TOF MINIS Range Sensor
| SKU | Product |
|---|---|
| 35108 | TOF MINIS Range Sensor |
Features
This laser ranging module is based on a D-TOF single-point laser sensor, with a built-in MCU and housed in a compact enclosure. It supports sunlight rejection and dirt compensation algorithms to measure target distance. With optical collimation design, it can measure distances to various targets under ambient light up to 100K Lux.
Disclaimer
The TOF MINIS Range Sensor series is not authorized for use in safety-critical applications where failure could impact personal safety (e.g., life support). In such applications, failure of the TOF MINIS Range Sensor series could cause severe personal injury or death. The Customers who use or sell the TOF MINIS Range Sensor series products in such a manner do so entirely at their risk and agree to fully indemnify Waveshare and its representatives against any damages arising out of the use of TOF MINIS Range Sensor series products in such safety-critical applications.
The TOF MINIS Range Sensor series provided by Waveshare has obtained EU laser product certification. Before using or selling these products, verify whether these certifications apply in your region. Products incorporating the TOF MINIS Range Sensor series must obtain approval from the relevant authorities in accordance with local laser product regulations before being sold in that region.
Applications
- Distance detection for smart devices
- Robot obstacle avoidance
- Drone altitude measurement
- Liquid level detection
- Industrial automation ranging
Working Principle
TOF is an absolute distance detection technology. The sensor emits modulated near-infrared light, which reflects off objects. The sensor calculates the time difference or phase difference between emission and reflection, converts it into target distance, and generates depth information. TOF is commonly used in people proximity detection, robot obstacle avoidance, camera autofocus, and similar scenarios.
Specifications
| Parameter | TOF MINIS Range Sensor |
|---|---|
| Typical ranging range | 0.02 m - 5 m |
| Field of view (FOV) | 1.48° |
| Refresh rate | 30 Hz (Batch customization supported, maximum up to 90 Hz) |
| Ambient light immunity | 100K Lux |
| Operating temperature | -20°C - +70°C |
| Operating humidity | 35% - 80%RH |
| Laser safety class | LASER CLASS 1 (IEC 60825-1: 2014) |
| Protection rating | IP68 |
| Wavelength | 940 nm |
| Communication Interface | RS485 |
| Baud rate | 115200 |
| Supply voltage | 4 V - 5.6 V |
| Power consumption | 100 mW - 140 mW |
| Average current / Peak current | 25 mA / 26 mA |
| Product weight | Approx. 15.8 g |
| Housing material | PC |
| Storage temperature | -40℃ - +80℃ |
| Product dimensions | Diameter 29.5 mm, Height 18.00 mm, Cable length 60 cm |
Pinout
| Pin | ID | Description |
|---|---|---|
| 1 | VCC | Power positive |
| 2 | GND | Power ground |
| 3 | B- | RS485 B |
| 4 | A+ | RS485 A |
Protocol Analysis
Click to expand
RS485 Communication
This product uses RS485 communication for data transfer, with the Modbus RTU slave protocol.
Default serial configuration:
| Parameter | Value |
|---|---|
| Data bits | 8 bit |
| Stop Bits | 1 bit |
| Parity | None |
| Baud rate | 115200 bps |
Register Description
| Register Address | Type | Data Name | Description |
|---|---|---|---|
| 00 | Holding Register (RW) | Distance | Unit: mm |
| 01 | Holding Register (RW) | Confidence | Range: 0 - 100 |
| 02 | Holding Register (RW) | Address | Slave device address |
Communication Examples
Read Distance
Request frame: 01 03 00 00 00 01 84 0A
Response frame: 01 03 02 03 6D 79 59
- Read register
00from slave0x01in a single read. - Distance value is
03 6D, big-endian. - Distance =
0x03 << 8 | 0x6D = 877mm.
Read Confidence
Request frame: 01 03 00 01 00 01 D5 CA
Response frame: 01 03 02 00 64 B9 AF
- Read register
01from slave0x01in a single read. - Confidence value is
00 64, big-endian. - Confidence =
0x64 = 100.
Write Address
Request frame: 03 06 00 02 00 01 E8 28
Response frame: 03 06 00 02 00 01 E8 28
- Change register
02of slave0x03to01. - The device will restart after the address is changed.
Read Multiple Registers
Request frame: 01 03 00 00 00 02 C4 0B
Response frame: 01 03 04 0C 62 00 64 59 56
- Slave
0x01reads 2 consecutive registers starting from register00. - Register
00value is0C 62, distance =3170mm. - Register
01value is00 64, confidence =100.
Precautions
- The default frame rate is 30 Hz; firmware upgrade is required for rates above 30 Hz.
- The default slave address is
0x01. It can be changed following the register usage examples above. - This product has no overvoltage or reverse polarity protection. Verify wiring and voltage range before connection.
Quick Test
-
Use the test software Serial Debug Assistant together with the USB TO TTL (B) for quick viewing of serial output.
-
Test Preparation
- Windows computer
- USB TO TTL (B) 1 PCS
- TOF MINIS Range Sensor 1 PCS
- Matching cables
-
Hardware Connection
-
Connect as shown in the figure below.
-
-
Start testing
- After connecting the hardware as shown above, open the corresponding software, select the appropriate port, then click OPEN and then Start Polling. Observe the data under Values to see if they match the measurement result:
