data sheet
K-LD 2
radar transceiver
Features
–
–
–
–
–
–
–
–
Small and low cost digital 24 GHz radar motion detector
Detection distance up to 15m (human) 30m (cars)
High immunity against interferences
Integrated FFT signal processing with digital outputs
Sensitivity and hold time can be set using analogue inputs
Advanced detection data read-out over serial interface
Wide power supply range from 3.2 to 5.5V
2 × 4 patch antenna with 80° / 34° beam aperture
Applications
–
–
–
–
–
–
–
–
General movement detection applications
Door opener
Illumination of advertising boards
Touch free switches
Security systems
Indoor and outdoor lighting control applications
Object speed measurement systems
Industrial sensors
Description
The K-LD2 is a fully digital and low cost radar movement detector.
The digital structure makes it very easy to use in any stand-alone
or MCU based application where a movement detection or speed
measurement is required.
The sensor includes a 2 × 4 patch radar front-end with an asymmetrical beam and a powerful signal processing unit with two digital
outputs for signal detection information. The sensitivity and the hold
time are adjustable using analogue inputs with potentiometers. The
serial interface features a powerful command set to read-out advanced detection data or to fully customize the detection algorithm.
There is no need to write own signal processing algorithms or
handle small and noisy signals. This module contains everything
that is necessary to build a simple, yet reliable movement detector.
A very small footprint of 25 × 25 × 6.5 mm gives maximum flexibility
in the product development process.
A powerful evaluation kit (K-LD2-EVAL) with signal visualization
on a PC is available.
Block Diagram
Figure 1: K-LD2 block diagram
K-LD2
voltage regulator
Rx
signal processing unit
detect
miscellaneous
Tx
serial interface
sensitivity
hold time
24.125 GHz
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RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 1 / 25
CHARACTERISTICS
Parameter
Conditions / N otes
Symbol Min Typ Max Unit
Operating Conditions
Supply voltage
Vcc
RMS current
IRMS
55
Peak current
Ipeak
65
Operating temperature
Top
-20
+85
°C
Tst
-40
+105
°C
RH
10
90
%
24.050
24.250
GHz
Storage temperature
Relative humidity
Non-condensing, given by design
3.2
5.5
V
mA
mA
Transmitter
Transmitter frequency
Tamb = -20 ° C .. + 85 ° C
fTX
Frequency drift vs temperature
Vcc = 3.3 V
∆ fTX
0.6
Output power
EIRP
PTX
+12
Spurious emission
According to ETSI 300 440
PSpur
GLNA
20
dB
Mixer Conversion loss
fIF = 1 kHz
Dmixer
6
dB
Antenna gain
fTX = 24.125 GHz
GAnt
8.6
dBi
Receiver sensitivity
fIF = 500 Hz, B = 1 kHz, S / N = 6dB
PRX
-112
dBm
Overall sensitivity
fIF = 500 Hz, B = 1 kHz, S / N = 6dB
Dsystem
-127
Max. Detection distance
σ = 1 m ² ( Person )
R
MHz / ° C
dBm
-30
dBm
Receiver
LNA gain
dBc
20
m
Signal Processing
Modulation
none
Velocity processing
256 point FFT
fsample
1.28
12.8
kHz
Speed range
Depending on sampling frequency
rspeed
0
143
km / h
Response time
Depending on sampling frequency
and FFT average feature
tdetect
20
400
ms
Horizontal –3dB beamwidth
E-Plane
Wφ
80
Vertical –3dB beamwidth
H-Plane
Wθ
34
°
Sample rate
Antenna
°
Horiz. Sidelobe suppression
Dφ
-12
-20
dB
Vertical sidelobe suppression
Dθ
-12
-20
dB
Digital Output high level voltage
VOH
2.1
2.6
Digital Output low level voltage
VOL
Digital Input high level voltage
VIH
Digital Input low level voltage
VIL
Digital I/O source/sink current
Interface
V
0.3
0.64
V
2.0
3.3
V
-0.3
0.8
V
IOH, IOL
-20
20
mA
Analogue Input level
VAin
0
3
V
Analogue Input impedance
Zin
200
kΩ
Body
Outline Dimensions
25 × 25 × 6.5
Weight
mm³
6.5
Connector
g
8 pin 2.54 mm
ESD rating
Electrostatic discharge
©
RFbeam
Human body model class 1C
VESD
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2 | data sheet
2000
V
12 / 2020 – Revision D | Page 2 / 25
TA B L E O F
CONTENTS
Product Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Features.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Applications. .
Description. .
1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
Block Diagram. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Antenna Diagram Characteristics. . . . . . . . . . . . . 5
Pin Configuration and Functions. . . . . . . . . . . . . . 5
Theory of Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Overview. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sampling and FFT calculation. .
Start up time.
6
. . . . . . . . . . . . . . . . . . . . .
7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Threshold generation..
Detection algorithm. .
Reaction Time. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
Application Information. . . . . . . . . . . . . . . . . . . . . . . 11
Stand-alone Operation. .
Speed measurement. .
. . . . . . . . . . . . . . . . . . . . . . . . . .
11
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Host driven Operation. .
. . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed limitation and ranging..
. . . . . . . . . . . . . . . . . . . . .
12
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
Micro detection. .
FFT filter.
11
Adjust hold time and sensitivity.
Serial Interface.
. . . . . . . . . . . . . . . . . . .
14
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
Command Set Description. . . . . . . . . . . . . . . . . . . 15
Command Classes..
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
Command Format.
