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LRF200H UART protocol and integration

LRF200H 200 m Industrial DToF LiDAR Distance Sensor for Port Cranes, Long Conveyors and Tunnel Safety

Typical applications: Port & bridge crane positioning, Long conveyor protection, Tunnel collision avoidance.

Price and buy on erdilrf.comRequest STEP file

At a glance​

Protocol familyFamily B (5C, streaming)
Default baud460800 bps, 8N1
Frame4 bytes
Distance unit on the wirecentimetres
Measurement range (datasheet)0.05–200 m (90% refl.) · 0.05–70 m

Specification​

Values come from the ERDI datasheet for this model. Where the datasheet gives a condition, it is shown.

ParameterValueCondition
Laser wavelength905 nm
Ranging range0.05–200 m (90% refl.) · 0.05–70 m10% refl.
Ranging accuracy±10 cm (<10 m) · 1% (≥10 m)
Measurement frequency20 Hz–10 kHz, default 1 kHz
InterfaceUART / I²C
Supply voltage9–36 V DC
Dimensions33 × 34 × 18 mm
Weight20 ± 2 g
Laser safety classClass 1
Operating temperature-20 to +60 ℃
Field of view≈ 4 mrad
Repeatability±5 cm (<10 m) · ±10 cm200 m
Ambient light immunity100 kLux
Peak current100 mA
Average current30 mA
Average power consumption0.7 W
Wire specification1.25 mm, 5-pin, 50 cm stranded wires
CustomizationAvailable in appearance / structure / output protocol

Pinout and wiring​

No.Definition / Wire ColorUser Interface
19-36V (Red)External power positive
2Power GND (Black)External power negative
3Port GND (Yellow)GND
4TX (Green)Host RX
5RX (Blue)Host TX

Cross TX and RX (module TX to host RX), share ground, and power the module from a supply that matches the supply voltage in the specification table. See Wiring and power.

Protocol summary​

  • Data frame: 4 bytes, 5C <dist_lo> <dist_hi> <check>, free-running.
  • Default baud: 460800 bps, 8 data bits, 1 stop bit, no parity.
  • Distance: 2 bytes, little-endian, unit centimetres. The VB series reports millimetres and the H series centimetres, so 5C 02 11 EC is 4.354 m on a VB module and 43.54 m on an H module.
  • Out-of-range marker: the module outputs 65535 when there is no valid target. Treat it as no target, not as a distance.
  • Checksum: bitwise inverse of the 8-bit sum of all bytes between the header and the check byte.

The full frame description is in Family B protocol. Try it without installing anything in the browser serial monitor.

Code examples​

pip install erdi-lrf   # PyPI, MIT
erdi-lrf --port /dev/ttyUSB0 --model LRF200H stream --count 20
from erdi_lrf import ErdiLRF

# COM3 on Windows, /dev/ttyUSB0 or /dev/serial0 on Linux
with ErdiLRF("/dev/ttyUSB0", "LRF200H") as lrf:
    for r in lrf.stream():
        print("out of range" if r.out_of_range else f"{r.metres:.3f} m", "raw", r.raw)

Platform status​

Only rows with evidence say Verified. See the compatibility matrix for what that means and where the evidence is.

PlatformStatusGuide
Python (erdi-lrf)UntestedPython / Raspberry Pi / Jetson
Arduino / PlatformIOUntestedArduino / PlatformIO
ESPHome / Home AssistantUntestedESPHome
ROS 2UntestedROS 2
ArduPilot (Lua script)Verified (SITL)ArduPilot
ArduPilot native driverIn review (PR #34983, not merged)ArduPilot

Known issues​

  • UART logic level is not stated as a separate field for most models. Supply voltage is not the UART voltage: check the module's TX level against your host before wiring, or ask us.

Resources​