Laser Rangefinder Module 120m 4Khz

STA-MK400 high-rate laser ranging module is a laser ranging sensor based on Time-of-Flight (TOF) technology. It features a built-in controller and ranging algorithm, with a ranging frequency of up to 4KHz and a ranging range of up to 120m. It supports UART level output communication and possesses strong anti-interference capabilities, ensuring stable operation even in sunlight.

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Product Description

The MK400 features high accuracy, compact size, and lightweight. It is highly suitable for small drone systems such as altitude holding, obstacle avoidance, and cruise, as well as for system integration in autonomous vehicles.

Basic parameters of the module
Model		STA-MK400
Ranging accuracy		±0.1m
Module size		≤321916mm
range capability	Typical target	≥300m, target reflectance 90%
	Building survey	≥120m
	Measure natural target	≥80m
Recent ranging		0.1m
Range frequency		4KHz
Resolution ratio		±0.1m
Working current		≤200mA
Standby current		≤33mA
Standby power consumption		≤0.2W
Power consumption		≤0.6W
CI		TTL
Working temperature		-10℃~+55℃
Storage temperature		-20℃~+65℃
Input voltage		5V
Laser wave length		905nm
Beam divergence angle		8 mrad
Power		≤ 1 mW safe for human eye
Range finding method		impulse
Weight		7.7±0.2g

The pin configuration of the STA-MK400 module is illustrated in the diagram below.

Pin number		functional description
1		VCC
2		TXD
3		RXD
4		GND
Pour ：1. The communication interface of this module is TTL. 2.UART configuration: 1 start bit, 8 data bits, 1 stop bit, no parity check;
DC CHARACTERISTICS
parameter	test condition		least value	crest value	unit
Operating voltage (Vin)	T=25°C		2.5	5.0	V
working current （I）	stand by(T=25°C, Vin=3.0V)		-	50.0	mA
	range finding condition(T=25°C, Vin=3.0V)		-	180.0	mA

communicating protocol

Table 1-1: Format of the Host Computer Instruction Frame
Issued by the host computer
byte	0	1	2	3	4 … (N - 1)		N
meaning	frame header		module address	DL	command and parameter		CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	LEN
Note 1: Data length refers to the number of bytes from byte 3 to N, where LEN = N-2.
Note 2: When the host computer sends data, the CheckSum calculation involves summing up all data (excluding the frame header) in bytes and taking the lower 8 bits, then calculating thisThe 8-bit binary complement is the CheckSum; example:The host computer sends a continuous ranging command (0x13) with module address 01 and a 3-byte data field. The CheckSum is calculated as follows:The sum of 0x01,0x03, and 0x13 equals 0x17, with the least significant bit (LSB) being 0x17. The two's complement of 0x17 is 0xE9.So CheckSum = 0xE9The actual data frame transmitted by the host computer is: A5 5A 01 03 13 E9

Table 1-2: Format of the module output frame
module emission
byte	0	1	2	3	4 … (N - 1)		N
meaning	frame header		module address	data description	data field		CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	(see note 1)
Note 1: Data descriptor description:D[7:6]:00: The following data represents distance measurements. A distance value of 0 indicates no distance was detected. 01: The subsequent data contains supplementary information, with details provided in Table 1-3. 10,11: Factory reservedD[5:0]: Data length (see Note 1 in Table 1);
Note 2: When the host computer receives the data, it calculates the CheckSum by summing all data from the module address to the CheckSum in bytes.Sum and the last 8 bits. Example:The module transmits the distance data 0x0B4A with address 01. The host computer receives the data frame: A5 5A 01 03 0B 4A A7Verification: The sum of 0x01,0x03,0x0B,0x4A, and 0xA7 equals 100, with the least significant bit (LSB) of the sum being 00, indicating no error.

Table 1-3 Other response information
Byte 4	Byte 5	Byte 6	Byte 7	Byte 8	explain
06	CheckSum	not have	not have	not have	Simple response
E0	error code	CheckSum	not have	not have	error message frame
E1	mismark	CheckSum	not have	not have	Boot self-test error
A1	Baud rate	CheckSum	not have	not have	Response to baud rate change
A3	module address	CheckSum	not have	not have	Response when reading or modifying module address
AF	Software version		Product version number	CheckSum	Response when reading software version number


Note 1: Example of software version number (2-digit sub-version): Example 1: When the software version number is 0x0064 (equivalent to 100 in decimal), the version number is V1.00. Example 2: When the software version number is 0x03F2 (equivalent to 1010 in decimal), the version number is V10.10.Product version number example (1-digit sub-version): Example 1: When the product version number is 0x0A (equivalent to 10 in decimal), the version number is V1.0. Example 2: When the product version number is 0x65 (equivalent to 101 in decimal), the version number is V10.1.

Table 2-1: Stop Range Measurement
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x10	CheckSum
module emission
byte	0	1	2	3	4	5
meaning	frame header		module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 2-2 Single Range Measurement
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x12	CheckSum
module emission
byte	0	1	2	3	4	5	6
meaning	frame header		module address	data description	Distance data		CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0 - 0xFFFF		CheckSum

Table 2-3 Continuous ranging
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x13	CheckSum
module emission
byte	0	1	2	3	4	5	6
meaning	frame header		module address	data description	Distance data		CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0 - 0xFFFF		CheckSum

Table 3-1: Laser Indicator Off
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x18	CheckSum
module emission
byte	0	1	2	3	4	5
meaning	frame header		module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum


Table 3-2 Laser indicator on (with laser indicator)
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x19	CheckSum
module emission
byte	0	1	2	3	4	5
meaning	frame header		module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 4-1: Peripheral Circuit Switch
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x1A	CheckSum
module emission
byte	0	1	2	3	4	5
meaning	frame header		module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 4-2: Peripheral Circuit Open
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x1B	CheckSum
module emission
byte	0	1	2	3	4	5
meaning	frame header		module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum
Note: Disabling peripheral circuits reduces power consumption, but may cause a delay in the initial ranging response time.

Table 5-1: Modification of the baud rate
Issued by the host computer
byte	0	1	2	3	4	5	6
meaning	frame header		module address	DL	instruct	parameter	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0x20	new port rate	CheckSum
module emission
byte	0	1	2	3	4	5	6
meaning	frame header		module address	data description	frame type	parameter	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x44	0xA1	new port rate	CheckSum
Note: The new baud rate requires a system reboot to take effect.

Table 5-2
Baud rate: 460800, Module address: 0x00

Table 6-1: Modified module addresses
Issued by the host computer
byte	0	1	2	3	4	5	6
meaning	frame header		module address	DL	instruct	New address	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0x22	0 - 0xFF	CheckSum
module emission
byte	0	1	2	3	4	5	6
meaning	frame header		module address	data description	frame type	New address	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x44	0xA3	0 - 0xFF	CheckSum
Note 1: The new module address takes effect immediately.
Note 2: Address 0xFF is a broadcast address;

Table 6-2 Read module address
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x23	CheckSum
module emission
byte	0	1	2	3	4	5	6
meaning	frame header		module address	data description	frame type	New address	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x44	0xA3	0 - 0xFF	CheckSum

Table 7-1 Software Version
Issued by the host computer
byte	0	1	2	3	4	5
meaning	frame header		module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x2F	CheckSum
module emission
byte	0	1	2	3	4	5、6、7	8
meaning	frame header		module address	data description	frame type	version number	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x46	0xAF	See note 1-3 in Table 1	CheckSum