Laser Rangefinder Module 0816C
TECHNICAL SPECIFICATIONS
Project |
Technical data |
|
Model |
LRF8000C |
|
Eye safety |
Class1/1M |
|
Wavelength |
1535±5nm |
|
Receiving aperture |
Φ25 mm |
|
Firing aperture |
Φ12 mm |
|
Receiving field of view Angle |
4.21 mrad |
|
Beam divergence Angle |
0.3±0.05 mrad |
|
Maximum range |
Big goal |
≥ 10000 m 1) |
|
Car |
≥ 8000 m 1) |
|
People |
≥ 4500 m 1) |
|
Drone |
≥ 2600 m 1) |
Minimum range |
20 m |
|
Measurement frequency |
1~10 Hz |
|
Ranging accuracy |
±1 m |
|
Range resolution |
≤30 m |
|
Detection probability |
≥98% |
|
False alarm rate |
≤1% |
|
Number of multiple target detections |
3 (maximum number) |
|
Electrical interface |
A1257WR-S-6P |
|
Supply |
DC 4.5~16 V |
|
Standby power |
≤ 1mW(Module off, POWER_ON < 0.3V) |
|
Average power consumption |
≤ 2 W (Module on, POWER_ON > 2.7V) |
|
Start-up power consumption |
≤14 W 2) |
|
Peak power consumption |
≤10 W 2) |
|
Weight |
≤ 58±1g |
|
Dimention (L×W×H) |
65×48×32 mm |
|
Operation temperature |
-40~+55℃ |
|
Storage temperature |
-55~+75℃ |
|
Vibration |
0.01~0.04 g2/Hz, 20~2000Hz |
|
Strike |
75g/6ms |
|
Multi-target detection |
Up to 3 targets |
|
Communication interface |
UART(TTL_3.3V)、RS422 Can choose |
|
Electrical isolation |
Power, communication and structural isolation |
|
Reliability |
MTBF ≥ 1500h |
|
Optical axis stability |
≤0.05 mrad |
|
The optical axis is not perpendicular to the mounting base plane |
≤0.5 mrad |
Notes:
1) Car taget size 2.3 m × 4.6 m; Humanoid target size 0.5 m × 1.7 m; UAV target size 0.2 m × 0.3 m ; Reflectivity 30%, Conspicurity≥12km;
2)The duration of start-up power consumption is less than 500ms; The duration of peak power consumption is less than 20ms and the average power consumption is less than 4W;
Precautions for use
Safety mark
|
【Danger】 Pay attention to laser radiation, the safety category of this product is Class 1, please take good safety protection. |
|
【Warn】 Improper use may cause personal injury. |
|
【Look out】 Improper use will cause damage to the ranging module. |
|
【Get an electric shock】 The working voltage of the ranging module is DC 4.5~16V, and the current is about 0.1~1A. Attention should be paid to protection when operating the ranging module. |
|
【Electrostatic protection】 The device is very sensitive to static electricity, which will cause irreversible damage to the device. The operator should take ESD protection during operation. |
|
【Environmental humidity】 When transporting, storing and using this product, pay attention to avoid humid environment. Working in humid environment prone to condensation and frost will affect the ranging performance and may cause damage to the module! |
Precautions for use
(1) Do not disassemble the module and components. Improper operation will damage the ranging module and void the warranty.
(2) When integrating the ranging module in the system, please read the product manual carefully. The wrong voltage will cause permanent damage.
(3) When using, keep away from water and other liquids to avoid being polluted by dust or other pollutants.
(4) During transportation and storage, store the modules in the delivered packaging.
(5) Do not make any changes to the equipment, as this may cause potential hazards to operators and modules. It is forbidden to change any electronic, mechanical and optical components. Any modification to the equipment will void the warranty.
(6) This ranging module does not need special maintenance, but it is necessary to keep the optical glass surface (transmitting and receiving lens) free of deposits. To ensure unobstructed measurement, use air blowing to remove dust. If dust or other deposits are difficult to remove, please contact the sales personnel.
(7) In a very strong light environment, the performance of ranging may be reduced when the object with low surface reflectivity is ranging.
(8) Ranging error may be increased by using glass, optical filter, plexiglass or other translucent materials.
(9) Rain, snow, fog, haze, dust and other weather conditions will affect the ranging performance.
(10) Avoid ranging under the condition of rapid temperature change, and the ranging performance will be affected.
(11) It is necessary to avoid ranging strong reflection targets (such as glass, smooth metal surface, etc.), which may cause permanent damage to the detection components.
(12) It is necessary to avoid ranging the close range target within 15m, which may cause permanent damage to the detection components.
(13) In order to avoid the possibility of permanent damage to the detection module when multiple ranging modules work in opposite direction in close range.
(14) Avoid using high-energy laser source to direct the receiving antenna of the ranging module, which may cause permanent damage to the detection module.
(15) When installing and using the ranging module, the mirror cover should always cover the receiving antenna. Otherwise, it may cause permanent damage to the detection component.
(16) Beyond the working conditions (including but not limited to working temperature, impact vibration magnitude, etc.), the use of the ranging module will cause damage to the ranging module and void the warranty.
(17) If there is any damage, please do not operate and contact customer service for further assistance.
Product composition
LRF8000C eye-safe ranging module is mainly composed of laser, transmitting antenna, receiving antenna, detection component, hardware circuit board, main structure, etc. The hardware circuit board is composed of main control board, power board and operational amplifier board.
User interface
Electrical interface
- User electrical interface:UART,TTL_ 3.3V
The connector model of electrical interface is A1257WR-S-6P, and the specific wiring definition is shown in the table below.
Pin |
Definition |
Description |
Cable color |
1 |
Power + |
Power supply, DC 4.5~16V |
Red |
2 |
Power - |
Power supply, GND |
Black |
3 |
POWER_ON |
Module power switch, TTL_ 3.3V; Module on (> 2.7V), module off (< 0.3V); |
White |
4 |
UART_TX |
UART_TX, TTL_3.3V |
Yellow |
5 |
UART_RX |
UART_RX, TTL_3.3V |
Green |
6 |
UART_GND |
UART_GND |
Black |
2.User electrical interface: RS422
Connector model: Yangtze River Connector A1257WR-S-6P, the specific definition is as shown in the following table:
Pin |
Definition |
Description |
Cable color |
1 |
Power + |
Power supply, DC 4.5~16V |
Red |
2 |
Power - |
Power supply, GND |
Black |
3 |
RS422_TX_P |
Serial port transmitter+, RS422 level |
White |
4 |
RS422_TX_N |
Serial port transmitter-, RS422 level |
Yellow |
5 |
RS422_RX_P |
Serial port receiving terminal+, RS422 level |
Green |
6 |
RS422_RX_N |
Serial port receiving end-, RS422 level |
Black |
Dimensions
The overall dimension of the ranging module and the user installation interface are shown in the figure below.
Serial port Communication protocol
Serial port Communication protocol
1. Communication speed and format
Format standard |
Baud Rate:115200(default)/57600/9600 Data Format:n, 8, 1, MSB first. |
1. Data package format
Segment description |
Segment length (Number of bytes) |
Data range |
Remarks |
Frame head |
2 |
0xEE 0x16 |
Fixed value |
Data length |
1 |
2~6 |
The data length is the total number of bytes in the three parts: Device code, Command code, and Command parameters |
Device code |
1 |
0x03 |
Fixed value, LRF-S series ranging module |
Command code |
1 |
0~255 |
Indicates the control object of the current control command |
Command Parameters |
0~4 |
0~255 |
Indicates the control object parameters of the current control command |
Checksum |
1 |
0~255 |
The checksum is the sum of all the bytes of data in the three parts of Device code, Command code, and Command parameters, which is 8 bits lower |
2. Control commands (System → Ranging Module)
Command code |
Description |
Command Parameters length |
0x01 |
Equipment Self-check |
0 |
0x02 |
Single ranging |
0 |
0x03 |
Set First/Last/Muilt Target |
1 |
0x04 |
Continue ranging |