Error messages. .
Command List. .
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RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
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2 | data sheet
12 / 2020 – Revision D | Page 3 / 25
TA B L E O F
CONTENTS
Integrators Information. . . . . . . . . . . . . . . . . . . . . . . 21
Installation Instruction. .
Japan (MIC). .
. . . . . . . . . . . . . . . . . . . . . . . . . . .
21
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
United States (FCC) and Canada (ISED).
Europe (CE-RED).
. . . . . . . . . . .
22
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
Outline Dimensions.. . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Order Information.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
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2 | data sheet
12 / 2020 – Revision D | Page 4 / 25
ANTENNA DIAGRAM CHARACTERISTICS
This diagram shows module sensitivity (output voltage)
in both azimuth and elevation directions. It incorporates
the transmitter and receiver antenna characteristics.
Figure 2: Antenna characteristics
System diagram
340°
350°
0°
10°
0
80°
20°
330°
30°
-10
320°
40°
-20
310°
50°
-30
300°
60°
34°
-40
290°
70°
-50
280°
80°
-60
-70
270°
90°
260°
100°
250°
110°
240°
120°
230°
ere ausdrückliche Genehmigung
egeben werden. Zuwiderhandlung
ed!
© RFbeam Microwave
130°
220°
140°
210°
200°
3
2
We reserve all rights in this document and its subject matter.
The recipient herby acknowledges these rights and assures the use of this
document only for the purpose it was delivered. © RFbeam Microwave
150°
190°
180°
Azimuth
170°
160°
5
4
6
Elevation
P I N C O N F I G U R AT I O N A N D F U N C T I O N S
A
25.00 ±0.1
2.55 ±0.15
Table 1: Pin function description
7x2.54
8.64 ±0.25
Pin No. Name
1
GND
2
Detect Out
2.30 ±0.15
Figure 3: Pin configuration
Description
Pin 1
Ground pin
Pin 1
Digital detection output.
Signals a valid detection.
B
Low " no detection
High " valid detection
3
VCC
Power supply pin (3.2 to 5.5V)
4
RX
Serial interface RX input
5
TX
Serial interface TX output
6
Hold Time In
Analogue hold time input. Range from 0 to 3V
0V " minimum hold time
3V " maximum hold time
7
20.20 ±0.1
Sensitivity In
Analogue6.00
sensitivity
input.
±0.1
Range from 0 to 3V
0.75 ±0.1
C
0 V " minimum sensitivity
3V " maximum sensitivity
8
Misc. Out
Digital miscellaneous output. The function
is programmable over the c
ommand set with
the parameter S06.
In the factory setting this output signals the
direction of a valid detection.
Low " backward / receding movement
High " forward / approaching movement
This output is only valid together with a
high on pin 2 (valid detection) except if it
is configured as micro detection output.
Project XX
YY
Object
RFbeam Microwave
Farbgutstrasse 3
9008 St. Gallen
Switzerland
XX
YY
Material
Scale
Surface
2:1
Tolerance
State
Index
Drawing Nr.
Format
Prepared
A4
Reviewed
2
3
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4
5
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2 | data sheet
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1/1
Plotdate: 31.05.2017
12 / 2020 – Revision D | Page 5 / 25
T H E O R Y O F O P E R AT I O N
Overview
The K-LD2 takes advantage of an internal I/Q doppler
signal processing by using a complex FFT ( Fast Fourier Transform ). The main advantages of this processing compared to standard time domain processing
solutions are the following:
– Easy detection of the direction of a movement
– Increased detection range with better SNR
due to the FFT processing
– Efficient interference suppression
– Vibration suppression
The signal processing unit samples the analogue
I/Q doppler signals of the RF frontend and calculates
a complex FFT in real time. In a next step an adap
tive noise measurement and interference suppression
is done which generates a threshold limit that can be
adjusted with the sensitivity setting. Then the detection
algorithm looks for a valid detection and latches it to
the detection register and the digital outputs for the
length of the hold time setting.
Figure 4: Signal processing and detection workflow
Sampling & FFT calculation
Threshold generation
Detection algorithm
– I / Q channel
– Configurable sample rate
– 256 point complex FFT
– Adaptive noise measurement
– Interference suppression
– Depending on sensitivity setting
– Search for valid detection
– Direction, speed & magnitude
calculation
– Latch detection for the length
of the hold time setting
With a powerful command set (See chapter Command
Set Description) it is possible to configure the whole
signal processing and detection w
orkflow. This allows
customisation of the K-LD2 to get the best results in
different environments and applications.
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Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 6 / 25
Sampling and FFT calculation
The K-LD2 works with an internal I/Q doppler signal
sampling and a computation of a 256 point wide complex FFT. I/Q doppler signals are phase s hifted by + 90°
or - 90° depending on the direction of a movement in
the front of the sensor.
The signal processing unit samples the I/Q data
with a configurable sampling rate (see parameter S04)
and computes a complex FFT. The sampling rate is
an important parameter of the sensor because it directly estimates the speed resolution, the maximal speed,
and the response time of the system. The response
time is doubled if the FFT average feature (described
below) is used.
