Data Sheet

The table below lists the commands, including address and CRC-8, that can be sent to the
sensor:
Command Name
Command Description
Command
Distance Print
The sensor outputs 64 distance values
0x00 11 02 4C
Distance Ambient
Print 
(Default)
The sensor outputs 64 distance values
and 64 ambient values
0x00 11 03 4B
Close Range Mode
(Default)
The sensor takes 2 subsequent
frames at different light modulation
frequencies and builds the final image
by picking the best pixels of the 2
frames. This provides distance
readings starting from 0.1 to 5m at a
reduced sampling rate.
0x00 21 01 BC
Fast Mode
If performance is driven by the reading
speed, the sensor can be set to work
in this mode. In Fast mode, obtain
distance values from 0.5 to 5m.
0x00 21 02 B5
Deactivate VCP
Output
Deactivate USB VCP Output
0x00 52 02 00 D8
Activate VCP Output
Activate USB VCP Output
0x00 52 02 01 DF
NB: Each command MUST be transmitted in a continuous stream ie. not byte by byte.
The TeraRanger Evo 64px will reply to the above commands with a four byte response. The
third byte of the response will contain either an ACK (0x00) or a NACK (0xFF) to indicate if
the sensor has acknowledged or not acknowledged the command. In the case of the UART
interface, the sensor will tolerate moderate buffer overruns but it is advisable to always wait
for a command reply before sending a new command.
5.4UART / USB output format
The TeraRanger Evo 64px by default outputs Distance and Ambient data. When
connected via UART, the sensor will immediately start outputting data on startup. However
when connected via USB, it is necessary to send the ACTIVATE USB OUTPUT
command as shown in commands table in section 5.3.
Copyright © Terabee 2018
Terabee, 90 Rue Henri Fabre
01630, St Genis-Pouilly, France (next to CERN)
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