User Manual

www.YeRobot.com
URM04V2.0 Ultrasonic Ragner Sensor
None
PS: Trigger one measure. The distance data will be available after 30ms. This
command do not return any data. The distance data is stored in the buffer, and the
Read Distance command can be applied to get this distance data.
Example:
Command
0x55 0xaa 0x00 0x01 0x00
Return:
None
3. Read Distance
Command:
Header
Address
Length
Cmd
SUM
55
aa
ADD
0
02
SUM
Return Value：
Header
Address
Length
Cmd
High Byte
Low Byte
SUM
55
aa
ADD
2
02
H
L
SUM
PS: The command will return the measured distance value. The value consists of two
bytes. If the measurment is out of range or unsucessful, the return data will be
“0xFF(H) 0xFF(L)”.
Example:
Command
0x55 0xaa 0x11 0x00 0x02 0x12(SUM)
Return:
0x55 0xaa 0x11 0x02 0x02 0x01 0x0A 0x11 (Distance is 266 cm)
0x55 0xaa 0x11 0x02 0x02 0xFF 0xFF 0x1F (Out of Range)
4. Read tempeature
Command：
Header
Address
Length
Cmd
SUM
55
aa
ADD
0
03
SUM
Return Value：
Header
Address
Length
Cmd
High Byte
Low Byte
SUM