SEN0149

  URM06‐RS485 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 ~ ＋70 Detecting Angle: 15°（-6dB） Detecting Range: 20cm ~ 10m Size: 50mm(diameter)*43mm(length) Mounting Thread Diameter: 35mm Weight: 50g Applications      robot navigation obstacle avoidance measuring distance devices engineering measurement tools industrial control system Connection Diagram Connection Diagram Pin Definition     VCC: 6~12V@Max 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 55 Address Length Cmd Data SUM 11 N 01 Data1~DataN SUM AA 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 Instruction： Header----------------0x55 Header----------------0xAA Address---------------0x11 Length-----------------0x00 Read Distance-------0x02 Check Sum-----------0x12 Return Command：0x55 0xAA 0x11 0x02 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 Instruction： Header-----------------------0x55 Header-----------------------0xAA Address-----------------------0x11 Length------------------------0x00 Read Temperature----------0x03 Check Sum-------------------0x13 Return Command：0x55 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 255. As the real temperature is 10% of the output value, so it is 25.5 . 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 “1”. 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: http://arduino.cc/en/Reference/BitwiseXorNot 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 0x11 Instruction： Header-----------------------0x55 Header-----------------------0xAA Broadcast Address---------0xAB Length------------------------0x01 Address Setting CMD-----0x55 Target Address---------------0x11 Check Sum--------------------0x11 Return Command：0x55 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 Instruction： 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 Instruction： Header-----------------------0x55 Header-----------------------0xAA Address-----------------------0x11t Length------------------------0x00 Read value CMD-----------0x05 Check Sum-------------------0x15 Return Command：0x55 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 Instruction： Header-----------------------0x55 Header-----------------------0xAA Address----------------------0x11 Length------------------------0x01 Baudrate Setting CMD----0x08 Target baudrate-------------0x05 Check Sum--------------------0x1E Return Command：0x55 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 Set baudrate to 1200BPS 55 AA 11 01 08 01 1A Set baudrate to 2400BPS 55 AA 11 01 08 02 1B Set baudrate to 4800BPS 55 AA 11 01 08 03 1C Set baudrate to 9600BPS 55 AA 11 01 08 04 1D Set baudrate to 14400BPS 55 AA 11 01 08 05 1E Set baudrate to 19200BPS 55 AA 11 01 08 06 1F Set baudrate to 28800BPS 55 AA 11 01 08 07 20 Set baudrate to 38400BPS 55 AA 11 01 08 08 21 Set baudrate to 57600BPS 55 AA 11 01 08 09 22 Set baudrate to 115200BPS 55 AA 11 01 08 0A 23 Set baudrate to 128000BPS 55 AA 11 01 08 0B 24 Set baudrate to 256000BPS Sample Code Please download the Library in the Document Section First #include "Arduino.h" // Include application, user and local libraries #include "URM_RS485.h" #define Rs485TriggerPin 2 is output or input //the pin to select whether the RS485 #define DefaultBaudrate 19200UL 485 //the Default Baudrate for the Urm06_ #define DefaultAddress 0x11 85 //the Default Address for the Urm06_4 #define DefaultMaxDistance (-1) //the Default Max Distance for the Ur m06_485. "-1" means there is no Max Distance limitation. Set the Max Distance can limit the Distance range and speed up the detection. #define CustomizedTimeOutDuration 500 in "ms" unit //Time Out Duration can be Customized // Define variables and constants URM_RS485 urm(Serial,Rs485TriggerPin); ation with Urm_485 sensor //select the Serial port for communic void onTimeOut() { //If there is no reply from Urm_485 lasting for 1 second, this function wil l run. The time duration can be Customized //TODO write your code here: Serial.println("onTimeOut"); } void onRequestDistance(byte theAddress, int theDistance) { //If received Distance reply, this function will run. //theDistance is in "mm" unit //TODO write your code here: Serial.print("Address:"); Serial.println(theAddress); Serial.print("Distance:"); Serial.print(theDistance); Serial.println("mm"); } void onRequestTemperature(byte theAddress, float theTemperature) { //If