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HRXL-MaxSonar® -WR/WRC™ Series - MaxBotix Inc.

Page 2 Web: www.maxbotix.com PD11500s MaxBotix ® Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar®-WR/WRC ™ Series

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Page 1 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Precision Ultrasonic Range Sensing Range-finding at a fraction of the cost of other precision rangefinders Reading-to-reading stability of 1-mm at 1-meter is typical1 Accuracy is factory-matched providing a typical accuracy of 1% or better 1,2 Internal temperature compensation is standard and optional external temperature compensation Determines range to largest object (MB7369 , MB7389) Determines range to first detectable object (MB7360, MB7363, MB7366, MB7367, MB7380, MB7383, MB7386, MB7387) Excellent clutter rejection Additional chemical resistance available6 Very Low Power Requirements Fast first reading after power-up eases battery requirements Wide, low supply voltage of to requirements eases battery powered design Low current draw reduces current drain for battery operation Very low-power rangerfinder, excellent for multiple sensor or battery based systems Easy to Use Component Module Gracefully handles other ultrasonic sensors5 Stable and reliable range readings and excellent noise rejection make the sensor easy to use for most users Easy to use interface with distance provided in a variety of outputs Target size compensation provides greater consistency and accuracy Sensor automatically handles acoustic noise 2,4 Calibrated sensor eliminates most sensor to sensor variations Applications & Uses Tank level measurement (MB7369 or MB7389) Weather station monitoring Bin level measurement Proximity zone detection People detection Robot ranging sensor Long range object detection Environments with acoustic and electrical noise Height monitors Auto sizing Box dimensions Automated factory systems Notes: 1 Refer to section that compares WR to alternative housings on page 4 2 Users are encouraged to evaluate the sensor performance in their application 3 Reference pages 8-9 for part specific timing information 4 by design 5 See page 6 for multi-sensor operation 6 F-Option provides additional protection from hazardous chemical environments 7 Please reference page 10 & 11 for minimum operating voltage verses temperature information 8 Please reference page 18 for part number key The HRXL-MaxSonar-WR sensor line is a cost-effective solution for applications requiring precision range-finding, low-voltage operation, space saving, low-cost, and IP67 rating for weather resistance. The HRXL-MaxSonar-WR sensor line provides high accuracy and high resolution ultrasonic proximity detection and ranging in air. This sensor line features 1-mm resolution, target-size and operating-voltage compensation for improved accuracy, superior rejection of outside noise sources, internal speed-of-sound temperature compensation and optional external speed-of-sound temperature compensation. The HRXL-MaxSonar-WR/WRC models are available in 5-meter or 10-meter models. This ultrasonic sensor detects objects from 1-mm and ranges to objects from 30-cm* to maximum range. Objects closer than 30-cm* are typically reported as 30-cm*. The interface output formats are pulse width, analog voltage, and digital serial in either RS232 (MB7360 series) or TTL (MB7380 series). Factory calibration is standard. *For select sensors this distance is 50-cm, refer to pages 4 and 5. Close Range Operation Applications requiring 100% reading-to-reading reliability should not use MaxSonar sensors at a distance closer than 50cm. Although most users find MaxSonar sensors to work reliably from 0 to 50cm 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. ________________________________________ ________________________________________ ________________________________________ _______________ 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. HRXL-MaxSonar - WR Series High Resolution, Precision, IP67 Weather Resistant, Ultrasonic Range Finder MB7360, MB7363, MB7366, MB7367, MB7369, MB7380, MB7383, MB7386, MB7387, MB73898 Page 2 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. ________________________________________ ________________________________________ ________________________________________ ______________ HRXL-MaxSonar-WR Pin Out Pin 1- Temperature Sensor Connection: Leave this pin unconnected if an external temperature sensor is not used. For best accuracy, this pin is optionally connected to the HR-MaxTemp temperature sensor. Some additional information for the temperature sensor can be found on page 10 of the datasheet. Pin 2- Pulse Width Output: This pin outputs a pulse width representation of the distance with a scale factor of 1uS per mm. The pulse width output is sent with a value within of the serial output. Pin 3- Analog Voltage Output: This pin outputs a single ended analog voltage scaled representation of the distance. This output is referenced to the sensor ground and Vcc. After the ~50mS power up initialization, the voltage on this pin is set to a low voltage. Once the sensor has completed a range reading the voltage on this pin is set to the voltage corresponding to the latest measured distance. The 5-meter sensors (MB7360, MB7369, MB7380, and MB7389) use a scale factor of (Vcc/5120) per 1-mm. The distance is output with a 5-mm resolution. The analog voltage output is typically within 5-mm of the serial output. The 10-meter sensors (MB7363, MB7366, MB7383, and MB7386) use a scale factor of (Vcc/10240) per 1-mm. The distance is output with a 10-mm resolution. The analog voltage output is typically within 10-mm of the serial output. Using a 10-bit analog to digital converter with the 5-meter sensors, one can read the analog voltage counts ( 0 to 1023) directly and just multiply the number of counts in the value by 5 to yield the range in mm. For example, a converted value of 60 corresponds to 300-mm (where 60 x 5 = 300), and 1000 counts corresponds to 5,000-mm (where 1000 x 5 = 5,000-mm). Using a 10-bit analog to digital converter with the 10-meter sensors, one can read the analog voltage counts ( 0 to 1023) directly and just multiply the number of counts in the value by 10 to yield the range in mm. For example, 30 counts corresponds to 300-mm (where 30 x 10 = 300), and 1000 counts corresponds to 10,000-mm (where 1000 x 10 = 10,000-mm). Pin 4- Ranging Start/Stop: This pin is internally pulled high. If this pin is left unconnected or held high, the sensor will continually measure and output the range data. If held low, the HRXL-MaxSonar-WR will stop ranging. Bring high for 20uS or longer to command a range reading. Filtered Range Data: When pin 4 is left high on the sensors, the sensors will continue to range. The data that is output includes a filter for increased accuracy. The sensors will output the range based on recent range information. The filter does not affect the speed at which data is made available to the user but instead allows for more consistent range information to be presented. For sensor specific timing and filter information refer to pages 8 and 9. Real-time Range Data: When pin 4 is low and then brought high, the sensor will operate in real time and the first reading output will be the range measured from this first commanded range reading. When the sensor tracks that the RX pin is low after each range reading, and then the RX pin is brought high, unfiltered real time range information can be obtained. For timing information please refer to pages 8 and 9. Pin 5-Serial Output: The MB736X sensors have an RS232 data format (with 0V to Vcc levels) and the MB738X sensors have a TTL outputs. The output is an ASCII capital R , followed by four ASCII character digits representing the range in millimeters, followed by a carriage return (ASCII 13). The maximum range reported is 4999 mm (5-meter models) or 9998 mm (10-meter models). A range value of 5000 or 9999 corresponds to no target being detected in the field of view. The serial data format is 9600 baud, 8 data bits, no parity, with one stop bit (9600-8-N-1). Because the data is presented in a binary data format, the serial output is most accurate . V+ Pin 6 - Positive Power, Vcc: The sensor operates on voltages from - DC. For best operation, the sensor requires that the DC power be free from electrical noise. (For installations with known dirty electrical power, a 100uF capacitor placed at the sensor pins between V+ and GND will typically correct the electrical noise.) Please reference page 10 & 11 for minimum operating voltage verses temperature information. GND Pin 7 Sensor ground pin: DC return, and circuit common ground. Range Outputs Pulse width, 1uS/mm resolution Analog Voltage, 5-mm resolution (5-meter sensors) Analog Voltage, 10-mm resolution (10-meter sensors) Serial, 1-mm resolution Available in RS232 (MB7360 series) or TTL (MB7380 series) General Characteristics Low cost ultrasonic rangefinder Detection out to 5-meters or 10-meters Resolution of 1-mm Distance sensor from 30-cm to 5-meters or 50-cm to 10-meters based on model Excellent 2 Mean Time Between Failure (MTBF) Triggered operation yields real-time range data Free run operation with superior noise rejection 3 Operating temperature range from -40 C to +65 C 7 Operating voltage of to Nominal current draw of (peak ~49mA) at , and (peak ~98mA) at 5V IP67 Rated Page 3 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. About Ultrasonic Sensors The HRXL-MaxSonar-WR ultrasonic sensors are in-air, non-contact object detection and ranging sensors that detect objects within an 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 outputs a range reading. ________________________________________ ________________________________________ ________________________________________ _______________ Device Comparison Notes 1 exceeds the ability of the first generation XL-MaxSonar-WR models MB70##. Also includes target size compensation, internal temperature sensor, external temperature sensor, factory calibration, supply voltage droop compensation, continuous automatic calibration, and side lobe suppression. 2 Higher gain and other calibration allows better performance to soft targets. ________________________________________ ________________________________________ ________________________________________ _______________ Auto Calibration Each time a HRXL-MaxSonar-WR series sensor takes a range reading, it calibrates itself. The sensor then uses this data to range objects. If the temperature, humidity, or applied voltage changes during sensor operation, the sensor will continue to function normally over the rated temperature range while applying compensation for changes caused by temperature and voltage. Target Size Compensation Most low cost ultrasonic rangefinders will report the range to smaller size targets as farther than the actual distance. In addition, they may also report the range to larger size targets as closer than the actual distance. The HRXL-MaxSonar-WR sensor line compensates for target size differences. This means that, provided an object is large enough to be detected, the sensor will report the same distance, typically within 1%1, regardless of target size1. Smaller targets can have additional detection noise that may limit this feature. In addition, targets with small or rounded surfaces may have an apparent distance that is slightly farther, where the distance reported may be a composite of the sensed object(s). Compensation for target size is applied to all range outputs: pulse width, analog voltage, and serial format output by the sensor. Supply Voltage Compensation During power up, the HRXL-MaxSonar-WR sensor line will calibrate itself for changes in supply voltage. Additionally, the sensor will compensate if the supplied voltage gradually changes. If the average voltage applied to the sensor changes faster than 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 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. Part Number Serial Interface First Detectable target Most Likely Filter High Performance HR Filter1 Optimized for snow depth Alternative Packages available Soft/Small Target Detection2 5 Meter Range 10 Meter Range MB7360 RS232 Yes Yes Yes Yes MB7363 RS232 Yes Yes Yes Yes MB7366 RS232 Yes Yes Yes MB7369 RS232 Yes Yes Yes Yes MB7380 TTL Yes Yes Yes Yes MB7383 TTL Yes Yes Yes Yes MB7386 TTL Yes Yes Yes MB7389 TTL Yes Yes Yes Yes Notes: 1 Refer to section that compares WR to WRC on page 4 Page 4 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Base sensor (MB7360 and MB7380) The MB7360 and MB7380 are the base model of the HRXL-MaxSonar-WR sensor line. These sensors are recommended for users unsure of which sensor to use in their application. All other sensors in this series are based off of these sensor models. The additional features are mentioned in their respective sections below. ________________________________________ ________________________________________ ________________________________________ _______________ HRXL-MaxSonar-WRLS (MB7363 and MB7383) The HRXL-MaxSonar-WRLS sensors are 10 meter sensors with a higher sensitivity than other HRXL-MaxSonar-WR products. This sensor is recommended for applications in which objects do not reflect enough ultrasonic sound, such as people, to be detected. Users are encouraged to test the sensor in their application to verify usability. ________________________________________ ________________________________________ ________________________________________ _______________ HRXL-MaxSonar-WRL (MB7366, MB7386) The HRXL-MaxSonar-WRL sensors are the 10-meter version of the HRXL-MaxSonar-WR sensors. ________________________________________ ________________________________________ ________________________________________ _______________ HRXL-MaxSonar-WRM (MB7369 and MB7389) The HRXL-MaxSonar-WRM sensors are equipped with filtering firmware which allows the sensor to ignore smaller targets and noise, and still report the target that gives the largest acoustic return. (The sensor will also reject periodic noise, even noise that has a higher amplitude than the acoustic return from the target.) This gives users the flexibility to consistently range larger targets in the presence of clutter and noise. If the largest target is removed from the field of view, the HRXL-MaxSonar-WRM will switch to the target that gives the next largest detectable return. The HRXL-MaxSonar-WRM sensors were designed for applications where users were concerned with ranging the distance to large flat targets (such as in a water tank). This stands in contrast to other HRXL-MaxSonar-WR sensors which will report the distance to the first detectable target. In general, the HRXL-MaxSonar-WRM will select the largest target from its field of view and report its range. Even so, objects up close may provide significantly greater returns over distant objects. Users are encouraged to test the sensor in their application to verify usability. When targets are of similar amplitude reflections, preference is given to the closest target. ________________________________________ ________________________________________ ________________________________________ _______________ About Package Types The HRXL-MaxSonar-WR sensors are 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. Package Types Currently Available Full Horn 3/4 NPT straight; back mounted thread (best performance) Compact 3/4 NPT straight; back mounted thread 1 NPS External thread over full sensor body (1 NPS) 1 BSPP External thread over full sensor body (1 BSPP) External thread over full sensor body ( ) 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. Page 5 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Performance Changes when Selecting a Non-Full Horn Package When selecting a HRXL-MaxSonar-WR sensor 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 be less accurate by an additional +/- The sensor may have a dead zone from 0mm 500mm. 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 Compact Housing 1 NPS Pipe Threading A dia. mm dia. B mm C mm D mm E mm F mm G 3/4 -14 NPS H dia. mm dia. I mm Weight, oz., 50 grams Values Are Nominal B E D C A F G V+ Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 GND Outside Thread Diameter Housing Nut Width H I Values Are Nominal A dia. mm dia. B mm C mm D mm E mm F mm G 3/4 -14 NPS H dia. mm dia. I mm Weight, oz., 32 grams D B E C A F V+ Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 GND G Outside Thread Diameter Housing Nut Width H I A mm B dia. mm dia. C mm D mm E mm F 1 - NPS G mm Weight, oz., 35 grams Values Are Nominal G B E F D A C V+ Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 GND Page 6 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Mechanical Dimensions Continued 1 BSPP Pipe Threading Pipe Threading ________________________________________ ________________________________________ ________________________________________ _______________ Operating Modes Free-Run Operation When operating in free run mode, the HRXL-MaxSonar-WR sensors are designed to be used in a variety of outdoor, industrial, or indoor situations. Many acoustic noise sources will have little to no effect on the reported range of the HRXL-MaxSonar-WR sensors. Most range readings are accurately reported. If the range readings are affected, the effect is typically less than 5-mm1. This allows users to employ real-time ultrasonic distance sensing without the need for additional supporting circuitry or complicated user software. Multiple HRXL-MaxSonar-WR sensors can be operated in the same general locations. The internal noise filter is able to filter out the ultrasonic noise from other HRXL-MaxSonar-WR sensors with minimal interference. Typically, when operating with multiple