0 |
0x05 |
Stop ranging |
0 |
0xA0 |
Set baud rate |
4 |
0xA1 |
Set continue ranging frequnce |
2 |
0xA2 |
Set minimum gating distance |
2 |
0xA3 |
Query minimum gating distance |
0 |
0xA4 |
Set maximum gating distance |
2 |
0xA5 |
Query maximum gating distance |
0 |
0xA6 |
Query FPGA software version |
0 |
0xA7 |
Query MCU software version |
0 |
0xA8 |
Query hardware version |
0 |
0xA9 |
Query SN number |
0 |
0x90 |
Query total light output times |
0 |
0x91 |
Query light output times after power on |
0 |
Response data (Ranging Module → System)
Command code |
Description |
Command Parameters length |
0x01 |
Equipment Self-check |
4 |
0x02 |
Single ranging |
4 |
0x03 |
Set First/Last/Muilt Target |
0 |
0x04 |
Continue ranging |
4 |
0x05 |
Stop ranging |
0 |
0x06 |
Ranging abnormal (only when the status in the ranging exception command is abnormal, the command is returned after the response command of single ranging or continuous ranging is returned) |
4 |
0x07 |
Low power wake-up successful (after receiving the low-power wake-up command 0xa5, this command is returned) |
0 |
0xA0 |
Set baud rate |
4 |
0xA1 |
Set continue ranging frequnce |
2 |
0xA2 |
Set minimum gating distance |
2 |
0xA3 |
Query minimum gating distance |
2 |
0xA4 |
Set maximum gating distance |
2 |
0xA5 |
Query maximum gating distance |
2 |
0xA6 |
Query FPGA software version |
4 |
0xA7 |
Query MCU software version |
4 |
0xA8 |
Query hardware version |
4 |
0xA9 |
Query SN number |
3 |
0x90 |
Query total light output times |
3 |
0x91 |
Query light output times after power on |
3 |
3. Operation process
After the ranging module is powered on, it is in the power on mode by default (POWER_ON pulls the high level through the internal pull-up resistor). If the ranging module needs to be in the standby mode, the module power switch needs to be turned off (POWER_ON pulls the low level). After enabling the module power switch (POWER_ON is turned to high level), after about 0.5 s (the capacitor in the laser drive circuit is fully charged), all the command operations in 6.2 below can be performed.
Communication Protocol
1. Equipment Self-check
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 (data length) |
0x03 |
0x01 |
Check_sum |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
|
Describe |
0xEE |
0x16 |
0x06(data length) |
0x03 |
0x01 |
Status3 |
Status2 |
Status1 |
Status0 |
Check_sum |
|
Status3 reserved Status2 echo intensity 0x00 ~ 0xff Status1 bit0 -- FPGA system status; 1 normal 0 abnormal bit1 -- laser light out state; 1 laser emission 0 laser don’t emit light bit2 -- main wave detection state; 1 with main wave 0 without main wave bit3 -- echo detection status; 1 with echo 0 without echo bit4 -- bias switch status; 1 bias on 0 bias off bit5 -- bias output state; 1 bias normal 0 bias abnormal bit6 -- temperature status; 1 temp normal 0 temp abnormal bit7 -- laser PWM status; 1 laser PWM normal 0 aser PWM abnormal Status0 bit0 -- 5V6 power supply status; 1 normal 0 abnormal bit1 -- 15V power supply status; 1 normal 0 abnormal |
2. Single ranging
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 (data length) |
0x03 |
0x02 |
Check_sum |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06 (data length) |
0x03 |
0x02 |
Status |
Integer high 8 bits of distance |
Integer low 8 bits of distance |
Decimal of distance |
Check_sum |
First/Last Target ranging: Status:0x00 – indicates that the ranging result is single target; 0x01 – including that another target before this target; 0x02 – including that another target after this target; 0x03 –reserved; 0x04 – indicates that the ranging result is out of range(no target); 0x05 –reserved; Muilt Target ranging: Status_bit3~0: 0x0 – indicates that the ranging result is single target; 0x1 – including that another target before this target; 0x2 – including that another target after this target; 0x3 – including that another two targets before and after this target; 0x4 – indicates that the ranging result is out of range(no target); 0x5 –reserved; Status_bit7~4: 0x0~0xf – indicates that the current distance result number; Value range [0, n-1], number of targets 1 ≤ n ≤ 16; |