received Temperature reply, this function will run. //theTemperature is in "°C" unit //TODO write your code here: Serial.print("Address:"); Serial.println(theAddress); Serial.print("Temperature:"); Serial.print(theTemperature); Serial.println(" C"); } void onRequestMaxDistance(byte theAddress, int theMaxDistance) { //If received Max Distance reply, this function will run. //theMaxDistance is in "mm" unit //TODO write your code here: Serial.print("Address:"); Serial.println(theAddress); Serial.print("MaxDistance:"); Serial.print(theMaxDistance); Serial.println("mm"); } void onSetMaxDistance(byte theAddress, boolean isOperationSuccess) { //After setting the Max Distance and getting a reply, this function will ru n. //Set the Max Distance can limit the Distance range and speed up the detect ion. //TODO write your code here: Serial.print("Address:"); Serial.println(theAddress); Serial.print("SetMaxDistance:"); if (isOperationSuccess) { Serial.println("Success"); } else{ Serial.println("Failure"); } } void onSetBaudrate(byte theAddress, boolean isOperationSuccess) { //After setting the Baudrate and getting a reply, this function will run. //TODO write your code here: Serial.print("Address:"); Serial.println(theAddress); Serial.print("SetBaudrate:"); if (isOperationSuccess) { Serial.println("Success"); } else{ Serial.println("Failure"); } } void onSetAddress(byte theAddress, boolean isOperationSuccess) { //After setting the Address and getting a reply, this function will run. //TODO write your code here: Serial.print("Address:"); Serial.println(theAddress); Serial.print("SetAddress:"); if (isOperationSuccess) { Serial.println("Success"); } else{ Serial.println("Failure"); } } void onWrongStack() { //If received wrong command, this function will run. //TODO write your code here: Serial.println("WrongStack"); } //Run the proper function based on the different kinds of states void commandProcess() { if (urm.available()) { switch (urm.callBackState) { case URM_RS485::OnTimeOut: onTimeOut(); break; case URM_RS485::OnRequestDistance: onRequestDistance(urm.receivedAddress, urm.receivedContent); break; case URM_RS485::OnRequestTemperature: onRequestTemperature(urm.receivedAddress, urm.receivedContent/10.0); break; case URM_RS485::OnRequestMaxDistance: onRequestMaxDistance(urm.receivedAddress, urm.receivedContent); break; case URM_RS485::OnSetMaxDistance: onSetMaxDistance(urm.receivedAddress, urm.receivedContent); break; case URM_RS485::OnSetBaudrate: onSetBaudrate(urm.receivedAddress, urm.receivedContent); break; case URM_RS485::OnSetAddress: onSetAddress(urm.receivedAddress, urm.receivedContent); break; case URM_RS485::OnWrongStack: onWrongStack(); break; default: break; } } } // Add setup code void setup() { urm.begin(DefaultBaudrate); } // Add loop code void loop() { commandProcess(); static unsigned long sendingTimer=millis(); if (millis()-sendingTimer>=1000) { sendingTimer=millis(); //Each function below from URM_RS485 returns the state whether RS485 Bus is busy or not. //If the Bus is busy, wait until the bus is released. while(!urm.requestDistance(DefaultAddress)) { commandProcess(); } // // while(!urm.requestTemperature(DefaultAddress)) { // // commandProcess(); } // // while(!urm.requestMaxDistance(DefaultAddress)) { // // commandProcess(); } // // while(!urm.setAddress(DefaultAddress)) { // // commandProcess(); } // // while(!urm.setBaudrate(DefaultAddress, DefaultBaudrate)) { // // commandProcess(); } // // while(!urm.setMaxDistance(DefaultAddress, DefaultMaxDistance)) { // // commandProcess(); } // //Time Out Duration can be Customized // { while(!urm.requestDistance(DefaultAddress, CustomizedTimeOutDuration)) // // commandProcess(); } // // )) { while(!urm.requestTemperature(DefaultAddress, CustomizedTimeOutDuration // // commandProcess(); } // // )) { while(!urm.requestMaxDistance(DefaultAddress, CustomizedTimeOutDuration // // commandProcess(); } // // while(!urm.setAddress(DefaultAddress, CustomizedTimeOutDuration)) { // // commandProcess(); } // // while(!urm.setBaudrate(DefaultAddress, DefaultBaudrate, CustomizedTimeO utDuration)) { // // commandProcess(); } // // while(!urm.setMaxDistance(DefaultAddress, DefaultMaxDistance, Customize dTimeOutDuration)) { // // commandProcess(); } } } https://www.dfrobot.com/wiki/index.php/URM06-RS485_Ultrasonic_SKU:SEN0149 6-1-17