Figure 5: I/Q doppler signals of an approaching movement (left) and a receding movement (right)
Table 2: Sampling rate vs. speed resolution vs. maximal speed vs. response time
Parameter
S04
Sample rate
[Hz]
Resolution
[Hz]
Max. frequency
[Hz]
Resolution
[km/h]
Max speed
[km/h]
Response time
[ms]
01
1280
5
640
0.11
14.3
200 / 400
02
2560
10
1280
0.22
28.6
100 / 200
03
3840
15
1920
0.34
43.0
67 / 134
04
5120
20
2560
0.45
57.3
50 / 100
05
6400
25
3200
0.56
71.6
40 / 80
06
7680
30
3840
0.67
85.9
33 / 66
07
8960
35
4480
0.78
100.2
29 / 58
08
10240
40
5120
0.89
114.5
25 / 50
09
11520
45
5760
1.01
128.9
22 / 44
0A
12800
50
6400
1.12
143.2
20 / 40
The sampled I/Q doppler signals are transformed
with a complex FFT into the frequency domain with
256 bins. Those signals appear either in the real (right)
plane for an approaching movement or in the imaginary (left) plane for a receding movement. The signal in
the centre is the DC offset caused by the amplifier and
the analogue to digital conversion.
©
RFbeam
To reduce random noise, the sensor features a FFT
average option (see parameter S0A) which is enabled
in the factory settings. It is an average over two
FFT frames.
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2 | data sheet
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Figure 6: Doppler signals in the frequency domain, approaching
Figure 7: Doppler signals in the frequency domain, receding
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2 | data sheet
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Start up time
During start up, the sensor calculates the mean over
the number of FFT frames specified with the para
meter start up learn. The start up time of the sensor
depends on this parameter, the sampling frequency
and the FFT size.
tStartup =
NFFT · NValue of S05
ƒSample
=
256 ∙ NValue of S05
ƒSample
Threshold generation
The calculated mean during start up represents
the noise floor of the sensor and is stored as spectrum average. During operation the spectrum average
is adapted continuously. The speed of this adaption is
configurable using the parameter threshold noise adaption speed. This mechanism automatically adapts
interferences that are present in both planes of the FFT.
This adaptive spectrum average is used together with
the parameter minimum threshold margin to generate the minimum possible threshold level. This means
that the threshold level for each bin cannot be smaller
than the spectrum average + the minimum threshold
margin setting and this is independent of the sensitivity
setting. Adapted interferences are thus automatically
filtered out in the threshold level and do not generate
a detection.
The noise floor of different sensors can vary. The
sensitivity setting is referenced to the ground line in
order to get an as constant as possible movement detection over different sensors.
The threshold level is defined as an addition of the
parameter minimum threshold offset and the set sensitivity setting for each bin (Further information about
the adjustment of the sensitivity setting can be found
in chapter Adjust Hold Time and Sensitivity).
Figure 8: Minimum threshold level and interference adaption
If the addition of the minimum threshold offset and the set sensitivity setting is smaller
than the minimum threshold level (defined
over the s pectrum average and the parameter minimum threshold margin), the threshold
is set to its minimum level.
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2 | data sheet
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Detection algorithm
Reaction Time
The detection algorithm uses the following steps:
The reaction time of the sensor depends on different
settings and can be calculated with the equation below
when the FFT average feature is disabled.
1. Scan the FFT spectrum for peaks with a magnitude higher than the set threshold level and with
the direction to detect set with the parameter D03.
2. Check if the peak is a valid movement with
the correct direction or if it is an interference.
3. Increase the immunity against interferences by
checking if the movement is constant (see parameter Immunity D02).
4. If there is a valid detection, estimate the speed
bin and magnitude.
5. Latch all the information to the detection
register (see parameters R00, R01 & R02)
and to the digital outputs.
6. Decrease the hold time if there is no valid detection.
7. Reset the hold time if there is another
valid detection.
8. Reset the detection register and the digital outputs
if the hold time has elapsed.
tReaction =
NFFT
ƒSample
· ( Immunity + 1) =
256
ƒSample
· ( Immunity + 1)
With the FFT average feature enabled (see parameter
S0A) the equation changes to:
tReaction =
NFFT
ƒSample
· ( Immunity + 1) · 2 =
256
ƒSample
· ( Immunity + 1) · 2
You can find more advanced configuration options for the detection algorithm in
the chapters Speed limitation and ranging,
FFT filter and Adjust hold time and sensitivity.
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2 | data sheet
12 / 2020 – Revision D | Page 10 / 25
A P P L I C AT I O N I N F O R M AT I O N
Stand-alone Operation
Host driven Operation
With the factory settings the sensor starts up and
scans the beam for potential movements with a
sampling rate of 2560Hz (app. 0.3 to 29.1 km/h). It filters out interferences and looks for movements with
a magnitude that is higher than the threshold level set
with the sensitivity.
If there is a valid movement the detection output
(Pin 2) goes high and the direction is latched to the
miscellaneous output (Pin 8) for the length of the set
hold time.
The hold time (Pin 6) and the sensitivity (Pin 7) can
be set using analogue inputs (for example with external potentiometers) in the following ranges:
With a connection of the serial interface to a host (for
example MCU or PC) it is possible to read-out advanced detection data including speed and magnitude of
a valid detection or to use some advanced features of
the K-LD2 which are described in the next chapters.
The detection output can be used to trigger a serial read-out command over an interrupt. If there is no
interrupt input, it is possible to poll the detection state
register and then trigger the additional read-out commands.
Figure 9: MCU or PC connection example
– Hold time from 0.2 to 160s
– Sensitivity from 0 to 34dB (app. 2 to 20 m for walking humans)
With the factory settings the reaction time of the sensor is approximately 800ms.
The K-LD2 can also be factory configured
with your settings. Contact RFbeam for
more information.