sensors, the range readings will be within 1 cm of the actual range to the intended target. Independent Sensor Operation The HRXL-MaxSonar-WR sensors have the capability to operate independently when the user desires. When using the HRXL-MaxSonar-WR sensors in single or independent sensor operation, it is easiest to allow the sensor to free-run. Free-run is the default mode of operation for all of the MaxBotix Inc., sensors. The HRXL-MaxSonar-WR sensors have three separate outputs that update the range data simultaneously: Analog Voltage, Pulse Width, and Serial Data. Below are diagrams on how to connect the sensor for each of the three outputs for single or independent sensor operation. Using Multiple Sensors in a Single System Multiple HRXL-MaxSonar-WR sensors can be used simultaneously in the same environment with little to no interference (cross-talk). Even so, some cross-talk may still occur for users wishing to use a large number of sensors in the same environment. If interference is occurring in the sensor setup please visit for diagrams on correcting cross-talk between sensors. Notes: 1 Refer to section that compares WR to WRC on page 4 A mm B dia. mm dia. C mm D mm E mm F 1 BSPP G mm Weight, oz., grams Values Are Nominal B E F D A C V+ Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 GND G G A mm B dia. mm dia. C mm D mm E mm F 30mm G mm Weight, oz., grams Values Are Nominal B E F D A C V+ Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 GND Page 7 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Sensor minimum distance - No sensor dead zone (MB7360, MB7369, MB7380, and MB7389) The 5 meter sensors have a minimum reported distance of 30-cm ( inches). However, the HRXL-MaxSonar-WR will report targets up to the sensor face (for the WR sensors)1 and to within 1-mm of the front sensor face (for the WRC sensors)1. For the 5 meter HRXL-MaxSonar-WR sensors, targets closer than 300-mm will typically range as 300-mm. Notes: 1 refers to section that compares WR to Alternative Packages on page 4 Sensor minimum distance - No sensor dead zone (MB7363, MB7366, MB7383, and MB7386) The 10 meter sensors have a minimum reported distance of 50-cm ( inches). However, the HRXL-MaxSonar-WRL will report targets up to the sensor face. For the 10 meter HRXL-MaxSonar-WRL sensors, targets closer than 500-mm will typically range as 500-mm. Sensor operation from 30-cm to 50-cm Because of acoustic effects in the near field, objects between 30-cm and 50-cm may experience acoustic phase cancellation of the returning wave, resulting in inaccuracies of up to 5-mm. These effects become less prevalent as the target distance increases, and have not been observed past 50-cm. For this reason, users that require the highest accuracy are encouraged to mount the HRXL-MaxSonar-WR farther than 50-cm away from objects. ________________________________________ ________________________________________ ________________________________________ _______________ Range 0 location The HRXL-MaxSonar-WR reports the range to distant targets from where the threading and nut meet on the sensor housing as shown in the diagram below. In general, the HRXL-MaxSonar-WR will report the range to the leading edge of the closest detectable object. Target detection has been characterized in the sensor beam patterns. Range Zero mm Target Face The range is measured from where the housing meets the threading. Range Zero mm Target Face The range is measured from the front of the sensor. Range Zero mm Target Face The range is measured from where the housing meets the threading. Page 8 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Sensor Timing Diagrams Power Up Timing Sensor Free-Run Timing When operating in free run mode, the HRXL-MaxSonar-WR sensors are designed to be used in a variety of outdoor, industrial, or indoor environments. Many acoustic noise sources will have little to no effect on the reported range of the HRXL-MaxSonar-WR sensors1. Most range readings are accurately reported1. If the range readings are affected, the effect is typically less than 5-mm1. This allows users to employ real-time ultrasonic distance sensing without the need for additional supporting circuitry or complicated user software. The HRXL-MaxSonar-WR use an internal filter to process range data. This filter improves the sensor s performance for accuracy, noise rejection, and reading to reading stability. The filtering in the free-run operation also