-----------------0x00 Read Distance-------0x02 Check Sum-----------0x12

Return 0xAA 0x11 0x02 0x12 0x34 0x5A High 8-bit 0x12 Low 8-bit 0x34 So the distance value is “0x1234”, which convert to decimal is 4660mm. “0x5A” is low 8-bit of the check sum. Measure Temperature

You could send a measure command to the Ultrasonic module. It will measure the temperature, and send the value back through UART port. For example Send Command 0x55 0xAA 0x11 0x00 0x03 0x13 Header-----------------------0x55 Header-----------------------0xAA Address-----------------------0x11 Length------------------------0x00 Read Temperature----------0x03 Check Sum-------------------0x13 Return 0xAA 0x11 0x02 0x03 0x00 0xFF 0x14 High 8-bit 0x00 Low 8-bit 0xFF The output value will be “0x00FF”, which convert to decimal is As the real temperature is 10% of the output value, so it is NOTE The measuring range is -10~70 , it is a 16-signed integer. Negative digits are stored in two's complement' as in bitwise complement ~2 . The method is judging whether BIT15 is If it is “1”, it means it is a negative number, the data will be inverted, and “1” should be added to the result. Further information:

Set Address Command

The module default address is “0x11”. And the broadcast address is “0xAB”. If you don’t know the current address, but you want to set its address, you could use broadcast address to set the target address. For example Send Command 0x55 0xAA 0xAB 0x01 0x55 0x11 Header-----------------------0x55 Header-----------------------0xAA Broadcast Address---------0xAB Length------------------------0x01 Address Setting CMD-----0x55 Target Address---------------0x11 Check Sum--------------------0x11 Return 0xAA 0x11 0x01 0x55 0xCC 0x32 The address of each device can be changed when multiple devices are connected. The new address must be between “0x11” and “0x80”. If you change it successfully, the module will return “0xCC”. If you fail, it will return “0xEE”. Set the Detecting Range of the Ultrasonic Module

You could set the detecting range through UART interface. The proper range will increase sonar frequency and improve its accuracy. For example If the module address is “0x11”, the range limit is 3840mm Send Command 0x55 0xAA 0x11 0x02 0x04 0x0F 0x00 0x25 //3840=0xF00 Header-----------------------0x55 Header-----------------------0xAA

Address-----------------------0x11 Length------------------------0x02 Set Value CMD--------------0x04 High 8-bit---------------------0x0F Low 8-bit----------------------0x00 Check Sum--------------------0x25 Return Command 0x55 0xAA 0x11 0x00 0x04 0xCC 0xE0 If you change it successfully, the module will return “0xCC”. If you fail, it will return “0xEE”. Note the default setting is the maximum value. Read the Detecting Range of the Ultrasonic Module You could read the detecting range through UART interface. For example If the module address is “0x11”. Send Command 0x55 0xAA 0x11 0x00 0x05 0x15 Header-----------------------0x55 Header-----------------------0xAA Address-----------------------0x11t Length------------------------0x00 Read value CMD-----------0x05 Check Sum-------------------0x15 Return 0xAA 0x11 0x02 0x05 0x0F 0x00 0x26 So the return value is “0x0F00”, which convert to decimal is 3840mm The unit of the distance is “mm”.

Set the UART Baudrate of the Ultrasonic Module

You could set communication baudrate of the ultrasonic module through UART interface. For example If the module address is “0x11”. Send Command 0x55 0xAA 0x11 0x01 0x08 0x05 0x1E //set baudrate to 19200BPS

Header-----------------------0x55 Header-----------------------0xAA Address----------------------0x11 Length------------------------0x01 Baudrate Setting CMD----0x08 Target baudrate-------------0x05 Check Sum--------------------0x1E

Return 0xAA 0x11 0x01 0x08 0xCC 0xE4

If you change it successfully, the module will return “0xCC”. If you fail, it will return “0xEE”. Baudrate List:
55 AA 11 01 08 00 19 55 AA 11 01 08 01 1A 55 AA 11 01 08 02 1B 55 AA 11 01 08 03 1C 55 AA 11 01 08 04 1D 55 AA 11 01 08 05 1E 55 AA 11 01 08 06 1F 55 AA 11 01 08 07 20 55 AA 11 01 08 21

Set baudrate to 1200BPS Set baudrate to 2400BPS Set baudrate to 4800BPS Set baudrate to 9600BPS Set baudrate to 14400BPS Set baudrate to 19200BPS Set baudrate to 28800BPS Set baudrate to 38400BPS Set baudrate to 57600BPS
55 AA 11 01 08 09 22 55 AA 11 01 08 0A 23 55 AA 11 01 08 0B 24

Set baudrate to 115200BPS Set baudrate to 128000BPS Set baudrate to 256000BPS
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Datasheet ID: SEN0149 509074