Detect out
optional
Misc. out
K-L D2
Input or INT
Input or INT
TX
RX
RX
TX
Host
The command set features different parameters to
read-out additional detection data.
Table 3: Useful commands to read-out advanced detection data
Parameter
Description
Note
R00
Get detection state register
Includes detection, direction, speed range and micro detection information
R01
Get detection speed in bin
Only valid when the detection bit in the detection state register is high.
R02
Get detection magnitude in dB
Only valid when the detection bit in the detection state register is high.
C00
Get detection string
Complete set of data of the parameters R00 to R02
Speed measurement
The speed of a detected object is returned in bin and
can be easily converted into the doppler frequency
with the sampling rate and the FFT width. The sample
rate is adjustable over the command S04 and the FFT
width is fixed to 256.
ƒDoppler = bin ·
ƒSample
NFFT
= bin ·
α
moving object
ƒSample
256
The measured doppler frequency is proportional to the
speed of the object when it is measured frontal to the
sensor. An angle between the object and the sensor
reduces the doppler frequency. The speed in km/h is
easily computable with the equation below based on
the doppler effect.
©
RFbeam
Figure 10: FFT bin to speed conversion
radar sensor
v=
ƒDoppler · km/h
44.7 Hz · cos(α)
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2 | data sheet
=
bin ∙ ƒSample ∙ km/h
256 ∙ 44.7 Hz ∙ cos(α)
12 / 2020 – Revision D | Page 11 / 25
Speed limitation and ranging
The K-LD2 features the possibility to easily filter out
slow and fast speeds by setting speed limits with the
parameters D04 & D05 over the command set. The
limits are independent of each other and can be used
stand-alone.
The whole FFT can also be divided into two speed
ranges with the parameter D06. When the speed range threshold is set, the detection algorithm decides
in which speed range (high or low) the detection was
found and latches it to the detection register or, if it is
configured to signal the speed range (see parameter
S06), to the miscellaneous output.
The usage of the speed limits and the speed
range threshold makes it very easy to divide
objects into two speed classes
Figure 11: Speed limitation and ranging overview
Micro detection
The micro detection is a feature to detect very slow
speeds in short range applications. It takes advantage
of an algorithm that analyses the DC bin of the FFT to
detect very slow speeds. The micro detection is independent from the normal detection algorithm and always enabled.
If a slow movement generates a signal magnitude
that is higher than the adjustable micro detection threshold (see parameter D07) the micro detection flag
in the detection register goes to high (see parameter
R00).
The algorithm computes the micro detection
flag for every sampled frame, independent of
the hold time setting.
The miscellaneous output can be configured to signal the micro detection over the parameter S06. This
©
RFbeam
gives the host the possibility to directly trigger to a valid
micro detection.
Furthermore, it is possible to retrigger the detection
algorithm over the micro detection feature (see parameter S0D). If this feature is enabled, the detection algorithm first requires a valid detection and then, if there
was a valid micro detection, it will retrigger the hold
time. If the hold time has elapsed because there was
no detection or micro detection, the detection goes to
low and needs again a valid detection before the micro
detection is used to retrigger the hold time.
The covered speed range that is analysed by
the micro detection feature depends on the
sampling rate (see parameter S04), because
the content of the DC bin changes with the
sampling rate.
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2 | data sheet
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FFT filter
The FFT filter feature can be used to filter out specific
regions in the FFT spectrum. The FFT filter array (see
parameters A20…A27) consists of up to 8 independent FFT filters. Further the ± width around these FFT
filters can be specified with the parameter D08.
For example: The commands $A20000A,
$A210032 & $A220050 define 3 FFT filters at the bin positions 10, 50 & 80. The command
$D0802 sets the ± width around the filters to 2.
This feature allows easy filtering out of unwanted constant movements like a ventilator.
Please note that other movements with the
same speed are also filtered out.
Figure 12: FFT filter and FFT filter width example
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2 | data sheet
12 / 2020 – Revision D | Page 13 / 25
Adjust hold time and s ensitivity
The K-LD2 uses arrays with a width of 10 elements
to set the range of hold time and sensitivity (see parameters A00…A09 for hold time and parameters
A10…A19 for sensitivity). The used index of the arrays
is defined using the parameters D00 and D01 or by
the analogue inputs, if these are enabled with the parameters S0B and S0C.
In the factory settings these arrays are filled with default values that will work for the most applications.
(See Table Hold time array default values and Table
Sensitivity array default values) It is possible to overwrite these arrays to generate your own sensitivity or hold
time curves.
Figure 13: Hold time and sensitivity block diagram
S0C
analogue hold time input
hold time array
(A00…A09)
0…9
hold time setting (D00)
array
value
index
S0B
analogue sensitivity input
sensitivity array
(A10…A19)
0…9
sensitivity setting (D01)
array
value
hold time
Detection
Algorithm
sensitivity
index
Serial Interface
The K-LD2 features a serial interface with a command
set to configure the sensor and read-out measured
data. The interface is an ASCII based 3.3V asynchronous UART with the following settings:
–
–
–
–
Baud rate 38400 bps
8 data bits
1 stop bit
no parity, no handshake
It is possible to connect the K-LD2 directly
with an USB to UART cable with +3.3V TTL
level signals. For ex
ample the TTL-232R3V3 from FTDI can directly be connected to
the pins 1 to 6 of the K-LD2 to power it and
get access to the serial interface over a standard terminal program.
