Industrial Level sensor (1500cm=1.5m) IP65 Waterproof Ultrasonic Sensor +Code

Description

Introduction
This RUM12 from is the latest ultrasonic distance sensor designed for distance ranging or obstacle avoidance applications. The sensor offers up to 1500cm detection distance, 15° detection angle and built-in temperature compensation. It adopts RS485 communication interface and supports standard Modbus-RTU protocol, which is suitable for level measurement, robot obstacle avoidance and so on.
Specification
Operating Voltage: DC 9-24V
Rated Power: 4.8W
Effective Detection Range: 70 ~ 1500cm
Distance Resolution: 1cm
Distance Accuracy: 1%
Temperature Resolution: 0.1℃
Temperature Accuracy: ±1℃
Measuring Frequency: 3Hz
Operating Temperature: -10℃～＋70℃
Operating Humidity Range: RH<75%
Acoustics Frequency: 38~42KHz
Direction Angle: 15°±2°(-6dB)
IP Grade: IP65
Communication Interface: RS485
Board Overview
Wiring Order
Black (thick line)----Shielded cable
White------------------VCC
Black (thin line)------GND
Orange-----------------RS485-A
Brown------------------RS485-B
Register Description
Register Address
Number
Name
Read/Write
Data Range
Default Value
Data Description
0x00
1
Module PID Register
R
0x0000-0xFFFF
0x0001
Product check (Detect module type)
0x02
1
Module VID Register
R
0x0000-0xFFFF
0x0010
Version check (0x0010 represents V0.0.1.0)
0x02
1
Module Address Register
R/W
0x0001-0x00F7
0x000B
When the sensor address is unknown, write to the register through the broadcast address 0x00, at this time, the sensor will not have data output
0x03
1
Serial parameter control register 1
R/W
0x0000-0xFFFF
0x0005
Module Baudrate:
0x0001---2400
0x0003---9600
0x0004---14400
0x0005---19200
0x0006---38400
0x0007---57600
0x0008---115200
Other----115200
0x04
1
Serial parameter control register 2
R/W
0x0000-0xFFFF
0x0001
Module check bit H:  Stop bit L:
0x00---None     0x00---0.5byte
0x01---Even       0x01---1byte
0x02---Odd      0x02---1.5byte
other---none     0x03---2byte
Other---1byte
0x05
1
Distance register
R
0x0000-0xFFFF
0x0000
The distance value LSB measure by the module represents 1cm
0x06
1
Onboard temperature data register
R
0x0000-0xFFFF
0x0000
The temperature value measured by the onboard temperature sensor represents 0.1℃ （with unit symbol）
0x07
1
External temperature compensation data register
R/W
0x0000-0xFFFF
0x0000
LSB write ambient temperature data to this register for external temperature compensation represents 0.1℃ (with unit symbol)
0x08
1
Control register
R/W
0x0000-0xFFFF
0x0004
bit 1: 0
00-use onboard temperature compensation function
01-use external temperature compensation function(Users need to write temperature data to external temperature compensation data register)
1x-Not use temperature compensation function
bit 2:
0-auto detection
1-passive detection
bit 3:
In passive detection mode, write 1 to this bit, then it will measure distance once. The distance value can be read from distance register 300ms later. This bit is disabled in passive detection mode.
Register Read/Write
Hardware Connection
Read Measured Distance
Measure distance in passive ranging mode.
#include
#include
#define slave_addr   0x0b
#define TEMP_CONFIG_BIT       (0x03)
#define MEASURE_MODE_BIT      (0x01 << 2)
#define MEASURE_TRIG_BIT      (0x01 << 3)
typedef enum
{
PID,
VID,
SLAVE_ADDR,
COM_BAUDRATE,
COM_PARITY_STOP,
DISTANCE,
INTERNAL_TEMP,
EXTERN_TEMP,
CR
} regindex;
volatile uint16_t cr_t = 0;
uint16_t read_data(uint16_t addr_t, uint16_t reg)
{
uint16_t data_t;
if (!ModbusRTUClient.requestFrom(addr_t, HOLDING_REGISTERS, reg, 1))
{
Serial.print("failed to read registers! ");
Serial.println(ModbusRTUClient.lastError());
data_t = 0xffff;
}
else
{
data_t =  ModbusRTUClient.read();
}
return data_t;
}
uint16_t write_data(uint16_t addr_t, uint16_t reg, uint16_t data)
{
if (!ModbusRTUClient.holdingRegisterWrite(addr_t, reg, data))
{
Serial.print("Failed to write coil! ");
Serial.println(ModbusRTUClient.lastError());
return 0;
}
else
return 1;
}
void setup() {
ModbusRTUClient.begin(19200);
Serial.begin(9600);
cr_t |= MEASURE_MODE_BIT;// Set bit2
cr_t &= ~(uint16_t)TEMP_CONFIG_BIT;//internal temp compensation
write_data(slave_addr, CR, cr_t); //write CR
delay(100);
}
volatile  uint16_t dist_t;
void loop() {
cr_t |= MEASURE_TRIG_BIT;//Set bit3
write_data(slave_addr, CR, cr_t); //write CR
delay(300);// delay 300ms
dist_t = read_data(slave_addr,DISTANCE);
Serial.print("distance = ");
Serial.print(dist_t, 1);
Serial.println("cm");
}
Read Data from Onboard Temperature Sensor
#include
#include
#define slave_addr   0x0b
typedef enum
{
PID,
VID,
SLAVE_ADDR,
COM_BAUDRATE,
COM_PARITY_STOP,
DISTANCE,
INTERNAL_TEMP,
EXTERN_TEMP,
CR
} regindex;
uint16_t read_data(uint16_t addr_t, uint16_t reg)
{
uint16_t data_t;
if (!ModbusRTUClient.requestFrom(addr_t, HOLDING_REGISTERS, reg, 1))
{
Serial.print("failed to read registers! ");
Serial.println(ModbusRTUClient.lastError());
data_t = 0xffff;
}
else
{
data_t =  ModbusRTUClient.read();
}
return data_t;
}
uint16_t write_data(uint16_t addr_t, uint16_t reg, uint16_t data)
{
if (!ModbusRTUClient.holdingRegisterWrite(addr_t, reg, data))
{
Serial.print("Failed to write coil! ");
Serial.println(ModbusRTUClient.lastError());
return 0;
}
else
return 1;
}
void setup() {
Serial.begin(9600);
ModbusRTUClient.begin(19200);
}
volatile float temp;
void loop() {
temp =  read_data(slave_addr,INTERNAL_TEMP) / 10.0;
Serial.print("internal temp = ");
Serial.print(temp,1);
Serial.println("C");
delay(500);
}
Detetion Angle and Sensitivity
Normally, the detection area of an ultrasonic sensor is irregular and hard to define due to its physical characteristics. In actual use, we found that the detection area and sensitivity of this sensor may be larger than other ultrasonic sensors. Therefore, when the sensor is used in a narrow space, a non-target object may be detected.
We used two kinds of reference target obstacles to repeatedly test many sample products. The reference detection area of the corresponding target is as follows:
Detection area for 7.5cm PVC pipe
Detection area for 100x30cm plane plate