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Summary of Contents for WiT WT53R-TTL
- Page 1 USER MANUAL WT53R-TTL Laser Ranging Sensor WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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Page 2: Tutorial Link
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 3: Table Of Contents
Baud Rate ................... 16 Return Rate ................. 18 Calibration Module ................ 19 Measurement Mode ..............20 Alarm Threshold ................22 Communication Protocol ................ 23 Serial Mode ................. 23 Modbus Protocol ................24 Modbus Register ................26 WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 4: Overview
Spacing 0.630", hole radius 0.039" Acquisition Rate 20Hz ➢ Measuring Distance 40mm-4000mm (4000mm without optical cover) ➢ 1.575"-157.480" (157.480"without optical cover) Interface ➢ Baud Rate Supports 2400-921600, default 115200 ➢ Ranging Error ➢ ±20mm ±0.787" WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 5: Pin
3 Pin Name Function 5~36V power output RX line（TTL） Green TX line（TTL） Yellow Black Alarm line White (Requires external pull-up, low level when alarming) WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 6: Hardware Connection
To check that the CH340 enumerates to a COM port, you can open the device 1） manager. You can click the Start or ⊞ (Windows) button and type "device manager to quickly search for the application. WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... - Page 7 After opening the device manager, you will need to open the Ports (COM & 2） 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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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Page 8: Pc Connection
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. PC-serial module connection diagram: WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 9: Alarm Connection
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 10: Software Connection
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. -
Page 11: Data View
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... - Page 12 Click "Search Device" below, after the search is complete, check the corresponding sensor to view the data, as follows: WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
- Page 13 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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
- Page 14 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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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Page 15: Reset
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 16: Baud Rate
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... - Page 17 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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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Page 18: Return Rate
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 19: Calibration Module
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 20: Measurement Mode
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... - Page 21 // Set register 7 to 20 Time delay100ms MODADDR 06 00 08 00 01 CRCH CRCL // Set register 8 to 1 Time delay100ms MODADDR 06 00 36 00 01 CRCH CRCL // Set to short-distance WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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Page 22: Alarm Threshold
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 23: Communication Protocol
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... -
Page 24: Modbus Protocol
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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... - Page 25 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-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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Page 26: Modbus Register
TIMEBUDGET: Timing 20-1000 MS can be changed TIMEBUDGETH preset 0x0014-0x03e8 time (Better not to change , default 20MS) PERIOD ： VL53L1 0x08 MODADDR 06 00 08 Interval PERIODH PERIODL 1-1000 MS can be changed WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com... - Page 27 0x37 06 00 37 Write 0x04 to enter calibration MODADDR 00 04 CRCH CRCL 03 00 37 Read: 0x01, start calibration MODADDR 00 01 CRCH CRCL Read: 0x02, calibration failed Read: 0x03, calibration complete WT53R-TTL Manual v23-0720 | www.wit-motion.com support@wit-motion.com...
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