This interface and the complete command set is supported by the K-LD2 Control Panel, which is included
in the K-LD2-EVAL evaluation kit.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 14 / 25
COMMAND SET DESCRIPTION
Command Classes
The command set is divided into different classes.
Every class contains a set of parameters.
Table 4: Command classes
Parameter Type
Cmd Class
EEPROM
Purpose
System parameters
S
Yes
System relevant parameters to configure the sampling and interference suppression
Detection parameters
D
Yes
Specific parameters to configure the detection algorithm
Array parameters
A
Yes
System specific tables
Flash read parameters
F
Yes
Read only parameters
Real-time read parameters
R
No
Real-time system and detection information
Basic write parameters
W
No
Basic write parameters to configure the system
Complex read parameters
C
No
Advanced read-out parameters
Testing parameters
T
No
Parameters to test the hardware
Command Format
Error messages
Every command is ASCII coded and needs to be sent
over the serial interface by a host CPU or an ASCII
terminal program. Every request needs to start with
the prefix $ and ends with a (0x0D in Hex). The
K-LD2 always answers with @ as a prefix excluding the
command class C.
The K-LD2 responds with a message from the table
below if an error has occurred.
Table 7: Error messages
Error message
@E01
Table 5: Command format
@E02
@E03
$
P
Prefix
Command class
NN
Parameter
number (Hex)
VV[VV]
Value (Hex) 8
or 16Bit wide
«Enter»
@E04
@E05
@E06
Description
Value out of limits
Parameter number does not exist
Command class does not exist
Writing to EEPROM error
Command format error
UART communication error
Table 6: request / response example
Example request
$S06
$S0602
©
RFbeam
K-LD2 response
@S0601
@S0602
Comment
Get actual value
Set new value
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 15 / 25
Command List
All values are in hexadecimal notation unless otherwise noted.
Table 8: Class S 8-Bit system parameters
Param.
Default
Min
Max
Name
Description
S04
02
01
0A
Sampling rate
Sampling rate = value*1280Hz
S05
10
01
40
Start up learn
Number of FFT blocks that are used to learn the noise threshold average at start up.
Only valid after reset.
01: no average at start up, fastest start up time
40: best average at start up, slowest start up time
Only valid after reset.
S06
01
00
03
Function of miscellaneous output
Configurable functions of the miscellaneous output pin. The functions directly represent the detection register.
Value
Function
Logic Low
Logic High
00
Detection
No detection
Valid detection
01
Direction
Backward / receding
Forward / approaching
02
Range
Low speed range
High speed range
03
Micro detection
No detection
Valid micro detection
Detailed information about the functions can be found in the command description of
the parameter R00.
S07
1E
14
50
Minimum
threshold offset
Defines the minimum threshold offset in dB with the ground line as reference.
S08
0A
01
30
Minimum
threshold margin
Defines the minimum margin between the noise average and the threshold curve.
S09
0A
00
FF
Threshold noise
adaption speed
The speed of the noise average threshold adaption can be set with this parameter.
The value defines after how many FFT blocks the noise threshold average is adapted
again.
S0A
01
00
01
Use FFT average
FFT averaging flag to reduce random noise.
00: averaging off
01: averaging on
Doubles the response and reaction time if enabled.
S0B
S0C
S0D
©
RFbeam
01
01
00
00
00
00
01
01
01
Use sensitivity
potentiometer
Flag to enable the usage of the analogue input for the sensitivity.
Use hold time potentiometer
Flag to enable the usage of the analogue input for the hold time.
Use micro detection
for retriggering
Flag to enable the usage of the micro detection to retrigger the detection algorithm.
00: use digital sensitivity setting of parameter D01
01: use potentiometer input for sensitivity setting
00: use digital hold time setting of parameter D00
01: use potentiometer input for hold time setting
00: micro detection retriggering disabled
01: micro detection retriggering enabled
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 16 / 25
Table 9: Class D 8-Bit detection parameters
Param.
Default
D00
Min
Max
00
09
01
Name
Description
Hold time
Index value to select an element of the hold time array defined with the parameters
A00 … A09.
This value has no effect if the parameter use hold time potentiometer S0C
is enabled.
D01
07
00
09
Sensitivity
Index value to select an element of the sensitivity array defined with the parameters
A10…A19.
This value has no effect if the parameter use sensitivity potentiometer S0B
is enabled.
D02
03
00
10
Immunity
Value to change the immunity against interferences like vibrations.
00: minimum immunity
10: maximum immunity
Immunity increases the reaction time of the sensor.
D03
02
00
02
Direction to detect
Defines which direction is detected in the detection algorithm.
00: only forward (approaching)
01: only backward (receding)
02: both directions
D04
00
00
7F
Low speed limit
Can be used to define a low speed limit in bin for the detection algorithm to filter out
slow speeds.
00: inactive
01…7F: All speeds below this bin are filtered out
D05
00
00
7F
High speed limit
Can be used to define a high speed limit in bin for the detection algorithm to filter out
fast speeds.
00: inactive
01…7F: All speeds above this bin are filtered out
D06
00
00
7F
Speed range
threshold
Function to divide the spectrum in a high and a low speed range. Triggers the range
flag in the detection register R00.
00: inactive
01…7F: threshold in bin for the low and high speed range
D07
06
D08
05
02
09
00
0A
Micro detection
threshold
Function to set the threshold of the micro detection feature.
FFT filter width
Defines the ± width in bin that is filtered out around a specified filter in the FFT filter
array defined with the parameters A20…A27.
