XL-TrashSonar™-WR™ Series Datasheet by DFRobot

Page 1

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

XL-TrashSonar™-WR™ Series

IP67 Weather Resistant, Ultrasonic Trash Sensor

MB7137, MB7138, MB71393

Features

• Real-time auto calibration and noise

rejection

• High acoustic power output

• Precise narrow beam

• Object detection includes zero range

objects

• 3V to 5.5V supply with very low

average current draw

• Free run operation can continually

measure and output range

information

• Triggered operation provides the

range reading as desired

• All interfaces are active

simultaneously

• RS232 Serial, 0 to Vcc, 9600 Baud,

81N (MB7138, MB7139)

• I2C Bus operates up to 400KHz with

clock stretching (MB7137)

• Analog, (Vcc/1024) / cm (MB7138,

MB7139)

• Sensor operates at 42KHz

Benefits

• Acoustic and electric noise

resistance

• Reliable and stable range data

• Robust, low cost IP67 standard

sensor

• Narrow beam characteristics

• Very low power excellent for battery

based systems

• Ranging can be triggered externally

or internally

• Sensor reports the range reading

directly, frees up user processor

• Easy hole mounting or mating with

standard electrical fittings

• Filtering allows very reliable

operation in most environments

Applications & Uses

• Tank level measurement

• Bin level measurement

• Trash level measurement

• Environments with acoustic and

electrical noise

• Distance measuring

• Long range object detection

• Industrial sensor

• -40C to +65C operation1

Notes:

1Please reference page 15 for minimum operating

voltage verses temperature information.

2Minimum distance is 25cm for the MB7138 pipe

and compact only.

3 Please reference page 20 for part number key.

The XL-TrashSonar-WR sensor series provide users with robust range

information in air. These sensors also feature high-power acoustic output along

with real-time auto calibration for changing conditions (supply voltage sag,

acoustic noise, or electrical noise), operation with supply voltage from 3.0V to

5.5V, object detection from 0-cm to 350-cm, and sonar range information from

20-cm out to 350-cm with 1-cm resolution. Objects from 0-cm to 20-cm typically

range as 20-cm. (25cm for the MB7138 Pipe and Compact only2 ) The sensor is housed in a

robust PVC housing, designed to meet the IP67 water intrusion standard. This sensor line is available in the

following package types — 3/4” PVC threading, 1” NPS pipe threading, 1” BSPP pipe threading, and 30mm

1.5 pipe threading. The user interface formats included are pulse-width, analog voltage output, RS232 serial

output, and I2C (MB7137).

Close Range Operation

Applications requiring 100% reading-to-reading reliability should not use MaxSonar sensors at a distance closer than

20cm. Although most users find MaxSonar sensors to work reliably from 0 to 20cm for detecting objects in many

applications, MaxBotix™ Inc. does not guarantee operational reliability for objects closer than the minimum reported

distance. Because of ultrasonic physics, these sensors are unable to achieve 100% reliability at close distances.

25cm for the MB7138 pipe and compact only 2

_______________________________________________________________________________________________________________________________________

Warning: Personal Safety Applications

We do not recommend or endorse this product be used as a component in any personal safety applications. This product is

not designed, intended or authorized for such use. These sensors and controls do not include the self-checking redundant

circuitry needed for such use. Such unauthorized use may create a failure of the MaxBotix™ Inc. product which may result

in personal injury or death. MaxBotix™ Inc. will not be held liable for unauthorized use of this component.

www maxtmux cam

Page 2

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7137 Pinout

For I2C information please skip to page 12

Pin 1 - Temporary Default: This pin is internally pulled high. On power up, the state of this pin is checked. If the pin is

left high or disconnected the sensor will use the address stored in memory for I2C communication. If pulled low, the

sensor will use its default address for the current power cycle.

Pin 2 - Address Announce / Status: While the sensor is performing a range reading. During non-ranging operation, this

pin is held low and the sensor is listening for incoming I2C communication. Operationally, users may poll this pin to

determine if the sensor has finished its ranging cycle and is ready to report the latest range information.

During power-up this pin will provide a pulse width representation of the sensor’s current address with a length of ~100

microseconds per digit. (The default address of 224 will announce with a pulse of 22,400 microseconds in length)

Pin 3 - Not Used: This pin is not used.

Pin 4 - SDA (I2C Data): This is the data line for I2C communications. These sensors operate as I2C slave devices.

Pin 5 - SCL (I2C Clock): This is the clock line for I2C communications. These sensors support I2C clock frequencies up

to 400KHz provided clock stretching is supported by the master devices. Without clock stretching the devices can run at

speeds up to 50KHz.

V+ Operates on 3V - 5.5V. The average (and peak) current draw for 3.3V operation is 2.7mA (50mA peak) and 5V

operation is 4.4mA (100mA peak) respectively. Peak current is used during sonar pulse transmit. Please reference page 15

for minimum operating voltage verses temperature information.

GND: Return for the DC power supply. GND (& V+) must be ripple and noise free for best operation.

_______________________________________________________________________________________________________________________________________

MB7138 & MB7139 Pinout

Pin 1 - BW: Leave open (or high) for serial output on the Pin 5 output. When Pin 1 is held low the Pin 5 output sends a

pulse (instead of serial data), suitable for low noise chaining.

Pin 2 - PW: This pin outputs a pulse-width representation of range. To calculate the distance, use a scale factor of 58uS

per cm.

Pin 3 - AN: This pin outputs analog voltage with a scaling factor of (Vcc/1024) per cm. A supply of 5V yields ~4.9mV/

cm., and 3.3V yields ~3.2mV/cm. The output is buffered and corresponds to the most recent range data.