3. Set First/Last/Muilt Target
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
Describe |
0xEE |
0x16 |
0x03 (data length) |
0x03 |
0x03 |
Target |
Check_sum |
Target:0x01 – Set First Target; 0x02 – Set Last Target; 0x03 – Set Muilt Target; |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 (data length) |
0x03 |
0x03 |
Check_sum |
4. Continue ranging
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 (data length) |
0x03 |
0x04 |
Check_sum |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06 (data length) |
0x03 |
0x04 |
Status |
Integer high 8 bits of distance |
Integer low 8 bits of distance |
Decimal of distance |
Check_sum |
First/Last Target ranging: Status:0x00 – indicates that the ranging result is single target; 0x01 – including that another target before this target; 0x02 – including that another target after this target; 0x03 – reserved; 0x04 – indicates that the ranging result is out of range(no target); 0x05 – reserved; Muilt Target ranging: Status_bit3~0: 0x0 – indicates that the ranging result is single target; 0x1 – including that another target before this target; 0x2 – including that another target after this target; 0x3 – including that another two targets before and after this target; 0x4 – indicates that the ranging result is out of range(no target); 0x5 – reserved; Status_bit7~4: 0x0~0xf – indicates that the current distance result number; Value range [0, n-1], number of targets 1 ≤ n ≤ 16; |
5. Stop ranging
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 (data length) |
0x03 |
0x05 |
Check_sum |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 (data length) |
0x03 |
0x05 |
Check_sum |
6. Ranging abnormal
(1) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06
|
0x03 |
0x06 |
Reserved |
Reserved |
Reserved |
Status |
Check_sum |
Status1 bit0 -- FPGA system status; 1 normal 0 abnormal bit1 -- laser light out state; 1 laser emission 0 laser don’t emit light bit2 -- main wave detection state; 1 with main wave 0 without main wave bit3 -- echo detection status; 1 with echo 0 without echo bit4 -- bias switch status; 1 bias on 0 bias off bit5 -- bias output state; 1 bias normal 0 bias abnormal bit6 -- temperature status; 1 temp normal 0 temp abnormal bit7 -- laser PWM status; 1 laser PWM normal 0 aser PWM abnormal This instruction will be returned only when bit0 ~ 7 in status1 is abnormal. |
7. Set baud rate
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06
|
0x03 |
0xa0 |
BaudHigh24 |
BaudHigh16 |
BaudLow8 |
BaudLow0 |
Check_sum |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06
|
0x03 |
0xa0 |
BaudHigh24 |
BaudHigh16 |
BaudLow8 |
BaudLow0 |
Check_sum |
8. Set continue ranging frequnce
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xa1 |
Freq |
Num |
Check_sum |
Freq: 0x01~0x0A continue ranging frequnce Num: 0x00 reserve |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0xa1 |
Check_sum |
9. Set minimum gating distance
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xA2 |
DIS_H |
DIS_L |
Check_sum |
DIS_H : High 8 bits of distance DIS_L : Lower 8 bits of distance DIS : 10~20000 Minimum gating distance, Unit m |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xA2 |
DIS_H |
DIS_L |
Check_sum |
DIS_H : High 8 bits of distance DIS_L : Lower 8 bits of distance DIS : 10~20000 Minimum gating distance, Unit m |
10. Query minimum gating distance
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0xA3 |
0xA6 |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xA3 |
DIS_H |
DIS_L |
Check_sum |
DIS_H : High 8 bits of distance DIS_L : Lower 8 bits of distance DIS : 10~20000 Minimum gating distance, Unit m |
11. Set maximum gating distance
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xA4 |
DIS_H |
DIS_L |
Check_sum |
DIS_H : High 8 bits of distance DIS_L : Lower 8 bits of distance DIS : 10~20000 Maximum gating distance, Unit m |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xA4 |