05: minimum threshold
09: maximum threshold
Table 10: Class A 16-Bit array parameters
Param.
Default
Min
A00…
A09
See table
below
0000
A10…
A19
See table
below
0000
A20…
A27
0
0000
Max
Name
FFFF
Description
Hold time array
10 elements wide hold time array in 100 ms, addressed by parameter D00.
0000: minimum hold time
0002: 2*100 ms " 0.2 s hold time
FFFF: maximum hold time
00FF
Sensitivity array
10 elements wide sensitivity array in dB, addressed by parameter D01.
0000: maximum sensitivity
000A: 10 dB sensitivity
00FF: minimum sensitivity
007F
FFT filter array
FFT filter array in bin to define up to 8 different FFT filters with a ± width defined by
parameter D08.
0000: FFT filter inactive
0001…007F: FFT filter position in bin
Table 11: Hold time array default values
Param.
Value [Hex]
A00
A01
A02
A03
A04
A05
A06
A07
A08
A09
0002
0005
000A
0014
0032
0064
00C8
0190
0320
0640
Value [s]
0.2
0.5
1
2
5
10
20
40
80
160
Table 12: Sensitivity array default values
Param.
Value [Hex]
A10
A11
A12
A13
A14
A15
A16
A17
A18
A19
0022
001C
0016
0012
000E
000A
0006
0004
0002
0000
Value [dB]
34
28
22
18
14
10
6
4
2
0
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 17 / 25
Table 13: Class F 16-Bit flash read parameters
Param.
Default
Min
Max
Name
Description
F00
–
0000
FFFF
Get software version
Returns the firmware version of the sensor as a 16-Bit hex value.
F01
–
0000
FFFF
Get type of device
Returns the type of the device, that the firmware is running on.
For example: @F000078 " 120 " Version 01.20
0001: K-LD2
Table 14: Class R 8-Bit real-time read parameters
Param.
R00
Default
–
Min
Max
00
0F
Name
Description
Get detection register Returns the detection register with the content below.
Bit
Name
Description
0
Det
Signals a valid detection.
0: no detection
1: valid detection
1
Dir
Signals the direction of the detection.
0: backward / receding movement detected
1: forward / approaching movement detected
Only valid if Bit 0 is high.
2
Range
Signals the speed range of the detection depending on the speed threshold parameter D06.
0: low speed range detected
1: high speed range detected
Only valid if the speed range threshold
is > 0 and if Bit 0 is high.
3
Micro
Signals a micro detection found in the DC bin
of the FFT.
0: no micro detection
1: valid micro detection
R01
–
00
FF
Get detection speed
Returns the speed in bin of the last valid detection.
Only valid if the bit 0 in the detection register R00 is high.
R02
–
00
FF
Get detection magnitude
Returns the magnitude in dB of the last valid detection.
Only valid if the bit 0 in the detection register R00 is high.
R03
–
00
FF
Get noise level
Returns the mean noise level value in dB.
R04
–
00
02
Get operation state
Returns the operation state of the sensor. Can be used at start up to check if the
sensor is ready.
00: start up
01: learn
02: run
R05
R06
–
–
00
00
09
09
Get hold time potentiometer index
Returns the current hold time potentiometer index.
Get sensitivity potentiometer index
Returns the current sensitivity potentiometer index.
00: 0V at the analogue input
09: 3V at the analogue input
00: 0V at the analogue input
09: 3V at the analogue input
Table 15: Class W 8-Bit basic write parameters
Param.
W00
Default
–
Min
–
Max
–
Name
Reset processor
Description
Generates a software reset.
Check the operation state after the reset with the parameter R04.
W01
W02
–
00
–
00
–
01
Restore factory
settings
Restores the default factory settings for all parameters.
Set UART baud rate
Sets the baud rate of the serial UART interface.
Check the operation state after the restore with the parameter R04.
00: 38400 bps
01: 460800 bps
This parameter is not stored. After a reset or restart the baud rate is set to
38400 bps.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 18 / 25
Table 16: Class C variable length complex read parameters
Param.
Default
Min
Max
Name
C00
–
–
–
Get detection string
C01
–
–
–
Get target string
Description
Length
Returns the detection register, the detection speed and the detection magnitude as an ASCII string in decimal format.
Example response: 001;076;067;
Returns an ASCII target list string in decimal format. It returns the speed and
magnitude of the dominant movement for the forward and backward plane of
the spectrum.
14 bytes
18 bytes
Target string structure:
Forward speed in bin +
Backward speed in bin +
Forward magnitude in dB +
Backward magnitude in dB
C02
–
–
–
Get EEPROM
hex string
C03
–
–
–
Get FFT spectrum +
threshold level
C04
C05
C06
–
–
–
–
–
–
–
–
–
Get ADC I/Q data +
FFT spectrum +
threshold level
Get C04 +
additional
parameters
Get C05 +
spectrum average
Example response:
000;000;000;000; " no target found
076;000;045;000; " forward target found
000;076;000;045; " backward target found
020;076;031;045; " two targets found
Returns the full 512 EEPROM bytes as an ASCII string in the Intel hex format.
2893 bytes
Returns the FFT spectrum and the threshold level in a binary format.
1024 bytes
Description
Datatype
Length
FFT spectrum
UINT16 *
512 bytes
Threshold level
UINT16 *
512 bytes
Returns the ADC I/Q data, the FFT spectrum and the threshold level
in a binary format.