Pin 4 - RX: This pin is internally pulled high. If Pin-4 is left unconnected or held high, the sensor will continually

measure the range. If Pin-4 is held low the sensor will stop ranging. Bring high 20uS or more to command a range

reading.

Pin 5 - TX: When Pin 1 is open or held high, the Pin 5 output delivers asynchronous serial data in an RS232 format,

except the voltages are 0-Vcc. The output is an ASCII capital “R”, followed by ASCII character digits representing the

range in centimeters up to a maximum of 350, followed by a carriage return (ASCII 13). The baud rate is 9600, 8 bits, no

parity, with one stop bit. Although the voltages of 0V to Vcc are outside the RS232 standard, most RS232 devices have

sufficient margin to read the 0V to Vcc serial data. If standard voltage level RS232 is desired, invert, and connect an

RS232 converter such as a MAX232.When Pin 1 is held low, the Pin 5 output sends a single pulse, suitable for low noise

chaining (no serial data).

V+ Operates on 3V - 5.5V. The average (and peak) current draw for 3.3V operation is 2.1mA (50mA peak) and 5V

operation is 3.4mA (100mA peak) respectively. Peak current is used during sonar pulse transmit. Please reference page 15

for minimum operating voltage verses temperature information.

GND-Return for the DC power supply. GND (& V+) must be ripple and noise free for best operation.

_______________________________________________________________________________________________________________________________________

About Ultrasonic Sensors

Our ultrasonic sensors are designed for use in air, non-contact object detection and ranging sensors that detect objects

within a defined area. These sensors are not affected by the color or other visual characteristics of the detected object.

Ultrasonic sensors use high frequency sound to detect and localize objects in a variety of environments. Ultrasonic sensors

measure the time of flight for sound that has been transmitted to and reflected back from nearby objects. Based upon the

time of flight, the sensor then outputs a range reading.

www maxtmux cam

Page 3

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Supply Voltage Compensation

During power up, the XL-TrashSonar-WR sensor line will calibrate itself for the supply voltage. Additionally, the sensor

will compensate if the supplied voltage gradually changes.

If the average voltage applied to the sensor changes faster than 0.5V per second, it is best to remove and reapply power to

the sensor.

For best operation, the sensor requires noise free power. If the sensor is used with noise on the supplied power or ground,

the accuracy of the readings may be affected. Typically, adding a 100uF capacitor at the sensor between the V+ and GND

pins will correct most power related electrical noise issues.

_______________________________________________________________________________________________________________________________________

MB7139

The MB7139 is the base model of the XL-TrashSonar-WR sensor line. This sensor is recommended for general purpose

use. The additional features are mentioned below.

The MB7139 reports the range to the first detectable target. Unless the target is barely detectable, this sensor will have a

very stable output. If a smaller object is in front of the target, the sensor may report the range to the object depending on

the object’s size and position.

_______________________________________________________________________________________________________________________________________

MB7137

The MB7137 communicates using the I2C bus protocol. This sensor reports the range to the first detectable target in

real-time. This sensor is capable of outputting new range readings with speeds up to 40Hz if the status pin is being

monitored. The recommended refresh rate is 10Hz or slower.

_______________________________________________________________________________________________________________________________________

MB7138

The XL-TrashSonar-WRM sensors prioritize large targets over both small targets and noise. These sensors report the

target that gives the largest acoustic reflection. This stands in contrast to other units such as the MB7139 which are

designed to report the distance to the first detectable target. If the largest target is removed from the field of view, the

MB7138 will switch to the target that gives the next largest detectable return. 25cm for the MB7138 pipe and compact only 2

The XL-TrashSonar-WRM sensors are designed for applications where users are concerned with ranging the distance to

flat targets (such as water and fuel tanks).

When targets are of similar amplitude reflections, preference is given to the closer target. The sensor expects to see a

target by 3.5 meters. If no target is found, the sensor will increase in sensitivity until a target is found, or until no targets

can be found.

In addition to the most-likely filtering, the MB7052 and MB7092 come equipped with a three-reading filter and reading

hold which requires three consecutive range readings within 1cm of the most recent reading to be considered a valid range

reading. If readings are found to be outside 1cm, or no target can be found by the sensor, then the sensor will report the

last valid range reading. Upon power-up the sensor will default to reporting 3.5 meters unit a valid range reading is found.

The last reading hold is designed for users operating in environments with intermittent high noise who desire to poll the

MB7138 at intermittent times. This allows the sensor to report the previously valid reading until the sensor’s environment

improves. If no valid range reading is found for ~1.5 hours, the sensor will send a fail-safe output “000” on all interfaces.

9:0;

Page 4

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Sensor Integration

The XL-TrashSonar-WR sensors are designed to be mounted at the top of a trash receptacle near the center. For best

operation, it is recommended that end users conduct filtering of the sensor data to achieve the most reliable results.

Filtering Examples

• History Filter — Verifies the reading is accurate when compared to the previous ranges.

• Mode Filter — Output the sensor’s reported range that is shown the most.

• Median filter — Output the reported range that is in the center of a range set.

Sensor Mounting

Trash bins that are lined with plastic bags may detect false reflections if there is air trapped behind the plastic bag.

If the sensor is mounted in a trash bin with stepping sides that get narrower from top down, shown in Diagram 1, the

sensor will typically not range properly to the trash. In this installation the sensor may report the range to the highest side

step.

For trash bins with internal side braces, shown in Diagram 2, the sensor will not report the range past the internal brace.

Like the side steps, this brace creates an ultrasonic echo that the sensor may report the range to.

For installations with that get wider from the top of the bin to the base, shown in Diagram 3, the sensor will typically

report the trash level properly. Testing is recommended for this configuration if side steps get dramatically wider as they

may be detected by the XL-TrashSonar-WR.

Diagram 4 shows the ideal sensor mounting for the XL-TrashSonar-WR sensor line. It is recommended that the sensor is

mounted in a trash bin with smooth sides. This either eliminates or dramatically reduces the secondary reflections that

may return to the sensor.

As the bin increases in size, the less likely the installation is going to detect unwanted objects and noise.

Testing is recommended for any sensor mounting method and bin size.

Diagram 1 Diagram 2

In both of these configurations

the sensor will range to the first

indentation in the trash bin. The

indentation creates a large

detectable reflection.

Diagram 4

In this configuration

the sensor typically

operates properly. This

is the recommended

mounting method.

Diagram 3

This configuration

typically operates

properly.

1ft

min.

2in

max.

-r : Ml! A . B 2.00" 50.7 mm C 0.58" 14.4 mm D 0.31" 7.9 mm E 0.23" 5.8 mm F 0.10" 2.54 mm H 1.032” 26.2 mm . I 1.37" 34.8 mm www.mathix.com

Page 5

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Sensor Minimum Distance

The XL-TrashSonar-WR sensors have a minimum reported distance of 20-cm (7.87 inches). However, the

XL-TrashSonar-WR will range and report targets to the front sensor face. Large targets closer than 20-cm will typically

range as 20-cm. For the alternative housings, objects between 4-cm and 25-cm will typically range as 25-cm.

_______________________________________________________________________________________________________________________________________

About Package Types

The XL-TrashSonar-WR sensor line is available in a variety of packages for applications with specific mounting

requirements. The full horn package provides peak accuracy and sensitivity in this sensor line. It is recommended that

testing is completed to ensure that the selected sensor will operate as desired in your application.

Performance Changes when Selecting a Non-Full Horn Package

When selecting a XL-TrashSonar-WR without the full horn the sensor will experience the following performance

changes:

 The sensor will have a wider beam shape for the first meter.

 The sensor may have a dead zone from 0-6cm.

 The sensor may have worse performance to small or soft targets.

 The sensor may experience decreased noise immunity when ranging to small, soft, angled, or distant targets.

_______________________________________________________________________________________________________________________________________

Mechanical Dimensions

Full Horn

Package Types Currently Available

Full Horn — 3/4” NPT straight; back mounted thread (best performance)

Compact — 3/4” NPT straight; back mounted thread

Ultra-Compact — PCB with 4 mounting holes

1”NPS — External thread over full sensor body (1”NPS)

1” BSPP — External thread over full sensor body (1”BSPP)

30mm1.5 — External thread over full sensor body (30mm1.5)

All package types have exposed PCB on user end for easy connection.

Users desiring a fully enclosed assembly may purchase the “Shielded

Cable Attach Option” along with their sensor.

A 1.72” dia. 43.8 mm dia.

B 2.00” 50.7 mm

C 0.58” 14.4 mm

D 0.31” 7.9 mm

E 0.23” 5.8 mm

F 0.10” 2.54 mm

G 3/4”-14 NPS

H 1.032” dia. 26.2 mm dia.

I 1.37” 34.8 mm

50 grams Weight

Values Are Nominal

Pin 1

‘__. ‘_—> A . . . B 0_70” 179mm _’| I“ C 0.57” 14'4 mm D 0.31” 7'9 mm E 0.23” 5'8 mm F 0.10» 2.54 mm H 1.032” 26'2 mm I .1 I 137v 343mm A B 1.30” 33'1““ c 0.20” 5'2 mm D 0.10” 2'54 mm F 0.73” 19'8 mm gillﬂllllllllllh W

Page 6

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Mechanical Dimensions Continued

Ultra-Compact

Compact Housing

1” NPS Pipe Threading

A 1.37” dia. 34.7 mm dia.

B 0.70” 17.9 mm

C 0.57” 14.4 mm

D 0.31” 7.9 mm

E 0.23” 5.8 mm

F 0.10” 2.54 mm

G 3/4”-14 NPS

H 1.032” dia. 26.2 mm dia.

I 1.37” 34.8 mm

32 grams Weight

Values Are Nominal

I H

Pin 1

A 1.29” dia. 38.2 mm dia.

B 1.30” 33.1 mm

C 0.20” 5.2 mm

D 0.10” 2.54 mm

E 1”— NPS

F 0.78” 19.8 mm

Weight 35 grams

Values Are Nominal

B C

Pin 1

All values are nominal F 17.78 mm 0.70 ” L 13.4 mm 0.53 ” R 7.80 mm 0.31 ”

A 30.48 mm 1.20 ” G 30.48 mm 1.20 ” M 25.0 mm 0.98 ” S 7.62 mm 0.30 ”

B 35.56 mm 1.40 ” H 3.180 mm 0.13 ” N 1.57 mm 0.62 ” T 2.54 mm 0.10 ”

C 12.24 mm 0.60 ” I 25.40 mm 1.00 ” O 6.20 mm 0.24 ” U 1.07 mm 0.04 ”

D 2.540 mm 0.10 ” J 25.27 mm 1.00 ” P 8.00 mm 0.31 ” V 1.27 mm 0.05 ”

E 2.540 mm 0.10 ” K 10.40 mm 0.41 ” Q 13.9 mm 0.55 ” Weight 15.1 gram.

