TeraBee TeraRanger Neo ES Manual de usuario

TeraRanger Neo ES

User manual

Version 1.0

Technical support: [email protected]

Sales and commercial support: [email protected]

Many thanks for buying our TeraRanger Neo ES sensor.

TeraRanger Neo ES is the next generation of TeraRanger range ﬁnders. By using indirect

ToF, TeraRanger Neo ES provides highly accurate distance measurements in a compact,

lightweight form, with exceptionally low power consumption. The front panel is

designed to enable integrations that can achieve IP65 protection.

This guide provides you with all the information needed to use and fully integrate our

sensor in your system.

If you have any questions or remarks regarding the product, please contact your

commercial representative or our technical support at support@terabee.com.

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01630 Saint-Genis-Pouilly, France (next to CERN)

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Table of contents

1.About the TeraRanger Neo ES 4

1.1. Inside the package 4

1.2. Technical speciﬁcations 4

1.2. Symbols explanation 5

2.Sensor use 5

2.1. LED Indication 5

2.2. Connecting the TeraRanger Neo ES to a host computer 5

2.2.1. Windows OS 5

2.2.2. Example HTerm output 8

3.UART Communication 9

3.1. UART pinout 9

3.2. Electrical characteristics 10

3.3. Conﬁguration commands 10

3.3.1. Command composition 10

3.3.2. List of commands 11

3.4. Sensor payload 12

3.5. Status codes 12

3.6. Distance error cases 14

3.7. Sample Python script to read data 14

3.8. In case of device failure 16

4. Sealed front panel and integration 17

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1.About the TeraRanger Neo ES

1.1. Inside the package

You will receive the following items when purchasing the TeraRanger Neo ES:

●TeraRanger Neo ES x1

●Molex cable Open-End x1

●Nylon screw (Flathead) M2 x 0.4 mm x 12 mm x2

●Nylon nut (Hex) M2 x 0.4 mm x2

●Rubber joint x 1 mm x1

●3M tape x 1 mm x1

1.2. Technical speciﬁcations

Product code

TR-NEO-ES

Performance

Detection principle

Infrared Indirect Time-of-Flight

Range*

0.2 - 30 m

Update rate

25 readings per second

Output resolution

1 mm

Accuracy

Approx. 1-2% of measured value

Field of View

Approx. 2.2°

Electronics

Supply voltage

5V DC +/-5%

Supply current (min-max)

250 mW on 5V rail (50 mA average)

Communication

Interface

LP UART, +3.3 V level (+/-5%), 9600,8,N,1

Connector

Molex - CONN HEADER SMD 4POS 1.25MM

Mechanical data

Dimensions

Height 30.5 mm; Width 15.5 mm; Depth 28.2 mm; Screw holes 2 mm

Weight

Approx. 6 g

Operating conditions

0°C to 60°C (measured inside the sensor)

Ingress protection

Sealed front panel for potential IP65 integration

Eye safety

Yes

Conformity

Reference standard

CE, RoHS

Table 1 - Technical speciﬁcations

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* Speciﬁcations are derived from tests in controlled conditions. Bright sunlight, target surface

reﬂectivity and other variables will aﬀect sensor performance. The combination of very bright

sunshine and low reﬂectivity targets (such as grass) can reduce maximum range. For additional

information, please ﬁnd the following test results report.

1.2. Symbols explanation

The following symbols are used within the document:

This symbol indicates speciﬁc recommendations in order to run the sensor in the

intended way.

2.Sensor use

2.1. LED Indication

Two LED indicators are present on the PCB, and are visible through the back side.

The LED indicators can be used to troubleshoot the sensor.

LED designator

Description

Action

Green LED

ﬂashes “8 times” on startup

then switches oﬀ

Normal startup behavior.

No action

Green LED

ﬂashes at regular time

intervals of around 5

seconds

Green LED ﬂashing indicates

normal sensor operation.

No action

Red LED

blinking rapidly at ~100ms

intervals.