Description
Datatype
Length
ADC I data
INT16 *
512 bytes
ADC Q data
INT16 *
512 bytes
FFT spectrum
UINT16 *
512 bytes
Threshold level
UINT16 *
512 bytes
Returns the values of C04 and additional parameters in a binary format.
Description
Datatype
Length
ADC I data
INT16 *
512 bytes
ADC Q data
INT16 *
512 bytes
FFT spectrum
UINT16 *
512 bytes
Threshold level
UINT16 *
512 bytes
Detection register
UINT8
1 byte
Detection speed
UINT8
1 byte
Detection magnitude
UINT8
1 byte
Target string
ASCII string
15 bytes
Noise level mean
UINT8
1 byte
Operation state
UINT8
1 byte
Index of hold
time potentiometer
UINT8
1 byte
Index of sensitivity
potentiometer
UINT8
1 byte
Returns the values of C05 and the spectrum average in a binary format.
Description
Datatype
Length
ADC I data
INT16 *
512 bytes
ADC Q data
INT16 *
512 bytes
FFT spectrum
UINT16 *
512 bytes
Threshold level
UINT16 *
512 bytes
Detection register
UINT8
1 byte
Detection speed
UINT8
1 byte
Detection magnitude
UINT8
1 byte
Target string
ASCII string
15 bytes
Noise level mean
UINT8
1 byte
Operation state
UINT8
1 byte
Index of hold time
potentiometer
UINT8
1 byte
Index of sensitivity
potentiometer
UINT8
1 byte
Spectrum average
UINT16 *
512 bytes
2048 bytes
2070 bytes
2582 bytes
* 16 bit wide datatypes are sent with the high byte first.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 19 / 25
Table 17: Class T 8-Bit testing parameters
Param.
T00
Default
00
Min
Max
00
01
Name
Description
Activate testing mode Activates the testing mode.
00: Testing mode disabled
01: Testing mode enabled
This parameter is not stored. After a reset or restart it is reset to the value 00.
T01
T02
©
RFbeam
–
–
00
00
01
01
Force detection
output
Controls the detection output, if the testing mode T00 is enabled
Force miscellaneous
output
Controls the miscellaneous output, if the testing mode T00 is enabled
00: force to low
01: force to high
00: force to low
01: force to high
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 20 / 25
I N T E G R AT O R S I N F O R M AT I O N
Installation Instruction
Mechanical enclosure
It is possible to hide the sensor behind a so called radome (short for radar dome) to protect it from environmental influences or to simply integrate it in the case of
the end product. A radar sensor can see trough different types of plastic and glass of any colour as long as
it is not metallized. This allows for a very flexible design
of the housing as long as the rules below are observed.
– Cover must not be metallic.
– No plastic coating with colors containing metallic or
carbon particles.
– Distance between cover and front of Radar sensor
should be ≥ 6.2 mm
– Cover thickness is very important and depends on
the used material. Examples can be found in the
application note "AN-03-Radome".
– Vibrations of the Radar antenna relatively to the
cover should be avoided, because this generates
signals that can trigger the output
– The cover material can act as a lens and focus or
disperse the transmitted waves. Use a constant
material thickness within the area used for transmission to minimize the effect of the radome to the
radiated antenna pattern.
Detailed information about the calculation and thickness for different cover materials can be found in the application note
“AN-03-Radome”.
Japan (MIC)
Japanese Radio Law and Japanese Telecommunications Business Law Compliance.
This device is granted pursuant to the Japanese Radio
Law (電波法).
This device should not be modified (otherwise the
granted designation number will become invalid)
R 202-LSI071
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 21 / 25
United States (FCC) and Canada (ISED)
This module has been granted modular approval for
fixed and/or mobile applications. The modular approval allows the end user to integrate the module into
a finished product without obtaining subsequent and
separate FCC/ISED approvals for intentional radiation,
provided no changes or modifications are made to
the module circuitry. Changes or modifications could
void the user’s authority to operate the equipment.
The end user must comply with all of the instructions
provided by the Grantee, which indicate installation
and/or operating conditions necessary for compliance. The finished product is required to comply with
all applicable FCC/ISED equipment authorizations
regulations, requirements and equipment functions
not associated with the transmitter module portion.
Labelling and user information
requirements
If the label of the module is not visible from the outside of the end product, it must include the following
texts on the label of the host product:
FCC Contains FCC ID: 2ASYV-K-LD2
ISED Contains IC: 24358-KLD2
Modification to this product will void the
users’ authority to operate this equipment.
The OEM integrator is responsible for the final compliance of the end product with this
integrated modular approved transmitter
module. This includes measurements with
the RF module integrated and activated as
defined in KDB 996369 and if applicable
appropriate equipment authorizations as defined in §15.101.
RF Exposure
This module is approved for installation into fixed and/
or mobile host platforms and must not be co-located
or operating in conjunction with any other antenna or
transmitter except in accordance with FCC/ISED multi-transmitter guidelines. End users must be provided
with transmitter operating conditions for satisfying RF
Exposure compliance.
In addition to marking the product with the appropriate ID’s, the end product shall bear the following
statement in a conspicuous location on the label or
alternatively in the user manual:
This device complies with Part 15 of the FCC Rules
and with Industry Canada licence-exempt RSS
standard(s). Operation is subject to the following
two conditions: (1) this device may not cause
harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio
exempts de licence. L'exploitation est autorisée
aux deux conditions suivantes: (1) l'appareil ne
doit pas produire de brouillage, et (2) l'appareil doit
accepter tout brouillage radioélectrique subi, même
si le brouillage est susceptible d'en compromettre
le fonctionnement.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 22 / 25
Europe (CE-RED)
This module is a Radio Equipment Directive assessed
radio module that is CE complaint and have been
manufactured and tested with the intention of being
integrated into a final product.