B G

A P

S T U

A | B 1 3 33 1mm C D 0 10 2 54 mm i F 0.78 19.8 mm 1 7 A . |‘ ' B 1.30” 33.1 mm \ c 0.20” 5.2 mm 1 D 0.10” 2.54 mm T i F 0.73” 19.8mm l j www mmmmmmmmmmm

Page 7

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Mechanical Dimensions Continued

1” BSPP Pipe Threading

30mm1.5 Pipe Threading

_______________________________________________________________________________________________________________________________________

Device Comparison Chart

_______________________________________________________________________________________________________________________________________

Real-time Auto Calibration

The XL-TrashSonar-WR automatically calibrates prior to each range reading. The sensor then uses this data to range ob-

jects. If the temperature, humidity, or applied voltage changes during sensor operation, the sensor will continue to func-

tion normally. (The sensors do not apply compensation for the speed of sound change verses temperature to any range

readings.) Detection has been characterized in the published sensor beam patterns.

Real-Time Noise Rejection

While the XL-TrashSonar-WR is designed to operate in the presence of noise, best operation is obtained when noise

strength is low and desired signal strength is high. Hence, the user is encouraged to mount the sensor in such a way that

minimizes outside acoustic noise pickup. In addition, keep the DC power to the sensor free of noise. This will let the sen-

sor deal with noise issues outside of the users direct control (Even so, in general, the sensor will still function well even if

these things are ignored). Users are encouraged to test the sensor in their application to verify usability.

_______________________________________________________________________________________________________________________________________

Temperature Compensation

The speed of sound in air increases about 0.6 meters per second, per degree centigrade. The XL-TrashSonar-WR sensors

are not equipped with an internal temperature compensation. If temperature compensation is desired, it is recommended

to test an HRXL-MaxSonar-WR. The HRXL-MaxSonar-WR applies compensation for speed of sound changes.

Part

Number

Voltage

Serial

Data

(0 to Vcc level)

Pulse

Width

Stability

Filter

Most

Likely

Filter I2C Bus

MB7137 Yes

MB7138 Yes RS232 Yes Yes Yes

MB7139 Yes RS232 Yes

A 1.17” dia. 29.7 mm dia.

B 1.30” 33.1 mm

C 0.20” 5.2 mm

D 0.10” 2.54 mm

E 30mm 1.5

F 0.78” 19.8 mm

Weight 31 grams

Values Are Nominal

B C

Pin 1

A 1.29” dia. 38.2 mm dia.

B 1.30” 33.1 mm

C 0.20” 5.2 mm

D 0.10” 2.54 mm

E 1”— BSPP

F 0.78” 19.8 mm

Weight 34 grams

Values Are Nominal

B C

Pin 1

Page 8

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Range “0” Location

The XL-TrashSonar-WR will report the range to the closest detectable object. Target detection has been characterized in

the sensor beam patterns.

The XL-TrashSonar-WR sensors reports the range to distant targets starting from the front of the sensor as shown in the

diagrams below.

The range is measured from the front of the transducer to the target.

Range Zero

The range is measured from the front of the transducer to the target.

Range Zero

The range is measured from the front of the transducer to the target.

Range Zero

The range is measured from the front of the transducer to the target.

Pulse wrath output sensor Operatron V R5232 Senal output sensor operatrorr V V .lprrrmwmm Analog voltage output sensor Opennon V WW m as. mm m. V I m. M W mmwmm V supvlyVoluw-maomss voVu | supvlyvoluw-maomss voVu emu “Kareem“ ‘ | emu “Kareem“ A M M p... W wmu plnmAD mm | w”. an 9... mm W. I on are met sensor for :1 least 2W5 men the rest or tne sensors wlll man In sequence wmu plrmmrpu. I Canned to GNDI ammo GMD| sweet to cm) I V V Pull ax pln hm on me ﬂnl nun-r! rm :1 least zone men are mlcvo co wlll A A V nepeex m .44 . mlﬂy servers I) Auind w..eunp...mu...pm I wiremyrmrnrwm I Wire“. Prmtorwu I Come-.110 anal connect to snul Connect to snul hive lo return Al‘s pm to e mgr. Imam 5m: so mat me next lune mum me n elm-n mm me last sensor wlll mk: w: wrylorne xx orme m: sensor. I :A A V 1% A A Reveal to add is minv Sensnls is a Pull RX pln hlgh ror .t least mus. men just strobe the sensovs‘ RX plus no me ren mun plnloADlnpm I wmu plntaADlnvut I wmn pmloADlnpm I V V or the sensors wlll read the unge srmuluneuusly, A A l Repeatta add ls manysznsan as desirzd www maxb x com

Page 9

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7138 - MB7139 Operating Modes

Independent Sensor Operation

The XL-TrashSonar-WR sensors are designed to operate in a single sensor environment. Free-run is the default mode of

operation for all of the MaxBotix Inc., sensors. The XL-TrashSonar-WR sensors have three separate outputs that update

the range data simultaneously: Analog Voltage, Pulse Width1, and RS232 Serial. Below are diagrams on how to connect

the sensor for each of the three outputs.

Using Multiple Sensors in a Single System

When using multiple ultrasonic sensors in a single system, there can be interference (cross-talk) from the other sensors.

MaxBotix Inc., has engineered a solution to this problem for the XL-TrashSonar-WR sensors. The solution is referred to

as chaining. We have 3 methods of chaining that work well to avoid the issue of cross-talk.

The first method is AN Output Commanded Loop. The first sensor will range, then trigger the next sensor to range and so

on for all the sensors in the array. Once the last sensor has ranged, the array stops until the first sensor is triggered to range

again. Below is a diagram on how to set this up.

The next method is AN Output Constantly Looping. The first sensor will range, then trigger the next sensor to range and

so on for all the sensor in the array. Once the last sensor has ranged, it will trigger the first sensor in the array to range

again and will continue this loop indefinitely. Below is a diagram on how to set this up.