permits additional acoustic and electrical noise tolerance. On the HRXL-MaxSonar-WR sensors, when pin 4 is left high, the sensor will continue to range, the data output includes a filter for increased accuracy in environments with acoustic noise. The HRXL-MaxSonar-WR sensors will output the range based on recent range information. The filter does not affect the speed at which data is made available to the user but instead allows for more consistent range information to be presented. Product Maximum Refresh Rate Pulse Width Reported Serial Data Reported Pin 4 Brought Low End of Range Cycle MB7360, MB7367, MB7380, MB7387 Hz ~118mS ~123mS ~132mS ~133mS MB7369 and MB7389 ~135mS ~140mS ~147mS ~148mS MB7363, MB7366, MB7383, MB7386 6Hz ~148mS ~158mS ~165mS ~166mS Free Run Filter Power up timing has already occurred Notes: 1 Refer to section that compares WR to WRC on page 4 Page 9 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Sensor Timing Diagrams Cont. Triggered Real-time Operation Timing Real-time or triggered operation allows users to take advantage of a few functions unavailable during free run mode. When operating in triggered mode, an unfiltered maximum refresh rate can be achieved. This triggered operation allows users to range targets moving away from or closer to the sensor faster than 240mm per reading. Users can enter and remain in the real-time or triggered operation by making sure that before the end each range cycle, the voltage level on Pin 4 is set low. After the sensor has completed the last reading, then Pin 4 is brought high. When Pin 4 is brought high, a brand new range cycle starts and the HRXL-MaxSonar-WR will output the most recent range data without filtering. Readings during triggered operation are less accurate than the filtered operation by approximately 5-mm. Because the range readings are not filtered, noise tolerance can be greatly reduced. Care should be taken to make sure that only one sensor is sampling range at a time. Pulse Width data sent (Colum A) - Column A shows the approximate time that the sensor starts to output the pulse width data. The Pulse Width output time can be as short as 300uS (minimum reported distance). For 5 meter sensors, the pulse width can take as long as 5000uS (maximum reported distance) to be sent. For 10 meter sensors the Pulse Width can take as long as 9999uS (maximum reported distance) to be sent. Serial data sent (Colum B) - Column B shows the approximate time during each range cycle when the serial data is output for the sensor. Range data takes ~8mS to be reported from the serial data output. RX Pin set low (Column C) - When operating the HRXL-MaxSonar-WR in Triggered Operation, Pin 4 is must be brought high for a time frame greater than 20uS ( ) and less than the time in Column C in the chart above. If Pin 4 remains high for a period of time greater than the value in Column C, the sensor will switch into free-run filter operation. End of Range Cycle (Colum D) - Column D shows the approximate time each range cycle takes to complete for each sensor. Product Maximum Refresh Rate Pulse Width sent (A) Serial Data sent (B) RX Pin set low (C) End of range cycle (D) MB7360, MB7367, MB7380, MB7387 Hz ~118mS ~123mS ~132mS ~133mS MB7369 and MB7389 ~135mS ~140mS ~147mS ~148mS MB7363, MB7366, MB7383, MB7386 6Hz ~148mS ~158mS ~165mS ~166mS Power up timing has already occurred Page 10 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Temperature Compensation On Board Internal Temperature Compensation The speed of sound in air increases by about meters per second, per degree centigrade. Because of this, each HRXL-MaxSonar-WR is equipped with an internal temperature sensor which allows the sensor to apply compensation for speed of sound changes. The actual air temperature of the path between the sensor and the target may not match the temperature measured at the sensor itself. Sensors can be mounted in vertical applications, or applications where the environment temperature gradient is severe. These users may experience a temperature measurement error which will affect the sensor accuracy. For example, buildings with a height of 3-meters can have floor to ceiling temperature variations of 5 C or more. Because of these temperature effects, users desiring the highest accuracy output are encouraged to use a properly mounted external temperature sensor or to manually account for this measurement error. HR-MaxTemp, an External Temperature Sensor Although the HRXL-MaxSonar-WR has an internal temperature sensor; for best accuracy, users are encouraged to use the optional external temperature sensor. On power-up, the HRXL-MaxSonar-WR will automatically detect an attached HR-MaxTemp temperature sensor and begin to apply temperature compensation using the external temperature sensor. The external temperature sensor allows for the most accurate temperature compensation, by allowing temperature readings to be taken that better reflect the composite temperature of the acoustic ranging path. For best results, users are encouraged to connect the temperature sensor midway between the HRXL-MaxSonar-WR and the expected target. ________________________________________ ________________________________________ ________________________________________ _______________ Voltage vs Temperature The graphs below show minimum operating voltage of the sensor verses temperature. The graph pictured below is applicable to the following sensors: MB7360,MB7369,MB7380 & MB7389 Page 11 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Voltage vs Temperature The graph pictured below is applicable to the following sensors: MB7363,MB7366,MB7383 & MB7386 The graph pictured below is applicable to the following sensors: MB7367-WRC, MB7367-1 NPS, MB7367-1 BSPP, MB7369-WRC, MB7369-1 NPS, MB7369-1 BSPP, MB7387-WRC, MB7387-1 NPS, MB7387-1 BSPP, MB7389-WRC, MB7389-1 NPS, MB7389-1 BSPP, Page 12 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Background Information Regarding our Beam Patterns Each HRXL-MaxSonar-WR sensor has a calibrated beam pattern. Each sensor 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 sens-ing 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 pattern both vertically and horizontally). Beam patterns for dowels are used to show the beam pattern of each sensor. Dowels are long cylindrical 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 distance. 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. Page 13 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. MB7360-MB7380 HRXL-MaxSonar -WR Beam Pattern and Uses The HRXL-MaxSonar-WR product line has a narrow sensor beam and provides reliable long range detection zones. MB7360-MB7380 Features and Benefits Factory calibrated beam width Low operating voltages from to All range outputs are active simultaneously High acoustic sensitivity MB7360-MB7380 Applications and Uses Autonomous Navigation Robot Ranging Sensor Bin Level Measurement Tank Level Measurement Page 14 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. MB7363-MB7383 HRXL-MaxSonar -WRLS Beam Pattern and Uses The HRXL-MaxSonar-WRLS sensors are 10 meter sensors with a higher sensitivity than other HRXL-MaxSonar-WR products. This sensor is recommended for applications in which objects do not reflect enough ultrasonic sound for other sensors to report the range to, such as people. MB7363-MB7383 Features and Benefits Factory calibrated beam width Low operating voltages from to All range outputs are active simultaneously High acoustic sensitivity MB7363-MB7383 Applications and Uses Autonomous Navigation Robot Ranging Sensor Bin Level Measurement Tank Level Measurement Page 15 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. MB7366-MB7386 HRXL-MaxSonar -WRL Beam Pattern and Uses The HRXL-MaxSonar-WRL sensors are a long range, 10 meter ultrasonic sensor. MB7366-MB7386 Features and Benefits Factory calibrated beam width Low operating voltages from to All range outputs are active simultaneously 10 meter range to large targets MB7366-MB7386 Applications and Uses Autonomous Navigation Robot Ranging Sensor Bin Level Measurement Tank Level Measurement Long Range Measurement Page 16 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. MB7369-MB7389 HRXL-MaxSonar -WRM Beam Pattern and Uses The HRXL-MaxSonar-WRM product line has a narrow sensor beam and advance filtering that ranges to targets with the largest ultrasonic reflection, while ignoring smaller clutter. MB7369-MB7389 Features and Benefits Factory calibrated beam width Low operating voltages from to All range outputs are active simultaneously Superior clutter rejection MB7369-MB7389 Applications and Uses Bin Level Measurement Tank Level Measurement Page 17 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. MB736X-MB738X SCXL-MaxSonar-WRC Beam Pattern and Uses The HRXL-MaxSonar-WRC sensor product line has select models that are available in alternative