Installation and Operation Manual Version 1.0.0, June 2016 Firmware 5.0.1 Technical Specifications: Principle: Infrared Time‐of‐Flight (ToF) Range: Up to 14m indoors (At least 5 to 6m in sunlight) Update rate: 1000Hz in fast mode (Up to 600Hz in precision mode) Range resolution: 0.5cm Accuracy: ± 4cm in precision mode Field of view: 3º Supply voltage: 10V DC recommended (10 to 20V DC accepted) Supply current: 50mA average (110mA peak @12V) Interfaces: 1.
Copyright © Terabee 2016 Safety Notes The TeraRanger One is eyesafe in all conditions, including system failure. However, please keep a minimum of 20cm distance from your eyes when handling the sensor under power and do not look into the LEDs with any kind of optical instruments. Table of Contents 1 2 3 5 6 7 8 About the TeraRanger One 1.1 Inside the Package 1.2 USB adapter 1.3 Dimensions and Mounting 1.4 About the Connector 1.5 UART Data Interface 1.6 TWI (I2C) Data Interface 1.7 USB Interface 1.
Copyright © Terabee 2016 1 About the TeraRanger One 1.1 Inside the Package You will receive the following items when purchasing a TeraRanger One: ● ● 1.2 a fully assembled and calibrated sensor a connector cable with open ends that can be soldered to your device USB adapter An optional USB adapter is available for simple plug & play connection to a PC or Mac. The USB adapter provides power to the sensor and data transfer to and from the sensor.
Copyright © Terabee 2016 1.3 Dimensions and Mounting The TeraRanger One provides three mounting holes, which are designed for M2.5 screws. The individual distances between the holes are shown in the following figure which is valid for all designs of the yellow outer plastic part.
Copyright © Terabee 2016 Note: ● Once connected, DF13 connectors are very reliable and are perfect for robotics and drone environments where vibrations are common. However, these connectors are not made for infinite plugging and unplugging. If you need to plug and unplug the sensors frequently, consider adding a more suitable connector inline. ● Please do not apply shear forces to the connector when pushing it in the socket.
Copyright © Terabee 2016 3.3V voltage levels, you need to use a voltage level translator. An I2C adapter for reliable voltageleveltranslation is available from our website at: http://www.teraranger.com/product/terarangeri2cadapter/ . In addition you have the option to purchase the TeraRanger Hub. This accessory board allows you to connect up to eight TeraRanger One sensors and read the data from the sensors via a single serial or USB link. See more at: http://www.teraranger.
Copyright © Terabee 2016 2 Connecting the TeraRanger One Using a Computer With a Serial Console Your TeraRanger One can interact with any serial console using the following configuration: 115200 bit/s, 8 data bits, no parity bit and one stop bit. 2.1 Windows In Windows you can use terminal emulation software like HTerm. If you do not already have terminal software you can download HTerm from this link: http://www.derhammer.
Copyright © Terabee 2016 “Type” box. If you want to change the sensor’s measurement mode, type “F” in the type box to select the “Fast” mode; type “P” for the “Precision” mode or type “O” for the “Optimal” mode (refer to section 5.1 for the description of the modes). In order to stop measurements simply press the disconnect button in HTerm and then unplug the USB cable. 2.
Copyright © Terabee 2016 name) The distance data will now appear on the terminal in “Binary” mode and will look like this: Press the commands Shift+T to switch from binary mode to “Text” mode. This will display the distance values in millimeters, as follows: To change the sensor from its fast mode to its precision mode, press: Shift+F for “Fast” mode Shift+P for “Precision” mode Shift+O for “Optimal” mode To stop the data measurement, press: Ctrl+A then K 2.
Copyright © Terabee 2016 Usually the name is /dev/ttyUSB0 but it can also be ttyUSB1, ttyUSB2, etc… In order to view the data stream from the teraranger, type* the following: screen /dev/ttyXXX 115200 (replace ttyXXX with the correct serial device like ttyUSB0) To see different operating modes, refer to the Mac OS section. The commands are the same. *Be aware that screen might not be installed in your Linux operating system, so you might need to install it.
Copyright © Terabee 2016 ** Remember to execute the daemon roscore before running the rosrun command and change the USB port to the appropriate one. 5 Protocol description The TeraRanger One can be read out and controlled via either UART or I2C. Even though both interfaces are activated in parallel, we recommend the use of only one interface at a time. Usage in parallel can lead to erroneous behaviour and is not supported by us.
Copyright © Terabee 2016 F Fast mode This mode ensures fixed measurement repetition rates and reaction times. This improvement comes at the expense of the reading accuracy and maximum range which is limited to 4.5m in this mode. The delay between two readings is 1ms. Sensor type B O Optimal (Precise mode for B type) The TeraRanger One adapts its internal parameters to provide the best available accuracy in sunlight conditions while providing high repetition rates.
Copyright © Terabee 2016 Note: measurements beyond 4.
Copyright © Terabee 2016 Reading the distance is done by sending 0x61 (this is the 7 bit address 0x30 followed by the read bit '1') followed by three byte read operations. The first two bytes you receive are a 16 bit word containing the latest measurement in mm, the third byte is the CRC8 checksum. Writing commands to the TeraRanger One: 1. Send the address byte consisting of a 7 bit base address and the last bit indicating write (‘0’), e.g. 0x60 for base address 0x30.
Copyright © Terabee 2016 In its default state, the TeraRanger One can be connected to the Pixhawk autopilot using the TeraRanger I2C adapter. Currently, Ardupilot firmware from 3.3.3 supports the TeraRanger One as a precision altimeter. You can find details on how to connect the TeraRanger One to your Pixhawk on http://ardupilot.org/copter/docs/commonterarangeronerangefinder.html .
Copyright © Terabee 2016 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 }; 8 Understanding the field of view TeraRanger One distance measurements are based on an infrared t
Copyright © Terabee 2016 90 Rue Henri Fabre 01630 St. Genis‐Pouilly France (next to CERN) Website: Technical support: Commercial: www.teraranger.com support@teraranger.com teraranger@terabee.