The final method is AN Output Simultaneous Operation. This method does not work in all applications and is sensitive to

how the other sensors in the array are physically positioned in comparison to each other. Testing is recommend to verify

this method will work for your application. All the sensors RX pins are connected together and triggered at the same time

causing all the sensor to take a range reading at the same time. Once the range reading is complete, the sensors stop

ranging until triggered next time. Below is a diagram on how to set this up.

Power Up Timing w.- Clean, stable power provided In Vac Pin 6 (V06) "— Vac Pin 5 Mel Driven Bum data output in R5232 gmﬁﬁml Low idle slate o for R8232 Va _ m5?“ Not Driven Internally sec high or user controlled 5"" Panama 0' sumac” monitoring o_ _ begins 'I'Ime OMS -5|1m5 -ll'lm5 -115ms Real-lime Operation Vet: Pin 6 Cleanslable plywer pmvined to vac Power Supply must be free cl noise "cc, for besl results a (All signals are referenced In v“ and W.) Initially set law \ Pln A \ _ _ "my.“ \ DrIve Ingl- lor >2ous l>o.ozmsl smnlsmp) \\ l Pin 3 nus The analog voltage output maintains (Analog Voltage Range the voltage correspondan to the output) voltage gel [as avallable) lalest range measurement Pln 2 Range infomlation is output with a (pub, ma... high pulse width between 1.16ms and Dunn") “Ams' Pln 5 m ”m | (R5232 Serial R5232 0W3") _ Low idle state for R8232 Tlnle ans -32.3lns ~7a1nls4 «guns -9lllns www maxbollx cam

Page 10

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7138 - MB7139 Sensor Timing Diagrams

Power-Up Timing

Sensor Free-Run Timing

Free-Run Operation Pin 5 (Vac) Clean. slable pow provided to vcc n(A|| signals Ire referent!!! by Vcc and W.) Pin 4 [Ranging Stanlslnp) Pln 3 (Analog Voltage Output) Pin 2 (Pulse mam culpur) Pin 5 (Ran-z serial Output) Power supply must be free of nolse for best results Start ranging or monitoring begins 11|e Analog voltage output holds to the latest range measurement Range Information Is output wllh a high pulse width between 1.16m5 and 44.4m5 (7.65meter models) or Sims (10.68 meter models) Law idle state for R5232 www maxlmux cam

Page 11

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7138 - MB7139 Sensor Timing Diagrams Continued

Real-Time Operation

Timing Description

175mS after power-up, the XL-TrashSonar-WR is ready to begin ranging. If Pin-4 is left open or held high (20uS or

greater), the sensor will take a range reading. The XL-TrashSonar-WR checks Pin-4 at the end of every cycle. Range

data can be acquired once every range reading. Each range reading starts by Pin-4 being high or open, after which the

XL-TrashSonar-WR calibrates and calculates for 20.5mS, and after which, thirteen 42KHz waves are sent. The sensor

then determines the range to the target. Next the analog voltage is set. At 99mS, the sensors with a pulse width (PW), Pin

2 is set high for a length of time between 1.16mS and 20.3mS. At 94.3mS, for the next 4.7mS the serial data is sent. The

most accurate range output on the XL-TrashSonar-WR sensors is the PW output.

m ananmn“ SCl i Is‘anl ADDRESS | u/w | [MACK | 74m Izc address 3 3-bit read/WIRE Izc address w___._____ —=. u..__-. Oms ~7Um m www maxbohx cam

Page 12

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7137 Default Address

The representation of the sensor address will be different depending on the addressing scheme your master device uses.

The chart below shows the default address for the I2CXL-MaxSonar-WR/WRC sensors under different addressing

implementations. Elsewhere in this datasheet a 8-bit read/write addressing scheme is assumed.

_______________________________________________________________________________________________________________________________________

MB7137 Power-Up Timing

The I2CXL-MaxSonar-WR/WRC starts operating within milliseconds of application of power. The major timing of

power-up events for the I2CXL-MaxSonar-WR/WRC can be seen in the diagram below.

After the sensor is commanded to take a range reading it sends an ultrasonic pulse, waits between ~15ms to ~70ms to

detect a target, and determines the range Then the sensor will resume I2C communications. If the sensor is addressed

while in the middle of a range reading, all requests for communication will be responded with a NACK (not

acknowledge).

In environments that reflect acoustic noise well, sampling faster than 10Hz could cause the sensor to pick up signals from

previous ultrasonic pulses and report false data. It is possible, however, to take range readings at a significantly faster rate

in certain environments.

When changing the part address, ensure that power to the sensor is not disrupted or memory corruption may occur. If the

memory becomes corrupted, the part should automatically use the default shipped address on power up. It is

recommended to avoid changing the address often, as it could cause premature memory failure due to repeated erase/write

cycles.

Addressing

Scheme

Default Address

(decimal)

Default Address

(binary)

Notes

7-bit addressing 112 1110 000X 7-bit addressing handles the address shifting and R/W bit

for the user

8-bit addressing 224 1110 000X 8-bit addressing inserts the R/W bit and only allows for

even number addresses

8-bit read/write

addressing

Write: 224

1110 0000

1110 0001

8-bit R/W addressing schemes require the user to set the

R/W bit directly.