housings that include a compact WRC form factor, 1 NPS pipe threading, 1 BSPP pipe threading, and pipe threading. MB736X-MB738X Features and Benefits Extra Compact Housing Designed for outdoor or indoor environments Lightweight, compact, weather resistant design Low cost IP67 sensor Reliable and stable range data MB736X-MB738X Applications and Uses Applications with threaded pipe mounting Page 18 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC 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 pages 19 and 20. M B 7 3 X 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 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 Page 19 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Active Part Numbers for MB7360 MB7360-100 MB7360-101 MB7360-110 MB7360-111 MB7360-120 MB7360-121 MB7360-130 MB7360-131 MB7360-200 MB7360-201 MB7360-210 MB7360-211 MB7360-220 MB7360-221 MB7360-230 MB7360-231 MB7360-500 MB7360-501 MB7360-510 MB7360-511 MB7360-520 MB7360-521 MB7360-530 MB7360-531 MB7360-600 MB7360-601 MB7360-610 MB7360-611 MB7360-620 MB7360-621 MB7360-630 MB7360-631 MB7360-700 MB7360-701 MB7360-710 MB7360-711 MB7360-720 MB7360-721 MB7360-730 MB7360-731 IF YOU BOUGHT NOW BUY Legacy Part Number Base and Housing Active Part Number MB7367 Compact MB7360 in 3/4 NPS WRC Housing MB7360-2XX MB7367 1 NPS MB7360 in 1 NPS Housing MB7360-5XX MB7367 1 BSPP MB7360 in 1 BSPP Housing MB7360-6XX MB7367 30mm MB7360 in 30mm Housing MB7360-7XX MB7387 Compact MB7380 in 3/4 NPS WRC Housing MB7380-2XX MB7387 1 NPS MB7380 in 1 NPS Housing MB7380-5XX MB7387 1 BSPP MB7380 in 1 BSPP Housing MB7380-6XX MB7387 30mm MB7380 in 30mm Housing MB7380-7XX The legacy part numbers MB7367 and MB7387 are now contained within MB7360 and MB7380 which are the base for all housing options on these products. To select a product with a legacy part number, select the desired housing option on the product with the appropriate base. Please review the following table for more information. The following tables display all of the active and valid part numbers for these products. Active Part Numbers for MB7380 MB7380-100 MB7380-101 MB7380-110 MB7380-111 MB7380-120 MB7380-121 MB7380-130 MB7380-131 MB7380-200 MB7380-201 MB7380-210 MB7380-211 MB7380-220 MB7380-221 MB7380-230 MB7380-231 MB7380-500 MB7380-501 MB7380-510 MB7380-511 MB7380-520 MB7380-521 MB7380-530 MB7380-531 MB7380-600 MB7380-601 MB7380-610 MB7380-611 MB7380-620 MB7380-621 MB7380-630 MB7380-631 MB7380-700 MB7380-701 MB7380-710 MB7380-711 MB7380-720 MB7380-721 MB7380-730 MB7380-731 Page 20 Web: PD11500s MaxBotix Inc. Copyright 2005 - 2012 MaxBotix Incorporated Patent 7,679,996 HRXL-MaxSonar - WR/WRC Series MaxBotix Inc., products are engineered and assembled in the USA. Active Part Numbers for MB7363 MB7363-100 MB7363-101 MB7363-110 MB7363-111 MB7363-120 MB7363-121 MB7363-130 MB7363-131 MB7363-800 MB7363-801 MB7363-810 MB7363-811 MB7363-820 MB7363-821 MB7363-830 MB7363-831 Active Part Numbers for MB7369 MB7369-100 MB7369-101 MB7369-110 MB7369-111 MB7369-120 MB7369-121 MB7369-130 MB7369-131 MB7369-200 MB7369-201 MB7369-210 MB7369-211 MB7369-220 MB7369-221 MB7369-230 MB7369-231 MB7369-500 MB7369-501 MB7369-510 MB7369-511 MB7369-520 MB7369-521 MB7369-530 MB7369-531 MB7369-600 MB7369-601 MB7369-610 MB7369-611 MB7369-620 MB7369-621 MB7369-630 MB7369-631 MB7369-700 MB7369-701 MB7369-710 MB7369-711 MB7369-720 MB7369-721 MB7369-730 MB7369-731 Active Part Numbers for MB7366 MB7366-100 MB7366-101 MB7366-110 MB7366-111 MB7366-120 MB7366-121 MB7366-130 MB7366-131 Active Part Numbers for MB7383 MB7383-100 MB7383-101 MB7383-110 MB7383-111 MB7383-120 MB7383-121 MB7383-130 MB7383-131 MB7383-800 MB7383-801 MB7383-810 MB7383-811 MB7383-820 MB7383-821 MB7383-830 MB7383-831 Active Part Numbers for MB7386 MB7386-100 MB7386-101 MB7386-110 MB7386-111 MB7386-120 MB7386-121 MB7386-130 MB7386-131 Active Part Numbers for MB7389 MB7389-100 MB7389-101 MB7389-110 MB7389-111 MB7389-120 MB7389-121 MB7389-130 MB7389-131 MB7389-200 MB7389-201 MB7389-210 MB7389-211 MB7389-220 MB7389-221 MB7389-230 MB7389-231 MB7389-500 MB7389-501 MB7389-510 MB7389-511 MB7389-520 MB7389-521 MB7389-530 MB7389-531 MB7389-600 MB7389-601 MB7389-610 MB7389-611 MB7389-620 MB7389-621 MB7389-630 MB7389-631 MB7389-700 MB7389-701 MB7389-710 MB7389-711 MB7389-720 MB7389-721 MB7389-730 MB7389-731 The following tables display all of the active and valid part numbers for these products.

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