Sensor has detected a fault in the

device and has stopped

functioning

Check the cable connector and

restart.

Table 2 - LED indicators

2.2. Connecting the TeraRanger Neo ES to a host

computer

2.2.1. Windows OS

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Hardware needed:

(1) TeraRanger Neo ES,

(2) Molex cable Open-End

(3) FTDI UART to USB

(not included)

(4) computer

(not included)

On Windows it is possible to use any terminal emulation software for data display.

Terabee often works with and suggests using HTerm software. Please follow the

provided link to download the software ﬁle (http://www.der-hammer.info/terminal/),

and select the version 0.8.5 of the software.

Next, extract the downloaded zip ﬁle to the selected folder, open it and double click on

the “HTerm.exe” document. Connect the TeraRanger Neo ES to a computer and select

the corresponding USB port (click “R” button to refresh the port list). Please conﬁgure

the software with the following parameters:

Baud rate : 9600 bit/s

Data bits : 8

Parity bit : None

Stop bit : 1

See Figure 1 below for visual instructions.

Figure 1 - HTerm parameters for TeraRanger Neo ES

Once the USB port is selected and the parameters correctly set, click on the “Connect”

button. The distance data will now appear in the “Received data” box (see Figure 2).

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Figure 2 - Data stream on HTerm software

To communicate with the terminal emulation software, a command in hexadecimal

needs to be sent using the “Type” ﬁeld. Make sure the “Hex” checkbox is selected

(checked) and the “Type” ﬁeld has “HEX” as an option selected. Figure 3 shows an

example of the command which enables low power mode.

Figure 3 - Example of command which enables low power mode

The data output format is in Hexadecimal. There is no other output format

available. See Figure 4 to easily understand how to read the distance values in

decimal format.

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2.2.2. Example HTerm output

Figure 4 - Example of HTerm output

If we look at the frame “T 06 41 C0 D9” as an example we have:

The real distance measured is: 1601 millimeters.

FRAME HEADER: T

MSB DISTANCE: 0x06

LSB DISTANCE: 0x41

STATUS CODE: 0xC0(16) = 1100 0000(2) => QF = 6(10)(value is between 90% & 100%)

CRC: 0xD9

Refer to the section Sensor payload which describes the payload in detail.

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3.UART Communication

The TeraRanger Neo ES is controlled through a UART interface.

3.1. UART pinout

The UART interface uses a single 4 pin Molex connector for interfacing to the host

system. The mating connector is a Molex - CONN HEADER SMD 4POS 1.25MM. Please

consider the mechanical stability of the mated connectors and avoid any kind of excess

force on the connector (during installation and once integrated).

Designator

Description

5 V

+5 V supply input

UART transmits output. 3.3 V logic

UART receives input. 3.3 V logic

GND

Power supply and interface ground

Table 3 - Pinout and description

Figure 5 - Wiring connection Neo ES sensor to a computer

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3.2. Electrical characteristics

Parameter

Minimum

Maximum

Average

Power supply

Voltage input (V)

Current consumption (mA)

4.5 V

45 mA

5.5 V

55 mA

5 V

50 mA

Interface logic levels

(referenced to +3V3)

LOW

HIGH

2.3

Table 4 - TeraRanger Neo ES power consumption

3.3. Conﬁguration commands

3.3.1. Command composition

The Query (Q):

The query frame contains length (in bytes is the sum of the length, command and data),

command code, N bytes of the data and a CRC-8 checksum of the entire frame in the

last byte, for the commands that only read data, the query will not include any data

bytes, but the response will.

The Response (R):

The response contains :

●The length of the reply message without the CRC-8 byte

●The command code (same code that was received)

●Data (only if the query was to read data from the device) otherwise ACK or NACK

●CRC-8 calculated for the entire message without the actual CRC byte (i.e. from

length byte to the last data byte, both included)

Length

Represents the sum of the length, command and the data transmitted.

Contents of the Data Field

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