0ms ~70ms ~90ms ~115ms ~135ms

Pin 6 V+

Vcc Power is

applied

Sensor Ready for I2C

Gnd

Pin 2 Address

Announce / Status

Vcc

Pulse Width

between 200uS

Gnd

Pin 1

Temporary Default

Vcc

Pulled high unless grounded by external source

Gnd

Note: external grounding

checked at 70mS

www maxboux cam

Page 13

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7137 Commands

MB7137 Range Cycle Interrupt

If the sensor receives a request to report the last range value while it is taking a range reading the range reading will be

interrupted and a NACK will be sent. If you desire to allow the full range cycle to complete before reading monitor the

status pin for the completion of a range cycle or wait for the full 100ms for the range . If the sensor is interrupted and has

already found a target the sensor will report the range to the target. If the sensor has not yet found a target when it is

interrupted the sensor will send the previous range value. If no range values have been found the distance sent will

alternate between 0cm and 255cm.

Command Sequence of Events Value Used

(decimal)

Value Used

(binary)

Notes

Take a range

reading

1. Initiate a write at the sensor

address

2. Write the range command

byte

224 (default)

1110 0000

0101 0001

Commands the sensor to take a

single range reading and save to

distance found for the next range

request. It is best to allow 100ms

between readings to allow for

proper acoustic dissipation.

Report the last

range value

1. Initiate a read at the sensor

address

2a. Read the two bytes from

the sensor starting with the

range high byte.

2b. Read the range low byte.

225 (default)

(Sent by sensor)

1110 0001

Range High

Byte

Values are

MSB to LSB

The sensor will report the distance

value in cm obtained from its last

range reading. Users requiring

real-time information should

command a range reading ~80ms

before reading the sensor. After

power-up if no range command is

sent the sensor respond with two

part info bytes.

Change the

sensor address

1. Initiate a write at the sensor

address

2a. Write three bytes to the

sensor starting with the

addr_unlock_1 command

2b. Write the addr_unlock_2

command

2c. Write the new sensor

address

224 (default)

170

165

(User Value)

1110 0000

1010 1010

1010 0101

#### ###0

The sensor will only accept even

address values. If an odd numbered

address is sent the sensor will be set

to the next lowest even number. If

the sensor is told to change to one of

the invalid addresses below the

sensor will ignore this command

and stay at its current address.

Invalid Address Values:

0, 80, 164, 170

Page 14

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7137 Wiring Diagram

The I2C bus is a two wire interface that consists of a clock line and data line where each requires a pull-up resistor

attached to V+. Only one pull-up resistor is required each for the SCL and SDA lines per bus – not per sensor.

The I2C specification recommends a resistance value of 4.7 kΩ for 20-100kHz interfaces with good low inductance

routing. However, these specifications are for communication between chips on a singe PCB. If you have longer cable

lengths it is best to use lower value resistor, such as 1kΩ, and also to use properly shielded cables. Often I2C bus

problems can be fixed by doing one of the following: by using properly shielded cable or by decreasing the value of the

pull-up resistors. The I2CXL-TrashSonar-WR/WRC series is capable of sinking more current than the I2C specification

requires (15mA versus 3mA) so a much lower resistance value can be used. The voltage applied to the I2C lines should

be the same voltage that is applied to V+ of the sensor.

MB7137 Multiple Sensor Wiring Diagram

SDA

I2C Bus Master

SCL

GND

V+

I2CXL-TrashSonar-WR Sensors

GND

V+

GND

V+

GND

V+

I2CXL-TrashSonar-WR Sensor

I2C Bus Master

SDA

SCL

GND

V+

GND

V+

Supply Voltage (V) 3.5 125 175 7.5 125 Minimum Operating Voltage vs Temperature For operation to 40°C voltage shall be 3.2V or higher 40 10 o 20 up so Temperature (°C) www maxboilx corn

Page 15

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Voltage vs Temperature

The graph below shows minimum operating voltage of the sensor verses temperature.

Background Information Regarding our Beam Patterns

Each XL-TrashSonar-WR sensor has an individually calibrated beam pattern, and is matched to provide the approximate

detection pattern shown in this datasheet. This allows end users to select the part number that matches their given sensing

application. Each part number has a consistent field of detection so additional units of the same part number will have

similar beam patterns. The beam plots are provided to help identify an estimated detection zone for an application based

on the acoustic properties of a target versus the plotted beam patterns.

Each beam pattern is a 2D representation of the detection area of the sensor. The beam pattern is

actually shaped like a 3D cone (having the same detection pattern both vertically and horizontally).

Detection patterns for dowels are used to show the beam pattern of each sensor. Dowels are long

cylindered targets of a given diameter. The dowels provide consistent target detection characteristics

for a given size target which allows easy comparison of one MaxSonar sensor to another MaxSonar

sensor.

For each part number, the four patterns (A, B, C, and D) represent the detection zone for a given

target size. Each beam pattern shown is determined by the sensor’s part number and target size.

The actual beam angle changes over the full range. Use the beam pattern for a specific target at any

given distance to calculate the beam angle for that target at the specific distance. Generally, smaller

targets are detected over a narrower beam angle and a shorter distance. Larger targets are detected

over a wider beam angle and a longer range.

People Sensing:

For users that

desire to detect

people, the

detection area to

the 1-inch

diameter dowel, in

general, represents

the area that the

sensor will

reliably detect

people.

MB7137-1XX MB7138-1XX MB7139-1XX _ 1050 cm XL—TrashSonar‘"—WR"' Beam Pattern (“3‘ “’ Sample results for measured beam pattern are shown on a 30-cm grid The detection pattern is shown for dowels of varying diameters that are placed in front of the sensor _ 900 cm A 6.1-mm (0.25—ilch) diameter dawel D 11 -inch wide hoard moved left to riglt with (~30 fl) B 254cm (1-inch) diameter dowel the board parallel to Ihe from snsor face. C 8‘89-cm (15-inch) diameter dowel This shows the sensor's range capabiity. Home; For peolie detection the pattern _ 750 cm typicaly falls between charts A and B. (~25 ft) - - Partial Detection c 600 cm _ 5-0 V (~20 fl) . 3.3 V _450 cm A (~15 fl) _ 300 cm (~10 fl) _ 150 an ("5 R») 30 cm ‘ (-1 n.) Beam Characteristics are Approximate Beam Pattern drawn to a 1:95 scie for easy comparison to our otha products. www.maxbolix.com

Page 16

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB7137, MB7138, MB7139 XL-TrashSonar™-WR™ Beam Pattern & Uses

The XL-TrashSonar-WR sensors are the recommended sensor for trash level measurement. These sensors reject

electrical noise and outside acoustic noise.

MB7137, MB7138, MB7139

Features and Benefits

• Real-time calibration, noise

rejection and additional filtering

provides stable range information

• Excellent for applications that

require consistently accurate

outputs

• Impressive acoustic and electrical

noise resistance

MB7137, MB7138, MB7139

Applications and Uses

• Autonomous Navigation

• Environments with acoustic and

electrical noise

• Bin Level Measurement

• Tank Level Measurement

• Trash Level measurement

MB7137-2XX MB7138-2XX MB7139—2XX MB7137-5XX MB7138—5XX MB7139—5XX MB7137-6XX MB7138-6XX MB7139~6XX MB7137-7XX MB7138-7XX MB7139—7XX XL-‘l'lashSonar "- Beam Pattern Sample resins for measuned beam pattern are shown on a 30-cm grid. The deleclion patlem is shown for dowels of vzying diameters lhal are placed in from oflhe sensor A 6.1-mm (0.25-irch) diameter dowel D 11-inch wide board moved leﬂ lo vigil wilh B 2.54-cm (1-ilch) diameter dowel lhe board parallel to lhe front sensor face. C 8.8941m (3.5-irch) diameter dowel This shows the sensor's range capability. Mole: For people deledion the paIern lypicalyfalls between charts Aard B. C Beam Charaderislics are Approximale Beam Pauan drawn in a 1:95 scale for easy comparison to our olher products. _1050 cm (~34 to www.maxba|ix.com

Page 17

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB713X XL-TrashSonar™-WR™ Beam Pattern & Uses

The XL-TrashSonar-WR product line is available in alternative housings that include a WRC housing, 1” NPS pipe

threading, 1” BSPP pipe threading, and 30mm 1.5 pipe threading.

MB713X

Features & Benefits

• Can be flush mounted in an

application

• Same resolution as the full horn

equivalent

• Available in both metric and

imperial housing sizes

MB713X

Applications & Uses

• Autonomous Navigation

• Environments with acoustic and

electrical noise

• Bin Level Measurement

• Tank Level Measurement

• Trash Level measurement

M37137-300 M37137-320 M37138-300 M37138-320 D M371 39-300 M371 39-320 _ 1050 cm XL-TrashSonar "- Beam Pattern ("3‘“) Sample results for measured beam pattern are shown on a Elli-cm grid. The detection pattern is shown for dowels of varying diameters that are placed in front of the sensor. _ 900 cm A 6.1-mm (0.25-ilch) diameter dime! D 11 -inch wide boad moved leﬂ to riylt wilh (~30 it.) B 2.5442m (1-inch) dameter Mel the board parallel to the front sensor facet C 8789-cm (3.5—inch) iiameter dowel This shows the sensor's range capabiity Note: For peoﬂe detection the paltern _ 750 cm typicaly falls between charts Aard 3. (~25 it.) - - Partial Detection c 600 cm _ 5-0 V (~20 n) O 3.3 v _450 cm A (~15 '1) _ 300 cm (-10 n) _ 150 cm (“5 ﬂ-) _ 30 cm ('“1 ﬂ-) Beam Characteristics are Approximate Beam Pattern drawn no a 1 :95 scale for easy oompxlson to our other products. www.maxbaiix.com

Page 18

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB713X XL-TrashSonar™-WR™ Beam Pattern & Uses

The XL-TrashSonar-WR product line is available in an UltraCompact alternative housing. The UltraCompact housing is

designed for users creating a custom horn mount. The recommended horn can be downloaded from

http://www.maxbotix.com/Ultrasonic_Sensors/TrashSonar-Sensors.htm

MB713X

Features & Benefits

• Capable of being flush mounted in

an application

• Same resolution as the full horn

equivalent

• Gives the ability to create custom

mounts

MB713X

Applications & Uses

• Autonomous Navigation

• Environments with acoustic and

electrical noise

• Bin Level Measurement

• Tank Level Measurement

• Trash Level measurement

M37137-400 M371 37-420 M37138-400 M371 38-420 M37139-400 M371 39-420 XL-TrashSonar "- Beam Pattern Sample results for measured beam pmern we shown on a 30-cm grid. The detection pattern is shown for doweb of vary'ng diameters that are placed in front of the sensor. A 6‘1—mm (0.25-ilch) diameter dowel D 11 inch wide bold moved left to rig“ wilh B 2,54-cm (1-inch) dameter dowel the board paralel I: the from sensor face. C 818942m (3.5-inch) dameter dowel This shows the sensor's range capabiliy. Nae: For people detection the pattern typicaly fals between charts A and B. C Beam Characteristics are Approximate Beam Pattern drawn to a 1 :95 scale for easy comparison to our other products. www.maxba|ix.com

Page 19

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

MB713X XL-TrashSonar™-WR™ Beam Pattern & Uses

The XL-TrashSonar-WR product line is available in an UltraCompact alternative housing. The UltraCompact housing is

designed for users creating a custom flush mount.