DIS_H |
DIS_L |
Check_sum |
DIS_H : High 8 bits of distance DIS_L : Lower 8 bits of distance DIS : 10~20000 Maximum gating distance, Unit m |
12. Query maximum gating distance
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x05 |
0xA5 |
0xA8 |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
Describe |
0xEE |
0x16 |
0x04 |
0x03 |
0xA5 |
DIS_H |
DIS_L |
Check_sum |
DIS_H : High 8 bits of distance DIS_L : Lower 8 bits of distance DIS : 10~20000 Maximum gating distance, Unit m |
13. Query FPGA software version
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0xA6 |
0xA9 |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06
|
0x03 |
0xA6 |
Version |
Date |
MonYear |
Author |
Check_sum |
Version : bit7~bit4 Major version(1~15) bit3~bit0 Minor version(0~15) eg: 0x10——V1.0 Data : Data(1~31) MonYear: bit7~bit4 Month(1~12) bit3~bit0 Year(0~15),Corresponds to 2020-2035 Author : 0x6c cliu 0x5d dwu 0xcc cycheng |
14. Query MCU software version
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0xA7 |
0xAA |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06
|
0x03 |
0xA7 |
Version |
Date |
MonYear |
Author |
Check_sum |
Version : bit7~bit4 Major version(1~15) bit3~bit0 Minor version(0~15) eg: 0x10——V1.0 Data : Data(1~31) MonYear: bit7~bit4 Month(1~12) bit3~bit0 Year(0~15),Corresponds to 2020-2035 Author : 0x00 jyang 0xf1 llfu 0x01 zqxiong |
15. Query hardware software version
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0xA8 |
0xAB |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
Describe |
0xEE |
0x16 |
0x06
|
0x03 |
0xA8 |
MBVS |
CTVS |
APDVS |
LDVS |
Check_sum |
MBVS : Motherboard hardware version number CTVS : Control board hardware version number APDVS : Probe board hardware version number LDVS : Driver board hardware version number bit7~bit4 Major version(1~15) bit3~bit0 Minor version(0~15) eg:0x10——V1.0 |
16. Query SN number
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0xA9 |
0xAC |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
Describe |
0xEE |
0x16 |
0x05 |
0x03 |
0xA9 |
MonYear |
Num_H |
Num_L |
Check_sum |
MonYear: bit7~bit4 Month(1~12) bit3~bit0 Year(0~15),Corresponds to 2020-2035 Num_H : High 8 bits of SN number Num_L : Lower 8 bits of SN number Num: 1~999 Number |
17. Query total light output times
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0x90 |
0x93 |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
Describe |
0xEE |
0x16 |
0x05 |
0x03 |
0x90 |
PNUM3 |
PNUM2 |
PNUM1 |
Check_sum |
PNUM3 : Total light output times,bit23~bit16 PNUM2 : Total light output times,bit15~bit8 PNUM1 : Total light output times,bit7~bit0 |
18. Query light output times after power on
(1) Send to ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
Describe |
0xEE |
0x16 |
0x02 |
0x03 |
0x90 |
0x93 |
(2) Get from ranging module:
Byte |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
Describe |
0xEE |
0x16 |
0x05 |
0x03 |
0x90 |
PNUM3 |
PNUM2 |
PNUM1 |
Check_sum |
PNUM3 : Total light output times after power on,bit23~bit16 PNUM2 : Total light output times after power on,bit15~bit8 PNUM1 : Total light output times after power on,bit7~bit0 |
Equipment Self-check
SEND: ee 16 02 03 01 04
RECV: ee 16 06 03 01 ff 00 f7 ff f9’
Single ranging
SEND: ee 16 02 03 02 05
RECV: ee 16 06 03 02 04 00 00 00 09
Continue ranging
SEND: |
ee 16 02 03 04 07 |
RECV: |
ee 16 06 03 04 04 00 00 00 0b |
RECV: |
ee 16 06 03 04 04 00 00 00 0b |
RECV: |
…… |
Stop ranging
SEND: |
ee 16 02 03 05 08 |
RECV: |
ee 16 02 03 05 08 |
Set First Target
SEND: |
ee 16 03 03 03 01 07 |
RECV: |
ee 16 02 03 03 06 |
Set Last Target
SEND: |
ee 16 03 03 03 02 08 |
RECV: |
ee 16 02 03 03 06 |
Set Muilt Target
SEND: |
ee 16 03 03 03 03 09 |
RECV: |
ee 16 02 03 03 06 |
Set continue ranging frequnce of 1Hz
SEND: |
ee 16 04 03 a1 01 00 a5 |
RECV: |
ee 16 02 03 a1 a4 |
Set continue ranging frequnce of 5Hz
SEND: |
ee 16 04 03 a1 05 00 a9 |
RECV: |
ee 16 02 03 a1 a4 |