According to the RED every final product that includes a radio module is also a radio product which falls
under the scope of the RED. This means that OEM
and host manufacturers are ultimately responsible for
the compliance of the host and the module. The final
product must be reassessed against all of the essential requirements of the RED before it can be placed on
the EU market. This includes reassessing the module
for compliance against the following RED articles:
– Article 3.1( a ) : Health and safety
– Article 3.1( b ) : Electromagnetic compatibility ( EMC )
– Article 3.2 :
Efficient use of radio spectrum ( RF )
The RED knows different conformity assessment
procedures to show compliance against the essential
requirements (See RED Guide, chapter 2.6b). As long
as the radio module can show compliance to Article
3.2 by the use of a harmonized standard, which is
listed in the official journal of the EU (OJEU), it is not
necessary to do an EU type examination for the final
radio product by a notified body. In this case it is
possible to demonstrate conformity according to the
essential requirements of the RED by using Module A
(Annex II of the RED), which allows to show conformity by internal production control.
An OEM integrator can show compliance to article
3.1(a) and 3.1(b) for the final product by doing internal
or external tests and following the Module A (Annex II
of the RED) assessment procedure. To show compliance against article 3.2 it is possible to reuse the
assessment of the K-LD2 as long as it is the only radio module in the final product or if the integrator can
guarantee that only one radio module is operating at
the same time. Test reports of the K-LD2 are available
on request.
The ETSI guide EG 203 367 provides detailed guidance on the application of harmonized standards to multi-radio and combined
equipment to demonstrate conformity.
RF Exposure Information (MPE)
This device has been tested and meets applicable
limits for Radio Frequency (RF) exposure. A detailed
calculation to show compliance to the RED Article
3.1(a) is available on request.
Simplified DoC Statement
Hereby, RFbeam Microwave GmbH declares that the
radio equipment type K-LD2 is in compliance with
Directive 2014/53/EU. The declaration of conformity
may be consulted at www.rfbeam.ch.
As long as a harmonized standard listed in
the OJEU can be used to demonstrate conformity in accordance with Article 3.2 of the
RED, it is possible to carry out the CE certification in self-declaration without the involvement of a notified body.
The K-LD2 shows compliance against the Article 3.2
by the use of the standard EN 300 440 which is a
harmonized standard listed in the OJEU, what gives
the possibility to show conformity by internal production control.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 23 / 25
We reserve all rights in this document and its subject matter.
The recipient herby acknowledges these rights and assures the use of
document only for the purpose it was delivered. © RFbeam Microwa
Dieses Dokument ist unser geistiges Eigentum. Es darf ohne unsere ausdrückliche Genehmigung
weder kopiert, vervielfältigt oder verwertet, noch an Dritte weitergegeben werden. Zuwiderhandlung
ist strafbar und wird strafrechtlich verfolgt.
Copyright reserved!
© RFbeam Microwave
OUTLINE DIMENSIONS
5
4
6
Figure 14: Outline dimensions in millimeter
3.90
1.60
A
3
2
1
25.00 ±0.1
3.61
2.40
2.55 ±0.15
7x2.54
8.64 ±0.25
2.30 ±0.15
Pin 1
20.20 ±0.1
B
25.00 ±0.1
Pin 1
20.20 ±0.1
6.00 ±0.1
0.75 ±0.1
C
O R D E R I N F O R M AT I O N
Project XX
YY
Object
The ordering number consists of different parts with
the structure below.
RFbeam Microwave
Farbgutstrasse 3
9008 St. Gallen
Switzerland
XX
YY
Material
Scale
Surface
2:1
Tolerance
D
State
Figure 15: Ordering number structure
Index
Drawing Nr.
Format
Prepared
Product
1
= K-LD2
–
Customer
2
= RFB
for standard
products
–
Reviewed
3
HW variant
Supply
4
= 00
for standard variant
=H
for 3.3V … 5V version
–
5
SW variant
= 02
for standard
variant
Table 18: Available ordering numbers
Ordering number
Description
K-LD2-RFB-00H-02
Standard K-LD2 with default configuration,
without PC software
K-LD2-EVAL-RFB-01H
Standard K-LD2 evaluation kit with powerful
PC software
It is possible to order K-LD2 sensors with
a preprogramed custom configuration. Contact RFbeam Microwave for more information.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 24 / 25
A4
Blatt / Anz.
1/1
Plotdate: 31.05.2017
REVISION HISTORY
06/2017 – Revision A: Initial Version
09/2018 – Revision B: Changes to Figure 2: Antenna characteristic
Changes to Figure 15: Ordering number structure
Changes to Table 18: Available ordering numbers
Added Table of Contents and changed the title format
02 / 2020 – Revision C: Changed Supply current to RMS and peak current
Added relative humidity to the operating conditions
Changed the frequency drift and typical output power
Added ESD level information
Added new chapter integrators information
12/2020 - Revision D: Added information for Japan certification
Change of chapter Mechanical enclosure
RFbeam does not assume any responsibility for use of any circuitry described, no circuit patent licenses are implied and RFbeam reserves
the right at any time without notice to change said circuitry and specifications.
©
RFbeam
Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.
Gallen | www.rfbeam.ch | K-LD
2 | data sheet
12 / 2020 – Revision D | Page 25 / 25
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