MB713X

Features & Benefits

• Capable of being flush mounted in

an application

• Same resolution as the full horn

equivalent

• Gives the ability to create custom

mounts

MB713X

Applications & Uses

• Autonomous Navigation

• Environments with acoustic and

electrical noise

• Bin Level Measurement

• Tank Level Measurement

• Trash Level measurement

www maxboux cam

Page 20

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

Part Numbers

All part numbers are a combination of a six-character base followed by a dash and a three-digit product code.

Please review the following table for more information on the three-digit product code.

Note: Active part numbers listed on page 21.

M B 7 1 3 X - 1 0 0

Base Housing Options Wire

0 Not Applicable

1 3/4” NPS WR

2 3/4” NPS WRC

3 Ultra Compact

4 Ultra Compact Flush Mount

5 1” NPS

6 1” BSPP

7 30MM 1.5

8 Extended Horn

0 No Options (Bagged)

1 F-Option

2 P-Option

3 F-Option and P-Option

4 No Options (Trayed)

5 TTL (Bagged)

6 TTL (Trayed)

0 No Wire

1 Wire Attached

www maxboux cam

Page 21

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

The following tables display all of the active and valid part numbers for these products.

Active Part Numbers for MB7137

MB7137-100 MB7137-101 MB7137-110 MB7137-111 MB7137-120 MB7137-121 MB7137-130 MB7137-131

MB7137-200 MB7137-201 MB7137-210 MB7137-211 MB7137-220 MB7137-221 MB7137-230 MB7137-231

MB7137-300 MB7137-320 MB7137-400 MB7137-420 MB7137-500 MB7137-501 MB7137-510 MB7137-511

MB7137-520 MB7137-521 MB7137-530 MB7137-531 MB7137-600 MB7137-601 MB7137-610 MB7137-611

MB7137-620 MB7137-621 MB7137-630 MB7137-631 MB7137-700 MB7137-701 MB7137-710 MB7137-711

MB7137-720 MB7137-721 MB7137-730 MB7137-731

Active Part Numbers for MB7138

MB7138-100 MB7138-101 MB7138-110 MB7138-111 MB7138-120 MB7138-121 MB7138-130 MB7138-131

MB7138-200 MB7138-201 MB7138-210 MB7138-211 MB7138-220 MB7138-221 MB7138-230 MB7138-231

MB7138-300 MB7138-320 MB7138-400 MB7138-420 MB7138-500 MB7138-501 MB7138-510 MB7138-511

MB7138-520 MB7138-521 MB7138-530 MB7138-531 MB7138-600 MB7138-601 MB7138-610 MB7138-611

MB7138-620 MB7138-621 MB7138-630 MB7138-631 MB7138-700 MB7138-701 MB7138-710 MB7138-711

MB7138-720 MB7138-721 MB7138-730 MB7138-731

Active Part Numbers for MB7139

MB7139-100 MB7139-101 MB7139-110 MB7139-111 MB7139-120 MB7139-121 MB7139-130 MB7139-131

MB7139-200 MB7139-201 MB7139-210 MB7139-211 MB7139-220 MB7139-221 MB7139-230 MB7139-231

MB7139-300 MB7139-320 MB7139-400 MB7139-420 MB7139-500 MB7139-501 MB7139-510 MB7139-511

MB7139-520 MB7139-521 MB7139-530 MB7139-531 MB7139-600 MB7139-601 MB7139-610 MB7139-611

MB7139-620 MB7139-621 MB7139-630 MB7139-631 MB7139-700 MB7139-701 MB7139-710 MB7139-711

MB7139-720 MB7139-721 MB7139-730 MB7139-731

Technical Suggort Sensor Selection Hell; F s Fullv Calibrated Beam Patterns Understanding Range Readings How to Use Multigle Ultrasonic Sensors l 165 [Dmaxbotixxom www maxautlx com

Page 22

Web: www.maxbotix.com

PD13516h

MaxBotix® Inc.

Patent 7,679,996

XL-TrashSonar™-WR™ Series

MaxBotix Inc., products are engineered and assembled in the USA

After reviewing this datasheet, do you have any more questions?

We offer Technical Support on all of our products even if you purchased them through one of our many vendors

worldwide.

You can fill out a Technical Support form for assistance on a sensor here --> Technical Support

Not sure which sensor you need for your application?

We offer Sensor Selection Assistance, click the link here to fill out a form for support --> Sensor Selection Help

Looking for tutorials to help you get started?

Frequently Asked Questions about Our Sensors

We receive many questions about our products and services. This resource offers answers to common inquiries

we receive about our product lines and their application.

Fully Calibrated Beam Patterns

All of our sensors are factory calibrated to provide consistent beam patterns, detection zones, to fit into a wide

variety of applications. In our product lines, each model number comes with a different beam pattern that reflects

the sensitivity and the detection zone of how it sees a target. Additionally, we strive to maintain consistency be-

tween our finished products, and you will see little to no deviation between sensors of the same model. This al-

lows you to have confidence in your final application when using multiple sensors.

Understanding Range Readings

The success of an application may hinge upon knowing the exact location of a target. However, a sensor may

report one meter even if the target is not exactly one meter away from the sensor. Sensor specifications, such as

resolution, precision, and accuracy, help you to understand sensor performance.

How to Use Multiple Ultrasonic Sensors

This guide covers three ways to run your sensors in a Multiple Sensor environment and issues you may face.

Please call during our preferred business hours of 8:00 am – 4:30 pm EST on Monday through Thursday and 8:00 am –

2:00 pm EST on Friday, or you may leave us a voicemail anytime.